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Рефакторинг и оптимизация вычислений / Refactoring and optimization of computations

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This commit is contained in:
Andrey Pokidov 2024-11-26 02:25:04 +07:00
parent 03e390c1d0
commit 2655e43cb4
15 changed files with 810 additions and 829 deletions
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14
basic-geometry-dev/main.c
View file

@ -52,7 +52,7 @@ BgFP32Versor * make_random_versors(const unsigned int amount)
void print_versor(const BgFP32Versor* versor)
{
printf("(%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
printf("Versor (%f, %f, %f, %f); Delta = %e\n", versor->s0, versor->x1, versor->x2, versor->x3, bg_fp32_versor_get_modulus(versor) - 1.0f);
}
void print_vector(const BgFP32Vector3* vector)
@ -125,11 +125,11 @@ int main()
const unsigned int amount = 1000000;
#ifdef _WIN64
ULONGLONG now;
ULONGLONG now, start, end;
now = GetTickCount64();
srand((unsigned int)(now & 0xfffffff));
#else
struct timespec now;
struct timespec now, start, end;
clock_gettime(0, &now);
srand((unsigned int)(now.tv_nsec & 0xfffffff));
#endif // _WIN64
@ -159,10 +159,14 @@ int main()
}
#ifdef _WIN64
ULONGLONG start, end;
end = GetTickCount64();
printf("Setup time: %lld\n", end - now);
start = GetTickCount64();
#else
struct timespec start, end;
clock_gettime(CLOCK_REALTIME, &end);
printf("Time: %lf\n", (end.tv_sec - now.tv_sec) * 1000.0 + (end.tv_nsec - now.tv_nsec) * 0.000001);
clock_gettime(CLOCK_REALTIME, &start);
#endif // _WIN64
for (int j = 0; j < 1000; j++) {

104
basic-geometry/matrix2x2.c
View file

@ -1 +1,105 @@
#include "matrix2x2.h"
// ================= Inversion ================== //
int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix)
{
const float determinant = bg_fp32_matrix2x2_get_determinant(matrix);
if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
return 0;
}
const float r1c1 = matrix->r2c2;
const float r1c2 = -matrix->r1c2;
const float r2c1 = -matrix->r2c1;
const float r2c2 = matrix->r1c1;
const float multiplier = 1.0f / determinant;
matrix->r1c1 = r1c1 * multiplier;
matrix->r1c2 = r1c2 * multiplier;
matrix->r2c1 = r2c1 * multiplier;
matrix->r2c2 = r2c2 * multiplier;
return 1;
}
int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix)
{
const double determinant = bg_fp64_matrix2x2_get_determinant(matrix);
if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
return 0;
}
const double r1c1 = matrix->r2c2;
const double r1c2 = -matrix->r1c2;
const double r2c1 = -matrix->r2c1;
const double r2c2 = matrix->r1c1;
const double multiplier = 1.0 / determinant;
matrix->r1c1 = r1c1 * multiplier;
matrix->r1c2 = r1c2 * multiplier;
matrix->r2c1 = r2c1 * multiplier;
matrix->r2c2 = r2c2 * multiplier;
return 1;
}
// ================ Set Inverted ================ //
int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to)
{
const float determinant = bg_fp32_matrix2x2_get_determinant(from);
if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
return 0;
}
const float r1c1 = from->r2c2;
const float r1c2 = -from->r1c2;
const float r2c1 = -from->r2c1;
const float r2c2 = from->r1c1;
const float multiplier = 1.0f / determinant;
to->r1c1 = r1c1 * multiplier;
to->r1c2 = r1c2 * multiplier;
to->r2c1 = r2c1 * multiplier;
to->r2c2 = r2c2 * multiplier;
return 1;
}
int bg_fp64_matrix2x2_set_inverted(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to)
{
const double determinant = bg_fp64_matrix2x2_get_determinant(from);
if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
return 0;
}
const double r1c1 = from->r2c2;
const double r1c2 = -from->r1c2;
const double r2c1 = -from->r2c1;
const double r2c2 = from->r1c1;
const double multiplier = 1.0 / determinant;
to->r1c1 = r1c1 * multiplier;
to->r1c2 = r1c2 * multiplier;
to->r2c1 = r2c1 * multiplier;
to->r2c2 = r2c2 * multiplier;
return 1;
}

