Модульные тесты для Vector2, Vector3, Quaternion и Versor: is unit, is zero, is identity

basic-geometry-test/tests/quaternion.c

@@ -4,23 +4,31 @@ int test_quaternion()
 {
     print_testing_section("BGC Quaternion");
 
-    if (test_bgc_quaternion_reset() != TEST_SUCCES) {
+    if (test_quaternion_reset() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_quaternion_set_to_identity() != TEST_SUCCES) {
+    if (test_quaternion_set_to_identity() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_quaternion_set_values() != TEST_SUCCES) {
+    if (test_quaternion_set_values() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_quaternion_copy() != TEST_SUCCES) {
+    if (test_quaternion_copy() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_quaternion_swap() != TEST_SUCCES) {
+    if (test_quaternion_swap() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_quaternion_is_zero() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_quaternion_is_unit() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/quaternion.h

@@ -7,6 +7,8 @@
 #include "./quaternion/quaternion_set_values.h"
 #include "./quaternion/quaternion_copy.h"
 #include "./quaternion/quaternion_swap.h"
+#include "./quaternion/quaternion_is_zero.h"
+#include "./quaternion/quaternion_is_unit.h"
 
 int test_quaternion();
 

basic-geometry-test/tests/quaternion/quaternion_copy.c

@@ -14,7 +14,7 @@ static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST[] = {
     { 0.001f, -100.0f, 100.0f, -0.001f }
 };
 
-int test_bgc_quaternion_copy_fp32()
+int test_quaternion_copy_fp32()
 {
     BgcQuaternionFP32 vector;
 
@@ -48,7 +48,7 @@ static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST[] = {
     { 0.001, -100.0, 100.0, -0.001 }
 };
 
-int test_bgc_quaternion_copy_fp64()
+int test_quaternion_copy_fp64()
 {
     BgcQuaternionFP64 vector;
 
@@ -72,13 +72,13 @@ int test_bgc_quaternion_copy_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_quaternion_copy()
+int test_quaternion_copy()
 {
-    if (test_bgc_quaternion_copy_fp32() != TEST_SUCCES) {
+    if (test_quaternion_copy_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_quaternion_copy_fp64() != TEST_SUCCES) {
+    if (test_quaternion_copy_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/quaternion/quaternion_copy.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_QUATERNION_COPY_H_
 #define _TEST_QUATERNION_COPY_H_
 
-int test_bgc_quaternion_copy_fp32();
+int test_quaternion_copy_fp32();
 
-int test_bgc_quaternion_copy_fp64();
+int test_quaternion_copy_fp64();
 
-int test_bgc_quaternion_copy();
+int test_quaternion_copy();
 
 #endif

basic-geometry-test/tests/quaternion/quaternion_is_unit.c

@@ -0,0 +1,140 @@
+#include "./quaternion_is_unit.h"
+
+#include "./../../helpers.h"
+
+// ==================== FP32 ==================== //
+
+static const int _TEST_FP32_UNIT_QUATERNION_AMOUNT = 16;
+static const int _TEST_FP32_NONUNIT_QUATERNION_AMOUNT = 10;
+
+static const BgcQuaternionFP32 _TEST_FP32_UNIT_QUATERNION_LIST[] = {
+    { 1.0f, 0.0f, 0.0f, 0.0f },
+    { -1.0f, 0.0f, 0.0f, 0.0f },
+    { 0.0f, -0.8f, 0.6f, 0.0f },
+    { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 },
+    { 0.5f, 0.5f, 0.5f, 0.5f },
+    { 0.5f + 0.75f * BGC_EPSYLON_FP32, 0.5f, 0.5f, 0.5f },
+    { 0.5f, 0.5f - 0.75f * BGC_EPSYLON_FP32, 0.5f, 0.5f },
+    { 0.5f, 0.5f, 0.5f + 0.75f * BGC_EPSYLON_FP32, 0.5f },
+    { 0.5f, 0.5f, 0.5f, 0.5f - 0.75f * BGC_EPSYLON_FP32 }
+};
+
+static const BgcQuaternionFP32 _TEST_FP32_NONUNIT_QUATERION_LIST[] = {
+    { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 },
+    { 0.5f + 1.25f * BGC_EPSYLON_FP32, 0.5f + 1.25f * BGC_EPSYLON_FP32, 0.5f, 0.5f },
+    { 0.5f - 1.25f * BGC_EPSYLON_FP32, 0.5f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.5f }
+};
+
+int test_quaternion_is_unit_fp32()
+{
+    print_testing_name("bgc_quaternion_is_unit_fp32");
+
+    // Testing zero values:
+    for (int i = 0; i < _TEST_FP32_UNIT_QUATERNION_AMOUNT; i++) {
+        if (!bgc_quaternion_is_unit_fp32(&_TEST_FP32_UNIT_QUATERNION_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    // Testing non-zero values:
+    for (int i = 0; i < _TEST_FP32_NONUNIT_QUATERNION_AMOUNT; i++) {
+        if (bgc_quaternion_is_unit_fp32(&_TEST_FP32_NONUNIT_QUATERION_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+// ==================== FP64 ==================== //
+
+static const int _TEST_FP64_UNIT_QUATERNION_AMOUNT = 16;
+static const int _TEST_FP64_NONUNIT_QUATERNION_AMOUNT = 10;
+
+static const BgcQuaternionFP64 _TEST_FP64_UNIT_QUATERNION_LIST[] = {
+    { 1.0, 0.0, 0.0, 0.0 },
+    { -1.0, 0.0, 0.0, 0.0 },
+    { 0.0, -0.6, 0.8, 0.0 },
+    { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 },
+    { 0.5, 0.5, 0.5, 0.5 },
+    { 0.5 + 0.75 * BGC_EPSYLON_FP64, 0.5, 0.5, 0.5 },
+    { 0.5, 0.5 - 0.75 * BGC_EPSYLON_FP64, 0.5, 0.5 },
+    { 0.5, 0.5, 0.5 + 0.75 * BGC_EPSYLON_FP64, 0.5 },
+    { 0.5, 0.5, 0.5, 0.5 - 0.75 * BGC_EPSYLON_FP64 }
+};
+
+static const BgcQuaternionFP64 _TEST_FP64_NONUNIT_QUATERION_LIST[] = {
+    { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 },
+    { 0.5 + 1.25 * BGC_EPSYLON_FP64, 0.5 + 1.25 * BGC_EPSYLON_FP64, 0.5, 0.5 },
+    { 0.5 - 1.25 * BGC_EPSYLON_FP64, 0.5 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.5 }
+};
+
+int test_quaternion_is_unit_fp64()
+{
+    print_testing_name("bgc_quaternion_is_unit_fp64");
+
+    // Testing zero values:
+    for (int i = 0; i < _TEST_FP64_UNIT_QUATERNION_AMOUNT; i++) {
+        if (!bgc_quaternion_is_unit_fp64(&_TEST_FP64_UNIT_QUATERNION_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    // Testing non-zero values:
+    for (int i = 0; i < _TEST_FP64_NONUNIT_QUATERNION_AMOUNT; i++) {
+        if (bgc_quaternion_is_unit_fp64(&_TEST_FP64_NONUNIT_QUATERION_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_quaternion_is_unit()
+{
+    if (test_quaternion_is_unit_fp32() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_quaternion_is_unit_fp64() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/quaternion/quaternion_is_unit.h

@@ -0,0 +1,10 @@
+#ifndef _TEST_QUATERNION_IS_UNIT_H_
+#define _TEST_QUATERNION_IS_UNIT_H_
+
+int test_quaternion_is_unit_fp32();
+
+int test_quaternion_is_unit_fp64();
+
+int test_quaternion_is_unit();
+
+#endif

basic-geometry-test/tests/quaternion/quaternion_is_zero.c

@@ -19,7 +19,7 @@ static const BgcQuaternionFP32 _TEST_FP32_ZERO_QUATERNION_LIST[] = {
     { 0.0f, 0.0f, 0.0f, -BGC_EPSYLON_FP32 }
 };
 
-static const BgcQuaternionFP32 _TEST_FP32_NONZERO_NUMBERS[] = {
+static const BgcQuaternionFP32 _TEST_FP32_NONZERO_QUATERION_LIST[] = {
     { 0.0f, 1.0f, 0.0f, 0.0f },
     { 1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
     { -1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
@@ -33,7 +33,7 @@ static const BgcQuaternionFP32 _TEST_FP32_NONZERO_NUMBERS[] = {
     { -BGC_EPSYLON_FP32, -BGC_EPSYLON_FP32, 0.0f, 0.0f }
 };
 
-int test_bgc_quaternion_is_zero_fp32()
+int test_quaternion_is_zero_fp32()
 {
     print_testing_name("bgc_quaternion_is_zero_fp32");
 
@@ -47,7 +47,7 @@ int test_bgc_quaternion_is_zero_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NONZERO_QUATERNION_AMOUNT; i++) {
-        if (bgc_quaternion_is_zero_fp32(&_TEST_FP32_NONZERO_NUMBERS[i])) {
+        if (bgc_quaternion_is_zero_fp32(&_TEST_FP32_NONZERO_QUATERION_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
@@ -75,7 +75,7 @@ static const BgcQuaternionFP64 _TEST_FP64_ZERO_QUATERNION_LIST[] = {
     { 0.0, 0.0, 0.0, -BGC_EPSYLON_FP64 }
 };
 
-static const BgcQuaternionFP64 _TEST_FP64_NONZERO_NUMBERS[] = {
+static const BgcQuaternionFP64 _TEST_FP64_NONZERO_QUATERION_LIST[] = {
     { 0.0, 1.0, 0.0, 0.0 },
     { 1.5 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
     { -1.5 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
@@ -89,13 +89,13 @@ static const BgcQuaternionFP64 _TEST_FP64_NONZERO_NUMBERS[] = {
     { -BGC_EPSYLON_FP64, -BGC_EPSYLON_FP64, 0.0, 0.0 }
 };
 
