Продолжение переименования типов и функций
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25 changed files with 768 additions and 916 deletions
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@ -52,31 +52,31 @@ typedef enum {
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// ========= Convert radians to degrees ========= //
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static inline float fp32_radians_to_degrees(const float radians)
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inline float fp32_radians_to_degrees(const float radians)
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{
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return radians * FP32_DEGREES_IN_RADIAN;
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}
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static inline double fp64_radians_to_degrees(const double radians)
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inline double fp64_radians_to_degrees(const double radians)
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{
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return radians * FP64_DEGREES_IN_RADIAN;
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}
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// ========== Convert radians to turns ========== //
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static inline float fp32_radians_to_turns(const float radians)
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inline float fp32_radians_to_turns(const float radians)
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{
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return radians * FP32_TURNS_IN_RADIAN;
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}
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static inline double fp64_radians_to_turns(const double radians)
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inline double fp64_radians_to_turns(const double radians)
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{
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return radians * FP64_TURNS_IN_RADIAN;
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}
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// ========= Convert radians to any unit ======== //
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static inline float fp32_radians_to_units(const float radians, const angle_unit_t to_unit)
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inline float fp32_radians_to_units(const float radians, const angle_unit_t to_unit)
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{
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if (to_unit == BG_ANGLE_UNIT_DEGREES) {
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return radians * FP32_DEGREES_IN_RADIAN;
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@ -89,7 +89,7 @@ static inline float fp32_radians_to_units(const float radians, const angle_unit_
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return radians;
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}
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static inline double fp64_radians_to_units(const double radians, const angle_unit_t to_unit)
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inline double fp64_radians_to_units(const double radians, const angle_unit_t to_unit)
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{
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if (to_unit == BG_ANGLE_UNIT_DEGREES) {
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return radians * FP64_DEGREES_IN_RADIAN;
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@ -104,7 +104,7 @@ static inline double fp64_radians_to_units(const double radians, const angle_uni
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// ============ Normalize radians ============= //
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static inline float fp32_radians_normalize(const float radians, const angle_range_t range)
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inline float fp32_radians_normalize(const float radians, const angle_range_t range)
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{
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if (range == BG_ANGLE_RANGE_UNSIGNED) {
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if (0.0f <= radians && radians < FP32_TWO_PI) {
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@ -128,7 +128,7 @@ static inline float fp32_radians_normalize(const float radians, const angle_rang
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return turns * FP32_TWO_PI;
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}
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static inline double fp64_radians_normalize(const double radians, const angle_range_t range)
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inline double fp64_radians_normalize(const double radians, const angle_range_t range)
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{
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if (range == BG_ANGLE_RANGE_UNSIGNED) {
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if (0.0 <= radians && radians < FP64_TWO_PI) {
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@ -156,31 +156,31 @@ static inline double fp64_radians_normalize(const double radians, const angle_ra
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// ========= Convert degrees to radians ========= //
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static inline float fp32_degrees_to_radians(const float degrees)
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inline float fp32_degrees_to_radians(const float degrees)
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{
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return degrees * FP32_RADIANS_IN_DEGREE;
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}
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static inline double fp64_degrees_to_radians(const double degrees)
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inline double fp64_degrees_to_radians(const double degrees)
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{
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return degrees * FP64_RADIANS_IN_DEGREE;
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}
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// ========== Convert degrees to turns ========== //
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static inline float fp32_degrees_to_turns(const float radians)
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inline float fp32_degrees_to_turns(const float radians)
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{
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return radians * FP32_TURNS_IN_DEGREE;
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}
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static inline double fp64_degrees_to_turns(const double radians)
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inline double fp64_degrees_to_turns(const double radians)
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{
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return radians * FP64_TURNS_IN_DEGREE;
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}
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// ========= Convert degreess to any unit ======== //
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static inline float fp32_degrees_to_units(const float degrees, const angle_unit_t to_unit)
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inline float fp32_degrees_to_units(const float degrees, const angle_unit_t to_unit)
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{
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if (to_unit == BG_ANGLE_UNIT_RADIANS) {
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return degrees * FP32_RADIANS_IN_DEGREE;
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@ -193,7 +193,7 @@ static inline float fp32_degrees_to_units(const float degrees, const angle_unit_
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return degrees;
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}
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static inline double fp64_degrees_to_units(const double degrees, const angle_unit_t to_unit)
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inline double fp64_degrees_to_units(const double degrees, const angle_unit_t to_unit)
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{
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if (to_unit == BG_ANGLE_UNIT_RADIANS) {
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return degrees * FP64_RADIANS_IN_DEGREE;
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@ -208,7 +208,7 @@ static inline double fp64_degrees_to_units(const double degrees, const angle_uni
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// ============ Normalize degrees ============= //
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static inline float fp32_degrees_normalize(const float degrees, const angle_range_t range)
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inline float fp32_degrees_normalize(const float degrees, const angle_range_t range)
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{
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if (range == BG_ANGLE_RANGE_UNSIGNED) {
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if (0.0f <= degrees && degrees < 360.0f) {
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@ -232,7 +232,7 @@ static inline float fp32_degrees_normalize(const float degrees, const angle_rang
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return turns * 360.0f;
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}
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static inline double fp64_degrees_normalize(const double degrees, const angle_range_t range)
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inline double fp64_degrees_normalize(const double degrees, const angle_range_t range)
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{
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if (range == BG_ANGLE_RANGE_UNSIGNED) {
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if (0.0 <= degrees && degrees < 360.0) {
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@ -260,31 +260,31 @@ static inline double fp64_degrees_normalize(const double degrees, const angle_ra
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// ========== Convert turns to radians ========== //
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static inline float fp32_turns_to_radians(const float turns)
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inline float fp32_turns_to_radians(const float turns)
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{
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return turns * FP32_TWO_PI;
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}
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static inline double fp64_turns_to_radians(const double turns)
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inline double fp64_turns_to_radians(const double turns)
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{
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return turns * FP64_TWO_PI;
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}
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// ========== Convert turns to degrees ========== //
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static inline float fp32_turns_to_degrees(const float turns)
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inline float fp32_turns_to_degrees(const float turns)
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{
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return turns * 360.0f;
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}
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static inline double fp64_turns_to_degrees(const double turns)
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inline double fp64_turns_to_degrees(const double turns)
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{
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return turns * 360.0;
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}
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// ========= Convert turns to any unit ======== //
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static inline float fp32_turns_to_units(const float turns, const angle_unit_t to_unit)
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inline float fp32_turns_to_units(const float turns, const angle_unit_t to_unit)
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{
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if (to_unit == BG_ANGLE_UNIT_RADIANS) {
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return turns * FP32_TWO_PI;
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@ -297,7 +297,7 @@ static inline float fp32_turns_to_units(const float turns, const angle_unit_t to
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return turns;
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}
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static inline double fp64_turns_to_units(const double turns, const angle_unit_t to_unit)
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inline double fp64_turns_to_units(const double turns, const angle_unit_t to_unit)
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{
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if (to_unit == BG_ANGLE_UNIT_RADIANS) {
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return turns * FP64_TWO_PI;
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@ -312,7 +312,7 @@ static inline double fp64_turns_to_units(const double turns, const angle_unit_t
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// ============= Normalize turns ============== //
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static inline float fp32_turns_normalize(const float turns, const angle_range_t range)
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inline float fp32_turns_normalize(const float turns, const angle_range_t range)
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{
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if (range == BG_ANGLE_RANGE_UNSIGNED) {
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if (0.0f <= turns && turns < 1.0f) {
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@ -334,7 +334,7 @@ static inline float fp32_turns_normalize(const float turns, const angle_range_t
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return rest;
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}
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static inline double fp64_turns_normalize(const double turns, const angle_range_t range)
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inline double fp64_turns_normalize(const double turns, const angle_range_t range)
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{
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if (range == BG_ANGLE_RANGE_UNSIGNED) {
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if (0.0 <= turns && turns < 1.0) {
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@ -360,7 +360,7 @@ static inline double fp64_turns_normalize(const double turns, const angle_range_
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// ========= Convert any unit to radians ======== //
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static inline float fp32_angle_to_radians(const float angle, const angle_unit_t unit)
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inline float fp32_angle_to_radians(const float angle, const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_DEGREES) {
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return angle * FP32_RADIANS_IN_DEGREE;
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@ -373,7 +373,7 @@ static inline float fp32_angle_to_radians(const float angle, const angle_unit_t
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return angle;
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}
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static inline double fp64_angle_to_radians(const double angle, const angle_unit_t unit)
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inline double fp64_angle_to_radians(const double angle, const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_DEGREES) {
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return angle * FP64_RADIANS_IN_DEGREE;
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@ -388,7 +388,7 @@ static inline double fp64_angle_to_radians(const double angle, const angle_unit_
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// ========= Convert any unit to degreess ======== //
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static inline float fp32_angle_to_degrees(const float angle, const angle_unit_t unit)
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inline float fp32_angle_to_degrees(const float angle, const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_RADIANS) {
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return angle * FP32_DEGREES_IN_RADIAN;
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@ -401,7 +401,7 @@ static inline float fp32_angle_to_degrees(const float angle, const angle_unit_t
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return angle;
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}
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static inline double fp64_angle_to_degrees(const double angle, const angle_unit_t unit)
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inline double fp64_angle_to_degrees(const double angle, const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_RADIANS) {
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return angle * FP64_DEGREES_IN_RADIAN;
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@ -416,7 +416,7 @@ static inline double fp64_angle_to_degrees(const double angle, const angle_unit_
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// ========= Convert any unit to turns ======== //
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static inline float fp32_angle_to_turns(const float angle, const angle_unit_t unit)
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inline float fp32_angle_to_turns(const float angle, const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_RADIANS) {
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return angle * FP32_TURNS_IN_RADIAN;
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@ -429,7 +429,7 @@ static inline float fp32_angle_to_turns(const float angle, const angle_unit_t un
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return angle;
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}
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static inline double fp64_angle_to_turns(const double angle, const angle_unit_t unit)
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inline double fp64_angle_to_turns(const double angle, const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_RADIANS) {
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return angle * FP64_TURNS_IN_RADIAN;
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@ -444,7 +444,7 @@ static inline double fp64_angle_to_turns(const double angle, const angle_unit_t
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// ============= Get Full Circle ============== //
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static inline float fp32_angle_get_full_circle(const angle_unit_t unit)
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inline float fp32_angle_get_full_circle(const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_DEGREES) {
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return 360.0f;
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@ -457,7 +457,7 @@ static inline float fp32_angle_get_full_circle(const angle_unit_t unit)
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return FP32_TWO_PI;
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}
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static inline double fp64_angle_get_full_circle(const angle_unit_t unit)
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inline double fp64_angle_get_full_circle(const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_DEGREES) {
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return 360.0;
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@ -472,7 +472,7 @@ static inline double fp64_angle_get_full_circle(const angle_unit_t unit)
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// ============= Get Half Circle ============== //
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static inline float fp32_angle_get_half_circle(const angle_unit_t unit)
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inline float fp32_angle_get_half_circle(const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_DEGREES) {
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return 180.0f;
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@ -485,7 +485,7 @@ static inline float fp32_angle_get_half_circle(const angle_unit_t unit)
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return FP32_PI;
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}
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static inline double fp64_angle_get_half_circle(const angle_unit_t unit)
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inline double fp64_angle_get_half_circle(const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_DEGREES) {
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return 180.0;
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@ -500,7 +500,7 @@ static inline double fp64_angle_get_half_circle(const angle_unit_t unit)
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// ============= Get Half Circle ============== //
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static inline float fp32_angle_get_quater_circle(const angle_unit_t unit)
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inline float fp32_angle_get_quater_circle(const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_DEGREES) {
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return 90.0f;
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@ -513,7 +513,7 @@ static inline float fp32_angle_get_quater_circle(const angle_unit_t unit)
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return FP32_HALF_OF_PI;
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}
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static inline double fp64_angle_get_quater_circle(const angle_unit_t unit)
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inline double fp64_angle_get_quater_circle(const angle_unit_t unit)
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{
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if (unit == BG_ANGLE_UNIT_DEGREES) {
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return 90.0;
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// ================ Normalize ================= //
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static inline float fp32_angle_normalize(const float angle, const angle_unit_t unit, const angle_range_t range)
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inline float fp32_angle_normalize(const float angle, const angle_unit_t unit, const angle_range_t range)
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{
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if (unit == BG_ANGLE_UNIT_DEGREES) {
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return fp32_degrees_normalize(angle, range);
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return fp32_radians_normalize(angle, range);
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}
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static inline double fp64_angle_normalize(const double angle, const angle_unit_t unit, const angle_range_t range)
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inline double fp64_angle_normalize(const double angle, const angle_unit_t unit, const angle_range_t range)
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{
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if (unit == BG_ANGLE_UNIT_DEGREES) {
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return fp64_degrees_normalize(angle, range);
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@ -1,5 +1,5 @@
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#ifndef __GEOMETRY__TYPES_H_
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#define __GEOMETRY__TYPES_H_
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#ifndef _GEOMETRY_BASIS_H_
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#define _GEOMETRY_BASIS_H_
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#define FP32_EPSYLON_EFFECTIVENESS_LIMIT 10.0f
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#define FP64_GOLDEN_RATIO_HIGH 1.61803398874989485
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#define FP64_GOLDEN_RATIO_LOW 0.61803398874989485
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static inline int fp32_are_equal(const float value1, const float value2)
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inline int fp32_are_equal(const float value1, const float value2)
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{
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if (-FP32_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
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return -FP32_EPSYLON <= (value1 - value2) && (value1 - value2) <= FP32_EPSYLON;
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@ -40,7 +40,7 @@ static inline int fp32_are_equal(const float value1, const float value2)
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return value2 <= value1 * (1.0f + FP32_EPSYLON) && value1 <= value2 * (1.0f + FP32_EPSYLON);
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}
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static inline int fp64_are_equal(const double value1, const double value2)
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inline int fp64_are_equal(const double value1, const double value2)
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{
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if (-FP64_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
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return -FP64_EPSYLON <= (value1 - value2) && (value1 - value2) <= FP64_EPSYLON;
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@ -7,7 +7,7 @@
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// =================== Reset ==================== //
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static inline void fp32_matrix2x2_reset(fp32_matrix2x2_t* matrix)
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inline void matrix2x2_reset_fp32(matrix2x2_fp32_t* matrix)
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{
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matrix->r1c1 = 0.0f;
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matrix->r1c2 = 0.0f;
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matrix->r2c2 = 0.0f;
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}
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static inline void fp64_matrix2x2_reset(fp64_matrix2x2_t* matrix)
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inline void matrix2x2_reset_fp64(matrix2x2_fp64_t* matrix)
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{
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matrix->r1c1 = 0.0;
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matrix->r1c2 = 0.0;
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@ -25,7 +25,7 @@ static inline void fp64_matrix2x2_reset(fp64_matrix2x2_t* matrix)
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// ================== Identity ================== //
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static inline void fp32_matrix2x2_set_to_identity(fp32_matrix2x2_t* matrix)
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inline void matrix2x2_fp32_set_to_identity(matrix2x2_fp32_t* matrix)
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{
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matrix->r1c1 = 1.0f;
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matrix->r1c2 = 0.0f;
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@ -33,7 +33,7 @@ static inline void fp32_matrix2x2_set_to_identity(fp32_matrix2x2_t* matrix)
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matrix->r2c2 = 1.0f;
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}
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static inline void fp64_matrix2x2_set_to_identity(fp64_matrix2x2_t* matrix)
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inline void matrix2x2_fp64_set_to_identity(matrix2x2_fp64_t* matrix)
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{
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matrix->r1c1 = 1.0;
|
||||
matrix->r1c2 = 0.0;
|
||||
|
@ -43,7 +43,7 @@ static inline void fp64_matrix2x2_set_to_identity(fp64_matrix2x2_t* matrix)
|
|||
|
||||
// ================ Make Diagonal =============== //
|
||||
|
||||
static inline void fp32_matrix2x2_set_to_diagonal(const float d1, const float d2, fp32_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp32_set_to_diagonal(const float d1, const float d2, matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = d1;
