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Завершение большого переименования

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This commit is contained in:
Andrey Pokidov 2025-01-15 15:08:12 +07:00
parent 120e651517
commit 3805354611
31 changed files with 1213 additions and 1255 deletions
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2
Geometry.workspace
View file

@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?> <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<CodeBlocks_workspace_file> <CodeBlocks_workspace_file>
<Workspace title="Workspace"> <Workspace title="Workspace">
<Project filename="basic-geometry/basic-geometry.cbp" />
<Project filename="basic-geometry-dev/basic-geometry-dev.cbp"> <Project filename="basic-geometry-dev/basic-geometry-dev.cbp">
<Depends filename="basic-geometry/basic-geometry.cbp" /> <Depends filename="basic-geometry/basic-geometry.cbp" />
</Project> </Project>
<Project filename="basic-geometry/basic-geometry.cbp" />
<Project filename="basic-geometry-test/basic-geometry-test.cbp"> <Project filename="basic-geometry-test/basic-geometry-test.cbp">
<Depends filename="basic-geometry/basic-geometry.cbp" /> <Depends filename="basic-geometry/basic-geometry.cbp" />
</Project> </Project>

38
basic-geometry-dev/main.c
View file

@ -10,9 +10,9 @@
#endif // _WINDOWS_ #endif // _WINDOWS_
typedef struct { typedef struct {
versor_fp32_t versor1, versor2, result; bgc_versor_fp32_t versor1, versor2, result;
//matrix3x3_fp32_t matrix; //matrix3x3_fp32_t matrix;
vector3_fp32_t vector1, vector2; bgc_vector3_fp32_t vector1, vector2;
} structure_fp32_t; } structure_fp32_t;
structure_fp32_t* allocate_structures(const unsigned int amount) structure_fp32_t* allocate_structures(const unsigned int amount)
@ -31,7 +31,7 @@ structure_fp32_t* make_structures(const unsigned int amount)
const float multiplier = 2.0f / RAND_MAX; const float multiplier = 2.0f / RAND_MAX;
for (unsigned int i = 0; i < amount; i++) { for (unsigned int i = 0; i < amount; i++) {
versor_set_values_fp32( bgc_versor_set_values_fp32(
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
@ -39,7 +39,7 @@ structure_fp32_t* make_structures(const unsigned int amount)
&list[i].versor1 &list[i].versor1
); );
versor_set_values_fp32( bgc_versor_set_values_fp32(
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
@ -47,49 +47,49 @@ structure_fp32_t* make_structures(const unsigned int amount)
&list[i].versor2 &list[i].versor2
); );
versor_reset_fp32(&list[i].result); bgc_versor_reset_fp32(&list[i].result);
//matrix3x3_set_to_identity_fp32(&list[i].matrix); //matrix3x3_set_to_identity_fp32(&list[i].matrix);
vector3_set_values_fp32( bgc_vector3_set_values_fp32(
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
&list[i].vector1 &list[i].vector1
); );
vector3_reset_fp32(&list[i].vector2); bgc_vector3_reset_fp32(&list[i].vector2);
} }
return list; return list;
} }
void print_versor_fp32(const versor_fp32_t* versor) void print_versor_fp32(const bgc_versor_fp32_t* versor)
{ {
printf("Versor (%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3); printf("Versor (%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
} }
void print_versor_fp64(const versor_fp64_t* versor) void print_versor_fp64(const bgc_versor_fp64_t* versor)
{ {
printf("Versor (%lf, %lf, %lf, %lf)\n", versor->s0, versor->x1, versor->x2, versor->x3); printf("Versor (%lf, %lf, %lf, %lf)\n", versor->s0, versor->x1, versor->x2, versor->x3);
} }
void print_vector_fp32(const vector3_fp32_t* vector) void print_vector_fp32(const bgc_vector3_fp32_t* vector)
{ {
printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, vector3_get_modulus_fp32(vector)); printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, bgc_vector3_get_modulus_fp32(vector));
} }
void print_vector_fp64(const vector3_fp64_t* vector) void print_vector_fp64(const bgc_vector3_fp64_t* vector)
{ {
printf("(%lf, %lf, %lf) / %lf\n", vector->x1, vector->x2, vector->x3, vector3_get_modulus_fp64(vector)); printf("(%lf, %lf, %lf) / %lf\n", vector->x1, vector->x2, vector->x3, bgc_vector3_get_modulus_fp64(vector));
} }
void item_work(structure_fp32_t* item) void item_work(structure_fp32_t* item)
{ {
for (int j = 0; j < 1000; j++) { //for (int j = 0; j < 1000; j++) {
versor_combine_fp32(&item->versor1, &item->versor2, &item->result); bgc_versor_combine_fp32(&item->versor1, &item->versor2, &item->result);
versor_turn_vector_fp32(&item->result, &item->vector1, &item->vector2); bgc_versor_turn_vector_fp32(&item->result, &item->vector1, &item->vector2);
} //}
} }
int main() int main()
@ -125,8 +125,8 @@ int main()
//for (int j = 0; j < 1000; j++) { //for (int j = 0; j < 1000; j++) {
item_work(list + i); item_work(list + i);
//structure_fp32_t* item = list + i; //structure_fp32_t* item = list + i;
//versor_combine_fp32(&item->versor1, &item->versor2, &item->result); //bgc_versor_combine_fp32(&item->versor1, &item->versor2, &item->result);
//versor_turn_vector_fp32(&item->result, &item->vector1, &item->vector2); //bgc_versor_turn_vector_fp32(&item->result, &item->vector1, &item->vector2);
//} //}
} }

32
basic-geometry-test/fp32_vector2_test.c
View file

@ -2,7 +2,7 @@
const int TEST_FP32_VECTOR2_AMOUNT_1 = 5; const int TEST_FP32_VECTOR2_AMOUNT_1 = 5;
const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1[] = { const bgc_vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1[] = {
{ 3.0f, 4.0f }, { 3.0f, 4.0f },
{ -3.0f, -4.0f }, { -3.0f, -4.0f },
{ 10000.0f, -20000.0f }, { 10000.0f, -20000.0f },
@ -10,7 +10,7 @@ const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1[] = {
{ -123.5f, 3.7283f } { -123.5f, 3.7283f }
}; };
const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_2[] = { const bgc_vector2_fp32_t TEST_FP32_VECTOR2_COMMON_2[] = {
{ -3.0f, -4.0f }, { -3.0f, -4.0f },
{ -3.0f, -4.0f }, { -3.0f, -4.0f },
{ 0.002f, -0.05f }, { 0.002f, -0.05f },
@ -29,9 +29,9 @@ int test_vector2_fp32_square_modulus()
float square_modulus; float square_modulus;
for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) { for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
square_modulus = vector2_get_square_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]); square_modulus = bgc_vector2_get_square_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]);
if (!test_are_equal_fp32(square_modulus, FP32_VECTOR2_SQUARE_MODULUS_1[i], TEST_FP32_TWO_EPSYLON)) { if (!test_are_equal_fp32(square_modulus, FP32_VECTOR2_SQUARE_MODULUS_1[i], TEST_BGC_TWO_EPSYLON_FP32)) {
print_test_failed(); print_test_failed();
return TEST_RESULT_FAILED; return TEST_RESULT_FAILED;
} }
@ -52,9 +52,9 @@ int test_vector2_fp32_modulus()
float square_modulus; float square_modulus;
for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) { for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
square_modulus = vector2_get_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]); square_modulus = bgc_vector2_get_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]);
if (!test_are_equal_fp32(square_modulus, FP32_VECTOR2_MODULUS_1[i], TEST_FP32_EPSYLON)) { if (!test_are_equal_fp32(square_modulus, FP32_VECTOR2_MODULUS_1[i], TEST_BGC_EPSYLON_FP32)) {
print_test_failed(); print_test_failed();
return TEST_RESULT_FAILED; return TEST_RESULT_FAILED;
} }
@ -66,7 +66,7 @@ int test_vector2_fp32_modulus()
// ===================== Add ==================== // // ===================== Add ==================== //
const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = { const bgc_vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = {
{ 0.0f, 0.0f }, { 0.0f, 0.0f },
{ -6.0f, -8.0f }, { -6.0f, -8.0f },
{ 10000.002f, -20000.05f }, { 10000.002f, -20000.05f },
@ -78,13 +78,13 @@ int test_vector2_add_fp32()
{ {
print_test_name("vector2_fp32_t add"); print_test_name("vector2_fp32_t add");
vector2_fp32_t vector; bgc_vector2_fp32_t vector;
for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) { for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
vector2_add_fp32(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector); bgc_vector2_add_fp32(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
if (!test_are_equal_fp32(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x1, TEST_FP32_EPSYLON) || if (!test_are_equal_fp32(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x1, TEST_BGC_EPSYLON_FP32) ||
!test_are_equal_fp32(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x2, TEST_FP32_EPSYLON)) { !test_are_equal_fp32(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x2, TEST_BGC_EPSYLON_FP32)) {
print_test_failed(); print_test_failed();
return TEST_RESULT_FAILED; return TEST_RESULT_FAILED;
} }
@ -96,7 +96,7 @@ int test_vector2_add_fp32()
// ================== Subtract ================== // // ================== Subtract ================== //
const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = { const bgc_vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = {
{ 6.0f, 8.0f }, { 6.0f, 8.0f },
{ 0.0f, 0.0f }, { 0.0f, 0.0f },
{ 9999.998f, -19999.95f }, { 9999.998f, -19999.95f },
@ -108,13 +108,13 @@ int test_vector2_subtract_fp32()
{ {
print_test_name("vector2_fp32_t subtract"); print_test_name("vector2_fp32_t subtract");
vector2_fp32_t vector; bgc_vector2_fp32_t vector;
for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) { for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
vector2_subtract_fp32(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector); bgc_vector2_subtract_fp32(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
if (!test_are_equal_fp32(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x1, TEST_FP32_EPSYLON) || if (!test_are_equal_fp32(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x1, TEST_BGC_EPSYLON_FP32) ||
!test_are_equal_fp32(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x2, TEST_FP32_EPSYLON)) { !test_are_equal_fp32(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x2, TEST_BGC_EPSYLON_FP32)) {
print_test_failed(); print_test_failed();
return TEST_RESULT_FAILED; return TEST_RESULT_FAILED;
} }

12
basic-geometry-test/geometry_test.h
View file

@ -6,13 +6,13 @@
#define TEST_RESULT_SUCCES 0 #define TEST_RESULT_SUCCES 0
#define TEST_RESULT_FAILED 100 #define TEST_RESULT_FAILED 100
#define TEST_FP32_EPSYLON 1E-6f #define TEST_BGC_EPSYLON_FP32 1E-6f
#define TEST_FP32_TWO_EPSYLON 2E-6f #define TEST_BGC_TWO_EPSYLON_FP32 2E-6f
#define TEST_FP32_SQUARE_EPSYLON 1E-12f #define TEST_BGC_SQUARE_EPSYLON_FP32 1E-12f
#define TEST_FP64_EPSYLON 1E-13f #define TEST_BGC_EPSYLON_FP64 1E-13f
#define TEST_FP64_TWO_EPSYLON 2E-13f #define TEST_BGC_TWO_EPSYLON_FP64 2E-13f
#define TEST_FP64_SQUARE_EPSYLON 1E-26f #define TEST_BGC_SQUARE_EPSYLON_FP64 1E-26f
void print_test_section(const char * name); void print_test_section(const char * name);

2
basic-geometry/angle.c
View file

@ -1,3 +1,3 @@
#include "basis.h" #include "utilities.h"
#include "angle.h" #include "angle.h"

342
basic-geometry/angle.h
View file

@ -1,102 +1,102 @@
#ifndef _BASIC_GEOMETRY_ANGLE_H_ #ifndef _BGC_ANGLE_H_
#define _BASIC_GEOMETRY_ANGLE_H_ #define _BGC_ANGLE_H_
#include <math.h> #include <math.h>
#include "basis.h" #include "utilities.h"
#define FP32_PI 3.1415926536f #define BGC_PI_FP32 3.1415926536f
#define FP32_TWO_PI 6.2831853072f #define BGC_TWO_PI_FP32 6.2831853072f
#define FP32_HALF_OF_PI 1.5707963268f #define BGC_HALF_OF_PI_FP32 1.5707963268f
#define FP32_THIRD_OF_PI 1.0471975512f #define BGC_THIRD_OF_PI_FP32 1.0471975512f
#define FP32_FOURTH_OF_PI 0.7853981634f #define BGC_FOURTH_OF_PI_FP32 0.7853981634f
#define FP32_SIXTH_OF_PI 0.5235987756f #define BGC_SIXTH_OF_PI_FP32 0.5235987756f
#define FP32_DEGREES_IN_RADIAN 57.295779513f #define BGC_DEGREES_IN_RADIAN_FP32 57.295779513f
#define FP32_TURNS_IN_RADIAN 0.1591549431f #define BGC_TURNS_IN_RADIAN_FP32 0.1591549431f
#define FP32_RADIANS_IN_DEGREE 1.745329252E-2f #define BGC_RADIANS_IN_DEGREE_FP32 1.745329252E-2f
#define FP32_TURNS_IN_DEGREE 2.7777777778E-3f #define BGC_TURNS_IN_DEGREE_FP32 2.7777777778E-3f
#define FP64_PI 3.14159265358979324 #define BGC_PI_FP64 3.14159265358979324
#define FP64_TWO_PI 6.28318530717958648 #define BGC_TWO_PI_FP64 6.28318530717958648
#define FP64_HALF_OF_PI 1.57079632679489662 #define BGC_HALF_OF_PI_FP64 1.57079632679489662
#define FP64_THIRD_OF_PI 1.04719755119659775 #define BGC_THIRD_OF_PI_FP64 1.04719755119659775
#define FP64_FOURTH_OF_PI 0.78539816339744831 #define BGC_FOURTH_OF_PI_FP64 0.78539816339744831
#define FP64_SIXTH_OF_PI 0.523598775598298873 #define BGC_SIXTH_OF_PI_FP64 0.523598775598298873
#define FP64_DEGREES_IN_RADIAN 57.2957795130823209 #define BGC_DEGREES_IN_RADIAN_FP64 57.2957795130823209
#define FP64_TURNS_IN_RADIAN 0.159154943091895336 #define BGC_TURNS_IN_RADIAN_FP64 0.159154943091895336
#define FP64_RADIANS_IN_DEGREE 1.74532925199432958E-2 #define BGC_RADIANS_IN_DEGREE_FP64 1.74532925199432958E-2
#define FP64_TURNS_IN_DEGREE 2.77777777777777778E-3 #define BGC_TURNS_IN_DEGREE_FP64 2.77777777777777778E-3
typedef enum { typedef enum {
BG_ANGLE_UNIT_RADIANS = 1, BGC_ANGLE_UNIT_RADIANS = 1,
BG_ANGLE_UNIT_DEGREES = 2, BGC_ANGLE_UNIT_DEGREES = 2,
BG_ANGLE_UNIT_TURNS = 3 BGC_ANGLE_UNIT_TURNS = 3
} angle_unit_t; } bgc_angle_unit_t;
typedef enum { typedef enum {
/** /**
* The measure of an angle with a range of: * The measure of an angle with a range of:
* [0, 360) degrees, [0, 2xPI) radians, [0, 1) turns, [0, 400) gradians * [0, 360) degrees, [0, 2xPI) radians, [0, 1) turns, [0, 400) gradians
*/ */
BG_ANGLE_RANGE_UNSIGNED = 1, BGC_ANGLE_RANGE_UNSIGNED = 1,
/** /**
* The measure of an angle with a range of: * The measure of an angle with a range of:
* (-180, 180] degrees, (-PI, PI] radians, (-0.5, 0.5] turns, (-200, 200] gradians * (-180, 180] degrees, (-PI, PI] radians, (-0.5, 0.5] turns, (-200, 200] gradians
*/ */
BG_ANGLE_RANGE_SIGNED = 2 BGC_ANGLE_RANGE_SIGNED = 2
} angle_range_t; } bgc_angle_range_t;
// !================= Radians ==================! // // !================= Radians ==================! //
// ========= Convert radians to degrees ========= // // ========= Convert radians to degrees ========= //
inline float fp32_radians_to_degrees(const float radians) inline float bgc_radians_to_degrees_fp32(const float radians)
{ {
return radians * FP32_DEGREES_IN_RADIAN; return radians * BGC_DEGREES_IN_RADIAN_FP32;
} }
inline double fp64_radians_to_degrees(const double radians) inline double bgc_radians_to_degrees_fp64(const double radians)
{ {
return radians * FP64_DEGREES_IN_RADIAN; return radians * BGC_DEGREES_IN_RADIAN_FP64;
} }
// ========== Convert radians to turns ========== // // ========== Convert radians to turns ========== //
inline float fp32_radians_to_turns(const float radians) inline float bgc_radians_to_turns_fp32(const float radians)
{ {
return radians * FP32_TURNS_IN_RADIAN; return radians * BGC_TURNS_IN_RADIAN_FP32;
} }
inline double fp64_radians_to_turns(const double radians) inline double bgc_radians_to_turns_fp64(const double radians)
{ {
return radians * FP64_TURNS_IN_RADIAN; return radians * BGC_TURNS_IN_RADIAN_FP64;
} }
// ========= Convert radians to any unit ======== // // ========= Convert radians to any unit ======== //
inline float fp32_radians_to_units(const float radians, const angle_unit_t to_unit) inline float bgc_radians_to_units_fp32(const float radians, const bgc_angle_unit_t to_unit)
{ {
if (to_unit == BG_ANGLE_UNIT_DEGREES) { if (to_unit == BGC_ANGLE_UNIT_DEGREES) {
return radians * FP32_DEGREES_IN_RADIAN; return radians * BGC_DEGREES_IN_RADIAN_FP32;
} }
if (to_unit == BG_ANGLE_UNIT_TURNS) { if (to_unit == BGC_ANGLE_UNIT_TURNS) {
return radians * FP32_TURNS_IN_RADIAN; return radians * BGC_TURNS_IN_RADIAN_FP32;
} }
return radians; return radians;
} }
inline double fp64_radians_to_units(const double radians, const angle_unit_t to_unit) inline double bgc_radians_to_units_fp64(const double radians, const bgc_angle_unit_t to_unit)
{ {
if (to_unit == BG_ANGLE_UNIT_DEGREES) { if (to_unit == BGC_ANGLE_UNIT_DEGREES) {
return radians * FP64_DEGREES_IN_RADIAN; return radians * BGC_DEGREES_IN_RADIAN_FP64;
} }
if (to_unit == BG_ANGLE_UNIT_TURNS) { if (to_unit == BGC_ANGLE_UNIT_TURNS) {
return radians * FP64_TURNS_IN_RADIAN; return radians * BGC_TURNS_IN_RADIAN_FP64;
} }
return radians; return radians;
@ -104,103 +104,103 @@ inline double fp64_radians_to_units(const double radians, const angle_unit_t to_
// ============ Normalize radians ============= // // ============ Normalize radians ============= //
inline float fp32_radians_normalize(const float radians, const angle_range_t range) inline float bgc_radians_normalize_fp32(const float radians, const bgc_angle_range_t range)
{ {
if (range == BG_ANGLE_RANGE_UNSIGNED) { if (range == BGC_ANGLE_RANGE_UNSIGNED) {
if (0.0f <= radians && radians < FP32_TWO_PI) { if (0.0f <= radians && radians < BGC_TWO_PI_FP32) {
return radians; return radians;
} }
} }
else { else {
if (-FP32_PI < radians && radians <= FP32_PI) { if (-BGC_PI_FP32 < radians && radians <= BGC_PI_FP32) {
return radians; return radians;
} }
} }
float turns = radians * FP32_TURNS_IN_RADIAN; float turns = radians * BGC_TURNS_IN_RADIAN_FP32;
turns -= floorf(turns); turns -= floorf(turns);
if (range == BG_ANGLE_RANGE_SIGNED && turns > 0.5f) { if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5f) {
turns -= 1.0f; turns -= 1.0f;
} }
return turns * FP32_TWO_PI; return turns * BGC_TWO_PI_FP32;
} }
inline double fp64_radians_normalize(const double radians, const angle_range_t range) inline double bgc_radians_normalize_fp64(const double radians, const bgc_angle_range_t range)
{ {
if (range == BG_ANGLE_RANGE_UNSIGNED) { if (range == BGC_ANGLE_RANGE_UNSIGNED) {
if (0.0 <= radians && radians < FP64_TWO_PI) { if (0.0 <= radians && radians < BGC_TWO_PI_FP64) {
return radians; return radians;
} }
} }
else { else {
if (-FP64_PI < radians && radians <= FP64_PI) { if (-BGC_PI_FP64 < radians && radians <= BGC_PI_FP64) {
return radians; return radians;
} }
} }
double turns = radians * FP64_TURNS_IN_RADIAN; double turns = radians * BGC_TURNS_IN_RADIAN_FP64;
turns -= floor(turns); turns -= floor(turns);
if (range == BG_ANGLE_RANGE_SIGNED && turns > 0.5) { if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5) {
turns -= 1.0; turns -= 1.0;
} }
return turns * FP64_TWO_PI; return turns * BGC_TWO_PI_FP64;
} }
// !================= Degrees ==================! // // !================= Degrees ==================! //
// ========= Convert degrees to radians ========= // // ========= Convert degrees to radians ========= //
inline float fp32_degrees_to_radians(const float degrees) inline float bgc_degrees_to_radians_fp32(const float degrees)
{ {
return degrees * FP32_RADIANS_IN_DEGREE; return degrees * BGC_RADIANS_IN_DEGREE_FP32;
} }
inline double fp64_degrees_to_radians(const double degrees) inline double bgc_degrees_to_radians_fp64(const double degrees)
{ {
return degrees * FP64_RADIANS_IN_DEGREE; return degrees * BGC_RADIANS_IN_DEGREE_FP64;
} }
// ========== Convert degrees to turns ========== // // ========== Convert degrees to turns ========== //
inline float fp32_degrees_to_turns(const float radians) inline float bgc_degrees_to_turns_fp32(const float radians)
{ {
return radians * FP32_TURNS_IN_DEGREE; return radians * BGC_TURNS_IN_DEGREE_FP32;
} }
inline double fp64_degrees_to_turns(const double radians) inline double fp64_degrees_to_turns(const double radians)
{ {
return radians * FP64_TURNS_IN_DEGREE; return radians * BGC_TURNS_IN_DEGREE_FP64;
} }
// ========= Convert degreess to any unit ======== // // ========= Convert degreess to any unit ======== //
inline float fp32_degrees_to_units(const float degrees, const angle_unit_t to_unit) inline float bgc_degrees_to_units_fp32(const float degrees, const bgc_angle_unit_t to_unit)
{ {
if (to_unit == BG_ANGLE_UNIT_RADIANS) { if (to_unit == BGC_ANGLE_UNIT_RADIANS) {
return degrees * FP32_RADIANS_IN_DEGREE; return degrees * BGC_RADIANS_IN_DEGREE_FP32;
} }
if (to_unit == BG_ANGLE_UNIT_TURNS) { if (to_unit == BGC_ANGLE_UNIT_TURNS) {
return degrees * FP32_TURNS_IN_DEGREE; return degrees * BGC_TURNS_IN_DEGREE_FP32;
} }
return degrees; return degrees;
} }
inline double fp64_degrees_to_units(const double degrees, const angle_unit_t to_unit) inline double bgc_degrees_to_units_fp64(const double degrees, const bgc_angle_unit_t to_unit)
{ {
if (to_unit == BG_ANGLE_UNIT_RADIANS) { if (to_unit == BGC_ANGLE_UNIT_RADIANS) {
return degrees * FP64_RADIANS_IN_DEGREE; return degrees * BGC_RADIANS_IN_DEGREE_FP64;
} }
if (to_unit == BG_ANGLE_UNIT_TURNS) { if (to_unit == BGC_ANGLE_UNIT_TURNS) {
return degrees * FP64_TURNS_IN_DEGREE; return degrees * BGC_TURNS_IN_DEGREE_FP64;
} }
return degrees; return degrees;
@ -208,9 +208,9 @@ inline double fp64_degrees_to_units(const double degrees, const angle_unit_t to_
// ============ Normalize degrees ============= // // ============ Normalize degrees ============= //
inline float fp32_degrees_normalize(const float degrees, const angle_range_t range) inline float bgc_degrees_normalize_fp32(const float degrees, const bgc_angle_range_t range)
{ {
if (range == BG_ANGLE_RANGE_UNSIGNED) { if (range == BGC_ANGLE_RANGE_UNSIGNED) {
if (0.0f <= degrees && degrees < 360.0f) { if (0.0f <= degrees && degrees < 360.0f) {
return degrees; return degrees;
} }
@ -221,20 +221,20 @@ inline float fp32_degrees_normalize(const float degrees, const angle_range_t ran
} }
} }
float turns = degrees * FP32_TURNS_IN_DEGREE; float turns = degrees * BGC_TURNS_IN_DEGREE_FP32;
turns -= floorf(turns); turns -= floorf(turns);
if (range == BG_ANGLE_RANGE_SIGNED && turns > 0.5f) { if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5f) {
turns -= 1.0f; turns -= 1.0f;
} }
return turns * 360.0f; return turns * 360.0f;
} }
inline double fp64_degrees_normalize(const double degrees, const angle_range_t range) inline double bgc_degrees_normalize_fp64(const double degrees, const bgc_angle_range_t range)
{ {
if (range == BG_ANGLE_RANGE_UNSIGNED) { if (range == BGC_ANGLE_RANGE_UNSIGNED) {
if (0.0 <= degrees && degrees < 360.0) { if (0.0 <= degrees && degrees < 360.0) {
return degrees; return degrees;
} }
@ -245,11 +245,11 @@ inline double fp64_degrees_normalize(const double degrees, const angle_range_t r
} }
} }
double turns = degrees * FP64_TURNS_IN_DEGREE; double turns = degrees * BGC_TURNS_IN_DEGREE_FP64;
turns -= floor(turns); turns -= floor(turns);
if (range == BG_ANGLE_RANGE_SIGNED && turns > 0.5) { if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5) {
turns -= 1.0; turns -= 1.0;
} }
@ -260,50 +260,50 @@ inline double fp64_degrees_normalize(const double degrees, const angle_range_t r
// ========== Convert turns to radians ========== // // ========== Convert turns to radians ========== //
inline float fp32_turns_to_radians(const float turns) inline float bgc_turns_to_radians_fp32(const float turns)
{ {
return turns * FP32_TWO_PI; return turns * BGC_TWO_PI_FP32;
} }
inline double fp64_turns_to_radians(const double turns) inline double bgc_turns_to_radians_fp64(const double turns)
{ {
return turns * FP64_TWO_PI; return turns * BGC_TWO_PI_FP64;
} }
// ========== Convert turns to degrees ========== // // ========== Convert turns to degrees ========== //
inline float fp32_turns_to_degrees(const float turns) inline float bgc_turns_to_degrees_fp32(const float turns)
{ {
return turns * 360.0f; return turns * 360.0f;
} }
inline double fp64_turns_to_degrees(const double turns) inline double bgc_turns_to_degrees_fp64(const double turns)
{ {
return turns * 360.0; return turns * 360.0;
} }
// ========= Convert turns to any unit ======== // // ========= Convert turns to any unit ======== //
inline float fp32_turns_to_units(const float turns, const angle_unit_t to_unit) inline float bgc_turns_to_units_fp32(const float turns, const bgc_angle_unit_t to_unit)
{ {
if (to_unit == BG_ANGLE_UNIT_RADIANS) { if (to_unit == BGC_ANGLE_UNIT_RADIANS) {
return turns * FP32_TWO_PI; return turns * BGC_TWO_PI_FP32;
} }
if (to_unit == BG_ANGLE_UNIT_DEGREES) { if (to_unit == BGC_ANGLE_UNIT_DEGREES) {
return turns * 360.0f; return turns * 360.0f;
} }
return turns; return turns;
} }
inline double fp64_turns_to_units(const double turns, const angle_unit_t to_unit) inline double bgc_turns_to_units_fp64(const double turns, const bgc_angle_unit_t to_unit)
{ {
if (to_unit == BG_ANGLE_UNIT_RADIANS) { if (to_unit == BGC_ANGLE_UNIT_RADIANS) {
return turns * FP64_TWO_PI; return turns * BGC_TWO_PI_FP64;
} }
if (to_unit == BG_ANGLE_UNIT_DEGREES) { if (to_unit == BGC_ANGLE_UNIT_DEGREES) {
return turns * 360.0; return turns * 360.0;
} }
@ -312,9 +312,9 @@ inline double fp64_turns_to_units(const double turns, const angle_unit_t to_unit
// ============= Normalize turns ============== // // ============= Normalize turns ============== //
inline float fp32_turns_normalize(const float turns, const angle_range_t range) inline float bgc_turns_normalize_fp32(const float turns, const bgc_angle_range_t range)
{ {
if (range == BG_ANGLE_RANGE_UNSIGNED) { if (range == BGC_ANGLE_RANGE_UNSIGNED) {
if (0.0f <= turns && turns < 1.0f) { if (0.0f <= turns && turns < 1.0f) {
return turns; return turns;
} }
@ -327,16 +327,16 @@ inline float fp32_turns_normalize(const float turns, const angle_range_t range)
float rest = turns - floorf(turns); float rest = turns - floorf(turns);
if (range == BG_ANGLE_RANGE_SIGNED && rest > 0.5f) { if (range == BGC_ANGLE_RANGE_SIGNED && rest > 0.5f) {
return rest - 1.0f; return rest - 1.0f;
} }
return rest; return rest;
} }
inline double fp64_turns_normalize(const double turns, const angle_range_t range) inline double bgc_turns_normalize_fp64(const double turns, const bgc_angle_range_t range)
{ {
if (range == BG_ANGLE_RANGE_UNSIGNED) { if (range == BGC_ANGLE_RANGE_UNSIGNED) {
if (0.0 <= turns && turns < 1.0) { if (0.0 <= turns && turns < 1.0) {
return turns; return turns;
} }
@ -349,7 +349,7 @@ inline double fp64_turns_normalize(const double turns, const angle_range_t range
double rest = turns - floor(turns); double rest = turns - floor(turns);
if (range == BG_ANGLE_RANGE_SIGNED && rest > 0.5) { if (range == BGC_ANGLE_RANGE_SIGNED && rest > 0.5) {
return rest - 1.0; return rest - 1.0;
} }
@ -360,27 +360,27 @@ inline double fp64_turns_normalize(const double turns, const angle_range_t range
// ========= Convert any unit to radians ======== // // ========= Convert any unit to radians ======== //
inline float fp32_angle_to_radians(const float angle, const angle_unit_t unit) inline float bgc_angle_to_radians_fp32(const float angle, const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return angle * FP32_RADIANS_IN_DEGREE; return angle * BGC_RADIANS_IN_DEGREE_FP32;
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return angle * FP32_TWO_PI; return angle * BGC_TWO_PI_FP32;
} }
return angle; return angle;
} }
inline double fp64_angle_to_radians(const double angle, const angle_unit_t unit) inline double bgc_angle_to_radians_fp64(const double angle, const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return angle * FP64_RADIANS_IN_DEGREE; return angle * BGC_RADIANS_IN_DEGREE_FP64;
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return angle * FP64_TWO_PI; return angle * BGC_TWO_PI_FP64;
} }
return angle; return angle;
@ -388,26 +388,26 @@ inline double fp64_angle_to_radians(const double angle, const angle_unit_t unit)
// ========= Convert any unit to degreess ======== // // ========= Convert any unit to degreess ======== //
inline float fp32_angle_to_degrees(const float angle, const angle_unit_t unit) inline float bgc_angle_to_degrees_fp32(const float angle, const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_RADIANS) { if (unit == BGC_ANGLE_UNIT_RADIANS) {
return angle * FP32_DEGREES_IN_RADIAN; return angle * BGC_DEGREES_IN_RADIAN_FP32;
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return angle * 360.0f; return angle * 360.0f;
} }
return angle; return angle;
} }
inline double fp64_angle_to_degrees(const double angle, const angle_unit_t unit) inline double bgc_angle_to_degrees_fp64(const double angle, const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_RADIANS) { if (unit == BGC_ANGLE_UNIT_RADIANS) {
return angle * FP64_DEGREES_IN_RADIAN; return angle * BGC_DEGREES_IN_RADIAN_FP64;
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return angle * 360.0; return angle * 360.0;
} }
@ -416,27 +416,27 @@ inline double fp64_angle_to_degrees(const double angle, const angle_unit_t unit)
// ========= Convert any unit to turns ======== // // ========= Convert any unit to turns ======== //
inline float fp32_angle_to_turns(const float angle, const angle_unit_t unit) inline float bgc_angle_to_turns_fp32(const float angle, const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_RADIANS) { if (unit == BGC_ANGLE_UNIT_RADIANS) {
return angle * FP32_TURNS_IN_RADIAN; return angle * BGC_TURNS_IN_RADIAN_FP32;
} }
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return angle * FP32_TURNS_IN_DEGREE; return angle * BGC_TURNS_IN_DEGREE_FP32;
} }
return angle; return angle;
} }
inline double fp64_angle_to_turns(const double angle, const angle_unit_t unit) inline double bgc_angle_to_turns_fp64(const double angle, const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_RADIANS) { if (unit == BGC_ANGLE_UNIT_RADIANS) {
return angle * FP64_TURNS_IN_RADIAN; return angle * BGC_TURNS_IN_RADIAN_FP64;
} }
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return angle * FP64_TURNS_IN_DEGREE; return angle * BGC_TURNS_IN_DEGREE_FP64;
} }
return angle; return angle;
@ -444,114 +444,114 @@ inline double fp64_angle_to_turns(const double angle, const angle_unit_t unit)
// ============= Get Full Circle ============== // // ============= Get Full Circle ============== //
inline float fp32_angle_get_full_circle(const angle_unit_t unit) inline float bgc_angle_get_full_circle_fp32(const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return 360.0f; return 360.0f;
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return 1.0f; return 1.0f;
} }
return FP32_TWO_PI; return BGC_TWO_PI_FP32;
} }
inline double fp64_angle_get_full_circle(const angle_unit_t unit) inline double bgc_angle_get_full_circle_fp64(const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return 360.0; return 360.0;
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return 1.0; return 1.0;
} }
return FP64_TWO_PI; return BGC_TWO_PI_FP64;
} }
// ============= Get Half Circle ============== // // ============= Get Half Circle ============== //
inline float fp32_angle_get_half_circle(const angle_unit_t unit) inline float bgc_angle_get_half_circle_fp32(const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return 180.0f; return 180.0f;
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return 0.5f; return 0.5f;
} }
return FP32_PI; return BGC_PI_FP32;
} }
inline double fp64_angle_get_half_circle(const angle_unit_t unit) inline double bgc_angle_get_half_circle_fp64(const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return 180.0; return 180.0;
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return 0.5; return 0.5;
} }
return FP64_PI; return BGC_PI_FP64;
} }
// ============= Get Half Circle ============== // // ============= Get Half Circle ============== //
inline float fp32_angle_get_quater_circle(const angle_unit_t unit) inline float bgc_angle_get_quater_circle_fp32(const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return 90.0f; return 90.0f;
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return 0.25f; return 0.25f;
} }
return FP32_HALF_OF_PI; return BGC_HALF_OF_PI_FP32;
} }
inline double fp64_angle_get_quater_circle(const angle_unit_t unit) inline double bgc_angle_get_quater_circle_fp64(const bgc_angle_unit_t unit)
{ {
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return 90.0; return 90.0;
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return 0.25; return 0.25;
} }
return FP64_HALF_OF_PI; return BGC_HALF_OF_PI_FP64;
} }
// ================ Normalize ================= // // ================ Normalize ================= //
inline float fp32_angle_normalize(const float angle, const angle_unit_t unit, const angle_range_t range) inline float bgc_angle_normalize_fp32(const float angle, const bgc_angle_unit_t unit, const bgc_angle_range_t range)
{ {
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return fp32_degrees_normalize(angle, range); return bgc_degrees_normalize_fp32(angle, range);
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return fp32_turns_normalize(angle, range); return bgc_turns_normalize_fp32(angle, range);
} }
return fp32_radians_normalize(angle, range); return bgc_radians_normalize_fp32(angle, range);
} }
inline double fp64_angle_normalize(const double angle, const angle_unit_t unit, const angle_range_t range) inline double bgc_angle_normalize_fp64(const double angle, const bgc_angle_unit_t unit, const bgc_angle_range_t range)
{ {
if (unit == BG_ANGLE_UNIT_DEGREES) { if (unit == BGC_ANGLE_UNIT_DEGREES) {
return fp64_degrees_normalize(angle, range); return bgc_degrees_normalize_fp64(angle, range);
} }
if (unit == BG_ANGLE_UNIT_TURNS) { if (unit == BGC_ANGLE_UNIT_TURNS) {
return fp64_turns_normalize(angle, range); return bgc_turns_normalize_fp64(angle, range);
} }
return fp64_radians_normalize(angle, range); return bgc_radians_normalize_fp64(angle, range);
} }
#endif #endif

2
basic-geometry/basic-geometry.cbp
View file

@ -51,7 +51,6 @@
<Unit filename="basis.c"> <Unit filename="basis.c">
<Option compilerVar="CC" /> <Option compilerVar="CC" />
</Unit> </Unit>
<Unit filename="basis.h" />
<Unit filename="matrix2x2.c"> <Unit filename="matrix2x2.c">
<Option compilerVar="CC" /> <Option compilerVar="CC" />
</Unit> </Unit>
@ -78,6 +77,7 @@
<Option compilerVar="CC" /> <Option compilerVar="CC" />
</Unit> </Unit>
<Unit filename="tangent.h" /> <Unit filename="tangent.h" />
<Unit filename="utilities.h" />
<Unit filename="vector2.c"> <Unit filename="vector2.c">
<Option compilerVar="CC" /> <Option compilerVar="CC" />
</Unit> </Unit>

6
basic-geometry/basic-geometry.h
View file

@ -1,7 +1,7 @@
#ifndef __GEOMETRY_H__ #ifndef _BGC_H_
#define __GEOMETRY_H__ #define _BGC_H_
#include "basis.h" #include "utilities.h"
#include "angle.h" #include "angle.h"

2
basic-geometry/basic-geometry.vcxproj
View file

@ -20,7 +20,6 @@
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<ClInclude Include="angle.h" /> <ClInclude Include="angle.h" />
<ClInclude Include="basis.h" />
<ClInclude Include="basic-geometry.h" /> <ClInclude Include="basic-geometry.h" />
<ClInclude Include="matrix2x2.h" /> <ClInclude Include="matrix2x2.h" />
<ClInclude Include="matrix2x3.h" /> <ClInclude Include="matrix2x3.h" />
@ -30,6 +29,7 @@
<ClInclude Include="quaternion.h" /> <ClInclude Include="quaternion.h" />
<ClInclude Include="rotation3.h" /> <ClInclude Include="rotation3.h" />
<ClInclude Include="tangent.h" /> <ClInclude Include="tangent.h" />
<ClInclude Include="utilities.h" />
<ClInclude Include="versor.h" /> <ClInclude Include="versor.h" />
<ClInclude Include="vector2.h" /> <ClInclude Include="vector2.h" />
<ClInclude Include="vector3.h" /> <ClInclude Include="vector3.h" />

2
basic-geometry/basic-geometry.vcxproj.filters
View file

@ -18,7 +18,7 @@
<ClInclude Include="angle.h"> <ClInclude Include="angle.h">
<Filter>Файлы заголовков</Filter> <Filter>Файлы заголовков</Filter>
</ClInclude> </ClInclude>
<ClInclude Include="basis.h"> <ClInclude Include="utilities.h">
<Filter>Файлы заголовков</Filter> <Filter>Файлы заголовков</Filter>
</ClInclude> </ClInclude>
<ClInclude Include="basic-geometry.h"> <ClInclude Include="basic-geometry.h">

2
basic-geometry/basis.c
View file

@ -1,2 +1,2 @@
#include "basis.h" #include "utilities.h"