-int test_bgc_quaternion_is_zero_fp64()
+int test_quaternion_is_zero_fp64()
 {
     print_testing_name("bgc_quaternion_is_zero_fp64");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_ZERO_QUATERNION_AMOUNT; i++) {
-        if (!test_bgc_quaternion_is_zero_fp64(&_TEST_FP64_ZERO_QUATERNION_LIST[i])) {
+        if (!bgc_quaternion_is_zero_fp64(&_TEST_FP64_ZERO_QUATERNION_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
@@ -103,7 +103,7 @@ int test_bgc_quaternion_is_zero_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NONZERO_QUATERNION_AMOUNT; i++) {
-        if (test_bgc_quaternion_is_zero_fp64(&_TEST_FP64_NONZERO_NUMBERS[i])) {
+        if (bgc_quaternion_is_zero_fp64(&_TEST_FP64_NONZERO_QUATERION_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
@@ -114,13 +114,13 @@ int test_bgc_quaternion_is_zero_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_quaternion_is_zero()
+int test_quaternion_is_zero()
 {
-    if (test_bgc_quaternion_is_zero_fp32() != TEST_SUCCES) {
+    if (test_quaternion_is_zero_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_quaternion_is_zero_fp64() != TEST_SUCCES) {
+    if (test_quaternion_is_zero_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/quaternion/quaternion_is_zero.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_QUATERNION_IS_ZERO_H_
 #define _TEST_QUATERNION_IS_ZERO_H_
 
-int test_bgc_quaternion_is_zero_fp32();
+int test_quaternion_is_zero_fp32();
 
-int test_bgc_quaternion_is_zero_fp64();
+int test_quaternion_is_zero_fp64();
 
-int test_bgc_quaternion_is_zero();
+int test_quaternion_is_zero();
 
 #endif

basic-geometry-test/tests/quaternion/quaternion_reset.c

@@ -2,7 +2,7 @@
 
 #include "./../../helpers.h"
 
-int test_bgc_quaternion_reset_fp32()
+int test_quaternion_reset_fp32()
 {
     BgcQuaternionFP32 vector;
 
@@ -20,7 +20,7 @@ int test_bgc_quaternion_reset_fp32()
     return TEST_SUCCES;
 }
 
-int test_bgc_quaternion_reset_fp64()
+int test_quaternion_reset_fp64()
 {
     BgcQuaternionFP64 vector;
 
@@ -38,13 +38,13 @@ int test_bgc_quaternion_reset_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_quaternion_reset()
+int test_quaternion_reset()
 {
-    if (test_bgc_quaternion_reset_fp32() != TEST_SUCCES) {
+    if (test_quaternion_reset_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_quaternion_reset_fp64() != TEST_SUCCES) {
+    if (test_quaternion_reset_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/quaternion/quaternion_reset.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_QUATERNION_RESET_H_
 #define _TEST_QUATERNION_RESET_H_
 
-int test_bgc_quaternion_reset_fp32();
+int test_quaternion_reset_fp32();
 
-int test_bgc_quaternion_reset_fp64();
+int test_quaternion_reset_fp64();
 
-int test_bgc_quaternion_reset();
+int test_quaternion_reset();
 
 #endif

basic-geometry-test/tests/quaternion/quaternion_set_to_identity.c

@@ -2,7 +2,7 @@
 
 #include "./../../helpers.h"
 
-int test_bgc_quaternion_set_to_identity_fp32()
+int test_quaternion_set_to_identity_fp32()
 {
     BgcQuaternionFP32 vector;
 
@@ -20,7 +20,7 @@ int test_bgc_quaternion_set_to_identity_fp32()
     return TEST_SUCCES;
 }
 
-int test_bgc_quaternion_set_to_identity_fp64()
+int test_quaternion_set_to_identity_fp64()
 {
     BgcQuaternionFP64 vector;
 
@@ -38,13 +38,13 @@ int test_bgc_quaternion_set_to_identity_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_quaternion_set_to_identity()
+int test_quaternion_set_to_identity()
 {
-    if (test_bgc_quaternion_set_to_identity_fp32() != TEST_SUCCES) {
+    if (test_quaternion_set_to_identity_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_quaternion_set_to_identity_fp64() != TEST_SUCCES) {
+    if (test_quaternion_set_to_identity_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/quaternion/quaternion_set_to_identity.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_QUATERNION_SET_TO_IDENTITY_H_
 #define _TEST_QUATERNION_SET_TO_IDENTITY_H_
 
-int test_bgc_quaternion_set_to_identity_fp32();
+int test_quaternion_set_to_identity_fp32();
 
-int test_bgc_quaternion_set_to_identity_fp64();
+int test_quaternion_set_to_identity_fp64();
 
-int test_bgc_quaternion_set_to_identity();
+int test_quaternion_set_to_identity();
 
 #endif

basic-geometry-test/tests/quaternion/quaternion_set_values.c

@@ -6,7 +6,7 @@
 
 // ==================== FP32 ==================== //
 
-int test_bgc_quaternion_set_values_fp32()
+int test_quaternion_set_values_fp32()
 {
     BgcQuaternionFP32 vector;
 
@@ -40,7 +40,7 @@ int test_bgc_quaternion_set_values_fp32()
 
 // ==================== FP64 ==================== //
 
-int test_bgc_quaternion_set_values_fp64()
+int test_quaternion_set_values_fp64()
 {
     BgcQuaternionFP64 vector;
 
@@ -72,13 +72,13 @@ int test_bgc_quaternion_set_values_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_quaternion_set_values()
+int test_quaternion_set_values()
 {
-    if (test_bgc_quaternion_set_values_fp32() != TEST_SUCCES) {
+    if (test_quaternion_set_values_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_quaternion_set_values_fp64() != TEST_SUCCES) {
+    if (test_quaternion_set_values_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/quaternion/quaternion_set_values.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_QUATERNION_SET_VALUES_H_
 #define _TEST_QUATERNION_SET_VALUES_H_
 
-int test_bgc_quaternion_set_values_fp32();
+int test_quaternion_set_values_fp32();
 
-int test_bgc_quaternion_set_values_fp64();
+int test_quaternion_set_values_fp64();
 
-int test_bgc_quaternion_set_values();
+int test_quaternion_set_values();
 
 #endif

basic-geometry-test/tests/quaternion/quaternion_swap.c

@@ -22,7 +22,7 @@ static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST2[] = {
     { 1000.0f, -0.00025f, -0.419f, 0.844f }
 };
 
-int test_bgc_quaternion_swap_fp32()
+int test_quaternion_swap_fp32()
 {
     BgcQuaternionFP32 quaternion1, quaternion2;
 
@@ -70,7 +70,7 @@ static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST2[] = {
     { 1000.0, -0.00025, -0.419, 0.844 }
 };
 
-int test_bgc_quaternion_swap_fp64()
+int test_quaternion_swap_fp64()
 {
     BgcQuaternionFP64 quaternion1, quaternion2;
 
@@ -100,13 +100,13 @@ int test_bgc_quaternion_swap_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_quaternion_swap()
+int test_quaternion_swap()
 {
-    if (test_bgc_quaternion_swap_fp32() != TEST_SUCCES) {
+    if (test_quaternion_swap_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_quaternion_swap_fp64() != TEST_SUCCES) {
+    if (test_quaternion_swap_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/quaternion/quaternion_swap.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_QUATERNION_SWAP_H_
 #define _TEST_QUATERNION_SWAP_H_
 
-int test_bgc_quaternion_swap_fp32();
+int test_quaternion_swap_fp32();
 
-int test_bgc_quaternion_swap_fp64();
+int test_quaternion_swap_fp64();
 
-int test_bgc_quaternion_swap();
+int test_quaternion_swap();
 
 #endif

basic-geometry-test/tests/utilities.c

@@ -6,15 +6,15 @@ int test_utilities()
 {
     print_testing_section("BGC Utilities");
 
-    if (test_bgc_is_zero() != TEST_SUCCES) {
+    if (test_is_zero() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_is_unit() != TEST_SUCCES) {
+    if (test_is_unit() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_are_close() != TEST_SUCCES) {
+    if (test_are_close() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/utilities/are_close.c

@@ -61,7 +61,7 @@ static const _TestNumberPairFP32 _TEST_FP32_DATA_DIFFERENT[] = {
     {-100.0f, -100.0f * (1.0f - 1.25f * BGC_EPSYLON_FP32)}
 };
 
-int test_bgc_are_close_fp32()
+int test_are_close_fp32()
 {
     print_testing_name("bgc_are_close_fp32");
 
@@ -137,7 +137,7 @@ static const _TestNumberPairFP64 _TEST_FP64_DATA_DIFFERENT[] = {
     {-100.0, -100.0 * (1.0 - 1.25 * BGC_EPSYLON_FP64)}
 };
 
-int test_bgc_are_close_fp64()
+int test_are_close_fp64()
 {
     print_testing_name("bgc_are_close_fp64");
 
@@ -162,13 +162,13 @@ int test_bgc_are_close_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_are_close()
+int test_are_close()
 {
-    if (test_bgc_are_close_fp32() != TEST_SUCCES) {
+    if (test_are_close_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_are_close_fp64() != TEST_SUCCES) {
+    if (test_are_close_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/utilities/are_close.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_UTILITIES_ARE_CLOSE_H_
 #define _TEST_UTILITIES_ARE_CLOSE_H_
 
-int test_bgc_are_close_fp32();
+int test_are_close_fp32();
 
-int test_bgc_are_close_fp64();
+int test_are_close_fp64();
 
-int test_bgc_are_close();
+int test_are_close();
 
 #endif

basic-geometry-test/tests/utilities/is_unit.c

@@ -20,7 +20,7 @@ static const float _TEST_FP32_NONUNIT_NUMBERS[] = {
     1.0f - 2.0f * BGC_EPSYLON_FP32
 };
 
-int test_bgc_is_unit_fp32()
+int test_is_unit_fp32()
 {
     print_testing_name("bgc_is_unit_fp32");
 
@@ -63,7 +63,7 @@ static const double _TEST_FP64_NONUNIT_NUMBERS[] = {
     1.0 - 2.0 * BGC_EPSYLON_FP64
 };
 