144
basic-geometry/matrix2x2.h
View file

@ -171,51 +171,9 @@ static inline void bg_fp64_matrix2x2_transpose(BgFP64Matrix2x2* matrix)
// ================= Inversion ================== //
static inline int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix)
{
const float determinant = bg_fp32_matrix2x2_get_determinant(matrix);
int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix);
if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
return 0;
}
const float r1c1 = matrix->r2c2;
const float r1c2 = -matrix->r1c2;
const float r2c1 = -matrix->r2c1;
const float r2c2 = matrix->r1c1;
matrix->r1c1 = r1c1 / determinant;
matrix->r1c2 = r1c2 / determinant;
matrix->r2c1 = r2c1 / determinant;
matrix->r2c2 = r2c2 / determinant;
return 1;
}
static inline int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix)
{
const double determinant = bg_fp64_matrix2x2_get_determinant(matrix);
if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
return 0;
}
const double r1c1 = matrix->r2c2;
const double r1c2 = -matrix->r1c2;
const double r2c1 = -matrix->r2c1;
const double r2c2 = matrix->r1c1;
matrix->r1c1 = r1c1 / determinant;
matrix->r1c2 = r1c2 / determinant;
matrix->r2c1 = r2c1 / determinant;
matrix->r2c2 = r2c2 / determinant;
return 1;
}
int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix);
// =============== Set Transposed =============== //
@ -243,51 +201,9 @@ static inline void bg_fp64_matrix2x2_set_transposed(const BgFP64Matrix2x2* from,
// ================ Set Inverted ================ //
static inline int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to)
{
const float determinant = bg_fp32_matrix2x2_get_determinant(from);
int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to);
if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
return 0;
}
const float r1c1 = from->r2c2;
const float r1c2 = -from->r1c2;
const float r2c1 = -from->r2c1;
const float r2c2 = from->r1c1;
to->r1c1 = r1c1 / determinant;
to->r1c2 = r1c2 / determinant;
to->r2c1 = r2c1 / determinant;
to->r2c2 = r2c2 / determinant;
return 1;
}
static inline int bg_fp64_matrix2x2_set_inverted(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to)
{
const double determinant = bg_fp64_matrix2x2_get_determinant(from);
if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
return 0;
}
const double r1c1 = from->r2c2;
const double r1c2 = -from->r1c2;
const double r2c1 = -from->r2c1;
const double r2c2 = from->r1c1;
to->r1c1 = r1c1 / determinant;
to->r1c2 = r1c2 / determinant;
to->r2c1 = r2c1 / determinant;
to->r2c2 = r2c2 / determinant;
return 1;
}
int bg_fp64_matrix2x2_set_inverted(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to);
// ================= Set Row 1 ================== //
@ -429,60 +345,52 @@ static inline void bg_fp64_matrix2x2_multiply(const BgFP64Matrix2x2* multiplican
static inline void bg_fp32_matrix2x2_divide(const BgFP32Matrix2x2* dividend, const float divisor, BgFP32Matrix2x2* quotient)
{
quotient->r1c1 = dividend->r1c1 / divisor;
quotient->r1c2 = dividend->r1c2 / divisor;
quotient->r2c1 = dividend->r2c1 / divisor;
quotient->r2c2 = dividend->r2c2 / divisor;
bg_fp32_matrix2x2_multiply(dividend, 1.0f / divisor, quotient);
}
static inline void bg_fp64_matrix2x2_divide(const BgFP64Matrix2x2* dividend, const double divisor, BgFP64Matrix2x2* quotient)
{
quotient->r1c1 = dividend->r1c1 / divisor;
quotient->r1c2 = dividend->r1c2 / divisor;
quotient->r2c1 = dividend->r2c1 / divisor;
quotient->r2c2 = dividend->r2c2 / divisor;
bg_fp64_matrix2x2_multiply(dividend, 1.0 / divisor, quotient);
}
// ============ Left Vector Product ============= //
static inline void bg_fp32_matrix2x2_left_product(const BgFP32Vector2* vector, const BgFP32Matrix2x2* matrix, BgFP32Vector2* result)
{
bg_fp32_vector2_set_values(
vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1,
vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2,
result
);
const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
result->x1 = x1;
result->x2 = x2;
}
static inline void bg_fp64_matrix2x2_left_product(const BgFP64Vector2* vector, const BgFP64Matrix2x2* matrix, BgFP64Vector2* result)
{
bg_fp64_vector2_set_values(
vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1,
vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2,
result
);
const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
result->x1 = x1;
result->x2 = x2;
}
// ============ Right Vector Product ============ //
static inline void bg_fp32_matrix2x2_right_product(const BgFP32Matrix2x2* matrix, const BgFP32Vector2* vector, BgFP32Vector2* result)
{
bg_fp32_vector2_set_values(
matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2,
matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2,
result
);
const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
result->x1 = x1;
result->x2 = x2;
}
static inline void bg_fp64_matrix2x2_right_product(const BgFP64Matrix2x2* matrix, const BgFP64Vector2* vector, BgFP64Vector2* result)
{
bg_fp64_vector2_set_values(
matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2,
matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2,
result
);
const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
result->x1 = x1;
result->x2 = x2;
}
#endif

18
basic-geometry/matrix2x3.h
View file

@ -317,26 +317,12 @@ static inline void bg_fp64_matrix2x3_multiply(const BgFP64Matrix2x3* multiplican
static inline void bg_fp32_matrix2x3_divide(const BgFP32Matrix2x3* dividend, const float divisor, BgFP32Matrix2x3* quotient)
{
quotient->r1c1 = dividend->r1c1 / divisor;
quotient->r1c2 = dividend->r1c2 / divisor;
quotient->r2c1 = dividend->r2c1 / divisor;
quotient->r2c2 = dividend->r2c2 / divisor;
quotient->r3c1 = dividend->r3c1 / divisor;
quotient->r3c2 = dividend->r3c2 / divisor;
bg_fp32_matrix2x3_multiply(dividend, 1.0f / divisor, quotient);
}
static inline void bg_fp64_matrix2x3_divide(const BgFP64Matrix2x3* dividend, const double divisor, BgFP64Matrix2x3* quotient)
{
quotient->r1c1 = dividend->r1c1 / divisor;
quotient->r1c2 = dividend->r1c2 / divisor;
quotient->r2c1 = dividend->r2c1 / divisor;
quotient->r2c2 = dividend->r2c2 / divisor;
quotient->r3c1 = dividend->r3c1 / divisor;
quotient->r3c2 = dividend->r3c2 / divisor;
bg_fp64_matrix2x3_multiply(dividend, 1.0 / divisor, quotient);
}
// ============ Left Vector Product ============= //