56
basic-geometry/basis.h
View file

@ -1,56 +0,0 @@
#ifndef _GEOMETRY_BASIS_H_
#define _GEOMETRY_BASIS_H_
#define FP32_EPSYLON_EFFECTIVENESS_LIMIT 10.0f
#define FP32_EPSYLON 5E-7f
#define FP32_TWO_EPSYLON 1E-6f
#define FP32_SQUARE_EPSYLON 2.5E-13f
#define FP32_ONE_THIRD 0.333333333f
#define FP32_ONE_SIXTH 0.166666667f
#define FP32_ONE_NINETH 0.111111111f
#define FP32_GOLDEN_RATIO_HIGH 1.618034f
#define FP32_GOLDEN_RATIO_LOW 0.618034f
#define FP64_EPSYLON_EFFECTIVENESS_LIMIT 10.0
#define FP64_EPSYLON 5E-14
#define FP64_TWO_EPSYLON 1E-13
#define FP64_SQUARE_EPSYLON 2.5E-27
#define FP64_ONE_THIRD 0.333333333333333333
#define FP64_ONE_SIXTH 0.166666666666666667
#define FP64_ONE_NINETH 0.111111111111111111
#define FP64_GOLDEN_RATIO_HIGH 1.61803398874989485
#define FP64_GOLDEN_RATIO_LOW 0.61803398874989485
inline int fp32_are_equal(const float value1, const float value2)
{
if (-FP32_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
return -FP32_EPSYLON <= (value1 - value2) && (value1 - value2) <= FP32_EPSYLON;
}
if (value1 < 0.0f) {
return (1.0f + FP32_EPSYLON) * value2 <= value1 && (1.0f + FP32_EPSYLON) * value1 <= value2;
}
return value2 <= value1 * (1.0f + FP32_EPSYLON) && value1 <= value2 * (1.0f + FP32_EPSYLON);
}
inline int fp64_are_equal(const double value1, const double value2)
{
if (-FP64_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
return -FP64_EPSYLON <= (value1 - value2) && (value1 - value2) <= FP64_EPSYLON;
}
if (value1 < 0.0) {
return (1.0 + FP64_EPSYLON) * value2 <= value1 && (1.0 + FP64_EPSYLON) * value1 <= value2;
}
return value2 <= value1 * (1.0 + FP64_EPSYLON) && value1 <= value2 * (1.0 + FP64_EPSYLON);
}
#endif

168
basic-geometry/matrix2x2.h
View file

@ -1,5 +1,5 @@
#ifndef _BASIC_GEOMETRY_MATRIX2X2_H_ #ifndef _BGC_MATRIX2X2_H_
#define _BASIC_GEOMETRY_MATRIX2X2_H_ #define _BGC_MATRIX2X2_H_
#include "angle.h" #include "angle.h"
#include "vector2.h" #include "vector2.h"
@ -7,7 +7,7 @@
// =================== Reset ==================== // // =================== Reset ==================== //
inline void matrix2x2_reset_fp32(matrix2x2_fp32_t* matrix) inline void bgc_matrix2x2_reset_fp32(bgc_matrix2x2_fp32_t* matrix)
{ {
matrix->r1c1 = 0.0f; matrix->r1c1 = 0.0f;
matrix->r1c2 = 0.0f; matrix->r1c2 = 0.0f;
@ -15,7 +15,7 @@ inline void matrix2x2_reset_fp32(matrix2x2_fp32_t* matrix)
matrix->r2c2 = 0.0f; matrix->r2c2 = 0.0f;
} }
inline void matrix2x2_reset_fp64(matrix2x2_fp64_t* matrix) inline void bgc_matrix2x2_reset_fp64(bgc_matrix2x2_fp64_t* matrix)
{ {
matrix->r1c1 = 0.0; matrix->r1c1 = 0.0;
matrix->r1c2 = 0.0; matrix->r1c2 = 0.0;
@ -25,7 +25,7 @@ inline void matrix2x2_reset_fp64(matrix2x2_fp64_t* matrix)
// ================== Identity ================== // // ================== Identity ================== //
inline void matrix2x2_set_to_identity_fp32(matrix2x2_fp32_t* matrix) inline void bgc_matrix2x2_set_to_identity_fp32(bgc_matrix2x2_fp32_t* matrix)
{ {
matrix->r1c1 = 1.0f; matrix->r1c1 = 1.0f;
matrix->r1c2 = 0.0f; matrix->r1c2 = 0.0f;
@ -33,7 +33,7 @@ inline void matrix2x2_set_to_identity_fp32(matrix2x2_fp32_t* matrix)
matrix->r2c2 = 1.0f; matrix->r2c2 = 1.0f;
} }
inline void matrix2x2_set_to_identity_fp64(matrix2x2_fp64_t* matrix) inline void bgc_matrix2x2_set_to_identity_fp64(bgc_matrix2x2_fp64_t* matrix)
{ {
matrix->r1c1 = 1.0; matrix->r1c1 = 1.0;
matrix->r1c2 = 0.0; matrix->r1c2 = 0.0;
@ -43,7 +43,7 @@ inline void matrix2x2_set_to_identity_fp64(matrix2x2_fp64_t* matrix)
// ================ Make Diagonal =============== // // ================ Make Diagonal =============== //
inline void matrix2x2_set_to_diagonal_fp32(const float d1, const float d2, matrix2x2_fp32_t* matrix) inline void bgc_matrix2x2_set_to_diagonal_fp32(const float d1, const float d2, bgc_matrix2x2_fp32_t* matrix)
{ {
matrix->r1c1 = d1; matrix->r1c1 = d1;
matrix->r1c2 = 0.0f; matrix->r1c2 = 0.0f;
@ -51,7 +51,7 @@ inline void matrix2x2_set_to_diagonal_fp32(const float d1, const float d2, matri
matrix->r2c2 = d2; matrix->r2c2 = d2;
} }
inline void matrix2x2_set_to_diagonal_fp64(const double d1, const double d2, matrix2x2_fp64_t* matrix) inline void bgc_matrix2x2_set_to_diagonal_fp64(const double d1, const double d2, bgc_matrix2x2_fp64_t* matrix)
{ {
matrix->r1c1 = d1; matrix->r1c1 = d1;
matrix->r1c2 = 0.0; matrix->r1c2 = 0.0;
@ -61,9 +61,9 @@ inline void matrix2x2_set_to_diagonal_fp64(const double d1, const double d2, mat
// ============== Rotation Matrix =============== // // ============== Rotation Matrix =============== //
inline void matrix2x2_make_rotation_fp32(const float angle, const angle_unit_t unit, matrix2x2_fp32_t* matrix) inline void bgc_matrix2x2_make_rotation_fp32(const float angle, const bgc_angle_unit_t unit, bgc_matrix2x2_fp32_t* matrix)
{ {
const float radians = fp32_angle_to_radians(angle, unit); const float radians = bgc_angle_to_radians_fp32(angle, unit);
const float cosine = cosf(radians); const float cosine = cosf(radians);
const float sine = sinf(radians); const float sine = sinf(radians);
@ -73,9 +73,9 @@ inline void matrix2x2_make_rotation_fp32(const float angle, const angle_unit_t u
matrix->r2c2 = cosine; matrix->r2c2 = cosine;
} }
inline void matrix2x2_make_rotation_fp64(const double angle, const angle_unit_t unit, matrix2x2_fp64_t* matrix) inline void bgc_matrix2x2_make_rotation_fp64(const double angle, const bgc_angle_unit_t unit, bgc_matrix2x2_fp64_t* matrix)
{ {
const double radians = fp64_angle_to_radians(angle, unit); const double radians = bgc_angle_to_radians_fp64(angle, unit);
const double cosine = cos(radians); const double cosine = cos(radians);
const double sine = sin(radians); const double sine = sin(radians);
@ -87,7 +87,7 @@ inline void matrix2x2_make_rotation_fp64(const double angle, const angle_unit_t
// ==================== Copy ==================== // // ==================== Copy ==================== //
inline void matrix2x2_copy_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to) inline void bgc_matrix2x2_copy_fp32(const bgc_matrix2x2_fp32_t* from, bgc_matrix2x2_fp32_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -96,7 +96,7 @@ inline void matrix2x2_copy_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp32_t*
to->r2c2 = from->r2c2; to->r2c2 = from->r2c2;
} }
inline void matrix2x2_copy_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to) inline void bgc_matrix2x2_copy_fp64(const bgc_matrix2x2_fp64_t* from, bgc_matrix2x2_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -107,7 +107,7 @@ inline void matrix2x2_copy_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp64_t*
// ==================== Swap ==================== // // ==================== Swap ==================== //
inline void matrix2x2_swap_fp32(matrix2x2_fp32_t* matrix1, matrix2x2_fp32_t* matrix2) inline void bgc_matrix2x2_swap_fp32(bgc_matrix2x2_fp32_t* matrix1, bgc_matrix2x2_fp32_t* matrix2)
{ {
const float r1c1 = matrix2->r1c1; const float r1c1 = matrix2->r1c1;
const float r1c2 = matrix2->r1c2; const float r1c2 = matrix2->r1c2;
@ -128,7 +128,7 @@ inline void matrix2x2_swap_fp32(matrix2x2_fp32_t* matrix1, matrix2x2_fp32_t* mat
matrix1->r2c2 = r2c2; matrix1->r2c2 = r2c2;
} }
inline void matrix2x2_swap_fp64(matrix2x2_fp64_t* matrix1, matrix2x2_fp64_t* matrix2) inline void bgc_matrix2x2_swap_fp64(bgc_matrix2x2_fp64_t* matrix1, bgc_matrix2x2_fp64_t* matrix2)
{ {
const double r1c1 = matrix2->r1c1; const double r1c1 = matrix2->r1c1;
const double r1c2 = matrix2->r1c2; const double r1c2 = matrix2->r1c2;
@ -151,7 +151,7 @@ inline void matrix2x2_swap_fp64(matrix2x2_fp64_t* matrix1, matrix2x2_fp64_t* mat
// ============= Copy to twin type ============== // // ============= Copy to twin type ============== //
inline void matrix2x2_convert_fp64_to_fp32(const matrix2x2_fp64_t* from, matrix2x2_fp32_t* to) inline void bgc_matrix2x2_convert_fp64_to_fp32(const bgc_matrix2x2_fp64_t* from, bgc_matrix2x2_fp32_t* to)
{ {
to->r1c1 = (float)from->r1c1; to->r1c1 = (float)from->r1c1;
to->r1c2 = (float)from->r1c2; to->r1c2 = (float)from->r1c2;
@ -160,7 +160,7 @@ inline void matrix2x2_convert_fp64_to_fp32(const matrix2x2_fp64_t* from, matrix2
to->r2c2 = (float)from->r2c2; to->r2c2 = (float)from->r2c2;
} }
inline void matrix2x2_convert_fp32_to_fp64(const matrix2x2_fp32_t* from, matrix2x2_fp64_t* to) inline void bgc_matrix2x2_convert_fp32_to_fp64(const bgc_matrix2x2_fp32_t* from, bgc_matrix2x2_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -171,42 +171,42 @@ inline void matrix2x2_convert_fp32_to_fp64(const matrix2x2_fp32_t* from, matrix2
// ================ Determinant ================= // // ================ Determinant ================= //
inline float matrix2x2_get_determinant_fp32(const matrix2x2_fp32_t* matrix) inline float bgc_matrix2x2_get_determinant_fp32(const bgc_matrix2x2_fp32_t* matrix)
{ {
return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
} }
inline double matrix2x2_get_determinant_fp64(const matrix2x2_fp64_t* matrix) inline double bgc_matrix2x2_get_determinant_fp64(const bgc_matrix2x2_fp64_t* matrix)
{ {
return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
} }
// ================== Singular ================== // // ================== Singular ================== //
inline int matrix2x2_is_singular_fp32(const matrix2x2_fp32_t* matrix) inline int bgc_matrix2x2_is_singular_fp32(const bgc_matrix2x2_fp32_t* matrix)
{ {
const float determinant = matrix2x2_get_determinant_fp32(matrix); const float determinant = bgc_matrix2x2_get_determinant_fp32(matrix);
return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON; return -BGC_EPSYLON_FP32 <= determinant && determinant <= BGC_EPSYLON_FP32;
} }
inline int matrix2x2_is_singular_fp64(const matrix2x2_fp64_t* matrix) inline int bgc_matrix2x2_is_singular_fp64(const bgc_matrix2x2_fp64_t* matrix)
{ {
const double determinant = matrix2x2_get_determinant_fp64(matrix); const double determinant = bgc_matrix2x2_get_determinant_fp64(matrix);
return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON; return -BGC_EPSYLON_FP64 <= determinant && determinant <= BGC_EPSYLON_FP64;
} }
// =============== Transposition ================ // // =============== Transposition ================ //
inline void matrix2x2_transpose_fp32(matrix2x2_fp32_t* matrix) inline void bgc_matrix2x2_transpose_fp32(bgc_matrix2x2_fp32_t* matrix)
{ {
const float tmp = matrix->r1c2; const float tmp = matrix->r1c2;
matrix->r1c2 = matrix->r2c1; matrix->r1c2 = matrix->r2c1;
matrix->r2c1 = tmp; matrix->r2c1 = tmp;
} }
inline void matrix2x2_transpose_fp64(matrix2x2_fp64_t* matrix) inline void bgc_matrix2x2_transpose_fp64(bgc_matrix2x2_fp64_t* matrix)
{ {
const double tmp = matrix->r1c2; const double tmp = matrix->r1c2;
matrix->r1c2 = matrix->r2c1; matrix->r1c2 = matrix->r2c1;
@ -215,11 +215,11 @@ inline void matrix2x2_transpose_fp64(matrix2x2_fp64_t* matrix)
// ================= Inversion ================== // // ================= Inversion ================== //
inline int matrix2x2_invert_fp32(matrix2x2_fp32_t* matrix) inline int bgc_matrix2x2_invert_fp32(bgc_matrix2x2_fp32_t* matrix)
{ {
const float determinant = matrix2x2_get_determinant_fp32(matrix); const float determinant = bgc_matrix2x2_get_determinant_fp32(matrix);
if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) { if (-BGC_EPSYLON_FP32 <= determinant && determinant <= BGC_EPSYLON_FP32) {
return 0; return 0;
} }
@ -240,11 +240,11 @@ inline int matrix2x2_invert_fp32(matrix2x2_fp32_t* matrix)
return 1; return 1;
} }
inline int matrix2x2_invert_fp64(matrix2x2_fp64_t* matrix) inline int bgc_matrix2x2_invert_fp64(bgc_matrix2x2_fp64_t* matrix)
{ {
const double determinant = matrix2x2_get_determinant_fp64(matrix); const double determinant = bgc_matrix2x2_get_determinant_fp64(matrix);
if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) { if (-BGC_EPSYLON_FP64 <= determinant && determinant <= BGC_EPSYLON_FP64) {
return 0; return 0;
} }
@ -267,7 +267,7 @@ inline int matrix2x2_invert_fp64(matrix2x2_fp64_t* matrix)
// =============== Set Transposed =============== // // =============== Set Transposed =============== //
inline void matrix2x2_set_transposed_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to) inline void bgc_matrix2x2_set_transposed_fp32(const bgc_matrix2x2_fp32_t* from, bgc_matrix2x2_fp32_t* to)
{ {
float tmp = from->r1c2; float tmp = from->r1c2;
@ -278,7 +278,7 @@ inline void matrix2x2_set_transposed_fp32(const matrix2x2_fp32_t* from, matrix2x
to->r2c2 = from->r2c2; to->r2c2 = from->r2c2;
} }
inline void matrix2x2_set_transposed_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to) inline void bgc_matrix2x2_set_transposed_fp64(const bgc_matrix2x2_fp64_t* from, bgc_matrix2x2_fp64_t* to)
{ {
double tmp = from->r1c2; double tmp = from->r1c2;
@ -291,11 +291,11 @@ inline void matrix2x2_set_transposed_fp64(const matrix2x2_fp64_t* from, matrix2x
// ================ Set Inverted ================ // // ================ Set Inverted ================ //
inline int matrix2x2_set_inverted_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to) inline int bgc_matrix2x2_set_inverted_fp32(const bgc_matrix2x2_fp32_t* from, bgc_matrix2x2_fp32_t* to)
{ {
const float determinant = matrix2x2_get_determinant_fp32(from); const float determinant = bgc_matrix2x2_get_determinant_fp32(from);
if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) { if (-BGC_EPSYLON_FP32 <= determinant && determinant <= BGC_EPSYLON_FP32) {
return 0; return 0;
} }
@ -316,11 +316,11 @@ inline int matrix2x2_set_inverted_fp32(const matrix2x2_fp32_t* from, matrix2x2_f
return 1; return 1;
} }
inline int matrix2x2_set_inverted_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to) inline int bgc_matrix2x2_set_inverted_fp64(const bgc_matrix2x2_fp64_t* from, bgc_matrix2x2_fp64_t* to)
{ {
const double determinant = matrix2x2_get_determinant_fp64(from); const double determinant = bgc_matrix2x2_get_determinant_fp64(from);
if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) { if (-BGC_EPSYLON_FP64 <= determinant && determinant <= BGC_EPSYLON_FP64) {
return 0; return 0;
} }
@ -343,13 +343,13 @@ inline int matrix2x2_set_inverted_fp64(const matrix2x2_fp64_t* from, matrix2x2_f
// ================= Set Row 1 ================== // // ================= Set Row 1 ================== //
inline void matrix2x2_set_row1_fp32(const float c1, const float c2, matrix2x2_fp32_t* matrix) inline void bgc_matrix2x2_set_row1_fp32(const float c1, const float c2, bgc_matrix2x2_fp32_t* matrix)
{ {
matrix->r1c1 = c1; matrix->r1c1 = c1;
matrix->r1c2 = c2; matrix->r1c2 = c2;
} }
inline void matrix2x2_set_row1_fp64(const double c1, const double c2, matrix2x2_fp64_t* matrix) inline void bgc_matrix2x2_set_row1_fp64(const double c1, const double c2, bgc_matrix2x2_fp64_t* matrix)
{ {
matrix->r1c1 = c1; matrix->r1c1 = c1;
matrix->r1c2 = c2; matrix->r1c2 = c2;
@ -357,13 +357,13 @@ inline void matrix2x2_set_row1_fp64(const double c1, const double c2, matrix2x2_
// ================= Set Row 2 ================== // // ================= Set Row 2 ================== //
inline void matrix2x2_set_row2_fp32(const float c1, const float c2, matrix2x2_fp32_t* matrix) inline void bgc_matrix2x2_set_row2_fp32(const float c1, const float c2, bgc_matrix2x2_fp32_t* matrix)
{ {
matrix->r2c1 = c1; matrix->r2c1 = c1;
matrix->r2c2 = c2; matrix->r2c2 = c2;
} }
inline void matrix2x2_set_row2_fp64(const double c1, const double c2, matrix2x2_fp64_t* matrix) inline void bgc_matrix2x2_set_row2_fp64(const double c1, const double c2, bgc_matrix2x2_fp64_t* matrix)
{ {
matrix->r2c1 = c1; matrix->r2c1 = c1;
matrix->r2c2 = c2; matrix->r2c2 = c2;
@ -371,13 +371,13 @@ inline void matrix2x2_set_row2_fp64(const double c1, const double c2, matrix2x2_
// ================ Set Column 1 ================ // // ================ Set Column 1 ================ //
inline void matrix2x2_set_column1_fp32(const float r1, const float r2, matrix2x2_fp32_t* matrix) inline void bgc_matrix2x2_set_column1_fp32(const float r1, const float r2, bgc_matrix2x2_fp32_t* matrix)
{ {
matrix->r1c1 = r1; matrix->r1c1 = r1;
matrix->r2c1 = r2; matrix->r2c1 = r2;
} }
inline void matrix2x2_set_column1_fp64(const double r1, const double r2, matrix2x2_fp64_t* matrix) inline void bgc_matrix2x2_set_column1_fp64(const double r1, const double r2, bgc_matrix2x2_fp64_t* matrix)
{ {
matrix->r1c1 = r1; matrix->r1c1 = r1;
matrix->r2c1 = r2; matrix->r2c1 = r2;
@ -385,41 +385,21 @@ inline void matrix2x2_set_column1_fp64(const double r1, const double r2, matrix2
// ================ Set Column 2 ================ // // ================ Set Column 2 ================ //
inline void matrix2x2_set_column2_fp32(const float r1, const float r2, matrix2x2_fp32_t* matrix) inline void bgc_matrix2x2_set_column2_fp32(const float r1, const float r2, bgc_matrix2x2_fp32_t* matrix)
{ {
matrix->r1c2 = r1; matrix->r1c2 = r1;
matrix->r2c2 = r2; matrix->r2c2 = r2;
} }
inline void matrix2x2_set_column2_fp64(const double r1, const double r2, matrix2x2_fp64_t* matrix) inline void bgc_matrix2x2_set_column2_fp64(const double r1, const double r2, bgc_matrix2x2_fp64_t* matrix)
{ {
matrix->r1c2 = r1; matrix->r1c2 = r1;
matrix->r2c2 = r2; matrix->r2c2 = r2;
} }
// ================ Append scaled =============== //
inline void matrix2x2_add_scaled_fp32(matrix2x2_fp32_t* basic_vector, const matrix2x2_fp32_t* scalable_vector, const float scale)
{
basic_vector->r1c1 += scalable_vector->r1c1 * scale;
basic_vector->r1c2 += scalable_vector->r1c2 * scale;
basic_vector->r2c1 += scalable_vector->r2c1 * scale;
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
}
inline void matrix2x2_add_scaled_fp64(matrix2x2_fp64_t* basic_vector, const matrix2x2_fp64_t* scalable_vector, const double scale)
{
basic_vector->r1c1 += scalable_vector->r1c1 * scale;
basic_vector->r1c2 += scalable_vector->r1c2 * scale;
basic_vector->r2c1 += scalable_vector->r2c1 * scale;
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
}
// ================== Addition ================== // // ================== Addition ================== //
inline void matrix2x2_add_fp32(const matrix2x2_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x2_fp32_t* sum) inline void bgc_matrix2x2_add_fp32(const bgc_matrix2x2_fp32_t* matrix1, const bgc_matrix2x2_fp32_t* matrix2, bgc_matrix2x2_fp32_t* sum)
{ {
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@ -428,7 +408,7 @@ inline void matrix2x2_add_fp32(const matrix2x2_fp32_t* matrix1, const matrix2x2_
sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
} }
inline void matrix2x2_add_fp64(const matrix2x2_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x2_fp64_t* sum) inline void bgc_matrix2x2_add_fp64(const bgc_matrix2x2_fp64_t* matrix1, const bgc_matrix2x2_fp64_t* matrix2, bgc_matrix2x2_fp64_t* sum)
{ {
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@ -437,9 +417,29 @@ inline void matrix2x2_add_fp64(const matrix2x2_fp64_t* matrix1, const matrix2x2_
sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
} }
// ================= Add scaled ================= //
inline void bgc_matrix2x2_add_scaled_fp32(const bgc_matrix2x2_fp32_t* basic_matrix, const bgc_matrix2x2_fp32_t* scalable_matrix, const float scale, bgc_matrix2x2_fp32_t* sum)
{
sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
sum->r2c1 = basic_matrix->r2c1 + scalable_matrix->r2c1 * scale;
sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
}
inline void bgc_matrix2x2_add_scaled_fp64(const bgc_matrix2x2_fp64_t* basic_matrix, const bgc_matrix2x2_fp64_t* scalable_matrix, const double scale, bgc_matrix2x2_fp64_t* sum)
{
sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
sum->r2c1 = basic_matrix->r2c1 + scalable_matrix->r2c1 * scale;
sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
}
// ================ Subtraction ================= // // ================ Subtraction ================= //
inline void matrix2x2_subtract_fp32(const matrix2x2_fp32_t* minuend, const matrix2x2_fp32_t* subtrahend, matrix2x2_fp32_t* difference) inline void bgc_matrix2x2_subtract_fp32(const bgc_matrix2x2_fp32_t* minuend, const bgc_matrix2x2_fp32_t* subtrahend, bgc_matrix2x2_fp32_t* difference)
{ {
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@ -448,7 +448,7 @@ inline void matrix2x2_subtract_fp32(const matrix2x2_fp32_t* minuend, const matri
difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
} }
inline void matrix2x2_subtract_fp64(const matrix2x2_fp64_t* minuend, const matrix2x2_fp64_t* subtrahend, matrix2x2_fp64_t* difference) inline void bgc_matrix2x2_subtract_fp64(const bgc_matrix2x2_fp64_t* minuend, const bgc_matrix2x2_fp64_t* subtrahend, bgc_matrix2x2_fp64_t* difference)
{ {
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@ -459,7 +459,7 @@ inline void matrix2x2_subtract_fp64(const matrix2x2_fp64_t* minuend, const matri
// =============== Multiplication =============== // // =============== Multiplication =============== //
inline void matrix2x2_multiply_fp32(const matrix2x2_fp32_t* multiplicand, const float multiplier, matrix2x2_fp32_t* product) inline void bgc_matrix2x2_multiply_fp32(const bgc_matrix2x2_fp32_t* multiplicand, const float multiplier, bgc_matrix2x2_fp32_t* product)
{ {
product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c1 = multiplicand->r1c1 * multiplier;
product->r1c2 = multiplicand->r1c2 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier;
@ -468,7 +468,7 @@ inline void matrix2x2_multiply_fp32(const matrix2x2_fp32_t* multiplicand, const
product->r2c2 = multiplicand->r2c2 * multiplier; product->r2c2 = multiplicand->r2c2 * multiplier;
} }
inline void matrix2x2_multiply_fp64(const matrix2x2_fp64_t* multiplicand, const double multiplier, matrix2x2_fp64_t* product) inline void bgc_matrix2x2_multiply_fp64(const bgc_matrix2x2_fp64_t* multiplicand, const double multiplier, bgc_matrix2x2_fp64_t* product)
{ {
product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c1 = multiplicand->r1c1 * multiplier;
product->r1c2 = multiplicand->r1c2 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier;
@ -479,19 +479,19 @@ inline void matrix2x2_multiply_fp64(const matrix2x2_fp64_t* multiplicand, const
// ================== Division ================== // // ================== Division ================== //
inline void matrix2x2_divide_fp32(const matrix2x2_fp32_t* dividend, const float divisor, matrix2x2_fp32_t* quotient) inline void bgc_matrix2x2_divide_fp32(const bgc_matrix2x2_fp32_t* dividend, const float divisor, bgc_matrix2x2_fp32_t* quotient)
{ {
matrix2x2_multiply_fp32(dividend, 1.0f / divisor, quotient); bgc_matrix2x2_multiply_fp32(dividend, 1.0f / divisor, quotient);
} }
inline void matrix2x2_fp64_divide(const matrix2x2_fp64_t* dividend, const double divisor, matrix2x2_fp64_t* quotient) inline void bgc_matrix2x2_divide_fp64(const bgc_matrix2x2_fp64_t* dividend, const double divisor, bgc_matrix2x2_fp64_t* quotient)
{ {
matrix2x2_multiply_fp64(dividend, 1.0 / divisor, quotient); bgc_matrix2x2_multiply_fp64(dividend, 1.0 / divisor, quotient);
} }
// ============ Left Vector Product ============= // // ============ Left Vector Product ============= //
inline void matrix2x2_left_product_fp32(const vector2_fp32_t* vector, const matrix2x2_fp32_t* matrix, vector2_fp32_t* result) inline void bgc_matrix2x2_left_product_fp32(const bgc_vector2_fp32_t* vector, const bgc_matrix2x2_fp32_t* matrix, bgc_vector2_fp32_t* result)
{ {
const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
@ -500,7 +500,7 @@ inline void matrix2x2_left_product_fp32(const vector2_fp32_t* vector, const matr
result->x2 = x2; result->x2 = x2;
} }
inline void matrix2x2_left_product_fp64(const vector2_fp64_t* vector, const matrix2x2_fp64_t* matrix, vector2_fp64_t* result) inline void bgc_matrix2x2_left_product_fp64(const bgc_vector2_fp64_t* vector, const bgc_matrix2x2_fp64_t* matrix, bgc_vector2_fp64_t* result)
{ {
const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
@ -511,7 +511,7 @@ inline void matrix2x2_left_product_fp64(const vector2_fp64_t* vector, const matr
// ============ Right Vector Product ============ // // ============ Right Vector Product ============ //
inline void matrix2x2_right_product_fp32(const matrix2x2_fp32_t* matrix, const vector2_fp32_t* vector, vector2_fp32_t* result) inline void bgc_matrix2x2_right_product_fp32(const bgc_matrix2x2_fp32_t* matrix, const bgc_vector2_fp32_t* vector, bgc_vector2_fp32_t* result)
{ {
const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
@ -520,7 +520,7 @@ inline void matrix2x2_right_product_fp32(const matrix2x2_fp32_t* matrix, const v
result->x2 = x2; result->x2 = x2;
} }
inline void matrix2x2_right_product_fp64(const matrix2x2_fp64_t* matrix, const vector2_fp64_t* vector, vector2_fp64_t* result) inline void bgc_matrix2x2_right_product_fp64(const bgc_matrix2x2_fp64_t* matrix, const bgc_vector2_fp64_t* vector, bgc_vector2_fp64_t* result)
{ {
const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;

128
basic-geometry/matrix2x3.h
View file

@ -1,5 +1,5 @@
#ifndef _BASIC_GEOMETRY_MATRIX2X3_H_ #ifndef _BGC_MATRIX2X3_H_
#define _BASIC_GEOMETRY_MATRIX2X3_H_ #define _BGC_MATRIX2X3_H_
#include "vector2.h" #include "vector2.h"
#include "vector3.h" #include "vector3.h"
@ -7,7 +7,7 @@
// =================== Reset ==================== // // =================== Reset ==================== //
inline void matrix2x3_reset_fp32(matrix2x3_fp32_t* matrix) inline void bgc_matrix2x3_reset_fp32(bgc_matrix2x3_fp32_t* matrix)
{ {
matrix->r1c1 = 0.0f; matrix->r1c1 = 0.0f;
matrix->r1c2 = 0.0f; matrix->r1c2 = 0.0f;
@ -19,7 +19,7 @@ inline void matrix2x3_reset_fp32(matrix2x3_fp32_t* matrix)
matrix->r3c2 = 0.0f; matrix->r3c2 = 0.0f;
} }
inline void matrix2x3_reset_fp64(matrix2x3_fp64_t* matrix) inline void bgc_matrix2x3_reset_fp64(bgc_matrix2x3_fp64_t* matrix)
{ {
matrix->r1c1 = 0.0; matrix->r1c1 = 0.0;
matrix->r1c2 = 0.0; matrix->r1c2 = 0.0;
@ -33,7 +33,7 @@ inline void matrix2x3_reset_fp64(matrix2x3_fp64_t* matrix)
// ==================== Copy ==================== // // ==================== Copy ==================== //
inline void matrix2x3_copy_fp32(const matrix2x3_fp32_t* from, matrix2x3_fp32_t* to) inline void bgc_matrix2x3_copy_fp32(const bgc_matrix2x3_fp32_t* from, bgc_matrix2x3_fp32_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -45,7 +45,7 @@ inline void matrix2x3_copy_fp32(const matrix2x3_fp32_t* from, matrix2x3_fp32_t*
to->r3c2 = from->r3c2; to->r3c2 = from->r3c2;
} }
inline void matrix2x3_copy_fp64(const matrix2x3_fp64_t* from, matrix2x3_fp64_t* to) inline void bgc_matrix2x3_copy_fp64(const bgc_matrix2x3_fp64_t* from, bgc_matrix2x3_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -59,7 +59,7 @@ inline void matrix2x3_copy_fp64(const matrix2x3_fp64_t* from, matrix2x3_fp64_t*
// ==================== Swap ==================== // // ==================== Swap ==================== //
inline void matrix2x3_swap_fp32(matrix2x3_fp32_t* matrix1, matrix2x3_fp32_t* matrix2) inline void bgc_matrix2x3_swap_fp32(bgc_matrix2x3_fp32_t* matrix1, bgc_matrix2x3_fp32_t* matrix2)
{ {
const float r1c1 = matrix2->r1c1; const float r1c1 = matrix2->r1c1;
const float r1c2 = matrix2->r1c2; const float r1c2 = matrix2->r1c2;
@ -89,7 +89,7 @@ inline void matrix2x3_swap_fp32(matrix2x3_fp32_t* matrix1, matrix2x3_fp32_t* mat
matrix1->r3c2 = r3c2; matrix1->r3c2 = r3c2;
} }
inline void matrix2x3_swap_fp64(matrix2x3_fp64_t* matrix1, matrix2x3_fp64_t* matrix2) inline void bgc_matrix2x3_swap_fp64(bgc_matrix2x3_fp64_t* matrix1, bgc_matrix2x3_fp64_t* matrix2)
{ {
const double r1c1 = matrix2->r1c1; const double r1c1 = matrix2->r1c1;
const double r1c2 = matrix2->r1c2; const double r1c2 = matrix2->r1c2;
@ -121,7 +121,7 @@ inline void matrix2x3_swap_fp64(matrix2x3_fp64_t* matrix1, matrix2x3_fp64_t* mat
// ============= Copy to twin type ============== // // ============= Copy to twin type ============== //
inline void matrix2x3_convert_fp64_to_fp32(const matrix2x3_fp64_t* from, matrix2x3_fp32_t* to) inline void bgc_matrix2x3_convert_fp64_to_fp32(const bgc_matrix2x3_fp64_t* from, bgc_matrix2x3_fp32_t* to)
{ {
to->r1c1 = (float) from->r1c1; to->r1c1 = (float) from->r1c1;
to->r1c2 = (float) from->r1c2; to->r1c2 = (float) from->r1c2;
@ -133,7 +133,7 @@ inline void matrix2x3_convert_fp64_to_fp32(const matrix2x3_fp64_t* from, matrix2
to->r3c2 = (float) from->r3c2; to->r3c2 = (float) from->r3c2;
} }
inline void matrix2x3_convert_fp32_to_fp64(const matrix2x3_fp32_t* from, matrix2x3_fp64_t* to) inline void bgc_matrix2x3_convert_fp32_to_fp64(const bgc_matrix2x3_fp32_t* from, bgc_matrix2x3_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -147,7 +147,7 @@ inline void matrix2x3_convert_fp32_to_fp64(const matrix2x3_fp32_t* from, matrix2
// =============== Set transposed =============== // // =============== Set transposed =============== //
inline void matrix2x3_set_transposed_fp32(const matrix3x2_fp32_t* from, matrix2x3_fp32_t* to) inline void bgc_matrix2x3_set_transposed_fp32(const bgc_matrix3x2_fp32_t* from, bgc_matrix2x3_fp32_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1; to->r1c2 = from->r2c1;
@ -159,7 +159,7 @@ inline void matrix2x3_set_transposed_fp32(const matrix3x2_fp32_t* from, matrix2x
to->r3c2 = from->r2c3; to->r3c2 = from->r2c3;
} }
inline void matrix2x3_set_transposed_fp64(const matrix3x2_fp64_t* from, matrix2x3_fp64_t* to) inline void bgc_matrix2x3_set_transposed_fp64(const bgc_matrix3x2_fp64_t* from, bgc_matrix2x3_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1; to->r1c2 = from->r2c1;
@ -173,7 +173,7 @@ inline void matrix2x3_set_transposed_fp64(const matrix3x2_fp64_t* from, matrix2x
// =============== Set transposed =============== // // =============== Set transposed =============== //
inline void matrix2x3_set_transposed_fp32_fp64(const matrix3x2_fp64_t* from, matrix2x3_fp32_t* to) inline void bgc_matrix2x3_set_transposed_fp32_fp64(const bgc_matrix3x2_fp64_t* from, bgc_matrix2x3_fp32_t* to)
{ {
to->r1c1 = (float) from->r1c1; to->r1c1 = (float) from->r1c1;
to->r1c2 = (float) from->r2c1; to->r1c2 = (float) from->r2c1;
@ -185,7 +185,7 @@ inline void matrix2x3_set_transposed_fp32_fp64(const matrix3x2_fp64_t* from, mat
to->r3c2 = (float) from->r2c3; to->r3c2 = (float) from->r2c3;
} }
inline void matrix2x3_set_transposed_fp64_fp32(const matrix3x2_fp32_t* from, matrix2x3_fp64_t* to) inline void bgc_matrix2x3_set_transposed_fp64_fp32(const bgc_matrix3x2_fp32_t* from, bgc_matrix2x3_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1; to->r1c2 = from->r2c1;
@ -199,13 +199,13 @@ inline void matrix2x3_set_transposed_fp64_fp32(const matrix3x2_fp32_t* from, mat
// ================= Set Row 1 ================== // // ================= Set Row 1 ================== //
inline void matrix2x3_set_row1_fp32(const float c1, const float c2, matrix2x3_fp32_t* matrix) inline void bgc_matrix2x3_set_row1_fp32(const float c1, const float c2, bgc_matrix2x3_fp32_t* matrix)
{ {
matrix->r1c1 = c1; matrix->r1c1 = c1;
matrix->r1c2 = c2; matrix->r1c2 = c2;
} }
inline void matrix2x3_set_row1_fp64(const double c1, const double c2, matrix2x3_fp64_t* matrix) inline void bgc_matrix2x3_set_row1_fp64(const double c1, const double c2, bgc_matrix2x3_fp64_t* matrix)
{ {
matrix->r1c1 = c1; matrix->r1c1 = c1;
matrix->r1c2 = c2; matrix->r1c2 = c2;
@ -213,13 +213,13 @@ inline void matrix2x3_set_row1_fp64(const double c1, const double c2, matrix2x3_
// ================= Set Row 2 ================== // // ================= Set Row 2 ================== //
inline void matrix2x3_set_row2_fp32(const float c1, const float c2, matrix2x3_fp32_t* matrix) inline void bgc_matrix2x3_set_row2_fp32(const float c1, const float c2, bgc_matrix2x3_fp32_t* matrix)
{ {
matrix->r2c1 = c1; matrix->r2c1 = c1;
matrix->r2c2 = c2; matrix->r2c2 = c2;
} }
inline void matrix2x3_set_row2_fp64(const double c1, const double c2, matrix2x3_fp64_t* matrix) inline void bgc_matrix2x3_set_row2_fp64(const double c1, const double c2, bgc_matrix2x3_fp64_t* matrix)
{ {
matrix->r2c1 = c1; matrix->r2c1 = c1;
matrix->r2c2 = c2; matrix->r2c2 = c2;
@ -227,13 +227,13 @@ inline void matrix2x3_set_row2_fp64(const double c1, const double c2, matrix2x3_
// ================= Set Row 3 ================== // // ================= Set Row 3 ================== //
inline void matrix2x3_set_row3_fp32(const float c1, const float c2, matrix2x3_fp32_t* matrix) inline void bgc_matrix2x3_set_row3_fp32(const float c1, const float c2, bgc_matrix2x3_fp32_t* matrix)
{ {
matrix->r3c1 = c1; matrix->r3c1 = c1;
matrix->r3c2 = c2; matrix->r3c2 = c2;
} }
inline void matrix2x3_set_row3_fp64(const double c1, const double c2, matrix2x3_fp64_t* matrix) inline void bgc_matrix2x3_set_row3_fp64(const double c1, const double c2, bgc_matrix2x3_fp64_t* matrix)
{ {
matrix->r3c1 = c1; matrix->r3c1 = c1;
matrix->r3c2 = c2; matrix->r3c2 = c2;
@ -241,14 +241,14 @@ inline void matrix2x3_set_row3_fp64(const double c1, const double c2, matrix2x3_
// ================ Set Column 1 ================ // // ================ Set Column 1 ================ //
inline void matrix2x3_set_column1_fp32(const float r1, const float r2, const float r3, matrix2x3_fp32_t* matrix) inline void bgc_matrix2x3_set_column1_fp32(const float r1, const float r2, const float r3, bgc_matrix2x3_fp32_t* matrix)
{ {
matrix->r1c1 = r1; matrix->r1c1 = r1;
matrix->r2c1 = r2; matrix->r2c1 = r2;
matrix->r3c1 = r3; matrix->r3c1 = r3;
} }
inline void matrix2x3_set_column1_fp64(const double r1, const double r2, const double r3, matrix2x3_fp64_t* matrix) inline void bgc_matrix2x3_set_column1_fp64(const double r1, const double r2, const double r3, bgc_matrix2x3_fp64_t* matrix)
{ {
matrix->r1c1 = r1; matrix->r1c1 = r1;
matrix->r2c1 = r2; matrix->r2c1 = r2;
@ -257,49 +257,23 @@ inline void matrix2x3_set_column1_fp64(const double r1, const double r2, const d
// ================ Set Column 2 ================ // // ================ Set Column 2 ================ //
inline void matrix2x3_set_column2_fp32(const float r1, const float r2, const float r3, matrix2x3_fp32_t* matrix) inline void bgc_matrix2x3_set_column2_fp32(const float r1, const float r2, const float r3, bgc_matrix2x3_fp32_t* matrix)
{ {
matrix->r1c2 = r1; matrix->r1c2 = r1;
matrix->r2c2 = r2; matrix->r2c2 = r2;
matrix->r3c2 = r3; matrix->r3c2 = r3;
} }
inline void matrix2x3_set_column2_fp64(const double r1, const double r2, const double r3, matrix2x3_fp64_t* matrix) inline void bgc_matrix2x3_set_column2_fp64(const double r1, const double r2, const double r3, bgc_matrix2x3_fp64_t* matrix)
{ {
matrix->r1c2 = r1; matrix->r1c2 = r1;
matrix->r2c2 = r2; matrix->r2c2 = r2;
matrix->r3c2 = r3; matrix->r3c2 = r3;
} }
// ================ Append scaled =============== //
inline void matrix2x3_add_scaled_fp32(matrix2x3_fp32_t* basic_vector, const matrix2x3_fp32_t* scalable_vector, const float scale)
{
basic_vector->r1c1 += scalable_vector->r1c1 * scale;
basic_vector->r1c2 += scalable_vector->r1c2 * scale;
basic_vector->r2c1 += scalable_vector->r2c1 * scale;
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
basic_vector->r3c1 += scalable_vector->r3c1 * scale;
basic_vector->r3c2 += scalable_vector->r3c2 * scale;
}
inline void matrix2x3_add_scaled_fp64(matrix2x3_fp64_t* basic_vector, const matrix2x3_fp64_t* scalable_vector, const double scale)
{
basic_vector->r1c1 += scalable_vector->r1c1 * scale;
basic_vector->r1c2 += scalable_vector->r1c2 * scale;
basic_vector->r2c1 += scalable_vector->r2c1 * scale;
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
basic_vector->r3c1 += scalable_vector->r3c1 * scale;
basic_vector->r3c2 += scalable_vector->r3c2 * scale;
}
// ================== Addition ================== // // ================== Addition ================== //
inline void matrix2x3_add_fp32(const matrix2x3_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x3_fp32_t* sum) inline void bgc_matrix2x3_add_fp32(const bgc_matrix2x3_fp32_t* matrix1, const bgc_matrix2x3_fp32_t* matrix2, bgc_matrix2x3_fp32_t* sum)
{ {
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@ -311,7 +285,7 @@ inline void matrix2x3_add_fp32(const matrix2x3_fp32_t* matrix1, const matrix2x3_
sum->r3c2 = matrix1->r3c2 + matrix2->r3c2; sum->r3c2 = matrix1->r3c2 + matrix2->r3c2;
} }
inline void matrix2x3_add_fp64(const matrix2x3_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x3_fp64_t* sum) inline void bgc_matrix2x3_add_fp64(const bgc_matrix2x3_fp64_t* matrix1, const bgc_matrix2x3_fp64_t* matrix2, bgc_matrix2x3_fp64_t* sum)
{ {
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@ -323,9 +297,35 @@ inline void matrix2x3_add_fp64(const matrix2x3_fp64_t* matrix1, const matrix2x3_
sum->r3c2 = matrix1->r3c2 + matrix2->r3c2; sum->r3c2 = matrix1->r3c2 + matrix2->r3c2;
} }
// ================= Add scaled ================= //
inline void bgc_matrix2x3_add_scaled_fp32(const bgc_matrix2x3_fp32_t* basic_matrix, const bgc_matrix2x3_fp32_t* scalable_matrix, const float scale, bgc_matrix2x3_fp32_t* sum)
{
sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
sum->r2c1 = basic_matrix->r2c1 + scalable_matrix->r2c1 * scale;
sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
sum->r3c1 = basic_matrix->r3c1 + scalable_matrix->r3c1 * scale;
sum->r3c2 = basic_matrix->r3c2 + scalable_matrix->r3c2 * scale;
}
inline void bgc_matrix2x3_add_scaled_fp64(const bgc_matrix2x3_fp64_t* basic_matrix, const bgc_matrix2x3_fp64_t* scalable_matrix, const double scale, bgc_matrix2x3_fp64_t* sum)
{
sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
sum->r2c1 = basic_matrix->r2c1 + scalable_matrix->r2c1 * scale;
sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
sum->r3c1 = basic_matrix->r3c1 + scalable_matrix->r3c1 * scale;
sum->r3c2 = basic_matrix->r3c2 + scalable_matrix->r3c2 * scale;
}
// ================ Subtraction ================= // // ================ Subtraction ================= //
inline void matrix2x3_subtract_fp32(const matrix2x3_fp32_t* minuend, const matrix2x3_fp32_t* subtrahend, matrix2x3_fp32_t* difference) inline void bgc_matrix2x3_subtract_fp32(const bgc_matrix2x3_fp32_t* minuend, const bgc_matrix2x3_fp32_t* subtrahend, bgc_matrix2x3_fp32_t* difference)
{ {
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@ -337,7 +337,7 @@ inline void matrix2x3_subtract_fp32(const matrix2x3_fp32_t* minuend, const matri
difference->r3c2 = minuend->r3c2 - subtrahend->r3c2; difference->r3c2 = minuend->r3c2 - subtrahend->r3c2;
} }
inline void matrix2x3_subtract_fp64(const matrix2x3_fp64_t* minuend, const matrix2x3_fp64_t* subtrahend, matrix2x3_fp64_t* difference) inline void bgc_matrix2x3_subtract_fp64(const bgc_matrix2x3_fp64_t* minuend, const bgc_matrix2x3_fp64_t* subtrahend, bgc_matrix2x3_fp64_t* difference)
{ {
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@ -351,7 +351,7 @@ inline void matrix2x3_subtract_fp64(const matrix2x3_fp64_t* minuend, const matri
// =============== Multiplication =============== // // =============== Multiplication =============== //
inline void matrix2x3_multiply_fp32(const matrix2x3_fp32_t* multiplicand, const float multiplier, matrix2x3_fp32_t* product) inline void bgc_matrix2x3_multiply_fp32(const bgc_matrix2x3_fp32_t* multiplicand, const float multiplier, bgc_matrix2x3_fp32_t* product)
{ {
product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c1 = multiplicand->r1c1 * multiplier;
product->r1c2 = multiplicand->r1c2 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier;
@ -363,7 +363,7 @@ inline void matrix2x3_multiply_fp32(const matrix2x3_fp32_t* multiplicand, const
product->r3c2 = multiplicand->r3c2 * multiplier; product->r3c2 = multiplicand->r3c2 * multiplier;
} }
inline void matrix2x3_multiply_fp64(const matrix2x3_fp64_t* multiplicand, const double multiplier, matrix2x3_fp64_t* product) inline void bgc_matrix2x3_multiply_fp64(const bgc_matrix2x3_fp64_t* multiplicand, const double multiplier, bgc_matrix2x3_fp64_t* product)
{ {
product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c1 = multiplicand->r1c1 * multiplier;
product->r1c2 = multiplicand->r1c2 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier;
@ -377,25 +377,25 @@ inline void matrix2x3_multiply_fp64(const matrix2x3_fp64_t* multiplicand, const
// ================== Division ================== // // ================== Division ================== //
inline void matrix2x3_divide_fp32(const matrix2x3_fp32_t* dividend, const float divisor, matrix2x3_fp32_t* quotient) inline void bgc_matrix2x3_divide_fp32(const bgc_matrix2x3_fp32_t* dividend, const float divisor, bgc_matrix2x3_fp32_t* quotient)
{ {
matrix2x3_multiply_fp32(dividend, 1.0f / divisor, quotient); bgc_matrix2x3_multiply_fp32(dividend, 1.0f / divisor, quotient);
} }
inline void matrix2x3_fp64_divide(const matrix2x3_fp64_t* dividend, const double divisor, matrix2x3_fp64_t* quotient) inline void bgc_matrix2x3_divide_fp64(const bgc_matrix2x3_fp64_t* dividend, const double divisor, bgc_matrix2x3_fp64_t* quotient)
{ {
matrix2x3_multiply_fp64(dividend, 1.0 / divisor, quotient); bgc_matrix2x3_multiply_fp64(dividend, 1.0 / divisor, quotient);
} }
// ============ Left Vector Product ============= // // ============ Left Vector Product ============= //
inline void matrix2x3_left_product_fp32(const vector3_fp32_t* vector, const matrix2x3_fp32_t* matrix, vector2_fp32_t* result) inline void bgc_matrix2x3_left_product_fp32(const bgc_vector3_fp32_t* vector, const bgc_matrix2x3_fp32_t* matrix, bgc_vector2_fp32_t* result)
{ {
result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1; result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2; result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
} }
inline void matrix2x3_left_product_fp64(const vector3_fp64_t* vector, const matrix2x3_fp64_t* matrix, vector2_fp64_t* result) inline void bgc_matrix2x3_left_product_fp64(const bgc_vector3_fp64_t* vector, const bgc_matrix2x3_fp64_t* matrix, bgc_vector2_fp64_t* result)
{ {
result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1; result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2; result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
@ -403,14 +403,14 @@ inline void matrix2x3_left_product_fp64(const vector3_fp64_t* vector, const matr
// ============ Right Vector Product ============ // // ============ Right Vector Product ============ //
inline void matrix2x3_right_product_fp32(const matrix2x3_fp32_t* matrix, const vector2_fp32_t* vector, vector3_fp32_t* result) inline void bgc_matrix2x3_right_product_fp32(const bgc_matrix2x3_fp32_t* matrix, const bgc_vector2_fp32_t* vector, bgc_vector3_fp32_t* result)
{ {
result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
result->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2; result->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2;
} }
inline void matrix2x3_right_product_fp64(const matrix2x3_fp64_t* matrix, const vector2_fp64_t* vector, vector3_fp64_t* result) inline void bgc_matrix2x3_right_product_fp64(const bgc_matrix2x3_fp64_t* matrix, const bgc_vector2_fp64_t* vector, bgc_vector3_fp64_t* result)
{ {
result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;

