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Продолжение переименования типов и функций

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This commit is contained in:
Andrey Pokidov 2025-01-14 19:25:04 +07:00
parent 605afabd94
commit 3b6efaafa9
25 changed files with 768 additions and 916 deletions
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112
basic-geometry/versor.h
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@ -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);