-int test_bgc_is_unit_fp64()
+int test_is_unit_fp64()
 {
     print_testing_name("bgc_is_unit_fp64");
 
@@ -108,7 +108,7 @@ static const float _TEST_FP32_DATA_SQUARE_NONUNIT[] = {
     1.0f - 2.5f * BGC_EPSYLON_FP32
 };
 
-int test_bgc_is_sqare_value_unit_fp32()
+int test_is_sqare_value_unit_fp32()
 {
     print_testing_name("bgc_is_sqare_value_unit_fp32");
 
@@ -153,7 +153,7 @@ static const double _TEST_FP64_DATA_SQUARE_NONUNIT[] = {
     1.0 - 2.5 * BGC_EPSYLON_FP64
 };
 
-int test_bgc_is_sqare_value_unit_fp64()
+int test_is_sqare_value_unit_fp64()
 {
     print_testing_name("bgc_is_sqare_value_unit_fp64");
 
@@ -178,21 +178,21 @@ int test_bgc_is_sqare_value_unit_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_is_unit()
+int test_is_unit()
 {
-    if (test_bgc_is_unit_fp32() != TEST_SUCCES) {
+    if (test_is_unit_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_is_unit_fp64() != TEST_SUCCES) {
+    if (test_is_unit_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_is_sqare_value_unit_fp32() != TEST_SUCCES) {
+    if (test_is_sqare_value_unit_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_is_sqare_value_unit_fp64() != TEST_SUCCES) {
+    if (test_is_sqare_value_unit_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/utilities/is_unit.h

@@ -1,14 +1,14 @@
 #ifndef _TEST_UTILITIES_IS_UNIT_H_
 #define _TEST_UTILITIES_IS_UNIT_H_
 
-int test_bgc_is_unit_fp32();
+int test_is_unit_fp32();
 
-int test_bgc_is_unit_fp64();
+int test_is_unit_fp64();
 
-int test_bgc_is_sqare_value_unit_fp32();
+int test_is_sqare_value_unit_fp32();
 
-int test_bgc_is_sqare_value_unit_fp64();
+int test_is_sqare_value_unit_fp64();
 
-int test_bgc_is_unit();
+int test_is_unit();
 
 #endif

basic-geometry-test/tests/utilities/is_zero.c

@@ -22,7 +22,7 @@ static const float _TEST_FP32_NONZERO_NUMBERS[] = {
     -(1.5f * BGC_EPSYLON_FP32)
 };
 
-int test_bgc_is_zero_fp32()
+int test_is_zero_fp32()
 {
     print_testing_name("bgc_is_zero_fp32");
 
@@ -67,7 +67,7 @@ static const double _TEST_FP64_NONZERO_NUMBERS[] = {
     -(1.5 * BGC_EPSYLON_FP64)
 };
 
-int test_bgc_is_zero_fp64()
+int test_is_zero_fp64()
 {
     print_testing_name("bgc_is_zero_fp64");
 
@@ -92,13 +92,13 @@ int test_bgc_is_zero_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_is_zero()
+int test_is_zero()
 {
-    if (test_bgc_is_zero_fp32() != TEST_SUCCES) {
+    if (test_is_zero_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_is_zero_fp64() != TEST_SUCCES) {
+    if (test_is_zero_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/utilities/is_zero.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_UTILITIES_IS_ZERO_H_
 #define _TEST_UTILITIES_IS_ZERO_H_
 
-int test_bgc_is_zero_fp32();
+int test_is_zero_fp32();
 
-int test_bgc_is_zero_fp64();
+int test_is_zero_fp64();
 
-int test_bgc_is_zero();
+int test_is_zero();
 
 #endif

basic-geometry-test/tests/vector2.c

@@ -4,23 +4,27 @@ int test_vector2()
 {
     print_testing_section("BGC Vector2");
 
-    if (test_bgc_vector2_reset() != TEST_SUCCES) {
+    if (test_vector2_reset() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector2_set_values() != TEST_SUCCES) {
+    if (test_vector2_set_values() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector2_copy() != TEST_SUCCES) {
+    if (test_vector2_copy() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector2_swap() != TEST_SUCCES) {
+    if (test_vector2_swap() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector2_is_zero() != TEST_SUCCES) {
+    if (test_vector2_is_zero() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_vector2_is_unit() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector2.h

@@ -7,6 +7,7 @@
 #include "./vector2/vector2_copy.h"
 #include "./vector2/vector2_swap.h"
 #include "./vector2/vector2_is_zero.h"
+#include "./vector2/vector2_is_unit.h"
 
 /*
 int test_fp32_vector2();

basic-geometry-test/tests/vector2/vector2_copy.c

@@ -14,7 +14,7 @@ static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST[] = {
     { -100.0f, 100.0f }
 };
 
-int test_bgc_vector2_copy_fp32()
+int test_vector2_copy_fp32()
 {
     BgcVector2FP32 vector;
 
@@ -45,7 +45,7 @@ static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST[] = {
     { -100.0, 100.0 }
 };
 
-int test_bgc_vector2_copy_fp64()
+int test_vector2_copy_fp64()
 {
     BgcVector2FP64 vector;
 
@@ -66,13 +66,13 @@ int test_bgc_vector2_copy_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector2_copy()
+int test_vector2_copy()
 {
-    if (test_bgc_vector2_copy_fp32() != TEST_SUCCES) {
+    if (test_vector2_copy_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector2_copy_fp64() != TEST_SUCCES) {
+    if (test_vector2_copy_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector2/vector2_copy.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VECTOR2_COPY_H_
 #define _TEST_VECTOR2_COPY_H_
 
-int test_bgc_vector2_copy_fp32();
+int test_vector2_copy_fp32();
 
-int test_bgc_vector2_copy_fp64();
+int test_vector2_copy_fp64();
 
-int test_bgc_vector2_copy();
+int test_vector2_copy();
 
 #endif

basic-geometry-test/tests/vector2/vector2_is_unit.c

@@ -0,0 +1,114 @@
+#include "./vector2_is_unit.h"
+
+#include "./../../helpers.h"
+
+// ==================== FP32 ==================== //
+
+static const int _TEST_FP32_UNIT_VECTOR2_AMOUNT = 6;
+static const int _TEST_FP32_NONUNIT_VECTOR2_AMOUNT = 7;
+
+static const BgcVector2FP32 _TEST_FP32_UNIT_VECTOR2_LIST[] = {
+    { 1.0f, 0.0f },
+    { 0.0f, -1.0f },
+    { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 }
+};
+
+static const BgcVector2FP32 _TEST_FP32_NONUNIT_VECTOR2_LIST[] = {
+    { 0.0f, 0.0f },
+    { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 },
+    { 0.8f + 1.25f * BGC_EPSYLON_FP32, 0.6f + 1.25f * BGC_EPSYLON_FP32 },
+    { 0.6f - 1.25f * BGC_EPSYLON_FP32, 0.8f - 1.25f * BGC_EPSYLON_FP32 }
+};
+
+int test_vector2_is_unit_fp32()
+{
+    print_testing_name("bgc_vector2_is_unit_fp32");
+
+    // Testing zero values:
+    for (int i = 0; i < _TEST_FP32_UNIT_VECTOR2_AMOUNT; i++) {
+        if (!bgc_vector2_is_unit_fp32(&_TEST_FP32_UNIT_VECTOR2_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    // Testing non-zero values:
+    for (int i = 0; i < _TEST_FP32_NONUNIT_VECTOR2_AMOUNT; i++) {
+        if (bgc_vector2_is_unit_fp32(&_TEST_FP32_NONUNIT_VECTOR2_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+// ==================== FP64 ==================== //
+
+static const int _TEST_FP64_UNIT_VECTOR2_AMOUNT = 6;
+static const int _TEST_FP64_NONUNIT_VECTOR2_AMOUNT = 7;
+
+static const BgcVector2FP64 _TEST_FP64_UNIT_VECTOR2_LIST[] = {
+    { -1.0, 0.0 },
+    { 0.0, 1.0 },
+    { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 }
+};
+
+static const BgcVector2FP64 _TEST_FP64_NONUNIT_VECTOR2_LIST[] = {
+    { 0.0, 0.0 },
+    { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 },
+    { 0.6 + 1.25 * BGC_EPSYLON_FP64, 0.8 + 1.25 * BGC_EPSYLON_FP64 },
+    { 0.8 - 1.25 * BGC_EPSYLON_FP64, 0.6 - 1.25 * BGC_EPSYLON_FP64 }
+};
+
+int test_vector2_is_unit_fp64()
+{
+    print_testing_name("bgc_vector2_is_unit_fp64");
+
+    // Testing zero values:
+    for (int i = 0; i < _TEST_FP64_UNIT_VECTOR2_AMOUNT; i++) {
+        if (!bgc_vector2_is_unit_fp64(&_TEST_FP64_UNIT_VECTOR2_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    // Testing non-zero values:
+    for (int i = 0; i < _TEST_FP64_NONUNIT_VECTOR2_AMOUNT; i++) {
+        if (bgc_vector2_is_unit_fp64(&_TEST_FP64_NONUNIT_VECTOR2_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_vector2_is_unit()
+{
+    if (test_vector2_is_unit_fp32() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_vector2_is_unit_fp64() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/vector2/vector2_is_unit.h

@@ -0,0 +1,10 @@
+#ifndef _TEST_VECTOR2_IS_UNIT_H_
+#define _TEST_VECTOR2_IS_UNIT_H_
+
+int test_vector2_is_unit_fp32();
+
+int test_vector2_is_unit_fp64();
+
+int test_vector2_is_unit();
+
+#endif

basic-geometry-test/tests/vector2/vector2_is_zero.c

@@ -4,42 +4,42 @@
 
 // ==================== FP32 ==================== //
 
-static const int _TEST_FP32_ZERO_QUATERNION_AMOUNT = 5;
-static const int _TEST_FP32_NONZERO_QUATERNION_AMOUNT = 7;
+static const int _TEST_FP32_ZERO_VECTOR2_AMOUNT = 5;
+static const int _TEST_FP32_NONZERO_VECTOR2_AMOUNT = 7;
 