124
basic-geometry/matrix3x2.h
View file

@ -1,5 +1,5 @@
#ifndef _BASIC_GEOMETRY_MATRIX3X2_H_ #ifndef _BGC_MATRIX3X2_H_
#define _BASIC_GEOMETRY_MATRIX3X2_H_ #define _BGC_MATRIX3X2_H_
#include "vector2.h" #include "vector2.h"
#include "vector3.h" #include "vector3.h"
@ -7,7 +7,7 @@
// =================== Reset ==================== // // =================== Reset ==================== //
inline void matrix3x2_reset_fp32(matrix3x2_fp32_t* matrix) inline void bgc_matrix3x2_reset_fp32(bgc_matrix3x2_fp32_t* matrix)
{ {
matrix->r1c1 = 0.0f; matrix->r1c1 = 0.0f;
matrix->r1c2 = 0.0f; matrix->r1c2 = 0.0f;
@ -18,7 +18,7 @@ inline void matrix3x2_reset_fp32(matrix3x2_fp32_t* matrix)
matrix->r2c3 = 0.0f; matrix->r2c3 = 0.0f;
} }
inline void matrix3x2_reset_fp64(matrix3x2_fp64_t* matrix) inline void bgc_matrix3x2_reset_fp64(bgc_matrix3x2_fp64_t* matrix)
{ {
matrix->r1c1 = 0.0; matrix->r1c1 = 0.0;
matrix->r1c2 = 0.0; matrix->r1c2 = 0.0;
@ -31,7 +31,7 @@ inline void matrix3x2_reset_fp64(matrix3x2_fp64_t* matrix)
// ==================== Copy ==================== // // ==================== Copy ==================== //
inline void matrix3x2_copy_fp32(const matrix3x2_fp32_t* from, matrix3x2_fp32_t* to) inline void bgc_matrix3x2_copy_fp32(const bgc_matrix3x2_fp32_t* from, bgc_matrix3x2_fp32_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -42,7 +42,7 @@ inline void matrix3x2_copy_fp32(const matrix3x2_fp32_t* from, matrix3x2_fp32_t*
to->r2c3 = from->r2c3; to->r2c3 = from->r2c3;
} }
inline void matrix3x2_copy_fp64(const matrix3x2_fp64_t* from, matrix3x2_fp64_t* to) inline void bgc_matrix3x2_copy_fp64(const bgc_matrix3x2_fp64_t* from, bgc_matrix3x2_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -55,7 +55,7 @@ inline void matrix3x2_copy_fp64(const matrix3x2_fp64_t* from, matrix3x2_fp64_t*
// ==================== Swap ==================== // // ==================== Swap ==================== //
inline void matrix3x2_swap_fp32(matrix3x2_fp32_t* matrix1, matrix3x2_fp32_t* matrix2) inline void bgc_matrix3x2_swap_fp32(bgc_matrix3x2_fp32_t* matrix1, bgc_matrix3x2_fp32_t* matrix2)
{ {
const float r1c1 = matrix2->r1c1; const float r1c1 = matrix2->r1c1;
const float r1c2 = matrix2->r1c2; const float r1c2 = matrix2->r1c2;
@ -82,7 +82,7 @@ inline void matrix3x2_swap_fp32(matrix3x2_fp32_t* matrix1, matrix3x2_fp32_t* mat
matrix1->r2c3 = r2c3; matrix1->r2c3 = r2c3;
} }
inline void matrix3x2_swap_fp64(matrix3x2_fp64_t* matrix1, matrix3x2_fp64_t* matrix2) inline void bgc_matrix3x2_swap_fp64(bgc_matrix3x2_fp64_t* matrix1, bgc_matrix3x2_fp64_t* matrix2)
{ {
const double r1c1 = matrix2->r1c1; const double r1c1 = matrix2->r1c1;
const double r1c2 = matrix2->r1c2; const double r1c2 = matrix2->r1c2;
@ -111,7 +111,7 @@ inline void matrix3x2_swap_fp64(matrix3x2_fp64_t* matrix1, matrix3x2_fp64_t* mat
// ============= Set from twin type ============= // // ============= Set from twin type ============= //
inline void matrix3x2_convert_fp64_to_fp32(const matrix3x2_fp64_t* from, matrix3x2_fp32_t* to) inline void bgc_matrix3x2_convert_fp64_to_fp32(const bgc_matrix3x2_fp64_t* from, bgc_matrix3x2_fp32_t* to)
{ {
to->r1c1 = (float) from->r1c1; to->r1c1 = (float) from->r1c1;
to->r1c2 = (float) from->r1c2; to->r1c2 = (float) from->r1c2;
@ -122,7 +122,7 @@ inline void matrix3x2_convert_fp64_to_fp32(const matrix3x2_fp64_t* from, matrix3
to->r2c3 = (float) from->r2c3; to->r2c3 = (float) from->r2c3;
} }
inline void matrix3x2_convert_fp32_to_fp64(const matrix3x2_fp32_t* from, matrix3x2_fp64_t* to) inline void bgc_matrix3x2_convert_fp32_to_fp64(const bgc_matrix3x2_fp32_t* from, bgc_matrix3x2_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -135,7 +135,7 @@ inline void matrix3x2_convert_fp32_to_fp64(const matrix3x2_fp32_t* from, matrix3
// =============== Set transposed =============== // // =============== Set transposed =============== //
inline void matrix3x2_set_transposed_fp32(const matrix2x3_fp32_t* from, matrix3x2_fp32_t* to) inline void bgc_matrix3x2_set_transposed_fp32(const bgc_matrix2x3_fp32_t* from, bgc_matrix3x2_fp32_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1; to->r1c2 = from->r2c1;
@ -146,7 +146,7 @@ inline void matrix3x2_set_transposed_fp32(const matrix2x3_fp32_t* from, matrix3x
to->r2c3 = from->r3c2; to->r2c3 = from->r3c2;
} }
inline void matrix3x2_set_transposed_fp64(const matrix2x3_fp64_t* from, matrix3x2_fp64_t* to) inline void bgc_matrix3x2_set_transposed_fp64(const bgc_matrix2x3_fp64_t* from, bgc_matrix3x2_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1; to->r1c2 = from->r2c1;
@ -159,7 +159,7 @@ inline void matrix3x2_set_transposed_fp64(const matrix2x3_fp64_t* from, matrix3x
// =============== Set transposed =============== // // =============== Set transposed =============== //
inline void matrix3x2_set_transposed_fp32_fp64(const matrix2x3_fp64_t* from, matrix3x2_fp32_t* to) inline void bgc_matrix3x2_set_transposed_fp32_fp64(const bgc_matrix2x3_fp64_t* from, bgc_matrix3x2_fp32_t* to)
{ {
to->r1c1 = (float) from->r1c1; to->r1c1 = (float) from->r1c1;
to->r1c2 = (float) from->r2c1; to->r1c2 = (float) from->r2c1;
@ -170,7 +170,7 @@ inline void matrix3x2_set_transposed_fp32_fp64(const matrix2x3_fp64_t* from, mat
to->r2c3 = (float) from->r3c2; to->r2c3 = (float) from->r3c2;
} }
inline void matrix3x2_set_transposed_fp64_fp32(const matrix2x3_fp32_t* from, matrix3x2_fp64_t* to) inline void bgc_matrix3x2_set_transposed_fp64_fp32(const bgc_matrix2x3_fp32_t* from, bgc_matrix3x2_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1; to->r1c2 = from->r2c1;
@ -183,14 +183,14 @@ inline void matrix3x2_set_transposed_fp64_fp32(const matrix2x3_fp32_t* from, mat
// ================= Set Row 1 ================== // // ================= Set Row 1 ================== //
inline void matrix3x2_set_row1_fp32(const float c1, const float c2, const float c3, matrix3x2_fp32_t* matrix) inline void bgc_matrix3x2_set_row1_fp32(const float c1, const float c2, const float c3, bgc_matrix3x2_fp32_t* matrix)
{ {
matrix->r1c1 = c1; matrix->r1c1 = c1;
matrix->r1c2 = c2; matrix->r1c2 = c2;
matrix->r1c3 = c3; matrix->r1c3 = c3;
} }
inline void matrix3x2_set_row1_fp64(const double c1, const double c2, const double c3, matrix3x2_fp64_t* matrix) inline void bgc_matrix3x2_set_row1_fp64(const double c1, const double c2, const double c3, bgc_matrix3x2_fp64_t* matrix)
{ {
matrix->r1c1 = c1; matrix->r1c1 = c1;
matrix->r1c2 = c2; matrix->r1c2 = c2;
@ -199,14 +199,14 @@ inline void matrix3x2_set_row1_fp64(const double c1, const double c2, const doub
// ================= Set Row 2 ================== // // ================= Set Row 2 ================== //
inline void matrix3x2_set_row2_fp32(const float c1, const float c2, const float c3, matrix3x2_fp32_t* matrix) inline void bgc_matrix3x2_set_row2_fp32(const float c1, const float c2, const float c3, bgc_matrix3x2_fp32_t* matrix)
{ {
matrix->r2c1 = c1; matrix->r2c1 = c1;
matrix->r2c2 = c2; matrix->r2c2 = c2;
matrix->r2c3 = c3; matrix->r2c3 = c3;
} }
inline void matrix3x2_set_row2_fp64(const double c1, const double c2, const double c3, matrix3x2_fp64_t* matrix) inline void bgc_matrix3x2_set_row2_fp64(const double c1, const double c2, const double c3, bgc_matrix3x2_fp64_t* matrix)
{ {
matrix->r2c1 = c1; matrix->r2c1 = c1;
matrix->r2c2 = c2; matrix->r2c2 = c2;
@ -215,13 +215,13 @@ inline void matrix3x2_set_row2_fp64(const double c1, const double c2, const doub
// ================ Set Column 1 ================ // // ================ Set Column 1 ================ //
inline void matrix3x2_set_column1_fp32(const float r1, const float r2, matrix3x2_fp32_t* matrix) inline void bgc_matrix3x2_set_column1_fp32(const float r1, const float r2, bgc_matrix3x2_fp32_t* matrix)
{ {
matrix->r1c1 = r1; matrix->r1c1 = r1;
matrix->r2c1 = r2; matrix->r2c1 = r2;
} }
inline void matrix3x2_set_column1_fp64(const double r1, const double r2, matrix3x2_fp64_t* matrix) inline void bgc_matrix3x2_set_column1_fp64(const double r1, const double r2, bgc_matrix3x2_fp64_t* matrix)
{ {
matrix->r1c1 = r1; matrix->r1c1 = r1;
matrix->r2c1 = r2; matrix->r2c1 = r2;
@ -229,13 +229,13 @@ inline void matrix3x2_set_column1_fp64(const double r1, const double r2, matrix3
// ================ Set Column 2 ================ // // ================ Set Column 2 ================ //
inline void matrix3x2_set_column2_fp32(const float r1, const float r2, matrix3x2_fp32_t* matrix) inline void bgc_matrix3x2_set_column2_fp32(const float r1, const float r2, bgc_matrix3x2_fp32_t* matrix)
{ {
matrix->r1c2 = r1; matrix->r1c2 = r1;
matrix->r2c2 = r2; matrix->r2c2 = r2;
} }
inline void matrix3x2_set_column2_fp64(const double r1, const double r2, matrix3x2_fp64_t* matrix) inline void bgc_matrix3x2_set_column2_fp64(const double r1, const double r2, bgc_matrix3x2_fp64_t* matrix)
{ {
matrix->r1c2 = r1; matrix->r1c2 = r1;
matrix->r2c2 = r2; matrix->r2c2 = r2;
@ -243,45 +243,21 @@ inline void matrix3x2_set_column2_fp64(const double r1, const double r2, matrix3
// ================ Set Column 3 ================ // // ================ Set Column 3 ================ //
inline void matrix3x2_set_column3_fp32(const float r1, const float r2, matrix3x2_fp32_t* matrix) inline void bgc_matrix3x2_set_column3_fp32(const float r1, const float r2, bgc_matrix3x2_fp32_t* matrix)
{ {
matrix->r1c3 = r1; matrix->r1c3 = r1;
matrix->r2c3 = r2; matrix->r2c3 = r2;
} }
inline void matrix3x2_set_column3_fp64(const double r1, const double r2, matrix3x2_fp64_t* matrix) inline void bgc_matrix3x2_set_column3_fp64(const double r1, const double r2, bgc_matrix3x2_fp64_t* matrix)
{ {
matrix->r1c3 = r1; matrix->r1c3 = r1;
matrix->r2c3 = r2; matrix->r2c3 = r2;
} }
// ================ Append scaled =============== //
inline void matrix3x2_add_scaled_fp32(matrix3x2_fp32_t* basic_vector, const matrix3x2_fp32_t* scalable_vector, const float scale)
{
basic_vector->r1c1 += scalable_vector->r1c1 * scale;
basic_vector->r1c2 += scalable_vector->r1c2 * scale;
basic_vector->r1c3 += scalable_vector->r1c3 * scale;
basic_vector->r2c1 += scalable_vector->r2c1 * scale;
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
basic_vector->r2c3 += scalable_vector->r2c3 * scale;
}
inline void matrix3x2_add_scaled_fp64(matrix3x2_fp64_t* basic_vector, const matrix3x2_fp64_t* scalable_vector, const double scale)
{
basic_vector->r1c1 += scalable_vector->r1c1 * scale;
basic_vector->r1c2 += scalable_vector->r1c2 * scale;
basic_vector->r1c3 += scalable_vector->r1c3 * scale;
basic_vector->r2c1 += scalable_vector->r2c1 * scale;
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
basic_vector->r2c3 += scalable_vector->r2c3 * scale;
}
// ================== Addition ================== // // ================== Addition ================== //
inline void matrix3x2_add_fp32(const matrix3x2_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x2_fp32_t* sum) inline void bgc_matrix3x2_add_fp32(const bgc_matrix3x2_fp32_t* matrix1, const bgc_matrix3x2_fp32_t* matrix2, bgc_matrix3x2_fp32_t* sum)
{ {
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@ -292,7 +268,7 @@ inline void matrix3x2_add_fp32(const matrix3x2_fp32_t* matrix1, const matrix3x2_
sum->r2c3 = matrix1->r2c3 + matrix2->r2c3; sum->r2c3 = matrix1->r2c3 + matrix2->r2c3;
} }
inline void matrix3x2_add_fp64(const matrix3x2_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x2_fp64_t* sum) inline void bgc_matrix3x2_add_fp64(const bgc_matrix3x2_fp64_t* matrix1, const bgc_matrix3x2_fp64_t* matrix2, bgc_matrix3x2_fp64_t* sum)
{ {
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@ -303,9 +279,33 @@ inline void matrix3x2_add_fp64(const matrix3x2_fp64_t* matrix1, const matrix3x2_
sum->r2c3 = matrix1->r2c3 + matrix2->r2c3; sum->r2c3 = matrix1->r2c3 + matrix2->r2c3;
} }
// ================= Add scaled ================= //
inline void bgc_matrix3x2_add_scaled_fp32(const bgc_matrix3x2_fp32_t* basic_matrix, const bgc_matrix3x2_fp32_t* scalable_matrix, const float scale, bgc_matrix3x2_fp32_t* sum)
{
sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
sum->r1c3 = basic_matrix->r1c3 + scalable_matrix->r1c3 * scale;
sum->r2c1 = basic_matrix->r2c1 + scalable_matrix->r2c1 * scale;
sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
sum->r2c3 = basic_matrix->r2c3 + scalable_matrix->r2c3 * scale;
}
inline void bgc_matrix3x2_add_scaled_fp64(const bgc_matrix3x2_fp64_t* basic_matrix, const bgc_matrix3x2_fp64_t* scalable_matrix, const double scale, bgc_matrix3x2_fp64_t* sum)
{
sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
sum->r1c3 = basic_matrix->r1c3 + scalable_matrix->r1c3 * scale;
sum->r2c1 = basic_matrix->r2c1 + scalable_matrix->r2c1 * scale;
sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
sum->r2c3 = basic_matrix->r2c3 + scalable_matrix->r2c3 * scale;
}
// ================ Subtraction ================= // // ================ Subtraction ================= //
inline void matrix3x2_subtract_fp32(const matrix3x2_fp32_t* minuend, const matrix3x2_fp32_t* subtrahend, matrix3x2_fp32_t* difference) inline void bgc_matrix3x2_subtract_fp32(const bgc_matrix3x2_fp32_t* minuend, const bgc_matrix3x2_fp32_t* subtrahend, bgc_matrix3x2_fp32_t* difference)
{ {
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@ -316,7 +316,7 @@ inline void matrix3x2_subtract_fp32(const matrix3x2_fp32_t* minuend, const matri
difference->r2c3 = minuend->r2c3 - subtrahend->r2c3; difference->r2c3 = minuend->r2c3 - subtrahend->r2c3;
} }
inline void matrix3x2_subtract_fp64(const matrix3x2_fp64_t* minuend, const matrix3x2_fp64_t* subtrahend, matrix3x2_fp64_t* difference) inline void bgc_matrix3x2_subtract_fp64(const bgc_matrix3x2_fp64_t* minuend, const bgc_matrix3x2_fp64_t* subtrahend, bgc_matrix3x2_fp64_t* difference)
{ {
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@ -329,7 +329,7 @@ inline void matrix3x2_subtract_fp64(const matrix3x2_fp64_t* minuend, const matri
// =============== Multiplication =============== // // =============== Multiplication =============== //
inline void matrix3x2_multiply_fp32(const matrix3x2_fp32_t* multiplicand, const float multiplier, matrix3x2_fp32_t* product) inline void bgc_matrix3x2_multiply_fp32(const bgc_matrix3x2_fp32_t* multiplicand, const float multiplier, bgc_matrix3x2_fp32_t* product)
{ {
product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c1 = multiplicand->r1c1 * multiplier;
product->r1c2 = multiplicand->r1c2 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier;
@ -340,7 +340,7 @@ inline void matrix3x2_multiply_fp32(const matrix3x2_fp32_t* multiplicand, const
product->r2c3 = multiplicand->r2c3 * multiplier; product->r2c3 = multiplicand->r2c3 * multiplier;
} }
inline void matrix3x2_multiply_fp64(const matrix3x2_fp64_t* multiplicand, const double multiplier, matrix3x2_fp64_t* product) inline void bgc_matrix3x2_multiply_fp64(const bgc_matrix3x2_fp64_t* multiplicand, const double multiplier, bgc_matrix3x2_fp64_t* product)
{ {
product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c1 = multiplicand->r1c1 * multiplier;
product->r1c2 = multiplicand->r1c2 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier;
@ -353,26 +353,26 @@ inline void matrix3x2_multiply_fp64(const matrix3x2_fp64_t* multiplicand, const
// ================== Division ================== // // ================== Division ================== //
inline void matrix3x2_divide_fp32(const matrix3x2_fp32_t* dividend, const float divisor, matrix3x2_fp32_t* quotient) inline void bgc_matrix3x2_divide_fp32(const bgc_matrix3x2_fp32_t* dividend, const float divisor, bgc_matrix3x2_fp32_t* quotient)
{ {
matrix3x2_multiply_fp32(dividend, 1.0f / divisor, quotient); bgc_matrix3x2_multiply_fp32(dividend, 1.0f / divisor, quotient);
} }
inline void matrix3x2_fp64_divide(const matrix3x2_fp64_t* dividend, const double divisor, matrix3x2_fp64_t* quotient) inline void bgc_matrix3x2_divide_fp64(const bgc_matrix3x2_fp64_t* dividend, const double divisor, bgc_matrix3x2_fp64_t* quotient)
{ {
matrix3x2_multiply_fp64(dividend, 1.0 / divisor, quotient); bgc_matrix3x2_multiply_fp64(dividend, 1.0 / divisor, quotient);
} }
// ============ Left Vector Product ============= // // ============ Left Vector Product ============= //
inline void matrix3x2_left_product_fp32(const vector2_fp32_t* vector, const matrix3x2_fp32_t* matrix, vector3_fp32_t* result) inline void bgc_matrix3x2_left_product_fp32(const bgc_vector2_fp32_t* vector, const bgc_matrix3x2_fp32_t* matrix, bgc_vector3_fp32_t* result)
{ {
result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
result->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3; result->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3;
} }
inline void matrix3x2_left_product_fp64(const vector2_fp64_t* vector, const matrix3x2_fp64_t* matrix, vector3_fp64_t* result) inline void bgc_matrix3x2_left_product_fp64(const bgc_vector2_fp64_t* vector, const bgc_matrix3x2_fp64_t* matrix, bgc_vector3_fp64_t* result)
{ {
result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
@ -381,13 +381,13 @@ inline void matrix3x2_left_product_fp64(const vector2_fp64_t* vector, const matr
// ============ Right Vector Product ============ // // ============ Right Vector Product ============ //
inline void matrix3x2_right_product_fp32(const matrix3x2_fp32_t* matrix, const vector3_fp32_t* vector, vector2_fp32_t* result) inline void bgc_matrix3x2_right_product_fp32(const bgc_matrix3x2_fp32_t* matrix, const bgc_vector3_fp32_t* vector, bgc_vector2_fp32_t* result)
{ {
result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3; result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3; result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
} }
inline void matrix3x2_right_product_fp64(const matrix3x2_fp64_t* matrix, const vector3_fp64_t* vector, vector2_fp64_t* result) inline void bgc_matrix3x2_right_product_fp64(const bgc_matrix3x2_fp64_t* matrix, const bgc_vector3_fp64_t* vector, bgc_vector2_fp64_t* result)
{ {
result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3; result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3; result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;

24
basic-geometry/matrix3x3.c
View file

@ -2,11 +2,11 @@
// ================= Inversion ================== // // ================= Inversion ================== //
int matrix3x3_invert_fp32(matrix3x3_fp32_t* matrix) int bgc_matrix3x3_invert_fp32(bgc_matrix3x3_fp32_t* matrix)
{ {
const float determinant = matrix3x3_get_determinant_fp32(matrix); const float determinant = bgc_matrix3x3_get_determinant_fp32(matrix);
if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) { if (-BGC_EPSYLON_FP32 <= determinant && determinant <= BGC_EPSYLON_FP32) {
return 0; return 0;
} }
@ -39,11 +39,11 @@ int matrix3x3_invert_fp32(matrix3x3_fp32_t* matrix)
return 1; return 1;
} }
int matrix3x3_invert_fp64(matrix3x3_fp64_t* matrix) int bgc_matrix3x3_invert_fp64(bgc_matrix3x3_fp64_t* matrix)
{ {
const double determinant = matrix3x3_get_determinant_fp64(matrix); const double determinant = bgc_matrix3x3_get_determinant_fp64(matrix);
if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) { if (-BGC_EPSYLON_FP64 <= determinant && determinant <= BGC_EPSYLON_FP64) {
return 0; return 0;
} }
@ -78,11 +78,11 @@ int matrix3x3_invert_fp64(matrix3x3_fp64_t* matrix)
// ================ Make Inverted =============== // // ================ Make Inverted =============== //
int matrix3x3_set_inverted_fp32(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result) int bgc_matrix3x3_set_inverted_fp32(const bgc_matrix3x3_fp32_t* matrix, bgc_matrix3x3_fp32_t* result)
{ {
const float determinant = matrix3x3_get_determinant_fp32(matrix); const float determinant = bgc_matrix3x3_get_determinant_fp32(matrix);
if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) { if (-BGC_EPSYLON_FP32 <= determinant && determinant <= BGC_EPSYLON_FP32) {
return 0; return 0;
} }
@ -115,11 +115,11 @@ int matrix3x3_set_inverted_fp32(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t
return 1; return 1;
} }
int matrix3x3_set_inverted_fp64(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result) int bgc_matrix3x3_set_inverted_fp64(const bgc_matrix3x3_fp64_t* matrix, bgc_matrix3x3_fp64_t* result)
{ {
const double determinant = matrix3x3_get_determinant_fp64(matrix); const double determinant = bgc_matrix3x3_get_determinant_fp64(matrix);
if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) { if (-BGC_EPSYLON_FP64 <= determinant && determinant <= BGC_EPSYLON_FP64) {
return 0; return 0;
} }