16
basic-geometry/matrix3x2.h
View file

@ -275,24 +275,12 @@ static inline void bg_fp64_matrix3x2_multiply(const BgFP64Matrix3x2* multiplican
static inline void bg_fp32_matrix3x2_divide(const BgFP32Matrix3x2* dividend, const float divisor, BgFP32Matrix3x2* quotient)
{
quotient->r1c1 = dividend->r1c1 / divisor;
quotient->r1c2 = dividend->r1c2 / divisor;
quotient->r1c3 = dividend->r1c3 / divisor;
quotient->r2c1 = dividend->r2c1 / divisor;
quotient->r2c2 = dividend->r2c2 / divisor;
quotient->r2c3 = dividend->r2c3 / divisor;
bg_fp32_matrix3x2_multiply(dividend, 1.0f / divisor, quotient);
}
static inline void bg_fp64_matrix3x2_divide(const BgFP64Matrix3x2* dividend, const double divisor, BgFP64Matrix3x2* quotient)
{
quotient->r1c1 = dividend->r1c1 / divisor;
quotient->r1c2 = dividend->r1c2 / divisor;
quotient->r1c3 = dividend->r1c3 / divisor;
quotient->r2c1 = dividend->r2c1 / divisor;
quotient->r2c2 = dividend->r2c2 / divisor;
quotient->r2c3 = dividend->r2c3 / divisor;
bg_fp64_matrix3x2_multiply(dividend, 1.0 / divisor, quotient);
}
// ============ Left Vector Product ============= //

80
basic-geometry/matrix3x3.c
View file

@ -22,17 +22,19 @@ int bg_fp32_matrix3x3_invert(BgFP32Matrix3x3* matrix)
const float r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
const float r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
matrix->r1c1 = r1c1 / determinant;
matrix->r1c2 = r1c2 / determinant;
matrix->r1c3 = r1c3 / determinant;
const float multiplier = 1.0f / determinant;
matrix->r2c1 = r2c1 / determinant;
matrix->r2c2 = r2c2 / determinant;
matrix->r2c3 = r2c3 / determinant;
matrix->r1c1 = r1c1 * multiplier;
matrix->r1c2 = r1c2 * multiplier;
matrix->r1c3 = r1c3 * multiplier;
matrix->r3c1 = r3c1 / determinant;
matrix->r3c2 = r3c2 / determinant;
matrix->r3c3 = r3c3 / determinant;
matrix->r2c1 = r2c1 * multiplier;
matrix->r2c2 = r2c2 * multiplier;
matrix->r2c3 = r2c3 * multiplier;
matrix->r3c1 = r3c1 * multiplier;
matrix->r3c2 = r3c2 * multiplier;
matrix->r3c3 = r3c3 * multiplier;
return 1;
}
@ -57,17 +59,19 @@ int bg_fp64_matrix3x3_invert(BgFP64Matrix3x3* matrix)
const double r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
const double r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
matrix->r1c1 = r1c1 / determinant;
matrix->r1c2 = r1c2 / determinant;
matrix->r1c3 = r1c3 / determinant;
const double multiplier = 1.0 / determinant;
matrix->r2c1 = r2c1 / determinant;
matrix->r2c2 = r2c2 / determinant;
matrix->r2c3 = r2c3 / determinant;
matrix->r1c1 = r1c1 * multiplier;
matrix->r1c2 = r1c2 * multiplier;
matrix->r1c3 = r1c3 * multiplier;
matrix->r3c1 = r3c1 / determinant;
matrix->r3c2 = r3c2 / determinant;
matrix->r3c3 = r3c3 / determinant;
matrix->r2c1 = r2c1 * multiplier;
matrix->r2c2 = r2c2 * multiplier;
matrix->r2c3 = r2c3 * multiplier;
matrix->r3c1 = r3c1 * multiplier;
matrix->r3c2 = r3c2 * multiplier;
matrix->r3c3 = r3c3 * multiplier;
return 1;
}
@ -94,17 +98,19 @@ int bg_fp32_matrix3x3_set_inverted(const BgFP32Matrix3x3* matrix, BgFP32Matrix3x
const float r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
const float r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
result->r1c1 = r1c1 / determinant;
result->r1c2 = r1c2 / determinant;
result->r1c3 = r1c3 / determinant;
const float multiplier = 1.0f / determinant;
result->r2c1 = r2c1 / determinant;
result->r2c2 = r2c2 / determinant;
result->r2c3 = r2c3 / determinant;
result->r1c1 = r1c1 * multiplier;
result->r1c2 = r1c2 * multiplier;
result->r1c3 = r1c3 * multiplier;
result->r3c1 = r3c1 / determinant;
result->r3c2 = r3c2 / determinant;
result->r3c3 = r3c3 / determinant;
result->r2c1 = r2c1 * multiplier;
result->r2c2 = r2c2 * multiplier;
result->r2c3 = r2c3 * multiplier;
result->r3c1 = r3c1 * multiplier;
result->r3c2 = r3c2 * multiplier;
result->r3c3 = r3c3 * multiplier;
return 1;
}
@ -129,17 +135,19 @@ int bg_fp64_matrix3x3_set_inverted(const BgFP64Matrix3x3* matrix, BgFP64Matrix3x
const double r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
const double r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
result->r1c1 = r1c1 / determinant;
result->r1c2 = r1c2 / determinant;
result->r1c3 = r1c3 / determinant;
const double multiplier = 1.0 / determinant;
result->r2c1 = r2c1 / determinant;
result->r2c2 = r2c2 / determinant;
result->r2c3 = r2c3 / determinant;
result->r1c1 = r1c1 * multiplier;
result->r1c2 = r1c2 * multiplier;
result->r1c3 = r1c3 * multiplier;
result->r3c1 = r3c1 / determinant;
result->r3c2 = r3c2 / determinant;
result->r3c3 = r3c3 / determinant;
result->r2c1 = r2c1 * multiplier;
result->r2c2 = r2c2 * multiplier;
result->r2c3 = r2c3 * multiplier;
result->r3c1 = r3c1 * multiplier;
result->r3c2 = r3c2 * multiplier;
result->r3c3 = r3c3 * multiplier;
return 1;
}