|
||||
matrix->r1c2 = 0.0f;
|
||||
|
@ -51,7 +51,7 @@ static inline void fp32_matrix2x2_set_to_diagonal(const float d1, const float d2
|
|||
matrix->r2c2 = d2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_set_to_diagonal(const double d1, const double d2, fp64_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp64_set_to_diagonal(const double d1, const double d2, matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = d1;
|
||||
matrix->r1c2 = 0.0;
|
||||
|
@ -61,7 +61,7 @@ static inline void fp64_matrix2x2_set_to_diagonal(const double d1, const double
|
|||
|
||||
// ============== Rotation Matrix =============== //
|
||||
|
||||
static inline void fp32_matrix2x2_make_turn(const float angle, const angle_unit_t unit, fp32_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp32_make_turn(const float angle, const angle_unit_t unit, matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
const float radians = fp32_angle_to_radians(angle, unit);
|
||||
const float cosine = cosf(radians);
|
||||
|
@ -73,7 +73,7 @@ static inline void fp32_matrix2x2_make_turn(const float angle, const angle_unit_
|
|||
matrix->r2c2 = cosine;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_make_turn(const double angle, const angle_unit_t unit, fp64_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp64_make_turn(const double angle, const angle_unit_t unit, matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
const double radians = fp64_angle_to_radians(angle, unit);
|
||||
const double cosine = cos(radians);
|
||||
|
@ -87,7 +87,7 @@ static inline void fp64_matrix2x2_make_turn(const double angle, const angle_unit
|
|||
|
||||
// ==================== Copy ==================== //
|
||||
|
||||
static inline void fp32_matrix2x2_copy(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to)
|
||||
inline void matrix2x2_copy_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -96,7 +96,7 @@ static inline void fp32_matrix2x2_copy(const fp32_matrix2x2_t* from, fp32_matrix
|
|||
to->r2c2 = from->r2c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_copy(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to)
|
||||
inline void matrix2x2_copy_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -107,7 +107,7 @@ static inline void fp64_matrix2x2_copy(const fp64_matrix2x2_t* from, fp64_matrix
|
|||
|
||||
// ==================== Swap ==================== //
|
||||
|
||||
static inline void fp32_matrix2x2_swap(fp32_matrix2x2_t* matrix1, fp32_matrix2x2_t* matrix2)
|
||||
inline void matrix2x2_swap_fp32(matrix2x2_fp32_t* matrix1, matrix2x2_fp32_t* matrix2)
|
||||
{
|
||||
const float r1c1 = matrix2->r1c1;
|
||||
const float r1c2 = matrix2->r1c2;
|
||||
|
@ -128,7 +128,7 @@ static inline void fp32_matrix2x2_swap(fp32_matrix2x2_t* matrix1, fp32_matrix2x2
|
|||
matrix1->r2c2 = r2c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_swap(fp64_matrix2x2_t* matrix1, fp64_matrix2x2_t* matrix2)
|
||||
inline void matrix2x2_swap_fp64(matrix2x2_fp64_t* matrix1, matrix2x2_fp64_t* matrix2)
|
||||
{
|
||||
const double r1c1 = matrix2->r1c1;
|
||||
const double r1c2 = matrix2->r1c2;
|
||||
|
@ -151,7 +151,7 @@ static inline void fp64_matrix2x2_swap(fp64_matrix2x2_t* matrix1, fp64_matrix2x2
|
|||
|
||||
// ============= Copy to twin type ============== //
|
||||
|
||||
static inline void fp32_matrix2x2_set_from_fp64(const fp64_matrix2x2_t* from, fp32_matrix2x2_t* to)
|
||||
inline void matrix2x2_fp32_set_from_fp64(const matrix2x2_fp64_t* from, matrix2x2_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = (float)from->r1c1;
|
||||
to->r1c2 = (float)from->r1c2;
|
||||
|
@ -160,7 +160,7 @@ static inline void fp32_matrix2x2_set_from_fp64(const fp64_matrix2x2_t* from, fp
|
|||
to->r2c2 = (float)from->r2c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_set_from_fp32(const fp32_matrix2x2_t* from, fp64_matrix2x2_t* to)
|
||||
inline void matrix2x2_fp64_set_from_fp32(const matrix2x2_fp32_t* from, matrix2x2_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -171,42 +171,42 @@ static inline void fp64_matrix2x2_set_from_fp32(const fp32_matrix2x2_t* from, fp
|
|||
|
||||
// ================ Determinant ================= //
|
||||
|
||||
static inline float fp32_matrix2x2_get_determinant(const fp32_matrix2x2_t* matrix)
|
||||
inline float matrix2x2_fp32_get_determinant(const matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
|
||||
}
|
||||
|
||||
static inline double fp64_matrix2x2_get_determinant(const fp64_matrix2x2_t* matrix)
|
||||
inline double matrix2x2_fp64_get_determinant(const matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
|
||||
}
|
||||
|
||||
// ================== Singular ================== //
|
||||
|
||||
static inline int fp32_matrix2x2_is_singular(const fp32_matrix2x2_t* matrix)
|
||||
inline int matrix2x2_fp32_is_singular(const matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
const float determinant = fp32_matrix2x2_get_determinant(matrix);
|
||||
const float determinant = matrix2x2_fp32_get_determinant(matrix);
|
||||
|
||||
return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON;
|
||||
}
|
||||
|
||||
static inline int fp64_matrix2x2_is_singular(const fp64_matrix2x2_t* matrix)
|
||||
inline int matrix2x2_fp64_is_singular(const matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
const double determinant = fp64_matrix2x2_get_determinant(matrix);
|
||||
const double determinant = matrix2x2_fp64_get_determinant(matrix);
|
||||
|
||||
return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON;
|
||||
}
|
||||
|
||||
// =============== Transposition ================ //
|
||||
|
||||
static inline void fp32_matrix2x2_transpose(fp32_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp32_transpose(matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
const float tmp = matrix->r1c2;
|
||||
matrix->r1c2 = matrix->r2c1;
|
||||
matrix->r2c1 = tmp;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_transpose(fp64_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp64_transpose(matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
const double tmp = matrix->r1c2;
|
||||
matrix->r1c2 = matrix->r2c1;
|
||||
|
@ -215,9 +215,9 @@ static inline void fp64_matrix2x2_transpose(fp64_matrix2x2_t* matrix)
|
|||
|
||||
// ================= Inversion ================== //
|
||||
|
||||
static inline int fp32_matrix2x2_invert(fp32_matrix2x2_t* matrix)
|
||||
inline int matrix2x2_invert_fp32(matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
const float determinant = fp32_matrix2x2_get_determinant(matrix);
|
||||
const float determinant = matrix2x2_fp32_get_determinant(matrix);
|
||||
|
||||
if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
|
||||
return 0;
|
||||
|
@ -240,9 +240,9 @@ static inline int fp32_matrix2x2_invert(fp32_matrix2x2_t* matrix)
|
|||
return 1;
|
||||
}
|
||||
|
||||
static inline int fp64_matrix2x2_invert(fp64_matrix2x2_t* matrix)
|
||||
inline int matrix2x2_invert_fp64(matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
const double determinant = fp64_matrix2x2_get_determinant(matrix);
|
||||
const double determinant = matrix2x2_fp64_get_determinant(matrix);
|
||||
|
||||
if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
|
||||
return 0;
|
||||
|
@ -267,7 +267,7 @@ static inline int fp64_matrix2x2_invert(fp64_matrix2x2_t* matrix)
|
|||
|
||||
// =============== Set Transposed =============== //
|
||||
|
||||
static inline void fp32_matrix2x2_set_transposed(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to)
|
||||
inline void matrix2x2_fp32_set_transposed(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to)
|
||||
{
|
||||
float tmp = from->r1c2;
|
||||
|
||||
|
@ -278,7 +278,7 @@ static inline void fp32_matrix2x2_set_transposed(const fp32_matrix2x2_t* from, f
|
|||
to->r2c2 = from->r2c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_set_transposed(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to)
|
||||
inline void matrix2x2_fp64_set_transposed(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to)
|
||||
{
|
||||
double tmp = from->r1c2;
|
||||
|
||||
|
@ -291,9 +291,9 @@ static inline void fp64_matrix2x2_set_transposed(const fp64_matrix2x2_t* from, f
|
|||
|
||||
// ================ Set Inverted ================ //
|
||||
|
||||
static inline int fp32_matrix2x2_set_inverted(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to)
|
||||
inline int matrix2x2_fp32_set_inverted(const matrix2x2_fp32_t* from, matrix2x2_fp32_t* to)
|
||||
{
|
||||
const float determinant = fp32_matrix2x2_get_determinant(from);
|
||||
const float determinant = matrix2x2_fp32_get_determinant(from);
|
||||
|
||||
if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
|
||||
return 0;
|
||||
|
@ -316,9 +316,9 @@ static inline int fp32_matrix2x2_set_inverted(const fp32_matrix2x2_t* from, fp32
|
|||
return 1;
|
||||
}
|
||||
|
||||
static inline int fp64_matrix2x2_set_inverted(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to)
|
||||
inline int matrix2x2_fp64_set_inverted(const matrix2x2_fp64_t* from, matrix2x2_fp64_t* to)
|
||||
{
|
||||
const double determinant = fp64_matrix2x2_get_determinant(from);
|
||||
const double determinant = matrix2x2_fp64_get_determinant(from);
|
||||
|
||||
if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
|
||||
return 0;
|
||||
|
@ -343,13 +343,13 @@ static inline int fp64_matrix2x2_set_inverted(const fp64_matrix2x2_t* from, fp64
|
|||
|
||||
// ================= Set Row 1 ================== //
|
||||
|
||||
static inline void fp32_matrix2x2_set_row1(const float c1, const float c2, fp32_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp32_set_row1(const float c1, const float c2, matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = c1;
|
||||
matrix->r1c2 = c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_set_row1(const double c1, const double c2, fp64_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp64_set_row1(const double c1, const double c2, matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = c1;
|
||||
matrix->r1c2 = c2;
|
||||
|
@ -357,13 +357,13 @@ static inline void fp64_matrix2x2_set_row1(const double c1, const double c2, fp6
|
|||
|
||||
// ================= Set Row 2 ================== //
|
||||
|
||||
static inline void fp32_matrix2x2_set_row2(const float c1, const float c2, fp32_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp32_set_row2(const float c1, const float c2, matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r2c1 = c1;
|
||||
matrix->r2c2 = c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_set_row2(const double c1, const double c2, fp64_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp64_set_row2(const double c1, const double c2, matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r2c1 = c1;
|
||||
matrix->r2c2 = c2;
|
||||
|
@ -371,13 +371,13 @@ static inline void fp64_matrix2x2_set_row2(const double c1, const double c2, fp6
|
|||
|
||||
// ================ Set Column 1 ================ //
|
||||
|
||||
static inline void fp32_matrix2x2_set_column1(const float r1, const float r2, fp32_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp32_set_column1(const float r1, const float r2, matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = r1;
|
||||
matrix->r2c1 = r2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_set_column1(const double r1, const double r2, fp64_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp64_set_column1(const double r1, const double r2, matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = r1;
|
||||
matrix->r2c1 = r2;
|
||||
|
@ -385,13 +385,13 @@ static inline void fp64_matrix2x2_set_column1(const double r1, const double r2,
|
|||
|
||||
// ================ Set Column 2 ================ //
|
||||
|
||||
static inline void fp32_matrix2x2_set_column2(const float r1, const float r2, fp32_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp32_set_column2(const float r1, const float r2, matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c2 = r1;
|
||||
matrix->r2c2 = r2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_set_column2(const double r1, const double r2, fp64_matrix2x2_t* matrix)
|
||||
inline void matrix2x2_fp64_set_column2(const double r1, const double r2, matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c2 = r1;
|
||||
matrix->r2c2 = r2;
|
||||
|
@ -399,7 +399,7 @@ static inline void fp64_matrix2x2_set_column2(const double r1, const double r2,
|
|||
|
||||
// ================ Append scaled =============== //
|
||||
|
||||
static inline void fp32_matrix2x2_append_scaled(fp32_matrix2x2_t* basic_vector, const fp32_matrix2x2_t* scalable_vector, const float scale)
|
||||
inline void matrix2x2_fp32_append_scaled(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;
|
||||
|
@ -408,7 +408,7 @@ static inline void fp32_matrix2x2_append_scaled(fp32_matrix2x2_t* basic_vector,
|
|||
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_append_scaled(fp64_matrix2x2_t* basic_vector, const fp64_matrix2x2_t* scalable_vector, const double scale)
|
||||
inline void matrix2x2_fp64_append_scaled(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;
|
||||
|
@ -419,7 +419,7 @@ static inline void fp64_matrix2x2_append_scaled(fp64_matrix2x2_t* basic_vector,
|
|||
|
||||
// ================== Addition ================== //
|
||||
|
||||
static inline void fp32_matrix2x2_add(const fp32_matrix2x2_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x2_t* sum)
|
||||
inline void matrix2x2_fp32_add(const matrix2x2_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x2_fp32_t* sum)
|
||||
{
|
||||
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
|
||||
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
|
||||
|
@ -428,7 +428,7 @@ static inline void fp32_matrix2x2_add(const fp32_matrix2x2_t* matrix1, const fp3
|
|||
sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_add(const fp64_matrix2x2_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x2_t* sum)
|
||||
inline void matrix2x2_fp64_add(const matrix2x2_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x2_fp64_t* sum)
|
||||
{
|
||||
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
|
||||
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
|
||||
|
@ -439,7 +439,7 @@ static inline void fp64_matrix2x2_add(const fp64_matrix2x2_t* matrix1, const fp6
|
|||
|
||||
// ================ Subtraction ================= //
|
||||
|
||||
static inline void fp32_matrix2x2_subtract(const fp32_matrix2x2_t* minuend, const fp32_matrix2x2_t* subtrahend, fp32_matrix2x2_t* difference)
|
||||
inline void matrix2x2_fp32_subtract(const matrix2x2_fp32_t* minuend, const matrix2x2_fp32_t* subtrahend, matrix2x2_fp32_t* difference)
|
||||
{
|
||||
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
|
||||
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
|
||||
|
@ -448,7 +448,7 @@ static inline void fp32_matrix2x2_subtract(const fp32_matrix2x2_t* minuend, cons
|
|||
difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_subtract(const fp64_matrix2x2_t* minuend, const fp64_matrix2x2_t* subtrahend, fp64_matrix2x2_t* difference)
|
||||
inline void matrix2x2_fp64_subtract(const matrix2x2_fp64_t* minuend, const matrix2x2_fp64_t* subtrahend, matrix2x2_fp64_t* difference)
|
||||
{
|
||||
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
|
||||
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
|
||||
|
@ -459,7 +459,7 @@ static inline void fp64_matrix2x2_subtract(const fp64_matrix2x2_t* minuend, cons
|
|||
|
||||
// =============== Multiplication =============== //
|
||||
|
||||
static inline void fp32_matrix2x2_multiply(const fp32_matrix2x2_t* multiplicand, const float multiplier, fp32_matrix2x2_t* product)
|
||||
inline void matrix2x2_fp32_multiply(const matrix2x2_fp32_t* multiplicand, const float multiplier, matrix2x2_fp32_t* product)
|
||||
{
|
||||
product->r1c1 = multiplicand->r1c1 * multiplier;
|
||||
product->r1c2 = multiplicand->r1c2 * multiplier;
|
||||
|
@ -468,7 +468,7 @@ static inline void fp32_matrix2x2_multiply(const fp32_matrix2x2_t* multiplicand,
|
|||
product->r2c2 = multiplicand->r2c2 * multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_multiply(const fp64_matrix2x2_t* multiplicand, const double multiplier, fp64_matrix2x2_t* product)
|
||||
inline void matrix2x2_fp64_multiply(const matrix2x2_fp64_t* multiplicand, const double multiplier, matrix2x2_fp64_t* product)
|
||||
{
|
||||
product->r1c1 = multiplicand->r1c1 * multiplier;
|
||||
product->r1c2 = multiplicand->r1c2 * multiplier;
|
||||
|
@ -479,19 +479,19 @@ static inline void fp64_matrix2x2_multiply(const fp64_matrix2x2_t* multiplicand,
|
|||
|
||||
// ================== Division ================== //
|
||||
|
||||
static inline void fp32_matrix2x2_divide(const fp32_matrix2x2_t* dividend, const float divisor, fp32_matrix2x2_t* quotient)
|
||||
inline void matrix2x2_fp32_divide(const matrix2x2_fp32_t* dividend, const float divisor, matrix2x2_fp32_t* quotient)
|
||||
{
|
||||
fp32_matrix2x2_multiply(dividend, 1.0f / divisor, quotient);
|
||||
matrix2x2_fp32_multiply(dividend, 1.0f / divisor, quotient);
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_divide(const fp64_matrix2x2_t* dividend, const double divisor, fp64_matrix2x2_t* quotient)
|
||||
inline void matrix2x2_fp64_divide(const matrix2x2_fp64_t* dividend, const double divisor, matrix2x2_fp64_t* quotient)
|
||||
{
|
||||
fp64_matrix2x2_multiply(dividend, 1.0 / divisor, quotient);
|
||||
matrix2x2_fp64_multiply(dividend, 1.0 / divisor, quotient);
|
||||
}
|
||||
|
||||
// ============ Left Vector Product ============= //
|
||||
|
||||
static inline void fp32_matrix2x2_left_product(const fp32_vector2_t* vector, const fp32_matrix2x2_t* matrix, fp32_vector2_t* result)
|
||||
inline void matrix2x2_fp32_left_product(const vector2_fp32_t* vector, const matrix2x2_fp32_t* matrix, vector2_fp32_t* result)
|
||||
{
|
||||
const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
|
||||
const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
|
||||
|
@ -500,7 +500,7 @@ static inline void fp32_matrix2x2_left_product(const fp32_vector2_t* vector, con
|
|||
result->x2 = x2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_left_product(const fp64_vector2_t* vector, const fp64_matrix2x2_t* matrix, fp64_vector2_t* result)
|
||||
inline void matrix2x2_fp64_left_product(const vector2_fp64_t* vector, const matrix2x2_fp64_t* matrix, vector2_fp64_t* result)
|
||||
{
|
||||
const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
|
||||
const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
|
||||
|
@ -511,7 +511,7 @@ static inline void fp64_matrix2x2_left_product(const fp64_vector2_t* vector, con
|
|||
|
||||
// ============ Right Vector Product ============ //
|
||||
|
||||
static inline void fp32_matrix2x2_right_product(const fp32_matrix2x2_t* matrix, const fp32_vector2_t* vector, fp32_vector2_t* result)
|
||||
inline void matrix2x2_fp32_right_product(const matrix2x2_fp32_t* matrix, const vector2_fp32_t* vector, vector2_fp32_t* result)
|
||||
{
|
||||
const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
|
||||
const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
|
||||
|
@ -520,7 +520,7 @@ static inline void fp32_matrix2x2_right_product(const fp32_matrix2x2_t* matrix,
|
|||
result->x2 = x2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x2_right_product(const fp64_matrix2x2_t* matrix, const fp64_vector2_t* vector, fp64_vector2_t* result)
|
||||
inline void matrix2x2_fp64_right_product(const matrix2x2_fp64_t* matrix, const vector2_fp64_t* vector, vector2_fp64_t* result)
|
||||
{
|
||||
const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
|
||||
const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
|
||||
|
|
|
@ -7,7 +7,7 @@
|
|||
|
||||
// =================== Reset ==================== //
|
||||
|
||||
static inline void fp32_matrix2x3_reset(fp32_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_reset_fp32(matrix2x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = 0.0f;
|
||||
matrix->r1c2 = 0.0f;
|
||||
|
@ -19,7 +19,7 @@ static inline void fp32_matrix2x3_reset(fp32_matrix2x3_t* matrix)
|
|||
matrix->r3c2 = 0.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_reset(fp64_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_reset_fp64(matrix2x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = 0.0;
|
||||
matrix->r1c2 = 0.0;
|
||||
|
@ -33,7 +33,7 @@ static inline void fp64_matrix2x3_reset(fp64_matrix2x3_t* matrix)
|
|||
|
||||
// ==================== Copy ==================== //
|
||||
|
||||
static inline void fp32_matrix2x3_copy(const fp32_matrix2x3_t* from, fp32_matrix2x3_t* to)
|
||||
inline void matrix2x3_copy_fp32(const matrix2x3_fp32_t* from, matrix2x3_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -45,7 +45,7 @@ static inline void fp32_matrix2x3_copy(const fp32_matrix2x3_t* from, fp32_matrix
|
|||
to->r3c2 = from->r3c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_copy(const fp64_matrix2x3_t* from, fp64_matrix2x3_t* to)
|
||||
inline void matrix2x3_copy_fp64(const matrix2x3_fp64_t* from, matrix2x3_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -59,7 +59,7 @@ static inline void fp64_matrix2x3_copy(const fp64_matrix2x3_t* from, fp64_matrix
|
|||
|
||||
// ==================== Swap ==================== //
|
||||
|
||||
static inline void fp32_matrix2x3_swap(fp32_matrix2x3_t* matrix1, fp32_matrix2x3_t* matrix2)
|
||||
inline void matrix2x3_swap_fp32(matrix2x3_fp32_t* matrix1, matrix2x3_fp32_t* matrix2)
|
||||
{
|
||||
const float r1c1 = matrix2->r1c1;
|
||||
const float r1c2 = matrix2->r1c2;
|
||||
|
@ -89,7 +89,7 @@ static inline void fp32_matrix2x3_swap(fp32_matrix2x3_t* matrix1, fp32_matrix2x3
|
|||
matrix1->r3c2 = r3c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_swap(fp64_matrix2x3_t* matrix1, fp64_matrix2x3_t* matrix2)
|
||||
inline void matrix2x3_swap_fp64(matrix2x3_fp64_t* matrix1, matrix2x3_fp64_t* matrix2)
|
||||
{
|
||||
const double r1c1 = matrix2->r1c1;
|
||||
const double r1c2 = matrix2->r1c2;
|
||||
|
@ -121,7 +121,7 @@ static inline void fp64_matrix2x3_swap(fp64_matrix2x3_t* matrix1, fp64_matrix2x3
|
|||
|
||||
// ============= Copy to twin type ============== //
|
||||
|
||||
static inline void fp32_matrix2x3_set_from_fp64(const fp64_matrix2x3_t* from, fp32_matrix2x3_t* to)
|
||||
inline void matrix2x3_fp32_set_from_fp64(const matrix2x3_fp64_t* from, matrix2x3_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = (float) from->r1c1;
|
||||
to->r1c2 = (float) from->r1c2;
|
||||
|
@ -133,7 +133,7 @@ static inline void fp32_matrix2x3_set_from_fp64(const fp64_matrix2x3_t* from, fp
|
|||
to->r3c2 = (float) from->r3c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_set_from_fp32(const fp32_matrix2x3_t* from, fp64_matrix2x3_t* to)
|
||||
inline void matrix2x3_fp64_set_from_fp32(const matrix2x3_fp32_t* from, matrix2x3_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -147,7 +147,7 @@ static inline void fp64_matrix2x3_set_from_fp32(const fp32_matrix2x3_t* from, fp
|
|||
|
||||
// =============== Set transposed =============== //
|
||||
|
||||
static inline void fp32_matrix2x3_set_transposed(const fp32_matrix3x2_t* from, fp32_matrix2x3_t* to)
|
||||
inline void matrix2x3_fp32_set_transposed(const matrix3x2_fp32_t* from, matrix2x3_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r2c1;
|
||||
|
@ -159,7 +159,7 @@ static inline void fp32_matrix2x3_set_transposed(const fp32_matrix3x2_t* from, f
|
|||
to->r3c2 = from->r2c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_set_transposed(const fp64_matrix3x2_t* from, fp64_matrix2x3_t* to)
|
||||
inline void matrix2x3_fp64_set_transposed(const matrix3x2_fp64_t* from, matrix2x3_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r2c1;
|
||||
|
@ -173,7 +173,7 @@ static inline void fp64_matrix2x3_set_transposed(const fp64_matrix3x2_t* from, f
|
|||
|
||||
// =============== Set transposed =============== //
|
||||
|
||||
static inline void fp32_matrix2x3_set_transposed_fp64(const fp64_matrix3x2_t* from, fp32_matrix2x3_t* to)
|
||||
inline void matrix2x3_fp32_set_transposed_fp64(const matrix3x2_fp64_t* from, matrix2x3_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = (float) from->r1c1;
|
||||
to->r1c2 = (float) from->r2c1;
|
||||
|
@ -185,7 +185,7 @@ static inline void fp32_matrix2x3_set_transposed_fp64(const fp64_matrix3x2_t* fr
|
|||
to->r3c2 = (float) from->r2c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_set_transposed_fp32(const fp32_matrix3x2_t* from, fp64_matrix2x3_t* to)
|
||||
inline void matrix2x3_fp64_set_transposed_fp32(const matrix3x2_fp32_t* from, matrix2x3_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r2c1;
|
||||
|
@ -199,13 +199,13 @@ static inline void fp64_matrix2x3_set_transposed_fp32(const fp32_matrix3x2_t* fr
|
|||
|
||||
// ================= Set Row 1 ================== //
|
||||
|
||||
static inline void fp32_matrix2x3_set_row1(const float c1, const float c2, fp32_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_fp32_set_row1(const float c1, const float c2, matrix2x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = c1;
|
||||
matrix->r1c2 = c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_set_row1(const double c1, const double c2, fp64_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_fp64_set_row1(const double c1, const double c2, matrix2x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = c1;
|
||||
matrix->r1c2 = c2;
|
||||
|
@ -213,13 +213,13 @@ static inline void fp64_matrix2x3_set_row1(const double c1, const double c2, fp6
|
|||
|
||||
// ================= Set Row 2 ================== //
|
||||
|
||||
static inline void fp32_matrix2x3_set_row2(const float c1, const float c2, fp32_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_fp32_set_row2(const float c1, const float c2, matrix2x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r2c1 = c1;
|
||||
matrix->r2c2 = c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_set_row2(const double c1, const double c2, fp64_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_fp64_set_row2(const double c1, const double c2, matrix2x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r2c1 = c1;
|
||||
matrix->r2c2 = c2;
|
||||
|
@ -227,13 +227,13 @@ static inline void fp64_matrix2x3_set_row2(const double c1, const double c2, fp6
|
|||
|
||||
// ================= Set Row 3 ================== //
|
||||
|
||||
static inline void fp32_matrix2x3_set_row3(const float c1, const float c2, fp32_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_fp32_set_row3(const float c1, const float c2, matrix2x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r3c1 = c1;
|
||||
matrix->r3c2 = c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_set_row3(const double c1, const double c2, fp64_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_fp64_set_row3(const double c1, const double c2, matrix2x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r3c1 = c1;
|
||||
matrix->r3c2 = c2;
|
||||
|
@ -241,14 +241,14 @@ static inline void fp64_matrix2x3_set_row3(const double c1, const double c2, fp6
|
|||
|
||||
// ================ Set Column 1 ================ //
|
||||
|
||||
static inline void fp32_matrix2x3_set_column1(const float r1, const float r2, const float r3, fp32_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_fp32_set_column1(const float r1, const float r2, const float r3, matrix2x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = r1;
|
||||
matrix->r2c1 = r2;
|
||||
matrix->r3c1 = r3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_set_column1(const double r1, const double r2, const double r3, fp64_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_fp64_set_column1(const double r1, const double r2, const double r3, matrix2x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = r1;
|
||||
matrix->r2c1 = r2;
|
||||
|
@ -257,14 +257,14 @@ static inline void fp64_matrix2x3_set_column1(const double r1, const double r2,
|
|||
|
||||
// ================ Set Column 2 ================ //
|
||||
|
||||
static inline void fp32_matrix2x3_set_column2(const float r1, const float r2, const float r3, fp32_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_fp32_set_column2(const float r1, const float r2, const float r3, matrix2x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c2 = r1;
|
||||
matrix->r2c2 = r2;
|
||||
matrix->r3c2 = r3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_set_column2(const double r1, const double r2, const double r3, fp64_matrix2x3_t* matrix)
|
||||
inline void matrix2x3_fp64_set_column2(const double r1, const double r2, const double r3, matrix2x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c2 = r1;
|
||||
matrix->r2c2 = r2;
|
||||
|
@ -273,7 +273,7 @@ static inline void fp64_matrix2x3_set_column2(const double r1, const double r2,
|
|||
|
||||
// ================ Append scaled =============== //
|
||||
|
||||
static inline void fp32_matrix2x3_append_scaled(fp32_matrix2x3_t* basic_vector, const fp32_matrix2x3_t* scalable_vector, const float scale)
|
||||
inline void matrix2x3_fp32_append_scaled(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;
|
||||
|
@ -285,7 +285,7 @@ static inline void fp32_matrix2x3_append_scaled(fp32_matrix2x3_t* basic_vector,
|
|||
basic_vector->r3c2 += scalable_vector->r3c2 * scale;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_append_scaled(fp64_matrix2x3_t* basic_vector, const fp64_matrix2x3_t* scalable_vector, const double scale)
|
||||
inline void matrix2x3_fp64_append_scaled(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;
|
||||
|
@ -299,7 +299,7 @@ static inline void fp64_matrix2x3_append_scaled(fp64_matrix2x3_t* basic_vector,
|
|||
|
||||