180
basic-geometry/matrix3x3.h
View file

@ -1,12 +1,12 @@
#ifndef _BASIC_GEOMETRY_MATRIX3X3_H_ #ifndef _BGC_MATRIX3X3_H_
#define _BASIC_GEOMETRY_MATRIX3X3_H_ #define _BGC_MATRIX3X3_H_
#include "vector3.h" #include "vector3.h"
#include "matrixes.h" #include "matrixes.h"
// =================== Reset ==================== // // =================== Reset ==================== //
inline void matrix3x3_reset_fp32(matrix3x3_fp32_t* matrix) inline void bgc_matrix3x3_reset_fp32(bgc_matrix3x3_fp32_t* matrix)
{ {
matrix->r1c1 = 0.0f; matrix->r1c1 = 0.0f;
matrix->r1c2 = 0.0f; matrix->r1c2 = 0.0f;
@ -21,7 +21,7 @@ inline void matrix3x3_reset_fp32(matrix3x3_fp32_t* matrix)
matrix->r3c3 = 0.0f; matrix->r3c3 = 0.0f;
} }
inline void matrix3x3_reset_fp64(matrix3x3_fp64_t* matrix) inline void bgc_matrix3x3_reset_fp64(bgc_matrix3x3_fp64_t* matrix)
{ {
matrix->r1c1 = 0.0; matrix->r1c1 = 0.0;
matrix->r1c2 = 0.0; matrix->r1c2 = 0.0;
@ -38,7 +38,7 @@ inline void matrix3x3_reset_fp64(matrix3x3_fp64_t* matrix)
// ================== Identity ================== // // ================== Identity ================== //
inline void matrix3x3_set_to_identity_fp32(matrix3x3_fp32_t* matrix) inline void bgc_matrix3x3_set_to_identity_fp32(bgc_matrix3x3_fp32_t* matrix)
{ {
matrix->r1c1 = 1.0f; matrix->r1c1 = 1.0f;
matrix->r1c2 = 0.0f; matrix->r1c2 = 0.0f;
@ -53,7 +53,7 @@ inline void matrix3x3_set_to_identity_fp32(matrix3x3_fp32_t* matrix)
matrix->r3c3 = 1.0f; matrix->r3c3 = 1.0f;
} }
inline void matrix3x3_set_to_identity_fp64(matrix3x3_fp64_t* matrix) inline void bgc_matrix3x3_set_to_identity_fp64(bgc_matrix3x3_fp64_t* matrix)
{ {
matrix->r1c1 = 1.0; matrix->r1c1 = 1.0;
matrix->r1c2 = 0.0; matrix->r1c2 = 0.0;
@ -70,7 +70,7 @@ inline void matrix3x3_set_to_identity_fp64(matrix3x3_fp64_t* matrix)
// ================ Make Diagonal =============== // // ================ Make Diagonal =============== //
inline void matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, const float d3, matrix3x3_fp32_t* matrix) inline void bgc_matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, const float d3, bgc_matrix3x3_fp32_t* matrix)
{ {
matrix->r1c1 = d1; matrix->r1c1 = d1;
matrix->r1c2 = 0.0f; matrix->r1c2 = 0.0f;
@ -85,7 +85,7 @@ inline void matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, const
matrix->r3c3 = d2; matrix->r3c3 = d2;
} }
inline void matrix3x3_set_to_diagonal_fp64(const double d1, const double d2, const double d3, matrix3x3_fp64_t* matrix) inline void bgc_matrix3x3_set_to_diagonal_fp64(const double d1, const double d2, const double d3, bgc_matrix3x3_fp64_t* matrix)
{ {
matrix->r1c1 = d1; matrix->r1c1 = d1;
matrix->r1c2 = 0.0; matrix->r1c2 = 0.0;
@ -102,7 +102,7 @@ inline void matrix3x3_set_to_diagonal_fp64(const double d1, const double d2, con
// ==================== Copy ==================== // // ==================== Copy ==================== //
inline void matrix3x3_copy_fp32(const matrix3x3_fp32_t* from, matrix3x3_fp32_t* to) inline void bgc_matrix3x3_copy_fp32(const bgc_matrix3x3_fp32_t* from, bgc_matrix3x3_fp32_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -117,7 +117,7 @@ inline void matrix3x3_copy_fp32(const matrix3x3_fp32_t* from, matrix3x3_fp32_t*
to->r3c3 = from->r3c3; to->r3c3 = from->r3c3;
} }
inline void matrix3x3_copy_fp64(const matrix3x3_fp64_t* from, matrix3x3_fp64_t* to) inline void bgc_matrix3x3_copy_fp64(const bgc_matrix3x3_fp64_t* from, bgc_matrix3x3_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -134,7 +134,7 @@ inline void matrix3x3_copy_fp64(const matrix3x3_fp64_t* from, matrix3x3_fp64_t*
// ==================== Swap ==================== // // ==================== Swap ==================== //
inline void matrix3x3_swap_fp32(matrix3x3_fp32_t* matrix1, matrix3x3_fp32_t* matrix2) inline void bgc_matrix3x3_swap_fp32(bgc_matrix3x3_fp32_t* matrix1, bgc_matrix3x3_fp32_t* matrix2)
{ {
const float r1c1 = matrix2->r1c1; const float r1c1 = matrix2->r1c1;
const float r1c2 = matrix2->r1c2; const float r1c2 = matrix2->r1c2;
@ -173,7 +173,7 @@ inline void matrix3x3_swap_fp32(matrix3x3_fp32_t* matrix1, matrix3x3_fp32_t* mat
matrix1->r3c3 = r3c3; matrix1->r3c3 = r3c3;
} }
inline void matrix3x3_swap_fp64(matrix3x3_fp64_t* matrix1, matrix3x3_fp64_t* matrix2) inline void bgc_matrix3x3_swap_fp64(bgc_matrix3x3_fp64_t* matrix1, bgc_matrix3x3_fp64_t* matrix2)
{ {
const double r1c1 = matrix2->r1c1; const double r1c1 = matrix2->r1c1;
const double r1c2 = matrix2->r1c2; const double r1c2 = matrix2->r1c2;
@ -214,7 +214,7 @@ inline void matrix3x3_swap_fp64(matrix3x3_fp64_t* matrix1, matrix3x3_fp64_t* mat
// ============= Set from twin type ============= // // ============= Set from twin type ============= //
inline void matrix3x3_convert_fp64_to_fp32(const matrix3x3_fp64_t* from, matrix3x3_fp32_t* to) inline void bgc_matrix3x3_convert_fp64_to_fp32(const bgc_matrix3x3_fp64_t* from, bgc_matrix3x3_fp32_t* to)
{ {
to->r1c1 = (float) from->r1c1; to->r1c1 = (float) from->r1c1;
to->r1c2 = (float) from->r1c2; to->r1c2 = (float) from->r1c2;
@ -229,7 +229,7 @@ inline void matrix3x3_convert_fp64_to_fp32(const matrix3x3_fp64_t* from, matrix3
to->r3c3 = (float) from->r3c3; to->r3c3 = (float) from->r3c3;
} }
inline void matrix3x3_convert_fp32_to_fp64(const matrix3x3_fp32_t* from, matrix3x3_fp64_t* to) inline void bgc_matrix3x3_convert_fp32_to_fp64(const bgc_matrix3x3_fp32_t* from, bgc_matrix3x3_fp64_t* to)
{ {
to->r1c1 = from->r1c1; to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2; to->r1c2 = from->r1c2;
@ -246,14 +246,14 @@ inline void matrix3x3_convert_fp32_to_fp64(const matrix3x3_fp32_t* from, matrix3
// ================ Determinant ================= // // ================ Determinant ================= //
inline float matrix3x3_get_determinant_fp32(const matrix3x3_fp32_t* matrix) inline float bgc_matrix3x3_get_determinant_fp32(const bgc_matrix3x3_fp32_t* matrix)
{ {
return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2) return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
+ matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3) + matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
+ matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1); + matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1);
} }
inline double matrix3x3_get_determinant_fp64(const matrix3x3_fp64_t* matrix) inline double bgc_matrix3x3_get_determinant_fp64(const bgc_matrix3x3_fp64_t* matrix)
{ {
return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2) return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
+ matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3) + matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
@ -262,29 +262,29 @@ inline double matrix3x3_get_determinant_fp64(const matrix3x3_fp64_t* matrix)
// ================== Singular ================== // // ================== Singular ================== //
inline int matrix3x3_is_singular_fp32(const matrix3x3_fp32_t* matrix) inline int bgc_matrix3x3_is_singular_fp32(const bgc_matrix3x3_fp32_t* matrix)
{ {
const float determinant = matrix3x3_get_determinant_fp32(matrix); const float determinant = bgc_matrix3x3_get_determinant_fp32(matrix);
return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON; return -BGC_EPSYLON_FP32 <= determinant && determinant <= BGC_EPSYLON_FP32;
} }
inline int matrix3x3_is_singular_fp64(const matrix3x3_fp64_t* matrix) inline int bgc_matrix3x3_is_singular_fp64(const bgc_matrix3x3_fp64_t* matrix)
{ {
const double determinant = matrix3x3_get_determinant_fp64(matrix); const double determinant = bgc_matrix3x3_get_determinant_fp64(matrix);
return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON; return -BGC_EPSYLON_FP64 <= determinant && determinant <= BGC_EPSYLON_FP64;
} }
// ================= Inversion ================== // // ================= Inversion ================== //
int matrix3x3_invert_fp32(matrix3x3_fp32_t* matrix); int bgc_matrix3x3_invert_fp32(bgc_matrix3x3_fp32_t* matrix);
int matrix3x3_invert_fp64(matrix3x3_fp64_t* matrix); int bgc_matrix3x3_invert_fp64(bgc_matrix3x3_fp64_t* matrix);
// =============== Transposition ================ // // =============== Transposition ================ //
inline void matrix3x3_transpose_fp32(matrix3x3_fp32_t* matrix) inline void bgc_matrix3x3_transpose_fp32(bgc_matrix3x3_fp32_t* matrix)
{ {
float tmp = matrix->r1c2; float tmp = matrix->r1c2;
matrix->r1c2 = matrix->r2c1; matrix->r1c2 = matrix->r2c1;
@ -299,7 +299,7 @@ inline void matrix3x3_transpose_fp32(matrix3x3_fp32_t* matrix)
matrix->r3c2 = tmp; matrix->r3c2 = tmp;
} }
inline void matrix3x3_transpose_fp64(matrix3x3_fp64_t* matrix) inline void bgc_matrix3x3_transpose_fp64(bgc_matrix3x3_fp64_t* matrix)
{ {
double tmp = matrix->r1c2; double tmp = matrix->r1c2;
matrix->r1c2 = matrix->r2c1; matrix->r1c2 = matrix->r2c1;
@ -316,16 +316,16 @@ inline void matrix3x3_transpose_fp64(matrix3x3_fp64_t* matrix)
// ================ Make Inverted =============== // // ================ Make Inverted =============== //
int matrix3x3_set_inverted_fp32(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result); int bgc_matrix3x3_set_inverted_fp32(const bgc_matrix3x3_fp32_t* matrix, bgc_matrix3x3_fp32_t* result);
int matrix3x3_set_inverted_fp64(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result); int bgc_matrix3x3_set_inverted_fp64(const bgc_matrix3x3_fp64_t* matrix, bgc_matrix3x3_fp64_t* result);
// =============== Make Transposed ============== // // =============== Make Transposed ============== //
inline void matrix3x3_set_transposed_fp32(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result) inline void bgc_matrix3x3_set_transposed_fp32(const bgc_matrix3x3_fp32_t* matrix, bgc_matrix3x3_fp32_t* result)
{ {
if (matrix == result) { if (matrix == result) {
matrix3x3_transpose_fp32(result); bgc_matrix3x3_transpose_fp32(result);
return; return;
} }
@ -342,10 +342,10 @@ inline void matrix3x3_set_transposed_fp32(const matrix3x3_fp32_t* matrix, matrix
result->r3c3 = matrix->r3c3; result->r3c3 = matrix->r3c3;
} }
inline void matrix3x3_set_transposed_fp64(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result) inline void bgc_matrix3x3_set_transposed_fp64(const bgc_matrix3x3_fp64_t* matrix, bgc_matrix3x3_fp64_t* result)
{ {
if (matrix == result) { if (matrix == result) {
matrix3x3_transpose_fp64(result); bgc_matrix3x3_transpose_fp64(result);
return; return;
} }
@ -364,14 +364,14 @@ inline void matrix3x3_set_transposed_fp64(const matrix3x3_fp64_t* matrix, matrix
// ================= Set Row 1 ================== // // ================= Set Row 1 ================== //
inline void matrix3x3_set_row1_fp32(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix) inline void bgc_matrix3x3_set_row1_fp32(const float c1, const float c2, const float c3, bgc_matrix3x3_fp32_t* matrix)
{ {
matrix->r1c1 = c1; matrix->r1c1 = c1;
matrix->r1c2 = c2; matrix->r1c2 = c2;
matrix->r1c3 = c3; matrix->r1c3 = c3;
} }
inline void matrix3x3_set_row1_fp64(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix) inline void bgc_matrix3x3_set_row1_fp64(const double c1, const double c2, const double c3, bgc_matrix3x3_fp64_t* matrix)
{ {
matrix->r1c1 = c1; matrix->r1c1 = c1;
matrix->r1c2 = c2; matrix->r1c2 = c2;
@ -380,14 +380,14 @@ inline void matrix3x3_set_row1_fp64(const double c1, const double c2, const doub
// ================= Set Row 2 ================== // // ================= Set Row 2 ================== //
inline void matrix3x3_set_row2_fp32(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix) inline void bgc_matrix3x3_set_row2_fp32(const float c1, const float c2, const float c3, bgc_matrix3x3_fp32_t* matrix)
{ {
matrix->r2c1 = c1; matrix->r2c1 = c1;
matrix->r2c2 = c2; matrix->r2c2 = c2;
matrix->r2c3 = c3; matrix->r2c3 = c3;
} }
inline void matrix3x3_set_row2_fp64(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix) inline void bgc_matrix3x3_set_row2_fp64(const double c1, const double c2, const double c3, bgc_matrix3x3_fp64_t* matrix)
{ {
matrix->r2c1 = c1; matrix->r2c1 = c1;
matrix->r2c2 = c2; matrix->r2c2 = c2;
@ -396,14 +396,14 @@ inline void matrix3x3_set_row2_fp64(const double c1, const double c2, const doub
// ================= Set Row 3 ================== // // ================= Set Row 3 ================== //
inline void matrix3x3_set_row3_fp32(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix) inline void bgc_matrix3x3_set_row3_fp32(const float c1, const float c2, const float c3, bgc_matrix3x3_fp32_t* matrix)
{ {
matrix->r3c1 = c1; matrix->r3c1 = c1;
matrix->r3c2 = c2; matrix->r3c2 = c2;
matrix->r3c3 = c3; matrix->r3c3 = c3;
} }
inline void matrix3x3_set_row3_fp64(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix) inline void bgc_matrix3x3_set_row3_fp64(const double c1, const double c2, const double c3, bgc_matrix3x3_fp64_t* matrix)
{ {
matrix->r3c1 = c1; matrix->r3c1 = c1;
matrix->r3c2 = c2; matrix->r3c2 = c2;
@ -412,14 +412,14 @@ inline void matrix3x3_set_row3_fp64(const double c1, const double c2, const doub
// ================ Set Column 1 ================ // // ================ Set Column 1 ================ //
inline void matrix3x3_set_column1_fp32(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix) inline void bgc_matrix3x3_set_column1_fp32(const float r1, const float r2, const float r3, bgc_matrix3x3_fp32_t* matrix)
{ {
matrix->r1c1 = r1; matrix->r1c1 = r1;
matrix->r2c1 = r2; matrix->r2c1 = r2;
matrix->r3c1 = r3; matrix->r3c1 = r3;
} }
inline void matrix3x3_set_column1_fp64(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix) inline void bgc_matrix3x3_set_column1_fp64(const double r1, const double r2, const double r3, bgc_matrix3x3_fp64_t* matrix)
{ {
matrix->r1c1 = r1; matrix->r1c1 = r1;
matrix->r2c1 = r2; matrix->r2c1 = r2;
@ -428,14 +428,14 @@ inline void matrix3x3_set_column1_fp64(const double r1, const double r2, const d
// ================ Set Column 2 ================ // // ================ Set Column 2 ================ //
inline void matrix3x3_set_column2_fp32(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix) inline void bgc_matrix3x3_set_column2_fp32(const float r1, const float r2, const float r3, bgc_matrix3x3_fp32_t* matrix)
{ {
matrix->r1c2 = r1; matrix->r1c2 = r1;
matrix->r2c2 = r2; matrix->r2c2 = r2;
matrix->r3c2 = r3; matrix->r3c2 = r3;
} }
inline void matrix3x3_set_column2_fp64(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix) inline void bgc_matrix3x3_set_column2_fp64(const double r1, const double r2, const double r3, bgc_matrix3x3_fp64_t* matrix)
{ {
matrix->r1c2 = r1; matrix->r1c2 = r1;
matrix->r2c2 = r2; matrix->r2c2 = r2;
@ -444,55 +444,23 @@ inline void matrix3x3_set_column2_fp64(const double r1, const double r2, const d
// ================ Set Column 3 ================ // // ================ Set Column 3 ================ //
inline void matrix3x3_set_column3_fp32(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix) inline void bgc_matrix3x3_set_column3_fp32(const float r1, const float r2, const float r3, bgc_matrix3x3_fp32_t* matrix)
{ {
matrix->r1c3 = r1; matrix->r1c3 = r1;
matrix->r2c3 = r2; matrix->r2c3 = r2;
matrix->r3c3 = r3; matrix->r3c3 = r3;
} }
inline void matrix3x3_set_column3_fp64(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix) inline void bgc_matrix3x3_set_column3_fp64(const double r1, const double r2, const double r3, bgc_matrix3x3_fp64_t* matrix)
{ {
matrix->r1c3 = r1; matrix->r1c3 = r1;
matrix->r2c3 = r2; matrix->r2c3 = r2;
matrix->r3c3 = r3; matrix->r3c3 = r3;
} }
// ================ Append scaled =============== //
inline void matrix3x3_add_scaled_fp32(matrix3x3_fp32_t* basic_vector, const matrix3x3_fp32_t* scalable_vector, const float scale)
{
basic_vector->r1c1 += scalable_vector->r1c1 * scale;
basic_vector->r1c2 += scalable_vector->r1c2 * scale;
basic_vector->r1c3 += scalable_vector->r1c3 * scale;
basic_vector->r2c1 += scalable_vector->r2c1 * scale;
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
basic_vector->r2c3 += scalable_vector->r2c3 * scale;
basic_vector->r3c1 += scalable_vector->r3c1 * scale;
basic_vector->r3c2 += scalable_vector->r3c2 * scale;
basic_vector->r3c3 += scalable_vector->r3c3 * scale;
}
inline void matrix3x3_add_scaled_fp64(matrix3x3_fp64_t* basic_vector, const matrix3x3_fp64_t* scalable_vector, const double scale)
{
basic_vector->r1c1 += scalable_vector->r1c1 * scale;
basic_vector->r1c2 += scalable_vector->r1c2 * scale;
basic_vector->r1c3 += scalable_vector->r1c3 * scale;
basic_vector->r2c1 += scalable_vector->r2c1 * scale;
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
basic_vector->r2c3 += scalable_vector->r2c3 * scale;
basic_vector->r3c1 += scalable_vector->r3c1 * scale;
basic_vector->r3c2 += scalable_vector->r3c2 * scale;
basic_vector->r3c3 += scalable_vector->r3c3 * scale;
}
// ================== Addition ================== // // ================== Addition ================== //
inline void matrix3x3_add_fp32(const matrix3x3_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x3_fp32_t* sum) inline void bgc_matrix3x3_add_fp32(const bgc_matrix3x3_fp32_t* matrix1, const bgc_matrix3x3_fp32_t* matrix2, bgc_matrix3x3_fp32_t* sum)
{ {
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@ -507,7 +475,7 @@ inline void matrix3x3_add_fp32(const matrix3x3_fp32_t* matrix1, const matrix3x3_
sum->r3c3 = matrix1->r3c3 + matrix2->r3c3; sum->r3c3 = matrix1->r3c3 + matrix2->r3c3;
} }
inline void matrix3x3_add_fp64(const matrix3x3_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x3_fp64_t* sum) inline void bgc_matrix3x3_add_fp64(const bgc_matrix3x3_fp64_t* matrix1, const bgc_matrix3x3_fp64_t* matrix2, bgc_matrix3x3_fp64_t* sum)
{ {
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@ -522,9 +490,41 @@ inline void matrix3x3_add_fp64(const matrix3x3_fp64_t* matrix1, const matrix3x3_
sum->r3c3 = matrix1->r3c3 + matrix2->r3c3; sum->r3c3 = matrix1->r3c3 + matrix2->r3c3;
} }
// ================= Add scaled ================= //
inline void bgc_matrix3x3_add_scaled_fp32(const bgc_matrix3x3_fp32_t* basic_matrix, const bgc_matrix3x3_fp32_t* scalable_matrix, const float scale, bgc_matrix3x3_fp32_t* sum)
{
sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
sum->r1c3 = basic_matrix->r1c3 + scalable_matrix->r1c3 * scale;
sum->r2c1 = basic_matrix->r2c1 + scalable_matrix->r2c1 * scale;
sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
sum->r2c3 = basic_matrix->r2c3 + scalable_matrix->r2c3 * scale;
sum->r3c1 = basic_matrix->r3c1 + scalable_matrix->r3c1 * scale;
sum->r3c2 = basic_matrix->r3c2 + scalable_matrix->r3c2 * scale;
sum->r3c3 = basic_matrix->r3c3 + scalable_matrix->r3c3 * scale;
}
inline void bgc_matrix3x3_add_scaled_fp64(const bgc_matrix3x3_fp64_t* basic_matrix, const bgc_matrix3x3_fp64_t* scalable_matrix, const double scale, bgc_matrix3x3_fp64_t* sum)
{
sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
sum->r1c3 = basic_matrix->r1c3 + scalable_matrix->r1c3 * scale;
sum->r2c1 = basic_matrix->r2c1 + scalable_matrix->r2c1 * scale;
sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
sum->r2c3 = basic_matrix->r2c3 + scalable_matrix->r2c3 * scale;
sum->r3c1 = basic_matrix->r3c1 + scalable_matrix->r3c1 * scale;
sum->r3c2 = basic_matrix->r3c2 + scalable_matrix->r3c2 * scale;
sum->r3c3 = basic_matrix->r3c3 + scalable_matrix->r3c3 * scale;
}
// ================ Subtraction ================= // // ================ Subtraction ================= //
inline void matrix3x3_subtract_fp32(const matrix3x3_fp32_t* minuend, const matrix3x3_fp32_t* subtrahend, matrix3x3_fp32_t* difference) inline void bgc_matrix3x3_subtract_fp32(const bgc_matrix3x3_fp32_t* minuend, const bgc_matrix3x3_fp32_t* subtrahend, bgc_matrix3x3_fp32_t* difference)
{ {
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@ -539,7 +539,7 @@ inline void matrix3x3_subtract_fp32(const matrix3x3_fp32_t* minuend, const matri
difference->r3c3 = minuend->r3c3 - subtrahend->r3c3; difference->r3c3 = minuend->r3c3 - subtrahend->r3c3;
} }
inline void matrix3x3_subtract_fp64(const matrix3x3_fp64_t* minuend, const matrix3x3_fp64_t* subtrahend, matrix3x3_fp64_t* difference) inline void bgc_matrix3x3_subtract_fp64(const bgc_matrix3x3_fp64_t* minuend, const bgc_matrix3x3_fp64_t* subtrahend, bgc_matrix3x3_fp64_t* difference)
{ {
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@ -556,7 +556,7 @@ inline void matrix3x3_subtract_fp64(const matrix3x3_fp64_t* minuend, const matri
// =============== Multiplication =============== // // =============== Multiplication =============== //
inline void matrix3x3_multiply_fp32(const matrix3x3_fp32_t* multiplicand, const float multiplier, matrix3x3_fp32_t* product) inline void bgc_matrix3x3_multiply_fp32(const bgc_matrix3x3_fp32_t* multiplicand, const float multiplier, bgc_matrix3x3_fp32_t* product)
{ {
product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c1 = multiplicand->r1c1 * multiplier;
product->r1c2 = multiplicand->r1c2 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier;
@ -571,7 +571,7 @@ inline void matrix3x3_multiply_fp32(const matrix3x3_fp32_t* multiplicand, const
product->r3c3 = multiplicand->r3c3 * multiplier; product->r3c3 = multiplicand->r3c3 * multiplier;
} }
inline void matrix3x3_multiply_fp64(const matrix3x3_fp64_t* multiplicand, const double multiplier, matrix3x3_fp64_t* product) inline void bgc_matrix3x3_multiply_fp64(const bgc_matrix3x3_fp64_t* multiplicand, const double multiplier, bgc_matrix3x3_fp64_t* product)
{ {
product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c1 = multiplicand->r1c1 * multiplier;
product->r1c2 = multiplicand->r1c2 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier;
@ -588,19 +588,19 @@ inline void matrix3x3_multiply_fp64(const matrix3x3_fp64_t* multiplicand, const
// ================== Division ================== // // ================== Division ================== //
inline void matrix3x3_divide_fp32(const matrix3x3_fp32_t* dividend, const float divisor, matrix3x3_fp32_t* quotient) inline void bgc_matrix3x3_divide_fp32(const bgc_matrix3x3_fp32_t* dividend, const float divisor, bgc_matrix3x3_fp32_t* quotient)
{ {
matrix3x3_multiply_fp32(dividend, 1.0f / divisor, quotient); bgc_matrix3x3_multiply_fp32(dividend, 1.0f / divisor, quotient);
} }
inline void matrix3x3_fp64_divide(const matrix3x3_fp64_t* dividend, const double divisor, matrix3x3_fp64_t* quotient) inline void bgc_matrix3x3_divide_fp64(const bgc_matrix3x3_fp64_t* dividend, const double divisor, bgc_matrix3x3_fp64_t* quotient)
{ {
matrix3x3_multiply_fp64(dividend, 1.0 / divisor, quotient); bgc_matrix3x3_multiply_fp64(dividend, 1.0 / divisor, quotient);
} }
// ============ Left Vector Product ============= // // ============ Left Vector Product ============= //
inline void matrix3x3_left_product_fp32(const vector3_fp32_t* vector, const matrix3x3_fp32_t* matrix, vector3_fp32_t* result) inline void bgc_matrix3x3_left_product_fp32(const bgc_vector3_fp32_t* vector, const bgc_matrix3x3_fp32_t* matrix, bgc_vector3_fp32_t* result)
{ {
const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1; 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 x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
@ -611,7 +611,7 @@ inline void matrix3x3_left_product_fp32(const vector3_fp32_t* vector, const matr
result->x3 = x3; result->x3 = x3;
} }
inline void matrix3x3_left_product_fp64(const vector3_fp64_t* vector, const matrix3x3_fp64_t* matrix, vector3_fp64_t* result) inline void bgc_matrix3x3_left_product_fp64(const bgc_vector3_fp64_t* vector, const bgc_matrix3x3_fp64_t* matrix, bgc_vector3_fp64_t* result)
{ {
const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1; 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 x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
@ -624,7 +624,7 @@ inline void matrix3x3_left_product_fp64(const vector3_fp64_t* vector, const matr
// ============ Right Vector Product ============ // // ============ Right Vector Product ============ //
inline void matrix3x3_right_product_fp32(const matrix3x3_fp32_t* matrix, const vector3_fp32_t* vector, vector3_fp32_t* result) inline void bgc_matrix3x3_right_product_fp32(const bgc_matrix3x3_fp32_t* matrix, const bgc_vector3_fp32_t* vector, bgc_vector3_fp32_t* result)
{ {
const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3; 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 x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
@ -635,7 +635,7 @@ inline void matrix3x3_right_product_fp32(const matrix3x3_fp32_t* matrix, const v
result->x3 = x3; result->x3 = x3;
} }
inline void matrix3x3_right_product_fp64(const matrix3x3_fp64_t* matrix, const vector3_fp64_t* vector, vector3_fp64_t* result) inline void bgc_matrix3x3_right_product_fp64(const bgc_matrix3x3_fp64_t* matrix, const bgc_vector3_fp64_t* vector, bgc_vector3_fp64_t* result)
{ {
const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3; 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 x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;

28
basic-geometry/matrixes.c
View file

@ -2,7 +2,7 @@
// ========== Matrix Product 2x2 at 3x2 ========= // // ========== Matrix Product 2x2 at 3x2 ========= //
void matrix_fp32_product_2x2_at_3x2(const matrix2x2_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x2_fp32_t* result) void bgc_matrix_product_2x2_at_3x2_fp32(const bgc_matrix2x2_fp32_t* matrix1, const bgc_matrix3x2_fp32_t* matrix2, bgc_matrix3x2_fp32_t* result)
{ {
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@ -21,7 +21,7 @@ void matrix_fp32_product_2x2_at_3x2(const matrix2x2_fp32_t* matrix1, const matri
result->r2c3 = r2c3; result->r2c3 = r2c3;
} }
void matrix_fp64_product_2x2_at_3x2(const matrix2x2_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x2_fp64_t* result) void bgc_matrix_product_2x2_at_3x2_fp64(const bgc_matrix2x2_fp64_t* matrix1, const bgc_matrix3x2_fp64_t* matrix2, bgc_matrix3x2_fp64_t* result)
{ {
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@ -42,7 +42,7 @@ void matrix_fp64_product_2x2_at_3x2(const matrix2x2_fp64_t* matrix1, const matri
// ========== Matrix Product 2x3 at 2x2 ========= // // ========== Matrix Product 2x3 at 2x2 ========= //
void matrix_fp32_product_2x3_at_2x2(const matrix2x3_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x3_fp32_t* result) void bgc_matrix_product_2x3_at_2x2_fp32(const bgc_matrix2x3_fp32_t* matrix1, const bgc_matrix2x2_fp32_t* matrix2, bgc_matrix2x3_fp32_t* result)
{ {
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@ -63,7 +63,7 @@ void matrix_fp32_product_2x3_at_2x2(const matrix2x3_fp32_t* matrix1, const matri
result->r3c2 = r3c2; result->r3c2 = r3c2;
} }
void matrix_fp64_product_2x3_at_2x2(const matrix2x3_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x3_fp64_t* result) void bgc_matrix_product_2x3_at_2x2_fp64(const bgc_matrix2x3_fp64_t* matrix1, const bgc_matrix2x2_fp64_t* matrix2, bgc_matrix2x3_fp64_t* result)
{ {
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@ -86,7 +86,7 @@ void matrix_fp64_product_2x3_at_2x2(const matrix2x3_fp64_t* matrix1, const matri
// ========== Matrix Product 2x3 at 3x2 ========= // // ========== Matrix Product 2x3 at 3x2 ========= //
void matrix_fp32_product_2x3_at_3x2(const matrix2x3_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x3_fp32_t* result) void bgc_matrix_product_2x3_at_3x2_fp32(const bgc_matrix2x3_fp32_t* matrix1, const bgc_matrix3x2_fp32_t* matrix2, bgc_matrix3x3_fp32_t* result)
{ {
result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@ -101,7 +101,7 @@ void matrix_fp32_product_2x3_at_3x2(const matrix2x3_fp32_t* matrix1, const matri
result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3; result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3;
} }
void matrix_fp64_product_2x3_at_3x2(const matrix2x3_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x3_fp64_t* result) void bgc_matrix_product_2x3_at_3x2_fp64(const bgc_matrix2x3_fp64_t* matrix1, const bgc_matrix3x2_fp64_t* matrix2, bgc_matrix3x3_fp64_t* result)
{ {
result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@ -118,7 +118,7 @@ void matrix_fp64_product_2x3_at_3x2(const matrix2x3_fp64_t* matrix1, const matri
// ========== Matrix Product 3x2 at 2x3 ========= // // ========== Matrix Product 3x2 at 2x3 ========= //
void matrix_fp32_product_3x2_at_2x3(const matrix3x2_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x2_fp32_t* result) void bgc_matrix_product_3x2_at_2x3_fp32(const bgc_matrix3x2_fp32_t* matrix1, const bgc_matrix2x3_fp32_t* matrix2, bgc_matrix2x2_fp32_t* result)
{ {
result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@ -127,7 +127,7 @@ void matrix_fp32_product_3x2_at_2x3(const matrix3x2_fp32_t* matrix1, const matri
result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
} }
void matrix_fp64_product_3x2_at_2x3(const matrix3x2_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x2_fp64_t* result) void bgc_matrix_product_3x2_at_2x3_fp64(const bgc_matrix3x2_fp64_t* matrix1, const bgc_matrix2x3_fp64_t* matrix2, bgc_matrix2x2_fp64_t* result)
{ {
result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@ -138,7 +138,7 @@ void matrix_fp64_product_3x2_at_2x3(const matrix3x2_fp64_t* matrix1, const matri
// ========== Matrix Product 3x2 at 3x3 ========= // // ========== Matrix Product 3x2 at 3x3 ========= //
void matrix_fp32_product_3x2_at_3x3(const matrix3x2_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x2_fp32_t* result) void bgc_matrix_product_3x2_at_3x3_fp32(const bgc_matrix3x2_fp32_t* matrix1, const bgc_matrix3x3_fp32_t* matrix2, bgc_matrix3x2_fp32_t* result)
{ {
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@ -157,7 +157,7 @@ void matrix_fp32_product_3x2_at_3x3(const matrix3x2_fp32_t* matrix1, const matri
result->r2c3 = r2c3; result->r2c3 = r2c3;
} }
void matrix_fp64_product_3x2_at_3x3(const matrix3x2_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x2_fp64_t* result) void bgc_matrix_product_3x2_at_3x3_fp64(const bgc_matrix3x2_fp64_t* matrix1, const bgc_matrix3x3_fp64_t* matrix2, bgc_matrix3x2_fp64_t* result)
{ {
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@ -178,7 +178,7 @@ void matrix_fp64_product_3x2_at_3x3(const matrix3x2_fp64_t* matrix1, const matri
// ========== Matrix Product 3x3 at 2x3 ========= // // ========== Matrix Product 3x3 at 2x3 ========= //
void matrix_fp32_product_3x3_at_2x3(const matrix3x3_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x3_fp32_t* result) void bgc_matrix_product_3x3_at_2x3_fp32(const bgc_matrix3x3_fp32_t* matrix1, const bgc_matrix2x3_fp32_t* matrix2, bgc_matrix2x3_fp32_t* result)
{ {
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@ -199,7 +199,7 @@ void matrix_fp32_product_3x3_at_2x3(const matrix3x3_fp32_t* matrix1, const matri
result->r3c2 = r3c2; result->r3c2 = r3c2;
} }
void matrix_fp64_product_3x3_at_2x3(const matrix3x3_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x3_fp64_t* result) void bgc_matrix_product_3x3_at_2x3_fp64(const bgc_matrix3x3_fp64_t* matrix1, const bgc_matrix2x3_fp64_t* matrix2, bgc_matrix2x3_fp64_t* result)
{ {
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@ -222,7 +222,7 @@ void matrix_fp64_product_3x3_at_2x3(const matrix3x3_fp64_t* matrix1, const matri
// ========== Matrix Product 3x3 at 3x3 ========= // // ========== Matrix Product 3x3 at 3x3 ========= //
void matrix_fp32_product_3x3_at_3x3(const matrix3x3_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x3_fp32_t* result) void bgc_matrix_product_3x3_at_3x3_fp32(const bgc_matrix3x3_fp32_t* matrix1, const bgc_matrix3x3_fp32_t* matrix2, bgc_matrix3x3_fp32_t* result)
{ {
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
@ -249,7 +249,7 @@ void matrix_fp32_product_3x3_at_3x3(const matrix3x3_fp32_t* matrix1, const matri
result->r3c3 = r3c3; result->r3c3 = r3c3;
} }
void matrix_fp64_product_3x3_at_3x3(const matrix3x3_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x3_fp64_t* result) void bgc_matrix_product_3x3_at_3x3_fp64(const bgc_matrix3x3_fp64_t* matrix1, const bgc_matrix3x3_fp64_t* matrix2, bgc_matrix3x3_fp64_t* result)
{ {
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;

54
basic-geometry/matrixes.h
View file

@ -1,17 +1,17 @@
#ifndef _BASIC_GEOMETRY_MATRIX_TYPES_H_ #ifndef _BGC_MATRIX_TYPES_H_
#define _BASIC_GEOMETRY_MATRIX_TYPES_H_ #define _BGC_MATRIX_TYPES_H_
// ================== Matrix2x2 ================= // // ================== Matrix2x2 ================= //
typedef struct { typedef struct {
float r1c1, r1c2; float r1c1, r1c2;
float r2c1, r2c2; float r2c1, r2c2;
} matrix2x2_fp32_t; } bgc_matrix2x2_fp32_t;
typedef struct { typedef struct {
double r1c1, r1c2; double r1c1, r1c2;
double r2c1, r2c2; double r2c1, r2c2;
} matrix2x2_fp64_t; } bgc_matrix2x2_fp64_t;
// ================== Matrix2x3 ================= // // ================== Matrix2x3 ================= //
@ -19,25 +19,25 @@ typedef struct {
float r1c1, r1c2; float r1c1, r1c2;
float r2c1, r2c2; float r2c1, r2c2;
float r3c1, r3c2; float r3c1, r3c2;
} matrix2x3_fp32_t; } bgc_matrix2x3_fp32_t;
typedef struct { typedef struct {
double r1c1, r1c2; double r1c1, r1c2;
double r2c1, r2c2; double r2c1, r2c2;
double r3c1, r3c2; double r3c1, r3c2;
} matrix2x3_fp64_t; } bgc_matrix2x3_fp64_t;
// ================== Matrix3x2 ================= // // ================== Matrix3x2 ================= //
typedef struct { typedef struct {
float r1c1, r1c2, r1c3; float r1c1, r1c2, r1c3;
float r2c1, r2c2, r2c3; float r2c1, r2c2, r2c3;
} matrix3x2_fp32_t; } bgc_matrix3x2_fp32_t;
typedef struct { typedef struct {
double r1c1, r1c2, r1c3; double r1c1, r1c2, r1c3;
double r2c1, r2c2, r2c3; double r2c1, r2c2, r2c3;
} matrix3x2_fp64_t; } bgc_matrix3x2_fp64_t;
// ================== Matrix3x3 ================= // // ================== Matrix3x3 ================= //
@ -45,17 +45,17 @@ typedef struct {
float r1c1, r1c2, r1c3; float r1c1, r1c2, r1c3;
float r2c1, r2c2, r2c3; float r2c1, r2c2, r2c3;
float r3c1, r3c2, r3c3; float r3c1, r3c2, r3c3;
} matrix3x3_fp32_t; } bgc_matrix3x3_fp32_t;
typedef struct { typedef struct {
double r1c1, r1c2, r1c3; double r1c1, r1c2, r1c3;
double r2c1, r2c2, r2c3; double r2c1, r2c2, r2c3;
double r3c1, r3c2, r3c3; double r3c1, r3c2, r3c3;
} matrix3x3_fp64_t; } bgc_matrix3x3_fp64_t;
// ========== Matrix Product 2x2 at 2x2 ========= // // ========== Matrix Product 2x2 at 2x2 ========= //
inline void matrix_fp32_product_2x2_at_2x2(const matrix2x2_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x2_fp32_t* result) inline void bgc_matrix_product_2x2_at_2x2_fp32(const bgc_matrix2x2_fp32_t* matrix1, const bgc_matrix2x2_fp32_t* matrix2, bgc_matrix2x2_fp32_t* result)
{ {
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@ -70,7 +70,7 @@ inline void matrix_fp32_product_2x2_at_2x2(const matrix2x2_fp32_t* matrix1, cons
result->r2c2 = r2c2; result->r2c2 = r2c2;
} }
inline void matrix_fp64_product_2x2_at_2x2(const matrix2x2_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x2_fp64_t* result) inline void bgc_matrix_product_2x2_at_2x2_fp64(const bgc_matrix2x2_fp64_t* matrix1, const bgc_matrix2x2_fp64_t* matrix2, bgc_matrix2x2_fp64_t* result)
{ {
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
@ -87,44 +87,44 @@ inline void matrix_fp64_product_2x2_at_2x2(const matrix2x2_fp64_t* matrix1, cons
// ========== Matrix Product 2x2 at 3x2 ========= // // ========== Matrix Product 2x2 at 3x2 ========= //
void matrix_fp32_product_2x2_at_3x2(const matrix2x2_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x2_fp32_t* result); void bgc_matrix_product_2x2_at_3x2_fp32(const bgc_matrix2x2_fp32_t* matrix1, const bgc_matrix3x2_fp32_t* matrix2, bgc_matrix3x2_fp32_t* result);
void matrix_fp64_product_2x2_at_3x2(const matrix2x2_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x2_fp64_t* result); void bgc_matrix_product_2x2_at_3x2_fp64(const bgc_matrix2x2_fp64_t* matrix1, const bgc_matrix3x2_fp64_t* matrix2, bgc_matrix3x2_fp64_t* result);
// ========== Matrix Product 2x3 at 2x2 ========= // // ========== Matrix Product 2x3 at 2x2 ========= //
void matrix_fp32_product_2x3_at_2x2(const matrix2x3_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x3_fp32_t* result); void bgc_matrix_product_2x3_at_2x2_fp32(const bgc_matrix2x3_fp32_t* matrix1, const bgc_matrix2x2_fp32_t* matrix2, bgc_matrix2x3_fp32_t* result);
void matrix_fp64_product_2x3_at_2x2(const matrix2x3_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x3_fp64_t* result); void bgc_matrix_product_2x3_at_2x2_fp64(const bgc_matrix2x3_fp64_t* matrix1, const bgc_matrix2x2_fp64_t* matrix2, bgc_matrix2x3_fp64_t* result);
// ========== Matrix Product 2x3 at 3x2 ========= // // ========== Matrix Product 2x3 at 3x2 ========= //
void matrix_fp32_product_2x3_at_3x2(const matrix2x3_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x3_fp32_t* result); void bgc_matrix_product_2x3_at_3x2_fp32(const bgc_matrix2x3_fp32_t* matrix1, const bgc_matrix3x2_fp32_t* matrix2, bgc_matrix3x3_fp32_t* result);
void matrix_fp64_product_2x3_at_3x2(const matrix2x3_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x3_fp64_t* result); void bgc_matrix_product_2x3_at_3x2_fp64(const bgc_matrix2x3_fp64_t* matrix1, const bgc_matrix3x2_fp64_t* matrix2, bgc_matrix3x3_fp64_t* result);
// ========== Matrix Product 3x2 at 2x3 ========= // // ========== Matrix Product 3x2 at 2x3 ========= //
void matrix_fp32_product_3x2_at_2x3(const matrix3x2_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x2_fp32_t* result); void bgc_matrix_product_3x2_at_2x3_fp32(const bgc_matrix3x2_fp32_t* matrix1, const bgc_matrix2x3_fp32_t* matrix2, bgc_matrix2x2_fp32_t* result);
void matrix_fp64_product_3x2_at_2x3(const matrix3x2_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x2_fp64_t* result); void bgc_matrix_product_3x2_at_2x3_fp64(const bgc_matrix3x2_fp64_t* matrix1, const bgc_matrix2x3_fp64_t* matrix2, bgc_matrix2x2_fp64_t* result);
// ========== Matrix Product 3x2 at 3x3 ========= // // ========== Matrix Product 3x2 at 3x3 ========= //
void matrix_fp32_product_3x2_at_3x3(const matrix3x2_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x2_fp32_t* result); void bgc_matrix_product_3x2_at_3x3_fp32(const bgc_matrix3x2_fp32_t* matrix1, const bgc_matrix3x3_fp32_t* matrix2, bgc_matrix3x2_fp32_t* result);
void matrix_fp64_product_3x2_at_3x3(const matrix3x2_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x2_fp64_t* result); void bgc_matrix_product_3x2_at_3x3_fp64(const bgc_matrix3x2_fp64_t* matrix1, const bgc_matrix3x3_fp64_t* matrix2, bgc_matrix3x2_fp64_t* result);
// ========== Matrix Product 3x3 at 2x3 ========= // // ========== Matrix Product 3x3 at 2x3 ========= //
void matrix_fp32_product_3x3_at_2x3(const matrix3x3_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x3_fp32_t* result); void bgc_matrix_product_3x3_at_2x3_fp32(const bgc_matrix3x3_fp32_t* matrix1, const bgc_matrix2x3_fp32_t* matrix2, bgc_matrix2x3_fp32_t* result);
void matrix_fp64_product_3x3_at_2x3(const matrix3x3_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x3_fp64_t* result); void bgc_matrix_product_3x3_at_2x3_fp64(const bgc_matrix3x3_fp64_t* matrix1, const bgc_matrix2x3_fp64_t* matrix2, bgc_matrix2x3_fp64_t* result);
// ========== Matrix Product 3x3 at 3x3 ========= // // ========== Matrix Product 3x3 at 3x3 ========= //
void matrix_fp32_product_3x3_at_3x3(const matrix3x3_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x3_fp32_t* result); void bgc_matrix_product_3x3_at_3x3_fp32(const bgc_matrix3x3_fp32_t* matrix1, const bgc_matrix3x3_fp32_t* matrix2, bgc_matrix3x3_fp32_t* result);
void matrix_fp64_product_3x3_at_3x3(const matrix3x3_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x3_fp64_t* result); void bgc_matrix_product_3x3_at_3x3_fp64(const bgc_matrix3x3_fp64_t* matrix1, const bgc_matrix3x3_fp64_t* matrix2, bgc_matrix3x3_fp64_t* result);
#endif // _GEOMETRY_MATRIX_TYPES_H_ #endif // _BGC_MATRIX_TYPES_H_