-static const BgcVector2FP32 _TEST_FP32_ZERO_QUATERNION_LIST[] = {
+static const BgcVector2FP32 _TEST_FP32_ZERO_VECTOR2_LIST[] = {
     { 0.0f, 0.0f },
-    { BGC_EPSYLON_FP32, 0.0f },
-    { -BGC_EPSYLON_FP32, 0.0f },
-    { 0.0f, BGC_EPSYLON_FP32 },
-    { 0.0f, -BGC_EPSYLON_FP32 }
+    { 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { -0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, -0.75f * BGC_EPSYLON_FP32 }
 };
 
-static const BgcVector2FP32 _TEST_FP32_NONZERO_NUMBERS[] = {
+static const BgcVector2FP32 _TEST_FP32_NONZERO_VECTOR2_LIST[] = {
     { 0.0f, 1.0f },
-    { 1.5f * BGC_EPSYLON_FP32, 0.0f },
-    { -1.5f * BGC_EPSYLON_FP32, 0.0f },
-    { 0.0f, 1.5f * BGC_EPSYLON_FP32 },
-    { 0.0f, -1.5f * BGC_EPSYLON_FP32 },
+    { 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { -1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, -1.25f * BGC_EPSYLON_FP32 },
     { BGC_EPSYLON_FP32, BGC_EPSYLON_FP32 },
     { -BGC_EPSYLON_FP32, -BGC_EPSYLON_FP32 }
 };
 
-int test_bgc_vector2_is_zero_fp32()
+int test_vector2_is_zero_fp32()
 {
     print_testing_name("bgc_vector2_is_zero_fp32");
 
     // Testing zero values:
-    for (int i = 0; i < _TEST_FP32_ZERO_QUATERNION_AMOUNT; i++) {
-        if (!bgc_vector2_is_zero_fp32(&_TEST_FP32_ZERO_QUATERNION_LIST[i])) {
+    for (int i = 0; i < _TEST_FP32_ZERO_VECTOR2_AMOUNT; i++) {
+        if (!bgc_vector2_is_zero_fp32(&_TEST_FP32_ZERO_VECTOR2_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
     }
 
     // Testing non-zero values:
-    for (int i = 0; i < _TEST_FP32_NONZERO_QUATERNION_AMOUNT; i++) {
-        if (bgc_vector2_is_zero_fp32(&_TEST_FP32_NONZERO_NUMBERS[i])) {
+    for (int i = 0; i < _TEST_FP32_NONZERO_VECTOR2_AMOUNT; i++) {
+        if (bgc_vector2_is_zero_fp32(&_TEST_FP32_NONZERO_VECTOR2_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
@@ -52,42 +52,42 @@ int test_bgc_vector2_is_zero_fp32()
 
 // ==================== FP64 ==================== //
 
-static const int _TEST_FP64_ZERO_QUATERNION_AMOUNT = 5;
-static const int _TEST_FP64_NONZERO_QUATERNION_AMOUNT = 7;
+static const int _TEST_FP64_ZERO_VECTOR2_AMOUNT = 5;
+static const int _TEST_FP64_NONZERO_VECTOR2_AMOUNT = 7;
 
-static const BgcVector2FP64 _TEST_FP64_ZERO_QUATERNION_LIST[] = {
+static const BgcVector2FP64 _TEST_FP64_ZERO_VECTOR2_LIST[] = {
     { 0.0, 0.0 },
-    { BGC_EPSYLON_FP64, 0.0 },
-    { -BGC_EPSYLON_FP64, 0.0 },
-    { 0.0, BGC_EPSYLON_FP64 },
-    { 0.0, -BGC_EPSYLON_FP64 }
+    { 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { -0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, -0.75 * BGC_EPSYLON_FP64 }
 };
 
-static const BgcVector2FP64 _TEST_FP64_NONZERO_NUMBERS[] = {
+static const BgcVector2FP64 _TEST_FP64_NONZERO_VECTOR2_LIST[] = {
     { 0.0, 1.0 },
-    { 1.5 * BGC_EPSYLON_FP64, 0.0 },
-    { -1.5 * BGC_EPSYLON_FP64, 0.0 },
-    { 0.0, 1.5 * BGC_EPSYLON_FP64 },
-    { 0.0, -1.5 * BGC_EPSYLON_FP64 },
-    { BGC_EPSYLON_FP64, BGC_EPSYLON_FP64 },
-    { -BGC_EPSYLON_FP64, -BGC_EPSYLON_FP64 }
+    { 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { -1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, -1.25 * BGC_EPSYLON_FP64 },
+    { 1.25 * BGC_EPSYLON_FP64, 1.25 * BGC_EPSYLON_FP64 },
+    { -1.25 * BGC_EPSYLON_FP64, -1.25 * BGC_EPSYLON_FP64 }
 };
 
-int test_bgc_vector2_is_zero_fp64()
+int test_vector2_is_zero_fp64()
 {
     print_testing_name("bgc_vector2_is_zero_fp64");
 
     // Testing zero values:
-    for (int i = 0; i < _TEST_FP64_ZERO_QUATERNION_AMOUNT; i++) {
-        if (!bgc_vector2_is_zero_fp64(&_TEST_FP64_ZERO_QUATERNION_LIST[i])) {
+    for (int i = 0; i < _TEST_FP64_ZERO_VECTOR2_AMOUNT; i++) {
+        if (!bgc_vector2_is_zero_fp64(&_TEST_FP64_ZERO_VECTOR2_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
     }
 
     // Testing non-zero values:
-    for (int i = 0; i < _TEST_FP64_NONZERO_QUATERNION_AMOUNT; i++) {
-        if (bgc_vector2_is_zero_fp64(&_TEST_FP64_NONZERO_NUMBERS[i])) {
+    for (int i = 0; i < _TEST_FP64_NONZERO_VECTOR2_AMOUNT; i++) {
+        if (bgc_vector2_is_zero_fp64(&_TEST_FP64_NONZERO_VECTOR2_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
@@ -98,13 +98,13 @@ int test_bgc_vector2_is_zero_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector2_is_zero()
+int test_vector2_is_zero()
 {
-    if (test_bgc_vector2_is_zero_fp32() != TEST_SUCCES) {
+    if (test_vector2_is_zero_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector2_is_zero_fp64() != TEST_SUCCES) {
+    if (test_vector2_is_zero_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector2/vector2_is_zero.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VECTOR2_IS_ZERO_H_
 #define _TEST_VECTOR2_IS_ZERO_H_
 
-int test_bgc_vector2_is_zero_fp32();
+int test_vector2_is_zero_fp32();
 
-int test_bgc_vector2_is_zero_fp64();
+int test_vector2_is_zero_fp64();
 
-int test_bgc_vector2_is_zero();
+int test_vector2_is_zero();
 
 #endif

basic-geometry-test/tests/vector2/vector2_reset.c

@@ -2,7 +2,7 @@
 
 #include "./../../helpers.h"
 
-int test_bgc_vector2_reset_fp32()
+int test_vector2_reset_fp32()
 {
     BgcVector2FP32 vector;
 
@@ -20,7 +20,7 @@ int test_bgc_vector2_reset_fp32()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector2_reset_fp64()
+int test_vector2_reset_fp64()
 {
     BgcVector2FP64 vector;
 
@@ -38,13 +38,13 @@ int test_bgc_vector2_reset_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector2_reset()
+int test_vector2_reset()
 {
-    if (test_bgc_vector2_reset_fp32() != TEST_SUCCES) {
+    if (test_vector2_reset_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector2_reset_fp64() != TEST_SUCCES) {
+    if (test_vector2_reset_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector2/vector2_reset.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VECTOR2_RESET_H_
 #define _TEST_VECTOR2_RESET_H_
 
-int test_bgc_vector2_reset_fp32();
+int test_vector2_reset_fp32();
 
-int test_bgc_vector2_reset_fp64();
+int test_vector2_reset_fp64();
 
-int test_bgc_vector2_reset();
+int test_vector2_reset();
 
 #endif

basic-geometry-test/tests/vector2/vector2_set_values.c

@@ -6,7 +6,7 @@
 
 // ==================== FP32 ==================== //
 
-int test_bgc_vector2_set_values_fp32()
+int test_vector2_set_values_fp32()
 {
     BgcVector2FP32 vector;
 
@@ -40,7 +40,7 @@ int test_bgc_vector2_set_values_fp32()
 
 // ==================== FP64 ==================== //
 
-int test_bgc_vector2_set_values_fp64()
+int test_vector2_set_values_fp64()
 {
     BgcVector2FP64 vector;
 
@@ -73,13 +73,13 @@ int test_bgc_vector2_set_values_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector2_set_values()
+int test_vector2_set_values()
 {
-    if (test_bgc_vector2_set_values_fp32() != TEST_SUCCES) {
+    if (test_vector2_set_values_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector2_set_values_fp64() != TEST_SUCCES) {
+    if (test_vector2_set_values_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector2/vector2_set_values.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VECTOR2_SET_VALUES_H_
 #define _TEST_VECTOR2_SET_VALUES_H_
 
-int test_bgc_vector2_set_values_fp32();
+int test_vector2_set_values_fp32();
 
-int test_bgc_vector2_set_values_fp64();
+int test_vector2_set_values_fp64();
 
-int test_bgc_vector2_set_values();
+int test_vector2_set_values();
 
 #endif

basic-geometry-test/tests/vector2/vector2_swap.c

@@ -22,7 +22,7 @@ static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST2[] = {
     { 1000.0f, -0.00025f }
 };
 
-int test_bgc_vector2_swap_fp32()
+int test_vector2_swap_fp32()
 {
     BgcVector2FP32 vector1, vector2;
 
@@ -66,7 +66,7 @@ static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST2[] = {
     { 1000.0, -0.00025 }
 };
 
-int test_bgc_vector2_swap_fp64()
+int test_vector2_swap_fp64()
 {
     BgcVector2FP64 vector1, vector2;
 