// ================== Addition ================== //
|
||||
|
||||
static inline void fp32_matrix2x3_add(const fp32_matrix2x3_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x3_t* sum)
|
||||
inline void matrix2x3_fp32_add(const matrix2x3_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x3_fp32_t* sum)
|
||||
{
|
||||
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
|
||||
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
|
||||
|
@ -311,7 +311,7 @@ static inline void fp32_matrix2x3_add(const fp32_matrix2x3_t* matrix1, const fp3
|
|||
sum->r3c2 = matrix1->r3c2 + matrix2->r3c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_add(const fp64_matrix2x3_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x3_t* sum)
|
||||
inline void matrix2x3_fp64_add(const matrix2x3_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x3_fp64_t* sum)
|
||||
{
|
||||
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
|
||||
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
|
||||
|
@ -325,7 +325,7 @@ static inline void fp64_matrix2x3_add(const fp64_matrix2x3_t* matrix1, const fp6
|
|||
|
||||
// ================ Subtraction ================= //
|
||||
|
||||
static inline void fp32_matrix2x3_subtract(const fp32_matrix2x3_t* minuend, const fp32_matrix2x3_t* subtrahend, fp32_matrix2x3_t* difference)
|
||||
inline void matrix2x3_fp32_subtract(const matrix2x3_fp32_t* minuend, const matrix2x3_fp32_t* subtrahend, matrix2x3_fp32_t* difference)
|
||||
{
|
||||
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
|
||||
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
|
||||
|
@ -337,7 +337,7 @@ static inline void fp32_matrix2x3_subtract(const fp32_matrix2x3_t* minuend, cons
|
|||
difference->r3c2 = minuend->r3c2 - subtrahend->r3c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_subtract(const fp64_matrix2x3_t* minuend, const fp64_matrix2x3_t* subtrahend, fp64_matrix2x3_t* difference)
|
||||
inline void matrix2x3_fp64_subtract(const matrix2x3_fp64_t* minuend, const matrix2x3_fp64_t* subtrahend, matrix2x3_fp64_t* difference)
|
||||
{
|
||||
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
|
||||
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
|
||||
|
@ -351,7 +351,7 @@ static inline void fp64_matrix2x3_subtract(const fp64_matrix2x3_t* minuend, cons
|
|||
|
||||
// =============== Multiplication =============== //
|
||||
|
||||
static inline void fp32_matrix2x3_multiply(const fp32_matrix2x3_t* multiplicand, const float multiplier, fp32_matrix2x3_t* product)
|
||||
inline void matrix2x3_fp32_multiply(const matrix2x3_fp32_t* multiplicand, const float multiplier, matrix2x3_fp32_t* product)
|
||||
{
|
||||
product->r1c1 = multiplicand->r1c1 * multiplier;
|
||||
product->r1c2 = multiplicand->r1c2 * multiplier;
|
||||
|
@ -363,7 +363,7 @@ static inline void fp32_matrix2x3_multiply(const fp32_matrix2x3_t* multiplicand,
|
|||
product->r3c2 = multiplicand->r3c2 * multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_multiply(const fp64_matrix2x3_t* multiplicand, const double multiplier, fp64_matrix2x3_t* product)
|
||||
inline void matrix2x3_fp64_multiply(const matrix2x3_fp64_t* multiplicand, const double multiplier, matrix2x3_fp64_t* product)
|
||||
{
|
||||
product->r1c1 = multiplicand->r1c1 * multiplier;
|
||||
product->r1c2 = multiplicand->r1c2 * multiplier;
|
||||
|
@ -377,25 +377,25 @@ static inline void fp64_matrix2x3_multiply(const fp64_matrix2x3_t* multiplicand,
|
|||
|
||||
// ================== Division ================== //
|
||||
|
||||
static inline void fp32_matrix2x3_divide(const fp32_matrix2x3_t* dividend, const float divisor, fp32_matrix2x3_t* quotient)
|
||||
inline void matrix2x3_fp32_divide(const matrix2x3_fp32_t* dividend, const float divisor, matrix2x3_fp32_t* quotient)
|
||||
{
|
||||
fp32_matrix2x3_multiply(dividend, 1.0f / divisor, quotient);
|
||||
matrix2x3_fp32_multiply(dividend, 1.0f / divisor, quotient);
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_divide(const fp64_matrix2x3_t* dividend, const double divisor, fp64_matrix2x3_t* quotient)
|
||||
inline void matrix2x3_fp64_divide(const matrix2x3_fp64_t* dividend, const double divisor, matrix2x3_fp64_t* quotient)
|
||||
{
|
||||
fp64_matrix2x3_multiply(dividend, 1.0 / divisor, quotient);
|
||||
matrix2x3_fp64_multiply(dividend, 1.0 / divisor, quotient);
|
||||
}
|
||||
|
||||
// ============ Left Vector Product ============= //
|
||||
|
||||
static inline void fp32_matrix2x3_left_product(const fp32_vector3_t* vector, const fp32_matrix2x3_t* matrix, fp32_vector2_t* result)
|
||||
inline void matrix2x3_fp32_left_product(const vector3_fp32_t* vector, const matrix2x3_fp32_t* matrix, vector2_fp32_t* result)
|
||||
{
|
||||
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;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_left_product(const fp64_vector3_t* vector, const fp64_matrix2x3_t* matrix, fp64_vector2_t* result)
|
||||
inline void matrix2x3_fp64_left_product(const vector3_fp64_t* vector, const matrix2x3_fp64_t* matrix, vector2_fp64_t* result)
|
||||
{
|
||||
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;
|
||||
|
@ -403,14 +403,14 @@ static inline void fp64_matrix2x3_left_product(const fp64_vector3_t* vector, con
|
|||
|
||||
// ============ Right Vector Product ============ //
|
||||
|
||||
static inline void fp32_matrix2x3_right_product(const fp32_matrix2x3_t* matrix, const fp32_vector2_t* vector, fp32_vector3_t* result)
|
||||
inline void matrix2x3_fp32_right_product(const matrix2x3_fp32_t* matrix, const vector2_fp32_t* vector, vector3_fp32_t* result)
|
||||
{
|
||||
result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
|
||||
result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
|
||||
result->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix2x3_right_product(const fp64_matrix2x3_t* matrix, const fp64_vector2_t* vector, fp64_vector3_t* result)
|
||||
inline void matrix2x3_fp64_right_product(const matrix2x3_fp64_t* matrix, const vector2_fp64_t* vector, vector3_fp64_t* result)
|
||||
{
|
||||
result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
|
||||
result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
|
||||
|
|
|
@ -7,7 +7,7 @@
|
|||
|
||||
// =================== Reset ==================== //
|
||||
|
||||
static inline void fp32_matrix3x2_reset(fp32_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_reset_fp32(matrix3x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = 0.0f;
|
||||
matrix->r1c2 = 0.0f;
|
||||
|
@ -18,7 +18,7 @@ static inline void fp32_matrix3x2_reset(fp32_matrix3x2_t* matrix)
|
|||
matrix->r2c3 = 0.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_reset(fp64_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_reset_fp64(matrix3x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = 0.0;
|
||||
matrix->r1c2 = 0.0;
|
||||
|
@ -31,7 +31,7 @@ static inline void fp64_matrix3x2_reset(fp64_matrix3x2_t* matrix)
|
|||
|
||||
// ==================== Copy ==================== //
|
||||
|
||||
static inline void fp32_matrix3x2_copy(const fp32_matrix3x2_t* from, fp32_matrix3x2_t* to)
|
||||
inline void matrix3x2_copy_fp32(const matrix3x2_fp32_t* from, matrix3x2_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -42,7 +42,7 @@ static inline void fp32_matrix3x2_copy(const fp32_matrix3x2_t* from, fp32_matrix
|
|||
to->r2c3 = from->r2c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_copy(const fp64_matrix3x2_t* from, fp64_matrix3x2_t* to)
|
||||
inline void matrix3x2_copy_fp64(const matrix3x2_fp64_t* from, matrix3x2_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -55,7 +55,7 @@ static inline void fp64_matrix3x2_copy(const fp64_matrix3x2_t* from, fp64_matrix
|
|||
|
||||
// ==================== Swap ==================== //
|
||||
|
||||
static inline void fp32_matrix3x2_swap(fp32_matrix3x2_t* matrix1, fp32_matrix3x2_t* matrix2)
|
||||
inline void matrix3x2_swap_fp32(matrix3x2_fp32_t* matrix1, matrix3x2_fp32_t* matrix2)
|
||||
{
|
||||
const float r1c1 = matrix2->r1c1;
|
||||
const float r1c2 = matrix2->r1c2;
|
||||
|
@ -82,7 +82,7 @@ static inline void fp32_matrix3x2_swap(fp32_matrix3x2_t* matrix1, fp32_matrix3x2
|
|||
matrix1->r2c3 = r2c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_swap(fp64_matrix3x2_t* matrix1, fp64_matrix3x2_t* matrix2)
|
||||
inline void matrix3x2_swap_fp64(matrix3x2_fp64_t* matrix1, matrix3x2_fp64_t* matrix2)
|
||||
{
|
||||
const double r1c1 = matrix2->r1c1;
|
||||
const double r1c2 = matrix2->r1c2;
|
||||
|
@ -111,7 +111,7 @@ static inline void fp64_matrix3x2_swap(fp64_matrix3x2_t* matrix1, fp64_matrix3x2
|
|||
|
||||
// ============= Set from twin type ============= //
|
||||
|
||||
static inline void fp32_matrix3x2_set_from_fp64(const fp64_matrix3x2_t* from, fp32_matrix3x2_t* to)
|
||||
inline void matrix3x2_fp32_set_from_fp64(const matrix3x2_fp64_t* from, matrix3x2_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = (float) from->r1c1;
|
||||
to->r1c2 = (float) from->r1c2;
|
||||
|
@ -122,7 +122,7 @@ static inline void fp32_matrix3x2_set_from_fp64(const fp64_matrix3x2_t* from, fp
|
|||
to->r2c3 = (float) from->r2c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_set_from_fp32(const fp32_matrix3x2_t* from, fp64_matrix3x2_t* to)
|
||||
inline void matrix3x2_fp64_set_from_fp32(const matrix3x2_fp32_t* from, matrix3x2_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -135,7 +135,7 @@ static inline void fp64_matrix3x2_set_from_fp32(const fp32_matrix3x2_t* from, fp
|
|||
|
||||
// =============== Set transposed =============== //
|
||||
|
||||
static inline void fp32_matrix3x2_set_transposed(const fp32_matrix2x3_t* from, fp32_matrix3x2_t* to)
|
||||
inline void matrix3x2_fp32_set_transposed(const matrix2x3_fp32_t* from, matrix3x2_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r2c1;
|
||||
|
@ -146,7 +146,7 @@ static inline void fp32_matrix3x2_set_transposed(const fp32_matrix2x3_t* from, f
|
|||
to->r2c3 = from->r3c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_set_transposed(const fp64_matrix2x3_t* from, fp64_matrix3x2_t* to)
|
||||
inline void matrix3x2_fp64_set_transposed(const matrix2x3_fp64_t* from, matrix3x2_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r2c1;
|
||||
|
@ -159,7 +159,7 @@ static inline void fp64_matrix3x2_set_transposed(const fp64_matrix2x3_t* from, f
|
|||
|
||||
// =============== Set transposed =============== //
|
||||
|
||||
static inline void fp32_matrix3x2_set_transposed_fp64(const fp64_matrix2x3_t* from, fp32_matrix3x2_t* to)
|
||||
inline void matrix3x2_fp32_set_transposed_fp64(const matrix2x3_fp64_t* from, matrix3x2_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = (float) from->r1c1;
|
||||
to->r1c2 = (float) from->r2c1;
|
||||
|
@ -170,7 +170,7 @@ static inline void fp32_matrix3x2_set_transposed_fp64(const fp64_matrix2x3_t* fr
|
|||
to->r2c3 = (float) from->r3c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_set_transposed_fp32(const fp32_matrix2x3_t* from, fp64_matrix3x2_t* to)
|
||||
inline void matrix3x2_fp64_set_transposed_fp32(const matrix2x3_fp32_t* from, matrix3x2_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r2c1;
|
||||
|
@ -183,14 +183,14 @@ static inline void fp64_matrix3x2_set_transposed_fp32(const fp32_matrix2x3_t* fr
|
|||
|
||||
// ================= Set Row 1 ================== //
|
||||
|
||||
static inline void fp32_matrix3x2_set_row1(const float c1, const float c2, const float c3, fp32_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_fp32_set_row1(const float c1, const float c2, const float c3, matrix3x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = c1;
|
||||
matrix->r1c2 = c2;
|
||||
matrix->r1c3 = c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_set_row1(const double c1, const double c2, const double c3, fp64_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_fp64_set_row1(const double c1, const double c2, const double c3, matrix3x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = c1;
|
||||
matrix->r1c2 = c2;
|
||||
|
@ -199,14 +199,14 @@ static inline void fp64_matrix3x2_set_row1(const double c1, const double c2, con
|
|||
|
||||
// ================= Set Row 2 ================== //
|
||||
|
||||
static inline void fp32_matrix3x2_set_row2(const float c1, const float c2, const float c3, fp32_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_fp32_set_row2(const float c1, const float c2, const float c3, matrix3x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r2c1 = c1;
|
||||
matrix->r2c2 = c2;
|
||||
matrix->r2c3 = c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_set_row2(const double c1, const double c2, const double c3, fp64_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_fp64_set_row2(const double c1, const double c2, const double c3, matrix3x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r2c1 = c1;
|
||||
matrix->r2c2 = c2;
|
||||
|
@ -215,13 +215,13 @@ static inline void fp64_matrix3x2_set_row2(const double c1, const double c2, con
|
|||
|
||||
// ================ Set Column 1 ================ //
|
||||
|
||||
static inline void fp32_matrix3x2_set_column1(const float r1, const float r2, fp32_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_fp32_set_column1(const float r1, const float r2, matrix3x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = r1;
|
||||
matrix->r2c1 = r2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_set_column1(const double r1, const double r2, fp64_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_fp64_set_column1(const double r1, const double r2, matrix3x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = r1;
|
||||
matrix->r2c1 = r2;
|
||||
|
@ -229,13 +229,13 @@ static inline void fp64_matrix3x2_set_column1(const double r1, const double r2,
|
|||
|
||||
// ================ Set Column 2 ================ //
|
||||
|
||||
static inline void fp32_matrix3x2_set_column2(const float r1, const float r2, fp32_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_fp32_set_column2(const float r1, const float r2, matrix3x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c2 = r1;
|
||||
matrix->r2c2 = r2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_set_column2(const double r1, const double r2, fp64_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_fp64_set_column2(const double r1, const double r2, matrix3x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c2 = r1;
|
||||
matrix->r2c2 = r2;
|
||||
|
@ -243,13 +243,13 @@ static inline void fp64_matrix3x2_set_column2(const double r1, const double r2,
|
|||
|
||||
// ================ Set Column 3 ================ //
|
||||
|
||||
static inline void fp32_matrix3x2_set_column3(const float r1, const float r2, fp32_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_fp32_set_column3(const float r1, const float r2, matrix3x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c3 = r1;
|
||||
matrix->r2c3 = r2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_set_column3(const double r1, const double r2, fp64_matrix3x2_t* matrix)
|
||||
inline void matrix3x2_fp64_set_column3(const double r1, const double r2, matrix3x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c3 = r1;
|
||||
matrix->r2c3 = r2;
|
||||
|
@ -257,7 +257,7 @@ static inline void fp64_matrix3x2_set_column3(const double r1, const double r2,
|
|||
|
||||
// ================ Append scaled =============== //
|
||||
|
||||
static inline void fp32_matrix3x2_append_scaled(fp32_matrix3x2_t* basic_vector, const fp32_matrix3x2_t* scalable_vector, const float scale)
|
||||
inline void matrix3x2_fp32_append_scaled(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;
|
||||
|
@ -268,7 +268,7 @@ static inline void fp32_matrix3x2_append_scaled(fp32_matrix3x2_t* basic_vector,
|
|||
basic_vector->r2c3 += scalable_vector->r2c3 * scale;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_append_scaled(fp64_matrix3x2_t* basic_vector, const fp64_matrix3x2_t* scalable_vector, const double scale)
|
||||
inline void matrix3x2_fp64_append_scaled(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;
|
||||
|
@ -281,7 +281,7 @@ static inline void fp64_matrix3x2_append_scaled(fp64_matrix3x2_t* basic_vector,
|
|||
|
||||
// ================== Addition ================== //
|
||||
|
||||
static inline void fp32_matrix3x2_add(const fp32_matrix3x2_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x2_t* sum)
|
||||
inline void matrix3x2_fp32_add(const matrix3x2_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x2_fp32_t* sum)
|
||||
{
|
||||
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
|
||||
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
|
||||
|
@ -292,7 +292,7 @@ static inline void fp32_matrix3x2_add(const fp32_matrix3x2_t* matrix1, const fp3
|
|||
sum->r2c3 = matrix1->r2c3 + matrix2->r2c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_add(const fp64_matrix3x2_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x2_t* sum)
|
||||
inline void matrix3x2_fp64_add(const matrix3x2_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x2_fp64_t* sum)
|
||||
{
|
||||
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
|
||||
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
|
||||
|
@ -305,7 +305,7 @@ static inline void fp64_matrix3x2_add(const fp64_matrix3x2_t* matrix1, const fp6
|
|||
|
||||
// ================ Subtraction ================= //
|
||||
|
||||
static inline void fp32_matrix3x2_subtract(const fp32_matrix3x2_t* minuend, const fp32_matrix3x2_t* subtrahend, fp32_matrix3x2_t* difference)
|
||||
inline void matrix3x2_fp32_subtract(const matrix3x2_fp32_t* minuend, const matrix3x2_fp32_t* subtrahend, matrix3x2_fp32_t* difference)
|
||||
{
|
||||
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
|
||||
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
|
||||
|
@ -316,7 +316,7 @@ static inline void fp32_matrix3x2_subtract(const fp32_matrix3x2_t* minuend, cons
|
|||
difference->r2c3 = minuend->r2c3 - subtrahend->r2c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_subtract(const fp64_matrix3x2_t* minuend, const fp64_matrix3x2_t* subtrahend, fp64_matrix3x2_t* difference)
|
||||
inline void matrix3x2_fp64_subtract(const matrix3x2_fp64_t* minuend, const matrix3x2_fp64_t* subtrahend, matrix3x2_fp64_t* difference)
|
||||
{
|
||||
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
|
||||
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
|
||||
|
@ -329,7 +329,7 @@ static inline void fp64_matrix3x2_subtract(const fp64_matrix3x2_t* minuend, cons
|
|||
|
||||
// =============== Multiplication =============== //
|
||||
|
||||
static inline void fp32_matrix3x2_multiply(const fp32_matrix3x2_t* multiplicand, const float multiplier, fp32_matrix3x2_t* product)
|
||||
inline void matrix3x2_fp32_multiply(const matrix3x2_fp32_t* multiplicand, const float multiplier, matrix3x2_fp32_t* product)
|
||||
{
|
||||
product->r1c1 = multiplicand->r1c1 * multiplier;
|
||||
product->r1c2 = multiplicand->r1c2 * multiplier;
|
||||
|
@ -340,7 +340,7 @@ static inline void fp32_matrix3x2_multiply(const fp32_matrix3x2_t* multiplicand,
|
|||
product->r2c3 = multiplicand->r2c3 * multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_multiply(const fp64_matrix3x2_t* multiplicand, const double multiplier, fp64_matrix3x2_t* product)
|
||||
inline void matrix3x2_fp64_multiply(const matrix3x2_fp64_t* multiplicand, const double multiplier, matrix3x2_fp64_t* product)
|
||||
{
|
||||
product->r1c1 = multiplicand->r1c1 * multiplier;
|
||||
product->r1c2 = multiplicand->r1c2 * multiplier;
|
||||
|
@ -353,26 +353,26 @@ static inline void fp64_matrix3x2_multiply(const fp64_matrix3x2_t* multiplicand,
|
|||
|
||||
// ================== Division ================== //
|
||||
|
||||
static inline void fp32_matrix3x2_divide(const fp32_matrix3x2_t* dividend, const float divisor, fp32_matrix3x2_t* quotient)
|
||||
inline void matrix3x2_fp32_divide(const matrix3x2_fp32_t* dividend, const float divisor, matrix3x2_fp32_t* quotient)
|
||||
{
|
||||
fp32_matrix3x2_multiply(dividend, 1.0f / divisor, quotient);
|
||||
matrix3x2_fp32_multiply(dividend, 1.0f / divisor, quotient);
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_divide(const fp64_matrix3x2_t* dividend, const double divisor, fp64_matrix3x2_t* quotient)
|
||||
inline void matrix3x2_fp64_divide(const matrix3x2_fp64_t* dividend, const double divisor, matrix3x2_fp64_t* quotient)
|
||||
{
|
||||
fp64_matrix3x2_multiply(dividend, 1.0 / divisor, quotient);
|
||||
matrix3x2_fp64_multiply(dividend, 1.0 / divisor, quotient);
|
||||
}
|
||||
|
||||
// ============ Left Vector Product ============= //
|
||||
|
||||
static inline void fp32_matrix3x2_left_product(const fp32_vector2_t* vector, const fp32_matrix3x2_t* matrix, fp32_vector3_t* result)
|
||||
inline void matrix3x2_fp32_left_product(const vector2_fp32_t* vector, const matrix3x2_fp32_t* matrix, vector3_fp32_t* result)
|
||||
{
|
||||
result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
|
||||
result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
|
||||
result->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_left_product(const fp64_vector2_t* vector, const fp64_matrix3x2_t* matrix, fp64_vector3_t* result)
|
||||
inline void matrix3x2_fp64_left_product(const vector2_fp64_t* vector, const matrix3x2_fp64_t* matrix, vector3_fp64_t* result)
|
||||
{
|
||||
result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
|
||||
result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
|
||||
|
@ -381,13 +381,13 @@ static inline void fp64_matrix3x2_left_product(const fp64_vector2_t* vector, con
|
|||
|
||||
// ============ Right Vector Product ============ //
|
||||
|
||||
static inline void fp32_matrix3x2_right_product(const fp32_matrix3x2_t* matrix, const fp32_vector3_t* vector, fp32_vector2_t* result)
|
||||
inline void matrix3x2_fp32_right_product(const matrix3x2_fp32_t* matrix, const vector3_fp32_t* vector, vector2_fp32_t* result)
|
||||
{
|
||||
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;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x2_right_product(const fp64_matrix3x2_t* matrix, const fp64_vector3_t* vector, fp64_vector2_t* result)
|
||||
inline void matrix3x2_fp64_right_product(const matrix3x2_fp64_t* matrix, const vector3_fp64_t* vector, vector2_fp64_t* result)
|
||||
{
|
||||
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;
|
||||
|
|
|
@ -2,9 +2,9 @@
|
|||
|
||||
// ================= Inversion ================== //
|
||||
|
||||
int fp32_matrix3x3_invert(fp32_matrix3x3_t* matrix)
|
||||
int matrix3x3_invert_fp32(matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
const float determinant = fp32_matrix3x3_get_determinant(matrix);
|
||||
const float determinant = matrix3x3_fp32_get_determinant(matrix);
|
||||
|
||||
if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
|
||||
return 0;
|
||||
|
@ -39,9 +39,9 @@ int fp32_matrix3x3_invert(fp32_matrix3x3_t* matrix)
|
|||
return 1;
|
||||
}
|
||||
|
||||
int fp64_matrix3x3_invert(fp64_matrix3x3_t* matrix)
|
||||
int matrix3x3_invert_fp64(matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
const double determinant = fp64_matrix3x3_get_determinant(matrix);
|
||||
const double determinant = matrix3x3_fp64_get_determinant(matrix);
|
||||
|
||||
if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
|
||||
return 0;
|
||||
|
@ -78,9 +78,9 @@ int fp64_matrix3x3_invert(fp64_matrix3x3_t* matrix)
|
|||
|
||||
// ================ Make Inverted =============== //
|
||||
|
||||
int fp32_matrix3x3_set_inverted(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result)
|
||||
int matrix3x3_fp32_set_inverted(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result)
|
||||
{
|
||||
const float determinant = fp32_matrix3x3_get_determinant(matrix);
|
||||
const float determinant = matrix3x3_fp32_get_determinant(matrix);
|
||||
|
||||
if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
|
||||
return 0;
|
||||
|
@ -115,9 +115,9 @@ int fp32_matrix3x3_set_inverted(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t
|
|||
return 1;
|
||||
}
|
||||
|
||||
int fp64_matrix3x3_set_inverted(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result)
|
||||
int matrix3x3_fp64_set_inverted(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result)
|
||||
{
|
||||
const double determinant = fp64_matrix3x3_get_determinant(matrix);
|
||||
const double determinant = matrix3x3_fp64_get_determinant(matrix);
|
||||
|
||||
if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
|
||||
return 0;
|
||||
|
|
|
@ -6,7 +6,7 @@
|
|||
|
||||
// =================== Reset ==================== //
|
||||
|
||||
static inline void fp32_matrix3x3_reset(fp32_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_reset_fp32(matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = 0.0f;
|
||||
matrix->r1c2 = 0.0f;
|
||||
|
@ -21,7 +21,7 @@ static inline void fp32_matrix3x3_reset(fp32_matrix3x3_t* matrix)
|
|||
matrix->r3c3 = 0.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_reset(fp64_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_reset_fp64(matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = 0.0;
|
||||
matrix->r1c2 = 0.0;
|
||||
|
@ -38,7 +38,7 @@ static inline void fp64_matrix3x3_reset(fp64_matrix3x3_t* matrix)
|
|||
|
||||
// ================== Identity ================== //
|
||||
|
||||
static inline void fp32_matrix3x3_set_to_identity(fp32_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp32_set_to_identity(matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = 1.0f;
|
||||
matrix->r1c2 = 0.0f;
|
||||
|
@ -53,7 +53,7 @@ static inline void fp32_matrix3x3_set_to_identity(fp32_matrix3x3_t* matrix)
|
|||
matrix->r3c3 = 1.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_set_to_identity(fp64_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp64_set_to_identity(matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = 1.0;
|
||||
matrix->r1c2 = 0.0;
|
||||
|
@ -70,7 +70,7 @@ static inline void fp64_matrix3x3_set_to_identity(fp64_matrix3x3_t* matrix)
|
|||
|
||||
// ================ Make Diagonal =============== //
|
||||
|
||||
static inline void fp32_matrix3x3_set_to_diagonal(const float d1, const float d2, const float d3, fp32_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp32_set_to_diagonal(const float d1, const float d2, const float d3, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = d1;
|
||||
matrix->r1c2 = 0.0f;
|
||||
|
@ -85,7 +85,7 @@ static inline void fp32_matrix3x3_set_to_diagonal(const float d1, const float d2
|
|||
matrix->r3c3 = d2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_set_to_diagonal(const double d1, const double d2, const double d3, fp64_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp64_set_to_diagonal(const double d1, const double d2, const double d3, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = d1;
|
||||
matrix->r1c2 = 0.0;
|
||||
|
@ -102,7 +102,7 @@ static inline void fp64_matrix3x3_set_to_diagonal(const double d1, const double
|
|||
|
||||
// ==================== Copy ==================== //
|
||||
|
||||
static inline void fp32_matrix3x3_copy(const fp32_matrix3x3_t* from, fp32_matrix3x3_t* to)
|
||||
inline void matrix3x3_copy_fp32(const matrix3x3_fp32_t* from, matrix3x3_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -117,7 +117,7 @@ static inline void fp32_matrix3x3_copy(const fp32_matrix3x3_t* from, fp32_matrix
|
|||
to->r3c3 = from->r3c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_copy(const fp64_matrix3x3_t* from, fp64_matrix3x3_t* to)
|
||||
inline void matrix3x3_copy_fp64(const matrix3x3_fp64_t* from, matrix3x3_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -134,7 +134,7 @@ static inline void fp64_matrix3x3_copy(const fp64_matrix3x3_t* from, fp64_matrix
|
|||
|
||||
// ==================== Swap ==================== //
|
||||
|
||||
static inline void fp32_matrix3x3_swap(fp32_matrix3x3_t* matrix1, fp32_matrix3x3_t* matrix2)
|
||||
inline void matrix3x3_swap_fp32(matrix3x3_fp32_t* matrix1, matrix3x3_fp32_t* matrix2)
|
||||
{
|
||||
const float r1c1 = matrix2->r1c1;
|
||||
const float r1c2 = matrix2->r1c2;
|
||||
|
@ -173,7 +173,7 @@ static inline void fp32_matrix3x3_swap(fp32_matrix3x3_t* matrix1, fp32_matrix3x3
|
|||
matrix1->r3c3 = r3c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_swap(fp64_matrix3x3_t* matrix1, fp64_matrix3x3_t* matrix2)
|
||||
inline void matrix3x3_swap_fp64(matrix3x3_fp64_t* matrix1, matrix3x3_fp64_t* matrix2)
|
||||
{
|
||||
const double r1c1 = matrix2->r1c1;
|
||||
const double r1c2 = matrix2->r1c2;
|
||||
|
@ -214,7 +214,7 @@ static inline void fp64_matrix3x3_swap(fp64_matrix3x3_t* matrix1, fp64_matrix3x3
|
|||
|
||||
// ============= Set from twin type ============= //
|
||||
|
||||
static inline void fp32_matrix3x3_set_from_fp64(const fp64_matrix3x3_t* from, fp32_matrix3x3_t* to)
|
||||
inline void matrix3x3_fp32_set_from_fp64(const matrix3x3_fp64_t* from, matrix3x3_fp32_t* to)
|
||||
{
|
||||
to->r1c1 = (float) from->r1c1;
|
||||
to->r1c2 = (float) from->r1c2;
|
||||
|
@ -229,7 +229,7 @@ static inline void fp32_matrix3x3_set_from_fp64(const fp64_matrix3x3_t* from, fp
|
|||
to->r3c3 = (float) from->r3c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_set_from_fp32(const fp32_matrix3x3_t* from, fp64_matrix3x3_t* to)
|
||||
inline void matrix3x3_fp64_set_from_fp32(const matrix3x3_fp32_t* from, matrix3x3_fp64_t* to)
|
||||
{
|
||||
to->r1c1 = from->r1c1;
|
||||
to->r1c2 = from->r1c2;
|
||||
|
@ -246,14 +246,14 @@ static inline void fp64_matrix3x3_set_from_fp32(const fp32_matrix3x3_t* from, fp
|
|||
|
||||
// ================ Determinant ================= //
|
||||
|
||||
static inline float fp32_matrix3x3_get_determinant(const fp32_matrix3x3_t* matrix)
|
||||