162
basic-geometry/quaternion.h
View file

@ -1,23 +1,23 @@
#ifndef _BASIC_GEOMETRY_QUATERNION_H_ #ifndef _BGC_QUATERNION_H_
#define _BASIC_GEOMETRY_QUATERNION_H_ #define _BGC_QUATERNION_H_
#include <math.h> #include <math.h>
#include "basis.h" #include "utilities.h"
#include "angle.h" #include "angle.h"
#include "matrix3x3.h" #include "matrix3x3.h"
typedef struct { typedef struct {
float s0, x1, x2, x3; float s0, x1, x2, x3;
} quaternion_fp32_t; } bgc_quaternion_fp32_t;
typedef struct { typedef struct {
double s0, x1, x2, x3; double s0, x1, x2, x3;
} quaternion_fp64_t; } bgc_quaternion_fp64_t;
// ==================== Reset =================== // // ==================== Reset =================== //
inline void quaternion_reset_fp32(quaternion_fp32_t * quaternion) inline void bgc_quaternion_reset_fp32(bgc_quaternion_fp32_t * quaternion)
{ {
quaternion->s0 = 0.0f; quaternion->s0 = 0.0f;
quaternion->x1 = 0.0f; quaternion->x1 = 0.0f;
@ -25,7 +25,7 @@ inline void quaternion_reset_fp32(quaternion_fp32_t * quaternion)
quaternion->x3 = 0.0f; quaternion->x3 = 0.0f;
} }
inline void quaternion_reset_fp64(quaternion_fp64_t * quaternion) inline void bgc_quaternion_reset_fp64(bgc_quaternion_fp64_t * quaternion)
{ {
quaternion->s0 = 0.0; quaternion->s0 = 0.0;
quaternion->x1 = 0.0; quaternion->x1 = 0.0;
@ -35,7 +35,7 @@ inline void quaternion_reset_fp64(quaternion_fp64_t * quaternion)
// ================== Set Unit ================== // // ================== Set Unit ================== //
inline void quaternion_set_to_identity_fp32(quaternion_fp32_t * quaternion) inline void bgc_quaternion_set_to_identity_fp32(bgc_quaternion_fp32_t * quaternion)
{ {
quaternion->s0 = 1.0f; quaternion->s0 = 1.0f;
quaternion->x1 = 0.0f; quaternion->x1 = 0.0f;
@ -43,7 +43,7 @@ inline void quaternion_set_to_identity_fp32(quaternion_fp32_t * quaternion)
quaternion->x3 = 0.0f; quaternion->x3 = 0.0f;
} }
inline void quaternion_set_to_identity_fp64(quaternion_fp64_t * quaternion) inline void bgc_quaternion_set_to_identity_fp64(bgc_quaternion_fp64_t * quaternion)
{ {
quaternion->s0 = 1.0; quaternion->s0 = 1.0;
quaternion->x1 = 0.0; quaternion->x1 = 0.0;
@ -53,7 +53,7 @@ inline void quaternion_set_to_identity_fp64(quaternion_fp64_t * quaternion)
// ==================== Set ===================== // // ==================== Set ===================== //
inline void quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, quaternion_fp32_t * quaternion) inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, bgc_quaternion_fp32_t * quaternion)
{ {
quaternion->s0 = s0; quaternion->s0 = s0;
quaternion->x1 = x1; quaternion->x1 = x1;
@ -61,7 +61,7 @@ inline void quaternion_set_values_fp32(const float s0, const float x1, const flo
quaternion->x3 = x3; quaternion->x3 = x3;
} }
inline void quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, quaternion_fp64_t * quaternion) inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, bgc_quaternion_fp64_t * quaternion)
{ {
quaternion->s0 = s0; quaternion->s0 = s0;
quaternion->x1 = x1; quaternion->x1 = x1;
@ -71,7 +71,7 @@ inline void quaternion_set_values_fp64(const double s0, const double x1, const d
// ==================== Copy ==================== // // ==================== Copy ==================== //
inline void quaternion_copy_fp32(const quaternion_fp32_t* from, quaternion_fp32_t* to) inline void bgc_quaternion_copy_fp32(const bgc_quaternion_fp32_t* from, bgc_quaternion_fp32_t* to)
{ {
to->s0 = from->s0; to->s0 = from->s0;
to->x1 = from->x1; to->x1 = from->x1;
@ -79,7 +79,7 @@ inline void quaternion_copy_fp32(const quaternion_fp32_t* from, quaternion_fp32_
to->x3 = from->x3; to->x3 = from->x3;
} }
inline void quaternion_copy_fp64(const quaternion_fp64_t* from, quaternion_fp64_t* to) inline void bgc_quaternion_copy_fp64(const bgc_quaternion_fp64_t* from, bgc_quaternion_fp64_t* to)
{ {
to->s0 = from->s0; to->s0 = from->s0;
to->x1 = from->x1; to->x1 = from->x1;
@ -89,7 +89,7 @@ inline void quaternion_copy_fp64(const quaternion_fp64_t* from, quaternion_fp64_
// ==================== Swap ==================== // // ==================== Swap ==================== //
inline void quaternion_swap_fp32(quaternion_fp32_t* quarternion1, quaternion_fp32_t* quarternion2) inline void bgc_quaternion_swap_fp32(bgc_quaternion_fp32_t* quarternion1, bgc_quaternion_fp32_t* quarternion2)
{ {
const float s0 = quarternion2->s0; const float s0 = quarternion2->s0;
const float x1 = quarternion2->x1; const float x1 = quarternion2->x1;
@ -107,7 +107,7 @@ inline void quaternion_swap_fp32(quaternion_fp32_t* quarternion1, quaternion_fp3
quarternion1->x3 = x3; quarternion1->x3 = x3;
} }
inline void quaternion_swap_fp64(quaternion_fp64_t* quarternion1, quaternion_fp64_t* quarternion2) inline void bgc_quaternion_swap_fp64(bgc_quaternion_fp64_t* quarternion1, bgc_quaternion_fp64_t* quarternion2)
{ {
const double s0 = quarternion2->s0; const double s0 = quarternion2->s0;
const double x1 = quarternion2->x1; const double x1 = quarternion2->x1;
@ -127,7 +127,7 @@ inline void quaternion_swap_fp64(quaternion_fp64_t* quarternion1, quaternion_fp6
// ============= Copy to twin type ============== // // ============= Copy to twin type ============== //
inline void quaternion_convert_fp64_to_fp32(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result) inline void bgc_quaternion_convert_fp64_to_fp32(const bgc_quaternion_fp64_t* quaternion, bgc_quaternion_fp32_t* result)
{ {
result->s0 = (float) quaternion->s0; result->s0 = (float) quaternion->s0;
result->x1 = (float) quaternion->x1; result->x1 = (float) quaternion->x1;
@ -135,7 +135,7 @@ inline void quaternion_convert_fp64_to_fp32(const quaternion_fp64_t* quaternion,
result->x3 = (float) quaternion->x3; result->x3 = (float) quaternion->x3;
} }
inline void quaternion_convert_fp32_to_fp64(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result) inline void bgc_quaternion_convert_fp32_to_fp64(const bgc_quaternion_fp32_t* quaternion, bgc_quaternion_fp64_t* result)
{ {
result->s0 = quaternion->s0; result->s0 = quaternion->s0;
result->x1 = quaternion->x1; result->x1 = quaternion->x1;
@ -145,14 +145,14 @@ inline void quaternion_convert_fp32_to_fp64(const quaternion_fp32_t* quaternion,
// ================= Inversion ================== // // ================= Inversion ================== //
inline void quaternion_conjugate_fp32(quaternion_fp32_t* quaternion) inline void bgc_quaternion_conjugate_fp32(bgc_quaternion_fp32_t* quaternion)
{ {
quaternion->x1 = -quaternion->x1; quaternion->x1 = -quaternion->x1;
quaternion->x2 = -quaternion->x2; quaternion->x2 = -quaternion->x2;
quaternion->x3 = -quaternion->x3; quaternion->x3 = -quaternion->x3;
} }
inline void quaternion_conjugate_fp64(quaternion_fp64_t* quaternion) inline void bgc_quaternion_conjugate_fp64(bgc_quaternion_fp64_t* quaternion)
{ {
quaternion->x1 = -quaternion->x1; quaternion->x1 = -quaternion->x1;
quaternion->x2 = -quaternion->x2; quaternion->x2 = -quaternion->x2;
@ -161,7 +161,7 @@ inline void quaternion_conjugate_fp64(quaternion_fp64_t* quaternion)
// ================ Set Conjugate =============== // // ================ Set Conjugate =============== //
inline void quaternion_set_conjugate_fp32(const quaternion_fp32_t* quaternion, quaternion_fp32_t* result) inline void bgc_quaternion_set_conjugate_fp32(const bgc_quaternion_fp32_t* quaternion, bgc_quaternion_fp32_t* result)
{ {
result->s0 = quaternion->s0; result->s0 = quaternion->s0;
result->x1 = -quaternion->x1; result->x1 = -quaternion->x1;
@ -169,7 +169,7 @@ inline void quaternion_set_conjugate_fp32(const quaternion_fp32_t* quaternion, q
result->x3 = -quaternion->x3; result->x3 = -quaternion->x3;
} }
inline void quaternion_set_conjugate_fp64(const quaternion_fp64_t* quaternion, quaternion_fp64_t* result) inline void bgc_quaternion_set_conjugate_fp64(const bgc_quaternion_fp64_t* quaternion, bgc_quaternion_fp64_t* result)
{ {
result->s0 = quaternion->s0; result->s0 = quaternion->s0;
result->x1 = -quaternion->x1; result->x1 = -quaternion->x1;
@ -179,7 +179,7 @@ inline void quaternion_set_conjugate_fp64(const quaternion_fp64_t* quaternion, q
// ================ Set Conjugate =============== // // ================ Set Conjugate =============== //
inline void quaternion_set_conjugate_fp64_to_fp32(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result) inline void bgc_quaternion_set_conjugate_fp64_to_fp32(const bgc_quaternion_fp64_t* quaternion, bgc_quaternion_fp32_t* result)
{ {
result->s0 = (float) quaternion->s0; result->s0 = (float) quaternion->s0;
result->x1 = (float) -quaternion->x1; result->x1 = (float) -quaternion->x1;
@ -187,7 +187,7 @@ inline void quaternion_set_conjugate_fp64_to_fp32(const quaternion_fp64_t* quate
result->x3 = (float) -quaternion->x3; result->x3 = (float) -quaternion->x3;
} }
inline void quaternion_set_conjugate_fp32_to_fp64(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result) inline void bgc_quaternion_set_conjugate_fp32_to_fp64(const bgc_quaternion_fp32_t* quaternion, bgc_quaternion_fp64_t* result)
{ {
result->s0 = quaternion->s0; result->s0 = quaternion->s0;
result->x1 = -quaternion->x1; result->x1 = -quaternion->x1;
@ -197,40 +197,40 @@ inline void quaternion_set_conjugate_fp32_to_fp64(const quaternion_fp32_t* quate
// ============= Get Square Modulus ============= // // ============= Get Square Modulus ============= //
inline float quaternion_get_square_modulus_fp32(const quaternion_fp32_t* quaternion) inline float bgc_quaternion_get_square_modulus_fp32(const bgc_quaternion_fp32_t* quaternion)
{ {
return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3); return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
} }
inline double quaternion_get_square_modulus_fp64(const quaternion_fp64_t* quaternion) inline double bgc_quaternion_get_square_modulus_fp64(const bgc_quaternion_fp64_t* quaternion)
{ {
return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3); return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
} }
// ================ Get Modulus ================= // // ================ Get Modulus ================= //
inline float quaternion_get_modulus_fp32(const quaternion_fp32_t* quaternion) inline float bgc_quaternion_get_modulus_fp32(const bgc_quaternion_fp32_t* quaternion)
{ {
return sqrtf(quaternion_get_square_modulus_fp32(quaternion)); return sqrtf(bgc_quaternion_get_square_modulus_fp32(quaternion));
} }
inline double quaternion_get_modulus_fp64(const quaternion_fp64_t* quaternion) inline double bgc_quaternion_get_modulus_fp64(const bgc_quaternion_fp64_t* quaternion)
{ {
return sqrt(quaternion_get_square_modulus_fp64(quaternion)); return sqrt(bgc_quaternion_get_square_modulus_fp64(quaternion));
} }
// =============== Normalization ================ // // =============== Normalization ================ //
inline int quaternion_normalize_fp32(quaternion_fp32_t* quaternion) inline int bgc_quaternion_normalize_fp32(bgc_quaternion_fp32_t* quaternion)
{ {
const float square_modulus = quaternion_get_square_modulus_fp32(quaternion); const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion);
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { if (1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32) {
return 1; return 1;
} }
if (square_modulus <= FP32_SQUARE_EPSYLON) { if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) {
quaternion_reset_fp32(quaternion); bgc_quaternion_reset_fp32(quaternion);
return 0; return 0;
} }
@ -244,16 +244,16 @@ inline int quaternion_normalize_fp32(quaternion_fp32_t* quaternion)
return 1; return 1;
} }
inline int quaternion_normalize_fp64(quaternion_fp64_t* quaternion) inline int bgc_quaternion_normalize_fp64(bgc_quaternion_fp64_t* quaternion)
{ {
const double square_modulus = quaternion_get_square_modulus_fp64(quaternion); const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion);
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { if (1.0 - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0 + BGC_TWO_EPSYLON_FP64) {
return 1; return 1;
} }
if (square_modulus <= FP32_SQUARE_EPSYLON) { if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) {
quaternion_reset_fp64(quaternion); bgc_quaternion_reset_fp64(quaternion);
return 0; return 0;
} }
@ -269,7 +269,7 @@ inline int quaternion_normalize_fp64(quaternion_fp64_t* quaternion)
// ============ Make Rotation Matrix ============ // // ============ Make Rotation Matrix ============ //
inline void quaternion_get_rotation_matrix_fp32(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix) inline void bgc_quaternion_get_rotation_matrix_fp32(const bgc_quaternion_fp32_t* quaternion, bgc_matrix3x3_fp32_t* matrix)
{ {
const float s0s0 = quaternion->s0 * quaternion->s0; const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1; const float x1x1 = quaternion->x1 * quaternion->x1;
@ -278,9 +278,9 @@ inline void quaternion_get_rotation_matrix_fp32(const quaternion_fp32_t* quatern
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON) if (-BGC_EPSYLON_FP32 <= square_modulus && square_modulus <= BGC_EPSYLON_FP32)
{ {
matrix3x3_set_to_identity_fp32(matrix); bgc_matrix3x3_set_to_identity_fp32(matrix);
return; return;
} }
@ -307,7 +307,7 @@ inline void quaternion_get_rotation_matrix_fp32(const quaternion_fp32_t* quatern
matrix->r1c3 = corrector2 * (x1x3 + s0x2); matrix->r1c3 = corrector2 * (x1x3 + s0x2);
} }
inline void quaternion_get_rotation_matrix_fp64(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix) inline void bgc_quaternion_get_rotation_matrix_fp64(const bgc_quaternion_fp64_t* quaternion, bgc_matrix3x3_fp64_t* matrix)
{ {
const double s0s0 = quaternion->s0 * quaternion->s0; const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1; const double x1x1 = quaternion->x1 * quaternion->x1;
@ -316,9 +316,9 @@ inline void quaternion_get_rotation_matrix_fp64(const quaternion_fp64_t* quatern
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON) if (-BGC_EPSYLON_FP64 <= square_modulus && square_modulus <= BGC_EPSYLON_FP64)
{ {
matrix3x3_set_to_identity_fp64(matrix); bgc_matrix3x3_set_to_identity_fp64(matrix);
return; return;
} }
@ -347,7 +347,7 @@ inline void quaternion_get_rotation_matrix_fp64(const quaternion_fp64_t* quatern
// ============ Make Reverse Matrix ============= // // ============ Make Reverse Matrix ============= //
inline void quaternion_get_reverse_matrix_fp32(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix) inline void bgc_quaternion_get_reverse_matrix_fp32(const bgc_quaternion_fp32_t* quaternion, bgc_matrix3x3_fp32_t* matrix)
{ {
const float s0s0 = quaternion->s0 * quaternion->s0; const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1; const float x1x1 = quaternion->x1 * quaternion->x1;
@ -356,9 +356,9 @@ inline void quaternion_get_reverse_matrix_fp32(const quaternion_fp32_t* quaterni
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON) if (-BGC_EPSYLON_FP32 <= square_modulus && square_modulus <= BGC_EPSYLON_FP32)
{ {
matrix3x3_set_to_identity_fp32(matrix); bgc_matrix3x3_set_to_identity_fp32(matrix);
return; return;
} }
@ -385,7 +385,7 @@ inline void quaternion_get_reverse_matrix_fp32(const quaternion_fp32_t* quaterni
matrix->r1c3 = corrector2 * (x1x3 - s0x2); matrix->r1c3 = corrector2 * (x1x3 - s0x2);
} }
inline void quaternion_get_reverse_matrix_fp64(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix) inline void bgc_quaternion_get_reverse_matrix_fp64(const bgc_quaternion_fp64_t* quaternion, bgc_matrix3x3_fp64_t* matrix)
{ {
const double s0s0 = quaternion->s0 * quaternion->s0; const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1; const double x1x1 = quaternion->x1 * quaternion->x1;
@ -394,9 +394,9 @@ inline void quaternion_get_reverse_matrix_fp64(const quaternion_fp64_t* quaterni
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON) if (-BGC_EPSYLON_FP64 <= square_modulus && square_modulus <= BGC_EPSYLON_FP64)
{ {
matrix3x3_set_to_identity_fp64(matrix); bgc_matrix3x3_set_to_identity_fp64(matrix);
return; return;
} }
@ -425,25 +425,43 @@ inline void quaternion_get_reverse_matrix_fp64(const quaternion_fp64_t* quaterni
// ==================== Add ===================== // // ==================== Add ===================== //
inline void quaternion_add_fp32(const quaternion_fp32_t * quaternion1, const quaternion_fp32_t * quaternion2, quaternion_fp32_t * result) inline void bgc_quaternion_add_fp32(const bgc_quaternion_fp32_t * quaternion1, const bgc_quaternion_fp32_t * quaternion2, bgc_quaternion_fp32_t * sum)
{ {
result->s0 = quaternion1->s0 + quaternion2->s0; sum->s0 = quaternion1->s0 + quaternion2->s0;
result->x1 = quaternion1->x1 + quaternion2->x1; sum->x1 = quaternion1->x1 + quaternion2->x1;
result->x2 = quaternion1->x2 + quaternion2->x2; sum->x2 = quaternion1->x2 + quaternion2->x2;
result->x3 = quaternion1->x3 + quaternion2->x3; sum->x3 = quaternion1->x3 + quaternion2->x3;
} }
inline void quaternion_add_fp64(const quaternion_fp64_t * quaternion1, const quaternion_fp64_t * quaternion2, quaternion_fp64_t * result) inline void bgc_quaternion_add_fp64(const bgc_quaternion_fp64_t * quaternion1, const bgc_quaternion_fp64_t * quaternion2, bgc_quaternion_fp64_t * sum)
{ {
result->s0 = quaternion1->s0 + quaternion2->s0; sum->s0 = quaternion1->s0 + quaternion2->s0;
result->x1 = quaternion1->x1 + quaternion2->x1; sum->x1 = quaternion1->x1 + quaternion2->x1;
result->x2 = quaternion1->x2 + quaternion2->x2; sum->x2 = quaternion1->x2 + quaternion2->x2;
result->x3 = quaternion1->x3 + quaternion2->x3; sum->x3 = quaternion1->x3 + quaternion2->x3;
}
// ================= Add Scaled ================= //
inline void bgc_quaternion_add_scaled_fp32(const bgc_quaternion_fp32_t * basic_quaternion, const bgc_quaternion_fp32_t * scalable_quaternion, const float scale, bgc_quaternion_fp32_t * sum)
{
sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
sum->x2 = basic_quaternion->x2 + scalable_quaternion->x2 * scale;
sum->x3 = basic_quaternion->x3 + scalable_quaternion->x3 * scale;
}
inline void bgc_quaternion_add_scaled_fp64(const bgc_quaternion_fp64_t * basic_quaternion, const bgc_quaternion_fp64_t * scalable_quaternion, const double scale, bgc_quaternion_fp64_t * sum)
{
sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
sum->x2 = basic_quaternion->x2 + scalable_quaternion->x2 * scale;
sum->x3 = basic_quaternion->x3 + scalable_quaternion->x3 * scale;
} }
// ================== Subtract ================== // // ================== Subtract ================== //
inline void quaternion_subtract_fp32(const quaternion_fp32_t * minuend, const quaternion_fp32_t * subtrahend, quaternion_fp32_t * difference) inline void bgc_quaternion_subtract_fp32(const bgc_quaternion_fp32_t * minuend, const bgc_quaternion_fp32_t * subtrahend, bgc_quaternion_fp32_t * difference)
{ {
difference->s0 = minuend->s0 - subtrahend->s0; difference->s0 = minuend->s0 - subtrahend->s0;
difference->x1 = minuend->x1 - subtrahend->x1; difference->x1 = minuend->x1 - subtrahend->x1;
@ -451,7 +469,7 @@ inline void quaternion_subtract_fp32(const quaternion_fp32_t * minuend, const qu
difference->x3 = minuend->x3 - subtrahend->x3; difference->x3 = minuend->x3 - subtrahend->x3;
} }
inline void quaternion_subtract_fp64(const quaternion_fp64_t * minuend, const quaternion_fp64_t * subtrahend, quaternion_fp64_t * difference) inline void bgc_quaternion_subtract_fp64(const bgc_quaternion_fp64_t * minuend, const bgc_quaternion_fp64_t * subtrahend, bgc_quaternion_fp64_t * difference)
{ {
difference->s0 = minuend->s0 - subtrahend->s0; difference->s0 = minuend->s0 - subtrahend->s0;
difference->x1 = minuend->x1 - subtrahend->x1; difference->x1 = minuend->x1 - subtrahend->x1;
@ -461,7 +479,7 @@ inline void quaternion_subtract_fp64(const quaternion_fp64_t * minuend, const qu
// =============== Multiplication =============== // // =============== Multiplication =============== //
inline void quaternion_multiply_fp32(const quaternion_fp32_t* multiplicand, const float multipier, quaternion_fp32_t* product) inline void bgc_quaternion_multiply_fp32(const bgc_quaternion_fp32_t* multiplicand, const float multipier, bgc_quaternion_fp32_t* product)
{ {
product->s0 = multiplicand->s0 * multipier; product->s0 = multiplicand->s0 * multipier;
product->x1 = multiplicand->x1 * multipier; product->x1 = multiplicand->x1 * multipier;
@ -469,7 +487,7 @@ inline void quaternion_multiply_fp32(const quaternion_fp32_t* multiplicand, cons
product->x3 = multiplicand->x3 * multipier; product->x3 = multiplicand->x3 * multipier;
} }
inline void quaternion_multiply_fp64(const quaternion_fp64_t* multiplicand, const double multipier, quaternion_fp64_t* product) inline void bgc_quaternion_multiply_fp64(const bgc_quaternion_fp64_t* multiplicand, const double multipier, bgc_quaternion_fp64_t* product)
{ {
product->s0 = multiplicand->s0 * multipier; product->s0 = multiplicand->s0 * multipier;
product->x1 = multiplicand->x1 * multipier; product->x1 = multiplicand->x1 * multipier;
@ -479,19 +497,19 @@ inline void quaternion_multiply_fp64(const quaternion_fp64_t* multiplicand, cons
// ================== Division ================== // // ================== Division ================== //
inline void quaternion_divide_fp32(const quaternion_fp32_t* dividend, const float divisor, quaternion_fp32_t* quotient) inline void bgc_quaternion_divide_fp32(const bgc_quaternion_fp32_t* dividend, const float divisor, bgc_quaternion_fp32_t* quotient)
{ {
quaternion_multiply_fp32(dividend, 1.0f / divisor, quotient); bgc_quaternion_multiply_fp32(dividend, 1.0f / divisor, quotient);
} }
inline void quaternion_fp64_divide(const quaternion_fp64_t* dividend, const double divisor, quaternion_fp64_t* quotient) inline void bgc_quaternion_divide_fp64(const bgc_quaternion_fp64_t* dividend, const double divisor, bgc_quaternion_fp64_t* quotient)
{ {
quaternion_multiply_fp64(dividend, 1.0 / divisor, quotient); bgc_quaternion_multiply_fp64(dividend, 1.0 / divisor, quotient);
} }
// ================== Product =================== // // ================== Product =================== //
inline void quaternion_get_product_fp32(const quaternion_fp32_t* left, const quaternion_fp32_t* right, quaternion_fp32_t* product) inline void bgc_quaternion_get_product_fp32(const bgc_quaternion_fp32_t* left, const bgc_quaternion_fp32_t* right, bgc_quaternion_fp32_t* product)
{ {
const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3); 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 x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@ -504,7 +522,7 @@ inline void quaternion_get_product_fp32(const quaternion_fp32_t* left, const qua
product->x3 = x3; product->x3 = x3;
} }
inline void quaternion_get_product_fp64(const quaternion_fp64_t* left, const quaternion_fp64_t* right, quaternion_fp64_t* product) inline void bgc_quaternion_get_product_fp64(const bgc_quaternion_fp64_t* left, const bgc_quaternion_fp64_t* right, bgc_quaternion_fp64_t* product)
{ {
const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3); 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 x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@ -517,4 +535,4 @@ inline void quaternion_get_product_fp64(const quaternion_fp64_t* left, const qua
product->x3 = x3; product->x3 = x3;
} }
#endif // _GEOMETRY_QUATERNION_H_ #endif // _BGC_QUATERNION_H_

4
basic-geometry/rotation3.c
View file

@ -1,5 +1,5 @@
#include "rotation3.h" #include "rotation3.h"
const rotation3_fp32_t FP32_IDLE_ROTATION3 = { {0.0f, 0.0f, 0.0f}, 0.0f}; const bgc_rotation3_fp32_t BGC_IDLE_ROTATION3_FP32 = { {0.0f, 0.0f, 0.0f}, 0.0f};
const rotation3_fp64_t FP64_IDLE_ROTATION3 = { {0.0, 0.0, 0.0}, 0.0}; const bgc_rotation3_fp64_t BGC_IDLE_ROTATION3_FP64 = { {0.0, 0.0, 0.0}, 0.0};

46
basic-geometry/rotation3.h
View file

@ -1,27 +1,27 @@
#ifndef _BASIC_GEOMETRY_ROTATION3_H_ #ifndef _BGC_ROTATION3_H_
#define _BASIC_GEOMETRY_ROTATION3_H_ #define _BGC_ROTATION3_H_
#include "basis.h" #include "utilities.h"
#include "angle.h" #include "angle.h"
#include "vector3.h" #include "vector3.h"
typedef struct { typedef struct {
vector3_fp32_t axis; bgc_vector3_fp32_t axis;
float radians; float radians;
} rotation3_fp32_t; } bgc_rotation3_fp32_t;
typedef struct { typedef struct {
vector3_fp64_t axis; bgc_vector3_fp64_t axis;
double radians; double radians;
} rotation3_fp64_t; } bgc_rotation3_fp64_t;
extern const rotation3_fp32_t FP32_IDLE_ROTATION3; extern const bgc_rotation3_fp32_t BGC_IDLE_ROTATION3_FP32;
extern const rotation3_fp64_t FP64_IDLE_ROTATION3; extern const bgc_rotation3_fp64_t BGC_IDLE_ROTATION3_FP64;
// =================== Reset ==================== // // =================== Reset ==================== //
inline void fp32_rotation_reset(rotation3_fp32_t* rotation) inline void bgc_rotation3_reset_fp32(bgc_rotation3_fp32_t* rotation)
{ {
rotation->axis.x1 = 0.0f; rotation->axis.x1 = 0.0f;
rotation->axis.x2 = 0.0f; rotation->axis.x2 = 0.0f;
@ -30,7 +30,7 @@ inline void fp32_rotation_reset(rotation3_fp32_t* rotation)
rotation->radians = 0.0f; rotation->radians = 0.0f;
} }
inline void fp64_rotation_reset(rotation3_fp64_t* rotation) inline void bgc_rotation3_reset_fp64(bgc_rotation3_fp64_t* rotation)
{ {
rotation->axis.x1 = 0.0; rotation->axis.x1 = 0.0;
rotation->axis.x2 = 0.0; rotation->axis.x2 = 0.0;
@ -41,14 +41,14 @@ inline void fp64_rotation_reset(rotation3_fp64_t* rotation)
// ==================== Make ==================== // // ==================== Make ==================== //
inline void fp32_rotation_set_values(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, rotation3_fp32_t* rotation) inline void bgc_rotation3_set_values_fp32(const float x1, const float x2, const float x3, const float angle, const bgc_angle_unit_t unit, bgc_rotation3_fp32_t* rotation)
{ {
rotation->axis.x1 = x1; rotation->axis.x1 = x1;
rotation->axis.x2 = x2; rotation->axis.x2 = x2;
rotation->axis.x3 = x3; rotation->axis.x3 = x3;
if (vector3_normalize_fp32(&rotation->axis)) { if (bgc_vector3_normalize_fp32(&rotation->axis)) {
rotation->radians = fp32_angle_to_radians(angle, unit); rotation->radians = bgc_angle_to_radians_fp32(angle, unit);
} }
else { else {
rotation->radians = 0.0f; rotation->radians = 0.0f;
@ -56,42 +56,42 @@ inline void fp32_rotation_set_values(const float x1, const float x2, const float
} }
inline void fp64_rotation_set_values(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, rotation3_fp64_t* rotation) inline void bgc_rotation3_set_values_fp64(const double x1, const double x2, const double x3, const double angle, const bgc_angle_unit_t unit, bgc_rotation3_fp64_t* rotation)
{ {
rotation->axis.x1 = x1; rotation->axis.x1 = x1;
rotation->axis.x2 = x2; rotation->axis.x2 = x2;
rotation->axis.x3 = x3; rotation->axis.x3 = x3;
if (vector3_normalize_fp64(&rotation->axis)) { if (bgc_vector3_normalize_fp64(&rotation->axis)) {
rotation->radians = fp64_angle_to_radians(angle, unit); rotation->radians = bgc_angle_to_radians_fp64(angle, unit);
} }
else { else {
rotation->radians = 0.0; rotation->radians = 0.0;
} }
} }
inline void fp32_rotation_set_with_axis(const vector3_fp32_t* axis, const float angle, const angle_unit_t unit, rotation3_fp32_t* rotation) inline void bgc_rotation3_set_with_axis_fp32(const bgc_vector3_fp32_t* axis, const float angle, const bgc_angle_unit_t unit, bgc_rotation3_fp32_t* rotation)
{ {
rotation->axis.x1 = axis->x1; rotation->axis.x1 = axis->x1;
rotation->axis.x2 = axis->x2; rotation->axis.x2 = axis->x2;
rotation->axis.x3 = axis->x3; rotation->axis.x3 = axis->x3;
if (vector3_normalize_fp32(&rotation->axis)) { if (bgc_vector3_normalize_fp32(&rotation->axis)) {
rotation->radians = fp32_angle_to_radians(angle, unit); rotation->radians = bgc_angle_to_radians_fp32(angle, unit);
} }
else { else {
rotation->radians = 0.0f; rotation->radians = 0.0f;
} }
} }
inline void fp64_rotation_set_with_axis(const vector3_fp64_t* axis, const double angle, const angle_unit_t unit, rotation3_fp64_t* rotation) inline void bgc_rotation3_set_with_axis_fp64(const bgc_vector3_fp64_t* axis, const double angle, const bgc_angle_unit_t unit, bgc_rotation3_fp64_t* rotation)
{ {
rotation->axis.x1 = axis->x1; rotation->axis.x1 = axis->x1;
rotation->axis.x2 = axis->x2; rotation->axis.x2 = axis->x2;
rotation->axis.x3 = axis->x3; rotation->axis.x3 = axis->x3;
if (vector3_normalize_fp64(&rotation->axis)) { if (bgc_vector3_normalize_fp64(&rotation->axis)) {
rotation->radians = fp64_angle_to_radians(angle, unit); rotation->radians = bgc_angle_to_radians_fp64(angle, unit);
} }
else { else {
rotation->radians = 0.0; rotation->radians = 0.0;

4
basic-geometry/tangent.c
View file

@ -1,5 +1,5 @@
#include "tangent.h" #include "tangent.h"
const tangent_fp32_t FP32_IDLE_TANGENT = { 1.0f, 0.0f }; const bgc_tangent_fp32_t BGC_IDLE_TANGENT_FP32 = { 1.0f, 0.0f };
const tangent_fp64_t FP64_IDLE_TANGENT = { 1.0, 0.0 }; const bgc_tangent_fp64_t BGC_IDLE_TANGENT_FP64 = { 1.0, 0.0 };

