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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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1
basic-geometry-dev/basic-geometry-dev.cbp
View file

@ -31,7 +31,6 @@
<Add directory="../basic-geometry" />
</Compiler>
<Linker>
<Add option="-O2" />
<Add option="-s" />
<Add library="basic-geometry" />
<Add library="m" />

263
basic-geometry-dev/main.c
View file

@ -10,19 +10,19 @@
#endif // _WINDOWS_
typedef struct {
// fp32_versor_t versor1, versor2, result;
fp32_matrix3x3_t matrix;
fp32_vector3_t vector1, vector2;
} fp32_structure_t;
versor_fp32_t versor1, versor2, result;
matrix3x3_fp32_t matrix;
vector3_fp32_t vector1, vector2;
} structure_fp32_t;
fp32_structure_t* allocate_structures(const unsigned int amount)
structure_fp32_t* allocate_structures(const unsigned int amount)
{
return calloc(amount, sizeof(fp32_structure_t));
return calloc(amount, sizeof(structure_fp32_t));
}
fp32_structure_t* make_structures(const unsigned int amount)
structure_fp32_t* make_structures(const unsigned int amount)
{
fp32_structure_t* list = allocate_structures(amount);
structure_fp32_t* list = allocate_structures(amount);
if (list == 0) {
return 0;
@ -31,8 +31,7 @@ fp32_structure_t* make_structures(const unsigned int amount)
const float multiplier = 2.0f / RAND_MAX;
for (unsigned int i = 0; i < amount; i++) {
/*
fp32_versor_set_values(
versor_fp32_set_values(
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
@ -40,7 +39,7 @@ fp32_structure_t* make_structures(const unsigned int amount)
&list[i].versor1
);
fp32_versor_set_values(
versor_fp32_set_values(
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
@ -48,54 +47,54 @@ fp32_structure_t* make_structures(const unsigned int amount)
&list[i].versor2
);
fp32_versor_reset(&list[i].result);
*/
fp32_matrix3x3_set_to_identity(&list[i].matrix);
versor_reset_fp32(&list[i].result);
fp32_vector3_set_values(
matrix3x3_fp32_set_to_identity(&list[i].matrix);
vector3_set_fp32(
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
&list[i].vector1
);
fp32_vector3_reset(&list[i].vector2);
vector3_reset_fp32(&list[i].vector2);
}
return list;
}
void print_versor(const fp32_versor_t* versor)
void print_versor_fp32(const versor_fp32_t* versor)
{
printf("Versor (%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
}
void print_vector(const fp32_vector3_t* vector)
void print_versor_fp64(const versor_fp64_t* versor)
{
printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, fp32_vector3_get_modulus(vector));
printf("Versor (%lf, %lf, %lf, %lf)\n", versor->s0, versor->x1, versor->x2, versor->x3);
}
void item_work(fp32_structure_t* item)
void print_vector_fp32(const vector3_fp32_t* vector)
{
//fp32_versor_combine(&item->versor1, &item->versor1, &item->result);
//fp32_versor_make_rotation_matrix(&item->result, &item->matrix);
fp32_matrix3x3_right_product(&item->matrix, &item->vector1, &item->vector2);
printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, vector3_get_modulus_fp32(vector));
}
void circle_work(const unsigned int amount, fp32_structure_t* list)
void print_vector_fp64(const vector3_fp64_t* vector)
{
for (unsigned int i = 0; i < amount; i++) {
//fp32_versor_combine(&list[i].versor1, &list[i].versor1, &list[i].result);
//fp32_versor_make_rotation_matrix(&list[i].result, &list[i].matrix);
fp32_matrix3x3_right_product(&list[i].matrix, &list[i].vector1, &list[i].vector2);
//fp32_versor_turn(&list[i].result, &list[i].vector1, &list[i].vector2);
}
printf("(%lf, %lf, %lf) / %lf\n", vector->x1, vector->x2, vector->x3, vector3_get_modulus_fp64(vector));
}
void item_work(structure_fp32_t* item)
{
versor_fp32_combine(&item->versor1, &item->versor1, &item->result);
versor_fp32_make_rotation_matrix(&item->result, &item->matrix);
matrix3x3_fp32_right_product(&item->matrix, &item->vector1, &item->vector2);
}
int main()
{
const unsigned int amount = 1000000;
fp32_structure_t* list;
structure_fp32_t* list;
#ifdef _WIN64
ULONGLONG now, start, end;
@ -121,14 +120,13 @@ int main()
clock_gettime(CLOCK_REALTIME, &start);
#endif // _WIN64
for (int j = 0; j < 1000; j++) {
//circle(amount, list);
for (unsigned int i = 0; i < amount; i++) {
for (int j = 0; j < 1000; j++) {
//item_work(list + i);
//fp32_versor_combine(&list[i].versor1, &list[i].versor1, &list[i].result);
//fp32_versor_make_rotation_matrix(&list[i].result, &list[i].matrix);
fp32_matrix3x3_right_product(&list[i].matrix, &list[i].vector1, &list[i].vector2);
//fp32_versor_turn(&list[i].result, &list[i].vector1, &list[i].vector2);
versor_fp32_combine(&list[i].versor1, &list[i].versor2, &list[i].result);
versor_fp32_make_rotation_matrix(&list[i].result, &list[i].matrix);
matrix3x3_fp32_right_product(&list[i].matrix, &list[i].vector1, &list[i].vector2);
//versor_fp32_turn(&list[i].result, &list[i].vector1, &list[i].vector2);
}
}
@ -142,196 +140,11 @@ int main()
printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
#endif // _WIN64
//print_versor(&list[10].versor1);
//print_versor(&list[10].versor2);
//print_versor(&list[10].result);
//print_versor_fp32(&list[10].versor1);
//print_versor_fp32(&list[10].versor2);
//print_versor_fp32(&list[10].result);
free(list);
return 0;
}
/*
fp32_vector3_t* allocate_vectors3(const unsigned int amount)
{
return calloc(amount, sizeof(fp32_vector3_t));
}
fp32_vector3_t* make_zero_vectors3(const unsigned int amount)
{
fp32_vector3_t* list = allocate_vectors3(amount);
if (list == 0) {
return 0;
}
for (unsigned int i = 0; i < amount; i++) {
fp32_vector3_reset(&list[i]);
}
return list;
}
fp32_vector3_t* make_random_vectors3(const unsigned int amount)
{
fp32_vector3_t* list = allocate_vectors3(amount);
if (list == 0) {
return 0;
}
const float multiplier = 2.0f / RAND_MAX;
for (unsigned int i = 0; i < amount; i++) {
list[i].x1 = rand() * multiplier - 1.0f;