inline float matrix3x3_fp32_get_determinant(const matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
|
||||
+ matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
|
||||
+ matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1);
|
||||
}
|
||||
|
||||
static inline double fp64_matrix3x3_get_determinant(const fp64_matrix3x3_t* matrix)
|
||||
inline double matrix3x3_fp64_get_determinant(const matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
|
||||
+ matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
|
||||
|
@ -262,29 +262,29 @@ static inline double fp64_matrix3x3_get_determinant(const fp64_matrix3x3_t* matr
|
|||
|
||||
// ================== Singular ================== //
|
||||
|
||||
static inline int fp32_matrix3x3_is_singular(const fp32_matrix3x3_t* matrix)
|
||||
inline int matrix3x3_fp32_is_singular(const matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
const float determinant = fp32_matrix3x3_get_determinant(matrix);
|
||||
const float determinant = matrix3x3_fp32_get_determinant(matrix);
|
||||
|
||||
return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON;
|
||||
}
|
||||
|
||||
static inline int fp64_matrix3x3_is_singular(const fp64_matrix3x3_t* matrix)
|
||||
inline int matrix3x3_fp64_is_singular(const matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
const double determinant = fp64_matrix3x3_get_determinant(matrix);
|
||||
const double determinant = matrix3x3_fp64_get_determinant(matrix);
|
||||
|
||||
return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON;
|
||||
}
|
||||
|
||||
// ================= Inversion ================== //
|
||||
|
||||
int fp32_matrix3x3_invert(fp32_matrix3x3_t* matrix);
|
||||
int matrix3x3_invert_fp32(matrix3x3_fp32_t* matrix);
|
||||
|
||||
int fp64_matrix3x3_invert(fp64_matrix3x3_t* matrix);
|
||||
int matrix3x3_invert_fp64(matrix3x3_fp64_t* matrix);
|
||||
|
||||
// =============== Transposition ================ //
|
||||
|
||||
static inline void fp32_matrix3x3_transpose(fp32_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp32_transpose(matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
float tmp = matrix->r1c2;
|
||||
matrix->r1c2 = matrix->r2c1;
|
||||
|
@ -299,7 +299,7 @@ static inline void fp32_matrix3x3_transpose(fp32_matrix3x3_t* matrix)
|
|||
matrix->r3c2 = tmp;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_transpose(fp64_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp64_transpose(matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
double tmp = matrix->r1c2;
|
||||
matrix->r1c2 = matrix->r2c1;
|
||||
|
@ -316,16 +316,16 @@ static inline void fp64_matrix3x3_transpose(fp64_matrix3x3_t* matrix)
|
|||
|
||||
// ================ Make Inverted =============== //
|
||||
|
||||
int fp32_matrix3x3_set_inverted(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result);
|
||||
int matrix3x3_fp32_set_inverted(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result);
|
||||
|
||||
int fp64_matrix3x3_set_inverted(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result);
|
||||
int matrix3x3_fp64_set_inverted(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result);
|
||||
|
||||
// =============== Make Transposed ============== //
|
||||
|
||||
static inline void fp32_matrix3x3_set_transposed(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result)
|
||||
inline void matrix3x3_fp32_set_transposed(const matrix3x3_fp32_t* matrix, matrix3x3_fp32_t* result)
|
||||
{
|
||||
if (matrix == result) {
|
||||
fp32_matrix3x3_transpose(result);
|
||||
matrix3x3_fp32_transpose(result);
|
||||
return;
|
||||
}
|
||||
|
||||
|
@ -342,10 +342,10 @@ static inline void fp32_matrix3x3_set_transposed(const fp32_matrix3x3_t* matrix,
|
|||
result->r3c3 = matrix->r3c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_set_transposed(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result)
|
||||
inline void matrix3x3_fp64_set_transposed(const matrix3x3_fp64_t* matrix, matrix3x3_fp64_t* result)
|
||||
{
|
||||
if (matrix == result) {
|
||||
fp64_matrix3x3_transpose(result);
|
||||
matrix3x3_fp64_transpose(result);
|
||||
return;
|
||||
}
|
||||
|
||||
|
@ -364,14 +364,14 @@ static inline void fp64_matrix3x3_set_transposed(const fp64_matrix3x3_t* matrix,
|
|||
|
||||
// ================= Set Row 1 ================== //
|
||||
|
||||
static inline void fp32_matrix3x3_set_row1(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp32_set_row1(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = c1;
|
||||
matrix->r1c2 = c2;
|
||||
matrix->r1c3 = c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_set_row1(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp64_set_row1(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = c1;
|
||||
matrix->r1c2 = c2;
|
||||
|
@ -380,14 +380,14 @@ static inline void fp64_matrix3x3_set_row1(const double c1, const double c2, con
|
|||
|
||||
// ================= Set Row 2 ================== //
|
||||
|
||||
static inline void fp32_matrix3x3_set_row2(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp32_set_row2(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r2c1 = c1;
|
||||
matrix->r2c2 = c2;
|
||||
matrix->r2c3 = c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_set_row2(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp64_set_row2(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r2c1 = c1;
|
||||
matrix->r2c2 = c2;
|
||||
|
@ -396,14 +396,14 @@ static inline void fp64_matrix3x3_set_row2(const double c1, const double c2, con
|
|||
|
||||
// ================= Set Row 3 ================== //
|
||||
|
||||
static inline void fp32_matrix3x3_set_row3(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp32_set_row3(const float c1, const float c2, const float c3, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r3c1 = c1;
|
||||
matrix->r3c2 = c2;
|
||||
matrix->r3c3 = c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_set_row3(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp64_set_row3(const double c1, const double c2, const double c3, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r3c1 = c1;
|
||||
matrix->r3c2 = c2;
|
||||
|
@ -412,14 +412,14 @@ static inline void fp64_matrix3x3_set_row3(const double c1, const double c2, con
|
|||
|
||||
// ================ Set Column 1 ================ //
|
||||
|
||||
static inline void fp32_matrix3x3_set_column1(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp32_set_column1(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = r1;
|
||||
matrix->r2c1 = r2;
|
||||
matrix->r3c1 = r3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_set_column1(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp64_set_column1(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = r1;
|
||||
matrix->r2c1 = r2;
|
||||
|
@ -428,14 +428,14 @@ static inline void fp64_matrix3x3_set_column1(const double r1, const double r2,
|
|||
|
||||
// ================ Set Column 2 ================ //
|
||||
|
||||
static inline void fp32_matrix3x3_set_column2(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp32_set_column2(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c2 = r1;
|
||||
matrix->r2c2 = r2;
|
||||
matrix->r3c2 = r3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_set_column2(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp64_set_column2(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c2 = r1;
|
||||
matrix->r2c2 = r2;
|
||||
|
@ -444,14 +444,14 @@ static inline void fp64_matrix3x3_set_column2(const double r1, const double r2,
|
|||
|
||||
// ================ Set Column 3 ================ //
|
||||
|
||||
static inline void fp32_matrix3x3_set_column3(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp32_set_column3(const float r1, const float r2, const float r3, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c3 = r1;
|
||||
matrix->r2c3 = r2;
|
||||
matrix->r3c3 = r3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_set_column3(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix)
|
||||
inline void matrix3x3_fp64_set_column3(const double r1, const double r2, const double r3, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c3 = r1;
|
||||
matrix->r2c3 = r2;
|
||||
|
@ -460,7 +460,7 @@ static inline void fp64_matrix3x3_set_column3(const double r1, const double r2,
|
|||
|
||||
// ================ Append scaled =============== //
|
||||
|
||||
static inline void fp32_matrix3x3_append_scaled(fp32_matrix3x3_t* basic_vector, const fp32_matrix3x3_t* scalable_vector, const float scale)
|
||||
inline void matrix3x3_fp32_append_scaled(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;
|
||||
|
@ -475,7 +475,7 @@ static inline void fp32_matrix3x3_append_scaled(fp32_matrix3x3_t* basic_vector,
|
|||
basic_vector->r3c3 += scalable_vector->r3c3 * scale;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_append_scaled(fp64_matrix3x3_t* basic_vector, const fp64_matrix3x3_t* scalable_vector, const double scale)
|
||||
inline void matrix3x3_fp64_append_scaled(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;
|
||||
|
@ -492,7 +492,7 @@ static inline void fp64_matrix3x3_append_scaled(fp64_matrix3x3_t* basic_vector,
|
|||
|
||||
// ================== Addition ================== //
|
||||
|
||||
static inline void fp32_matrix3x3_add(const fp32_matrix3x3_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x3_t* sum)
|
||||
inline void matrix3x3_fp32_add(const matrix3x3_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x3_fp32_t* sum)
|
||||
{
|
||||
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
|
||||
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
|
||||
|
@ -507,7 +507,7 @@ static inline void fp32_matrix3x3_add(const fp32_matrix3x3_t* matrix1, const fp3
|
|||
sum->r3c3 = matrix1->r3c3 + matrix2->r3c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_add(const fp64_matrix3x3_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x3_t* sum)
|
||||
inline void matrix3x3_fp64_add(const matrix3x3_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x3_fp64_t* sum)
|
||||
{
|
||||
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
|
||||
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
|
||||
|
@ -524,7 +524,7 @@ static inline void fp64_matrix3x3_add(const fp64_matrix3x3_t* matrix1, const fp6
|
|||
|
||||
// ================ Subtraction ================= //
|
||||
|
||||
static inline void fp32_matrix3x3_subtract(const fp32_matrix3x3_t* minuend, const fp32_matrix3x3_t* subtrahend, fp32_matrix3x3_t* difference)
|
||||
inline void matrix3x3_fp32_subtract(const matrix3x3_fp32_t* minuend, const matrix3x3_fp32_t* subtrahend, matrix3x3_fp32_t* difference)
|
||||
{
|
||||
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
|
||||
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
|
||||
|
@ -539,7 +539,7 @@ static inline void fp32_matrix3x3_subtract(const fp32_matrix3x3_t* minuend, cons
|
|||
difference->r3c3 = minuend->r3c3 - subtrahend->r3c3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_subtract(const fp64_matrix3x3_t* minuend, const fp64_matrix3x3_t* subtrahend, fp64_matrix3x3_t* difference)
|
||||
inline void matrix3x3_fp64_subtract(const matrix3x3_fp64_t* minuend, const matrix3x3_fp64_t* subtrahend, matrix3x3_fp64_t* difference)
|
||||
{
|
||||
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
|
||||
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
|
||||
|
@ -556,7 +556,7 @@ static inline void fp64_matrix3x3_subtract(const fp64_matrix3x3_t* minuend, cons
|
|||
|
||||
// =============== Multiplication =============== //
|
||||
|
||||
static inline void fp32_matrix3x3_multiply(const fp32_matrix3x3_t* multiplicand, const float multiplier, fp32_matrix3x3_t* product)
|
||||
inline void matrix3x3_fp32_multiply(const matrix3x3_fp32_t* multiplicand, const float multiplier, matrix3x3_fp32_t* product)
|
||||
{
|
||||
product->r1c1 = multiplicand->r1c1 * multiplier;
|
||||
product->r1c2 = multiplicand->r1c2 * multiplier;
|
||||
|
@ -571,7 +571,7 @@ static inline void fp32_matrix3x3_multiply(const fp32_matrix3x3_t* multiplicand,
|
|||
product->r3c3 = multiplicand->r3c3 * multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_multiply(const fp64_matrix3x3_t* multiplicand, const double multiplier, fp64_matrix3x3_t* product)
|
||||
inline void matrix3x3_fp64_multiply(const matrix3x3_fp64_t* multiplicand, const double multiplier, matrix3x3_fp64_t* product)
|
||||
{
|
||||
product->r1c1 = multiplicand->r1c1 * multiplier;
|
||||
product->r1c2 = multiplicand->r1c2 * multiplier;
|
||||
|
@ -588,19 +588,19 @@ static inline void fp64_matrix3x3_multiply(const fp64_matrix3x3_t* multiplicand,
|
|||
|
||||
// ================== Division ================== //
|
||||
|
||||
static inline void fp32_matrix3x3_divide(const fp32_matrix3x3_t* dividend, const float divisor, fp32_matrix3x3_t* quotient)
|
||||
inline void matrix3x3_fp32_divide(const matrix3x3_fp32_t* dividend, const float divisor, matrix3x3_fp32_t* quotient)
|
||||
{
|
||||
fp32_matrix3x3_multiply(dividend, 1.0f / divisor, quotient);
|
||||
matrix3x3_fp32_multiply(dividend, 1.0f / divisor, quotient);
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_divide(const fp64_matrix3x3_t* dividend, const double divisor, fp64_matrix3x3_t* quotient)
|
||||
inline void matrix3x3_fp64_divide(const matrix3x3_fp64_t* dividend, const double divisor, matrix3x3_fp64_t* quotient)
|
||||
{
|
||||
fp64_matrix3x3_multiply(dividend, 1.0 / divisor, quotient);
|
||||
matrix3x3_fp64_multiply(dividend, 1.0 / divisor, quotient);
|
||||
}
|
||||
|
||||
// ============ Left Vector Product ============= //
|
||||
|
||||
static inline void fp32_matrix3x3_left_product(const fp32_vector3_t* vector, const fp32_matrix3x3_t* matrix, fp32_vector3_t* result)
|
||||
inline void matrix3x3_fp32_left_product(const vector3_fp32_t* vector, const matrix3x3_fp32_t* matrix, vector3_fp32_t* result)
|
||||
{
|
||||
const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
|
||||
const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
|
||||
|
@ -611,7 +611,7 @@ static inline void fp32_matrix3x3_left_product(const fp32_vector3_t* vector, con
|
|||
result->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_left_product(const fp64_vector3_t* vector, const fp64_matrix3x3_t* matrix, fp64_vector3_t* result)
|
||||
inline void matrix3x3_fp64_left_product(const vector3_fp64_t* vector, const matrix3x3_fp64_t* matrix, vector3_fp64_t* result)
|
||||
{
|
||||
const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
|
||||
const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
|
||||
|
@ -624,7 +624,7 @@ static inline void fp64_matrix3x3_left_product(const fp64_vector3_t* vector, con
|
|||
|
||||
// ============ Right Vector Product ============ //
|
||||
|
||||
static inline void fp32_matrix3x3_right_product(const fp32_matrix3x3_t* matrix, const fp32_vector3_t* vector, fp32_vector3_t* result)
|
||||
inline void matrix3x3_fp32_right_product(const matrix3x3_fp32_t* matrix, const vector3_fp32_t* vector, vector3_fp32_t* result)
|
||||
{
|
||||
const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
|
||||
const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
|
||||
|
@ -635,7 +635,7 @@ static inline void fp32_matrix3x3_right_product(const fp32_matrix3x3_t* matrix,
|
|||
result->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix3x3_right_product(const fp64_matrix3x3_t* matrix, const fp64_vector3_t* vector, fp64_vector3_t* result)
|
||||
inline void matrix3x3_fp64_right_product(const matrix3x3_fp64_t* matrix, const vector3_fp64_t* vector, vector3_fp64_t* result)
|
||||
{
|
||||
const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
|
||||
const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
|
||||
|
|
|
@ -2,7 +2,7 @@
|
|||
|
||||
// ========== Matrix Product 2x2 at 3x2 ========= //
|
||||
|
||||
void fp32_matrix_product_2x2_at_3x2(const fp32_matrix2x2_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x2_t* result)
|
||||
void matrix_fp32_product_2x2_at_3x2(const matrix2x2_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x2_fp32_t* result)
|
||||
{
|
||||
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
|
||||
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
|
||||
|
@ -21,7 +21,7 @@ void fp32_matrix_product_2x2_at_3x2(const fp32_matrix2x2_t* matrix1, const fp32_
|
|||
result->r2c3 = r2c3;
|
||||
}
|
||||
|
||||
void fp64_matrix_product_2x2_at_3x2(const fp64_matrix2x2_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x2_t* result)
|
||||
void matrix_fp64_product_2x2_at_3x2(const matrix2x2_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x2_fp64_t* result)
|
||||
{
|
||||
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
|
||||
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
|
||||
|
@ -42,7 +42,7 @@ void fp64_matrix_product_2x2_at_3x2(const fp64_matrix2x2_t* matrix1, const fp64_
|
|||
|
||||
// ========== Matrix Product 2x3 at 2x2 ========= //
|
||||
|
||||
void fp32_matrix_product_2x3_at_2x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x3_t* result)
|
||||
void matrix_fp32_product_2x3_at_2x2(const matrix2x3_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x3_fp32_t* result)
|
||||
{
|
||||
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
|
||||
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
|
||||
|
@ -63,7 +63,7 @@ void fp32_matrix_product_2x3_at_2x2(const fp32_matrix2x3_t* matrix1, const fp32_
|
|||
result->r3c2 = r3c2;
|
||||
}
|
||||
|
||||
void fp64_matrix_product_2x3_at_2x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x3_t* result)
|
||||
void matrix_fp64_product_2x3_at_2x2(const matrix2x3_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x3_fp64_t* result)
|
||||
{
|
||||
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
|
||||
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
|
||||
|
@ -86,7 +86,7 @@ void fp64_matrix_product_2x3_at_2x2(const fp64_matrix2x3_t* matrix1, const fp64_
|
|||
|
||||
// ========== Matrix Product 2x3 at 3x2 ========= //
|
||||
|
||||
void fp32_matrix_product_2x3_at_3x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x3_t* result)
|
||||
void matrix_fp32_product_2x3_at_3x2(const matrix2x3_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x3_fp32_t* result)
|
||||
{
|
||||
result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
|
||||
result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
|
||||
|
@ -101,7 +101,7 @@ void fp32_matrix_product_2x3_at_3x2(const fp32_matrix2x3_t* matrix1, const fp32_
|
|||
result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3;
|
||||
}
|
||||
|
||||
void fp64_matrix_product_2x3_at_3x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x3_t* result)
|
||||
void matrix_fp64_product_2x3_at_3x2(const matrix2x3_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x3_fp64_t* result)
|
||||
{
|
||||
result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
|
||||
result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
|
||||
|
@ -118,7 +118,7 @@ void fp64_matrix_product_2x3_at_3x2(const fp64_matrix2x3_t* matrix1, const fp64_
|
|||
|
||||
// ========== Matrix Product 3x2 at 2x3 ========= //
|
||||
|
||||
void fp32_matrix_product_3x2_at_2x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x2_t* result)
|
||||
void matrix_fp32_product_3x2_at_2x3(const matrix3x2_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x2_fp32_t* result)
|
||||
{
|
||||
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;
|
||||
|
@ -127,7 +127,7 @@ void fp32_matrix_product_3x2_at_2x3(const fp32_matrix3x2_t* matrix1, const fp32_
|
|||
result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
|
||||
}
|
||||
|
||||
void fp64_matrix_product_3x2_at_2x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x2_t* result)
|
||||
void matrix_fp64_product_3x2_at_2x3(const matrix3x2_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x2_fp64_t* result)
|
||||
{
|
||||
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;
|
||||
|
@ -138,7 +138,7 @@ void fp64_matrix_product_3x2_at_2x3(const fp64_matrix3x2_t* matrix1, const fp64_
|
|||
|
||||
// ========== Matrix Product 3x2 at 3x3 ========= //
|
||||
|
||||
void fp32_matrix_product_3x2_at_3x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x2_t* result)
|
||||
void matrix_fp32_product_3x2_at_3x3(const matrix3x2_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x2_fp32_t* result)
|
||||
{
|
||||
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;
|
||||
|
@ -157,7 +157,7 @@ void fp32_matrix_product_3x2_at_3x3(const fp32_matrix3x2_t* matrix1, const fp32_
|
|||
result->r2c3 = r2c3;
|
||||
}
|
||||
|
||||
void fp64_matrix_product_3x2_at_3x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x2_t* result)
|
||||
void matrix_fp64_product_3x2_at_3x3(const matrix3x2_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x2_fp64_t* result)
|
||||
{
|
||||
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;
|
||||
|
@ -178,7 +178,7 @@ void fp64_matrix_product_3x2_at_3x3(const fp64_matrix3x2_t* matrix1, const fp64_
|
|||
|
||||
// ========== Matrix Product 3x3 at 2x3 ========= //
|
||||
|
||||
void fp32_matrix_product_3x3_at_2x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x3_t* result)
|
||||
void matrix_fp32_product_3x3_at_2x3(const matrix3x3_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x3_fp32_t* result)
|
||||
{
|
||||
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;
|
||||
|
@ -199,7 +199,7 @@ void fp32_matrix_product_3x3_at_2x3(const fp32_matrix3x3_t* matrix1, const fp32_
|
|||
result->r3c2 = r3c2;
|
||||
}
|
||||
|
||||
void fp64_matrix_product_3x3_at_2x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x3_t* result)
|
||||
void matrix_fp64_product_3x3_at_2x3(const matrix3x3_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x3_fp64_t* result)
|
||||
{
|
||||
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;
|
||||
|
@ -222,7 +222,7 @@ void fp64_matrix_product_3x3_at_2x3(const fp64_matrix3x3_t* matrix1, const fp64_
|
|||
|
||||
// ========== Matrix Product 3x3 at 3x3 ========= //
|
||||
|
||||
void fp32_matrix_product_3x3_at_3x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x3_t* result)
|
||||
void matrix_fp32_product_3x3_at_3x3(const matrix3x3_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x3_fp32_t* result)
|
||||
{
|
||||
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;
|
||||
|
@ -249,7 +249,7 @@ void fp32_matrix_product_3x3_at_3x3(const fp32_matrix3x3_t* matrix1, const fp32_
|
|||
result->r3c3 = r3c3;
|
||||
}
|
||||
|
||||
void fp64_matrix_product_3x3_at_3x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x3_t* result)
|
||||
void matrix_fp64_product_3x3_at_3x3(const matrix3x3_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x3_fp64_t* result)
|
||||
{
|
||||
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;
|
||||
|
|
|
@ -6,12 +6,12 @@
|
|||
typedef struct {
|
||||
float r1c1, r1c2;
|
||||
float r2c1, r2c2;
|
||||
} fp32_matrix2x2_t;
|
||||
} matrix2x2_fp32_t;
|
||||
|
||||
typedef struct {
|
||||
double r1c1, r1c2;
|
||||
double r2c1, r2c2;
|
||||
} fp64_matrix2x2_t;
|
||||
} matrix2x2_fp64_t;
|
||||
|
||||
// ================== Matrix2x3 ================= //
|
||||
|
||||
|
@ -19,25 +19,25 @@ typedef struct {
|
|||
float r1c1, r1c2;
|
||||
float r2c1, r2c2;
|
||||
float r3c1, r3c2;
|
||||
} fp32_matrix2x3_t;
|
||||
} matrix2x3_fp32_t;
|
||||
|
||||
typedef struct {
|
||||
double r1c1, r1c2;
|
||||
double r2c1, r2c2;
|
||||
double r3c1, r3c2;
|
||||
} fp64_matrix2x3_t;
|
||||
} matrix2x3_fp64_t;
|
||||
|
||||
// ================== Matrix3x2 ================= //
|
||||
|
||||
typedef struct {
|
||||
float r1c1, r1c2, r1c3;
|
||||
float r2c1, r2c2, r2c3;
|
||||
} fp32_matrix3x2_t;
|
||||
} matrix3x2_fp32_t;
|
||||
|
||||
typedef struct {
|
||||
double r1c1, r1c2, r1c3;
|
||||
double r2c1, r2c2, r2c3;
|
||||
} fp64_matrix3x2_t;
|
||||
} matrix3x2_fp64_t;
|
||||
|
||||
// ================== Matrix3x3 ================= //
|
||||
|
||||
|
@ -45,17 +45,17 @@ typedef struct {
|
|||
float r1c1, r1c2, r1c3;
|
||||
float r2c1, r2c2, r2c3;
|
||||
float r3c1, r3c2, r3c3;
|
||||
} fp32_matrix3x3_t;
|
||||
} matrix3x3_fp32_t;
|
||||
|
||||
typedef struct {
|
||||
double r1c1, r1c2, r1c3;
|
||||
double r2c1, r2c2, r2c3;
|
||||
double r3c1, r3c2, r3c3;
|
||||
} fp64_matrix3x3_t;
|
||||
} matrix3x3_fp64_t;
|
||||
|
||||
// ========== Matrix Product 2x2 at 2x2 ========= //
|
||||
|
||||
static inline void fp32_matrix_product_2x2_at_2x2(const fp32_matrix2x2_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x2_t* result)
|
||||
inline void matrix_fp32_product_2x2_at_2x2(const matrix2x2_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x2_fp32_t* result)
|
||||
{
|
||||
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
|
||||
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
|
||||
|
@ -70,7 +70,7 @@ static inline void fp32_matrix_product_2x2_at_2x2(const fp32_matrix2x2_t* matrix
|
|||
result->r2c2 = r2c2;
|
||||
}
|
||||
|
||||
static inline void fp64_matrix_product_2x2_at_2x2(const fp64_matrix2x2_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x2_t* result)
|
||||
inline void matrix_fp64_product_2x2_at_2x2(const matrix2x2_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x2_fp64_t* result)
|
||||
{
|
||||
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
|
||||
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
|
||||
|
@ -87,44 +87,44 @@ static inline void fp64_matrix_product_2x2_at_2x2(const fp64_matrix2x2_t* matrix
|
|||
|
||||
// ========== Matrix Product 2x2 at 3x2 ========= //
|
||||
|
||||
void fp32_matrix_product_2x2_at_3x2(const fp32_matrix2x2_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x2_t* result);
|
||||
void matrix_fp32_product_2x2_at_3x2(const matrix2x2_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x2_fp32_t* result);
|
||||
|
||||
void fp64_matrix_product_2x2_at_3x2(const fp64_matrix2x2_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x2_t* result);
|
||||
void matrix_fp64_product_2x2_at_3x2(const matrix2x2_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x2_fp64_t* result);
|
||||
|
||||
// ========== Matrix Product 2x3 at 2x2 ========= //
|
||||
|
||||
void fp32_matrix_product_2x3_at_2x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x3_t* result);
|
||||
void matrix_fp32_product_2x3_at_2x2(const matrix2x3_fp32_t* matrix1, const matrix2x2_fp32_t* matrix2, matrix2x3_fp32_t* result);
|
||||
|
||||
void fp64_matrix_product_2x3_at_2x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x3_t* result);
|
||||
void matrix_fp64_product_2x3_at_2x2(const matrix2x3_fp64_t* matrix1, const matrix2x2_fp64_t* matrix2, matrix2x3_fp64_t* result);
|
||||
|
||||
// ========== Matrix Product 2x3 at 3x2 ========= //
|
||||
|
||||
void fp32_matrix_product_2x3_at_3x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x3_t* result);
|
||||
void matrix_fp32_product_2x3_at_3x2(const matrix2x3_fp32_t* matrix1, const matrix3x2_fp32_t* matrix2, matrix3x3_fp32_t* result);
|
||||
|
||||
void fp64_matrix_product_2x3_at_3x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x3_t* result);
|
||||
void matrix_fp64_product_2x3_at_3x2(const matrix2x3_fp64_t* matrix1, const matrix3x2_fp64_t* matrix2, matrix3x3_fp64_t* result);
|
||||
|
||||
// ========== Matrix Product 3x2 at 2x3 ========= //
|
||||
|
||||
void fp32_matrix_product_3x2_at_2x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x2_t* result);
|
||||
void matrix_fp32_product_3x2_at_2x3(const matrix3x2_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x2_fp32_t* result);
|
||||
|
||||
void fp64_matrix_product_3x2_at_2x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x2_t* result);
|
||||
void matrix_fp64_product_3x2_at_2x3(const matrix3x2_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x2_fp64_t* result);
|
||||
|
||||
// ========== Matrix Product 3x2 at 3x3 ========= //
|
||||
|
||||
void fp32_matrix_product_3x2_at_3x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x2_t* result);
|
||||
void matrix_fp32_product_3x2_at_3x3(const matrix3x2_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x2_fp32_t* result);
|
||||
|
||||
void fp64_matrix_product_3x2_at_3x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x2_t* result);
|
||||
void matrix_fp64_product_3x2_at_3x3(const matrix3x2_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x2_fp64_t* result);
|
||||
|
||||
// ========== Matrix Product 3x3 at 2x3 ========= //
|
||||
|
||||
void fp32_matrix_product_3x3_at_2x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x3_t* result);
|
||||
void matrix_fp32_product_3x3_at_2x3(const matrix3x3_fp32_t* matrix1, const matrix2x3_fp32_t* matrix2, matrix2x3_fp32_t* result);
|
||||
|
||||
void fp64_matrix_product_3x3_at_2x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x3_t* result);
|
||||
void matrix_fp64_product_3x3_at_2x3(const matrix3x3_fp64_t* matrix1, const matrix2x3_fp64_t* matrix2, matrix2x3_fp64_t* result);
|
||||
|
||||
// ========== Matrix Product 3x3 at 3x3 ========= //
|
||||
|
||||
void fp32_matrix_product_3x3_at_3x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x3_t* result);
|
||||
void matrix_fp32_product_3x3_at_3x3(const matrix3x3_fp32_t* matrix1, const matrix3x3_fp32_t* matrix2, matrix3x3_fp32_t* result);
|
||||
|
||||
void fp64_matrix_product_3x3_at_3x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x3_t* result);
|
||||
void matrix_fp64_product_3x3_at_3x3(const matrix3x3_fp64_t* matrix1, const matrix3x3_fp64_t* matrix2, matrix3x3_fp64_t* result);
|
||||
|
||||
#endif // _GEOMETRY_MATRIX_TYPES_H_
|
||||
|
|
|
@ -9,15 +9,15 @@
|
|||
|
||||
typedef struct {
|
||||
float s0, x1, x2, x3;
|
||||
} fp32_quaternion_t;
|
||||
} quaternion_fp32_t;
|
||||
|