158
basic-geometry/tangent.h
View file

@ -1,9 +1,9 @@
#ifndef _BASIC_GEOMETRY_TANGENT_H_ #ifndef _BGC_TANGENT_H_
#define _BASIC_GEOMETRY_TANGENT_H_ #define _BGC_TANGENT_H_
#include <math.h> #include <math.h>
#include "basis.h" #include "utilities.h"
#include "angle.h" #include "angle.h"
#include "vector2.h" #include "vector2.h"
#include "matrix2x2.h" #include "matrix2x2.h"
@ -13,41 +13,41 @@
typedef struct typedef struct
{ {
const float cos, sin; const float cos, sin;
} tangent_fp32_t; } bgc_tangent_fp32_t;
typedef struct typedef struct
{ {
const double cos, sin; const double cos, sin;
} tangent_fp64_t; } bgc_tangent_fp64_t;
// ================= Dark Twins ================= // // ================= Dark Twins ================= //
typedef struct { typedef struct {
float cos, sin; float cos, sin;
} __BgFP32DarkTwinTangent; } _bgc_dark_twin_tangent_fp32_t;
typedef struct { typedef struct {
double cos, sin; double cos, sin;
} __BgFP64DarkTwinTangent; } _bgc_dark_twin_tangent_fp64_t;
// ================= Constants ================== // // ================= Constants ================== //
extern const tangent_fp32_t FP32_IDLE_TANGENT; extern const bgc_tangent_fp32_t BGC_IDLE_TANGENT_FP32;
extern const tangent_fp64_t FP64_IDLE_TANGENT; extern const bgc_tangent_fp64_t BGC_IDLE_TANGENT_FP64;
// =================== Reset ==================== // // =================== Reset ==================== //
inline void tangent_reset_fp32(tangent_fp32_t* tangent) inline void bgc_tangent_reset_fp32(bgc_tangent_fp32_t* tangent)
{ {
__BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)tangent; _bgc_dark_twin_tangent_fp32_t* twin = (_bgc_dark_twin_tangent_fp32_t*)tangent;
twin->cos = 1.0f; twin->cos = 1.0f;
twin->sin = 0.0f; twin->sin = 0.0f;
} }
inline void tangent_reset_fp64(tangent_fp64_t* tangent) inline void bgc_tangent_reset_fp64(bgc_tangent_fp64_t* tangent)
{ {
__BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)tangent; _bgc_dark_twin_tangent_fp64_t* twin = (_bgc_dark_twin_tangent_fp64_t*)tangent;
twin->cos = 1.0; twin->cos = 1.0;
twin->sin = 0.0; twin->sin = 0.0;
@ -55,20 +55,20 @@ inline void tangent_reset_fp64(tangent_fp64_t* tangent)
// ==================== Set ===================== // // ==================== Set ===================== //
inline void tangent_set_values_fp32(const float x1, const float x2, tangent_fp32_t* tangent) inline void bgc_tangent_set_values_fp32(const float x1, const float x2, bgc_tangent_fp32_t* tangent)
{ {
const float square_module = x1 * x1 + x2 * x2; const float square_module = x1 * x1 + x2 * x2;
__BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)tangent; _bgc_dark_twin_tangent_fp32_t* twin = (_bgc_dark_twin_tangent_fp32_t*)tangent;
twin->cos = x1; twin->cos = x1;
twin->sin = x2; twin->sin = x2;
if (1.0f - FP32_TWO_EPSYLON <= square_module && square_module <= 1.0f + FP32_TWO_EPSYLON) { if (1.0f - BGC_TWO_EPSYLON_FP32 <= square_module && square_module <= 1.0f + BGC_TWO_EPSYLON_FP32) {
return; return;
} }
if (square_module <= FP32_SQUARE_EPSYLON) { if (square_module <= BGC_SQUARE_EPSYLON_FP32) {
twin->cos = 1.0f; twin->cos = 1.0f;
twin->sin = 0.0f; twin->sin = 0.0f;
return; return;
@ -80,20 +80,20 @@ inline void tangent_set_values_fp32(const float x1, const float x2, tangent_fp32
twin->sin = x2 * multiplier; twin->sin = x2 * multiplier;
} }
inline void tangent_set_values_fp64(const double x1, const double x2, tangent_fp64_t* tangent) inline void bgc_tangent_set_values_fp64(const double x1, const double x2, bgc_tangent_fp64_t* tangent)
{ {
const double square_module = x1 * x1 + x2 * x2; const double square_module = x1 * x1 + x2 * x2;
__BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)tangent; _bgc_dark_twin_tangent_fp64_t* twin = (_bgc_dark_twin_tangent_fp64_t*)tangent;
twin->cos = x1; twin->cos = x1;
twin->sin = x2; twin->sin = x2;
if (1.0 - FP64_TWO_EPSYLON <= square_module && square_module <= 1.0 + FP64_TWO_EPSYLON) { if (1.0 - BGC_TWO_EPSYLON_FP64 <= square_module && square_module <= 1.0 + BGC_TWO_EPSYLON_FP64) {
return; return;
} }
if (square_module <= FP64_SQUARE_EPSYLON) { if (square_module <= BGC_SQUARE_EPSYLON_FP64) {
twin->cos = 1.0; twin->cos = 1.0;
twin->sin = 0.0; twin->sin = 0.0;
return; return;
@ -107,17 +107,17 @@ inline void tangent_set_values_fp64(const double x1, const double x2, tangent_fp
// ==================== Copy ==================== // // ==================== Copy ==================== //
inline void tangent_copy_fp32(const tangent_fp32_t* from, tangent_fp32_t* to) inline void bgc_tangent_copy_fp32(const bgc_tangent_fp32_t* from, bgc_tangent_fp32_t* to)
{ {
__BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)to; _bgc_dark_twin_tangent_fp32_t* twin = (_bgc_dark_twin_tangent_fp32_t*)to;
twin->cos = from->cos; twin->cos = from->cos;
twin->sin = from->sin; twin->sin = from->sin;
} }
inline void tangent_copy_fp64(const tangent_fp64_t* from, tangent_fp64_t* to) inline void bgc_tangent_copy_fp64(const bgc_tangent_fp64_t* from, bgc_tangent_fp64_t* to)
{ {
__BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)to; _bgc_dark_twin_tangent_fp64_t* twin = (_bgc_dark_twin_tangent_fp64_t*)to;
twin->cos = from->cos; twin->cos = from->cos;
twin->sin = from->sin; twin->sin = from->sin;
@ -125,33 +125,33 @@ inline void tangent_copy_fp64(const tangent_fp64_t* from, tangent_fp64_t* to)
// ==================== Swap ==================== // // ==================== Swap ==================== //
inline void tangent_swap_fp32(tangent_fp32_t* tangent1, tangent_fp32_t* tangent2) inline void bgc_tangent_swap_fp32(bgc_tangent_fp32_t* tangent1, bgc_tangent_fp32_t* tangent2)
{ {
const float cos = tangent1->cos; const float cos = tangent1->cos;
const float sin = tangent1->sin; const float sin = tangent1->sin;
__BgFP32DarkTwinTangent* twin1 = (__BgFP32DarkTwinTangent*)tangent1; _bgc_dark_twin_tangent_fp32_t* twin1 = (_bgc_dark_twin_tangent_fp32_t*)tangent1;
twin1->cos = tangent2->cos; twin1->cos = tangent2->cos;
twin1->sin = tangent2->sin; twin1->sin = tangent2->sin;
__BgFP32DarkTwinTangent* twin2 = (__BgFP32DarkTwinTangent*)tangent2; _bgc_dark_twin_tangent_fp32_t* twin2 = (_bgc_dark_twin_tangent_fp32_t*)tangent2;
twin2->cos = cos; twin2->cos = cos;
twin2->sin = sin; twin2->sin = sin;
} }
inline void tangent_swap_fp64(tangent_fp64_t* tangent1, tangent_fp64_t* tangent2) inline void bgc_tangent_swap_fp64(bgc_tangent_fp64_t* tangent1, bgc_tangent_fp64_t* tangent2)
{ {
const double cos = tangent1->cos; const double cos = tangent1->cos;
const double sin = tangent1->sin; const double sin = tangent1->sin;
__BgFP64DarkTwinTangent* twin1 = (__BgFP64DarkTwinTangent*)tangent1; _bgc_dark_twin_tangent_fp64_t* twin1 = (_bgc_dark_twin_tangent_fp64_t*)tangent1;
twin1->cos = tangent2->cos; twin1->cos = tangent2->cos;
twin1->sin = tangent2->sin; twin1->sin = tangent2->sin;
__BgFP64DarkTwinTangent* twin2 = (__BgFP64DarkTwinTangent*)tangent2; _bgc_dark_twin_tangent_fp64_t* twin2 = (_bgc_dark_twin_tangent_fp64_t*)tangent2;
twin2->cos = cos; twin2->cos = cos;
twin2->sin = sin; twin2->sin = sin;
@ -159,21 +159,21 @@ inline void tangent_swap_fp64(tangent_fp64_t* tangent1, tangent_fp64_t* tangent2
// ================== Set Turn ================== // // ================== Set Turn ================== //
inline void tangent_fp32_set_turn(const float angle, const angle_unit_t unit, tangent_fp32_t* tangent) inline void bgc_tangent_set_turn_fp32(const float angle, const bgc_angle_unit_t unit, bgc_tangent_fp32_t* tangent)
{ {
const float radians = fp32_angle_to_radians(angle, unit); const float radians = bgc_angle_to_radians_fp32(angle, unit);
__BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)tangent; _bgc_dark_twin_tangent_fp32_t* twin = (_bgc_dark_twin_tangent_fp32_t*)tangent;
twin->cos = cosf(radians); twin->cos = cosf(radians);
twin->sin = sinf(radians); twin->sin = sinf(radians);
} }
inline void tangent_fp64_set_turn(const double angle, const angle_unit_t unit, tangent_fp64_t* tangent) inline void bgc_tangent_set_turn_fp64(const double angle, const bgc_angle_unit_t unit, bgc_tangent_fp64_t* tangent)
{ {
const double radians = fp64_angle_to_radians(angle, unit); const double radians = bgc_angle_to_radians_fp64(angle, unit);
__BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)tangent; _bgc_dark_twin_tangent_fp64_t* twin = (_bgc_dark_twin_tangent_fp64_t*)tangent;
twin->cos = cos(radians); twin->cos = cos(radians);
twin->sin = sin(radians); twin->sin = sin(radians);
@ -181,41 +181,41 @@ inline void tangent_fp64_set_turn(const double angle, const angle_unit_t unit, t
// ============= Copy to twin type ============== // // ============= Copy to twin type ============== //
inline void tangent_convert_fp64_to_fp32(const tangent_fp64_t* from, tangent_fp32_t* to) inline void bgc_tangent_convert_fp64_to_fp32(const bgc_tangent_fp64_t* from, bgc_tangent_fp32_t* to)
{ {
tangent_set_values_fp32((float)from->cos, (float)from->sin, to); bgc_tangent_set_values_fp32((float)from->cos, (float)from->sin, to);
} }
inline void tangent_convert_fp32_to_fp64(const tangent_fp32_t* from, tangent_fp64_t* to) inline void bgc_tangent_convert_fp32_to_fp64(const bgc_tangent_fp32_t* from, bgc_tangent_fp64_t* to)
{ {
tangent_set_values_fp64((double)from->cos, (double)from->sin, to); bgc_tangent_set_values_fp64((double)from->cos, (double)from->sin, to);
} }
// ================= Inversion ================== // // ================= Inversion ================== //
inline void tangent_invert_fp32(tangent_fp32_t* tangent) inline void bgc_tangent_invert_fp32(bgc_tangent_fp32_t* tangent)
{ {
((__BgFP32DarkTwinTangent*)tangent)->sin = -tangent->sin; ((_bgc_dark_twin_tangent_fp32_t*)tangent)->sin = -tangent->sin;
} }
inline void tangent_invert_fp64(tangent_fp64_t* tangent) inline void bgc_tangent_invert_fp64(bgc_tangent_fp64_t* tangent)
{ {
((__BgFP64DarkTwinTangent*)tangent)->sin = -tangent->sin; ((_bgc_dark_twin_tangent_fp64_t*)tangent)->sin = -tangent->sin;
} }
// ================ Set Inverted ================ // // ================ Set Inverted ================ //
inline void tangent_set_inverted_fp32(const tangent_fp32_t* tangent, tangent_fp32_t* result) inline void bgc_tangent_set_inverted_fp32(const bgc_tangent_fp32_t* tangent, bgc_tangent_fp32_t* result)
{ {
__BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)result; _bgc_dark_twin_tangent_fp32_t* twin = (_bgc_dark_twin_tangent_fp32_t*)result;
twin->cos = tangent->cos; twin->cos = tangent->cos;
twin->sin = -tangent->sin; twin->sin = -tangent->sin;
} }
inline void tangent_set_inverted_fp64(const tangent_fp64_t* tangent, tangent_fp64_t* result) inline void bgc_tangent_set_inverted_fp64(const bgc_tangent_fp64_t* tangent, bgc_tangent_fp64_t* result)
{ {
__BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)result; _bgc_dark_twin_tangent_fp64_t* twin = (_bgc_dark_twin_tangent_fp64_t*)result;
twin->cos = tangent->cos; twin->cos = tangent->cos;
twin->sin = -tangent->sin; twin->sin = -tangent->sin;
@ -223,7 +223,7 @@ inline void tangent_set_inverted_fp64(const tangent_fp64_t* tangent, tangent_fp6
// ============== Rotation Matrix =============== // // ============== Rotation Matrix =============== //
inline void tangent_fp32_make_rotation_matrix(const tangent_fp32_t* tangent, matrix2x2_fp32_t* matrix) inline void bgc_tangent_make_rotation_matrix_fp32(const bgc_tangent_fp32_t* tangent, bgc_matrix2x2_fp32_t* matrix)
{ {
matrix->r1c1 = tangent->cos; matrix->r1c1 = tangent->cos;
matrix->r1c2 = -tangent->sin; matrix->r1c2 = -tangent->sin;
@ -231,7 +231,7 @@ inline void tangent_fp32_make_rotation_matrix(const tangent_fp32_t* tangent, mat
matrix->r2c2 = tangent->cos; matrix->r2c2 = tangent->cos;
} }
inline void tangent_fp64_make_rotation_matrix(const tangent_fp64_t* tangent, matrix2x2_fp64_t* matrix) inline void bgc_tangent_make_rotation_matrix_fp64(const bgc_tangent_fp64_t* tangent, bgc_matrix2x2_fp64_t* matrix)
{ {
matrix->r1c1 = tangent->cos; matrix->r1c1 = tangent->cos;
matrix->r1c2 = -tangent->sin; matrix->r1c2 = -tangent->sin;
@ -241,7 +241,7 @@ inline void tangent_fp64_make_rotation_matrix(const tangent_fp64_t* tangent, mat
// ============== Reverse Matrix ================ // // ============== Reverse Matrix ================ //
inline void tangent_fp32_make_reverse_matrix(const tangent_fp32_t* tangent, matrix2x2_fp32_t* matrix) inline void bgc_tangent_make_reverse_matrix_fp32(const bgc_tangent_fp32_t* tangent, bgc_matrix2x2_fp32_t* matrix)
{ {
matrix->r1c1 = tangent->cos; matrix->r1c1 = tangent->cos;
matrix->r1c2 = tangent->sin; matrix->r1c2 = tangent->sin;
@ -249,7 +249,7 @@ inline void tangent_fp32_make_reverse_matrix(const tangent_fp32_t* tangent, matr
matrix->r2c2 = tangent->cos; matrix->r2c2 = tangent->cos;
} }
inline void tangent_fp64_make_reverse_matrix(const tangent_fp64_t* tangent, matrix2x2_fp64_t* matrix) inline void bgc_tangent_make_reverse_matrix_fp64(const bgc_tangent_fp64_t* tangent, bgc_matrix2x2_fp64_t* matrix)
{ {
matrix->r1c1 = tangent->cos; matrix->r1c1 = tangent->cos;
matrix->r1c2 = tangent->sin; matrix->r1c2 = tangent->sin;
@ -259,62 +259,62 @@ inline void tangent_fp64_make_reverse_matrix(const tangent_fp64_t* tangent, matr
// =================== Angle =================== // // =================== Angle =================== //
inline float tangent_get_angle_fp32(const tangent_fp32_t* tangent, const angle_unit_t unit) inline float bgc_tangent_get_angle_fp32(const bgc_tangent_fp32_t* tangent, const bgc_angle_unit_t unit)
{ {
if (tangent->cos >= 1.0f - FP32_TWO_EPSYLON) { if (tangent->cos >= 1.0f - BGC_TWO_EPSYLON_FP32) {
return 0.0f; return 0.0f;
} }
if (tangent->cos <= -1.0f + FP32_TWO_EPSYLON) { if (tangent->cos <= -1.0f + BGC_TWO_EPSYLON_FP32) {
return fp32_angle_get_half_circle(unit); return bgc_angle_get_half_circle_fp32(unit);
} }
if (tangent->sin >= 1.0f - FP32_TWO_EPSYLON) { if (tangent->sin >= 1.0f - BGC_TWO_EPSYLON_FP32) {
return fp32_angle_get_quater_circle(unit); return bgc_angle_get_quater_circle_fp32(unit);
} }
if (tangent->sin <= -1.0f + FP32_TWO_EPSYLON) { if (tangent->sin <= -1.0f + BGC_TWO_EPSYLON_FP32) {
return 0.75f * fp32_angle_get_full_circle(unit); return 0.75f * bgc_angle_get_full_circle_fp32(unit);
} }
return fp32_radians_to_units(atan2f(tangent->cos, tangent->sin), unit); return bgc_radians_to_units_fp32(atan2f(tangent->cos, tangent->sin), unit);
} }
inline double tangent_get_angle_fp64(const tangent_fp64_t* tangent, const angle_unit_t unit) inline double bgc_tangent_get_angle_fp64(const bgc_tangent_fp64_t* tangent, const bgc_angle_unit_t unit)
{ {
if (tangent->cos >= 1.0 - FP64_TWO_EPSYLON) { if (tangent->cos >= 1.0 - BGC_TWO_EPSYLON_FP64) {
return 0.0; return 0.0;
} }
if (tangent->cos <= -1.0 + FP64_TWO_EPSYLON) { if (tangent->cos <= -1.0 + BGC_TWO_EPSYLON_FP64) {
return fp64_angle_get_half_circle(unit); return bgc_angle_get_half_circle_fp64(unit);
} }
if (tangent->sin >= 1.0 - FP64_TWO_EPSYLON) { if (tangent->sin >= 1.0 - BGC_TWO_EPSYLON_FP64) {
return fp64_angle_get_quater_circle(unit); return bgc_angle_get_quater_circle_fp64(unit);
} }
if (tangent->sin <= -1.0 + FP64_TWO_EPSYLON) { if (tangent->sin <= -1.0 + BGC_TWO_EPSYLON_FP64) {
return 0.75 * fp64_angle_get_full_circle(unit); return 0.75 * bgc_angle_get_full_circle_fp64(unit);
} }
return fp64_radians_to_units(atan2(tangent->cos, tangent->sin), unit); return bgc_radians_to_units_fp64(atan2(tangent->cos, tangent->sin), unit);
} }
// ================ Combination ================= // // ================ Combination ================= //
inline void tangent_fp32_combine(const tangent_fp32_t* tangent1, const tangent_fp32_t* tangent2, tangent_fp32_t* result) inline void bgc_tangent_combine_fp32(const bgc_tangent_fp32_t* tangent1, const bgc_tangent_fp32_t* tangent2, bgc_tangent_fp32_t* result)
{ {
tangent_set_values_fp32( bgc_tangent_set_values_fp32(
tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin, tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin,
tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos, tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos,
result result
); );
} }
inline void tangent_fp64_combine(const tangent_fp64_t* tangent1, const tangent_fp64_t* tangent2, tangent_fp64_t* result) inline void bgc_tangent_combine_fp64(const bgc_tangent_fp64_t* tangent1, const bgc_tangent_fp64_t* tangent2, bgc_tangent_fp64_t* result)
{ {
tangent_set_values_fp64( bgc_tangent_set_values_fp64(
tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin, tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin,
tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos, tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos,
result result
@ -323,7 +323,7 @@ inline void tangent_fp64_combine(const tangent_fp64_t* tangent1, const tangent_f
// ================ Turn Vector ================= // // ================ Turn Vector ================= //
inline void tangent_fp32_turn(const tangent_fp32_t* tangent, const vector2_fp32_t* vector, vector2_fp32_t* result) inline void bgc_tangent_turn_vector_fp32(const bgc_tangent_fp32_t* tangent, const bgc_vector2_fp32_t* vector, bgc_vector2_fp32_t* result)
{ {
const float x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2; const float x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2;
const float x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2; const float x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2;
@ -332,7 +332,7 @@ inline void tangent_fp32_turn(const tangent_fp32_t* tangent, const vector2_fp32_
result->x2 = x2; result->x2 = x2;
} }
inline void tangent_fp64_turn(const tangent_fp64_t* tangent, const vector2_fp64_t* vector, vector2_fp64_t* result) inline void bgc_tangent_turn_vector_fp64(const bgc_tangent_fp64_t* tangent, const bgc_vector2_fp64_t* vector, bgc_vector2_fp64_t* result)
{ {
const double x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2; const double x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2;
const double x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2; const double x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2;
@ -343,7 +343,7 @@ inline void tangent_fp64_turn(const tangent_fp64_t* tangent, const vector2_fp64_
// ============ Turn Vector Backward ============ // // ============ Turn Vector Backward ============ //
inline void tangent_fp32_turn_back(const tangent_fp32_t* tangent, const vector2_fp32_t* vector, vector2_fp32_t* result) inline void bgc_tangent_turn_vector_back_fp32(const bgc_tangent_fp32_t* tangent, const bgc_vector2_fp32_t* vector, bgc_vector2_fp32_t* result)
{ {
const float x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1; const float x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1;
const float x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1; const float x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1;
@ -352,7 +352,7 @@ inline void tangent_fp32_turn_back(const tangent_fp32_t* tangent, const vector2_
result->x2 = x2; result->x2 = x2;
} }
inline void tangent_fp64_turn_back(const tangent_fp64_t* tangent, const vector2_fp64_t* vector, vector2_fp64_t* result) inline void bgc_tangent_turn_vector_back_fp64(const bgc_tangent_fp64_t* tangent, const bgc_vector2_fp64_t* vector, bgc_vector2_fp64_t* result)
{ {
const double x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1; const double x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1;
const double x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1; const double x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1;

56
basic-geometry/utilities.h Normal file
View file

@ -0,0 +1,56 @@
#ifndef _BGC_UTILITIES_H_
#define _BGC_UTILITIES_H_
#define BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 10.0f
#define BGC_EPSYLON_FP32 5E-7f
#define BGC_TWO_EPSYLON_FP32 1E-6f
#define BGC_SQUARE_EPSYLON_FP32 2.5E-13f
#define BGC_ONE_THIRD_FP32 0.333333333f
#define BGC_ONE_SIXTH_FP32 0.166666667f
#define BGC_ONE_NINETH_FP32 0.111111111f
#define BGC_GOLDEN_RATIO_HIGH_FP32 1.618034f
#define BGC_GOLDEN_RATIO_LOW_FP32 0.618034f
#define BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 10.0
#define BGC_EPSYLON_FP64 5E-14
#define BGC_TWO_EPSYLON_FP64 1E-13
#define BGC_SQUARE_EPSYLON_FP64 2.5E-27
#define BGC_ONE_THIRD_FP64 0.333333333333333333
#define BGC_ONE_SIXTH_FP64 0.166666666666666667
#define BGC_ONE_NINETH_FP64 0.111111111111111111
#define BGC_GOLDEN_RATIO_HIGH_FP64 1.61803398874989485
#define BGC_GOLDEN_RATIO_LOW_FP64 0.61803398874989485
inline int bgc_are_equal_fp32(const float value1, const float value2)
{
if (-BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 < value1 && value1 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) {
return -BGC_EPSYLON_FP32 <= (value1 - value2) && (value1 - value2) <= BGC_EPSYLON_FP32;
}
if (value1 < 0.0f) {
return (1.0f + BGC_EPSYLON_FP32) * value2 <= value1 && (1.0f + BGC_EPSYLON_FP32) * value1 <= value2;
}
return value2 <= value1 * (1.0f + BGC_EPSYLON_FP32) && value1 <= value2 * (1.0f + BGC_EPSYLON_FP32);
}
inline int bgc_are_equal_fp64(const double value1, const double value2)
{
if (-BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 < value1 && value1 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) {
return -BGC_EPSYLON_FP64 <= (value1 - value2) && (value1 - value2) <= BGC_EPSYLON_FP64;
}
if (value1 < 0.0) {
return (1.0 + BGC_EPSYLON_FP64) * value2 <= value1 && (1.0 + BGC_EPSYLON_FP64) * value1 <= value2;
}
return value2 <= value1 * (1.0 + BGC_EPSYLON_FP64) && value1 <= value2 * (1.0 + BGC_EPSYLON_FP64);
}
#endif

40
basic-geometry/vector2.c
View file

@ -2,64 +2,64 @@
// =================== Angle ==================== // // =================== Angle ==================== //
float vector2_get_angle_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const angle_unit_t unit) float bgc_vector2_get_angle_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2, const bgc_angle_unit_t unit)
{ {
if (vector1 == 0 || vector2 == 0) { if (vector1 == 0 || vector2 == 0) {
return 0.0f; return 0.0f;
} }
const float square_modulus1 = vector2_get_square_modulus_fp32(vector1); const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1);
if (square_modulus1 <= FP32_SQUARE_EPSYLON) { if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32) {
return 0.0f; return 0.0f;
} }
const float square_modulus2 = vector2_get_square_modulus_fp32(vector2); const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2);
if (square_modulus2 <= FP32_SQUARE_EPSYLON) { if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) {
return 0.0f; return 0.0f;
} }
const float cosine = vector2_fp32_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2); const float cosine = bgc_vector2_scalar_product_fp32(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
if (cosine >= 1.0f - FP32_EPSYLON) { if (cosine >= 1.0f - BGC_EPSYLON_FP32) {
return 0.0f; return 0.0f;
} }
if (cosine <= -1.0f + FP32_EPSYLON) { if (cosine <= -1.0f + BGC_EPSYLON_FP32) {
return fp32_angle_get_half_circle(unit); return bgc_angle_get_half_circle_fp32(unit);
} }
return fp32_radians_to_units(acosf(cosine), unit); return bgc_radians_to_units_fp32(acosf(cosine), unit);
} }
double vector2_get_angle_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, const angle_unit_t unit) double bgc_vector2_get_angle_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2, const bgc_angle_unit_t unit)
{ {
if (vector1 == 0 || vector2 == 0) { if (vector1 == 0 || vector2 == 0) {
return 0.0; return 0.0;
} }
const double square_modulus1 = vector2_get_square_modulus_fp64(vector1); const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1);
if (square_modulus1 <= FP64_SQUARE_EPSYLON) { if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64) {
return 0.0; return 0.0;
} }
const double square_modulus2 = vector2_get_square_modulus_fp64(vector2); const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2);
if (square_modulus2 <= FP64_SQUARE_EPSYLON) { if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) {
return 0.0; return 0.0;
} }
const double cosine = vector2_fp64_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2); const double cosine = bgc_vector2_scalar_product_fp64(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
if (cosine >= 1.0 - FP64_EPSYLON) { if (cosine >= 1.0 - BGC_EPSYLON_FP64) {
return 0.0; return 0.0;
} }
if (cosine <= -1.0 + FP64_EPSYLON) { if (cosine <= -1.0 + BGC_EPSYLON_FP64) {
return fp64_angle_get_half_circle(unit); return bgc_angle_get_half_circle_fp64(unit);
} }
return fp64_radians_to_units(acos(cosine), unit); return bgc_radians_to_units_fp64(acos(cosine), unit);
} }

230
basic-geometry/vector2.h
View file

@ -1,7 +1,7 @@
#ifndef _BASIC_GEOMETRY_VECTOR2_H_ #ifndef _BGC_VECTOR2_H_
#define _BASIC_GEOMETRY_VECTOR2_H_ #define _BGC_VECTOR2_H_
#include "basis.h" #include "utilities.h"
#include "angle.h" #include "angle.h"
#include <math.h> #include <math.h>
@ -9,22 +9,22 @@
typedef struct typedef struct
{ {
float x1, x2; float x1, x2;
} vector2_fp32_t; } bgc_vector2_fp32_t;
typedef struct typedef struct
{ {
double x1, x2; double x1, x2;
} vector2_fp64_t; } bgc_vector2_fp64_t;
// =================== Reset ==================== // // =================== Reset ==================== //
inline void vector2_reset_fp32(vector2_fp32_t* vector) inline void bgc_vector2_reset_fp32(bgc_vector2_fp32_t* vector)
{ {
vector->x1 = 0.0f; vector->x1 = 0.0f;
vector->x2 = 0.0f; vector->x2 = 0.0f;
} }
inline void vector2_reset_fp64(vector2_fp64_t* vector) inline void bgc_vector2_reset_fp64(bgc_vector2_fp64_t* vector)
{ {
vector->x1 = 0.0; vector->x1 = 0.0;
vector->x2 = 0.0; vector->x2 = 0.0;
@ -32,13 +32,13 @@ inline void vector2_reset_fp64(vector2_fp64_t* vector)
// ==================== Set ===================== // // ==================== Set ===================== //
inline void vector2_set_values_fp32(const float x1, const float x2, vector2_fp32_t* to) inline void bgc_vector2_set_values_fp32(const float x1, const float x2, bgc_vector2_fp32_t* to)
{ {
to->x1 = x1; to->x1 = x1;
to->x2 = x2; to->x2 = x2;
} }
inline void vector2_set_values_fp64(const double x1, const double x2, vector2_fp64_t* to) inline void bgc_vector2_set_values_fp64(const double x1, const double x2, bgc_vector2_fp64_t* to)
{ {
to->x1 = x1; to->x1 = x1;
to->x2 = x2; to->x2 = x2;
@ -46,13 +46,13 @@ inline void vector2_set_values_fp64(const double x1, const double x2, vector2_fp
// ==================== Copy ==================== // // ==================== Copy ==================== //
inline void vector2_copy_fp32(const vector2_fp32_t* from, vector2_fp32_t* to) inline void bgc_vector2_copy_fp32(const bgc_vector2_fp32_t* from, bgc_vector2_fp32_t* to)
{ {
to->x1 = from->x1; to->x1 = from->x1;
to->x2 = from->x2; to->x2 = from->x2;
} }
inline void vector2_copy_fp64(const vector2_fp64_t* from, vector2_fp64_t* to) inline void bgc_vector2_copy_fp64(const bgc_vector2_fp64_t* from, bgc_vector2_fp64_t* to)
{ {
to->x1 = from->x1; to->x1 = from->x1;
to->x2 = from->x2; to->x2 = from->x2;
@ -60,7 +60,7 @@ inline void vector2_copy_fp64(const vector2_fp64_t* from, vector2_fp64_t* to)
// ==================== Swap ==================== // // ==================== Swap ==================== //
inline void vector2_swap_fp32(vector2_fp32_t* vector1, vector2_fp32_t* vector2) inline void bgc_vector2_swap_fp32(bgc_vector2_fp32_t* vector1, bgc_vector2_fp32_t* vector2)
{ {
const float x1 = vector2->x1; const float x1 = vector2->x1;
const float x2 = vector2->x2; const float x2 = vector2->x2;
@ -72,7 +72,7 @@ inline void vector2_swap_fp32(vector2_fp32_t* vector1, vector2_fp32_t* vector2)
vector1->x2 = x2; vector1->x2 = x2;
} }
inline void vector2_swap_fp64(vector2_fp64_t* vector1, vector2_fp64_t* vector2) inline void bgc_vector2_swap_fp64(bgc_vector2_fp64_t* vector1, bgc_vector2_fp64_t* vector2)
{ {
const double x1 = vector2->x1; const double x1 = vector2->x1;
const double x2 = vector2->x2; const double x2 = vector2->x2;
@ -86,13 +86,13 @@ inline void vector2_swap_fp64(vector2_fp64_t* vector1, vector2_fp64_t* vector2)
// ============= Copy to twin type ============== // // ============= Copy to twin type ============== //
inline void vector2_convert_fp64_to_fp32(const vector2_fp64_t* from, vector2_fp32_t* to) inline void bgc_vector2_convert_fp64_to_fp32(const bgc_vector2_fp64_t* from, bgc_vector2_fp32_t* to)
{ {
to->x1 = (float)from->x1; to->x1 = (float)from->x1;
to->x2 = (float)from->x2; to->x2 = (float)from->x2;
} }
inline void vector2_convert_fp32_to_fp64(const vector2_fp32_t* from, vector2_fp64_t* to) inline void bgc_vector2_convert_fp32_to_fp64(const bgc_vector2_fp32_t* from, bgc_vector2_fp64_t* to)
{ {
to->x1 = from->x1; to->x1 = from->x1;
to->x2 = from->x2; to->x2 = from->x2;
@ -100,13 +100,13 @@ inline void vector2_convert_fp32_to_fp64(const vector2_fp32_t* from, vector2_fp6
// =================== Reverse ================== // // =================== Reverse ================== //
inline void vector2_fp32_set_reverse(const vector2_fp32_t* from, vector2_fp32_t* to) inline void bgc_vector2_set_reverse_fp32(const bgc_vector2_fp32_t* from, bgc_vector2_fp32_t* to)
{ {
to->x1 = -from->x1; to->x1 = -from->x1;
to->x2 = -from->x2; to->x2 = -from->x2;
} }
inline void vector2_fp64_set_reverse(const vector2_fp64_t* from, vector2_fp64_t* to) inline void bgc_vector2_set_reverse_fp64(const bgc_vector2_fp64_t* from, bgc_vector2_fp64_t* to)
{ {
to->x1 = -from->x1; to->x1 = -from->x1;
to->x2 = -from->x2; to->x2 = -from->x2;
@ -114,13 +114,13 @@ inline void vector2_fp64_set_reverse(const vector2_fp64_t* from, vector2_fp64_t*
// ============= Reverse twin type ============== // // ============= Reverse twin type ============== //
inline void vector2_fp32_set_reverse_fp64(const vector2_fp64_t* from, vector2_fp32_t* to) inline void bgc_vector2_set_reverse_fp64_to_fp32(const bgc_vector2_fp64_t* from, bgc_vector2_fp32_t* to)
{ {
to->x1 = (float) -from->x1; to->x1 = (float) -from->x1;
to->x2 = (float) -from->x2; to->x2 = (float) -from->x2;
} }
inline void vector2_fp64_set_reverse_fp32(const vector2_fp32_t* from, vector2_fp64_t* to) inline void bgc_vector2_set_reverse_fp32_to_fp64(const bgc_vector2_fp32_t* from, bgc_vector2_fp64_t* to)
{ {
to->x1 = -from->x1; to->x1 = -from->x1;
to->x2 = -from->x2; to->x2 = -from->x2;
@ -128,75 +128,89 @@ inline void vector2_fp64_set_reverse_fp32(const vector2_fp32_t* from, vector2_fp
// =================== Module =================== // // =================== Module =================== //
inline float vector2_get_square_modulus_fp32(const vector2_fp32_t* vector) inline float bgc_vector2_get_square_modulus_fp32(const bgc_vector2_fp32_t* vector)
{ {
return vector->x1 * vector->x1 + vector->x2 * vector->x2; return vector->x1 * vector->x1 + vector->x2 * vector->x2;
} }
inline double vector2_get_square_modulus_fp64(const vector2_fp64_t* vector) inline double bgc_vector2_get_square_modulus_fp64(const bgc_vector2_fp64_t* vector)
{ {
return vector->x1 * vector->x1 + vector->x2 * vector->x2; return vector->x1 * vector->x1 + vector->x2 * vector->x2;
} }
inline float vector2_get_modulus_fp32(const vector2_fp32_t* vector) inline float bgc_vector2_get_modulus_fp32(const bgc_vector2_fp32_t* vector)
{ {
return sqrtf(vector2_get_square_modulus_fp32(vector)); return sqrtf(bgc_vector2_get_square_modulus_fp32(vector));
} }
inline double vector2_get_modulus_fp64(const vector2_fp64_t* vector) inline double bgc_vector2_get_modulus_fp64(const bgc_vector2_fp64_t* vector)
{ {
return sqrt(vector2_get_square_modulus_fp64(vector)); return sqrt(bgc_vector2_get_square_modulus_fp64(vector));
} }
// ================= Comparison ================= // // ================= Comparison ================= //
inline int vector2_fp32_is_zero(const vector2_fp32_t* vector) inline int bgc_vector2_is_zero_fp32(const bgc_vector2_fp32_t* vector)
{ {
return vector2_get_square_modulus_fp32(vector) <= FP32_SQUARE_EPSYLON; return bgc_vector2_get_square_modulus_fp32(vector) <= BGC_SQUARE_EPSYLON_FP32;
} }
inline int vector2_fp64_is_zero(const vector2_fp64_t* vector) inline int bgc_vector2_is_zero_fp64(const bgc_vector2_fp64_t* vector)
{ {
return vector2_get_square_modulus_fp64(vector) <= FP64_SQUARE_EPSYLON; return bgc_vector2_get_square_modulus_fp64(vector) <= BGC_SQUARE_EPSYLON_FP64;
} }
inline int vector2_fp32_is_unit(const vector2_fp32_t* vector) inline int bgc_vector2_is_unit_fp32(const bgc_vector2_fp32_t* vector)
{ {
const float square_modulus = vector2_get_square_modulus_fp32(vector); const float square_modulus = bgc_vector2_get_square_modulus_fp32(vector);
return 1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON; return 1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32;
} }
inline int vector2_fp64_is_unit(const vector2_fp64_t* vector) inline int bgc_vector2_is_unit_fp64(const bgc_vector2_fp64_t* vector)
{ {
const double square_modulus = vector2_get_square_modulus_fp64(vector); const double square_modulus = bgc_vector2_get_square_modulus_fp64(vector);
return 1.0f - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP64_TWO_EPSYLON; return 1.0f - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP64;
} }
// ==================== Add ===================== // // ==================== Add ===================== //
inline void vector2_add_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, vector2_fp32_t* sum) inline void bgc_vector2_add_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2, bgc_vector2_fp32_t* sum)
{ {
sum->x1 = vector1->x1 + vector2->x1; sum->x1 = vector1->x1 + vector2->x1;
sum->x2 = vector1->x2 + vector2->x2; sum->x2 = vector1->x2 + vector2->x2;
} }
inline void vector2_add_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, vector2_fp64_t* sum) inline void bgc_vector2_add_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2, bgc_vector2_fp64_t* sum)
{ {
sum->x1 = vector1->x1 + vector2->x1; sum->x1 = vector1->x1 + vector2->x1;
sum->x2 = vector1->x2 + vector2->x2; sum->x2 = vector1->x2 + vector2->x2;
} }
// ================ Append scaled =============== //
inline void bgc_vector2_add_scaled_fp32(const bgc_vector2_fp32_t* basic_vector, const bgc_vector2_fp32_t* scalable_vector, const float scale, bgc_vector2_fp32_t* sum)
{
sum->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
sum->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
}
inline void bgc_vector2_add_scaled_fp64(const bgc_vector2_fp64_t* basic_vector, const bgc_vector2_fp64_t* scalable_vector, const double scale, bgc_vector2_fp64_t* sum)
{
sum->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
sum->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
}
// ================ Subtraction ================= // // ================ Subtraction ================= //
inline void vector2_subtract_fp32(const vector2_fp32_t* minuend, const vector2_fp32_t* subtrahend, vector2_fp32_t* difference) inline void bgc_vector2_subtract_fp32(const bgc_vector2_fp32_t* minuend, const bgc_vector2_fp32_t* subtrahend, bgc_vector2_fp32_t* difference)
{ {
difference->x1 = minuend->x1 - subtrahend->x1; difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2; difference->x2 = minuend->x2 - subtrahend->x2;
} }
inline void vector2_subtract_fp64(const vector2_fp64_t* minuend, const vector2_fp64_t* subtrahend, vector2_fp64_t* difference) inline void bgc_vector2_subtract_fp64(const bgc_vector2_fp64_t* minuend, const bgc_vector2_fp64_t* subtrahend, bgc_vector2_fp64_t* difference)
{ {
difference->x1 = minuend->x1 - subtrahend->x1; difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2; difference->x2 = minuend->x2 - subtrahend->x2;
@ -204,13 +218,13 @@ inline void vector2_subtract_fp64(const vector2_fp64_t* minuend, const vector2_f
// =============== Multiplication =============== // // =============== Multiplication =============== //
inline void vector2_multiply_fp32(const vector2_fp32_t* multiplicand, const float multiplier, vector2_fp32_t* product) inline void bgc_vector2_multiply_fp32(const bgc_vector2_fp32_t* multiplicand, const float multiplier, bgc_vector2_fp32_t* product)
{ {
product->x1 = multiplicand->x1 * multiplier; product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier; product->x2 = multiplicand->x2 * multiplier;
} }
inline void vector2_multiply_fp64(const vector2_fp64_t* multiplicand, const double multiplier, vector2_fp64_t* product) inline void bgc_vector2_multiply_fp64(const bgc_vector2_fp64_t* multiplicand, const double multiplier, bgc_vector2_fp64_t* product)
{ {
product->x1 = multiplicand->x1 * multiplier; product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier; product->x2 = multiplicand->x2 * multiplier;
@ -218,39 +232,25 @@ inline void vector2_multiply_fp64(const vector2_fp64_t* multiplicand, const doub
// ================== Division ================== // // ================== Division ================== //
inline void vector2_divide_fp32(const vector2_fp32_t* dividend, const float divisor, vector2_fp32_t* quotient) inline void bgc_vector2_divide_fp32(const bgc_vector2_fp32_t* dividend, const float divisor, bgc_vector2_fp32_t* quotient)
{ {
vector2_multiply_fp32(dividend, 1.0f / divisor, quotient); bgc_vector2_multiply_fp32(dividend, 1.0f / divisor, quotient);
} }
inline void vector2_fp64_divide(const vector2_fp64_t* dividend, const double divisor, vector2_fp64_t* quotient) inline void bgc_vector2_divide_fp64(const bgc_vector2_fp64_t* dividend, const double divisor, bgc_vector2_fp64_t* quotient)
{ {
vector2_multiply_fp64(dividend, 1.0 / divisor, quotient); bgc_vector2_multiply_fp64(dividend, 1.0 / divisor, quotient);
}
// ================ Append scaled =============== //
inline void vector2_add_scaled_fp32(vector2_fp32_t* basic_vector, const vector2_fp32_t* scalable_vector, const float scale)
{
basic_vector->x1 += scalable_vector->x1 * scale;
basic_vector->x2 += scalable_vector->x2 * scale;
}
inline void vector2_add_scaled_fp64(vector2_fp64_t* basic_vector, const vector2_fp64_t* scalable_vector, const double scale)
{
basic_vector->x1 += scalable_vector->x1 * scale;
basic_vector->x2 += scalable_vector->x2 * scale;
} }
// ================== Average2 ================== // // ================== Average2 ================== //
inline void vector2_fp32_get_mean2(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, vector2_fp32_t* result) inline void bgc_vector2_mean_of_two_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2, bgc_vector2_fp32_t* result)
{ {
result->x1 = (vector1->x1 + vector2->x1) * 0.5f; result->x1 = (vector1->x1 + vector2->x1) * 0.5f;
result->x2 = (vector1->x2 + vector2->x2) * 0.5f; result->x2 = (vector1->x2 + vector2->x2) * 0.5f;
} }
inline void vector2_fp64_get_mean2(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, vector2_fp64_t* result) inline void bgc_vector2_mean_of_two_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2, bgc_vector2_fp64_t* result)
{ {
result->x1 = (vector1->x1 + vector2->x1) * 0.5; result->x1 = (vector1->x1 + vector2->x1) * 0.5;
result->x2 = (vector1->x2 + vector2->x2) * 0.5; result->x2 = (vector1->x2 + vector2->x2) * 0.5;
@ -258,45 +258,45 @@ inline void vector2_fp64_get_mean2(const vector2_fp64_t* vector1, const vector2_
// ================== Average3 ================== // // ================== Average3 ================== //
inline void vector2_fp32_get_mean3(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const vector2_fp32_t* vector3, vector2_fp32_t* result) inline void bgc_vector2_mean_of_three_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2, const bgc_vector2_fp32_t* vector3, bgc_vector2_fp32_t* result)
{ {
result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP32_ONE_THIRD; result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP32;
result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP32_ONE_THIRD; result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP32;
} }
inline void vector2_fp64_get_mean3(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, const vector2_fp64_t* vector3, vector2_fp64_t* result) inline void bgc_vector2_mean_of_three_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2, const bgc_vector2_fp64_t* vector3, bgc_vector2_fp64_t* result)
{ {
result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP64_ONE_THIRD; result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP64;
result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP64_ONE_THIRD; result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP64;
} }
// =============== Scalar Product =============== // // =============== Scalar Product =============== //
inline float vector2_fp32_scalar_product(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2) inline float bgc_vector2_scalar_product_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2)
{ {
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2; return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2;
} }
inline double vector2_fp64_scalar_product(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2) inline double bgc_vector2_scalar_product_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2)
{ {
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2; return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2;
} }
// =============== Cross Product ================ // // =============== Cross Product ================ //
inline float vector2_fp32_cross_product(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2) inline float bgc_vector2_cross_product_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2)
{ {
return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1; return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
} }
inline double vector2_fp64_cross_product(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2) inline double bgc_vector2_cross_product_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2)
{ {
return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1; return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
} }
// ============== Complex Product =============== // // ============== Complex Product =============== //
inline void vector2_fp32_complex_product(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, vector2_fp32_t* result) inline void bgc_vector2_complex_product_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2, bgc_vector2_fp32_t* result)
{ {
const float x1 = vector1->x1 * vector2->x1 - vector1->x2 * vector2->x2; const float x1 = vector1->x1 * vector2->x1 - vector1->x2 * vector2->x2;
const float x2 = vector1->x1 * vector2->x2 + vector1->x2 * vector2->x1; const float x2 = vector1->x1 * vector2->x2 + vector1->x2 * vector2->x1;
@ -305,7 +305,7 @@ inline void vector2_fp32_complex_product(const vector2_fp32_t* vector1, const ve
result->x2 = x2; result->x2 = x2;
} }
inline void vector2_fp64_complex_product(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, vector2_fp64_t* result) inline void bgc_vector2_complex_product_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2, bgc_vector2_fp64_t* result)
{ {
const double x1 = vector1->x1 * vector2->x1 - vector1->x2 * vector2->x2; const double x1 = vector1->x1 * vector2->x1 - vector1->x2 * vector2->x2;
const double x2 = vector1->x1 * vector2->x2 + vector1->x2 * vector2->x1; const double x2 = vector1->x1 * vector2->x2 + vector1->x2 * vector2->x1;
@ -316,63 +316,63 @@ inline void vector2_fp64_complex_product(const vector2_fp64_t* vector1, const ve
// =============== Normalization ================ // // =============== Normalization ================ //
inline int vector2_normalize_fp32(vector2_fp32_t* vector) inline int bgc_vector2_normalize_fp32(bgc_vector2_fp32_t* vector)
{ {
const float square_modulus = vector2_get_square_modulus_fp32(vector); const float square_modulus = bgc_vector2_get_square_modulus_fp32(vector);
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { if (1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32) {
return 1; return 1;
} }
if (square_modulus <= FP32_SQUARE_EPSYLON) { if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) {
vector2_reset_fp32(vector); bgc_vector2_reset_fp32(vector);
return 0; return 0;
} }
vector2_multiply_fp32(vector, sqrtf(1.0f / square_modulus), vector); bgc_vector2_multiply_fp32(vector, sqrtf(1.0f / square_modulus), vector);
return 1; return 1;
} }
inline int vector2_normalize_fp64(vector2_fp64_t* vector) inline int bgc_vector2_normalize_fp64(bgc_vector2_fp64_t* vector)
{ {
const double square_modulus = vector2_get_square_modulus_fp64(vector); const double square_modulus = bgc_vector2_get_square_modulus_fp64(vector);
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { if (1.0 - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0 + BGC_TWO_EPSYLON_FP64) {
return 1; return 1;
} }
if (square_modulus <= FP64_SQUARE_EPSYLON) { if (square_modulus <= BGC_SQUARE_EPSYLON_FP64) {
vector2_reset_fp64(vector); bgc_vector2_reset_fp64(vector);
return 0; return 0;
} }
vector2_multiply_fp64(vector, sqrt(1.0 / square_modulus), vector); bgc_vector2_multiply_fp64(vector, sqrt(1.0 / square_modulus), vector);
return 1; return 1;
} }
// =============== Get Normalized =============== // // =============== Get Normalized =============== //
inline int vector2_fp32_set_normalized(const vector2_fp32_t* vector, vector2_fp32_t* result) inline int bgc_vector2_set_normalized_fp32(const bgc_vector2_fp32_t* vector, bgc_vector2_fp32_t* result)
{ {
vector2_copy_fp32(vector, result); bgc_vector2_copy_fp32(vector, result);
return vector2_normalize_fp32(result); return bgc_vector2_normalize_fp32(result);
} }
inline int vector2_fp64_set_normalized(const vector2_fp64_t* vector, vector2_fp64_t* result) inline int bgc_vector2_set_normalized_fp64(const bgc_vector2_fp64_t* vector, bgc_vector2_fp64_t* result)
{ {
vector2_copy_fp64(vector, result); bgc_vector2_copy_fp64(vector, result);
return vector2_normalize_fp64(result); return bgc_vector2_normalize_fp64(result);
} }
// =================== Angle ==================== // // =================== Angle ==================== //
float vector2_get_angle_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const angle_unit_t unit); float bgc_vector2_get_angle_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2, const bgc_angle_unit_t unit);
double vector2_get_angle_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, const angle_unit_t unit); double bgc_vector2_get_angle_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2, const bgc_angle_unit_t unit);
// =============== Square Distance ============== // // =============== Square Distance ============== //
inline float vector2_get_square_distance_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2) inline float bgc_vector2_get_square_distance_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2)
{ {
const float dx1 = (vector1->x1 - vector2->x1); const float dx1 = (vector1->x1 - vector2->x1);
const float dx2 = (vector1->x2 - vector2->x2); const float dx2 = (vector1->x2 - vector2->x2);
@ -380,7 +380,7 @@ inline float vector2_get_square_distance_fp32(const vector2_fp32_t* vector1, con
return dx1 * dx1 + dx2 * dx2; return dx1 * dx1 + dx2 * dx2;
} }
inline double vector2_get_square_distance_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2) inline double bgc_vector2_get_square_distance_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2)
{ {
const double dx1 = (vector1->x1 - vector2->x1); const double dx1 = (vector1->x1 - vector2->x1);
const double dx2 = (vector1->x2 - vector2->x2); const double dx2 = (vector1->x2 - vector2->x2);
@ -390,52 +390,52 @@ inline double vector2_get_square_distance_fp64(const vector2_fp64_t* vector1, co
// ================== Distance ================== // // ================== Distance ================== //
inline float vector2_get_distance_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2) inline float bgc_vector2_get_distance_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2)
{ {
return sqrtf(vector2_get_square_distance_fp32(vector1, vector2)); return sqrtf(bgc_vector2_get_square_distance_fp32(vector1, vector2));
} }
inline double vector2_get_distance_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2) inline double bgc_vector2_get_distance_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2)
{ {
return sqrt(vector2_get_square_distance_fp64(vector1, vector2)); return sqrt(bgc_vector2_get_square_distance_fp64(vector1, vector2));
} }
// ================== Are Equal ================= // // ================== Are Equal ================= //
inline int vector2_are_equal_fp32(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2) inline int bgc_vector2_are_equal_fp32(const bgc_vector2_fp32_t* vector1, const bgc_vector2_fp32_t* vector2)
{ {
const float square_modulus1 = vector2_get_square_modulus_fp32(vector1); const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1);
const float square_modulus2 = vector2_get_square_modulus_fp32(vector2); const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2);
const float square_modulus3 = vector2_get_square_distance_fp32(vector1, vector2); const float square_modulus3 = bgc_vector2_get_square_distance_fp32(vector1, vector2);
// 2.0f means dimension amount // 2.0f means dimension amount
if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) { if (square_modulus1 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_modulus2 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) {
return square_modulus3 < (2.0f * FP32_SQUARE_EPSYLON); return square_modulus3 < (2.0f * BGC_SQUARE_EPSYLON_FP32);
} }
if (square_modulus1 <= square_modulus2) { if (square_modulus1 <= square_modulus2) {
return square_modulus3 <= (2.0f * FP32_SQUARE_EPSYLON) * square_modulus2; return square_modulus3 <= (2.0f * BGC_SQUARE_EPSYLON_FP32) * square_modulus2;
} }
return square_modulus3 <= (2.0f * FP32_SQUARE_EPSYLON) * square_modulus1; return square_modulus3 <= (2.0f * BGC_SQUARE_EPSYLON_FP32) * square_modulus1;
} }
inline int vector2_are_equal_fp64(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2) inline int bgc_vector2_are_equal_fp64(const bgc_vector2_fp64_t* vector1, const bgc_vector2_fp64_t* vector2)
{ {
const double square_modulus1 = vector2_get_square_modulus_fp64(vector1); const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1);
const double square_modulus2 = vector2_get_square_modulus_fp64(vector2); const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2);
const double square_modulus3 = vector2_get_square_distance_fp64(vector1, vector2); const double square_modulus3 = bgc_vector2_get_square_distance_fp64(vector1, vector2);
// 2.0 means dimension amount // 2.0 means dimension amount
if (square_modulus1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) { if (square_modulus1 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) {
return square_modulus3 < (2.0 * FP64_SQUARE_EPSYLON); return square_modulus3 < (2.0 * BGC_SQUARE_EPSYLON_FP64);
} }
if (square_modulus1 <= square_modulus2) { if (square_modulus1 <= square_modulus2) {
return square_modulus3 <= (2.0 * FP64_SQUARE_EPSYLON) * square_modulus2; return square_modulus3 <= (2.0 * BGC_SQUARE_EPSYLON_FP64) * square_modulus2;
} }
return square_modulus3 <= (2.0 * FP64_SQUARE_EPSYLON) * square_modulus1; return square_modulus3 <= (2.0 * BGC_SQUARE_EPSYLON_FP64) * square_modulus1;
} }
#endif #endif