list[i].x2 = rand() * multiplier - 1.0f;
list[i].x3 = rand() * multiplier - 1.0f;
}
return list;
}
fp32_versor_t* allocate_versors(const unsigned int amount)
{
return calloc(amount, sizeof(fp32_versor_t));
}
fp32_versor_t * make_zero_versors(const unsigned int amount)
{
fp32_versor_t * list = allocate_versors(amount);
if (list == 0) {
return 0;
}
for (unsigned int i = 0; i < amount; i++) {
fp32_versor_reset(&list[i]);
}
return list;
}
fp32_versor_t * make_random_versors(const unsigned int amount)
{
fp32_versor_t * list = allocate_versors(amount);
if (list == 0) {
return 0;
}
const float multiplier = 2.0f / RAND_MAX;
for (unsigned int i = 0; i < amount; i++) {
fp32_versor_set_values(
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
&list[i]
);
}
return list;
}
int main()
{
const unsigned int amount = 1000000;
#ifdef _WIN64
ULONGLONG now, start, end;
now = GetTickCount64();
srand((unsigned int)(now & 0xfffffff));
#else
struct timespec now, start, end;
clock_gettime(0, &now);
srand((unsigned int)(now.tv_nsec & 0xfffffff));
#endif // _WIN64
fp32_versor_t * versors1 = make_random_versors(amount);
if (versors1 == 0) {
printf("Cannot allocate memory for versors1");
return 0;
}
fp32_versor_t * versors2 = make_random_versors(amount);
if (versors2 == 0) {
printf("Cannot allocate memory for versors2");
free(versors1);
return 0;
}
fp32_versor_t * results = make_zero_versors(amount);
if (results == 0) {
printf("Cannot allocate memory for results");
free(versors2);
free(versors1);
return 0;
}
fp32_matrix3x3_t* matrixes =malloc(amount * sizeof(fp32_matrix3x3_t));
if (matrixes == 0) {
printf("Cannot allocate memory for matrixes");
free(results);
free(versors2);
free(versors1);
return 0;
}
fp32_vector3_t* vectors = make_random_vectors3(amount);
if (results == 0) {
printf("Cannot allocate memory for result vectors");
free(matrixes);
free(results);
free(versors2);
free(versors1);
return 0;
}
#ifdef _WIN64
end = GetTickCount64();
printf("Setup time: %lld\n", end - now);
start = GetTickCount64();
#else
clock_gettime(CLOCK_REALTIME, &end);
printf("Time: %lf\n", (end.tv_sec - now.tv_sec) * 1000.0 + (end.tv_nsec - now.tv_nsec) * 0.000001);
clock_gettime(CLOCK_REALTIME, &start);
#endif // _WIN64
for (int j = 0; j < 1000; j++) {
for (unsigned int i = 0; i < amount; i++) {
fp32_versor_combine(&versors1[i], &versors2[i], &results[i]);
fp32_versor_make_rotation_matrix(&versors1[i], &matrixes[i]);
fp32_matrix3x3_right_product(&matrixes[i], &vectors[i], &vectors[i]);
//fp32_versor_turn(&results[i], &vectors[i], &vectors[i]);
}
}
#ifdef _WIN64
end = GetTickCount64();
printf("Time: %lld\n", end - start);
#else
clock_gettime(CLOCK_REALTIME, &end);
printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
#endif // _WIN64
print_versor(versors1 + 10);
print_versor(versors2 + 10);
print_versor(results + 10);
free(vectors);
free(matrixes);
free(results);
free(versors2);
free(versors1);
return 0;
}
*/