76
basic-geometry/matrix3x3.h
View file

@ -510,76 +510,60 @@ static inline void bg_fp64_matrix3x3_multiply(const BgFP64Matrix3x3* multiplican
static inline void bg_fp32_matrix3x3_divide(const BgFP32Matrix3x3* dividend, const float divisor, BgFP32Matrix3x3* quotient)
{
quotient->r1c1 = dividend->r1c1 / divisor;
quotient->r1c2 = dividend->r1c2 / divisor;
quotient->r1c3 = dividend->r1c3 / divisor;
quotient->r2c1 = dividend->r2c1 / divisor;
quotient->r2c2 = dividend->r2c2 / divisor;
quotient->r2c3 = dividend->r2c3 / divisor;
quotient->r3c1 = dividend->r3c1 / divisor;
quotient->r3c2 = dividend->r3c2 / divisor;
quotient->r3c3 = dividend->r3c3 / divisor;
bg_fp32_matrix3x3_multiply(dividend, 1.0f / divisor, quotient);
}
static inline void bg_fp64_matrix3x3_divide(const BgFP64Matrix3x3* dividend, const double divisor, BgFP64Matrix3x3* quotient)
{
quotient->r1c1 = dividend->r1c1 / divisor;
quotient->r1c2 = dividend->r1c2 / divisor;
quotient->r1c3 = dividend->r1c3 / divisor;
quotient->r2c1 = dividend->r2c1 / divisor;
quotient->r2c2 = dividend->r2c2 / divisor;
quotient->r2c3 = dividend->r2c3 / divisor;
quotient->r3c1 = dividend->r3c1 / divisor;
quotient->r3c2 = dividend->r3c2 / divisor;
quotient->r3c3 = dividend->r3c3 / divisor;
bg_fp64_matrix3x3_multiply(dividend, 1.0 / divisor, quotient);
}
// ============ Left Vector Product ============= //
static inline void bg_fp32_matrix3x3_left_product(const BgFP32Vector3* vector, const BgFP32Matrix3x3* matrix, BgFP32Vector3* result)
{
bg_fp32_vector3_set_values(
vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1,
vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2,
vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3,
result
);
const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
const float x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3;
result->x1 = x1;
result->x2 = x2;
result->x3 = x3;
}
static inline void bg_fp64_matrix3x3_left_product(const BgFP64Vector3* vector, const BgFP64Matrix3x3* matrix, BgFP64Vector3* result)
{
bg_fp64_vector3_set_values(
vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1,
vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2,
vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3,
result
);
const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
const double x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3;
result->x1 = x1;
result->x2 = x2;
result->x3 = x3;
}
// ============ Right Vector Product ============ //
static inline void bg_fp32_matrix3x3_right_product(const BgFP32Matrix3x3* matrix, const BgFP32Vector3* vector, BgFP32Vector3* result)
{
bg_fp32_vector3_set_values(
matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3,
matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3,
matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3,
result
);
const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
const float x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
result->x1 = x1;
result->x2 = x2;
result->x3 = x3;
}
static inline void bg_fp64_matrix3x3_right_product(const BgFP64Matrix3x3* matrix, const BgFP64Vector3* vector, BgFP64Vector3* result)
{
bg_fp64_vector3_set_values(
matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3,
matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3,
matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3,
result
);
const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
const double x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
result->x1 = x1;
result->x2 = x2;
result->x3 = x3;
}
#endif

76
basic-geometry/quaternion.c
View file

@ -1,5 +1,53 @@
#include "quaternion.h"
// =============== Normalization ================ //
int bg_fp32_quaternion_normalize(BgFP32Quaternion* quaternion)
{
const float square_modulus = bg_fp32_quaternion_get_square_modulus(quaternion);
if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= BG_FP32_SQUARE_EPSYLON) {
bg_fp32_quaternion_reset(quaternion);
return 0;
}
const float multiplier = sqrtf(1.0f / square_modulus);
quaternion->s0 *= multiplier;
quaternion->x1 *= multiplier;
quaternion->x2 *= multiplier;
quaternion->x3 *= multiplier;
return 1;
}
int bg_fp64_quaternion_normalize(BgFP64Quaternion* quaternion)
{
const double square_modulus = bg_fp64_quaternion_get_square_modulus(quaternion);
if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= BG_FP32_SQUARE_EPSYLON) {
bg_fp64_quaternion_reset(quaternion);
return 0;
}
const double multiplier = sqrt(1.0 / square_modulus);
quaternion->s0 *= multiplier;
quaternion->x1 *= multiplier;
quaternion->x2 *= multiplier;
quaternion->x3 *= multiplier;
return 1;
}
// ============ Make Rotation Matrix ============ //
void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
@ -155,3 +203,31 @@ void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, B
matrix->r3c2 = corrector2 * (x2x3 - s0x1);
matrix->r1c3 = corrector2 * (x1x3 - s0x2);
}
// ================== Product =================== //
void bg_fp32_quaternion_get_product(const BgFP32Quaternion* left, const BgFP32Quaternion* right, BgFP32Quaternion* product)
{
const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
const float x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
const float x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
product->s0 = s0;
product->x1 = x1;
product->x2 = x2;
product->x3 = x3;
}
void bg_fp64_quaternion_get_product(const BgFP64Quaternion* left, const BgFP64Quaternion* right, BgFP64Quaternion* product)
{
const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
const double x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
const double x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
product->s0 = s0;
product->x1 = x1;
product->x2 = x2;
product->x3 = x3;
}