||||
typedef struct {
|
||||
double s0, x1, x2, x3;
|
||||
} fp64_quaternion_t;
|
||||
} quaternion_fp64_t;
|
||||
|
||||
// ==================== Reset =================== //
|
||||
|
||||
static inline void fp32_quaternion_reset(fp32_quaternion_t * quaternion)
|
||||
inline void quaternion_reset_fp32(quaternion_fp32_t * quaternion)
|
||||
{
|
||||
quaternion->s0 = 0.0f;
|
||||
quaternion->x1 = 0.0f;
|
||||
|
@ -25,7 +25,7 @@ static inline void fp32_quaternion_reset(fp32_quaternion_t * quaternion)
|
|||
quaternion->x3 = 0.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_reset(fp64_quaternion_t * quaternion)
|
||||
inline void quaternion_reset_fp64(quaternion_fp64_t * quaternion)
|
||||
{
|
||||
quaternion->s0 = 0.0;
|
||||
quaternion->x1 = 0.0;
|
||||
|
@ -35,7 +35,7 @@ static inline void fp64_quaternion_reset(fp64_quaternion_t * quaternion)
|
|||
|
||||
// ================== Set Unit ================== //
|
||||
|
||||
static inline void fp32_quaternion_set_identity(fp32_quaternion_t * quaternion)
|
||||
inline void quaternion_fp32_set_identity(quaternion_fp32_t * quaternion)
|
||||
{
|
||||
quaternion->s0 = 1.0f;
|
||||
quaternion->x1 = 0.0f;
|
||||
|
@ -43,7 +43,7 @@ static inline void fp32_quaternion_set_identity(fp32_quaternion_t * quaternion)
|
|||
quaternion->x3 = 0.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_set_identity(fp64_quaternion_t * quaternion)
|
||||
inline void quaternion_fp64_set_identity(quaternion_fp64_t * quaternion)
|
||||
{
|
||||
quaternion->s0 = 1.0;
|
||||
quaternion->x1 = 0.0;
|
||||
|
@ -53,7 +53,7 @@ static inline void fp64_quaternion_set_identity(fp64_quaternion_t * quaternion)
|
|||
|
||||
// ==================== Set ===================== //
|
||||
|
||||
static inline void fp32_quaternion_set_values(const float s0, const float x1, const float x2, const float x3, fp32_quaternion_t * quaternion)
|
||||
inline void quaternion_fp32_set_values(const float s0, const float x1, const float x2, const float x3, quaternion_fp32_t * quaternion)
|
||||
{
|
||||
quaternion->s0 = s0;
|
||||
quaternion->x1 = x1;
|
||||
|
@ -61,7 +61,7 @@ static inline void fp32_quaternion_set_values(const float s0, const float x1, co
|
|||
quaternion->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_set_values(const double s0, const double x1, const double x2, const double x3, fp64_quaternion_t * quaternion)
|
||||
inline void quaternion_fp64_set_values(const double s0, const double x1, const double x2, const double x3, quaternion_fp64_t * quaternion)
|
||||
{
|
||||
quaternion->s0 = s0;
|
||||
quaternion->x1 = x1;
|
||||
|
@ -71,7 +71,7 @@ static inline void fp64_quaternion_set_values(const double s0, const double x1,
|
|||
|
||||
// ==================== Copy ==================== //
|
||||
|
||||
static inline void fp32_quaternion_copy(const fp32_quaternion_t* from, fp32_quaternion_t* to)
|
||||
inline void quaternion_copy_fp32(const quaternion_fp32_t* from, quaternion_fp32_t* to)
|
||||
{
|
||||
to->s0 = from->s0;
|
||||
to->x1 = from->x1;
|
||||
|
@ -79,7 +79,7 @@ static inline void fp32_quaternion_copy(const fp32_quaternion_t* from, fp32_quat
|
|||
to->x3 = from->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_copy(const fp64_quaternion_t* from, fp64_quaternion_t* to)
|
||||
inline void quaternion_copy_fp64(const quaternion_fp64_t* from, quaternion_fp64_t* to)
|
||||
{
|
||||
to->s0 = from->s0;
|
||||
to->x1 = from->x1;
|
||||
|
@ -89,7 +89,7 @@ static inline void fp64_quaternion_copy(const fp64_quaternion_t* from, fp64_quat
|
|||
|
||||
// ==================== Swap ==================== //
|
||||
|
||||
static inline void fp32_quaternion_swap(fp32_quaternion_t* quarternion1, fp32_quaternion_t* quarternion2)
|
||||
inline void quaternion_swap_fp32(quaternion_fp32_t* quarternion1, quaternion_fp32_t* quarternion2)
|
||||
{
|
||||
const float s0 = quarternion2->s0;
|
||||
const float x1 = quarternion2->x1;
|
||||
|
@ -107,7 +107,7 @@ static inline void fp32_quaternion_swap(fp32_quaternion_t* quarternion1, fp32_qu
|
|||
quarternion1->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_swap(fp64_quaternion_t* quarternion1, fp64_quaternion_t* quarternion2)
|
||||
inline void quaternion_swap_fp64(quaternion_fp64_t* quarternion1, quaternion_fp64_t* quarternion2)
|
||||
{
|
||||
const double s0 = quarternion2->s0;
|
||||
const double x1 = quarternion2->x1;
|
||||
|
@ -127,7 +127,7 @@ static inline void fp64_quaternion_swap(fp64_quaternion_t* quarternion1, fp64_qu
|
|||
|
||||
// ============= Copy to twin type ============== //
|
||||
|
||||
static inline void fp32_quaternion_set_from_fp64(const fp64_quaternion_t* quaternion, fp32_quaternion_t* result)
|
||||
inline void quaternion_fp32_set_from_fp64(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
|
||||
{
|
||||
result->s0 = (float) quaternion->s0;
|
||||
result->x1 = (float) quaternion->x1;
|
||||
|
@ -135,7 +135,7 @@ static inline void fp32_quaternion_set_from_fp64(const fp64_quaternion_t* quater
|
|||
result->x3 = (float) quaternion->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_set_from_fp32(const fp32_quaternion_t* quaternion, fp64_quaternion_t* result)
|
||||
inline void quaternion_fp64_set_from_fp32(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
|
||||
{
|
||||
result->s0 = quaternion->s0;
|
||||
result->x1 = quaternion->x1;
|
||||
|
@ -145,14 +145,14 @@ static inline void fp64_quaternion_set_from_fp32(const fp32_quaternion_t* quater
|
|||
|
||||
// ================= Inversion ================== //
|
||||
|
||||
static inline void fp32_quaternion_conjugate(fp32_quaternion_t* quaternion)
|
||||
inline void quaternion_fp32_conjugate(quaternion_fp32_t* quaternion)
|
||||
{
|
||||
quaternion->x1 = -quaternion->x1;
|
||||
quaternion->x2 = -quaternion->x2;
|
||||
quaternion->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_conjugate(fp64_quaternion_t* quaternion)
|
||||
inline void quaternion_fp64_conjugate(quaternion_fp64_t* quaternion)
|
||||
{
|
||||
quaternion->x1 = -quaternion->x1;
|
||||
quaternion->x2 = -quaternion->x2;
|
||||
|
@ -161,7 +161,7 @@ static inline void fp64_quaternion_conjugate(fp64_quaternion_t* quaternion)
|
|||
|
||||
// ================ Set Conjugate =============== //
|
||||
|
||||
static inline void fp32_quaternion_set_conjugate(const fp32_quaternion_t* quaternion, fp32_quaternion_t* result)
|
||||
inline void quaternion_fp32_set_conjugate(const quaternion_fp32_t* quaternion, quaternion_fp32_t* result)
|
||||
{
|
||||
result->s0 = quaternion->s0;
|
||||
result->x1 = -quaternion->x1;
|
||||
|
@ -169,7 +169,7 @@ static inline void fp32_quaternion_set_conjugate(const fp32_quaternion_t* quater
|
|||
result->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_set_conjugate(const fp64_quaternion_t* quaternion, fp64_quaternion_t* result)
|
||||
inline void quaternion_fp64_set_conjugate(const quaternion_fp64_t* quaternion, quaternion_fp64_t* result)
|
||||
{
|
||||
result->s0 = quaternion->s0;
|
||||
result->x1 = -quaternion->x1;
|
||||
|
@ -179,7 +179,7 @@ static inline void fp64_quaternion_set_conjugate(const fp64_quaternion_t* quater
|
|||
|
||||
// ================ Set Conjugate =============== //
|
||||
|
||||
static inline void fp32_quaternion_set_conjugate_fp64(const fp64_quaternion_t* quaternion, fp32_quaternion_t* result)
|
||||
inline void quaternion_fp32_set_conjugate_fp64(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
|
||||
{
|
||||
result->s0 = (float) quaternion->s0;
|
||||
result->x1 = (float) -quaternion->x1;
|
||||
|
@ -187,7 +187,7 @@ static inline void fp32_quaternion_set_conjugate_fp64(const fp64_quaternion_t* q
|
|||
result->x3 = (float) -quaternion->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_set_conjugate_fp32(const fp32_quaternion_t* quaternion, fp64_quaternion_t* result)
|
||||
inline void quaternion_fp64_set_conjugate_fp32(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
|
||||
{
|
||||
result->s0 = quaternion->s0;
|
||||
result->x1 = -quaternion->x1;
|
||||
|
@ -197,40 +197,40 @@ static inline void fp64_quaternion_set_conjugate_fp32(const fp32_quaternion_t* q
|
|||
|
||||
// ============= Get Square Modulus ============= //
|
||||
|
||||
static inline float fp32_quaternion_get_square_modulus(const fp32_quaternion_t* quaternion)
|
||||
inline float quaternion_get_square_modulus_fp32(const quaternion_fp32_t* quaternion)
|
||||
{
|
||||
return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
|
||||
}
|
||||
|
||||
static inline double fp64_quaternion_get_square_modulus(const fp64_quaternion_t* quaternion)
|
||||
inline double quaternion_get_square_modulus_fp64(const quaternion_fp64_t* quaternion)
|
||||
{
|
||||
return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
|
||||
}
|
||||
|
||||
// ================ Get Modulus ================= //
|
||||
|
||||
static inline float fp32_quaternion_get_modulus(const fp32_quaternion_t* quaternion)
|
||||
inline float quaternion_get_modulus_fp32(const quaternion_fp32_t* quaternion)
|
||||
{
|
||||
return sqrtf(fp32_quaternion_get_square_modulus(quaternion));
|
||||
return sqrtf(quaternion_get_square_modulus_fp32(quaternion));
|
||||
}
|
||||
|
||||
static inline double fp64_quaternion_get_modulus(const fp64_quaternion_t* quaternion)
|
||||
inline double quaternion_get_modulus_fp64(const quaternion_fp64_t* quaternion)
|
||||
{
|
||||
return sqrt(fp64_quaternion_get_square_modulus(quaternion));
|
||||
return sqrt(quaternion_get_square_modulus_fp64(quaternion));
|
||||
}
|
||||
|
||||
// =============== Normalization ================ //
|
||||
|
||||
static inline int fp32_quaternion_normalize(fp32_quaternion_t* quaternion)
|
||||
inline int quaternion_fp32_normalize(quaternion_fp32_t* quaternion)
|
||||
{
|
||||
const float square_modulus = fp32_quaternion_get_square_modulus(quaternion);
|
||||
const float square_modulus = quaternion_get_square_modulus_fp32(quaternion);
|
||||
|
||||
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= FP32_SQUARE_EPSYLON) {
|
||||
fp32_quaternion_reset(quaternion);
|
||||
quaternion_reset_fp32(quaternion);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
@ -244,16 +244,16 @@ static inline int fp32_quaternion_normalize(fp32_quaternion_t* quaternion)
|
|||
return 1;
|
||||
}
|
||||
|
||||
static inline int fp64_quaternion_normalize(fp64_quaternion_t* quaternion)
|
||||
inline int quaternion_fp64_normalize(quaternion_fp64_t* quaternion)
|
||||
{
|
||||
const double square_modulus = fp64_quaternion_get_square_modulus(quaternion);
|
||||
const double square_modulus = quaternion_get_square_modulus_fp64(quaternion);
|
||||
|
||||
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= FP32_SQUARE_EPSYLON) {
|
||||
fp64_quaternion_reset(quaternion);
|
||||
quaternion_reset_fp64(quaternion);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
@ -269,7 +269,7 @@ static inline int fp64_quaternion_normalize(fp64_quaternion_t* quaternion)
|
|||
|
||||
// ============ Make Rotation Matrix ============ //
|
||||
|
||||
static inline void fp32_quaternion_get_rotation_matrix(const fp32_quaternion_t* quaternion, fp32_matrix3x3_t* matrix)
|
||||
inline void quaternion_fp32_get_rotation_matrix(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
const float s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const float x1x1 = quaternion->x1 * quaternion->x1;
|
||||
|
@ -280,7 +280,7 @@ static inline void fp32_quaternion_get_rotation_matrix(const fp32_quaternion_t*
|
|||
|
||||
if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON)
|
||||
{
|
||||
fp32_matrix3x3_set_to_identity(matrix);
|
||||
matrix3x3_fp32_set_to_identity(matrix);
|
||||
return;
|
||||
}
|
||||
|
||||
|
@ -307,7 +307,7 @@ static inline void fp32_quaternion_get_rotation_matrix(const fp32_quaternion_t*
|
|||
matrix->r1c3 = corrector2 * (x1x3 + s0x2);
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_get_rotation_matrix(const fp64_quaternion_t* quaternion, fp64_matrix3x3_t* matrix)
|
||||
inline void quaternion_fp64_get_rotation_matrix(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
const double s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const double x1x1 = quaternion->x1 * quaternion->x1;
|
||||
|
@ -318,7 +318,7 @@ static inline void fp64_quaternion_get_rotation_matrix(const fp64_quaternion_t*
|
|||
|
||||
if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON)
|
||||
{
|
||||
fp64_matrix3x3_set_to_identity(matrix);
|
||||
matrix3x3_fp64_set_to_identity(matrix);
|
||||
return;
|
||||
}
|
||||
|
||||
|
@ -347,7 +347,7 @@ static inline void fp64_quaternion_get_rotation_matrix(const fp64_quaternion_t*
|
|||
|
||||
// ============ Make Reverse Matrix ============= //
|
||||
|
||||
static inline void fp32_quaternion_get_reverse_matrix(const fp32_quaternion_t* quaternion, fp32_matrix3x3_t* matrix)
|
||||
inline void quaternion_fp32_get_reverse_matrix(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
const float s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const float x1x1 = quaternion->x1 * quaternion->x1;
|
||||
|
@ -358,7 +358,7 @@ static inline void fp32_quaternion_get_reverse_matrix(const fp32_quaternion_t* q
|
|||
|
||||
if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON)
|
||||
{
|
||||
fp32_matrix3x3_set_to_identity(matrix);
|
||||
matrix3x3_fp32_set_to_identity(matrix);
|
||||
return;
|
||||
}
|
||||
|
||||
|
@ -385,7 +385,7 @@ static inline void fp32_quaternion_get_reverse_matrix(const fp32_quaternion_t* q
|
|||
matrix->r1c3 = corrector2 * (x1x3 - s0x2);
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_get_reverse_matrix(const fp64_quaternion_t* quaternion, fp64_matrix3x3_t* matrix)
|
||||
inline void quaternion_fp64_get_reverse_matrix(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
const double s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const double x1x1 = quaternion->x1 * quaternion->x1;
|
||||
|
@ -396,7 +396,7 @@ static inline void fp64_quaternion_get_reverse_matrix(const fp64_quaternion_t* q
|
|||
|
||||
if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON)
|
||||
{
|
||||
fp64_matrix3x3_set_to_identity(matrix);
|
||||
matrix3x3_fp64_set_to_identity(matrix);
|
||||
return;
|
||||
}
|
||||
|
||||
|
@ -425,7 +425,7 @@ static inline void fp64_quaternion_get_reverse_matrix(const fp64_quaternion_t* q
|
|||
|
||||
// ==================== Add ===================== //
|
||||
|
||||
static inline void fp32_quaternion_add(const fp32_quaternion_t * quaternion1, const fp32_quaternion_t * quaternion2, fp32_quaternion_t * result)
|
||||
inline void quaternion_fp32_add(const quaternion_fp32_t * quaternion1, const quaternion_fp32_t * quaternion2, quaternion_fp32_t * result)
|
||||
{
|
||||
result->s0 = quaternion1->s0 + quaternion2->s0;
|
||||
result->x1 = quaternion1->x1 + quaternion2->x1;
|
||||
|
@ -433,7 +433,7 @@ static inline void fp32_quaternion_add(const fp32_quaternion_t * quaternion1, co
|
|||
result->x3 = quaternion1->x3 + quaternion2->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_add(const fp64_quaternion_t * quaternion1, const fp64_quaternion_t * quaternion2, fp64_quaternion_t * result)
|
||||
inline void quaternion_fp64_add(const quaternion_fp64_t * quaternion1, const quaternion_fp64_t * quaternion2, quaternion_fp64_t * result)
|
||||
{
|
||||
result->s0 = quaternion1->s0 + quaternion2->s0;
|
||||
result->x1 = quaternion1->x1 + quaternion2->x1;
|
||||
|
@ -443,7 +443,7 @@ static inline void fp64_quaternion_add(const fp64_quaternion_t * quaternion1, co
|
|||
|
||||
// ================== Subtract ================== //
|
||||
|
||||
static inline void fp32_quaternion_subtract(const fp32_quaternion_t * minuend, const fp32_quaternion_t * subtrahend, fp32_quaternion_t * difference)
|
||||
inline void quaternion_fp32_subtract(const quaternion_fp32_t * minuend, const quaternion_fp32_t * subtrahend, quaternion_fp32_t * difference)
|
||||
{
|
||||
difference->s0 = minuend->s0 - subtrahend->s0;
|
||||
difference->x1 = minuend->x1 - subtrahend->x1;
|
||||
|
@ -451,7 +451,7 @@ static inline void fp32_quaternion_subtract(const fp32_quaternion_t * minuend, c
|
|||
difference->x3 = minuend->x3 - subtrahend->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_subtract(const fp64_quaternion_t * minuend, const fp64_quaternion_t * subtrahend, fp64_quaternion_t * difference)
|
||||
inline void quaternion_fp64_subtract(const quaternion_fp64_t * minuend, const quaternion_fp64_t * subtrahend, quaternion_fp64_t * difference)
|
||||
{
|
||||
difference->s0 = minuend->s0 - subtrahend->s0;
|
||||
difference->x1 = minuend->x1 - subtrahend->x1;
|
||||
|
@ -461,7 +461,7 @@ static inline void fp64_quaternion_subtract(const fp64_quaternion_t * minuend, c
|
|||
|
||||
// =============== Multiplication =============== //
|
||||
|
||||
static inline void fp32_quaternion_multiply(const fp32_quaternion_t* multiplicand, const float multipier, fp32_quaternion_t* product)
|
||||
inline void quaternion_fp32_multiply(const quaternion_fp32_t* multiplicand, const float multipier, quaternion_fp32_t* product)
|
||||
{
|
||||
product->s0 = multiplicand->s0 * multipier;
|
||||
product->x1 = multiplicand->x1 * multipier;
|
||||
|
@ -469,7 +469,7 @@ static inline void fp32_quaternion_multiply(const fp32_quaternion_t* multiplican
|
|||
product->x3 = multiplicand->x3 * multipier;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_multiply(const fp64_quaternion_t* multiplicand, const double multipier, fp64_quaternion_t* product)
|
||||
inline void quaternion_fp64_multiply(const quaternion_fp64_t* multiplicand, const double multipier, quaternion_fp64_t* product)
|
||||
{
|
||||
product->s0 = multiplicand->s0 * multipier;
|
||||
product->x1 = multiplicand->x1 * multipier;
|
||||
|
@ -479,19 +479,19 @@ static inline void fp64_quaternion_multiply(const fp64_quaternion_t* multiplican
|
|||
|
||||
// ================== Division ================== //
|
||||
|
||||
static inline void fp32_quaternion_divide(const fp32_quaternion_t* dividend, const float divisor, fp32_quaternion_t* quotient)
|
||||
inline void quaternion_fp32_divide(const quaternion_fp32_t* dividend, const float divisor, quaternion_fp32_t* quotient)
|
||||
{
|
||||
fp32_quaternion_multiply(dividend, 1.0f / divisor, quotient);
|
||||
quaternion_fp32_multiply(dividend, 1.0f / divisor, quotient);
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_divide(const fp64_quaternion_t* dividend, const double divisor, fp64_quaternion_t* quotient)
|
||||
inline void quaternion_fp64_divide(const quaternion_fp64_t* dividend, const double divisor, quaternion_fp64_t* quotient)
|
||||
{
|
||||
fp64_quaternion_multiply(dividend, 1.0 / divisor, quotient);
|
||||
quaternion_fp64_multiply(dividend, 1.0 / divisor, quotient);
|
||||
}
|
||||
|
||||
// ================== Product =================== //
|
||||
|
||||
static inline void fp32_quaternion_get_product(const fp32_quaternion_t* left, const fp32_quaternion_t* right, fp32_quaternion_t* product)
|
||||
inline void quaternion_fp32_get_product(const quaternion_fp32_t* left, const quaternion_fp32_t* right, 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 x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
|
||||
|
@ -504,7 +504,7 @@ static inline void fp32_quaternion_get_product(const fp32_quaternion_t* left, co
|
|||
product->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_quaternion_get_product(const fp64_quaternion_t* left, const fp64_quaternion_t* right, fp64_quaternion_t* product)
|
||||
inline void quaternion_fp64_get_product(const quaternion_fp64_t* left, const quaternion_fp64_t* right, 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 x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
|
||||
|
|
|
@ -1,5 +1,5 @@
|
|||
#include "rotation3.h"
|
||||
|
||||
const fp32_rotation3_t FP32_IDLE_ROTATION3 = { {0.0f, 0.0f, 0.0f}, 0.0f};
|
||||
const rotation3_fp32_t FP32_IDLE_ROTATION3 = { {0.0f, 0.0f, 0.0f}, 0.0f};
|
||||
|
||||
const fp64_rotation3_t FP64_IDLE_ROTATION3 = { {0.0, 0.0, 0.0}, 0.0};
|
||||
const rotation3_fp64_t FP64_IDLE_ROTATION3 = { {0.0, 0.0, 0.0}, 0.0};
|
||||
|
|
|
@ -6,22 +6,22 @@
|
|||
#include "vector3.h"
|
||||
|
||||
typedef struct {
|
||||
fp32_vector3_t axis;
|
||||
vector3_fp32_t axis;
|
||||
float radians;
|
||||
} fp32_rotation3_t;
|
||||
} rotation3_fp32_t;
|
||||
|
||||
typedef struct {
|
||||
fp64_vector3_t axis;
|
||||
vector3_fp64_t axis;
|
||||
double radians;
|
||||
} fp64_rotation3_t;
|
||||
} rotation3_fp64_t;
|
||||
|
||||
extern const fp32_rotation3_t FP32_IDLE_ROTATION3;
|
||||
extern const rotation3_fp32_t FP32_IDLE_ROTATION3;
|
||||
|
||||
extern const fp64_rotation3_t FP64_IDLE_ROTATION3;
|
||||
extern const rotation3_fp64_t FP64_IDLE_ROTATION3;
|
||||
|
||||
// =================== Reset ==================== //
|
||||
|
||||
static inline void fp32_rotation_reset(fp32_rotation3_t* rotation)
|
||||
inline void fp32_rotation_reset(rotation3_fp32_t* rotation)
|
||||
{
|
||||
rotation->axis.x1 = 0.0f;
|
||||
rotation->axis.x2 = 0.0f;
|
||||
|
@ -30,7 +30,7 @@ static inline void fp32_rotation_reset(fp32_rotation3_t* rotation)
|
|||
rotation->radians = 0.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_rotation_reset(fp64_rotation3_t* rotation)
|
||||
inline void fp64_rotation_reset(rotation3_fp64_t* rotation)
|
||||
{
|
||||
rotation->axis.x1 = 0.0;
|
||||
rotation->axis.x2 = 0.0;
|
||||
|
@ -41,13 +41,13 @@ static inline void fp64_rotation_reset(fp64_rotation3_t* rotation)
|
|||
|
||||
// ==================== Make ==================== //
|
||||
|
||||
static inline void fp32_rotation_set_values(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, fp32_rotation3_t* rotation)
|
||||
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)
|
||||
{
|
||||
rotation->axis.x1 = x1;
|
||||
rotation->axis.x2 = x2;
|
||||
rotation->axis.x3 = x3;
|
||||
|
||||
if (fp32_vector3_normalize(&rotation->axis)) {
|
||||
if (vector3_fp32_normalize(&rotation->axis)) {
|
||||
rotation->radians = fp32_angle_to_radians(angle, unit);
|
||||
}
|
||||
else {
|
||||
|
@ -56,13 +56,13 @@ static inline void fp32_rotation_set_values(const float x1, const float x2, cons
|
|||
}
|
||||
|
||||
|
||||
static inline void fp64_rotation_set_values(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, fp64_rotation3_t* rotation)
|
||||
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)
|
||||
{
|
||||
rotation->axis.x1 = x1;
|
||||
rotation->axis.x2 = x2;
|
||||
rotation->axis.x3 = x3;
|
||||
|
||||
if (fp64_vector3_normalize(&rotation->axis)) {
|
||||
if (vector3_fp64_normalize(&rotation->axis)) {
|
||||
rotation->radians = fp64_angle_to_radians(angle, unit);
|
||||
}
|
||||
else {
|
||||
|
@ -70,13 +70,13 @@ static inline void fp64_rotation_set_values(const double x1, const double x2, co
|
|||
}
|
||||
}
|
||||
|
||||
static inline void fp32_rotation_set_with_axis(const fp32_vector3_t* axis, const float angle, const angle_unit_t unit, fp32_rotation3_t* rotation)
|
||||
inline void fp32_rotation_set_with_axis(const vector3_fp32_t* axis, const float angle, const angle_unit_t unit, rotation3_fp32_t* rotation)
|
||||
{
|
||||
rotation->axis.x1 = axis->x1;
|
||||
rotation->axis.x2 = axis->x2;
|
||||
rotation->axis.x3 = axis->x3;
|
||||
|
||||
if (fp32_vector3_normalize(&rotation->axis)) {
|
||||
if (vector3_fp32_normalize(&rotation->axis)) {
|
||||
rotation->radians = fp32_angle_to_radians(angle, unit);
|
||||
}
|
||||
else {
|
||||
|
@ -84,13 +84,13 @@ static inline void fp32_rotation_set_with_axis(const fp32_vector3_t* axis, const
|
|||
}
|
||||
}
|
||||
|
||||
static inline void fp64_rotation_set_with_axis(const fp64_vector3_t* axis, const double angle, const angle_unit_t unit, fp64_rotation3_t* rotation)
|
||||
inline void fp64_rotation_set_with_axis(const vector3_fp64_t* axis, const double angle, const angle_unit_t unit, rotation3_fp64_t* rotation)
|
||||
{
|
||||
rotation->axis.x1 = axis->x1;
|
||||
rotation->axis.x2 = axis->x2;
|
||||
rotation->axis.x3 = axis->x3;
|
||||
|
||||
if (fp64_vector3_normalize(&rotation->axis)) {
|
||||
if (vector3_fp64_normalize(&rotation->axis)) {
|
||||
rotation->radians = fp64_angle_to_radians(angle, unit);
|
||||
}
|
||||
else {
|
||||
|
|
|
@ -1,5 +1,5 @@
|
|||
#include "tangent.h"
|
||||
|
||||
const fp32_tangent_t FP32_IDLE_TANGENT = { 1.0f, 0.0f };
|
||||
const tangent_fp32_t FP32_IDLE_TANGENT = { 1.0f, 0.0f };
|
||||
|
||||
const fp64_tangent_t FP64_IDLE_TANGENT = { 1.0, 0.0 };
|
||||
const tangent_fp64_t FP64_IDLE_TANGENT = { 1.0, 0.0 };
|
||||
|
|
|
@ -13,12 +13,12 @@
|
|||
typedef struct
|
||||
{
|
||||
const float cos, sin;
|
||||
} fp32_tangent_t;
|
||||
} tangent_fp32_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
const double cos, sin;
|
||||
} fp64_tangent_t;
|
||||
} tangent_fp64_t;
|
||||
|
||||
// ================= Dark Twins ================= //
|
||||
|
||||
|
@ -32,12 +32,12 @@ typedef struct {
|
|||
|
||||
// ================= Constants ================== //
|
||||
|
||||
extern const fp32_tangent_t FP32_IDLE_TANGENT;
|
||||
extern const fp64_tangent_t FP64_IDLE_TANGENT;
|
||||
extern const tangent_fp32_t FP32_IDLE_TANGENT;
|
||||
extern const tangent_fp64_t FP64_IDLE_TANGENT;
|
||||
|
||||
// =================== Reset ==================== //
|
||||
|
||||
static inline void fp32_tangent_reset(fp32_tangent_t* tangent)
|
||||
inline void tangent_reset_fp32(tangent_fp32_t* tangent)
|
||||
{
|
||||
__BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)tangent;
|
||||
|
||||
|
@ -45,7 +45,7 @@ static inline void fp32_tangent_reset(fp32_tangent_t* tangent)
|
|||
twin->sin = 0.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_reset(fp64_tangent_t* tangent)
|
||||
inline void tangent_reset_fp64(tangent_fp64_t* tangent)
|
||||
{
|
||||
__BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)tangent;
|
||||
|
||||
|
@ -55,7 +55,7 @@ static inline void fp64_tangent_reset(fp64_tangent_t* tangent)
|
|||
|
||||
// ==================== Set ===================== //
|
||||
|
||||
static inline void fp32_tangent_set_values(const float x1, const float x2, fp32_tangent_t* tangent)
|
||||
inline void tangent_fp32_set_values(const float x1, const float x2, tangent_fp32_t* tangent)
|
||||
{
|
||||
const float square_module = x1 * x1 + x2 * x2;
|
||||
|
||||
|
@ -80,7 +80,7 @@ static inline void fp32_tangent_set_values(const float x1, const float x2, fp32_
|
|||
twin->sin = x2 * multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_set_values(const double x1, const double x2, fp64_tangent_t* tangent)
|
||||
inline void tangent_fp64_set_values(const double x1, const double x2, tangent_fp64_t* tangent)
|
||||
{
|
||||
const double square_module = x1 * x1 + x2 * x2;
|
||||
|
||||
|
@ -107,7 +107,7 @@ static inline void fp64_tangent_set_values(const double x1, const double x2, fp6
|
|||
|
||||
// ==================== Copy ==================== //
|
||||
|
||||
static inline void fp32_tangent_copy(const fp32_tangent_t* from, fp32_tangent_t* to)
|
||||
inline void tangent_copy_fp32(const tangent_fp32_t* from, tangent_fp32_t* to)
|
||||
{
|
||||
__BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)to;
|
||||
|
||||
|
@ -115,7 +115,7 @@ static inline void fp32_tangent_copy(const fp32_tangent_t* from, fp32_tangent_t*
|
|||
twin->sin = from->sin;
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_copy(const fp64_tangent_t* from, fp64_tangent_t* to)
|
||||
inline void tangent_copy_fp64(const tangent_fp64_t* from, tangent_fp64_t* to)
|
||||
{
|
||||
__BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)to;
|
||||
|
||||
|
@ -125,7 +125,7 @@ static inline void fp64_tangent_copy(const fp64_tangent_t* from, fp64_tangent_t*
|
|||
|
||||
// ==================== Swap ==================== //
|
||||
|
||||
static inline void fp32_tangent_swap(fp32_tangent_t* tangent1, fp32_tangent_t* tangent2)
|
||||
inline void tangent_swap_fp32(tangent_fp32_t* tangent1, tangent_fp32_t* tangent2)
|
||||
{
|
||||
const float cos = tangent1->cos;
|
||||
const float sin = tangent1->sin;
|
||||
|
@ -141,7 +141,7 @@ static inline void fp32_tangent_swap(fp32_tangent_t* tangent1, fp32_tangent_t* t
|
|||
twin2->sin = sin;
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_swap(fp64_tangent_t* tangent1, fp64_tangent_t* tangent2)
|
||||
inline void tangent_swap_fp64(tangent_fp64_t* tangent1, tangent_fp64_t* tangent2)
|
||||
{
|
||||
const double cos = tangent1->cos;
|
||||
const double sin = tangent1->sin;
|
||||
|
@ -159,7 +159,7 @@ static inline void fp64_tangent_swap(fp64_tangent_t* tangent1, fp64_tangent_t* t
|
|||
|
||||
// ================== Set Turn ================== //
|
||||
|
||||
static inline void fp32_tangent_set_turn(const float angle, const angle_unit_t unit, fp32_tangent_t* tangent)
|
||||
inline void tangent_fp32_set_turn(const float angle, const angle_unit_t unit, tangent_fp32_t* tangent)
|
||||
{
|
||||
const float radians = fp32_angle_to_radians(angle, unit);
|
||||
|
||||
|
@ -169,7 +169,7 @@ static inline void fp32_tangent_set_turn(const float angle, const angle_unit_t u
|
|||
twin->sin = sinf(radians);
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_set_turn(const double angle, const angle_unit_t unit, fp64_tangent_t* tangent)
|
||||
inline void tangent_fp64_set_turn(const double angle, const angle_unit_t unit, tangent_fp64_t* tangent)
|
||||
{
|
||||
const double radians = fp64_angle_to_radians(angle, unit);
|
||||
|
||||
|
@ -181,31 +181,31 @@ static inline void fp64_tangent_set_turn(const double angle, const angle_unit_t
|
|||
|
||||
// ============= Copy to twin type ============== //
|
||||
|
||||
static inline void fp32_tangent_set_from_fp64(const fp64_tangent_t* from, fp32_tangent_t* to)
|
||||
inline void tangent_fp32_set_from_fp64(const tangent_fp64_t* from, tangent_fp32_t* to)