40
basic-geometry/vector3.c
View file

@ -2,64 +2,64 @@
// =================== Angle ==================== // // =================== Angle ==================== //
float vector3_get_angle_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit) float bgc_vector3_get_angle_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2, const bgc_angle_unit_t unit)
{ {
if (vector1 == 0 || vector2 == 0) { if (vector1 == 0 || vector2 == 0) {
return 0.0f; return 0.0f;
} }
const float square_modulus1 = vector3_get_square_modulus_fp32(vector1); const float square_modulus1 = bgc_vector3_get_square_modulus_fp32(vector1);
if (square_modulus1 <= FP32_SQUARE_EPSYLON) { if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32) {
return 0.0f; return 0.0f;
} }
const float square_modulus2 = vector3_get_square_modulus_fp32(vector2); const float square_modulus2 = bgc_vector3_get_square_modulus_fp32(vector2);
if (square_modulus2 <= FP32_SQUARE_EPSYLON) { if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) {
return 0.0f; return 0.0f;
} }
const float cosine = vector3_scalar_product_fp32(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2); const float cosine = bgc_vector3_scalar_product_fp32(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
if (cosine >= 1.0f - FP32_EPSYLON) { if (cosine >= 1.0f - BGC_EPSYLON_FP32) {
return 0.0f; return 0.0f;
} }
if (cosine <= -1.0f + FP32_EPSYLON) { if (cosine <= -1.0f + BGC_EPSYLON_FP32) {
return fp32_angle_get_half_circle(unit); return bgc_angle_get_half_circle_fp32(unit);
} }
return fp32_radians_to_units(acosf(cosine), unit); return bgc_radians_to_units_fp32(acosf(cosine), unit);
} }
double vector3_get_angle_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const angle_unit_t unit) double bgc_vector3_get_angle_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2, const bgc_angle_unit_t unit)
{ {
if (vector1 == 0 || vector2 == 0) { if (vector1 == 0 || vector2 == 0) {
return 0.0; return 0.0;
} }
const double square_modulus1 = vector3_get_square_modulus_fp64(vector1); const double square_modulus1 = bgc_vector3_get_square_modulus_fp64(vector1);
if (square_modulus1 <= FP64_SQUARE_EPSYLON) { if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64) {
return 0.0; return 0.0;
} }
const double square_modulus2 = vector3_get_square_modulus_fp64(vector2); const double square_modulus2 = bgc_vector3_get_square_modulus_fp64(vector2);
if (square_modulus2 <= FP64_SQUARE_EPSYLON) { if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) {
return 0.0; return 0.0;
} }
const double cosine = vector3_scalar_product_fp64(vector1, vector2) / sqrt(square_modulus1 * square_modulus2); const double cosine = bgc_vector3_scalar_product_fp64(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
if (cosine >= 1.0 - FP64_EPSYLON) { if (cosine >= 1.0 - BGC_EPSYLON_FP64) {
return 0.0; return 0.0;
} }
if (cosine <= -1.0 + FP64_EPSYLON) { if (cosine <= -1.0 + BGC_EPSYLON_FP64) {
return fp64_angle_get_half_circle(unit); return bgc_angle_get_half_circle_fp64(unit);
} }
return fp64_radians_to_units(acos(cosine), unit); return bgc_radians_to_units_fp64(acos(cosine), unit);
} }

286
basic-geometry/vector3.h
View file

@ -1,7 +1,7 @@
#ifndef _BASIC_GEOMETRY_VECTOR3_H_ #ifndef _BGC_VECTOR3_H_
#define _BASIC_GEOMETRY_VECTOR3_H_ #define _BGC_VECTOR3_H_
#include "basis.h" #include "utilities.h"
#include "angle.h" #include "angle.h"
#include <math.h> #include <math.h>
@ -11,23 +11,23 @@
typedef struct typedef struct
{ {
float x1, x2, x3; float x1, x2, x3;
} vector3_fp32_t; } bgc_vector3_fp32_t;
typedef struct typedef struct
{ {
double x1, x2, x3; double x1, x2, x3;
} vector3_fp64_t; } bgc_vector3_fp64_t;
// =================== Reset ==================== // // =================== Reset ==================== //
inline void vector3_reset_fp32(vector3_fp32_t* vector) inline void bgc_vector3_reset_fp32(bgc_vector3_fp32_t* vector)
{ {
vector->x1 = 0.0f; vector->x1 = 0.0f;
vector->x2 = 0.0f; vector->x2 = 0.0f;
vector->x3 = 0.0f; vector->x3 = 0.0f;
} }
inline void vector3_reset_fp64(vector3_fp64_t* vector) inline void bgc_vector3_reset_fp64(bgc_vector3_fp64_t* vector)
{ {
vector->x1 = 0.0; vector->x1 = 0.0;
vector->x2 = 0.0; vector->x2 = 0.0;
@ -36,14 +36,14 @@ inline void vector3_reset_fp64(vector3_fp64_t* vector)
// ==================== Set ===================== // // ==================== Set ===================== //
inline void vector3_set_values_fp32(const float x1, const float x2, const float x3, vector3_fp32_t* to) inline void bgc_vector3_set_values_fp32(const float x1, const float x2, const float x3, bgc_vector3_fp32_t* to)
{ {
to->x1 = x1; to->x1 = x1;
to->x2 = x2; to->x2 = x2;
to->x3 = x3; to->x3 = x3;
} }
inline void vector3_set_values_fp64(const double x1, const double x2, const double x3, vector3_fp64_t* to) inline void bgc_vector3_set_values_fp64(const double x1, const double x2, const double x3, bgc_vector3_fp64_t* to)
{ {
to->x1 = x1; to->x1 = x1;
to->x2 = x2; to->x2 = x2;
@ -52,14 +52,14 @@ inline void vector3_set_values_fp64(const double x1, const double x2, const doub
// ==================== Copy ==================== // // ==================== Copy ==================== //
inline void vector3_copy_fp32(const vector3_fp32_t* from, vector3_fp32_t* to) inline void bgc_vector3_copy_fp32(const bgc_vector3_fp32_t* from, bgc_vector3_fp32_t* to)
{ {
to->x1 = from->x1; to->x1 = from->x1;
to->x2 = from->x2; to->x2 = from->x2;
to->x3 = from->x3; to->x3 = from->x3;
} }
inline void vector3_copy_fp64(const vector3_fp64_t* from, vector3_fp64_t* to) inline void bgc_vector3_copy_fp64(const bgc_vector3_fp64_t* from, bgc_vector3_fp64_t* to)
{ {
to->x1 = from->x1; to->x1 = from->x1;
to->x2 = from->x2; to->x2 = from->x2;
@ -68,14 +68,14 @@ inline void vector3_copy_fp64(const vector3_fp64_t* from, vector3_fp64_t* to)
// ================== Convert =================== // // ================== Convert =================== //
inline void vector3_convert__fp64_to_fp32(const vector3_fp64_t* from, vector3_fp32_t* to) inline void bgc_vector3_convert_fp64_to_fp32(const bgc_vector3_fp64_t* from, bgc_vector3_fp32_t* to)
{ {
to->x1 = (float) from->x1; to->x1 = (float) from->x1;
to->x2 = (float) from->x2; to->x2 = (float) from->x2;
to->x3 = (float) from->x3; to->x3 = (float) from->x3;
} }
inline void vector3_convert__fp32_to_fp64(const vector3_fp32_t* from, vector3_fp64_t* to) inline void bgc_vector3_convert_fp32_to_fp64(const bgc_vector3_fp32_t* from, bgc_vector3_fp64_t* to)
{ {
to->x1 = from->x1; to->x1 = from->x1;
to->x2 = from->x2; to->x2 = from->x2;
@ -84,7 +84,7 @@ inline void vector3_convert__fp32_to_fp64(const vector3_fp32_t* from, vector3_fp
// ==================== Swap ==================== // // ==================== Swap ==================== //
inline void vector3_swap_fp32(vector3_fp32_t* vector1, vector3_fp32_t* vector2) inline void bgc_vector3_swap_fp32(bgc_vector3_fp32_t* vector1, bgc_vector3_fp32_t* vector2)
{ {
const float x1 = vector2->x1; const float x1 = vector2->x1;
const float x2 = vector2->x2; const float x2 = vector2->x2;
@ -99,7 +99,7 @@ inline void vector3_swap_fp32(vector3_fp32_t* vector1, vector3_fp32_t* vector2)
vector1->x3 = x3; vector1->x3 = x3;
} }
inline void vector3_swap_fp64(vector3_fp64_t* vector1, vector3_fp64_t* vector2) inline void bgc_vector3_swap_fp64(bgc_vector3_fp64_t* vector1, bgc_vector3_fp64_t* vector2)
{ {
const double x1 = vector2->x1; const double x1 = vector2->x1;
const double x2 = vector2->x2; const double x2 = vector2->x2;
@ -116,14 +116,14 @@ inline void vector3_swap_fp64(vector3_fp64_t* vector1, vector3_fp64_t* vector2)
// ==================== Invert ================== // // ==================== Invert ================== //
inline void vector3_invert_fp32(vector3_fp32_t* vector) inline void bgc_vector3_invert_fp32(bgc_vector3_fp32_t* vector)
{ {
vector->x1 = -vector->x1; vector->x1 = -vector->x1;
vector->x2 = -vector->x2; vector->x2 = -vector->x2;
vector->x3 = -vector->x3; vector->x3 = -vector->x3;
} }
inline void vector3_invert_fp64(vector3_fp64_t* vector) inline void bgc_vector3_invert_fp64(bgc_vector3_fp64_t* vector)
{ {
vector->x1 = -vector->x1; vector->x1 = -vector->x1;
vector->x2 = -vector->x2; vector->x2 = -vector->x2;
@ -132,14 +132,14 @@ inline void vector3_invert_fp64(vector3_fp64_t* vector)
// ================ Make Inverted =============== // // ================ Make Inverted =============== //
inline void vector3_set_inverted_fp32(const vector3_fp32_t* vector, vector3_fp32_t* result) inline void bgc_vector3_set_inverted_fp32(const bgc_vector3_fp32_t* vector, bgc_vector3_fp32_t* result)
{ {
result->x1 = -vector->x1; result->x1 = -vector->x1;
result->x2 = -vector->x2; result->x2 = -vector->x2;
result->x3 = -vector->x3; result->x3 = -vector->x3;
} }
inline void vector3_set_inverted_fp64(const vector3_fp64_t* vector, vector3_fp64_t* result) inline void bgc_vector3_set_inverted_fp64(const bgc_vector3_fp64_t* vector, bgc_vector3_fp64_t* result)
{ {
result->x1 = -vector->x1; result->x1 = -vector->x1;
result->x2 = -vector->x2; result->x2 = -vector->x2;
@ -148,14 +148,14 @@ inline void vector3_set_inverted_fp64(const vector3_fp64_t* vector, vector3_fp64
// ============== Make Inverted Twin ============ // // ============== Make Inverted Twin ============ //
inline void vector3_set_inverted_fp32_to_fp64(const vector3_fp32_t* vector, vector3_fp64_t* result) inline void bgc_vector3_set_inverted_fp32_to_fp64(const bgc_vector3_fp32_t* vector, bgc_vector3_fp64_t* result)
{ {
result->x1 = -vector->x1; result->x1 = -vector->x1;
result->x2 = -vector->x2; result->x2 = -vector->x2;
result->x3 = -vector->x3; result->x3 = -vector->x3;
} }
inline void vector3_set_inverted_fp64_to_fp32(const vector3_fp64_t* vector, vector3_fp32_t* result) inline void bgc_vector3_set_inverted_fp64_to_fp32(const bgc_vector3_fp64_t* vector, bgc_vector3_fp32_t* result)
{ {
result->x1 = (float) -vector->x1; result->x1 = (float) -vector->x1;
result->x2 = (float) -vector->x2; result->x2 = (float) -vector->x2;
@ -164,94 +164,78 @@ inline void vector3_set_inverted_fp64_to_fp32(const vector3_fp64_t* vector, vect
// =================== Module =================== // // =================== Module =================== //
inline float vector3_get_square_modulus_fp32(const vector3_fp32_t* vector) inline float bgc_vector3_get_square_modulus_fp32(const bgc_vector3_fp32_t* vector)
{ {
return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3; return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3;
} }
inline double vector3_get_square_modulus_fp64(const vector3_fp64_t* vector) inline double bgc_vector3_get_square_modulus_fp64(const bgc_vector3_fp64_t* vector)
{ {
return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3; return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3;
} }
inline float vector3_get_modulus_fp32(const vector3_fp32_t* vector) inline float bgc_vector3_get_modulus_fp32(const bgc_vector3_fp32_t* vector)
{ {
return sqrtf(vector3_get_square_modulus_fp32(vector)); return sqrtf(bgc_vector3_get_square_modulus_fp32(vector));
} }
inline double vector3_get_modulus_fp64(const vector3_fp64_t* vector) inline double bgc_vector3_get_modulus_fp64(const bgc_vector3_fp64_t* vector)
{ {
return sqrt(vector3_get_square_modulus_fp64(vector)); return sqrt(bgc_vector3_get_square_modulus_fp64(vector));
} }
// ================= Comparison ================= // // ================= Comparison ================= //
inline int vector3_fp32_is_zero(const vector3_fp32_t* vector) inline int bgc_vector3_is_zero_fp32(const bgc_vector3_fp32_t* vector)
{ {
return vector3_get_square_modulus_fp32(vector) <= FP32_SQUARE_EPSYLON; return bgc_vector3_get_square_modulus_fp32(vector) <= BGC_SQUARE_EPSYLON_FP32;
} }
inline int vector3_fp64_is_zero(const vector3_fp64_t* vector) inline int bgc_vector3_is_zero_fp64(const bgc_vector3_fp64_t* vector)
{ {
return vector3_get_square_modulus_fp64(vector) <= FP64_SQUARE_EPSYLON; return bgc_vector3_get_square_modulus_fp64(vector) <= BGC_SQUARE_EPSYLON_FP64;
} }
inline int vector3_fp32_is_unit(const vector3_fp32_t* vector) inline int bgc_vector3_is_unit_fp32(const bgc_vector3_fp32_t* vector)
{ {
const float square_modulus = vector3_get_square_modulus_fp32(vector); const float square_modulus = bgc_vector3_get_square_modulus_fp32(vector);
return 1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON; return 1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32;
} }
inline int vector3_fp64_is_unit(const vector3_fp64_t* vector) inline int bgc_vector3_is_unit_fp64(const bgc_vector3_fp64_t* vector)
{ {
const double square_modulus = vector3_get_square_modulus_fp64(vector); const double square_modulus = bgc_vector3_get_square_modulus_fp64(vector);
return 1.0f - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP64_TWO_EPSYLON; return 1.0f - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP64;
} }
// ==================== Add ===================== // // ==================== Add ===================== //
inline void vector3_add_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* sum) inline void bgc_vector3_add_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2, bgc_vector3_fp32_t* sum)
{ {
sum->x1 = vector1->x1 + vector2->x1; sum->x1 = vector1->x1 + vector2->x1;
sum->x2 = vector1->x2 + vector2->x2; sum->x2 = vector1->x2 + vector2->x2;
sum->x3 = vector1->x3 + vector2->x3; sum->x3 = vector1->x3 + vector2->x3;
} }
inline void vector3_add_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* sum) inline void bgc_vector3_add_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2, bgc_vector3_fp64_t* sum)
{ {
sum->x1 = vector1->x1 + vector2->x1; sum->x1 = vector1->x1 + vector2->x1;
sum->x2 = vector1->x2 + vector2->x2; sum->x2 = vector1->x2 + vector2->x2;
sum->x3 = vector1->x3 + vector2->x3; sum->x3 = vector1->x3 + vector2->x3;
} }
// ==================== Sum ===================== //
inline void vector3_set_sum_fp32_to_fp64(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp64_t* sum)
{
sum->x1 = vector1->x1 + vector2->x1;
sum->x2 = vector1->x2 + vector2->x2;
sum->x3 = vector1->x3 + vector2->x3;
}
inline void vector3_set_sum_fp64_to_fp32(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp32_t* sum)
{
sum->x1 = (float)(vector1->x1 + vector2->x1);
sum->x2 = (float)(vector1->x2 + vector2->x2);
sum->x3 = (float)(vector1->x3 + vector2->x3);
}
// ================= Add scaled ================= // // ================= Add scaled ================= //
inline void vector3_add_scaled_fp32(const vector3_fp32_t* basic_vector, const vector3_fp32_t* scalable_vector, const float scale, vector3_fp32_t* result) inline void bgc_vector3_add_scaled_fp32(const bgc_vector3_fp32_t* basic_vector, const bgc_vector3_fp32_t* scalable_vector, const float scale, bgc_vector3_fp32_t* result)
{ {
result->x1 = basic_vector->x1 + scalable_vector->x1 * scale; result->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
result->x2 = basic_vector->x2 + scalable_vector->x2 * scale; result->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
result->x3 = basic_vector->x3 + scalable_vector->x3 * scale; result->x3 = basic_vector->x3 + scalable_vector->x3 * scale;
} }
inline void vector3_add_scaled_fp64(const vector3_fp64_t* basic_vector, const vector3_fp64_t* scalable_vector, const double scale, vector3_fp64_t* result) inline void bgc_vector3_add_scaled_fp64(const bgc_vector3_fp64_t* basic_vector, const bgc_vector3_fp64_t* scalable_vector, const double scale, bgc_vector3_fp64_t* result)
{ {
result->x1 = basic_vector->x1 + scalable_vector->x1 * scale; result->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
result->x2 = basic_vector->x2 + scalable_vector->x2 * scale; result->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
@ -260,102 +244,58 @@ inline void vector3_add_scaled_fp64(const vector3_fp64_t* basic_vector, const ve
// ================ Subtraction ================= // // ================ Subtraction ================= //
inline void vector3_subtract_fp32(const vector3_fp32_t* minuend, const vector3_fp32_t* subtrahend, vector3_fp32_t* difference) inline void bgc_vector3_subtract_fp32(const bgc_vector3_fp32_t* minuend, const bgc_vector3_fp32_t* subtrahend, bgc_vector3_fp32_t* difference)
{ {
difference->x1 = minuend->x1 - subtrahend->x1; difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2; difference->x2 = minuend->x2 - subtrahend->x2;
difference->x3 = minuend->x3 - subtrahend->x3; difference->x3 = minuend->x3 - subtrahend->x3;
} }
inline void vector3_subtract_fp64(const vector3_fp64_t* minuend, const vector3_fp64_t* subtrahend, vector3_fp64_t* difference) inline void bgc_vector3_subtract_fp64(const bgc_vector3_fp64_t* minuend, const bgc_vector3_fp64_t* subtrahend, bgc_vector3_fp64_t* difference)
{ {
difference->x1 = minuend->x1 - subtrahend->x1; difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2; difference->x2 = minuend->x2 - subtrahend->x2;
difference->x3 = minuend->x3 - subtrahend->x3; difference->x3 = minuend->x3 - subtrahend->x3;
} }
// ================= Difference ================= //
inline void vector3_set_difference_fp32_to_fp64(const vector3_fp32_t* minuend, const vector3_fp32_t* subtrahend, vector3_fp64_t* difference)
{
difference->x1 = minuend->x1 - subtrahend->x1;
difference->x2 = minuend->x2 - subtrahend->x2;
difference->x3 = minuend->x3 - subtrahend->x3;
}
inline void vector3_set_difference_fp64_to_fp32(const vector3_fp64_t* minuend, const vector3_fp64_t* subtrahend, vector3_fp64_t* difference)
{
difference->x1 = (float)(minuend->x1 - subtrahend->x1);
difference->x2 = (float)(minuend->x2 - subtrahend->x2);
difference->x3 = (float)(minuend->x3 - subtrahend->x3);
}
// =============== Multiplication =============== // // =============== Multiplication =============== //
inline void vector3_multiply_fp32(const vector3_fp32_t* multiplicand, const float multiplier, vector3_fp32_t* product) inline void bgc_vector3_multiply_fp32(const bgc_vector3_fp32_t* multiplicand, const float multiplier, bgc_vector3_fp32_t* product)
{ {
product->x1 = multiplicand->x1 * multiplier; product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier; product->x2 = multiplicand->x2 * multiplier;
product->x3 = multiplicand->x3 * multiplier; product->x3 = multiplicand->x3 * multiplier;
} }
inline void vector3_multiply_fp64(const vector3_fp64_t* multiplicand, const double multiplier, vector3_fp64_t* product) inline void bgc_vector3_multiply_fp64(const bgc_vector3_fp64_t* multiplicand, const double multiplier, bgc_vector3_fp64_t* product)
{ {
product->x1 = multiplicand->x1 * multiplier; product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier; product->x2 = multiplicand->x2 * multiplier;
product->x3 = multiplicand->x3 * multiplier; product->x3 = multiplicand->x3 * multiplier;
} }
// =============== Multiplication =============== //
inline void vector3_set_product_fp32_to_fp64(const vector3_fp32_t* multiplicand, const double multiplier, vector3_fp64_t* product)
{
product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier;
product->x3 = multiplicand->x3 * multiplier;
}
inline void vector3_set_product_fp64_to_fp32(const vector3_fp64_t* multiplicand, const double multiplier, vector3_fp32_t* product)
{
product->x1 = (float)(multiplicand->x1 * multiplier);
product->x2 = (float)(multiplicand->x2 * multiplier);
product->x3 = (float)(multiplicand->x3 * multiplier);
}
// ================== Division ================== // // ================== Division ================== //
inline void vector3_divide_fp32(const vector3_fp32_t* dividend, const float divisor, vector3_fp32_t* quotient) inline void bgc_vector3_divide_fp32(const bgc_vector3_fp32_t* dividend, const float divisor, bgc_vector3_fp32_t* quotient)
{ {
vector3_multiply_fp32(dividend, 1.0f / divisor, quotient); bgc_vector3_multiply_fp32(dividend, 1.0f / divisor, quotient);
} }
inline void vector3_divide_fp64(const vector3_fp64_t* dividend, const double divisor, vector3_fp64_t* quotient) inline void bgc_vector3_divide_fp64(const bgc_vector3_fp64_t* dividend, const double divisor, bgc_vector3_fp64_t* quotient)
{ {
vector3_multiply_fp64(dividend, 1.0 / divisor, quotient); bgc_vector3_multiply_fp64(dividend, 1.0 / divisor, quotient);
}
// ================== Quotient ================== //
inline void vector3_set_quotient_fp32_to_fp64(const vector3_fp32_t* dividend, const double divisor, vector3_fp64_t* quotient)
{
vector3_set_product_fp32_to_fp64(dividend, 1.0 / divisor, quotient);
}
inline void vector3_set_quotient_fp64_to_fp32(const vector3_fp64_t* dividend, const double divisor, vector3_fp32_t* quotient)
{
vector3_set_product_fp64_to_fp32(dividend, 1.0f / divisor, quotient);
} }
// ================== Average2 ================== // // ================== Average2 ================== //
inline void vector3_mean_of_two_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* result) inline void bgc_vector3_mean_of_two_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2, bgc_vector3_fp32_t* result)
{ {
result->x1 = (vector1->x1 + vector2->x1) * 0.5f; result->x1 = (vector1->x1 + vector2->x1) * 0.5f;
result->x2 = (vector1->x2 + vector2->x2) * 0.5f; result->x2 = (vector1->x2 + vector2->x2) * 0.5f;
result->x3 = (vector1->x3 + vector2->x3) * 0.5f; result->x3 = (vector1->x3 + vector2->x3) * 0.5f;
} }
inline void vector3_mean_of_two_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* result) inline void bgc_vector3_mean_of_two_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2, bgc_vector3_fp64_t* result)
{ {
result->x1 = (vector1->x1 + vector2->x1) * 0.5; result->x1 = (vector1->x1 + vector2->x1) * 0.5;
result->x2 = (vector1->x2 + vector2->x2) * 0.5; result->x2 = (vector1->x2 + vector2->x2) * 0.5;
@ -364,42 +304,42 @@ inline void vector3_mean_of_two_fp64(const vector3_fp64_t* vector1, const vector
// ================== Average3 ================== // // ================== Average3 ================== //
inline void vector3_mean_of_three_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3, vector3_fp32_t* result) inline void bgc_vector3_mean_of_three_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2, const bgc_vector3_fp32_t* vector3, bgc_vector3_fp32_t* result)
{ {
result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP32_ONE_THIRD; result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP32;
result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP32_ONE_THIRD; result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP32;
result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * FP32_ONE_THIRD; result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP32;
} }
inline void vector3_mean_of_three_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3, vector3_fp64_t* result) inline void bgc_vector3_mean_of_three_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2, const bgc_vector3_fp64_t* vector3, bgc_vector3_fp64_t* result)
{ {
result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP64_ONE_THIRD; result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP64;
result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP64_ONE_THIRD; result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP64;
result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * FP64_ONE_THIRD; result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP64;
} }
// =============== Scalar Product =============== // // =============== Scalar Product =============== //
inline float vector3_scalar_product_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2) inline float bgc_vector3_scalar_product_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2)
{ {
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3; return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
} }
inline double vector3_scalar_product_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2) inline double bgc_vector3_scalar_product_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2)
{ {
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3; return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
} }
// =============== Triple Product =============== // // =============== Triple Product =============== //
inline float vector3_triple_product_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3) inline float bgc_vector3_triple_product_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2, const bgc_vector3_fp32_t* vector3)
{ {
return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2) return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2)
+ vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3) + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3)
+ vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1); + vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1);
} }
inline double vector3_triple_product_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3) inline double bgc_vector3_triple_product_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2, const bgc_vector3_fp64_t* vector3)
{ {
return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2) return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2)
+ vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3) + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3)
@ -408,7 +348,7 @@ inline double vector3_triple_product_fp64(const vector3_fp64_t* vector1, const v
// =============== Cross Product ================ // // =============== Cross Product ================ //
inline void vector3_cross_product_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* result) inline void bgc_vector3_cross_product_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2, bgc_vector3_fp32_t* result)
{ {
const float x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2; const float x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
const float x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3; const float x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
@ -419,7 +359,7 @@ inline void vector3_cross_product_fp32(const vector3_fp32_t* vector1, const vect
result->x3 = x3; result->x3 = x3;
} }
inline void vector3_cross_product_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* result) inline void bgc_vector3_cross_product_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2, bgc_vector3_fp64_t* result)
{ {
const double x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2; const double x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
const double x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3; const double x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
@ -432,20 +372,20 @@ inline void vector3_cross_product_fp64(const vector3_fp64_t* vector1, const vect
// ============ Double Cross Product ============ // // ============ Double Cross Product ============ //
inline void vector3_double_cross_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3, vector3_fp32_t* result) inline void bgc_vector3_double_cross_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2, const bgc_vector3_fp32_t* vector3, bgc_vector3_fp32_t* result)
{ {
const float ac = vector3_scalar_product_fp32(vector1, vector3); const float ac = bgc_vector3_scalar_product_fp32(vector1, vector3);
const float ab = vector3_scalar_product_fp32(vector1, vector2); const float ab = bgc_vector3_scalar_product_fp32(vector1, vector2);
result->x1 = vector2->x1 * ac - vector3->x1 * ab; result->x1 = vector2->x1 * ac - vector3->x1 * ab;
result->x2 = vector2->x2 * ac - vector3->x2 * ab; result->x2 = vector2->x2 * ac - vector3->x2 * ab;
result->x3 = vector2->x3 * ac - vector3->x3 * ab; result->x3 = vector2->x3 * ac - vector3->x3 * ab;
} }
inline void vector3_double_cross_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3, vector3_fp64_t* result) inline void bgc_vector3_double_cross_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2, const bgc_vector3_fp64_t* vector3, bgc_vector3_fp64_t* result)
{ {
const double ac = vector3_scalar_product_fp64(vector1, vector3); const double ac = bgc_vector3_scalar_product_fp64(vector1, vector3);
const double ab = vector3_scalar_product_fp64(vector1, vector2); const double ab = bgc_vector3_scalar_product_fp64(vector1, vector2);
result->x1 = vector2->x1 * ac - vector3->x1 * ab; result->x1 = vector2->x1 * ac - vector3->x1 * ab;
result->x2 = vector2->x2 * ac - vector3->x2 * ab; result->x2 = vector2->x2 * ac - vector3->x2 * ab;
@ -454,63 +394,63 @@ inline void vector3_double_cross_fp64(const vector3_fp64_t* vector1, const vecto
// =============== Normalization ================ // // =============== Normalization ================ //
inline int vector3_normalize_fp32(vector3_fp32_t* vector) inline int bgc_vector3_normalize_fp32(bgc_vector3_fp32_t* vector)
{ {
const float square_modulus = vector3_get_square_modulus_fp32(vector); const float square_modulus = bgc_vector3_get_square_modulus_fp32(vector);
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { if (1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32) {
return 1; return 1;
} }
if (square_modulus <= FP32_SQUARE_EPSYLON) { if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) {
vector3_reset_fp32(vector); bgc_vector3_reset_fp32(vector);
return 0; return 0;
} }
vector3_multiply_fp32(vector, sqrtf(1.0f / square_modulus), vector); bgc_vector3_multiply_fp32(vector, sqrtf(1.0f / square_modulus), vector);
return 1; return 1;
} }
inline int vector3_normalize_fp64(vector3_fp64_t* vector) inline int bgc_vector3_normalize_fp64(bgc_vector3_fp64_t* vector)
{ {
const double square_modulus = vector3_get_square_modulus_fp64(vector); const double square_modulus = bgc_vector3_get_square_modulus_fp64(vector);
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { if (1.0 - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0 + BGC_TWO_EPSYLON_FP64) {
return 1; return 1;
} }
if (square_modulus <= FP64_SQUARE_EPSYLON) { if (square_modulus <= BGC_SQUARE_EPSYLON_FP64) {
vector3_reset_fp64(vector); bgc_vector3_reset_fp64(vector);
return 0; return 0;
} }
vector3_multiply_fp64(vector, sqrt(1.0 / square_modulus), vector); bgc_vector3_multiply_fp64(vector, sqrt(1.0 / square_modulus), vector);
return 1; return 1;
} }
// =============== Set Normalized =============== // // =============== Set Normalized =============== //
inline int vector3_set_normalized_fp32(const vector3_fp32_t* vector, vector3_fp32_t* result) inline int bgc_vector3_set_normalized_fp32(const bgc_vector3_fp32_t* vector, bgc_vector3_fp32_t* result)
{ {
vector3_copy_fp32(vector, result); bgc_vector3_copy_fp32(vector, result);
return vector3_normalize_fp32(result); return bgc_vector3_normalize_fp32(result);
} }
inline int vector3_set_normalized_fp64(const vector3_fp64_t* vector, vector3_fp64_t* result) inline int bgc_vector3_set_normalized_fp64(const bgc_vector3_fp64_t* vector, bgc_vector3_fp64_t* result)
{ {
vector3_copy_fp64(vector, result); bgc_vector3_copy_fp64(vector, result);
return vector3_normalize_fp64(result); return bgc_vector3_normalize_fp64(result);
} }
// =================== Angle ==================== // // =================== Angle ==================== //
float vector3_get_angle_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit); float bgc_vector3_get_angle_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2, const bgc_angle_unit_t unit);
double vector3_get_angle_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const angle_unit_t unit); double bgc_vector3_get_angle_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2, const bgc_angle_unit_t unit);
// =============== Square Distance ============== // // =============== Square Distance ============== //
inline float vector3_get_square_distance_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2) inline float bgc_vector3_get_square_distance_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2)
{ {
const float dx1 = (vector1->x1 - vector2->x1); const float dx1 = (vector1->x1 - vector2->x1);
const float dx2 = (vector1->x2 - vector2->x2); const float dx2 = (vector1->x2 - vector2->x2);
@ -519,7 +459,7 @@ inline float vector3_get_square_distance_fp32(const vector3_fp32_t* vector1, con
return dx1 * dx1 + dx2 * dx2 + dx3 * dx3; return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
} }
inline double vector3_get_square_distance_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2) inline double bgc_vector3_get_square_distance_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2)
{ {
const double dx1 = (vector1->x1 - vector2->x1); const double dx1 = (vector1->x1 - vector2->x1);
const double dx2 = (vector1->x2 - vector2->x2); const double dx2 = (vector1->x2 - vector2->x2);
@ -530,52 +470,52 @@ inline double vector3_get_square_distance_fp64(const vector3_fp64_t* vector1, co
// ================== Distance ================== // // ================== Distance ================== //
inline float vector3_get_distance_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2) inline float bgc_vector3_get_distance_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2)
{ {
return sqrtf(vector3_get_square_distance_fp32(vector1, vector2)); return sqrtf(bgc_vector3_get_square_distance_fp32(vector1, vector2));
} }
inline double vector3_get_distance_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2) inline double bgc_vector3_get_distance_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2)
{ {
return sqrt(vector3_get_square_distance_fp64(vector1, vector2)); return sqrt(bgc_vector3_get_square_distance_fp64(vector1, vector2));
} }
// ================== Are Equal ================= // // ================== Are Equal ================= //
inline int vector3_are_equal_fp32(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2) inline int bgc_vector3_are_equal_fp32(const bgc_vector3_fp32_t* vector1, const bgc_vector3_fp32_t* vector2)
{ {
const float square_modulus1 = vector3_get_square_modulus_fp32(vector1); const float square_modulus1 = bgc_vector3_get_square_modulus_fp32(vector1);
const float square_modulus2 = vector3_get_square_modulus_fp32(vector2); const float square_modulus2 = bgc_vector3_get_square_modulus_fp32(vector2);
const float square_modulus3 = vector3_get_square_distance_fp32(vector1, vector2); const float square_modulus3 = bgc_vector3_get_square_distance_fp32(vector1, vector2);
// 3.0f means dimension amount // 3.0f means dimension amount
if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) { if (square_modulus1 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_modulus2 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) {
return square_modulus3 < (3.0f * FP32_SQUARE_EPSYLON); return square_modulus3 < (3.0f * BGC_SQUARE_EPSYLON_FP32);
} }
if (square_modulus1 <= square_modulus2) { if (square_modulus1 <= square_modulus2) {
return square_modulus3 <= (3.0f * FP32_SQUARE_EPSYLON) * square_modulus2; return square_modulus3 <= (3.0f * BGC_SQUARE_EPSYLON_FP32) * square_modulus2;
} }
return square_modulus3 <= (3.0f * FP32_SQUARE_EPSYLON) * square_modulus1; return square_modulus3 <= (3.0f * BGC_SQUARE_EPSYLON_FP32) * square_modulus1;
} }
inline int vector3_are_equal_fp64(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2) inline int bgc_vector3_are_equal_fp64(const bgc_vector3_fp64_t* vector1, const bgc_vector3_fp64_t* vector2)
{ {
const double square_modulus1 = vector3_get_square_modulus_fp64(vector1); const double square_modulus1 = bgc_vector3_get_square_modulus_fp64(vector1);
const double square_modulus2 = vector3_get_square_modulus_fp64(vector2); const double square_modulus2 = bgc_vector3_get_square_modulus_fp64(vector2);
const double square_modulus3 = vector3_get_square_distance_fp64(vector1, vector2); const double square_modulus3 = bgc_vector3_get_square_distance_fp64(vector1, vector2);
// 3.0 means dimension amount // 3.0 means dimension amount
if (square_modulus1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) { if (square_modulus1 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) {
return square_modulus3 < (3.0 * FP64_SQUARE_EPSYLON); return square_modulus3 < (3.0 * BGC_SQUARE_EPSYLON_FP64);
} }
if (square_modulus1 <= square_modulus2) { if (square_modulus1 <= square_modulus2) {
return square_modulus3 <= (3.0 * FP64_SQUARE_EPSYLON) * square_modulus2; return square_modulus3 <= (3.0 * BGC_SQUARE_EPSYLON_FP64) * square_modulus2;
} }
return square_modulus3 <= (3.0 * FP64_SQUARE_EPSYLON) * square_modulus1; return square_modulus3 <= (3.0 * BGC_SQUARE_EPSYLON_FP64) * square_modulus1;
} }
#endif #endif