74
basic-geometry/quaternion.h
View file

@ -181,6 +181,12 @@ static inline double bg_fp64_quaternion_get_modulus(const BgFP64Quaternion* quat
return sqrt(bg_fp64_quaternion_get_square_modulus(quaternion));
}
// =============== Normalization ================ //
int bg_fp32_quaternion_normalize(BgFP32Quaternion* quaternion);
int bg_fp64_quaternion_normalize(BgFP64Quaternion* quaternion);
// ============ Make Rotation Matrix ============ //
void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix);
@ -213,48 +219,56 @@ static inline void bg_fp64_quaternion_add(const BgFP64Quaternion * quaternion1,
// ================== Subtract ================== //
static inline void bg_fp32_quaternion_subtract(const BgFP32Quaternion * minuend, const BgFP32Quaternion * subtrahend, BgFP32Quaternion * result)
static inline void bg_fp32_quaternion_subtract(const BgFP32Quaternion * minuend, const BgFP32Quaternion * subtrahend, BgFP32Quaternion * difference)
{
result->s0 = minuend->s0 - subtrahend->s0;
result->x1 = minuend->x1 - subtrahend->x1;
result->x2 = minuend->x2 - subtrahend->x2;
result->x3 = minuend->x3 - subtrahend->x3;
difference->s0 = minuend->s0 - subtrahend->s0;
difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2;
difference->x3 = minuend->x3 - subtrahend->x3;
}
static inline void bg_fp64_quaternion_subtract(const BgFP64Quaternion * minuend, const BgFP64Quaternion * subtrahend, BgFP64Quaternion * result)
static inline void bg_fp64_quaternion_subtract(const BgFP64Quaternion * minuend, const BgFP64Quaternion * subtrahend, BgFP64Quaternion * difference)
{
result->s0 = minuend->s0 - subtrahend->s0;
result->x1 = minuend->x1 - subtrahend->x1;
result->x2 = minuend->x2 - subtrahend->x2;
result->x3 = minuend->x3 - subtrahend->x3;
difference->s0 = minuend->s0 - subtrahend->s0;
difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2;
difference->x3 = minuend->x3 - subtrahend->x3;
}
// =============== Multiplication =============== //
static inline void bg_fp32_quaternion_multiply(const BgFP32Quaternion* left, const BgFP32Quaternion* right, BgFP32Quaternion* result)
static inline void bg_fp32_quaternion_multiply(const BgFP32Quaternion* multiplicand, const float multipier, BgFP32Quaternion* product)
{
const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
const float x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
const float x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
result->s0 = s0;
result->x1 = x1;
result->x2 = x2;
result->x3 = x3;
product->s0 = multiplicand->s0 * multipier;
product->x1 = multiplicand->x1 * multipier;
product->x2 = multiplicand->x2 * multipier;
product->x3 = multiplicand->x3 * multipier;
}
static inline void bg_fp64_quaternion_multiply(const BgFP64Quaternion* left, const BgFP64Quaternion* right, BgFP64Quaternion* result)
static inline void bg_fp64_quaternion_multiply(const BgFP64Quaternion* multiplicand, const double multipier, BgFP64Quaternion* product)
{
const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
const double x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
const double x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
result->s0 = s0;
result->x1 = x1;
result->x2 = x2;
result->x3 = x3;
product->s0 = multiplicand->s0 * multipier;
product->x1 = multiplicand->x1 * multipier;
product->x2 = multiplicand->x2 * multipier;
product->x3 = multiplicand->x3 * multipier;
}
// ================== Division ================== //
static inline void bg_fp32_quaternion_divide(const BgFP32Quaternion* dividend, const float divisor, BgFP32Quaternion* quotient)
{
bg_fp32_quaternion_multiply(dividend, 1.0f / divisor, quotient);
}
static inline void bg_fp64_quaternion_divide(const BgFP64Quaternion* dividend, const double divisor, BgFP64Quaternion* quotient)
{
bg_fp64_quaternion_multiply(dividend, 1.0 / divisor, quotient);
}
// ================== Product =================== //
void bg_fp32_quaternion_get_product(const BgFP32Quaternion* left, const BgFP32Quaternion* right, BgFP32Quaternion* product);
void bg_fp64_quaternion_get_product(const BgFP64Quaternion* left, const BgFP64Quaternion* right, BgFP64Quaternion* product);
#endif // _GEOMETRY_QUATERNION_H_