|
||||
{
|
||||
fp32_tangent_set_values((float)from->cos, (float)from->sin, to);
|
||||
tangent_fp32_set_values((float)from->cos, (float)from->sin, to);
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_set_from_fp32(const fp32_tangent_t* from, fp64_tangent_t* to)
|
||||
inline void tangent_fp64_set_from_fp32(const tangent_fp32_t* from, tangent_fp64_t* to)
|
||||
{
|
||||
fp64_tangent_set_values((double)from->cos, (double)from->sin, to);
|
||||
tangent_fp64_set_values((double)from->cos, (double)from->sin, to);
|
||||
}
|
||||
|
||||
// ================= Inversion ================== //
|
||||
|
||||
static inline void fp32_tangent_invert(fp32_tangent_t* tangent)
|
||||
inline void tangent_invert_fp32(tangent_fp32_t* tangent)
|
||||
{
|
||||
((__BgFP32DarkTwinTangent*)tangent)->sin = -tangent->sin;
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_invert(fp64_tangent_t* tangent)
|
||||
inline void tangent_invert_fp64(tangent_fp64_t* tangent)
|
||||
{
|
||||
((__BgFP64DarkTwinTangent*)tangent)->sin = -tangent->sin;
|
||||
}
|
||||
|
||||
// ================ Set Inverted ================ //
|
||||
|
||||
static inline void fp32_tangent_set_inverted(const fp32_tangent_t* tangent, fp32_tangent_t* result)
|
||||
inline void tangent_fp32_set_inverted(const tangent_fp32_t* tangent, tangent_fp32_t* result)
|
||||
{
|
||||
__BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)result;
|
||||
|
||||
|
@ -213,7 +213,7 @@ static inline void fp32_tangent_set_inverted(const fp32_tangent_t* tangent, fp32
|
|||
twin->sin = -tangent->sin;
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_set_inverted(const fp64_tangent_t* tangent, fp64_tangent_t* result)
|
||||
inline void tangent_fp64_set_inverted(const tangent_fp64_t* tangent, tangent_fp64_t* result)
|
||||
{
|
||||
__BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)result;
|
||||
|
||||
|
@ -223,7 +223,7 @@ static inline void fp64_tangent_set_inverted(const fp64_tangent_t* tangent, fp64
|
|||
|
||||
// ============== Rotation Matrix =============== //
|
||||
|
||||
static inline void fp32_tangent_make_rotation_matrix(const fp32_tangent_t* tangent, fp32_matrix2x2_t* matrix)
|
||||
inline void tangent_fp32_make_rotation_matrix(const tangent_fp32_t* tangent, matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = tangent->cos;
|
||||
matrix->r1c2 = -tangent->sin;
|
||||
|
@ -231,7 +231,7 @@ static inline void fp32_tangent_make_rotation_matrix(const fp32_tangent_t* tange
|
|||
matrix->r2c2 = tangent->cos;
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_make_rotation_matrix(const fp64_tangent_t* tangent, fp64_matrix2x2_t* matrix)
|
||||
inline void tangent_fp64_make_rotation_matrix(const tangent_fp64_t* tangent, matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = tangent->cos;
|
||||
matrix->r1c2 = -tangent->sin;
|
||||
|
@ -241,7 +241,7 @@ static inline void fp64_tangent_make_rotation_matrix(const fp64_tangent_t* tange
|
|||
|
||||
// ============== Reverse Matrix ================ //
|
||||
|
||||
static inline void fp32_tangent_make_reverse_matrix(const fp32_tangent_t* tangent, fp32_matrix2x2_t* matrix)
|
||||
inline void tangent_fp32_make_reverse_matrix(const tangent_fp32_t* tangent, matrix2x2_fp32_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = tangent->cos;
|
||||
matrix->r1c2 = tangent->sin;
|
||||
|
@ -249,7 +249,7 @@ static inline void fp32_tangent_make_reverse_matrix(const fp32_tangent_t* tangen
|
|||
matrix->r2c2 = tangent->cos;
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_make_reverse_matrix(const fp64_tangent_t* tangent, fp64_matrix2x2_t* matrix)
|
||||
inline void tangent_fp64_make_reverse_matrix(const tangent_fp64_t* tangent, matrix2x2_fp64_t* matrix)
|
||||
{
|
||||
matrix->r1c1 = tangent->cos;
|
||||
matrix->r1c2 = tangent->sin;
|
||||
|
@ -259,7 +259,7 @@ static inline void fp64_tangent_make_reverse_matrix(const fp64_tangent_t* tangen
|
|||
|
||||
// =================== Angle =================== //
|
||||
|
||||
static inline float fp32_tangent_get_angle(const fp32_tangent_t* tangent, const angle_unit_t unit)
|
||||
inline float tangent_fp32_get_angle(const tangent_fp32_t* tangent, const angle_unit_t unit)
|
||||
{
|
||||
if (tangent->cos >= 1.0f - FP32_TWO_EPSYLON) {
|
||||
return 0.0f;
|
||||
|
@ -280,7 +280,7 @@ static inline float fp32_tangent_get_angle(const fp32_tangent_t* tangent, const
|
|||
return fp32_radians_to_units(atan2f(tangent->cos, tangent->sin), unit);
|
||||
}
|
||||
|
||||
static inline double fp64_tangent_get_angle(const fp64_tangent_t* tangent, const angle_unit_t unit)
|
||||
inline double tangent_fp64_get_angle(const tangent_fp64_t* tangent, const angle_unit_t unit)
|
||||
{
|
||||
if (tangent->cos >= 1.0 - FP64_TWO_EPSYLON) {
|
||||
return 0.0;
|
||||
|
@ -303,18 +303,18 @@ static inline double fp64_tangent_get_angle(const fp64_tangent_t* tangent, const
|
|||
|
||||
// ================ Combination ================= //
|
||||
|
||||
static inline void fp32_tangent_combine(const fp32_tangent_t* tangent1, const fp32_tangent_t* tangent2, fp32_tangent_t* result)
|
||||
inline void tangent_fp32_combine(const tangent_fp32_t* tangent1, const tangent_fp32_t* tangent2, tangent_fp32_t* result)
|
||||
{
|
||||
fp32_tangent_set_values(
|
||||
tangent_fp32_set_values(
|
||||
tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin,
|
||||
tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos,
|
||||
result
|
||||
);
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_combine(const fp64_tangent_t* tangent1, const fp64_tangent_t* tangent2, fp64_tangent_t* result)
|
||||
inline void tangent_fp64_combine(const tangent_fp64_t* tangent1, const tangent_fp64_t* tangent2, tangent_fp64_t* result)
|
||||
{
|
||||
fp64_tangent_set_values(
|
||||
tangent_fp64_set_values(
|
||||
tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin,
|
||||
tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos,
|
||||
result
|
||||
|
@ -323,7 +323,7 @@ static inline void fp64_tangent_combine(const fp64_tangent_t* tangent1, const fp
|
|||
|
||||
// ================ Turn Vector ================= //
|
||||
|
||||
static inline void fp32_tangent_turn(const fp32_tangent_t* tangent, const fp32_vector2_t* vector, fp32_vector2_t* result)
|
||||
inline void tangent_fp32_turn(const tangent_fp32_t* tangent, const vector2_fp32_t* vector, vector2_fp32_t* result)
|
||||
{
|
||||
const float x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2;
|
||||
const float x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2;
|
||||
|
@ -332,7 +332,7 @@ static inline void fp32_tangent_turn(const fp32_tangent_t* tangent, const fp32_v
|
|||
result->x2 = x2;
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_turn(const fp64_tangent_t* tangent, const fp64_vector2_t* vector, fp64_vector2_t* result)
|
||||
inline void tangent_fp64_turn(const tangent_fp64_t* tangent, const vector2_fp64_t* vector, vector2_fp64_t* result)
|
||||
{
|
||||
const double x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2;
|
||||
const double x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2;
|
||||
|
@ -343,7 +343,7 @@ static inline void fp64_tangent_turn(const fp64_tangent_t* tangent, const fp64_v
|
|||
|
||||
// ============ Turn Vector Backward ============ //
|
||||
|
||||
static inline void fp32_tangent_turn_back(const fp32_tangent_t* tangent, const fp32_vector2_t* vector, fp32_vector2_t* result)
|
||||
inline void tangent_fp32_turn_back(const tangent_fp32_t* tangent, const vector2_fp32_t* vector, vector2_fp32_t* result)
|
||||
{
|
||||
const float x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1;
|
||||
const float x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1;
|
||||
|
@ -352,7 +352,7 @@ static inline void fp32_tangent_turn_back(const fp32_tangent_t* tangent, const f
|
|||
result->x2 = x2;
|
||||
}
|
||||
|
||||
static inline void fp64_tangent_turn_back(const fp64_tangent_t* tangent, const fp64_vector2_t* vector, fp64_vector2_t* result)
|
||||
inline void tangent_fp64_turn_back(const tangent_fp64_t* tangent, const vector2_fp64_t* vector, vector2_fp64_t* result)
|
||||
{
|
||||
const double x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1;
|
||||
const double x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1;
|
||||
|
|
|
@ -2,25 +2,25 @@
|
|||
|
||||
// =================== Angle ==================== //
|
||||
|
||||
float fp32_vector2_get_angle(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, const angle_unit_t unit)
|
||||
float vector2_fp32_get_angle(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const angle_unit_t unit)
|
||||
{
|
||||
if (vector1 == 0 || vector2 == 0) {
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
const float square_modulus1 = fp32_vector2_get_square_modulus(vector1);
|
||||
const float square_modulus1 = vector2_get_square_modulus_fp32(vector1);
|
||||
|
||||
if (square_modulus1 <= FP32_SQUARE_EPSYLON) {
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
const float square_modulus2 = fp32_vector2_get_square_modulus(vector2);
|
||||
const float square_modulus2 = vector2_get_square_modulus_fp32(vector2);
|
||||
|
||||
if (square_modulus2 <= FP32_SQUARE_EPSYLON) {
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
const float cosine = fp32_vector2_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
|
||||
const float cosine = vector2_fp32_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
|
||||
|
||||
if (cosine >= 1.0f - FP32_EPSYLON) {
|
||||
return 0.0f;
|
||||
|
@ -33,25 +33,25 @@ float fp32_vector2_get_angle(const fp32_vector2_t* vector1, const fp32_vector2_t
|
|||
return fp32_radians_to_units(acosf(cosine), unit);
|
||||
}
|
||||
|
||||
double fp64_vector2_get_angle(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, const angle_unit_t unit)
|
||||
double vector2_fp64_get_angle(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, const angle_unit_t unit)
|
||||
{
|
||||
if (vector1 == 0 || vector2 == 0) {
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
const double square_modulus1 = fp64_vector2_get_square_modulus(vector1);
|
||||
const double square_modulus1 = vector2_get_square_modulus_fp64(vector1);
|
||||
|
||||
if (square_modulus1 <= FP64_SQUARE_EPSYLON) {
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
const double square_modulus2 = fp64_vector2_get_square_modulus(vector2);
|
||||
const double square_modulus2 = vector2_get_square_modulus_fp64(vector2);
|
||||
|
||||
if (square_modulus2 <= FP64_SQUARE_EPSYLON) {
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
const double cosine = fp64_vector2_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
|
||||
const double cosine = vector2_fp64_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
|
||||
|
||||
if (cosine >= 1.0 - FP64_EPSYLON) {
|
||||
return 0.0;
|
||||
|
|
|
@ -9,22 +9,22 @@
|
|||
typedef struct
|
||||
{
|
||||
float x1, x2;
|
||||
} fp32_vector2_t;
|
||||
} vector2_fp32_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
double x1, x2;
|
||||
} fp64_vector2_t;
|
||||
} vector2_fp64_t;
|
||||
|
||||
// =================== Reset ==================== //
|
||||
|
||||
static inline void fp32_vector2_reset(fp32_vector2_t* vector)
|
||||
inline void vector2_reset_fp32(vector2_fp32_t* vector)
|
||||
{
|
||||
vector->x1 = 0.0f;
|
||||
vector->x2 = 0.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_reset(fp64_vector2_t* vector)
|
||||
inline void vector2_reset_fp64(vector2_fp64_t* vector)
|
||||
{
|
||||
vector->x1 = 0.0;
|
||||
vector->x2 = 0.0;
|
||||
|
@ -32,13 +32,13 @@ static inline void fp64_vector2_reset(fp64_vector2_t* vector)
|
|||
|
||||
// ==================== Set ===================== //
|
||||
|
||||
static inline void fp32_vector2_set_values(const float x1, const float x2, fp32_vector2_t* to)
|
||||
inline void vector2_fp32_set_values(const float x1, const float x2, vector2_fp32_t* to)
|
||||
{
|
||||
to->x1 = x1;
|
||||
to->x2 = x2;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_set_values(const double x1, const double x2, fp64_vector2_t* to)
|
||||
inline void vector2_fp64_set_values(const double x1, const double x2, vector2_fp64_t* to)
|
||||
{
|
||||
to->x1 = x1;
|
||||
to->x2 = x2;
|
||||
|
@ -46,13 +46,13 @@ static inline void fp64_vector2_set_values(const double x1, const double x2, fp6
|
|||
|
||||
// ==================== Copy ==================== //
|
||||
|
||||
static inline void fp32_vector2_copy(const fp32_vector2_t* from, fp32_vector2_t* to)
|
||||
inline void vector2_copy_fp32(const vector2_fp32_t* from, vector2_fp32_t* to)
|
||||
{
|
||||
to->x1 = from->x1;
|
||||
to->x2 = from->x2;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_copy(const fp64_vector2_t* from, fp64_vector2_t* to)
|
||||
inline void vector2_copy_fp64(const vector2_fp64_t* from, vector2_fp64_t* to)
|
||||
{
|
||||
to->x1 = from->x1;
|
||||
to->x2 = from->x2;
|
||||
|
@ -60,7 +60,7 @@ static inline void fp64_vector2_copy(const fp64_vector2_t* from, fp64_vector2_t*
|
|||
|
||||
// ==================== Swap ==================== //
|
||||
|
||||
static inline void fp32_vector2_swap(fp32_vector2_t* vector1, fp32_vector2_t* vector2)
|
||||
inline void vector2_swap_fp32(vector2_fp32_t* vector1, vector2_fp32_t* vector2)
|
||||
{
|
||||
const float x1 = vector2->x1;
|
||||
const float x2 = vector2->x2;
|
||||
|
@ -72,7 +72,7 @@ static inline void fp32_vector2_swap(fp32_vector2_t* vector1, fp32_vector2_t* ve
|
|||
vector1->x2 = x2;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_swap(fp64_vector2_t* vector1, fp64_vector2_t* vector2)
|
||||
inline void vector2_swap_fp64(vector2_fp64_t* vector1, vector2_fp64_t* vector2)
|
||||
{
|
||||
const double x1 = vector2->x1;
|
||||
const double x2 = vector2->x2;
|
||||
|
@ -86,13 +86,13 @@ static inline void fp64_vector2_swap(fp64_vector2_t* vector1, fp64_vector2_t* ve
|
|||
|
||||
// ============= Copy to twin type ============== //
|
||||
|
||||
static inline void fp32_vector2_set_from_fp64(const fp64_vector2_t* from, fp32_vector2_t* to)
|
||||
inline void vector2_fp32_set_from_fp64(const vector2_fp64_t* from, vector2_fp32_t* to)
|
||||
{
|
||||
to->x1 = (float)from->x1;
|
||||
to->x2 = (float)from->x2;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_set_from_fp32(const fp32_vector2_t* from, fp64_vector2_t* to)
|
||||
inline void vector2_fp64_set_from_fp32(const vector2_fp32_t* from, vector2_fp64_t* to)
|
||||
{
|
||||
to->x1 = from->x1;
|
||||
to->x2 = from->x2;
|
||||
|
@ -100,13 +100,13 @@ static inline void fp64_vector2_set_from_fp32(const fp32_vector2_t* from, fp64_v
|
|||
|
||||
// =================== Reverse ================== //
|
||||
|
||||
static inline void fp32_vector2_set_reverse(const fp32_vector2_t* from, fp32_vector2_t* to)
|
||||
inline void vector2_fp32_set_reverse(const vector2_fp32_t* from, vector2_fp32_t* to)
|
||||
{
|
||||
to->x1 = -from->x1;
|
||||
to->x2 = -from->x2;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_set_reverse(const fp64_vector2_t* from, fp64_vector2_t* to)
|
||||
inline void vector2_fp64_set_reverse(const vector2_fp64_t* from, vector2_fp64_t* to)
|
||||
{
|
||||
to->x1 = -from->x1;
|
||||
to->x2 = -from->x2;
|
||||
|
@ -114,13 +114,13 @@ static inline void fp64_vector2_set_reverse(const fp64_vector2_t* from, fp64_vec
|
|||
|
||||
// ============= Reverse twin type ============== //
|
||||
|
||||
static inline void fp32_vector2_set_reverse_fp64(const fp64_vector2_t* from, fp32_vector2_t* to)
|
||||
inline void vector2_fp32_set_reverse_fp64(const vector2_fp64_t* from, vector2_fp32_t* to)
|
||||
{
|
||||
to->x1 = (float) -from->x1;
|
||||
to->x2 = (float) -from->x2;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_set_reverse_fp32(const fp32_vector2_t* from, fp64_vector2_t* to)
|
||||
inline void vector2_fp64_set_reverse_fp32(const vector2_fp32_t* from, vector2_fp64_t* to)
|
||||
{
|
||||
to->x1 = -from->x1;
|
||||
to->x2 = -from->x2;
|
||||
|
@ -128,61 +128,61 @@ static inline void fp64_vector2_set_reverse_fp32(const fp32_vector2_t* from, fp6
|
|||
|
||||
// =================== Module =================== //
|
||||
|
||||
static inline float fp32_vector2_get_square_modulus(const fp32_vector2_t* vector)
|
||||
inline float vector2_get_square_modulus_fp32(const vector2_fp32_t* vector)
|
||||
{
|
||||
return vector->x1 * vector->x1 + vector->x2 * vector->x2;
|
||||
}
|
||||
|
||||
static inline double fp64_vector2_get_square_modulus(const fp64_vector2_t* vector)
|
||||
inline double vector2_get_square_modulus_fp64(const vector2_fp64_t* vector)
|
||||
{
|
||||
return vector->x1 * vector->x1 + vector->x2 * vector->x2;
|
||||
}
|
||||
|
||||
static inline float fp32_vector2_get_modulus(const fp32_vector2_t* vector)
|
||||
inline float vector2_get_modulus_fp32(const vector2_fp32_t* vector)
|
||||
{
|
||||
return sqrtf(fp32_vector2_get_square_modulus(vector));
|
||||
return sqrtf(vector2_get_square_modulus_fp32(vector));
|
||||
}
|
||||
|
||||
static inline double fp64_vector2_get_modulus(const fp64_vector2_t* vector)
|
||||
inline double vector2_get_modulus_fp64(const vector2_fp64_t* vector)
|
||||
{
|
||||
return sqrt(fp64_vector2_get_square_modulus(vector));
|
||||
return sqrt(vector2_get_square_modulus_fp64(vector));
|
||||
}
|
||||
|
||||
// ================= Comparison ================= //
|
||||
|
||||
static inline int fp32_vector2_is_zero(const fp32_vector2_t* vector)
|
||||
inline int vector2_fp32_is_zero(const vector2_fp32_t* vector)
|
||||
{
|
||||
return fp32_vector2_get_square_modulus(vector) <= FP32_SQUARE_EPSYLON;
|
||||
return vector2_get_square_modulus_fp32(vector) <= FP32_SQUARE_EPSYLON;
|
||||
}
|
||||
|
||||
static inline int fp64_vector2_is_zero(const fp64_vector2_t* vector)
|
||||
inline int vector2_fp64_is_zero(const vector2_fp64_t* vector)
|
||||
{
|
||||
return fp64_vector2_get_square_modulus(vector) <= FP64_SQUARE_EPSYLON;
|
||||
return vector2_get_square_modulus_fp64(vector) <= FP64_SQUARE_EPSYLON;
|
||||
}
|
||||
|
||||
static inline int fp32_vector2_is_unit(const fp32_vector2_t* vector)
|
||||
inline int vector2_fp32_is_unit(const vector2_fp32_t* vector)
|
||||
{
|
||||
const float square_modulus = fp32_vector2_get_square_modulus(vector);
|
||||
const float square_modulus = vector2_get_square_modulus_fp32(vector);
|
||||
|
||||
return 1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON;
|
||||
}
|
||||
|
||||
static inline int fp64_vector2_is_unit(const fp64_vector2_t* vector)
|
||||
inline int vector2_fp64_is_unit(const vector2_fp64_t* vector)
|
||||
{
|
||||
const double square_modulus = fp64_vector2_get_square_modulus(vector);
|
||||
const double square_modulus = vector2_get_square_modulus_fp64(vector);
|
||||
|
||||
return 1.0f - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP64_TWO_EPSYLON;
|
||||
}
|
||||
|
||||
// ==================== Add ===================== //
|
||||
|
||||
static inline void fp32_vector2_add(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, fp32_vector2_t* sum)
|
||||
inline void vector2_fp32_add(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, vector2_fp32_t* sum)
|
||||
{
|
||||
sum->x1 = vector1->x1 + vector2->x1;
|
||||
sum->x2 = vector1->x2 + vector2->x2;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_add(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, fp64_vector2_t* sum)
|
||||
inline void vector2_fp64_add(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, vector2_fp64_t* sum)
|
||||
{
|
||||
sum->x1 = vector1->x1 + vector2->x1;
|
||||
sum->x2 = vector1->x2 + vector2->x2;
|
||||
|
@ -190,13 +190,13 @@ static inline void fp64_vector2_add(const fp64_vector2_t* vector1, const fp64_ve
|
|||
|
||||
// ================ Subtraction ================= //
|
||||
|
||||
static inline void fp32_vector2_subtract(const fp32_vector2_t* minuend, const fp32_vector2_t* subtrahend, fp32_vector2_t* difference)
|
||||
inline void vector2_fp32_subtract(const vector2_fp32_t* minuend, const vector2_fp32_t* subtrahend, vector2_fp32_t* difference)
|
||||
{
|
||||
difference->x1 = minuend->x1 - subtrahend->x1;
|
||||
difference->x2 = minuend->x2 - subtrahend->x2;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_subtract(const fp64_vector2_t* minuend, const fp64_vector2_t* subtrahend, fp64_vector2_t* difference)
|
||||
inline void vector2_fp64_subtract(const vector2_fp64_t* minuend, const vector2_fp64_t* subtrahend, vector2_fp64_t* difference)
|
||||
{
|
||||
difference->x1 = minuend->x1 - subtrahend->x1;
|
||||
difference->x2 = minuend->x2 - subtrahend->x2;
|
||||
|
@ -204,13 +204,13 @@ static inline void fp64_vector2_subtract(const fp64_vector2_t* minuend, const fp
|
|||
|
||||
// =============== Multiplication =============== //
|
||||
|
||||
static inline void fp32_vector2_multiply(const fp32_vector2_t* multiplicand, const float multiplier, fp32_vector2_t* product)
|
||||
inline void vector2_fp32_multiply(const vector2_fp32_t* multiplicand, const float multiplier, vector2_fp32_t* product)
|
||||
{
|
||||
product->x1 = multiplicand->x1 * multiplier;
|
||||
product->x2 = multiplicand->x2 * multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_multiply(const fp64_vector2_t* multiplicand, const double multiplier, fp64_vector2_t* product)
|
||||
inline void vector2_fp64_multiply(const vector2_fp64_t* multiplicand, const double multiplier, vector2_fp64_t* product)
|
||||
{
|
||||
product->x1 = multiplicand->x1 * multiplier;
|
||||
product->x2 = multiplicand->x2 * multiplier;
|
||||
|
@ -218,25 +218,25 @@ static inline void fp64_vector2_multiply(const fp64_vector2_t* multiplicand, con
|
|||
|
||||
// ================== Division ================== //
|
||||
|
||||
static inline void fp32_vector2_divide(const fp32_vector2_t* dividend, const float divisor, fp32_vector2_t* quotient)
|
||||
inline void vector2_fp32_divide(const vector2_fp32_t* dividend, const float divisor, vector2_fp32_t* quotient)
|
||||
{
|
||||
fp32_vector2_multiply(dividend, 1.0f / divisor, quotient);
|
||||
vector2_fp32_multiply(dividend, 1.0f / divisor, quotient);
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_divide(const fp64_vector2_t* dividend, const double divisor, fp64_vector2_t* quotient)
|
||||
inline void vector2_fp64_divide(const vector2_fp64_t* dividend, const double divisor, vector2_fp64_t* quotient)
|
||||
{
|
||||
fp64_vector2_multiply(dividend, 1.0 / divisor, quotient);
|
||||
vector2_fp64_multiply(dividend, 1.0 / divisor, quotient);
|
||||
}
|
||||
|
||||
// ================ Append scaled =============== //
|
||||
|
||||
static inline void fp32_vector2_append_scaled(fp32_vector2_t* basic_vector, const fp32_vector2_t* scalable_vector, const float scale)
|
||||
inline void vector2_fp32_append_scaled(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;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_append_scaled(fp64_vector2_t* basic_vector, const fp64_vector2_t* scalable_vector, const double scale)
|
||||
inline void vector2_fp64_append_scaled(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;
|
||||
|
@ -244,13 +244,13 @@ static inline void fp64_vector2_append_scaled(fp64_vector2_t* basic_vector, cons
|
|||
|
||||
// ================== Average2 ================== //
|
||||
|
||||
static inline void fp32_vector2_get_mean2(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, fp32_vector2_t* result)
|
||||
inline void vector2_fp32_get_mean2(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, vector2_fp32_t* result)
|
||||
{
|
||||
result->x1 = (vector1->x1 + vector2->x1) * 0.5f;
|
||||
result->x2 = (vector1->x2 + vector2->x2) * 0.5f;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_get_mean2(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, fp64_vector2_t* result)
|
||||
inline void vector2_fp64_get_mean2(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, vector2_fp64_t* result)
|
||||
{
|
||||
result->x1 = (vector1->x1 + vector2->x1) * 0.5;
|
||||
result->x2 = (vector1->x2 + vector2->x2) * 0.5;
|
||||
|
@ -258,13 +258,13 @@ static inline void fp64_vector2_get_mean2(const fp64_vector2_t* vector1, const f
|
|||
|
||||
// ================== Average3 ================== //
|
||||
|
||||
static inline void fp32_vector2_get_mean3(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, const fp32_vector2_t* vector3, fp32_vector2_t* result)
|
||||
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)
|
||||
{
|
||||
result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP32_ONE_THIRD;
|
||||
result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP32_ONE_THIRD;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_get_mean3(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, const fp64_vector2_t* vector3, fp64_vector2_t* result)
|
||||
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)
|
||||
{
|
||||
result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP64_ONE_THIRD;
|
||||
result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP64_ONE_THIRD;
|
||||
|
@ -272,31 +272,31 @@ static inline void fp64_vector2_get_mean3(const fp64_vector2_t* vector1, const f
|
|||
|
||||
// =============== Scalar Product =============== //
|
||||
|
||||
static inline float fp32_vector2_scalar_product(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2)
|
||||
inline float vector2_fp32_scalar_product(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
|
||||
{
|
||||
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2;
|
||||
}
|
||||
|
||||
static inline double fp64_vector2_scalar_product(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2)
|
||||
inline double vector2_fp64_scalar_product(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
|
||||
{
|
||||
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2;
|
||||
}
|
||||
|
||||
// =============== Cross Product ================ //
|
||||
|
||||
static inline float fp32_vector2_cross_product(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2)
|
||||
inline float vector2_fp32_cross_product(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
|
||||
{
|
||||
return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
|
||||
}
|
||||
|
||||
static inline double fp64_vector2_cross_product(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2)
|
||||
inline double vector2_fp64_cross_product(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
|
||||
{
|
||||
return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
|
||||
}
|
||||
|
||||
// ============== Complex Product =============== //
|
||||
|
||||
static inline void fp32_vector2_complex_product(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, fp32_vector2_t* result)
|
||||
inline void vector2_fp32_complex_product(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, vector2_fp32_t* result)
|
||||
{
|
||||
const float x1 = vector1->x1 * vector2->x1 - vector1->x2 * vector2->x2;
|
||||
const float x2 = vector1->x1 * vector2->x2 + vector1->x2 * vector2->x1;
|
||||
|
@ -305,7 +305,7 @@ static inline void fp32_vector2_complex_product(const fp32_vector2_t* vector1, c
|
|||
result->x2 = x2;
|
||||
}
|
||||
|
||||
static inline void fp64_vector2_complex_product(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, fp64_vector2_t* result)
|
||||
inline void vector2_fp64_complex_product(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, vector2_fp64_t* result)
|
||||
{
|
||||
const double x1 = vector1->x1 * vector2->x1 - vector1->x2 * vector2->x2;
|
||||
const double x2 = vector1->x1 * vector2->x2 + vector1->x2 * vector2->x1;
|
||||
|
@ -316,63 +316,63 @@ static inline void fp64_vector2_complex_product(const fp64_vector2_t* vector1, c
|
|||
|
||||
// =============== Normalization ================ //
|
||||
|
||||
static inline int fp32_vector2_normalize(fp32_vector2_t* vector)
|
||||
inline int vector2_fp32_normalize(vector2_fp32_t* vector)
|
||||
{
|
||||
const float square_modulus = fp32_vector2_get_square_modulus(vector);
|
||||
const float square_modulus = vector2_get_square_modulus_fp32(vector);
|
||||
|
||||
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= FP32_SQUARE_EPSYLON) {
|
||||
fp32_vector2_reset(vector);
|
||||
vector2_reset_fp32(vector);
|
||||
return 0;
|
||||
}
|
||||
|
||||
fp32_vector2_multiply(vector, sqrtf(1.0f / square_modulus), vector);
|
||||
vector2_fp32_multiply(vector, sqrtf(1.0f / square_modulus), vector);
|
||||
return 1;
|
||||
}
|
||||
|
||||
static inline int fp64_vector2_normalize(fp64_vector2_t* vector)
|
||||
inline int vector2_fp64_normalize(vector2_fp64_t* vector)
|
||||
{
|
||||
const double square_modulus = fp64_vector2_get_square_modulus(vector);
|
||||
const double square_modulus = vector2_get_square_modulus_fp64(vector);
|
||||
|
||||
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= FP64_SQUARE_EPSYLON) {
|
||||
fp64_vector2_reset(vector);
|
||||
vector2_reset_fp64(vector);
|
||||
return 0;
|
||||
}
|
||||
|
||||
fp64_vector2_multiply(vector, sqrt(1.0 / square_modulus), vector);
|
||||
vector2_fp64_multiply(vector, sqrt(1.0 / square_modulus), vector);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// =============== Get Normalized =============== //
|
||||
|
||||
static inline int fp32_vector2_set_normalized(const fp32_vector2_t* vector, fp32_vector2_t* result)
|
||||
inline int vector2_fp32_set_normalized(const vector2_fp32_t* vector, vector2_fp32_t* result)
|
||||
{
|
||||
fp32_vector2_copy(vector, result);
|
||||
return fp32_vector2_normalize(result);
|
||||
vector2_copy_fp32(vector, result);
|
||||
return vector2_fp32_normalize(result);
|
||||
}
|
||||
|
||||
static inline int fp64_vector2_set_normalized(const fp64_vector2_t* vector, fp64_vector2_t* result)
|
||||
inline int vector2_fp64_set_normalized(const vector2_fp64_t* vector, vector2_fp64_t* result)
|
||||
{
|
||||