44
basic-geometry/versor.c
View file

@ -3,68 +3,68 @@
#include "angle.h" #include "angle.h"
#include "versor.h" #include "versor.h"
const versor_fp32_t FP32_IDLE_VERSOR = { 1.0f, 0.0f, 0.0f, 0.0f }; const bgc_versor_fp32_t BGC_IDLE_VERSOR_FP32 = { 1.0f, 0.0f, 0.0f, 0.0f };
const versor_fp64_t FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 }; const bgc_versor_fp64_t BGC_IDLE_VERSOR_FP64 = { 1.0, 0.0, 0.0, 0.0 };
// =============== Set Crude Turn =============== // // =============== Set Crude Turn =============== //
void versor_set_crude_turn_fp32(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, versor_fp32_t* result) void bgc_versor_set_crude_turn_fp32(const float x1, const float x2, const float x3, const float angle, const bgc_angle_unit_t unit, bgc_versor_fp32_t* result)
{ {
const float square_vector = x1 * x1 + x2 * x2 + x3 * x3; const float square_vector = x1 * x1 + x2 * x2 + x3 * x3;
if (square_vector <= FP32_SQUARE_EPSYLON) { if (square_vector <= BGC_SQUARE_EPSYLON_FP32) {
versor_reset_fp32(result); bgc_versor_reset_fp32(result);
return; return;
} }
const float half_angle = fp32_angle_to_radians(0.5f * angle, unit); const float half_angle = bgc_angle_to_radians_fp32(0.5f * angle, unit);
const float sine = sinf(half_angle); const float sine = sinf(half_angle);
if (-FP32_EPSYLON <= sine && sine <= FP32_EPSYLON) { if (-BGC_EPSYLON_FP32 <= sine && sine <= BGC_EPSYLON_FP32) {
versor_reset_fp32(result); bgc_versor_reset_fp32(result);
return; return;
} }
const float multiplier = sine / sqrtf(square_vector); const float multiplier = sine / sqrtf(square_vector);
versor_set_values_fp32(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result); bgc_versor_set_values_fp32(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
} }
void versor_set_crude_turn_fp64(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, versor_fp64_t* result) void bgc_versor_set_crude_turn_fp64(const double x1, const double x2, const double x3, const double angle, const bgc_angle_unit_t unit, bgc_versor_fp64_t* result)
{ {
const double square_vector = x1 * x1 + x2 * x2 + x3 * x3; const double square_vector = x1 * x1 + x2 * x2 + x3 * x3;
if (square_vector <= FP64_SQUARE_EPSYLON) { if (square_vector <= BGC_SQUARE_EPSYLON_FP64) {
versor_reset_fp64(result); bgc_versor_reset_fp64(result);
return; return;
} }
const double half_angle = fp64_angle_to_radians(0.5 * angle, unit); const double half_angle = bgc_angle_to_radians_fp64(0.5 * angle, unit);
const double sine = sin(half_angle); const double sine = sin(half_angle);
if (-FP64_EPSYLON <= sine && sine <= FP64_EPSYLON) { if (-BGC_EPSYLON_FP64 <= sine && sine <= BGC_EPSYLON_FP64) {
versor_reset_fp64(result); bgc_versor_reset_fp64(result);
return; return;
} }
const double multiplier = sine / sqrt(square_vector); const double multiplier = sine / sqrt(square_vector);
versor_set_values_fp64(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result); bgc_versor_set_values_fp64(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
} }
// ================= Rotation3 ================== // // ================= Rotation3 ================== //
void versor_get_rotation_fp32(const versor_fp32_t* versor, rotation3_fp32_t* result) void bgc_versor_get_rotation_fp32(const bgc_versor_fp32_t* versor, bgc_rotation3_fp32_t* result)
{ {
if (versor == 0 || result == 0) { if (versor == 0 || result == 0) {
return; return;
} }
if (versor->s0 <= -(1.0f - FP32_EPSYLON) || 1.0f - FP32_EPSYLON <= versor->s0) { if (versor->s0 <= -(1.0f - BGC_EPSYLON_FP32) || 1.0f - BGC_EPSYLON_FP32 <= versor->s0) {
fp32_rotation_reset(result); bgc_rotation3_reset_fp32(result);
return; return;
} }
@ -79,14 +79,14 @@ void versor_get_rotation_fp32(const versor_fp32_t* versor, rotation3_fp32_t* res
result->axis.x3 = versor->x3 * multiplier; result->axis.x3 = versor->x3 * multiplier;
} }
void versor_get_rotation_fp64(const versor_fp64_t* versor, rotation3_fp64_t* result) void bgc_versor_get_rotation_fp64(const bgc_versor_fp64_t* versor, bgc_rotation3_fp64_t* result)
{ {
if (versor == 0 || result == 0) { if (versor == 0 || result == 0) {
return; return;
} }
if (versor->s0 <= -(1.0 - FP64_EPSYLON) || 1.0 - FP64_EPSYLON <= versor->s0) { if (versor->s0 <= -(1.0 - BGC_EPSYLON_FP64) || 1.0 - BGC_EPSYLON_FP64 <= versor->s0) {
fp64_rotation_reset(result); bgc_rotation3_reset_fp64(result);
return; return;
} }

194
basic-geometry/versor.h
View file

@ -1,9 +1,9 @@
#ifndef _BASIC_GEOMETRY_VERSOR_H_ #ifndef _BGC_VERSOR_H_
#define _BASIC_GEOMETRY_VERSOR_H_ #define _BGC_VERSOR_H_
#include <stdint.h> #include <stdint.h>
#include "basis.h" #include "utilities.h"
#include "angle.h" #include "angle.h"
#include "vector3.h" #include "vector3.h"
#include "rotation3.h" #include "rotation3.h"
@ -13,32 +13,32 @@
typedef struct { typedef struct {
const float s0, x1, x2, x3; const float s0, x1, x2, x3;
} versor_fp32_t; } bgc_versor_fp32_t;
typedef struct { typedef struct {
const double s0, x1, x2, x3; const double s0, x1, x2, x3;
} versor_fp64_t; } bgc_versor_fp64_t;
// ================= Dark Twins ================= // // ================= Dark Twins ================= //
typedef struct { typedef struct {
float s0, x1, x2, x3; float s0, x1, x2, x3;
} __BgFP32DarkTwinVersor; } _bgc_dark_twin_versor_fp32_t;
typedef struct { typedef struct {
double s0, x1, x2, x3; double s0, x1, x2, x3;
} __BgFP64DarkTwinVersor; } _bgc_dark_twin_versor_fp64_t;
// ================= Constants ================== // // ================= Constants ================== //
extern const versor_fp32_t FP32_IDLE_VERSOR; extern const bgc_versor_fp32_t BGC_IDLE_VERSOR_FP32;
extern const versor_fp64_t FP64_IDLE_VERSOR; extern const bgc_versor_fp64_t BGC_IDLE_VERSOR_FP64;
// =================== Reset ==================== // // =================== Reset ==================== //
inline void versor_reset_fp32(versor_fp32_t* versor) inline void bgc_versor_reset_fp32(bgc_versor_fp32_t* versor)
{ {
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor; _bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)versor;
twin->s0 = 1.0f; twin->s0 = 1.0f;
twin->x1 = 0.0f; twin->x1 = 0.0f;
@ -46,9 +46,9 @@ inline void versor_reset_fp32(versor_fp32_t* versor)
twin->x3 = 0.0f; twin->x3 = 0.0f;
} }
inline void versor_reset_fp64(versor_fp64_t* versor) inline void bgc_versor_reset_fp64(bgc_versor_fp64_t* versor)
{ {
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor; _bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)versor;
twin->s0 = 1.0; twin->s0 = 1.0;
twin->x1 = 0.0; twin->x1 = 0.0;
@ -58,9 +58,9 @@ inline void versor_reset_fp64(versor_fp64_t* versor)
// ==================== Set ===================== // // ==================== Set ===================== //
inline void versor_set_values_fp32(const float s0, const float x1, const float x2, const float x3, versor_fp32_t* versor) inline void bgc_versor_set_values_fp32(const float s0, const float x1, const float x2, const float x3, bgc_versor_fp32_t* versor)
{ {
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor; _bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)versor;
twin->s0 = s0; twin->s0 = s0;
twin->x1 = x1; twin->x1 = x1;
@ -69,11 +69,11 @@ inline void versor_set_values_fp32(const float s0, const float x1, const float x
const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { if (1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32) {
return; return;
} }
if (square_modulus <= FP32_SQUARE_EPSYLON) { if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) {
twin->s0 = 1.0f; twin->s0 = 1.0f;
twin->x1 = 0.0f; twin->x1 = 0.0f;
twin->x2 = 0.0f; twin->x2 = 0.0f;
@ -89,9 +89,9 @@ inline void versor_set_values_fp32(const float s0, const float x1, const float x
twin->x3 *= multiplier; twin->x3 *= multiplier;
} }
inline void versor_set_values_fp64(const double s0, const double x1, const double x2, const double x3, versor_fp64_t* versor) inline void bgc_versor_set_values_fp64(const double s0, const double x1, const double x2, const double x3, bgc_versor_fp64_t* versor)
{ {
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor; _bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)versor;
twin->s0 = s0; twin->s0 = s0;
twin->x1 = x1; twin->x1 = x1;
@ -100,11 +100,11 @@ inline void versor_set_values_fp64(const double s0, const double x1, const doubl
const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { if (1.0 - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0 + BGC_TWO_EPSYLON_FP64) {
return; return;
} }
if (square_modulus <= FP64_SQUARE_EPSYLON) { if (square_modulus <= BGC_SQUARE_EPSYLON_FP64) {
twin->s0 = 1.0; twin->s0 = 1.0;
twin->x1 = 0.0; twin->x1 = 0.0;
twin->x2 = 0.0; twin->x2 = 0.0;
@ -122,9 +122,9 @@ inline void versor_set_values_fp64(const double s0, const double x1, const doubl
// ==================== Copy ==================== // // ==================== Copy ==================== //
inline void versor_copy_fp32(const versor_fp32_t* from, versor_fp32_t* to) inline void bgc_versor_copy_fp32(const bgc_versor_fp32_t* from, bgc_versor_fp32_t* to)
{ {
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to; _bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)to;
twin->s0 = from->s0; twin->s0 = from->s0;
twin->x1 = from->x1; twin->x1 = from->x1;
@ -132,9 +132,9 @@ inline void versor_copy_fp32(const versor_fp32_t* from, versor_fp32_t* to)
twin->x3 = from->x3; twin->x3 = from->x3;
} }
inline void versor_copy_fp64(const versor_fp64_t* from, versor_fp64_t* to) inline void bgc_versor_copy_fp64(const bgc_versor_fp64_t* from, bgc_versor_fp64_t* to)
{ {
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to; _bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)to;
twin->s0 = from->s0; twin->s0 = from->s0;
twin->x1 = from->x1; twin->x1 = from->x1;
@ -144,21 +144,21 @@ inline void versor_copy_fp64(const versor_fp64_t* from, versor_fp64_t* to)
// ==================== Swap ==================== // // ==================== Swap ==================== //
inline void versor_swap_fp32(versor_fp32_t* versor1, versor_fp32_t* versor2) inline void bgc_versor_swap_fp32(bgc_versor_fp32_t* versor1, bgc_versor_fp32_t* versor2)
{ {
const float s0 = versor1->s0; const float s0 = versor1->s0;
const float x1 = versor1->x1; const float x1 = versor1->x1;
const float x2 = versor1->x2; const float x2 = versor1->x2;
const float x3 = versor1->x3; const float x3 = versor1->x3;
__BgFP32DarkTwinVersor* twin1 = (__BgFP32DarkTwinVersor*)versor1; _bgc_dark_twin_versor_fp32_t* twin1 = (_bgc_dark_twin_versor_fp32_t*)versor1;
twin1->s0 = versor2->s0; twin1->s0 = versor2->s0;
twin1->x1 = versor2->x1; twin1->x1 = versor2->x1;
twin1->x2 = versor2->x2; twin1->x2 = versor2->x2;
twin1->x3 = versor2->x3; twin1->x3 = versor2->x3;
__BgFP32DarkTwinVersor* twin2 = (__BgFP32DarkTwinVersor*)versor2; _bgc_dark_twin_versor_fp32_t* twin2 = (_bgc_dark_twin_versor_fp32_t*)versor2;
twin2->s0 = s0; twin2->s0 = s0;
twin2->x1 = x1; twin2->x1 = x1;
@ -166,21 +166,21 @@ inline void versor_swap_fp32(versor_fp32_t* versor1, versor_fp32_t* versor2)
twin2->x3 = x3; twin2->x3 = x3;
} }
inline void versor_swap_fp64(versor_fp64_t* versor1, versor_fp64_t* versor2) inline void bgc_versor_swap_fp64(bgc_versor_fp64_t* versor1, bgc_versor_fp64_t* versor2)
{ {
const double s0 = versor1->s0; const double s0 = versor1->s0;
const double x1 = versor1->x1; const double x1 = versor1->x1;
const double x2 = versor1->x2; const double x2 = versor1->x2;
const double x3 = versor1->x3; const double x3 = versor1->x3;
__BgFP64DarkTwinVersor* twin1 = (__BgFP64DarkTwinVersor*)versor1; _bgc_dark_twin_versor_fp64_t* twin1 = (_bgc_dark_twin_versor_fp64_t*)versor1;
twin1->s0 = versor2->s0; twin1->s0 = versor2->s0;
twin1->x1 = versor2->x1; twin1->x1 = versor2->x1;
twin1->x2 = versor2->x2; twin1->x2 = versor2->x2;
twin1->x3 = versor2->x3; twin1->x3 = versor2->x3;
__BgFP64DarkTwinVersor* twin2 = (__BgFP64DarkTwinVersor*)versor2; _bgc_dark_twin_versor_fp64_t* twin2 = (_bgc_dark_twin_versor_fp64_t*)versor2;
twin2->s0 = s0; twin2->s0 = s0;
twin2->x1 = x1; twin2->x1 = x1;
@ -190,51 +190,51 @@ inline void versor_swap_fp64(versor_fp64_t* versor1, versor_fp64_t* versor2)
// =============== Set Crude Turn =============== // // =============== Set Crude Turn =============== //
void versor_set_crude_turn_fp32(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, versor_fp32_t* result); void bgc_versor_set_crude_turn_fp32(const float x1, const float x2, const float x3, const float angle, const bgc_angle_unit_t unit, bgc_versor_fp32_t* result);
void versor_set_crude_turn_fp64(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, versor_fp64_t* result); void bgc_versor_set_crude_turn_fp64(const double x1, const double x2, const double x3, const double angle, const bgc_angle_unit_t unit, bgc_versor_fp64_t* result);
// ================== Set Turn ================== // // ================== Set Turn ================== //
inline void versor_set_turn_fp32(const vector3_fp32_t* axis, const float angle, const angle_unit_t unit, versor_fp32_t* result) inline void bgc_versor_set_turn_fp32(const bgc_vector3_fp32_t* axis, const float angle, const bgc_angle_unit_t unit, bgc_versor_fp32_t* result)
{ {
versor_set_crude_turn_fp32(axis->x1, axis->x2, axis->x3, angle, unit, result); bgc_versor_set_crude_turn_fp32(axis->x1, axis->x2, axis->x3, angle, unit, result);
} }
inline void versor_set_turn_fp64(const vector3_fp32_t* axis, const double angle, const angle_unit_t unit, versor_fp64_t* result) inline void bgc_versor_set_turn_fp64(const bgc_vector3_fp32_t* axis, const double angle, const bgc_angle_unit_t unit, bgc_versor_fp64_t* result)
{ {
versor_set_crude_turn_fp64(axis->x1, axis->x2, axis->x3, angle, unit, result); bgc_versor_set_crude_turn_fp64(axis->x1, axis->x2, axis->x3, angle, unit, result);
} }
// ================ Set Rotation ================ // // ================ Set Rotation ================ //
inline void versor_set_rotation_fp32(const rotation3_fp32_t* rotation, versor_fp32_t* result) inline void bgc_versor_set_rotation_fp32(const bgc_rotation3_fp32_t* rotation, bgc_versor_fp32_t* result)
{ {
versor_set_crude_turn_fp32(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result); bgc_versor_set_crude_turn_fp32(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BGC_ANGLE_UNIT_RADIANS, result);
} }
inline void versor_set_rotation_fp64(const rotation3_fp64_t* rotation, versor_fp64_t* result) inline void bgc_versor_set_rotation_fp64(const bgc_rotation3_fp64_t* rotation, bgc_versor_fp64_t* result)
{ {
versor_set_crude_turn_fp64(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result); bgc_versor_set_crude_turn_fp64(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BGC_ANGLE_UNIT_RADIANS, result);
} }
// ================= Comparison ================= // // ================= Comparison ================= //
inline int versor_is_idle_fp32(const versor_fp32_t* versor) inline int bgc_versor_is_idle_fp32(const bgc_versor_fp32_t* versor)
{ {
return 1.0f - FP32_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - FP32_EPSYLON); return 1.0f - BGC_EPSYLON_FP32 <= versor->s0 || versor->s0 <= -(1.0 - BGC_EPSYLON_FP32);
} }
inline int versor_is_idle_fp64(const versor_fp64_t* versor) inline int bgc_versor_is_idle_fp64(const bgc_versor_fp64_t* versor)
{ {
return 1.0 - FP64_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - FP64_EPSYLON); return 1.0 - BGC_EPSYLON_FP64 <= versor->s0 || versor->s0 <= -(1.0 - BGC_EPSYLON_FP64);
} }
// ============= Copy to twin type ============== // // ============= Copy to twin type ============== //
inline void versor_convert_fp64_to_fp32(const versor_fp64_t* versor, versor_fp32_t* result) inline void bgc_versor_convert_fp64_to_fp32(const bgc_versor_fp64_t* versor, bgc_versor_fp32_t* result)
{ {
versor_set_values_fp32( bgc_versor_set_values_fp32(
(float) versor->s0, (float) versor->s0,
(float) versor->x1, (float) versor->x1,
(float) versor->x2, (float) versor->x2,
@ -243,9 +243,9 @@ inline void versor_convert_fp64_to_fp32(const versor_fp64_t* versor, versor_fp32
); );
} }
inline void versor_convert_fp32_to_fp64(const versor_fp32_t* versor, versor_fp64_t* result) inline void bgc_versor_convert_fp32_to_fp64(const bgc_versor_fp32_t* versor, bgc_versor_fp64_t* result)
{ {
versor_set_values_fp64( bgc_versor_set_values_fp64(
versor->s0, versor->s0,
versor->x1, versor->x1,
versor->x2, versor->x2,
@ -256,26 +256,26 @@ inline void versor_convert_fp32_to_fp64(const versor_fp32_t* versor, versor_fp64
// ================== Shorten =================== // // ================== Shorten =================== //
inline void versor_shorten_fp32(versor_fp32_t* versor) inline void bgc_versor_shorten_fp32(bgc_versor_fp32_t* versor)
{ {
if (versor->s0 >= 0.0f) { if (versor->s0 >= 0.0f) {
return; return;
} }
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor; _bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)versor;
twin->s0 = -versor->s0; twin->s0 = -versor->s0;
twin->x1 = -versor->x1; twin->x1 = -versor->x1;
twin->x2 = -versor->x2; twin->x2 = -versor->x2;
twin->x3 = -versor->x3; twin->x3 = -versor->x3;
} }
inline void versor_shorten_fp64(versor_fp64_t* versor) inline void bgc_versor_shorten_fp64(bgc_versor_fp64_t* versor)
{ {
if (versor->s0 >= 0.0f) { if (versor->s0 >= 0.0f) {
return; return;
} }
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor; _bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)versor;
twin->s0 = -versor->s0; twin->s0 = -versor->s0;
twin->x1 = -versor->x1; twin->x1 = -versor->x1;
twin->x2 = -versor->x2; twin->x2 = -versor->x2;
@ -284,9 +284,9 @@ inline void versor_shorten_fp64(versor_fp64_t* versor)
// ================== Shorten =================== // // ================== Shorten =================== //
inline void versor_set_shortened_fp32(const versor_fp32_t* versor, versor_fp32_t* shortened) inline void bgc_versor_set_shortened_fp32(const bgc_versor_fp32_t* versor, bgc_versor_fp32_t* shortened)
{ {
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)shortened; _bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)shortened;
if (versor->s0 >= 0.0f) { if (versor->s0 >= 0.0f) {
twin->x1 = versor->s0; twin->x1 = versor->s0;
@ -302,9 +302,9 @@ inline void versor_set_shortened_fp32(const versor_fp32_t* versor, versor_fp32_t
twin->x3 = -versor->x3; twin->x3 = -versor->x3;
} }
inline void versor_set_shortened_fp64(const versor_fp64_t* versor, versor_fp64_t* shortened) inline void bgc_versor_set_shortened_fp64(const bgc_versor_fp64_t* versor, bgc_versor_fp64_t* shortened)
{ {
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)shortened; _bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)shortened;
if (versor->s0 >= 0.0) { if (versor->s0 >= 0.0) {
twin->x1 = versor->s0; twin->x1 = versor->s0;
@ -322,17 +322,17 @@ inline void versor_set_shortened_fp64(const versor_fp64_t* versor, versor_fp64_t
// ================= Inversion ================== // // ================= Inversion ================== //
inline void versor_invert_fp32(versor_fp32_t* versor) inline void bgc_versor_invert_fp32(bgc_versor_fp32_t* versor)
{ {
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor; _bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)versor;
twin->x1 = -versor->x1; twin->x1 = -versor->x1;
twin->x2 = -versor->x2; twin->x2 = -versor->x2;
twin->x3 = -versor->x3; twin->x3 = -versor->x3;
} }
inline void versor_invert_fp64(versor_fp64_t* versor) inline void bgc_versor_invert_fp64(bgc_versor_fp64_t* versor)
{ {
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor; _bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)versor;
twin->x1 = -versor->x1; twin->x1 = -versor->x1;
twin->x2 = -versor->x2; twin->x2 = -versor->x2;
twin->x3 = -versor->x3; twin->x3 = -versor->x3;
@ -340,18 +340,18 @@ inline void versor_invert_fp64(versor_fp64_t* versor)
// ================ Set Inverted ================ // // ================ Set Inverted ================ //
inline void versor_set_inverted_fp32(const versor_fp32_t* versor, versor_fp32_t* to) inline void bgc_versor_set_inverted_fp32(const bgc_versor_fp32_t* versor, bgc_versor_fp32_t* to)
{ {
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to; _bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)to;
twin->s0 = versor->s0; twin->s0 = versor->s0;
twin->x1 = -versor->x1; twin->x1 = -versor->x1;
twin->x2 = -versor->x2; twin->x2 = -versor->x2;
twin->x3 = -versor->x3; twin->x3 = -versor->x3;
} }
inline void versor_set_inverted_fp64(const versor_fp64_t* versor, versor_fp64_t* to) inline void bgc_versor_set_inverted_fp64(const bgc_versor_fp64_t* versor, bgc_versor_fp64_t* to)
{ {
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to; _bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)to;
twin->s0 = versor->s0; twin->s0 = versor->s0;
twin->x1 = -versor->x1; twin->x1 = -versor->x1;
twin->x2 = -versor->x2; twin->x2 = -versor->x2;
@ -360,9 +360,9 @@ inline void versor_set_inverted_fp64(const versor_fp64_t* versor, versor_fp64_t*
// ================ Set Inverted ================ // // ================ Set Inverted ================ //
inline void versor_set_inverted_fp64_to_fp32(const versor_fp64_t* versor, versor_fp32_t* to) inline void bgc_versor_set_inverted_fp64_to_fp32(const bgc_versor_fp64_t* versor, bgc_versor_fp32_t* to)
{ {
versor_set_values_fp32( bgc_versor_set_values_fp32(
(float) versor->s0, (float) versor->s0,
(float) -versor->x1, (float) -versor->x1,
(float) -versor->x2, (float) -versor->x2,
@ -371,9 +371,9 @@ inline void versor_set_inverted_fp64_to_fp32(const versor_fp64_t* versor, versor
); );
} }
inline void versor_set_inverted_fp32_to_fp64(const versor_fp32_t* versor, versor_fp64_t* to) inline void bgc_versor_set_inverted_fp32_to_fp64(const bgc_versor_fp32_t* versor, bgc_versor_fp64_t* to)
{ {
versor_set_values_fp64( bgc_versor_set_values_fp64(
versor->s0, versor->s0,
-versor->x1, -versor->x1,
-versor->x2, -versor->x2,
@ -384,7 +384,7 @@ inline void versor_set_inverted_fp32_to_fp64(const versor_fp32_t* versor, versor
// ================ Combination ================= // // ================ Combination ================= //
inline void versor_combine_fp32(const versor_fp32_t* second, const versor_fp32_t* first, versor_fp32_t* result) inline void bgc_versor_combine_fp32(const bgc_versor_fp32_t* second, const bgc_versor_fp32_t* first, bgc_versor_fp32_t* result)
{ {
const float s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3); const float s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
const float x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3); const float x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
@ -393,14 +393,14 @@ inline void versor_combine_fp32(const versor_fp32_t* second, const versor_fp32_t
const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)result; _bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)result;
twin->s0 = s0; twin->s0 = s0;
twin->x1 = x1; twin->x1 = x1;
twin->x2 = x2; twin->x2 = x2;
twin->x3 = x3; twin->x3 = x3;
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { if (1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32) {
return; return;
} }
@ -412,7 +412,7 @@ inline void versor_combine_fp32(const versor_fp32_t* second, const versor_fp32_t
twin->x3 *= multiplier; twin->x3 *= multiplier;
} }
inline void versor_combine_fp64(const versor_fp64_t* second, const versor_fp64_t* first, versor_fp64_t* result) inline void bgc_versor_combine_fp64(const bgc_versor_fp64_t* second, const bgc_versor_fp64_t* first, bgc_versor_fp64_t* result)
{ {
const double s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3); const double s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
const double x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3); const double x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
@ -421,14 +421,14 @@ inline void versor_combine_fp64(const versor_fp64_t* second, const versor_fp64_t
const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)result; _bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)result;
twin->s0 = s0; twin->s0 = s0;
twin->x1 = x1; twin->x1 = x1;
twin->x2 = x2; twin->x2 = x2;
twin->x3 = x3; twin->x3 = x3;
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { if (1.0 - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0 + BGC_TWO_EPSYLON_FP64) {
return; return;
} }
@ -442,7 +442,7 @@ inline void versor_combine_fp64(const versor_fp64_t* second, const versor_fp64_t
// ============ Combination of three ============ // // ============ Combination of three ============ //
inline void versor_combine3_fp32(const versor_fp32_t* third, const versor_fp32_t* second, const versor_fp32_t* first, versor_fp32_t* result) inline void bgc_versor_combine3_fp32(const bgc_versor_fp32_t* third, const bgc_versor_fp32_t* second, const bgc_versor_fp32_t* first, bgc_versor_fp32_t* result)
{ {
const float s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3); const float s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
const float x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3); const float x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
@ -456,14 +456,14 @@ inline void versor_combine3_fp32(const versor_fp32_t* third, const versor_fp32_t
const float square_modulus = (s0b * s0b + x1b * x1b) + (x2b * x2b + x3b * x3b); const float square_modulus = (s0b * s0b + x1b * x1b) + (x2b * x2b + x3b * x3b);
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)result; _bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)result;
twin->s0 = s0b; twin->s0 = s0b;
twin->x1 = x1b; twin->x1 = x1b;
twin->x2 = x2b; twin->x2 = x2b;
twin->x3 = x3b; twin->x3 = x3b;
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { if (1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32) {
return; return;
} }
@ -475,7 +475,7 @@ inline void versor_combine3_fp32(const versor_fp32_t* third, const versor_fp32_t
twin->x3 *= multiplier; twin->x3 *= multiplier;
} }
inline void versor_combine3_fp64(const versor_fp64_t* third, const versor_fp64_t* second, const versor_fp64_t* first, versor_fp64_t* result) inline void bgc_versor_combine3_fp64(const bgc_versor_fp64_t* third, const bgc_versor_fp64_t* second, const bgc_versor_fp64_t* first, bgc_versor_fp64_t* result)
{ {
const double s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3); const double s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
const double x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3); const double x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
@ -489,14 +489,14 @@ inline void versor_combine3_fp64(const versor_fp64_t* third, const versor_fp64_t
const double square_modulus = (s0b * s0b + x1b * x1b) + (x2b * x2b + x3b * x3b); const double square_modulus = (s0b * s0b + x1b * x1b) + (x2b * x2b + x3b * x3b);
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)result; _bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)result;
twin->s0 = s0b; twin->s0 = s0b;
twin->x1 = x1b; twin->x1 = x1b;
twin->x2 = x2b; twin->x2 = x2b;
twin->x3 = x3b; twin->x3 = x3b;
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { if (1.0 - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0 + BGC_TWO_EPSYLON_FP64) {
return; return;
} }
@ -510,7 +510,7 @@ inline void versor_combine3_fp64(const versor_fp64_t* third, const versor_fp64_t
// ================= Exclusion ================== // // ================= Exclusion ================== //
inline void versor_exclude_fp32(const versor_fp32_t* basic, const versor_fp32_t* exclusion, versor_fp32_t* result) inline void bgc_versor_exclude_fp32(const bgc_versor_fp32_t* basic, const bgc_versor_fp32_t* exclusion, bgc_versor_fp32_t* result)
{ {
const float s0 = (basic->s0 * exclusion->s0 + basic->x1 * exclusion->x1) + (basic->x2 * exclusion->x2 + basic->x3 * exclusion->x3); const float s0 = (basic->s0 * exclusion->s0 + basic->x1 * exclusion->x1) + (basic->x2 * exclusion->x2 + basic->x3 * exclusion->x3);
const float x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3); const float x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3);
@ -519,14 +519,14 @@ inline void versor_exclude_fp32(const versor_fp32_t* basic, const versor_fp32_t*
const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)result; _bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)result;
twin->s0 = s0; twin->s0 = s0;
twin->x1 = x1; twin->x1 = x1;
twin->x2 = x2; twin->x2 = x2;
twin->x3 = x3; twin->x3 = x3;
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { if (1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32) {
return; return;
} }
@ -538,7 +538,7 @@ inline void versor_exclude_fp32(const versor_fp32_t* basic, const versor_fp32_t*
twin->x3 *= multiplier; twin->x3 *= multiplier;
} }
inline void versor_exclude_fp64(const versor_fp64_t* basic, const versor_fp64_t* exclusion, versor_fp64_t* result) inline void bgc_versor_exclude_fp64(const bgc_versor_fp64_t* basic, const bgc_versor_fp64_t* exclusion, bgc_versor_fp64_t* result)
{ {
const double s0 = (basic->s0 * exclusion->s0 + basic->x1 * exclusion->x1) + (basic->x2 * exclusion->x2 + basic->x3 * exclusion->x3); const double s0 = (basic->s0 * exclusion->s0 + basic->x1 * exclusion->x1) + (basic->x2 * exclusion->x2 + basic->x3 * exclusion->x3);
const double x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3); const double x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3);
@ -547,14 +547,14 @@ inline void versor_exclude_fp64(const versor_fp64_t* basic, const versor_fp64_t*
const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)result; _bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)result;
twin->s0 = s0; twin->s0 = s0;
twin->x1 = x1; twin->x1 = x1;
twin->x2 = x2; twin->x2 = x2;
twin->x3 = x3; twin->x3 = x3;
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { if (1.0 - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0 + BGC_TWO_EPSYLON_FP64) {
return; return;
} }
@ -568,13 +568,13 @@ inline void versor_exclude_fp64(const versor_fp64_t* basic, const versor_fp64_t*
// ================= Rotation3 ================== // // ================= Rotation3 ================== //
void versor_get_rotation_fp32(const versor_fp32_t* versor, rotation3_fp32_t* result); void bgc_versor_get_rotation_fp32(const bgc_versor_fp32_t* versor, bgc_rotation3_fp32_t* result);
void versor_get_rotation_fp64(const versor_fp64_t* versor, rotation3_fp64_t* result); void bgc_versor_get_rotation_fp64(const bgc_versor_fp64_t* versor, bgc_rotation3_fp64_t* result);
// =========== Make Rotation Matrix3x3 ========== // // =========== Make Rotation Matrix3x3 ========== //
inline void versor_make_rotation_matrix_fp32(const versor_fp32_t* versor, matrix3x3_fp32_t* matrix) inline void bgc_versor_make_rotation_matrix_fp32(const bgc_versor_fp32_t* versor, bgc_matrix3x3_fp32_t* matrix)
{ {
const float s0s0 = versor->s0 * versor->s0; const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->x1 * versor->x1; const float x1x1 = versor->x1 * versor->x1;
@ -602,7 +602,7 @@ inline void versor_make_rotation_matrix_fp32(const versor_fp32_t* versor, matrix
matrix->r1c3 = x1x3 + s0x2; matrix->r1c3 = x1x3 + s0x2;
} }
inline void versor_make_rotation_matrix_fp64(const versor_fp64_t* versor, matrix3x3_fp64_t* matrix) inline void bgc_versor_make_rotation_matrix_fp64(const bgc_versor_fp64_t* versor, bgc_matrix3x3_fp64_t* matrix)
{ {
const double s0s0 = versor->s0 * versor->s0; const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->x1 * versor->x1; const double x1x1 = versor->x1 * versor->x1;
@ -632,7 +632,7 @@ inline void versor_make_rotation_matrix_fp64(const versor_fp64_t* versor, matrix
// =========== Make Reverse Matrix3x3 =========== // // =========== Make Reverse Matrix3x3 =========== //
inline void versor_make_reverse_matrix_fp32(const versor_fp32_t* versor, matrix3x3_fp32_t* matrix) inline void bgc_versor_make_reverse_matrix_fp32(const bgc_versor_fp32_t* versor, bgc_matrix3x3_fp32_t* matrix)
{ {
const float s0s0 = versor->s0 * versor->s0; const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->x1 * versor->x1; const float x1x1 = versor->x1 * versor->x1;
@ -660,7 +660,7 @@ inline void versor_make_reverse_matrix_fp32(const versor_fp32_t* versor, matrix3
matrix->r1c3 = x1x3 - s0x2; matrix->r1c3 = x1x3 - s0x2;
} }
inline void versor_make_reverse_matrix_fp64(const versor_fp64_t* versor, matrix3x3_fp64_t* matrix) inline void bgc_versor_make_reverse_matrix_fp64(const bgc_versor_fp64_t* versor, bgc_matrix3x3_fp64_t* matrix)
{ {
const double s0s0 = versor->s0 * versor->s0; const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->x1 * versor->x1; const double x1x1 = versor->x1 * versor->x1;
@ -690,7 +690,7 @@ inline void versor_make_reverse_matrix_fp64(const versor_fp64_t* versor, matrix3
// ================ Turn Vector ================= // // ================ Turn Vector ================= //
inline void versor_turn_vector_fp32(const versor_fp32_t* versor, const vector3_fp32_t* vector, vector3_fp32_t* result) inline void bgc_versor_turn_vector_fp32(const bgc_versor_fp32_t* versor, const bgc_vector3_fp32_t* vector, bgc_vector3_fp32_t* result)
{ {
const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2); const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3); const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
@ -705,7 +705,7 @@ inline void versor_turn_vector_fp32(const versor_fp32_t* versor, const vector3_f
result->x3 = x3; result->x3 = x3;
} }
inline void versor_turn_vector_fp64(const versor_fp64_t* versor, const vector3_fp64_t* vector, vector3_fp64_t* result) inline void bgc_versor_turn_vector_fp64(const bgc_versor_fp64_t* versor, const bgc_vector3_fp64_t* vector, bgc_vector3_fp64_t* result)
{ {
const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2); const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3); const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
@ -722,7 +722,7 @@ inline void versor_turn_vector_fp64(const versor_fp64_t* versor, const vector3_f
// ============== Turn Vector Back ============== // // ============== Turn Vector Back ============== //
inline void versor_turn_vector_back_fp32(const versor_fp32_t* versor, const vector3_fp32_t* vector, vector3_fp32_t* result) inline void bgc_versor_turn_vector_back_fp32(const bgc_versor_fp32_t* versor, const bgc_vector3_fp32_t* vector, bgc_vector3_fp32_t* result)
{ {
const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2); const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3); const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
@ -737,7 +737,7 @@ inline void versor_turn_vector_back_fp32(const versor_fp32_t* versor, const vect
result->x3 = x3; result->x3 = x3;
} }
inline void versor_turn_vector_back_fp64(const versor_fp64_t* versor, const vector3_fp64_t* vector, vector3_fp64_t* result) inline void bgc_versor_turn_vector_back_fp64(const bgc_versor_fp64_t* versor, const bgc_vector3_fp64_t* vector, bgc_vector3_fp64_t* result)
{ {
const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2); const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3); const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3);