@@ -92,13 +92,13 @@ int test_bgc_vector2_swap_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector2_swap()
+int test_vector2_swap()
 {
-    if (test_bgc_vector2_swap_fp32() != TEST_SUCCES) {
+    if (test_vector2_swap_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector2_swap_fp64() != TEST_SUCCES) {
+    if (test_vector2_swap_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector2/vector2_swap.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VECTOR2_SWAP_H_
 #define _TEST_VECTOR2_SWAP_H_
 
-int test_bgc_vector2_swap_fp32();
+int test_vector2_swap_fp32();
 
-int test_bgc_vector2_swap_fp64();
+int test_vector2_swap_fp64();
 
-int test_bgc_vector2_swap();
+int test_vector2_swap();
 
 #endif

basic-geometry-test/tests/vector3.c

@@ -4,23 +4,27 @@ int test_vector3()
 {
     print_testing_section("BGC Vector3");
 
-    if (test_bgc_vector3_reset() != TEST_SUCCES) {
+    if (test_vector3_reset() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector3_set_values() != TEST_SUCCES) {
+    if (test_vector3_set_values() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector3_copy() != TEST_SUCCES) {
+    if (test_vector3_copy() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector3_swap() != TEST_SUCCES) {
+    if (test_vector3_swap() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector3_is_zero() != TEST_SUCCES) {
+    if (test_vector3_is_zero() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_vector3_is_unit() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector3.h

@@ -7,6 +7,7 @@
 #include "./vector3/vector3_copy.h"
 #include "./vector3/vector3_swap.h"
 #include "./vector3/vector3_is_zero.h"
+#include "./vector3/vector3_is_unit.h"
 
 int test_vector3();
 

basic-geometry-test/tests/vector3/vector3_copy.c

@@ -14,7 +14,7 @@ static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST[] = {
     { -100.0f, 100.0f, -0.001f }
 };
 
-int test_bgc_vector3_copy_fp32()
+int test_vector3_copy_fp32()
 {
     BgcVector3FP32 vector;
 
@@ -47,7 +47,7 @@ static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST[] = {
     { -100.0, 100.0, -0.001 }
 };
 
-int test_bgc_vector3_copy_fp64()
+int test_vector3_copy_fp64()
 {
     BgcVector3FP64 vector;
 
@@ -70,13 +70,13 @@ int test_bgc_vector3_copy_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector3_copy()
+int test_vector3_copy()
 {
-    if (test_bgc_vector3_copy_fp32() != TEST_SUCCES) {
+    if (test_vector3_copy_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector3_copy_fp64() != TEST_SUCCES) {
+    if (test_vector3_copy_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector3/vector3_copy.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VECTOR3_COPY_H_
 #define _TEST_VECTOR3_COPY_H_
 
-int test_bgc_vector3_copy_fp32();
+int test_vector3_copy_fp32();
 
-int test_bgc_vector3_copy_fp64();
+int test_vector3_copy_fp64();
 
-int test_bgc_vector3_copy();
+int test_vector3_copy();
 
 #endif

basic-geometry-test/tests/vector3/vector3_is_unit.c

@@ -0,0 +1,126 @@
+#include "./vector3_is_unit.h"
+
+#include "./../../helpers.h"
+
+// ==================== FP32 ==================== //
+
+static const int _TEST_FP32_UNIT_VECTOR3_AMOUNT = 10;
+static const int _TEST_FP32_NONUNIT_VECTOR3_AMOUNT = 9;
+
+static const BgcVector3FP32 _TEST_FP32_UNIT_VECTOR3_LIST[] = {
+    { 1.0f, 0.0f, 0.0f },
+    { 0.0f, -1.0f, 0.0f },
+    { 0.0f, -0.8f, 0.6f },
+    { -0.6f, 0.0f, 0.8f },
+    { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, -1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, -1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 }
+};
+
+static const BgcVector3FP32 _TEST_FP32_NONUNIT_VECTOR3_LIST[] = {
+    { 0.0f, 0.0f, 0.0f },
+    { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 },
+    { 0.8f + 1.25f * BGC_EPSYLON_FP32, -0.6f - 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.6f - 1.25f * BGC_EPSYLON_FP32, -0.8f + 1.25f * BGC_EPSYLON_FP32, 0.0f }
+};
+
+int test_vector3_is_unit_fp32()
+{
+    print_testing_name("bgc_vector3_is_unit_fp32");
+
+    // Testing zero values:
+    for (int i = 0; i < _TEST_FP32_UNIT_VECTOR3_AMOUNT; i++) {
+        if (!bgc_vector3_is_unit_fp32(&_TEST_FP32_UNIT_VECTOR3_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    // Testing non-zero values:
+    for (int i = 0; i < _TEST_FP32_NONUNIT_VECTOR3_AMOUNT; i++) {
+        if (bgc_vector3_is_unit_fp32(&_TEST_FP32_NONUNIT_VECTOR3_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+// ==================== FP64 ==================== //
+
+static const int _TEST_FP64_UNIT_VECTOR3_AMOUNT = 10;
+static const int _TEST_FP64_NONUNIT_VECTOR3_AMOUNT = 9;
+
+static const BgcVector3FP64 _TEST_FP64_UNIT_VECTOR3_LIST[] = {
+    { 1.0, 0.0, 0.0 },
+    { 0.0, -1.0, 0.0 },
+    { 0.0, -0.8, 0.6 },
+    { -0.6, 0.0, 0.8 },
+    { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, -1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, -1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 }
+};
+
+static const BgcVector3FP64 _TEST_FP64_NONUNIT_VECTOR3_LIST[] = {
+    { 0.0, 0.0, 0.0 },
+    { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 },
+    { 0.8 + 1.25 * BGC_EPSYLON_FP64, -0.6 - 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.6 - 1.25 * BGC_EPSYLON_FP64, -0.8 + 1.25 * BGC_EPSYLON_FP64, 0.0 }
+};
+
+int test_vector3_is_unit_fp64()
+{
+    print_testing_name("bgc_vector3_is_unit_fp64");
+
+    // Testing zero values:
+    for (int i = 0; i < _TEST_FP64_UNIT_VECTOR3_AMOUNT; i++) {
+        if (!bgc_vector3_is_unit_fp64(&_TEST_FP64_UNIT_VECTOR3_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    // Testing non-zero values:
+    for (int i = 0; i < _TEST_FP64_NONUNIT_VECTOR3_AMOUNT; i++) {
+        if (bgc_vector3_is_unit_fp64(&_TEST_FP64_NONUNIT_VECTOR3_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_vector3_is_unit()
+{
+    if (test_vector3_is_unit_fp32() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_vector3_is_unit_fp64() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/vector3/vector3_is_unit.h

@@ -0,0 +1,10 @@
+#ifndef _TEST_VECTOR3_IS_UNIT_H_
+#define _TEST_VECTOR3_IS_UNIT_H_
+
+int test_vector3_is_unit_fp32();
+
+int test_vector3_is_unit_fp64();
+
+int test_vector3_is_unit();
+
+#endif

basic-geometry-test/tests/vector3/vector3_is_zero.c

@@ -4,46 +4,46 @@
 
 // ==================== FP32 ==================== //
 
-static const int _TEST_FP32_ZERO_QUATERNION_AMOUNT = 7;
-static const int _TEST_FP32_NONZERO_QUATERNION_AMOUNT = 9;
+static const int _TEST_FP32_ZERO_VECTOR3_AMOUNT = 7;
+static const int _TEST_FP32_NONZERO_VECTOR3_AMOUNT = 9;
 
-static const BgcVector3FP32 _TEST_FP32_ZERO_QUATERNION_LIST[] = {
+static const BgcVector3FP32 _TEST_FP32_ZERO_VECTOR3_LIST[] = {
     { 0.0f, 0.0f, 0.0f },
-    { BGC_EPSYLON_FP32, 0.0f, 0.0f },
-    { -BGC_EPSYLON_FP32, 0.0f, 0.0f },
-    { 0.0f, BGC_EPSYLON_FP32, 0.0f },
-    { 0.0f, -BGC_EPSYLON_FP32, 0.0f },
-    { 0.0f, 0.0f, BGC_EPSYLON_FP32 },
-    { 0.0f, 0.0f, -BGC_EPSYLON_FP32 }
+    { 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { -0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32 }
 };
 
-static const BgcVector3FP32 _TEST_FP32_NONZERO_NUMBERS[] = {
+static const BgcVector3FP32 _TEST_FP32_NONZERO_VECTOR3_LIST[] = {
     { 0.0f, 1.0f, 0.0f },
-    { 1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
-    { -1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
-    { 0.0f, 1.5f * BGC_EPSYLON_FP32, 0.0f },
-    { 0.0f, -1.5f * BGC_EPSYLON_FP32, 0.0f },
-    { 0.0f, 0.0f, 1.5f * BGC_EPSYLON_FP32 },
-    { 0.0f, 0.0f, -1.5f * BGC_EPSYLON_FP32 },
-    { BGC_EPSYLON_FP32, BGC_EPSYLON_FP32, 0.0f },
-    { -BGC_EPSYLON_FP32, -BGC_EPSYLON_FP32, 0.0f }
+    { 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, -1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, -1.25f * BGC_EPSYLON_FP32 },
+    { 1.25f * BGC_EPSYLON_FP32, 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { -1.25f * BGC_EPSYLON_FP32, -1.25f * BGC_EPSYLON_FP32, 0.0f }
 };
 
-int test_bgc_vector3_is_zero_fp32()
+int test_vector3_is_zero_fp32()
 {
     print_testing_name("bgc_vector3_is_zero_fp32");
 
     // Testing zero values:
-    for (int i = 0; i < _TEST_FP32_ZERO_QUATERNION_AMOUNT; i++) {
-        if (!bgc_vector3_is_zero_fp32(&_TEST_FP32_ZERO_QUATERNION_LIST[i])) {
+    for (int i = 0; i < _TEST_FP32_ZERO_VECTOR3_AMOUNT; i++) {
+        if (!bgc_vector3_is_zero_fp32(&_TEST_FP32_ZERO_VECTOR3_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
     }
 