fp64_vector2_copy(vector, result);
|
||||
return fp64_vector2_normalize(result);
|
||||
vector2_copy_fp64(vector, result);
|
||||
return vector2_fp64_normalize(result);
|
||||
}
|
||||
|
||||
// =================== Angle ==================== //
|
||||
|
||||
float fp32_vector2_get_angle(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, const angle_unit_t unit);
|
||||
float vector2_fp32_get_angle(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2, const angle_unit_t unit);
|
||||
|
||||
double fp64_vector2_get_angle(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, const angle_unit_t unit);
|
||||
double vector2_fp64_get_angle(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2, const angle_unit_t unit);
|
||||
|
||||
// =============== Square Distance ============== //
|
||||
|
||||
static inline float fp32_vector2_get_square_distance(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2)
|
||||
inline float vector2_fp32_get_square_distance(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
|
||||
{
|
||||
const float dx1 = (vector1->x1 - vector2->x1);
|
||||
const float dx2 = (vector1->x2 - vector2->x2);
|
||||
|
@ -380,7 +380,7 @@ static inline float fp32_vector2_get_square_distance(const fp32_vector2_t* vecto
|
|||
return dx1 * dx1 + dx2 * dx2;
|
||||
}
|
||||
|
||||
static inline double fp64_vector2_get_square_distance(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2)
|
||||
inline double vector2_fp64_get_square_distance(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
|
||||
{
|
||||
const double dx1 = (vector1->x1 - vector2->x1);
|
||||
const double dx2 = (vector1->x2 - vector2->x2);
|
||||
|
@ -390,23 +390,23 @@ static inline double fp64_vector2_get_square_distance(const fp64_vector2_t* vect
|
|||
|
||||
// ================== Distance ================== //
|
||||
|
||||
static inline float fp32_vector2_get_distance(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2)
|
||||
inline float vector2_fp32_get_distance(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
|
||||
{
|
||||
return sqrtf(fp32_vector2_get_square_distance(vector1, vector2));
|
||||
return sqrtf(vector2_fp32_get_square_distance(vector1, vector2));
|
||||
}
|
||||
|
||||
static inline double fp64_vector2_get_distance(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2)
|
||||
inline double vector2_fp64_get_distance(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
|
||||
{
|
||||
return sqrt(fp64_vector2_get_square_distance(vector1, vector2));
|
||||
return sqrt(vector2_fp64_get_square_distance(vector1, vector2));
|
||||
}
|
||||
|
||||
// ================== Are Equal ================= //
|
||||
|
||||
static inline int fp32_vector2_are_equal(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2)
|
||||
inline int vector2_fp32_are_equal(const vector2_fp32_t* vector1, const vector2_fp32_t* vector2)
|
||||
{
|
||||
const float square_modulus1 = fp32_vector2_get_square_modulus(vector1);
|
||||
const float square_modulus2 = fp32_vector2_get_square_modulus(vector2);
|
||||
const float square_modulus3 = fp32_vector2_get_square_distance(vector1, vector2);
|
||||
const float square_modulus1 = vector2_get_square_modulus_fp32(vector1);
|
||||
const float square_modulus2 = vector2_get_square_modulus_fp32(vector2);
|
||||
const float square_modulus3 = vector2_fp32_get_square_distance(vector1, vector2);
|
||||
|
||||
// 2.0f means dimension amount
|
||||
if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
|
||||
|
@ -420,11 +420,11 @@ static inline int fp32_vector2_are_equal(const fp32_vector2_t* vector1, const fp
|
|||
return square_modulus3 <= (2.0f * FP32_SQUARE_EPSYLON) * square_modulus1;
|
||||
}
|
||||
|
||||
static inline int fp64_vector2_are_equal(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2)
|
||||
inline int vector2_fp64_are_equal(const vector2_fp64_t* vector1, const vector2_fp64_t* vector2)
|
||||
{
|
||||
const double square_modulus1 = fp64_vector2_get_square_modulus(vector1);
|
||||
const double square_modulus2 = fp64_vector2_get_square_modulus(vector2);
|
||||
const double square_modulus3 = fp64_vector2_get_square_distance(vector1, vector2);
|
||||
const double square_modulus1 = vector2_get_square_modulus_fp64(vector1);
|
||||
const double square_modulus2 = vector2_get_square_modulus_fp64(vector2);
|
||||
const double square_modulus3 = vector2_fp64_get_square_distance(vector1, vector2);
|
||||
|
||||
// 2.0 means dimension amount
|
||||
if (square_modulus1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
|
||||
|
|
|
@ -2,25 +2,25 @@
|
|||
|
||||
// =================== Angle ==================== //
|
||||
|
||||
float fp32_vector3_get_angle(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const angle_unit_t unit)
|
||||
float vector3_fp32_get_angle(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit)
|
||||
{
|
||||
if (vector1 == 0 || vector2 == 0) {
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
const float square_modulus1 = fp32_vector3_get_square_modulus(vector1);
|
||||
const float square_modulus1 = vector3_get_square_modulus_fp32(vector1);
|
||||
|
||||
if (square_modulus1 <= FP32_SQUARE_EPSYLON) {
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
const float square_modulus2 = fp32_vector3_get_square_modulus(vector2);
|
||||
const float square_modulus2 = vector3_get_square_modulus_fp32(vector2);
|
||||
|
||||
if (square_modulus2 <= FP32_SQUARE_EPSYLON) {
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
const float cosine = fp32_vector3_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
|
||||
const float cosine = vector3_fp32_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
|
||||
|
||||
if (cosine >= 1.0f - FP32_EPSYLON) {
|
||||
return 0.0f;
|
||||
|
@ -33,25 +33,25 @@ float fp32_vector3_get_angle(const fp32_vector3_t* vector1, const fp32_vector3_t
|
|||
return fp32_radians_to_units(acosf(cosine), unit);
|
||||
}
|
||||
|
||||
double fp64_vector3_get_angle(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const angle_unit_t unit)
|
||||
double vector3_fp64_get_angle(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const angle_unit_t unit)
|
||||
{
|
||||
if (vector1 == 0 || vector2 == 0) {
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
const double square_modulus1 = fp64_vector3_get_square_modulus(vector1);
|
||||
const double square_modulus1 = vector3_get_square_modulus_fp64(vector1);
|
||||
|
||||
if (square_modulus1 <= FP64_SQUARE_EPSYLON) {
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
const double square_modulus2 = fp64_vector3_get_square_modulus(vector2);
|
||||
const double square_modulus2 = vector3_get_square_modulus_fp64(vector2);
|
||||
|
||||
if (square_modulus2 <= FP64_SQUARE_EPSYLON) {
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
const double cosine = fp64_vector3_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
|
||||
const double cosine = vector3_fp64_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
|
||||
|
||||
if (cosine >= 1.0 - FP64_EPSYLON) {
|
||||
return 0.0;
|
||||
|
|
|
@ -7,27 +7,51 @@
|
|||
#include <math.h>
|
||||
|
||||
// ================== Vector3 =================== //
|
||||
//
|
||||
|
||||
typedef struct
|
||||
{
|
||||
float x1, x2, x3;
|
||||
} fp32_vector3_t;
|
||||
} vector3_fp32_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
double x1, x2, x3;
|
||||
} fp64_vector3_t;
|
||||
} vector3_fp64_t;
|
||||
|
||||
// ================ Declarations ================ //
|
||||
/*
|
||||
extern inline void vector3_reset_fp32(vector3_fp32_t* vector);
|
||||
extern inline void vector3_set_fp32(const float x1, const float x2, const float x3, vector3_fp32_t* to);
|
||||
extern inline void vector3_copy_fp32(const vector3_fp32_t* from, vector3_fp32_t* to);
|
||||
extern inline void vector3_fp32_convert(const vector3_fp64_t* from, vector3_fp32_t* to);
|
||||
extern inline void vector3_swap_fp32(vector3_fp32_t* vector1, vector3_fp32_t* vector2);
|
||||
extern inline void vector3_invert_fp32(vector3_fp32_t* vector);
|
||||
extern inline void vector3_fp32_make_inverted(const vector3_fp32_t* vector, vector3_fp32_t* result);
|
||||
extern inline void vector3_fp32_make_inverted_fp64(const vector3_fp64_t* vector, vector3_fp32_t* result);
|
||||
extern inline float vector3_get_square_modulus_fp32(const vector3_fp32_t* vector);
|
||||
extern inline float vector3_get_modulus_fp32(const vector3_fp32_t* vector);
|
||||
|
||||
extern inline void vector3_reset_fp64(vector3_fp64_t* vector);
|
||||
extern inline void vector3_set_fp64(const double x1, const double x2, const double x3, vector3_fp64_t* to);
|
||||
extern inline void vector3_copy_fp64(const vector3_fp64_t* from, vector3_fp64_t* to);
|
||||
extern inline void vector3_fp64_convert(const vector3_fp32_t* from, vector3_fp64_t* to);
|
||||
extern inline void vector3_swap_fp64(vector3_fp64_t* vector1, vector3_fp64_t* vector2);
|
||||
extern inline void vector3_invert_fp64(vector3_fp64_t* vector);
|
||||
extern inline void vector3_fp64_make_inverted(const vector3_fp64_t* vector, vector3_fp64_t* result);
|
||||
extern inline void vector3_fp64_make_inverted_fp32(const vector3_fp32_t* vector, vector3_fp64_t* result);
|
||||
extern inline double vector3_get_square_modulus_fp64(const vector3_fp64_t* vector);
|
||||
extern inline double vector3_get_modulus_fp64(const vector3_fp64_t* vector);
|
||||
*/
|
||||
// =================== Reset ==================== //
|
||||
|
||||
static inline void fp32_vector3_reset(fp32_vector3_t* vector)
|
||||
inline void vector3_reset_fp32(vector3_fp32_t* vector)
|
||||
{
|
||||
vector->x1 = 0.0f;
|
||||
vector->x2 = 0.0f;
|
||||
vector->x3 = 0.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_reset(fp64_vector3_t* vector)
|
||||
inline void vector3_reset_fp64(vector3_fp64_t* vector)
|
||||
{
|
||||
vector->x1 = 0.0;
|
||||
vector->x2 = 0.0;
|
||||
|
@ -36,14 +60,14 @@ static inline void fp64_vector3_reset(fp64_vector3_t* vector)
|
|||
|
||||
// ==================== Set ===================== //
|
||||
|
||||
static inline void fp32_vector3_set_values(const float x1, const float x2, const float x3, fp32_vector3_t* to)
|
||||
inline void vector3_set_fp32(const float x1, const float x2, const float x3, vector3_fp32_t* to)
|
||||
{
|
||||
to->x1 = x1;
|
||||
to->x2 = x2;
|
||||
to->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_set_values(const double x1, const double x2, const double x3, fp64_vector3_t* to)
|
||||
inline void vector3_set_fp64(const double x1, const double x2, const double x3, vector3_fp64_t* to)
|
||||
{
|
||||
to->x1 = x1;
|
||||
to->x2 = x2;
|
||||
|
@ -52,14 +76,30 @@ static inline void fp64_vector3_set_values(const double x1, const double x2, con
|
|||
|
||||
// ==================== Copy ==================== //
|
||||
|
||||
static inline void fp32_vector3_copy(const fp32_vector3_t* from, fp32_vector3_t* to)
|
||||
inline void vector3_copy_fp32(const vector3_fp32_t* from, vector3_fp32_t* to)
|
||||
{
|
||||
to->x1 = from->x1;
|
||||
to->x2 = from->x2;
|
||||
to->x3 = from->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_copy(const fp64_vector3_t* from, fp64_vector3_t* to)
|
||||
inline void vector3_copy_fp64(const vector3_fp64_t* from, vector3_fp64_t* to)
|
||||
{
|
||||
to->x1 = from->x1;
|
||||
to->x2 = from->x2;
|
||||
to->x3 = from->x3;
|
||||
}
|
||||
|
||||
// ================== Convert =================== //
|
||||
|
||||
inline void vector3_fp32_convert(const vector3_fp64_t* from, vector3_fp32_t* to)
|
||||
{
|
||||
to->x1 = (float) from->x1;
|
||||
to->x2 = (float) from->x2;
|
||||
to->x3 = (float) from->x3;
|
||||
}
|
||||
|
||||
inline void vector3_fp64_convert(const vector3_fp32_t* from, vector3_fp64_t* to)
|
||||
{
|
||||
to->x1 = from->x1;
|
||||
to->x2 = from->x2;
|
||||
|
@ -68,7 +108,7 @@ static inline void fp64_vector3_copy(const fp64_vector3_t* from, fp64_vector3_t*
|
|||
|
||||
// ==================== Swap ==================== //
|
||||
|
||||
static inline void fp32_vector3_swap(fp32_vector3_t* vector1, fp32_vector3_t* vector2)
|
||||
inline void vector3_swap_fp32(vector3_fp32_t* vector1, vector3_fp32_t* vector2)
|
||||
{
|
||||
const float x1 = vector2->x1;
|
||||
const float x2 = vector2->x2;
|
||||
|
@ -83,7 +123,7 @@ static inline void fp32_vector3_swap(fp32_vector3_t* vector1, fp32_vector3_t* ve
|
|||
vector1->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_swap(fp64_vector3_t* vector1, fp64_vector3_t* vector2)
|
||||
inline void vector3_swap_fp64(vector3_fp64_t* vector1, vector3_fp64_t* vector2)
|
||||
{
|
||||
const double x1 = vector2->x1;
|
||||
const double x2 = vector2->x2;
|
||||
|
@ -98,112 +138,112 @@ static inline void fp64_vector3_swap(fp64_vector3_t* vector1, fp64_vector3_t* ve
|
|||
vector1->x3 = x3;
|
||||
}
|
||||
|
||||
// ============= Copy to twin type ============== //
|
||||
// ==================== Invert ================== //
|
||||
|
||||
static inline void fp32_vector3_set_from_fp64(const fp64_vector3_t* from, fp32_vector3_t* to)
|
||||
inline void vector3_invert_fp32(vector3_fp32_t* vector)
|
||||
{
|
||||
to->x1 = (float) from->x1;
|
||||
to->x2 = (float) from->x2;
|
||||
to->x3 = (float) from->x3;
|
||||
vector->x1 = -vector->x1;
|
||||
vector->x2 = -vector->x2;
|
||||
vector->x3 = -vector->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_set_from_fp32(const fp32_vector3_t* from, fp64_vector3_t* to)
|
||||
inline void vector3_invert_fp64(vector3_fp64_t* vector)
|
||||
{
|
||||
to->x1 = from->x1;
|
||||
to->x2 = from->x2;
|
||||
to->x3 = from->x3;
|
||||
vector->x1 = -vector->x1;
|
||||
vector->x2 = -vector->x2;
|
||||
vector->x3 = -vector->x3;
|
||||
}
|
||||
|
||||
// =================== Reverse ================== //
|
||||
// ================ Make Inverted =============== //
|
||||
|
||||
static inline void fp32_vector3_set_reverse(const fp32_vector3_t* from, fp32_vector3_t* to)
|
||||
inline void vector3_fp32_make_inverted(const vector3_fp32_t* vector, vector3_fp32_t* result)
|
||||
{
|
||||
to->x1 = -from->x1;
|
||||
to->x2 = -from->x2;
|
||||
to->x3 = -from->x3;
|
||||
result->x1 = -vector->x1;
|
||||
result->x2 = -vector->x2;
|
||||
result->x3 = -vector->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_set_reverse(const fp64_vector3_t* from, fp64_vector3_t* to)
|
||||
inline void vector3_fp64_make_inverted(const vector3_fp64_t* vector, vector3_fp64_t* result)
|
||||
{
|
||||
to->x1 = -from->x1;
|
||||
to->x2 = -from->x2;
|
||||
to->x3 = -from->x3;
|
||||
result->x1 = -vector->x1;
|
||||
result->x2 = -vector->x2;
|
||||
result->x3 = -vector->x3;
|
||||
}
|
||||
|
||||
// ============= Reverse twin type ============== //
|
||||
// ============== Make Inverted Twin ============ //
|
||||
|
||||
static inline void fp32_vector3_set_reverse_fp64(const fp64_vector3_t* from, fp32_vector3_t* to)
|
||||
inline void vector3_fp32_make_inverted_fp64(const vector3_fp32_t* vector, vector3_fp64_t* result)
|
||||
{
|
||||
to->x1 = (float) -from->x1;
|
||||
to->x2 = (float) -from->x2;
|
||||
to->x3 = (float) -from->x3;
|
||||
result->x1 = -vector->x1;
|
||||
result->x2 = -vector->x2;
|
||||
result->x3 = -vector->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_set_reverse_fp32(const fp32_vector3_t* from, fp64_vector3_t* to)
|
||||
inline void vector3_fp64_make_inverted_fp32(const vector3_fp64_t* vector, vector3_fp32_t* result)
|
||||
{
|
||||
to->x1 = -from->x1;
|
||||
to->x2 = -from->x2;
|
||||
to->x3 = -from->x3;
|
||||
result->x1 = (float) -vector->x1;
|
||||
result->x2 = (float) -vector->x2;
|
||||
result->x3 = (float) -vector->x3;
|
||||
}
|
||||
|
||||
// =================== Module =================== //
|
||||
|
||||
static inline float fp32_vector3_get_square_modulus(const fp32_vector3_t* vector)
|
||||
inline float vector3_get_square_modulus_fp32(const vector3_fp32_t* vector)
|
||||
{
|
||||
return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3;
|
||||
}
|
||||
|
||||
static inline double fp64_vector3_get_square_modulus(const fp64_vector3_t* vector)
|
||||
inline double vector3_get_square_modulus_fp64(const vector3_fp64_t* vector)
|
||||
{
|
||||
return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3;
|
||||
}
|
||||
|
||||
static inline float fp32_vector3_get_modulus(const fp32_vector3_t* vector)
|
||||
inline float vector3_get_modulus_fp32(const vector3_fp32_t* vector)
|
||||
{
|
||||
return sqrtf(fp32_vector3_get_square_modulus(vector));
|
||||
return sqrtf(vector3_get_square_modulus_fp32(vector));
|
||||
}
|
||||
|
||||
static inline double fp64_vector3_get_modulus(const fp64_vector3_t* vector)
|
||||
inline double vector3_get_modulus_fp64(const vector3_fp64_t* vector)
|
||||
{
|
||||
return sqrt(fp64_vector3_get_square_modulus(vector));
|
||||
return sqrt(vector3_get_square_modulus_fp64(vector));
|
||||
}
|
||||
|
||||
// ================= Comparison ================= //
|
||||
|
||||
static inline int fp32_vector3_is_zero(const fp32_vector3_t* vector)
|
||||
inline int vector3_fp32_is_zero(const vector3_fp32_t* vector)
|
||||
{
|
||||
return fp32_vector3_get_square_modulus(vector) <= FP32_SQUARE_EPSYLON;
|
||||
return vector3_get_square_modulus_fp32(vector) <= FP32_SQUARE_EPSYLON;
|
||||
}
|
||||
|
||||
static inline int fp64_vector3_is_zero(const fp64_vector3_t* vector)
|
||||
inline int vector3_fp64_is_zero(const vector3_fp64_t* vector)
|
||||
{
|
||||
return fp64_vector3_get_square_modulus(vector) <= FP64_SQUARE_EPSYLON;
|
||||
return vector3_get_square_modulus_fp64(vector) <= FP64_SQUARE_EPSYLON;
|
||||
}
|
||||
|
||||
static inline int fp32_vector3_is_unit(const fp32_vector3_t* vector)
|
||||
inline int vector3_fp32_is_unit(const vector3_fp32_t* vector)
|
||||
{
|
||||
const float square_modulus = fp32_vector3_get_square_modulus(vector);
|
||||
const float square_modulus = vector3_get_square_modulus_fp32(vector);
|
||||
|
||||
return 1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON;
|
||||
}
|
||||
|
||||
static inline int fp64_vector3_is_unit(const fp64_vector3_t* vector)
|
||||
inline int vector3_fp64_is_unit(const vector3_fp64_t* vector)
|
||||
{
|
||||
const double square_modulus = fp64_vector3_get_square_modulus(vector);
|
||||
const double square_modulus = vector3_get_square_modulus_fp64(vector);
|
||||
|
||||
return 1.0f - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP64_TWO_EPSYLON;
|
||||
}
|
||||
|
||||
// ==================== Add ===================== //
|
||||
|
||||
static inline void fp32_vector3_add(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, fp32_vector3_t* sum)
|
||||
inline void vector3_fp32_add(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* sum)
|
||||
{
|
||||
sum->x1 = vector1->x1 + vector2->x1;
|
||||
sum->x2 = vector1->x2 + vector2->x2;
|
||||
sum->x3 = vector1->x3 + vector2->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_add(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, fp64_vector3_t* sum)
|
||||
inline void vector3_fp64_add(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* sum)
|
||||
{
|
||||
sum->x1 = vector1->x1 + vector2->x1;
|
||||
sum->x2 = vector1->x2 + vector2->x2;
|
||||
|
@ -212,14 +252,14 @@ static inline void fp64_vector3_add(const fp64_vector3_t* vector1, const fp64_ve
|
|||
|
||||
// ================ Subtraction ================= //
|
||||
|
||||
static inline void fp32_vector3_subtract(const fp32_vector3_t* minuend, const fp32_vector3_t* subtrahend, fp32_vector3_t* difference)
|
||||
inline void vector3_fp32_subtract(const vector3_fp32_t* minuend, const vector3_fp32_t* subtrahend, vector3_fp32_t* difference)
|
||||
{
|
||||
difference->x1 = minuend->x1 - subtrahend->x1;
|
||||
difference->x2 = minuend->x2 - subtrahend->x2;
|
||||
difference->x3 = minuend->x3 - subtrahend->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_subtract(const fp64_vector3_t* minuend, const fp64_vector3_t* subtrahend, fp64_vector3_t* difference)
|
||||
inline void vector3_fp64_subtract(const vector3_fp64_t* minuend, const vector3_fp64_t* subtrahend, vector3_fp64_t* difference)
|
||||
{
|
||||
difference->x1 = minuend->x1 - subtrahend->x1;
|
||||
difference->x2 = minuend->x2 - subtrahend->x2;
|
||||
|
@ -228,14 +268,14 @@ static inline void fp64_vector3_subtract(const fp64_vector3_t* minuend, const fp
|
|||
|
||||
// =============== Multiplication =============== //
|
||||
|
||||
static inline void fp32_vector3_multiply(const fp32_vector3_t* multiplicand, const float multiplier, fp32_vector3_t* product)
|
||||
inline void vector3_fp32_multiply(const vector3_fp32_t* multiplicand, const float multiplier, vector3_fp32_t* product)
|
||||
{
|
||||
product->x1 = multiplicand->x1 * multiplier;
|
||||
product->x2 = multiplicand->x2 * multiplier;
|
||||
product->x3 = multiplicand->x3 * multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_multiply(const fp64_vector3_t* multiplicand, const double multiplier, fp64_vector3_t* product)
|
||||
inline void vector3_fp64_multiply(const vector3_fp64_t* multiplicand, const double multiplier, vector3_fp64_t* product)
|
||||
{
|
||||
product->x1 = multiplicand->x1 * multiplier;
|
||||
product->x2 = multiplicand->x2 * multiplier;
|
||||
|
@ -244,26 +284,26 @@ static inline void fp64_vector3_multiply(const fp64_vector3_t* multiplicand, con
|
|||
|
||||
// ================== Division ================== //
|
||||
|
||||
static inline void fp32_vector3_divide(const fp32_vector3_t* dividend, const float divisor, fp32_vector3_t* quotient)
|
||||
inline void vector3_fp32_divide(const vector3_fp32_t* dividend, const float divisor, vector3_fp32_t* quotient)
|
||||
{
|
||||
fp32_vector3_multiply(dividend, 1.0f / divisor, quotient);
|
||||
vector3_fp32_multiply(dividend, 1.0f / divisor, quotient);
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_divide(const fp64_vector3_t* dividend, const double divisor, fp64_vector3_t* quotient)
|
||||
inline void vector3_fp64_divide(const vector3_fp64_t* dividend, const double divisor, vector3_fp64_t* quotient)
|
||||
{
|
||||
fp64_vector3_multiply(dividend, 1.0 / divisor, quotient);
|
||||
vector3_fp64_multiply(dividend, 1.0 / divisor, quotient);
|
||||
}
|
||||
|
||||
// ================ Append scaled =============== //
|
||||
|
||||
static inline void fp32_vector3_append_scaled(fp32_vector3_t* basic_vector, const fp32_vector3_t* scalable_vector, const float scale)
|
||||
inline void vector3_fp32_append_scaled(vector3_fp32_t* basic_vector, const vector3_fp32_t* scalable_vector, const float scale)
|
||||
{
|
||||
basic_vector->x1 += scalable_vector->x1 * scale;
|
||||
basic_vector->x2 += scalable_vector->x2 * scale;
|
||||
basic_vector->x3 += scalable_vector->x3 * scale;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_append_scaled(fp64_vector3_t* basic_vector, const fp64_vector3_t* scalable_vector, const double scale)
|
||||
inline void vector3_fp64_append_scaled(vector3_fp64_t* basic_vector, const vector3_fp64_t* scalable_vector, const double scale)
|
||||
{
|
||||
basic_vector->x1 += scalable_vector->x1 * scale;
|
||||
basic_vector->x2 += scalable_vector->x2 * scale;
|
||||
|
@ -272,14 +312,14 @@ static inline void fp64_vector3_append_scaled(fp64_vector3_t* basic_vector, cons
|
|||
|
||||
// ================== Average2 ================== //
|
||||
|
||||
static inline void fp32_vector3_get_mean2(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, fp32_vector3_t* result)
|
||||
inline void vector3_fp32_get_mean2(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* result)
|
||||
{
|
||||
result->x1 = (vector1->x1 + vector2->x1) * 0.5f;
|
||||
result->x2 = (vector1->x2 + vector2->x2) * 0.5f;
|
||||
result->x3 = (vector1->x3 + vector2->x3) * 0.5f;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_get_mean2(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, fp64_vector3_t* result)
|
||||
inline void vector3_fp64_get_mean2(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* result)
|
||||
{
|
||||
result->x1 = (vector1->x1 + vector2->x1) * 0.5;
|
||||
result->x2 = (vector1->x2 + vector2->x2) * 0.5;
|
||||
|
@ -288,14 +328,14 @@ static inline void fp64_vector3_get_mean2(const fp64_vector3_t* vector1, const f
|
|||
|
||||
// ================== Average3 ================== //
|
||||
|
||||
static inline void fp32_vector3_get_mean3(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const fp32_vector3_t* vector3, fp32_vector3_t* result)
|
||||
inline void vector3_fp32_get_mean3(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3, vector3_fp32_t* result)
|
||||
{
|
||||
result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP32_ONE_THIRD;
|
||||
result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP32_ONE_THIRD;
|
||||
result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * FP32_ONE_THIRD;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_get_mean3(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const fp64_vector3_t* vector3, fp64_vector3_t* result)
|
||||
inline void vector3_fp64_get_mean3(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3, vector3_fp64_t* result)
|
||||
{
|
||||
result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP64_ONE_THIRD;
|
||||
result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP64_ONE_THIRD;
|
||||
|
@ -304,26 +344,26 @@ static inline void fp64_vector3_get_mean3(const fp64_vector3_t* vector1, const f
|
|||
|
||||
// =============== Scalar Product =============== //
|
||||
|
||||
static inline float fp32_vector3_scalar_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2)
|
||||
inline float vector3_fp32_scalar_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
|
||||
{
|
||||
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
|
||||
}
|
||||
|
||||
static inline double fp64_vector3_scalar_product(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2)
|
||||
inline double vector3_fp64_scalar_product(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
|
||||
{
|
||||
return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
|
||||
}
|
||||
|
||||
// =============== Triple Product =============== //
|
||||
|
||||
static inline float fp32_vector3_triple_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const fp32_vector3_t* vector3)
|
||||
inline float vector3_fp32_triple_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3)
|
||||
{
|
||||
return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2)
|
||||
+ vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3)
|
||||
+ vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1);
|
||||
}
|
||||
|
||||
static inline double fp64_vector3_triple_product(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const fp64_vector3_t* vector3)
|
||||
inline double vector3_fp64_triple_product(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3)
|
||||
{
|
||||
return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2)
|
||||
+ vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3)
|
||||
|
@ -332,7 +372,7 @@ static inline double fp64_vector3_triple_product(const fp64_vector3_t* vector1,
|
|||
|
||||
// =============== Cross Product ================ //
|
||||
|
||||
static inline void fp32_vector3_cross_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, fp32_vector3_t* result)
|
||||
inline void vector3_fp32_cross_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, vector3_fp32_t* result)
|
||||
{
|
||||
const float x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
|
||||
const float x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
|
||||
|
@ -343,7 +383,7 @@ static inline void fp32_vector3_cross_product(const fp32_vector3_t* vector1, con
|
|||
result->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_cross_product(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, fp64_vector3_t* result)
|
||||
inline void vector3_fp64_cross_product(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, vector3_fp64_t* result)
|
||||
{
|
||||
const double x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
|
||||
const double x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
|
||||
|
@ -356,20 +396,20 @@ static inline void fp64_vector3_cross_product(const fp64_vector3_t* vector1, con
|
|||
|
||||
// ============ Double Cross Product ============ //
|
||||
|
||||
static inline void fp32_vector3_double_cross_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const fp32_vector3_t* vector3, fp32_vector3_t* result)
|
||||
inline void vector3_fp32_double_cross_product(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const vector3_fp32_t* vector3, vector3_fp32_t* result)
|
||||
{
|
||||
const float ac = fp32_vector3_scalar_product(vector1, vector3);
|
||||
const float ab = fp32_vector3_scalar_product(vector1, vector2);
|
||||
const float ac = vector3_fp32_scalar_product(vector1, vector3);
|
||||
const float ab = vector3_fp32_scalar_product(vector1, vector2);
|
||||
|
||||
result->x1 = vector2->x1 * ac - vector3->x1 * ab;
|
||||
result->x2 = vector2->x2 * ac - vector3->x2 * ab;
|
||||
result->x3 = vector2->x3 * ac - vector3->x3 * ab;
|
||||
}
|
||||
|
||||
static inline void fp64_vector3_double_cross(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const fp64_vector3_t* vector3, fp64_vector3_t* result)
|
||||
inline void vector3_fp64_double_cross(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const vector3_fp64_t* vector3, vector3_fp64_t* result)
|
||||
{
|
||||
const double ac = fp64_vector3_scalar_product(vector1, vector3);
|
||||
const double ab = fp64_vector3_scalar_product(vector1, vector2);
|
||||
const double ac = vector3_fp64_scalar_product(vector1, vector3);
|
||||
const double ab = vector3_fp64_scalar_product(vector1, vector2);
|
||||
|
||||
result->x1 = vector2->x1 * ac - vector3->x1 * ab;
|
||||
result->x2 = vector2->x2 * ac - vector3->x2 * ab;
|