48
basic-geometry-test/fp32_vector2_test.c
View file

@ -1,8 +1,8 @@
#include "fp32_vector2_test.h"
#include "vector2_fp32_test.h"
const int TEST_FP32_VECTOR2_AMOUNT_1 = 5;
const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1[] = {
const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1[] = {
{ 3.0f, 4.0f },
{ -3.0f, -4.0f },
{ 10000.0f, -20000.0f },
@ -10,7 +10,7 @@ const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1[] = {
{ -123.5f, 3.7283f }
};
const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_2[] = {
const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_2[] = {
{ -3.0f, -4.0f },
{ -3.0f, -4.0f },
{ 0.002f, -0.05f },
@ -22,14 +22,14 @@ const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_2[] = {
const float FP32_VECTOR2_SQUARE_MODULUS_1[] = { 25.0f, 25.0f, 500000000.0f, 100.01f, 15266.150221f };
int test_fp32_vector2_square_modulus()
int test_vector2_fp32_square_modulus()
{
print_test_name("fp32_vector2_t square modulus");
print_test_name("vector2_fp32_t square modulus");
float square_modulus;
for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
square_modulus = fp32_vector2_get_square_modulus(&TEST_FP32_VECTOR2_COMMON_1[i]);
square_modulus = vector2_get_square_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]);
if (!test_fp32_are_equal(square_modulus, FP32_VECTOR2_SQUARE_MODULUS_1[i], TEST_FP32_TWO_EPSYLON)) {
print_test_failed();
@ -45,14 +45,14 @@ int test_fp32_vector2_square_modulus()
const float FP32_VECTOR2_MODULUS_1[] = { 5.0f, 5.0f, 22360.68f, 10.0005f, 123.55626338f };
int test_fp32_vector2_modulus()
int test_vector2_fp32_modulus()
{
print_test_name("fp32_vector2_t modulus");
print_test_name("vector2_fp32_t modulus");
float square_modulus;
for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
square_modulus = fp32_vector2_get_modulus(&TEST_FP32_VECTOR2_COMMON_1[i]);
square_modulus = vector2_get_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]);
if (!test_fp32_are_equal(square_modulus, FP32_VECTOR2_MODULUS_1[i], TEST_FP32_EPSYLON)) {
print_test_failed();
@ -66,7 +66,7 @@ int test_fp32_vector2_modulus()
// ===================== Add ==================== //
const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = {
const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = {
{ 0.0f, 0.0f },
{ -6.0f, -8.0f },
{ 10000.002f, -20000.05f },
@ -74,14 +74,14 @@ const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = {
{ -122.0f, -19.6217f }
};
int test_fp32_vector2_add()
int test_vector2_fp32_add()
{
print_test_name("fp32_vector2_t add");
print_test_name("vector2_fp32_t add");
fp32_vector2_t vector;
vector2_fp32_t vector;
for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
fp32_vector2_add(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
vector2_fp32_add(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
if (!test_fp32_are_equal(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x1, TEST_FP32_EPSYLON) ||
!test_fp32_are_equal(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x2, TEST_FP32_EPSYLON)) {
@ -96,7 +96,7 @@ int test_fp32_vector2_add()
// ================== Subtract ================== //
const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = {
const vector2_fp32_t TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = {
{ 6.0f, 8.0f },
{ 0.0f, 0.0f },
{ 9999.998f, -19999.95f },
@ -104,14 +104,14 @@ const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = {
{ -125.0f, 27.0783f }
};
int test_fp32_vector2_subtract()
int test_vector2_fp32_subtract()
{
print_test_name("fp32_vector2_t subtract");
print_test_name("vector2_fp32_t subtract");
fp32_vector2_t vector;
vector2_fp32_t vector;
for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
fp32_vector2_subtract(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
vector2_fp32_subtract(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
if (!test_fp32_are_equal(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x1, TEST_FP32_EPSYLON) ||
!test_fp32_are_equal(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x2, TEST_FP32_EPSYLON)) {
@ -128,21 +128,21 @@ int test_fp32_vector2_subtract()
int test_fp32_vector2()
{
print_test_section("fp32_vector2_t");
print_test_section("vector2_fp32_t");
if (test_fp32_vector2_square_modulus() != TEST_RESULT_SUCCES) {
if (test_vector2_fp32_square_modulus() != TEST_RESULT_SUCCES) {
return TEST_RESULT_FAILED;
}
if (test_fp32_vector2_modulus() != TEST_RESULT_SUCCES) {
if (test_vector2_fp32_modulus() != TEST_RESULT_SUCCES) {
return TEST_RESULT_FAILED;
}
if (test_fp32_vector2_add() != TEST_RESULT_SUCCES) {
if (test_vector2_fp32_add() != TEST_RESULT_SUCCES) {
return TEST_RESULT_FAILED;
}
if (test_fp32_vector2_subtract() != TEST_RESULT_SUCCES) {
if (test_vector2_fp32_subtract() != TEST_RESULT_SUCCES) {
return TEST_RESULT_FAILED;
}

8
basic-geometry-test/fp32_vector2_test.h
View file

@ -5,12 +5,12 @@
int test_fp32_vector2();
int test_fp32_vector2_square_modulus();
int test_vector2_fp32_square_modulus();
int test_fp32_vector2_modulus();
int test_vector2_fp32_modulus();
int test_fp32_vector2_add();
int test_vector2_fp32_add();
int test_fp32_vector2_subtract();
int test_vector2_fp32_subtract();
#endif

2
basic-geometry-test/main.c
View file

@ -2,7 +2,7 @@
#include <stdlib.h>
#include "geometry_test.h"
#include "fp32_vector2_test.h"
#include "vector2_fp32_test.h"
#define PROGRAM_RESULT_SUCCESS 0
#define PROGRAM_RESULT_FAILED 1