40
basic-geometry/vector2.c
View file

@ -1,5 +1,41 @@
#include "vector2.h"
// =============== Normalization ================ //
int bg_fp32_vector2_normalize(BgFP32Vector2* vector)
{
const float square_modulus = bg_fp32_vector2_get_square_modulus(vector);
if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= BG_FP32_SQUARE_EPSYLON) {
bg_fp32_vector2_reset(vector);
return 0;
}
bg_fp32_vector2_multiply(vector, sqrtf(1.0f / square_modulus), vector);
return 1;
}
int bg_fp64_vector2_normalize(BgFP64Vector2* vector)
{
const double square_modulus = bg_fp64_vector2_get_square_modulus(vector);
if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= BG_FP64_SQUARE_EPSYLON) {
bg_fp64_vector2_reset(vector);
return 0;
}
bg_fp64_vector2_multiply(vector, sqrt(1.0 / square_modulus), vector);
return 1;
}
// =================== Angle ==================== //
float bg_fp32_vector2_get_angle(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, const angle_unit_t unit)
@ -20,7 +56,7 @@ float bg_fp32_vector2_get_angle(const BgFP32Vector2* vector1, const BgFP32Vector
return 0.0f;
}
const float cosine = bg_fp32_vector2_dot_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
const float cosine = bg_fp32_vector2_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
if (cosine >= 1.0f - BG_FP32_EPSYLON) {
return 0.0f;
@ -51,7 +87,7 @@ double bg_fp64_vector2_get_angle(const BgFP64Vector2* vector1, const BgFP64Vecto
return 0.0;
}
const double cosine = bg_fp64_vector2_dot_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
const double cosine = bg_fp64_vector2_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
if (cosine >= 1.0 - BG_FP64_EPSYLON) {
return 0.0;

84
basic-geometry/vector2.h
View file

@ -150,58 +150,56 @@ static inline int bg_fp64_vector2_is_unit(const BgFP64Vector2* vector)
// ==================== Add ===================== //
static inline void bg_fp32_vector2_add(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, BgFP32Vector2* result)
static inline void bg_fp32_vector2_add(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, BgFP32Vector2* sum)
{
result->x1 = vector1->x1 + vector2->x1;
result->x2 = vector1->x2 + vector2->x2;
sum->x1 = vector1->x1 + vector2->x1;
sum->x2 = vector1->x2 + vector2->x2;
}
static inline void bg_fp64_vector2_add(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, BgFP64Vector2* result)
static inline void bg_fp64_vector2_add(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, BgFP64Vector2* sum)
{
result->x1 = vector1->x1 + vector2->x1;
result->x2 = vector1->x2 + vector2->x2;
sum->x1 = vector1->x1 + vector2->x1;
sum->x2 = vector1->x2 + vector2->x2;
}
// ================ Subtraction ================= //
static inline void bg_fp32_vector2_subtract(const BgFP32Vector2* minuend, const BgFP32Vector2* subtrahend, BgFP32Vector2* result)
static inline void bg_fp32_vector2_subtract(const BgFP32Vector2* minuend, const BgFP32Vector2* subtrahend, BgFP32Vector2* difference)
{
result->x1 = minuend->x1 - subtrahend->x1;
result->x2 = minuend->x2 - subtrahend->x2;
difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2;
}
static inline void bg_fp64_vector2_subtract(const BgFP64Vector2* minuend, const BgFP64Vector2* subtrahend, BgFP64Vector2* result)
static inline void bg_fp64_vector2_subtract(const BgFP64Vector2* minuend, const BgFP64Vector2* subtrahend, BgFP64Vector2* difference)
{
result->x1 = minuend->x1 - subtrahend->x1;
result->x2 = minuend->x2 - subtrahend->x2;
difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2;
}
// =============== Multiplication =============== //
static inline void bg_fp32_vector2_multiply(const BgFP32Vector2* multiplicand, const float multiplier, BgFP32Vector2* result)
static inline void bg_fp32_vector2_multiply(const BgFP32Vector2* multiplicand, const float multiplier, BgFP32Vector2* product)
{
result->x1 = multiplicand->x1 * multiplier;
result->x2 = multiplicand->x2 * multiplier;
product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier;
}
static inline void bg_fp64_vector2_multiply(const BgFP64Vector2* multiplicand, const double multiplier, BgFP64Vector2* result)
static inline void bg_fp64_vector2_multiply(const BgFP64Vector2* multiplicand, const double multiplier, BgFP64Vector2* product)
{
result->x1 = multiplicand->x1 * multiplier;
result->x2 = multiplicand->x2 * multiplier;
product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier;
}
// ================== Division ================== //
static inline void bg_fp32_vector2_divide(const BgFP32Vector2* dividend, const float divisor, BgFP32Vector2* result)
static inline void bg_fp32_vector2_divide(const BgFP32Vector2* dividend, const float divisor, BgFP32Vector2* quotient)
{
result->x1 = dividend->x1 / divisor;
result->x2 = dividend->x2 / divisor;
bg_fp32_vector2_multiply(dividend, 1.0f / divisor, quotient);
}
static inline void bg_fp64_vector2_divide(const BgFP64Vector2* dividend, const double divisor, BgFP64Vector2* result)
static inline void bg_fp64_vector2_divide(const BgFP64Vector2* dividend, const double divisor, BgFP64Vector2* quotient)
{
result->x1 = dividend->x1 / divisor;
result->x2 = dividend->x2 / divisor;
bg_fp64_vector2_multiply(dividend, 1.0 / divisor, quotient);
}
// ================ Append scaled =============== //
@ -248,12 +246,12 @@ static inline void bg_fp64_vector2_get_mean3(const BgFP64Vector2* vector1, const
// =============== Scalar Product =============== //
static inline float bg_fp32_vector2_dot_product(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2)
static inline float bg_fp32_vector2_scalar_product(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2)
{
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2;
}
static inline double bg_fp64_vector2_dot_product(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2)
static inline double bg_fp64_vector2_scalar_product(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2)
{
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2;
}
@ -272,39 +270,9 @@ static inline double bg_fp64_vector2_cross_product(const BgFP64Vector2* vector1,
// =============== Normalization ================ //
static inline int bg_fp32_vector2_normalize(BgFP32Vector2* vector)
{
const float square_modulus = bg_fp32_vector2_get_square_modulus(vector);
int bg_fp32_vector2_normalize(BgFP32Vector2* vector);
if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= BG_FP32_SQUARE_EPSYLON) {
bg_fp32_vector2_reset(vector);
return 0;
}
bg_fp32_vector2_divide(vector, sqrtf(square_modulus), vector);
return 1;
}
static inline int bg_fp64_vector2_normalize(BgFP64Vector2* vector)
{
const double square_modulus = bg_fp64_vector2_get_square_modulus(vector);
if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= BG_FP64_SQUARE_EPSYLON) {
bg_fp64_vector2_reset(vector);
return 0;
}
bg_fp64_vector2_divide(vector, sqrt(square_modulus), vector);
return 1;
}
int bg_fp64_vector2_normalize(BgFP64Vector2* vector);
// =============== Get Normalized =============== //