||||
|
@ -378,63 +418,63 @@ static inline void fp64_vector3_double_cross(const fp64_vector3_t* vector1, cons
|
|||
|
||||
// =============== Normalization ================ //
|
||||
|
||||
static inline int fp32_vector3_normalize(fp32_vector3_t* vector)
|
||||
inline int vector3_fp32_normalize(vector3_fp32_t* vector)
|
||||
{
|
||||
const float square_modulus = fp32_vector3_get_square_modulus(vector);
|
||||
const float square_modulus = vector3_get_square_modulus_fp32(vector);
|
||||
|
||||
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= FP32_SQUARE_EPSYLON) {
|
||||
fp32_vector3_reset(vector);
|
||||
vector3_reset_fp32(vector);
|
||||
return 0;
|
||||
}
|
||||
|
||||
fp32_vector3_multiply(vector, sqrtf(1.0f / square_modulus), vector);
|
||||
vector3_fp32_multiply(vector, sqrtf(1.0f / square_modulus), vector);
|
||||
return 1;
|
||||
}
|
||||
|
||||
static inline int fp64_vector3_normalize(fp64_vector3_t* vector)
|
||||
inline int vector3_fp64_normalize(vector3_fp64_t* vector)
|
||||
{
|
||||
const double square_modulus = fp64_vector3_get_square_modulus(vector);
|
||||
const double square_modulus = vector3_get_square_modulus_fp64(vector);
|
||||
|
||||
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= FP64_SQUARE_EPSYLON) {
|
||||
fp64_vector3_reset(vector);
|
||||
vector3_reset_fp64(vector);
|
||||
return 0;
|
||||
}
|
||||
|
||||
fp64_vector3_multiply(vector, sqrt(1.0 / square_modulus), vector);
|
||||
vector3_fp64_multiply(vector, sqrt(1.0 / square_modulus), vector);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// =============== Get Normalized =============== //
|
||||
|
||||
static inline int fp32_vector3_set_normalized(const fp32_vector3_t* vector, fp32_vector3_t* result)
|
||||
inline int vector3_fp32_set_normalized(const vector3_fp32_t* vector, vector3_fp32_t* result)
|
||||
{
|
||||
fp32_vector3_copy(vector, result);
|
||||
return fp32_vector3_normalize(result);
|
||||
vector3_copy_fp32(vector, result);
|
||||
return vector3_fp32_normalize(result);
|
||||
}
|
||||
|
||||
static inline int fp64_vector3_set_normalized(const fp64_vector3_t* vector, fp64_vector3_t* result)
|
||||
inline int vector3_fp64_set_normalized(const vector3_fp64_t* vector, vector3_fp64_t* result)
|
||||
{
|
||||
fp64_vector3_copy(vector, result);
|
||||
return fp64_vector3_normalize(result);
|
||||
vector3_copy_fp64(vector, result);
|
||||
return vector3_fp64_normalize(result);
|
||||
}
|
||||
|
||||
// =================== Angle ==================== //
|
||||
|
||||
float fp32_vector3_get_angle(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const angle_unit_t unit);
|
||||
float vector3_fp32_get_angle(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2, const angle_unit_t unit);
|
||||
|
||||
double fp64_vector3_get_angle(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const angle_unit_t unit);
|
||||
double vector3_fp64_get_angle(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2, const angle_unit_t unit);
|
||||
|
||||
// =============== Square Distance ============== //
|
||||
|
||||
static inline float fp32_vector3_get_square_distance(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2)
|
||||
inline float vector3_fp32_get_square_distance(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
|
||||
{
|
||||
const float dx1 = (vector1->x1 - vector2->x1);
|
||||
const float dx2 = (vector1->x2 - vector2->x2);
|
||||
|
@ -443,7 +483,7 @@ static inline float fp32_vector3_get_square_distance(const fp32_vector3_t* vecto
|
|||
return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
|
||||
}
|
||||
|
||||
static inline double fp64_vector3_get_square_distance(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2)
|
||||
inline double vector3_fp64_get_square_distance(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
|
||||
{
|
||||
const double dx1 = (vector1->x1 - vector2->x1);
|
||||
const double dx2 = (vector1->x2 - vector2->x2);
|
||||
|
@ -454,23 +494,23 @@ static inline double fp64_vector3_get_square_distance(const fp64_vector3_t* vect
|
|||
|
||||
// ================== Distance ================== //
|
||||
|
||||
static inline float fp32_vector3_get_distance(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2)
|
||||
inline float vector3_fp32_get_distance(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
|
||||
{
|
||||
return sqrtf(fp32_vector3_get_square_distance(vector1, vector2));
|
||||
return sqrtf(vector3_fp32_get_square_distance(vector1, vector2));
|
||||
}
|
||||
|
||||
static inline double fp64_vector3_get_distance(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2)
|
||||
inline double vector3_fp64_get_distance(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
|
||||
{
|
||||
return sqrt(fp64_vector3_get_square_distance(vector1, vector2));
|
||||
return sqrt(vector3_fp64_get_square_distance(vector1, vector2));
|
||||
}
|
||||
|
||||
// ================== Are Equal ================= //
|
||||
|
||||
static inline int fp32_vector3_are_equal(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2)
|
||||
inline int vector3_fp32_are_equal(const vector3_fp32_t* vector1, const vector3_fp32_t* vector2)
|
||||
{
|
||||
const float square_modulus1 = fp32_vector3_get_square_modulus(vector1);
|
||||
const float square_modulus2 = fp32_vector3_get_square_modulus(vector2);
|
||||
const float square_modulus3 = fp32_vector3_get_square_distance(vector1, vector2);
|
||||
const float square_modulus1 = vector3_get_square_modulus_fp32(vector1);
|
||||
const float square_modulus2 = vector3_get_square_modulus_fp32(vector2);
|
||||
const float square_modulus3 = vector3_fp32_get_square_distance(vector1, vector2);
|
||||
|
||||
// 3.0f means dimension amount
|
||||
if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
|
||||
|
@ -484,11 +524,11 @@ static inline int fp32_vector3_are_equal(const fp32_vector3_t* vector1, const fp
|
|||
return square_modulus3 <= (3.0f * FP32_SQUARE_EPSYLON) * square_modulus1;
|
||||
}
|
||||
|
||||
static inline int fp64_vector3_are_equal(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2)
|
||||
inline int vector3_fp64_are_equal(const vector3_fp64_t* vector1, const vector3_fp64_t* vector2)
|
||||
{
|
||||
const double square_modulus1 = fp64_vector3_get_square_modulus(vector1);
|
||||
const double square_modulus2 = fp64_vector3_get_square_modulus(vector2);
|
||||
const double square_modulus3 = fp64_vector3_get_square_distance(vector1, vector2);
|
||||
const double square_modulus1 = vector3_get_square_modulus_fp64(vector1);
|
||||
const double square_modulus2 = vector3_get_square_modulus_fp64(vector2);
|
||||
const double square_modulus3 = vector3_fp64_get_square_distance(vector1, vector2);
|
||||
|
||||
// 3.0 means dimension amount
|
||||
if (square_modulus1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
|
||||
|
|
|
@ -3,18 +3,18 @@
|
|||
#include "angle.h"
|
||||
#include "versor.h"
|
||||
|
||||
const fp32_versor_t FP32_IDLE_VERSOR = { 1.0f, 0.0f, 0.0f, 0.0f };
|
||||
const versor_fp32_t FP32_IDLE_VERSOR = { 1.0f, 0.0f, 0.0f, 0.0f };
|
||||
|
||||
const fp64_versor_t FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 };
|
||||
const versor_fp64_t FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 };
|
||||
|
||||
// =============== Set Crude Turn =============== //
|
||||
|
||||
void fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, fp32_versor_t* result)
|
||||
void versor_fp32_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, versor_fp32_t* result)
|
||||
{
|
||||
const float square_vector = x1 * x1 + x2 * x2 + x3 * x3;
|
||||
|
||||
if (square_vector <= FP32_SQUARE_EPSYLON) {
|
||||
fp32_versor_reset(result);
|
||||
versor_reset_fp32(result);
|
||||
return;
|
||||
}
|
||||
|
||||
|
@ -23,21 +23,21 @@ void fp32_versor_set_crude_turn(const float x1, const float x2, const float x3,
|
|||
const float sine = sinf(half_angle);
|
||||
|
||||
if (-FP32_EPSYLON <= sine && sine <= FP32_EPSYLON) {
|
||||
fp32_versor_reset(result);
|
||||
versor_reset_fp32(result);
|
||||
return;
|
||||
}
|
||||
|
||||
const float multiplier = sine / sqrtf(square_vector);
|
||||
|
||||
fp32_versor_set_values(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
|
||||
versor_fp32_set_values(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
|
||||
}
|
||||
|
||||
void fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, fp64_versor_t* result)
|
||||
void versor_fp64_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, versor_fp64_t* result)
|
||||
{
|
||||
const double square_vector = x1 * x1 + x2 * x2 + x3 * x3;
|
||||
|
||||
if (square_vector <= FP64_SQUARE_EPSYLON) {
|
||||
fp64_versor_reset(result);
|
||||
versor_reset_fp64(result);
|
||||
return;
|
||||
}
|
||||
|
||||
|
@ -46,18 +46,18 @@ void fp64_versor_set_crude_turn(const double x1, const double x2, const double x
|
|||
const double sine = sin(half_angle);
|
||||
|
||||
if (-FP64_EPSYLON <= sine && sine <= FP64_EPSYLON) {
|
||||
fp64_versor_reset(result);
|
||||
versor_reset_fp64(result);
|
||||
return;
|
||||
}
|
||||
|
||||
const double multiplier = sine / sqrt(square_vector);
|
||||
|
||||
fp64_versor_set_values(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
|
||||
versor_fp64_set_values(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
|
||||
}
|
||||
|
||||
// ================= Rotation3 ================== //
|
||||
|
||||
void fp32_versor_get_rotation(const fp32_versor_t* versor, fp32_rotation3_t* result)
|
||||
void versor_fp32_get_rotation(const versor_fp32_t* versor, rotation3_fp32_t* result)
|
||||
{
|
||||
if (versor == 0 || result == 0) {
|
||||
return;
|
||||
|
@ -79,7 +79,7 @@ void fp32_versor_get_rotation(const fp32_versor_t* versor, fp32_rotation3_t* res
|
|||
result->axis.x3 = versor->x3 * multiplier;
|
||||
}
|
||||
|
||||
void fp64_versor_get_rotation(const fp64_versor_t* versor, fp64_rotation3_t* result)
|
||||
void versor_fp64_get_rotation(const versor_fp64_t* versor, rotation3_fp64_t* result)
|
||||
{
|
||||
if (versor == 0 || result == 0) {
|
||||
return;
|
||||
|
|
|
@ -13,11 +13,11 @@
|
|||
|
||||
typedef struct {
|
||||
const float s0, x1, x2, x3;
|
||||
} fp32_versor_t;
|
||||
} versor_fp32_t;
|
||||
|
||||
typedef struct {
|
||||
const double s0, x1, x2, x3;
|
||||
} fp64_versor_t;
|
||||
} versor_fp64_t;
|
||||
|
||||
// ================= Dark Twins ================= //
|
||||
|
||||
|
@ -31,12 +31,12 @@ typedef struct {
|
|||
|
||||
// ================= Constants ================== //
|
||||
|
||||
extern const fp32_versor_t FP32_IDLE_VERSOR;
|
||||
extern const fp64_versor_t FP64_IDLE_VERSOR;
|
||||
extern const versor_fp32_t FP32_IDLE_VERSOR;
|
||||
extern const versor_fp64_t FP64_IDLE_VERSOR;
|
||||
|
||||
// =================== Reset ==================== //
|
||||
|
||||
static inline void fp32_versor_reset(fp32_versor_t* versor)
|
||||
inline void versor_reset_fp32(versor_fp32_t* versor)
|
||||
{
|
||||
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor;
|
||||
|
||||
|
@ -46,7 +46,7 @@ static inline void fp32_versor_reset(fp32_versor_t* versor)
|
|||
twin->x3 = 0.0f;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_reset(fp64_versor_t* versor)
|
||||
inline void versor_reset_fp64(versor_fp64_t* versor)
|
||||
{
|
||||
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor;
|
||||
|
||||
|
@ -58,7 +58,7 @@ static inline void fp64_versor_reset(fp64_versor_t* versor)
|
|||
|
||||
// ==================== Set ===================== //
|
||||
|
||||
static inline void fp32_versor_set_values(const float s0, const float x1, const float x2, const float x3, fp32_versor_t* versor)
|
||||
inline void versor_fp32_set_values(const float s0, const float x1, const float x2, const float x3, versor_fp32_t* versor)
|
||||
{
|
||||
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor;
|
||||
|
||||
|
@ -89,7 +89,7 @@ static inline void fp32_versor_set_values(const float s0, const float x1, const
|
|||
twin->x3 *= multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_set_values(const double s0, const double x1, const double x2, const double x3, fp64_versor_t* versor)
|
||||
inline void versor_fp64_set_values(const double s0, const double x1, const double x2, const double x3, versor_fp64_t* versor)
|
||||
{
|
||||
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor;
|
||||
|
||||
|
@ -122,7 +122,7 @@ static inline void fp64_versor_set_values(const double s0, const double x1, cons
|
|||
|
||||
// ==================== Copy ==================== //
|
||||
|
||||
static inline void fp32_versor_copy(const fp32_versor_t* from, fp32_versor_t* to)
|
||||
inline void versor_copy_fp32(const versor_fp32_t* from, versor_fp32_t* to)
|
||||
{
|
||||
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to;
|
||||
|
||||
|
@ -132,7 +132,7 @@ static inline void fp32_versor_copy(const fp32_versor_t* from, fp32_versor_t* to
|
|||
twin->x3 = from->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_copy(const fp64_versor_t* from, fp64_versor_t* to)
|
||||
inline void versor_copy_fp64(const versor_fp64_t* from, versor_fp64_t* to)
|
||||
{
|
||||
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to;
|
||||
|
||||
|
@ -144,7 +144,7 @@ static inline void fp64_versor_copy(const fp64_versor_t* from, fp64_versor_t* to
|
|||
|
||||
// ==================== Swap ==================== //
|
||||
|
||||
static inline void fp32_versor_swap(fp32_versor_t* versor1, fp32_versor_t* versor2)
|
||||
inline void versor_swap_fp32(versor_fp32_t* versor1, versor_fp32_t* versor2)
|
||||
{
|
||||
const float s0 = versor1->s0;
|
||||
const float x1 = versor1->x1;
|
||||
|
@ -166,7 +166,7 @@ static inline void fp32_versor_swap(fp32_versor_t* versor1, fp32_versor_t* verso
|
|||
twin2->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_swap(fp64_versor_t* versor1, fp64_versor_t* versor2)
|
||||
inline void versor_swap_fp64(versor_fp64_t* versor1, versor_fp64_t* versor2)
|
||||
{
|
||||
const double s0 = versor1->s0;
|
||||
const double x1 = versor1->x1;
|
||||
|
@ -190,51 +190,51 @@ static inline void fp64_versor_swap(fp64_versor_t* versor1, fp64_versor_t* verso
|
|||
|
||||
// =============== Set Crude Turn =============== //
|
||||
|
||||
void fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, fp32_versor_t* result);
|
||||
void versor_fp32_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, versor_fp32_t* result);
|
||||
|
||||
void fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, fp64_versor_t* result);
|
||||
void versor_fp64_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, versor_fp64_t* result);
|
||||
|
||||
// ================== Set Turn ================== //
|
||||
|
||||
static inline void fp32_versor_set_turn(const fp32_vector3_t* axis, const float angle, const angle_unit_t unit, fp32_versor_t* result)
|
||||
inline void versor_fp32_set_turn(const vector3_fp32_t* axis, const float angle, const angle_unit_t unit, versor_fp32_t* result)
|
||||
{
|
||||
fp32_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
|
||||
versor_fp32_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
|
||||
}
|
||||
|
||||
static inline void fp64_versor_set_turn(const fp32_vector3_t* axis, const double angle, const angle_unit_t unit, fp64_versor_t* result)
|
||||
inline void versor_fp64_set_turn(const vector3_fp32_t* axis, const double angle, const angle_unit_t unit, versor_fp64_t* result)
|
||||
{
|
||||
fp64_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
|
||||
versor_fp64_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
|
||||
}
|
||||
|
||||
// ================ Set Rotation ================ //
|
||||
|
||||
static inline void fp32_versor_set_rotation(const fp32_rotation3_t* rotation, fp32_versor_t* result)
|
||||
inline void versor_fp32_set_rotation(const rotation3_fp32_t* rotation, versor_fp32_t* result)
|
||||
{
|
||||
fp32_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
|
||||
versor_fp32_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
|
||||
}
|
||||
|
||||
static inline void fp64_versor_set_rotation(const fp64_rotation3_t* rotation, fp64_versor_t* result)
|
||||
inline void versor_fp64_set_rotation(const rotation3_fp64_t* rotation, versor_fp64_t* result)
|
||||
{
|
||||
fp64_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
|
||||
versor_fp64_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
|
||||
}
|
||||
|
||||
// ================= Comparison ================= //
|
||||
|
||||
static inline int fp32_versor_is_idle(const fp32_versor_t* versor)
|
||||
inline int versor_fp32_is_idle(const versor_fp32_t* versor)
|
||||
{
|
||||
return 1.0f - FP32_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - FP32_EPSYLON);
|
||||
}
|
||||
|
||||
static inline int fp64_versor_is_idle(const fp64_versor_t* versor)
|
||||
inline int versor_fp64_is_idle(const versor_fp64_t* versor)
|
||||
{
|
||||
return 1.0 - FP64_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - FP64_EPSYLON);
|
||||
}
|
||||
|
||||
// ============= Copy to twin type ============== //
|
||||
|
||||
static inline void fp32_versor_set_from_fp64(const fp64_versor_t* versor, fp32_versor_t* result)
|
||||
inline void versor_fp32_set_from_fp64(const versor_fp64_t* versor, versor_fp32_t* result)
|
||||
{
|
||||
fp32_versor_set_values(
|
||||
versor_fp32_set_values(
|
||||
(float) versor->s0,
|
||||
(float) versor->x1,
|
||||
(float) versor->x2,
|
||||
|
@ -243,9 +243,9 @@ static inline void fp32_versor_set_from_fp64(const fp64_versor_t* versor, fp32_v
|
|||
);
|
||||
}
|
||||
|
||||
static inline void fp64_versor_set_from_fp32(const fp32_versor_t* versor, fp64_versor_t* result)
|
||||
inline void versor_fp64_set_from_fp32(const versor_fp32_t* versor, versor_fp64_t* result)
|
||||
{
|
||||
fp64_versor_set_values(
|
||||
versor_fp64_set_values(
|
||||
versor->s0,
|
||||
versor->x1,
|
||||
versor->x2,
|
||||
|
@ -256,7 +256,7 @@ static inline void fp64_versor_set_from_fp32(const fp32_versor_t* versor, fp64_v
|
|||
|
||||
// ================== Shorten =================== //
|
||||
|
||||
static inline void fp32_versor_shorten(fp32_versor_t* versor)
|
||||
inline void versor_fp32_shorten(versor_fp32_t* versor)
|
||||
{
|
||||
if (versor->s0 >= 0.0f) {
|
||||
return;
|
||||
|
@ -269,7 +269,7 @@ static inline void fp32_versor_shorten(fp32_versor_t* versor)
|
|||
twin->x3 = -versor->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_shorten(fp64_versor_t* versor)
|
||||
inline void versor_fp64_shorten(versor_fp64_t* versor)
|
||||
{
|
||||
if (versor->s0 >= 0.0f) {
|
||||
return;
|
||||
|
@ -284,7 +284,7 @@ static inline void fp64_versor_shorten(fp64_versor_t* versor)
|
|||
|
||||
// ================== Shorten =================== //
|
||||
|
||||
static inline void fp32_versor_set_shortened(const fp32_versor_t* versor, fp32_versor_t* shortened)
|
||||
inline void versor_fp32_set_shortened(const versor_fp32_t* versor, versor_fp32_t* shortened)
|
||||
{
|
||||
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)shortened;
|
||||
|
||||
|
@ -302,7 +302,7 @@ static inline void fp32_versor_set_shortened(const fp32_versor_t* versor, fp32_v
|
|||
twin->x3 = -versor->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_set_shortened(const fp64_versor_t* versor, fp64_versor_t* shortened)
|
||||
inline void versor_fp64_set_shortened(const versor_fp64_t* versor, versor_fp64_t* shortened)
|
||||
{
|
||||
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)shortened;
|
||||
|
||||
|
@ -322,7 +322,7 @@ static inline void fp64_versor_set_shortened(const fp64_versor_t* versor, fp64_v
|
|||
|
||||
// ================= Inversion ================== //
|
||||
|
||||
static inline void fp32_versor_invert(fp32_versor_t* versor)
|
||||
inline void versor_invert_fp32(versor_fp32_t* versor)
|
||||
{
|
||||
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor;
|
||||
twin->x1 = -versor->x1;
|
||||
|
@ -330,7 +330,7 @@ static inline void fp32_versor_invert(fp32_versor_t* versor)
|
|||
twin->x3 = -versor->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_invert(fp64_versor_t* versor)
|
||||
inline void versor_invert_fp64(versor_fp64_t* versor)
|
||||
{
|
||||
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor;
|
||||
twin->x1 = -versor->x1;
|
||||
|
@ -340,7 +340,7 @@ static inline void fp64_versor_invert(fp64_versor_t* versor)
|
|||
|
||||
// ================ Set Inverted ================ //
|
||||
|
||||
static inline void fp32_versor_set_inverted(const fp32_versor_t* versor, fp32_versor_t* to)
|
||||
inline void versor_fp32_set_inverted(const versor_fp32_t* versor, versor_fp32_t* to)
|
||||
{
|
||||
__BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to;
|
||||
twin->s0 = versor->s0;
|
||||
|
@ -349,7 +349,7 @@ static inline void fp32_versor_set_inverted(const fp32_versor_t* versor, fp32_ve
|
|||
twin->x3 = -versor->x3;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_set_inverted(const fp64_versor_t* versor, fp64_versor_t* to)
|
||||
inline void versor_fp64_set_inverted(const versor_fp64_t* versor, versor_fp64_t* to)
|
||||
{
|
||||
__BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to;
|
||||
twin->s0 = versor->s0;
|
||||
|
@ -360,9 +360,9 @@ static inline void fp64_versor_set_inverted(const fp64_versor_t* versor, fp64_ve
|
|||
|
||||
// ================ Set Inverted ================ //
|
||||
|
||||
static inline void fp32_versor_set_inverted_fp64(const fp64_versor_t* versor, fp32_versor_t* to)
|
||||
inline void versor_fp32_set_inverted_fp64(const versor_fp64_t* versor, versor_fp32_t* to)
|
||||
{
|
||||
fp32_versor_set_values(
|
||||
versor_fp32_set_values(
|
||||
(float) versor->s0,
|
||||
(float) -versor->x1,
|
||||
(float) -versor->x2,
|
||||
|
@ -371,9 +371,9 @@ static inline void fp32_versor_set_inverted_fp64(const fp64_versor_t* versor, fp
|
|||
);
|
||||
}
|
||||
|
||||
static inline void fp64_versor_set_inverted_fp32(const fp32_versor_t* versor, fp64_versor_t* to)
|
||||
inline void versor_fp64_set_inverted_fp32(const versor_fp32_t* versor, versor_fp64_t* to)
|
||||
{
|
||||
fp64_versor_set_values(
|
||||
versor_fp64_set_values(
|
||||
versor->s0,
|
||||
-versor->x1,
|
||||
-versor->x2,
|
||||
|
@ -384,7 +384,7 @@ static inline void fp64_versor_set_inverted_fp32(const fp32_versor_t* versor, fp
|
|||
|
||||
// ================ Combination ================= //
|
||||
|
||||
static inline void fp32_versor_combine(const fp32_versor_t* second, const fp32_versor_t* first, fp32_versor_t* result)
|
||||
inline void versor_fp32_combine(const versor_fp32_t* second, const versor_fp32_t* first, 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 x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
|
||||
|
@ -412,7 +412,7 @@ static inline void fp32_versor_combine(const fp32_versor_t* second, const fp32_v
|
|||
twin->x3 *= multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_combine(const fp64_versor_t* second, const fp64_versor_t* first, fp64_versor_t* result)
|
||||
inline void versor_fp64_combine(const versor_fp64_t* second, const versor_fp64_t* first, 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 x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
|
||||
|
@ -442,7 +442,7 @@ static inline void fp64_versor_combine(const fp64_versor_t* second, const fp64_v
|
|||
|
||||
// ============ Combination of three ============ //
|
||||
|
||||
static inline void fp32_versor_combine3(const fp32_versor_t* third, const fp32_versor_t* second, const fp32_versor_t* first, fp32_versor_t* result)
|
||||
inline void versor_fp32_combine3(const versor_fp32_t* third, const versor_fp32_t* second, const versor_fp32_t* first, 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 x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
|
||||
|
@ -475,7 +475,7 @@ static inline void fp32_versor_combine3(const fp32_versor_t* third, const fp32_v
|
|||
twin->x3 *= multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_combine3(const fp64_versor_t* third, const fp64_versor_t* second, const fp64_versor_t* first, fp64_versor_t* result)
|
||||
inline void versor_fp64_combine3(const versor_fp64_t* third, const versor_fp64_t* second, const versor_fp64_t* first, 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 x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
|
||||
|
@ -510,7 +510,7 @@ static inline void fp64_versor_combine3(const fp64_versor_t* third, const fp64_v
|
|||
|
||||
// ================= Exclusion ================== //
|
||||
|
||||
static inline void fp32_versor_exclude(const fp32_versor_t* basic, const fp32_versor_t* exclusion, fp32_versor_t* result)
|
||||
inline void versor_fp32_exclude(const versor_fp32_t* basic, const versor_fp32_t* exclusion, 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 x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3);
|
||||
|
@ -538,7 +538,7 @@ static inline void fp32_versor_exclude(const fp32_versor_t* basic, const fp32_ve
|
|||
twin->x3 *= multiplier;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_exclude(const fp64_versor_t* basic, const fp64_versor_t* exclusion, fp64_versor_t* result)
|
||||
inline void versor_fp64_exclude(const versor_fp64_t* basic, const versor_fp64_t* exclusion, 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 x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3);
|
||||
|
@ -568,13 +568,13 @@ static inline void fp64_versor_exclude(const fp64_versor_t* basic, const fp64_ve
|
|||
|
||||
// ================= Rotation3 ================== //
|
||||
|
||||
void fp32_versor_get_rotation(const fp32_versor_t* versor, fp32_rotation3_t* result);
|
||||
void versor_fp32_get_rotation(const versor_fp32_t* versor, rotation3_fp32_t* result);
|
||||
|
||||
void fp64_versor_get_rotation(const fp64_versor_t* versor, fp64_rotation3_t* result);
|
||||
void versor_fp64_get_rotation(const versor_fp64_t* versor, rotation3_fp64_t* result);
|
||||
|
||||
// =========== Make Rotation Matrix3x3 ========== //
|
||||
|
||||
static inline void fp32_versor_make_rotation_matrix(const fp32_versor_t* versor, fp32_matrix3x3_t* matrix)
|
||||
inline void versor_fp32_make_rotation_matrix(const versor_fp32_t* versor, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
const float s0s0 = versor->s0 * versor->s0;
|
||||
const float x1x1 = versor->x1 * versor->x1;
|
||||
|
@ -602,7 +602,7 @@ static inline void fp32_versor_make_rotation_matrix(const fp32_versor_t* versor,
|
|||
matrix->r1c3 = x1x3 + s0x2;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_make_rotation_matrix(const fp64_versor_t* versor, fp64_matrix3x3_t* matrix)
|
||||
inline void versor_fp64_make_rotation_matrix(const versor_fp64_t* versor, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
const double s0s0 = versor->s0 * versor->s0;
|
||||
const double x1x1 = versor->x1 * versor->x1;
|
||||
|
@ -632,7 +632,7 @@ static inline void fp64_versor_make_rotation_matrix(const fp64_versor_t* versor,
|
|||
|
||||
// =========== Make Reverse Matrix3x3 =========== //
|
||||
|
||||
static inline void fp32_versor_make_reverse_matrix(const fp32_versor_t* versor, fp32_matrix3x3_t* matrix)
|
||||
inline void versor_fp32_make_reverse_matrix(const versor_fp32_t* versor, matrix3x3_fp32_t* matrix)
|
||||
{
|
||||
const float s0s0 = versor->s0 * versor->s0;
|
||||
const float x1x1 = versor->x1 * versor->x1;
|
||||
|
@ -660,7 +660,7 @@ static inline void fp32_versor_make_reverse_matrix(const fp32_versor_t* versor,
|
|||
matrix->r1c3 = x1x3 - s0x2;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_make_reverse_matrix(const fp64_versor_t* versor, fp64_matrix3x3_t* matrix)
|
||||
inline void versor_fp64_make_reverse_matrix(const versor_fp64_t* versor, matrix3x3_fp64_t* matrix)
|
||||
{
|
||||
const double s0s0 = versor->s0 * versor->s0;
|
||||
const double x1x1 = versor->x1 * versor->x1;
|
||||
|
@ -690,7 +690,7 @@ static inline void fp64_versor_make_reverse_matrix(const fp64_versor_t* versor,
|
|||
|
||||
// ================ Turn Vector ================= //
|
||||
|
||||
static inline void fp32_versor_turn(const fp32_versor_t* versor, const fp32_vector3_t* vector, fp32_vector3_t* result)
|
||||
inline void versor_fp32_turn(const versor_fp32_t* versor, const vector3_fp32_t* vector, vector3_fp32_t* result)
|
||||
{
|
||||
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);
|
||||
|
@ -705,7 +705,7 @@ static inline void fp32_versor_turn(const fp32_versor_t* versor, const fp32_vect
|
|||
result->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_turn(const fp64_versor_t* versor, const fp64_vector3_t* vector, fp64_vector3_t* result)
|
||||
inline void versor_fp64_turn(const versor_fp64_t* versor, const vector3_fp64_t* vector, vector3_fp64_t* result)
|
||||
{
|
||||
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);
|
||||
|
@ -722,7 +722,7 @@ static inline void fp64_versor_turn(const fp64_versor_t* versor, const fp64_vect
|
|||
|
||||
// ============== Turn Vector Back ============== //
|
||||
|
||||
static inline void fp32_versor_turn_back(const fp32_versor_t* versor, const fp32_vector3_t* vector, fp32_vector3_t* result)
|
||||
inline void versor_fp32_turn_back(const versor_fp32_t* versor, const vector3_fp32_t* vector, vector3_fp32_t* result)
|
||||
{
|
||||
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);
|
||||
|
@ -737,7 +737,7 @@ static inline void fp32_versor_turn_back(const fp32_versor_t* versor, const fp32
|
|||
result->x3 = x3;
|
||||
}
|
||||
|
||||
static inline void fp64_versor_turn_back(const fp64_versor_t* versor, const fp64_vector3_t* vector, fp64_vector3_t* result)
|
||||
inline void versor_fp64_turn_back(const versor_fp64_t* versor, const vector3_fp64_t* vector, vector3_fp64_t* result)
|
||||
{
|
||||
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);
|
||||
|
|
Loading…
Add table
Add a link
Reference in a new issue