76
basic-geometry/angle.h
View file

@ -52,31 +52,31 @@ typedef enum {
// ========= Convert radians to degrees ========= //
static inline float fp32_radians_to_degrees(const float radians)
inline float fp32_radians_to_degrees(const float radians)
{
return radians * FP32_DEGREES_IN_RADIAN;
}
static inline double fp64_radians_to_degrees(const double radians)
inline double fp64_radians_to_degrees(const double radians)
{
return radians * FP64_DEGREES_IN_RADIAN;
}
// ========== Convert radians to turns ========== //
static inline float fp32_radians_to_turns(const float radians)
inline float fp32_radians_to_turns(const float radians)
{
return radians * FP32_TURNS_IN_RADIAN;
}
static inline double fp64_radians_to_turns(const double radians)
inline double fp64_radians_to_turns(const double radians)
{
return radians * FP64_TURNS_IN_RADIAN;
}
// ========= Convert radians to any unit ======== //
static inline float fp32_radians_to_units(const float radians, const angle_unit_t to_unit)
inline float fp32_radians_to_units(const float radians, const angle_unit_t to_unit)
{
if (to_unit == BG_ANGLE_UNIT_DEGREES) {
return radians * FP32_DEGREES_IN_RADIAN;
@ -89,7 +89,7 @@ static inline float fp32_radians_to_units(const float radians, const angle_unit_
return radians;
}
static inline double fp64_radians_to_units(const double radians, const angle_unit_t to_unit)
inline double fp64_radians_to_units(const double radians, const angle_unit_t to_unit)
{
if (to_unit == BG_ANGLE_UNIT_DEGREES) {
return radians * FP64_DEGREES_IN_RADIAN;
@ -104,7 +104,7 @@ static inline double fp64_radians_to_units(const double radians, const angle_uni
// ============ Normalize radians ============= //
static inline float fp32_radians_normalize(const float radians, const angle_range_t range)
inline float fp32_radians_normalize(const float radians, const angle_range_t range)
{
if (range == BG_ANGLE_RANGE_UNSIGNED) {
if (0.0f <= radians && radians < FP32_TWO_PI) {
@ -128,7 +128,7 @@ static inline float fp32_radians_normalize(const float radians, const angle_rang
return turns * FP32_TWO_PI;
}
static inline double fp64_radians_normalize(const double radians, const angle_range_t range)
inline double fp64_radians_normalize(const double radians, const angle_range_t range)
{
if (range == BG_ANGLE_RANGE_UNSIGNED) {
if (0.0 <= radians && radians < FP64_TWO_PI) {
@ -156,31 +156,31 @@ static inline double fp64_radians_normalize(const double radians, const angle_ra
// ========= Convert degrees to radians ========= //
static inline float fp32_degrees_to_radians(const float degrees)
inline float fp32_degrees_to_radians(const float degrees)
{
return degrees * FP32_RADIANS_IN_DEGREE;
}
static inline double fp64_degrees_to_radians(const double degrees)
inline double fp64_degrees_to_radians(const double degrees)
{
return degrees * FP64_RADIANS_IN_DEGREE;
}
// ========== Convert degrees to turns ========== //
static inline float fp32_degrees_to_turns(const float radians)
inline float fp32_degrees_to_turns(const float radians)
{
return radians * FP32_TURNS_IN_DEGREE;
}
static inline double fp64_degrees_to_turns(const double radians)
inline double fp64_degrees_to_turns(const double radians)
{
return radians * FP64_TURNS_IN_DEGREE;
}
// ========= Convert degreess to any unit ======== //
static inline float fp32_degrees_to_units(const float degrees, const angle_unit_t to_unit)
inline float fp32_degrees_to_units(const float degrees, const angle_unit_t to_unit)
{
if (to_unit == BG_ANGLE_UNIT_RADIANS) {
return degrees * FP32_RADIANS_IN_DEGREE;
@ -193,7 +193,7 @@ static inline float fp32_degrees_to_units(const float degrees, const angle_unit_
return degrees;
}
static inline double fp64_degrees_to_units(const double degrees, const angle_unit_t to_unit)
inline double fp64_degrees_to_units(const double degrees, const angle_unit_t to_unit)
{
if (to_unit == BG_ANGLE_UNIT_RADIANS) {
return degrees * FP64_RADIANS_IN_DEGREE;
@ -208,7 +208,7 @@ static inline double fp64_degrees_to_units(const double degrees, const angle_uni