     // Testing non-zero values:
-    for (int i = 0; i < _TEST_FP32_NONZERO_QUATERNION_AMOUNT; i++) {
-        if (bgc_vector3_is_zero_fp32(&_TEST_FP32_NONZERO_NUMBERS[i])) {
+    for (int i = 0; i < _TEST_FP32_NONZERO_VECTOR3_AMOUNT; i++) {
+        if (bgc_vector3_is_zero_fp32(&_TEST_FP32_NONZERO_VECTOR3_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
@@ -56,46 +56,46 @@ int test_bgc_vector3_is_zero_fp32()
 
 // ==================== FP64 ==================== //
 
-static const int _TEST_FP64_ZERO_QUATERNION_AMOUNT = 7;
-static const int _TEST_FP64_NONZERO_QUATERNION_AMOUNT = 9;
+static const int _TEST_FP64_ZERO_VECTOR3_AMOUNT = 7;
+static const int _TEST_FP64_NONZERO_VECTOR3_AMOUNT = 9;
 
-static const BgcVector3FP64 _TEST_FP64_ZERO_QUATERNION_LIST[] = {
+static const BgcVector3FP64 _TEST_FP64_ZERO_VECTOR3_LIST[] = {
     { 0.0, 0.0, 0.0 },
-    { BGC_EPSYLON_FP64, 0.0, 0.0 },
-    { -BGC_EPSYLON_FP64, 0.0, 0.0 },
-    { 0.0, BGC_EPSYLON_FP64, 0.0 },
-    { 0.0, -BGC_EPSYLON_FP64, 0.0 },
-    { 0.0, 0.0, BGC_EPSYLON_FP64 },
-    { 0.0, 0.0, -BGC_EPSYLON_FP64 }
+    { 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { -0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, -0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, -0.75 * BGC_EPSYLON_FP64 }
 };
 
-static const BgcVector3FP64 _TEST_FP64_NONZERO_NUMBERS[] = {
+static const BgcVector3FP64 _TEST_FP64_NONZERO_VECTOR3_LIST[] = {
     { 0.0, 1.0, 0.0 },
-    { 1.5 * BGC_EPSYLON_FP64, 0.0, 0.0 },
-    { -1.5 * BGC_EPSYLON_FP64, 0.0, 0.0 },
-    { 0.0, 1.5 * BGC_EPSYLON_FP64, 0.0 },
-    { 0.0, -1.5 * BGC_EPSYLON_FP64, 0.0 },
-    { 0.0, 0.0, 1.5 * BGC_EPSYLON_FP64 },
-    { 0.0, 0.0, -1.5 * BGC_EPSYLON_FP64 },
-    { BGC_EPSYLON_FP64, BGC_EPSYLON_FP64, 0.0 },
+    { 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { -1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, -1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, -1.25 * BGC_EPSYLON_FP64 },
+    { 1.25 * BGC_EPSYLON_FP64, 1.25 * BGC_EPSYLON_FP64, 0.0 },
     { -BGC_EPSYLON_FP64, -BGC_EPSYLON_FP64, 0.0 }
 };
 
-int test_bgc_vector3_is_zero_fp64()
+int test_vector3_is_zero_fp64()
 {
     print_testing_name("bgc_vector3_is_zero_fp64");
 
     // Testing zero values:
-    for (int i = 0; i < _TEST_FP64_ZERO_QUATERNION_AMOUNT; i++) {
-        if (!bgc_vector3_is_zero_fp64(&_TEST_FP64_ZERO_QUATERNION_LIST[i])) {
+    for (int i = 0; i < _TEST_FP64_ZERO_VECTOR3_AMOUNT; i++) {
+        if (!bgc_vector3_is_zero_fp64(&_TEST_FP64_ZERO_VECTOR3_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
     }
 
     // Testing non-zero values:
-    for (int i = 0; i < _TEST_FP64_NONZERO_QUATERNION_AMOUNT; i++) {
-        if (bgc_vector3_is_zero_fp64(&_TEST_FP64_NONZERO_NUMBERS[i])) {
+    for (int i = 0; i < _TEST_FP64_NONZERO_VECTOR3_AMOUNT; i++) {
+        if (bgc_vector3_is_zero_fp64(&_TEST_FP64_NONZERO_VECTOR3_LIST[i])) {
             print_testing_failed();
             return TEST_FAILED;
         }
@@ -106,13 +106,13 @@ int test_bgc_vector3_is_zero_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector3_is_zero()
+int test_vector3_is_zero()
 {
-    if (test_bgc_vector3_is_zero_fp32() != TEST_SUCCES) {
+    if (test_vector3_is_zero_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector3_is_zero_fp64() != TEST_SUCCES) {
+    if (test_vector3_is_zero_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector3/vector3_is_zero.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VECTOR3_IS_ZERO_H_
 #define _TEST_VECTOR3_IS_ZERO_H_
 
-int test_bgc_vector3_is_zero_fp32();
+int test_vector3_is_zero_fp32();
 
-int test_bgc_vector3_is_zero_fp64();
+int test_vector3_is_zero_fp64();
 
-int test_bgc_vector3_is_zero();
+int test_vector3_is_zero();
 
 #endif

basic-geometry-test/tests/vector3/vector3_reset.c

@@ -2,7 +2,7 @@
 
 #include "./../../helpers.h"
 
-int test_bgc_vector3_reset_fp32()
+int test_vector3_reset_fp32()
 {
     BgcVector3FP32 vector;
 
@@ -20,7 +20,7 @@ int test_bgc_vector3_reset_fp32()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector3_reset_fp64()
+int test_vector3_reset_fp64()
 {
     BgcVector3FP64 vector;
 
@@ -38,13 +38,13 @@ int test_bgc_vector3_reset_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector3_reset()
+int test_vector3_reset()
 {
-    if (test_bgc_vector3_reset_fp32() != TEST_SUCCES) {
+    if (test_vector3_reset_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector3_reset_fp64() != TEST_SUCCES) {
+    if (test_vector3_reset_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector3/vector3_reset.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VECTOR3_RESET_H_
 #define _TEST_VECTOR3_RESET_H_
 
-int test_bgc_vector3_reset_fp32();
+int test_vector3_reset_fp32();
 
-int test_bgc_vector3_reset_fp64();
+int test_vector3_reset_fp64();
 
-int test_bgc_vector3_reset();
+int test_vector3_reset();
 
 #endif

basic-geometry-test/tests/vector3/vector3_set_values.c

@@ -6,7 +6,7 @@
 
 // ==================== FP32 ==================== //
 
-int test_bgc_vector3_set_values_fp32()
+int test_vector3_set_values_fp32()
 {
     BgcVector3FP32 vector;
 
@@ -40,7 +40,7 @@ int test_bgc_vector3_set_values_fp32()
 
 // ==================== FP64 ==================== //
 
-int test_bgc_vector3_set_values_fp64()
+int test_vector3_set_values_fp64()
 {
     BgcVector3FP64 vector;
 
@@ -73,13 +73,13 @@ int test_bgc_vector3_set_values_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector3_set_values()
+int test_vector3_set_values()
 {
-    if (test_bgc_vector3_set_values_fp32() != TEST_SUCCES) {
+    if (test_vector3_set_values_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector3_set_values_fp64() != TEST_SUCCES) {
+    if (test_vector3_set_values_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector3/vector3_set_values.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VECTOR3_SET_VALUES_H_
 #define _TEST_VECTOR3_SET_VALUES_H_
 
-int test_bgc_vector3_set_values_fp32();
+int test_vector3_set_values_fp32();
 
-int test_bgc_vector3_set_values_fp64();
+int test_vector3_set_values_fp64();
 
-int test_bgc_vector3_set_values();
+int test_vector3_set_values();
 
 #endif

basic-geometry-test/tests/vector3/vector3_swap.c

@@ -22,7 +22,7 @@ static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST2[] = {
     { 1000.0f, -0.00025f, -0.419f }
 };
 
-int test_bgc_vector3_swap_fp32()
+int test_vector3_swap_fp32()
 {
     BgcVector3FP32 vector1, vector2;
 
@@ -68,7 +68,7 @@ static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST2[] = {
     { 1000.0, -0.00025, -0.419 }
 };
 
-int test_bgc_vector3_swap_fp64()
+int test_vector3_swap_fp64()
 {
     BgcVector3FP64 vector1, vector2;
 
@@ -96,13 +96,13 @@ int test_bgc_vector3_swap_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_vector3_swap()
+int test_vector3_swap()
 {
-    if (test_bgc_vector3_swap_fp32() != TEST_SUCCES) {
+    if (test_vector3_swap_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_vector3_swap_fp64() != TEST_SUCCES) {
+    if (test_vector3_swap_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/vector3/vector3_swap.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VECTOR3_SWAP_H_
 #define _TEST_VECTOR3_SWAP_H_
 
-int test_bgc_vector3_swap_fp32();
+int test_vector3_swap_fp32();
 
-int test_bgc_vector3_swap_fp64();
+int test_vector3_swap_fp64();
 
-int test_bgc_vector3_swap();
+int test_vector3_swap();
 
 #endif

basic-geometry-test/tests/versor.c

@@ -6,27 +6,31 @@ int test_versor()
 {
     print_testing_section("BGC Versor");
 
-    if (test_bgc_versor_reset() != TEST_SUCCES) {
+    if (test_versor_reset() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_set_values() != TEST_SUCCES) {
+    if (test_versor_set_values() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_copy() != TEST_SUCCES) {
+    if (test_versor_copy() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_swap() != TEST_SUCCES) {
+    if (test_versor_swap() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_are_close() != TEST_SUCCES) {
+    if (test_versor_are_close() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_combine() != TEST_SUCCES) {
+    if (test_versor_is_identity() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_versor_combine() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/versor.h