40
basic-geometry/vector3.c
View file

@ -1,5 +1,41 @@
#include "vector3.h"
// =============== Normalization ================ //
int bg_fp32_vector3_normalize(BgFP32Vector3* vector)
{
const float square_modulus = bg_fp32_vector3_get_square_modulus(vector);
if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= BG_FP32_SQUARE_EPSYLON) {
bg_fp32_vector3_reset(vector);
return 0;
}
bg_fp32_vector3_multiply(vector, sqrtf(1.0f / square_modulus), vector);
return 1;
}
int bg_fp64_vector3_normalize(BgFP64Vector3* vector)
{
const double square_modulus = bg_fp64_vector3_get_square_modulus(vector);
if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= BG_FP64_SQUARE_EPSYLON) {
bg_fp64_vector3_reset(vector);
return 0;
}
bg_fp64_vector3_multiply(vector, sqrt(1.0 / square_modulus), vector);
return 1;
}
// =================== Angle ==================== //
float bg_fp32_vector3_get_angle(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const angle_unit_t unit)
@ -20,7 +56,7 @@ float bg_fp32_vector3_get_angle(const BgFP32Vector3* vector1, const BgFP32Vector
return 0.0f;
}
const float cosine = bg_fp32_vector3_dot_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
const float cosine = bg_fp32_vector3_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
if (cosine >= 1.0f - BG_FP32_EPSYLON) {
return 0.0f;
@ -51,7 +87,7 @@ double bg_fp64_vector3_get_angle(const BgFP64Vector3* vector1, const BgFP64Vecto
return 0.0;
}
const double cosine = bg_fp64_vector3_dot_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
const double cosine = bg_fp64_vector3_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
if (cosine >= 1.0 - BG_FP64_EPSYLON) {
return 0.0;