// ============ Normalize degrees ============= //
static inline float fp32_degrees_normalize(const float degrees, const angle_range_t range)
inline float fp32_degrees_normalize(const float degrees, const angle_range_t range)
{
if (range == BG_ANGLE_RANGE_UNSIGNED) {
if (0.0f <= degrees && degrees < 360.0f) {
@ -232,7 +232,7 @@ static inline float fp32_degrees_normalize(const float degrees, const angle_rang
return turns * 360.0f;
}
static inline double fp64_degrees_normalize(const double degrees, const angle_range_t range)
inline double fp64_degrees_normalize(const double degrees, const angle_range_t range)
{
if (range == BG_ANGLE_RANGE_UNSIGNED) {
if (0.0 <= degrees && degrees < 360.0) {
@ -260,31 +260,31 @@ static inline double fp64_degrees_normalize(const double degrees, const angle_ra
// ========== Convert turns to radians ========== //
static inline float fp32_turns_to_radians(const float turns)
inline float fp32_turns_to_radians(const float turns)
{
return turns * FP32_TWO_PI;
}
static inline double fp64_turns_to_radians(const double turns)
inline double fp64_turns_to_radians(const double turns)
{
return turns * FP64_TWO_PI;
}
// ========== Convert turns to degrees ========== //
static inline float fp32_turns_to_degrees(const float turns)
inline float fp32_turns_to_degrees(const float turns)
{
return turns * 360.0f;
}
static inline double fp64_turns_to_degrees(const double turns)
inline double fp64_turns_to_degrees(const double turns)
{
return turns * 360.0;
}
// ========= Convert turns to any unit ======== //
static inline float fp32_turns_to_units(const float turns, const angle_unit_t to_unit)
inline float fp32_turns_to_units(const float turns, const angle_unit_t to_unit)
{
if (to_unit == BG_ANGLE_UNIT_RADIANS) {
return turns * FP32_TWO_PI;
@ -297,7 +297,7 @@ static inline float fp32_turns_to_units(const float turns, const angle_unit_t to
return turns;
}
static inline double fp64_turns_to_units(const double turns, const angle_unit_t to_unit)
inline double fp64_turns_to_units(const double turns, const angle_unit_t to_unit)
{
if (to_unit == BG_ANGLE_UNIT_RADIANS) {
return turns * FP64_TWO_PI;
@ -312,7 +312,7 @@ static inline double fp64_turns_to_units(const double turns, const angle_unit_t
// ============= Normalize turns ============== //
static inline float fp32_turns_normalize(const float turns, const angle_range_t range)
inline float fp32_turns_normalize(const float turns, const angle_range_t range)
{
if (range == BG_ANGLE_RANGE_UNSIGNED) {
if (0.0f <= turns && turns < 1.0f) {
@ -334,7 +334,7 @@ static inline float fp32_turns_normalize(const float turns, const angle_range_t
return rest;
}
static inline double fp64_turns_normalize(const double turns, const angle_range_t range)
inline double fp64_turns_normalize(const double turns, const angle_range_t range)
{
if (range == BG_ANGLE_RANGE_UNSIGNED) {
if (0.0 <= turns && turns < 1.0) {
@ -360,7 +360,7 @@ static inline double fp64_turns_normalize(const double turns, const angle_range_
// ========= Convert any unit to radians ======== //
static inline float fp32_angle_to_radians(const float angle, const angle_unit_t unit)
inline float fp32_angle_to_radians(const float angle, const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_DEGREES) {
return angle * FP32_RADIANS_IN_DEGREE;
@ -373,7 +373,7 @@ static inline float fp32_angle_to_radians(const float angle, const angle_unit_t
return angle;
}
static inline double fp64_angle_to_radians(const double angle, const angle_unit_t unit)
inline double fp64_angle_to_radians(const double angle, const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_DEGREES) {
return angle * FP64_RADIANS_IN_DEGREE;
@ -388,7 +388,7 @@ static inline double fp64_angle_to_radians(const double angle, const angle_unit_
// ========= Convert any unit to degreess ======== //
static inline float fp32_angle_to_degrees(const float angle, const angle_unit_t unit)
inline float fp32_angle_to_degrees(const float angle, const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_RADIANS) {