@@ -6,6 +6,7 @@
 #include "./versor/versor_copy.h"
 #include "./versor/versor_swap.h"
 #include "./versor/versor_are_close.h"
+#include "./versor/versor_is_identity.h"
 #include "./versor/versor_combine.h"
 
 int test_versor();

basic-geometry-test/tests/versor/versor_are_close.c

@@ -17,35 +17,35 @@ static const int _TEST_FP32_CLOSE_VERSOR_PAIR_AMOUNT = 10;
 static const _TestVersorPairFP32 _TEST_FP32_CLOSE_VERSOR_PAIR_LIST[] = {
     {
         { 1.0f, 0.0f, 0.0f, 0.0f },
-        { 1.0f + BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
+        { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
     },
     {
         { 1.0f, 0.0f, 0.0f, 0.0f },
-        { 1.0f - BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
+        { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
     },
     {
         { 0.0f, 1.0f, 0.0f, 0.0f },
-        { 0.0f, 1.0f + BGC_EPSYLON_FP32, 0.0f, 0.0f }
+        { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
     },
     {
         { 0.0f, 1.0f, 0.0f, 0.0f },
-        { 0.0f, 1.0f - BGC_EPSYLON_FP32, 0.0f, 0.0f }
+        { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
     },
     {
         { 0.0f, 0.0f, 1.0f, 0.0f },
-        { 0.0f, 0.0f, 1.0f + BGC_EPSYLON_FP32, 0.0f }
+        { 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f }
     },
     {
         { 0.0f, 0.0f, 1.0f, 0.0f },
-        { 0.0f, 0.0f, 1.0f - BGC_EPSYLON_FP32, 0.0f }
+        { 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f }
     },
     {
         { 0.0f, 0.0f, 0.0f, 1.0f },
-        { 0.0f, 0.0f, 0.0f, 1.0f + BGC_EPSYLON_FP32 }
+        { 0.0f, 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 }
     },
     {
         { 0.0f, 0.0f, 0.0f, 1.0f },
-        { 0.0f, 0.0f, 0.0f, 1.0f - BGC_EPSYLON_FP32 }
+        { 0.0f, 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 }
     },
     {
         { 0.70710678f, 0.0f, 0.70710675f, 0.0f },
@@ -62,35 +62,35 @@ static const int _TEST_FP32_DIFFERENT_VERSOR_PAIR_AMOUNT = 10;
 static const _TestVersorPairFP32 _TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[] = {
     {
         { 1.0f, 0.0f, 0.0f, 0.0f },
-        { 1.0f + 1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
+        { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
     },
     {
         { 1.0f, 0.0f, 0.0f, 0.0f },
-        { 1.0f - 1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
+        { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
     },
     {
         { 0.0f, 1.0f, 0.0f, 0.0f },
-        { 0.0f, 1.0f + 1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
+        { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
     },
     {
         { 0.0f, 1.0f, 0.0f, 0.0f },
-        { 0.0f, 1.0f - 1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
+        { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
     },
     {
         { 0.0f, 0.0f, 1.0f, 0.0f },
-        { 0.0f, 0.0f, 1.0f + 1.5f * BGC_EPSYLON_FP32, 0.0f }
+        { 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f }
     },
     {
         { 0.0f, 0.0f, 1.0f, 0.0f },
-        { 0.0f, 0.0f, 1.0f - 1.5f * BGC_EPSYLON_FP32, 0.0f }
+        { 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f }
     },
     {
         { 0.0f, 0.0f, 0.0f, 1.0f },
-        { 0.0f, 0.0f, 0.0f, 1.0f + 1.5f * BGC_EPSYLON_FP32 }
+        { 0.0f, 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 }
     },
     {
         { 0.0f, 0.0f, 0.0f, 1.0f },
-        { 0.0f, 0.0f, 0.0f, 1.0f - 1.5f * BGC_EPSYLON_FP32 }
+        { 0.0f, 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 }
     },
     {
         { 0.707106f, 0.0f, 0.707107f, 0.0f },
@@ -102,7 +102,7 @@ static const _TestVersorPairFP32 _TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[] = {
     }
 };
 
-int test_bgc_versor_are_close_fp32()
+int test_versor_are_close_fp32()
 {
     print_testing_name("bgc_versor_are_close_fp32");
 
@@ -135,35 +135,35 @@ static const int _TEST_FP64_CLOSE_VERSOR_PAIR_AMOUNT = 10;
 static const _TestVersorPairFP64 _TEST_FP64_CLOSE_VERSOR_PAIR_LIST[] = {
     {
         { 1.0, 0.0, 0.0, 0.0 },
-        { 1.0 + BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
+        { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
     },
     {
         { 1.0, 0.0, 0.0, 0.0 },
-        { 1.0 - BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
+        { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
     },
     {
         { 0.0, 1.0, 0.0, 0.0 },
-        { 0.0, 1.0 + BGC_EPSYLON_FP64, 0.0, 0.0 }
+        { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }
     },
     {
         { 0.0, 1.0, 0.0, 0.0 },
-        { 0.0, 1.0 - BGC_EPSYLON_FP64, 0.0, 0.0 }
+        { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }
     },
     {
         { 0.0, 0.0, 1.0, 0.0 },
-        { 0.0, 0.0, 1.0 + BGC_EPSYLON_FP64, 0.0 }
+        { 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 }
     },
     {
         { 0.0, 0.0, 1.0, 0.0 },
-        { 0.0, 0.0, 1.0 - BGC_EPSYLON_FP64, 0.0 }
+        { 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 }
     },
     {
         { 0.0, 0.0, 0.0, 1.0 },
-        { 0.0, 0.0, 0.0, 1.0 + BGC_EPSYLON_FP64 }
+        { 0.0, 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 }
     },
     {
         { 0.0, 0.0, 0.0, 1.0 },
-        { 0.0, 0.0, 0.0, 1.0 - BGC_EPSYLON_FP64 }
+        { 0.0, 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 }
     },
     {
         { 0.7071067811865475244, 0.0, 0.7071067811865465244, 0.0 },
@@ -180,35 +180,35 @@ static const int _TEST_FP64_DIFFERENT_VERSOR_PAIR_AMOUNT = 10;
 static const _TestVersorPairFP64 _TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[] = {
     {
         { 1.0, 0.0, 0.0, 0.0 },
-        { 1.0 + 1.5 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
+        { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
     },
     {
         { 1.0, 0.0, 0.0, 0.0 },
-        { 1.0 - 1.5 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
+        { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
     },
     {
         { 0.0, 1.0, 0.0, 0.0 },
-        { 0.0, 1.0 + 1.5 * BGC_EPSYLON_FP64, 0.0, 0.0 }
+        { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }
     },
     {
         { 0.0, 1.0, 0.0, 0.0 },
-        { 0.0, 1.0 - 1.5 * BGC_EPSYLON_FP64, 0.0, 0.0 }
+        { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }
     },
     {
         { 0.0, 0.0, 1.0, 0.0 },
-        { 0.0, 0.0, 1.0 + 1.5 * BGC_EPSYLON_FP64, 0.0 }
+        { 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 }
     },
     {
         { 0.0, 0.0, 1.0, 0.0 },
-        { 0.0, 0.0, 1.0 - 1.5 * BGC_EPSYLON_FP64, 0.0 }
+        { 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 }
     },
     {
         { 0.0, 0.0, 0.0, 1.0 },
-        { 0.0, 0.0, 0.0, 1.0 + 1.5 * BGC_EPSYLON_FP64 }
+        { 0.0, 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 }
     },
     {
         { 0.0, 0.0, 0.0, 1.0 },
-        { 0.0, 0.0, 0.0, 1.0 - 1.5 * BGC_EPSYLON_FP64 }
+        { 0.0, 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 }
     },
     {
         { 0.7071067811866, 0.0, 0.7071067811865, 0.0 },
@@ -220,7 +220,7 @@ static const _TestVersorPairFP64 _TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[] = {
     }
 };
 
-int test_bgc_versor_are_close_fp64()
+int test_versor_are_close_fp64()
 {
     print_testing_name("bgc_versor_are_close_fp64");
 
@@ -245,13 +245,13 @@ int test_bgc_versor_are_close_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_versor_are_close()
+int test_versor_are_close()
 {
-    if (test_bgc_versor_are_close_fp32() != TEST_SUCCES) {
+    if (test_versor_are_close_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_are_close_fp64() != TEST_SUCCES) {
+    if (test_versor_are_close_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/versor/versor_are_close.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VERSOR_ARE_CLOSE_H_
 #define _TEST_VERSOR_ARE_CLOSE_H_
 
-int test_bgc_versor_are_close_fp32();
+int test_versor_are_close_fp32();
 
-int test_bgc_versor_are_close_fp64();
+int test_versor_are_close_fp64();
 
-int test_bgc_versor_are_close();
+int test_versor_are_close();
 
 #endif

basic-geometry-test/tests/versor/versor_combine.c

@@ -44,7 +44,7 @@ static const _TestVersorTripletFP32 _TEST_FP32_VERSOR_TRIPLET_LIST[] = {
     }
 };
 
-int test_bgc_versor_combine_fp32()
+int test_versor_combine_fp32()
 {
     BgcVersorFP32 versor;
 
@@ -96,7 +96,7 @@ static const _TestVersorTripletFP64 _TEST_FP64_VERSOR_TRIPLET_LIST[] = {
     }
 };
 
-int test_bgc_versor_combine_fp64()
+int test_versor_combine_fp64()
 {
     BgcVersorFP64 versor;
 
@@ -116,13 +116,13 @@ int test_bgc_versor_combine_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_versor_combine()
+int test_versor_combine()
 {
-    if (test_bgc_versor_combine_fp32() != TEST_SUCCES) {
+    if (test_versor_combine_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_combine_fp64() != TEST_SUCCES) {
+    if (test_versor_combine_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/versor/versor_combine.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VERSOR_COMBINE_H_
 #define _TEST_VERSOR_COMBINE_H_
 
-int test_bgc_versor_combine_fp32();
+int test_versor_combine_fp32();
 
-int test_bgc_versor_combine_fp64();
+int test_versor_combine_fp64();
 
-int test_bgc_versor_combine();
+int test_versor_combine();
 
 #endif

basic-geometry-test/tests/versor/versor_copy.c

@@ -18,7 +18,7 @@ static const BgcVersorFP32 _TEST_FP32_VERSOR_LIST[] = {
     { 0.7071067812f, 0.0f, 0.0f, -0.7071067812f }
 };
 