132
basic-geometry/vector3.h
View file

Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -164,66 +164,62 @@ static inline int bg_fp64_vector3_is_unit(const BgFP64Vector3* vector)
// ==================== Add ===================== //
static inline void bg_fp32_vector3_add(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, BgFP32Vector3* result)
static inline void bg_fp32_vector3_add(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, BgFP32Vector3* sum)
{
result->x1 = vector1->x1 + vector2->x1;
result->x2 = vector1->x2 + vector2->x2;
result->x3 = vector1->x3 + vector2->x3;
sum->x1 = vector1->x1 + vector2->x1;
sum->x2 = vector1->x2 + vector2->x2;
sum->x3 = vector1->x3 + vector2->x3;
}
static inline void bg_fp64_vector3_add(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, BgFP64Vector3* result)
static inline void bg_fp64_vector3_add(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, BgFP64Vector3* sum)
{
result->x1 = vector1->x1 + vector2->x1;
result->x2 = vector1->x2 + vector2->x2;
result->x3 = vector1->x3 + vector2->x3;
sum->x1 = vector1->x1 + vector2->x1;
sum->x2 = vector1->x2 + vector2->x2;
sum->x3 = vector1->x3 + vector2->x3;
}
// ================ Subtraction ================= //
static inline void bg_fp32_vector3_subtract(const BgFP32Vector3* minuend, const BgFP32Vector3* subtrahend, BgFP32Vector3* result)
static inline void bg_fp32_vector3_subtract(const BgFP32Vector3* minuend, const BgFP32Vector3* subtrahend, BgFP32Vector3* difference)
{
result->x1 = minuend->x1 - subtrahend->x1;
result->x2 = minuend->x2 - subtrahend->x2;
result->x3 = minuend->x3 - subtrahend->x3;
difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2;
difference->x3 = minuend->x3 - subtrahend->x3;
}
static inline void bg_fp64_vector3_subtract(const BgFP64Vector3* minuend, const BgFP64Vector3* subtrahend, BgFP64Vector3* result)
static inline void bg_fp64_vector3_subtract(const BgFP64Vector3* minuend, const BgFP64Vector3* subtrahend, BgFP64Vector3* difference)
{
result->x1 = minuend->x1 - subtrahend->x1;
result->x2 = minuend->x2 - subtrahend->x2;
result->x3 = minuend->x3 - subtrahend->x3;
difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2;
difference->x3 = minuend->x3 - subtrahend->x3;
}
// =============== Multiplication =============== //
static inline void bg_fp32_vector3_multiply(const BgFP32Vector3* multiplicand, const float multiplier, BgFP32Vector3* result)
static inline void bg_fp32_vector3_multiply(const BgFP32Vector3* multiplicand, const float multiplier, BgFP32Vector3* product)
{
result->x1 = multiplicand->x1 * multiplier;
result->x2 = multiplicand->x2 * multiplier;
result->x3 = multiplicand->x3 * multiplier;
product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier;
product->x3 = multiplicand->x3 * multiplier;
}
static inline void bg_fp64_vector3_multiply(const BgFP64Vector3* multiplicand, const double multiplier, BgFP64Vector3* result)
static inline void bg_fp64_vector3_multiply(const BgFP64Vector3* multiplicand, const double multiplier, BgFP64Vector3* product)
{
result->x1 = multiplicand->x1 * multiplier;
result->x2 = multiplicand->x2 * multiplier;
result->x3 = multiplicand->x3 * multiplier;
product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier;
product->x3 = multiplicand->x3 * multiplier;
}
// ================== Division ================== //
static inline void bg_fp32_vector3_divide(const BgFP32Vector3* dividend, const float divisor, BgFP32Vector3* result)
static inline void bg_fp32_vector3_divide(const BgFP32Vector3* dividend, const float divisor, BgFP32Vector3* quotient)
{
result->x1 = dividend->x1 / divisor;
result->x2 = dividend->x2 / divisor;
result->x3 = dividend->x3 / divisor;
bg_fp32_vector3_multiply(dividend, 1.0f / divisor, quotient);
}
static inline void bg_fp64_vector3_divide(const BgFP64Vector3* dividend, const double divisor, BgFP64Vector3* result)
static inline void bg_fp64_vector3_divide(const BgFP64Vector3* dividend, const double divisor, BgFP64Vector3* quotient)
{
result->x1 = dividend->x1 / divisor;
result->x2 = dividend->x2 / divisor;
result->x3 = dividend->x3 / divisor;
bg_fp64_vector3_multiply(dividend, 1.0 / divisor, quotient);
}
// ================ Append scaled =============== //
@ -276,12 +272,12 @@ static inline void bg_fp64_vector3_get_mean3(const BgFP64Vector3* vector1, const
// =============== Scalar Product =============== //
static inline float bg_fp32_vector3_dot_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2)
static inline float bg_fp32_vector3_scalar_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2)
{
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
}
static inline double bg_fp64_vector3_dot_product(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2)
static inline double bg_fp64_vector3_scalar_product(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2)
{
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
}
@ -306,30 +302,32 @@ static inline double bg_fp64_vector3_triple_product(const BgFP64Vector3* vector1
static inline void bg_fp32_vector3_cross_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, BgFP32Vector3* result)
{
bg_fp32_vector3_set_values(
vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2,
vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3,
vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1,
result
);
const float x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
const float x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
const float x3 = vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
result->x1 = x1;
result->x2 = x2;
result->x3 = x3;
}
static inline void bg_fp64_vector3_cross_product(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, BgFP64Vector3* result)
{
bg_fp64_vector3_set_values(
vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2,
vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3,
vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1,
result
);
const double x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
const double x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
const double x3 = vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
result->x1 = x1;
result->x2 = x2;
result->x3 = x3;
}
// ============ Double Cross Product ============ //
static inline void bg_fp32_vector3_double_cross_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const BgFP32Vector3* vector3, BgFP32Vector3* result)
{
const float ac = bg_fp32_vector3_dot_product(vector1, vector3);
const float ab = bg_fp32_vector3_dot_product(vector1, vector2);
const float ac = bg_fp32_vector3_scalar_product(vector1, vector3);
const float ab = bg_fp32_vector3_scalar_product(vector1, vector2);
result->x1 = vector2->x1 * ac - vector3->x1 * ab;
result->x2 = vector2->x2 * ac - vector3->x2 * ab;
@ -338,8 +336,8 @@ static inline void bg_fp32_vector3_double_cross_product(const BgFP32Vector3* vec
static inline void bg_fp64_vector3_double_cross(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const BgFP64Vector3* vector3, BgFP64Vector3* result)
{
const double ac = bg_fp64_vector3_dot_product(vector1, vector3);
const double ab = bg_fp64_vector3_dot_product(vector1, vector2);
const double ac = bg_fp64_vector3_scalar_product(vector1, vector3);
const double ab = bg_fp64_vector3_scalar_product(vector1, vector2);
result->x1 = vector2->x1 * ac - vector3->x1 * ab;
result->x2 = vector2->x2 * ac - vector3->x2 * ab;
@ -348,39 +346,9 @@ static inline void bg_fp64_vector3_double_cross(const BgFP64Vector3* vector1, co
// =============== Normalization ================ //
static inline int bg_fp32_vector3_normalize(BgFP32Vector3* vector)
{
const float square_modulus = bg_fp32_vector3_get_square_modulus(vector);
int bg_fp32_vector3_normalize(BgFP32Vector3* vector);
if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= BG_FP32_SQUARE_EPSYLON) {
bg_fp32_vector3_reset(vector);
return 0;
}
bg_fp32_vector3_divide(vector, sqrtf(square_modulus), vector);
return 1;
}
static inline int bg_fp64_vector3_normalize(BgFP64Vector3* vector)
{
const double square_modulus = bg_fp64_vector3_get_square_modulus(vector);
if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= BG_FP64_SQUARE_EPSYLON) {
bg_fp64_vector3_reset(vector);
return 0;
}
bg_fp64_vector3_divide(vector, sqrt(square_modulus), vector);
return 1;