return angle * FP32_DEGREES_IN_RADIAN;
@ -401,7 +401,7 @@ static inline float fp32_angle_to_degrees(const float angle, const angle_unit_t
return angle;
}
static inline double fp64_angle_to_degrees(const double angle, const angle_unit_t unit)
inline double fp64_angle_to_degrees(const double angle, const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_RADIANS) {
return angle * FP64_DEGREES_IN_RADIAN;
@ -416,7 +416,7 @@ static inline double fp64_angle_to_degrees(const double angle, const angle_unit_
// ========= Convert any unit to turns ======== //
static inline float fp32_angle_to_turns(const float angle, const angle_unit_t unit)
inline float fp32_angle_to_turns(const float angle, const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_RADIANS) {
return angle * FP32_TURNS_IN_RADIAN;
@ -429,7 +429,7 @@ static inline float fp32_angle_to_turns(const float angle, const angle_unit_t un
return angle;
}
static inline double fp64_angle_to_turns(const double angle, const angle_unit_t unit)
inline double fp64_angle_to_turns(const double angle, const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_RADIANS) {
return angle * FP64_TURNS_IN_RADIAN;
@ -444,7 +444,7 @@ static inline double fp64_angle_to_turns(const double angle, const angle_unit_t
// ============= Get Full Circle ============== //
static inline float fp32_angle_get_full_circle(const angle_unit_t unit)
inline float fp32_angle_get_full_circle(const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_DEGREES) {
return 360.0f;
@ -457,7 +457,7 @@ static inline float fp32_angle_get_full_circle(const angle_unit_t unit)
return FP32_TWO_PI;
}
static inline double fp64_angle_get_full_circle(const angle_unit_t unit)
inline double fp64_angle_get_full_circle(const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_DEGREES) {
return 360.0;
@ -472,7 +472,7 @@ static inline double fp64_angle_get_full_circle(const angle_unit_t unit)
// ============= Get Half Circle ============== //
static inline float fp32_angle_get_half_circle(const angle_unit_t unit)
inline float fp32_angle_get_half_circle(const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_DEGREES) {
return 180.0f;
@ -485,7 +485,7 @@ static inline float fp32_angle_get_half_circle(const angle_unit_t unit)
return FP32_PI;
}
static inline double fp64_angle_get_half_circle(const angle_unit_t unit)
inline double fp64_angle_get_half_circle(const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_DEGREES) {
return 180.0;
@ -500,7 +500,7 @@ static inline double fp64_angle_get_half_circle(const angle_unit_t unit)
// ============= Get Half Circle ============== //
static inline float fp32_angle_get_quater_circle(const angle_unit_t unit)
inline float fp32_angle_get_quater_circle(const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_DEGREES) {
return 90.0f;
@ -513,7 +513,7 @@ static inline float fp32_angle_get_quater_circle(const angle_unit_t unit)
return FP32_HALF_OF_PI;
}
static inline double fp64_angle_get_quater_circle(const angle_unit_t unit)
inline double fp64_angle_get_quater_circle(const angle_unit_t unit)
{
if (unit == BG_ANGLE_UNIT_DEGREES) {
return 90.0;
@ -528,7 +528,7 @@ static inline double fp64_angle_get_quater_circle(const angle_unit_t unit)
// ================ Normalize ================= //
static inline float fp32_angle_normalize(const float angle, const angle_unit_t unit, const angle_range_t range)
inline float fp32_angle_normalize(const float angle, const angle_unit_t unit, const angle_range_t range)
{
if (unit == BG_ANGLE_UNIT_DEGREES) {
return fp32_degrees_normalize(angle, range);
@ -541,7 +541,7 @@ static inline float fp32_angle_normalize(const float angle, const angle_unit_t u
return fp32_radians_normalize(angle, range);
}
static inline double fp64_angle_normalize(const double angle, const angle_unit_t unit, const angle_range_t range)
inline double fp64_angle_normalize(const double angle, const angle_unit_t unit, const angle_range_t range)
{
if (unit == BG_ANGLE_UNIT_DEGREES) {
return fp64_degrees_normalize(angle, range);