-int test_bgc_versor_copy_fp32()
+int test_versor_copy_fp32()
 {
     BgcVersorFP32 versor;
 
@@ -56,7 +56,7 @@ static const BgcVersorFP64 _TEST_FP64_VERSOR_LIST[] = {
     { 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 }
 };
 
-int test_bgc_versor_copy_fp64()
+int test_versor_copy_fp64()
 {
     BgcVersorFP64 versor;
 
@@ -80,13 +80,13 @@ int test_bgc_versor_copy_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_versor_copy()
+int test_versor_copy()
 {
-    if (test_bgc_versor_copy_fp32() != TEST_SUCCES) {
+    if (test_versor_copy_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_copy_fp64() != TEST_SUCCES) {
+    if (test_versor_copy_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/versor/versor_copy.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VERSOR_COPY_H_
 #define _TEST_VERSOR_COPY_H_
 
-int test_bgc_versor_copy_fp32();
+int test_versor_copy_fp32();
 
-int test_bgc_versor_copy_fp64();
+int test_versor_copy_fp64();
 
-int test_bgc_versor_copy();
+int test_versor_copy();
 
 #endif

basic-geometry-test/tests/versor/versor_is_identity.c

@@ -0,0 +1,116 @@
+#include "./versor_is_identity.h"
+
+#include "./../../helpers.h"
+
+// ==================== FP32 ==================== //
+
+static const int _TEST_FP32_IDENTIYTY_VERSOR_AMOUNT = 9;
+static const int _TEST_FP32_NON_IDENTIYTY_VERSOR_AMOUNT = 5;
+
+static const BgcVersorFP32 _TEST_FP32_IDENTIYTY_VERSOR_LIST[] = {
+    { 1.0f, 0.0f, 0.0f, 0.0f },
+    { 1.0f + BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.0f - BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.0f, BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.0f, -BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.0f, 0.0f, BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f, 0.0f, -BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f, 0.0f, 0.0f, BGC_EPSYLON_FP32 },
+    { 1.0f, 0.0f, 0.0f, -BGC_EPSYLON_FP32 }
+};
+
+static const BgcVersorFP32 _TEST_FP32_NON_IDENTIYTY_VERSOR_LIST[] = {
+    { 0.0f, 1.0f, 0.0f, 0.0f },
+    { 0.0f, 0.0f, 1.0f, 0.0f },
+    { 0.0f, 0.0f, 0.0f, 1.0f },
+    { 0.5f, 0.5f, 0.5f, 0.5f },
+    { 1.0f - 1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
+};
+
+int test_versor_is_identity_fp32()
+{
+    print_testing_name("bgc_versor_is_identity_fp32");
+
+    // Testing zero values:
+    for (int i = 0; i < _TEST_FP32_IDENTIYTY_VERSOR_AMOUNT; i++) {
+        if (!bgc_versor_is_identity_fp32(&_TEST_FP32_IDENTIYTY_VERSOR_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    // Testing non-zero values:
+    for (int i = 0; i < _TEST_FP32_NON_IDENTIYTY_VERSOR_AMOUNT; i++) {
+        if (bgc_versor_is_identity_fp32(&_TEST_FP32_NON_IDENTIYTY_VERSOR_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+// ==================== FP64 ==================== //
+
+static const int _TEST_FP64_IDENTIYTY_VERSOR_AMOUNT = 9;
+static const int _TEST_FP64_NON_IDENTIYTY_VERSOR_AMOUNT = 5;
+
+static const BgcVersorFP64 _TEST_FP64_IDENTIYTY_VERSOR_LIST[] = {
+    { 1.0, 0.0, 0.0, 0.0 },
+    { 1.0 + BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.0 - BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.0, -BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.0, BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.0, 0.0, BGC_EPSYLON_FP64, 0.0 },
+    { 1.0, 0.0, -BGC_EPSYLON_FP64, 0.0 },
+    { 1.0, 0.0, 0.0, BGC_EPSYLON_FP64 },
+    { 1.0, 0.0, 0.0, -BGC_EPSYLON_FP64 }
+};
+
+static const BgcVersorFP64 _TEST_FP64_NON_IDENTIYTY_VERSOR_LIST[] = {
+    { 0.0, 1.0, 0.0, 0.0 },
+    { 0.0, 0.0, 1.0, 0.0 },
+    { 0.0, 0.0, 0.0, 1.0 },
+    { 0.5, 0.5, 0.5, 0.5 },
+    { 1.0 - 1.5 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
+};
+
+int test_versor_is_identity_fp64()
+{
+    print_testing_name("bgc_versor_is_identity_fp64");
+
+    // Testing zero values:
+    for (int i = 0; i < _TEST_FP64_IDENTIYTY_VERSOR_AMOUNT; i++) {
+        if (!bgc_versor_is_identity_fp64(&_TEST_FP64_IDENTIYTY_VERSOR_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    // Testing non-zero values:
+    for (int i = 0; i < _TEST_FP64_NON_IDENTIYTY_VERSOR_AMOUNT; i++) {
+        if (bgc_versor_is_identity_fp64(&_TEST_FP64_NON_IDENTIYTY_VERSOR_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_versor_is_identity()
+{
+    if (test_versor_is_identity_fp32() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_versor_is_identity_fp64() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/versor/versor_is_identity.h

@@ -0,0 +1,10 @@
+#ifndef _TEST_VERSOR_IS_IDENTITY_H_
+#define _TEST_VERSOR_IS_IDENTITY_H_
+
+int test_versor_is_identity_fp32();
+
+int test_versor_is_identity_fp64();
+
+int test_versor_is_identity();
+
+#endif

basic-geometry-test/tests/versor/versor_reset.c

@@ -2,7 +2,7 @@
 
 #include "./../../helpers.h"
 
-int test_bgc_versor_reset_fp32()
+int test_versor_reset_fp32()
 {
     BgcVersorFP32 versor;
     
@@ -20,7 +20,7 @@ int test_bgc_versor_reset_fp32()
     return TEST_SUCCES;
 }
 
-int test_bgc_versor_reset_fp64()
+int test_versor_reset_fp64()
 {
     BgcVersorFP64 versor;
 
@@ -38,13 +38,13 @@ int test_bgc_versor_reset_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_versor_reset()
+int test_versor_reset()
 {
-    if (test_bgc_versor_reset_fp32() != TEST_SUCCES) {
+    if (test_versor_reset_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_reset_fp64() != TEST_SUCCES) {
+    if (test_versor_reset_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/versor/versor_reset.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VERSOR_RESET_H_
 #define _TEST_VERSOR_RESET_H_
 
-int test_bgc_versor_reset_fp32();
+int test_versor_reset_fp32();
 
-int test_bgc_versor_reset_fp64();
+int test_versor_reset_fp64();
 
-int test_bgc_versor_reset();
+int test_versor_reset();
 
 #endif

basic-geometry-test/tests/versor/versor_set_values.c

@@ -22,7 +22,7 @@ static const _TestVersorComponentsFP32 _TEST_FP32_VERSOR_DATA_LIST[] = {
     { 1.0f, 0.0f, 1.0f, 0.0f }
 };
 
-int test_bgc_versor_set_values_fp32()
+int test_versor_set_values_fp32()
 {
     float versor_module, ratio;
     BgcVersorFP32 versor;
@@ -86,7 +86,7 @@ static const _TestVersorComponentsFP64 _TEST_FP64_VERSOR_DATA_LIST[] = {
     { 1.0, 0.0, 1.0, 0.0 }
 };
 
-int test_bgc_versor_set_values_fp64()
+int test_versor_set_values_fp64()
 {
     double versor_module, ratio;
     BgcVersorFP64 versor;
@@ -140,13 +140,13 @@ int test_bgc_versor_set_values_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_versor_set_values()
+int test_versor_set_values()
 {
-    if (test_bgc_versor_set_values_fp32() != TEST_SUCCES) {
+    if (test_versor_set_values_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_set_values_fp64() != TEST_SUCCES) {
+    if (test_versor_set_values_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/versor/versor_set_values.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VERSOR_SET_VALUES_H_
 #define _TEST_VERSOR_SET_VALUES_H_
 
-int test_bgc_versor_set_values_fp32();
+int test_versor_set_values_fp32();
 
-int test_bgc_versor_set_values_fp64();
+int test_versor_set_values_fp64();
 
-int test_bgc_versor_set_values();
+int test_versor_set_values();
 
 #endif

basic-geometry-test/tests/versor/versor_swap.c

@@ -28,7 +28,7 @@ static const _TestVersorDataFP32 _TEST_FP32_VERSOR_LIST2[] = {
     { 4.0f, 3.0f, 2.0f, 1.0f }
 };
 
-int test_bgc_versor_swap_fp32()
+int test_versor_swap_fp32()
 {
     BgcVersorFP32 versor1a, versor2a, versor1b, versor2b;
 
@@ -70,7 +70,7 @@ int test_bgc_versor_swap_fp32()
 
 // ==================== FP64 ==================== //
 
-int test_bgc_versor_swap_fp64()
+int test_versor_swap_fp64()
 {
     BgcVersorFP64 versor1a, versor2a, versor1b, versor2b;
 
@@ -110,13 +110,13 @@ int test_bgc_versor_swap_fp64()
     return TEST_SUCCES;
 }
 
-int test_bgc_versor_swap()
+int test_versor_swap()
 {
-    if (test_bgc_versor_swap_fp32() != TEST_SUCCES) {
+    if (test_versor_swap_fp32() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 
-    if (test_bgc_versor_swap_fp64() != TEST_SUCCES) {
+    if (test_versor_swap_fp64() != TEST_SUCCES) {
         return TEST_FAILED;
     }
 

basic-geometry-test/tests/versor/versor_swap.h

@@ -1,10 +1,10 @@
 #ifndef _TEST_VERSOR_SWAP_H_
 #define _TEST_VERSOR_SWAP_H_
 
-int test_bgc_versor_swap_fp32();
+int test_versor_swap_fp32();
 
-int test_bgc_versor_swap_fp64();
+int test_versor_swap_fp64();
 
-int test_bgc_versor_swap();
+int test_versor_swap();
 
 #endif