8
basic-geometry/basis.h
View file

@ -1,5 +1,5 @@
#ifndef __GEOMETRY__TYPES_H_
#define __GEOMETRY__TYPES_H_
#ifndef _GEOMETRY_BASIS_H_
#define _GEOMETRY_BASIS_H_
#define FP32_EPSYLON_EFFECTIVENESS_LIMIT 10.0f
@ -27,7 +27,7 @@
#define FP64_GOLDEN_RATIO_HIGH 1.61803398874989485
#define FP64_GOLDEN_RATIO_LOW 0.61803398874989485
static inline int fp32_are_equal(const float value1, const float value2)
inline int fp32_are_equal(const float value1, const float value2)
{
if (-FP32_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
return -FP32_EPSYLON <= (value1 - value2) && (value1 - value2) <= FP32_EPSYLON;
@ -40,7 +40,7 @@ static inline int fp32_are_equal(const float value1, const float value2)
return value2 <= value1 * (1.0f + FP32_EPSYLON) && value1 <= value2 * (1.0f + FP32_EPSYLON);
}
static inline int fp64_are_equal(const double value1, const double value2)
inline int fp64_are_equal(const double value1, const double value2)
{
if (-FP64_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
return -FP64_EPSYLON <= (value1 - value2) && (value1 - value2) <= FP64_EPSYLON;

112
basic-geometry/matrix2x2.h
View file

@ -7,7 +7,7 @@
// =================== Reset ==================== //
static inline void fp32_matrix2x2_reset(fp32_matrix2x2_t* matrix)
inline void matrix2x2_reset_fp32(matrix2x2_fp32_t* matrix)
{
matrix->r1c1 = 0.0f;
matrix->r1c2 = 0.0f;
@ -15,7 +15,7 @@ static inline void fp32_matrix2x2_reset(fp32_matrix2x2_t* matrix)
matrix->r2c2 = 0.0f;
}
static inline void fp64_matrix2x2_reset(fp64_matrix2x2_t* matrix)
inline void matrix2x2_reset_fp64(matrix2x2_fp64_t* matrix)
{
matrix->r1c1 = 0.0;
matrix->r1c2 = 0.0;
@ -25,7 +25,7 @@ static inline void fp64_matrix2x2_reset(fp64_matrix2x2_t* matrix)
// ================== Identity ================== //
static inline void fp32_matrix2x2_set_to_identity(fp32_matrix2x2_t* matrix)
inline void matrix2x2_fp32_set_to_identity(matrix2x2_fp32_t* matrix)
{
matrix->r1c1 = 1.0f;
matrix->r1c2 = 0.0f;
@ -33,7 +33,7 @@ static inline void fp32_matrix2x2_set_to_identity(fp32_matrix2x2_t* matrix)
matrix->r2c2 = 1.0f;
}
static inline void fp64_matrix2x2_set_to_identity(fp64_matrix2x2_t* matrix)
inline void matrix2x2_fp64_set_to_identity(matrix2x2_fp64_t* matrix)
{
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;

76
basic-geometry/matrix2x3.h
View file

@ -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;

76
basic-geometry/matrix3x2.h
View file

@ -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;

16
basic-geometry/matrix3x3.c
View file

@ -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;

112
basic-geometry/matrix3x3.h
View file

@ -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;

28
basic-geometry/matrixes.c
View file

@ -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;

48
basic-geometry/matrixes.h
View file

@ -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_

104
basic-geometry/quaternion.h
View file

@ -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);

4
basic-geometry/rotation3.c
View file

@ -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};

32
basic-geometry/rotation3.h
View file

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

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -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;
}