From 605afabd9467962dbb48d28724870805631bad24 Mon Sep 17 00:00:00 2001 From: Andrey Pokidov Date: Mon, 13 Jan 2025 21:31:26 +0700 Subject: [PATCH] =?UTF-8?q?=D0=9F=D0=B5=D1=80=D0=B5=D0=B8=D0=BC=D0=B5?= =?UTF-8?q?=D0=BD=D0=BE=D0=B2=D0=B0=D0=BD=D0=B8=D0=B5=20=D1=82=D0=B8=D0=BF?= =?UTF-8?q?=D0=BE=D0=B2=20=D0=B2=20=D1=81=D0=BE=D0=BE=D1=82=D0=B2=D0=B5?= =?UTF-8?q?=D1=82=D1=81=D1=82=D0=B2=D0=B8=D0=B8=20=D1=81=D0=BE=20=D1=81?= =?UTF-8?q?=D1=82=D0=B8=D0=BB=D0=B5=D0=BC=20POSIX,=20=D0=BE=D1=82=D0=BA?= =?UTF-8?q?=D0=B0=D0=B7=20=D0=BE=D1=82=20=D0=BF=D1=80=D0=B5=D1=84=D0=B8?= =?UTF-8?q?=D0=BA=D1=81=D0=B0=20bg=5F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- basic-geometry-dev/main.c | 262 +++++++++++++++--------- basic-geometry-test/fp32_vector2_test.c | 74 +++---- basic-geometry-test/fp32_vector2_test.h | 10 +- basic-geometry-test/geometry_test.h | 16 +- basic-geometry-test/main.c | 2 +- basic-geometry/angle.h | 224 ++++++++++---------- basic-geometry/basis.h | 56 ++--- basic-geometry/matrix2x2.h | 132 ++++++------ basic-geometry/matrix2x3.h | 80 ++++---- basic-geometry/matrix3x2.h | 80 ++++---- basic-geometry/matrix3x3.c | 24 +-- basic-geometry/matrix3x3.h | 120 +++++------ basic-geometry/matrixes.c | 28 +-- basic-geometry/matrixes.h | 52 ++--- basic-geometry/quaternion.h | 124 +++++------ basic-geometry/rotation3.c | 4 +- basic-geometry/rotation3.h | 44 ++-- basic-geometry/tangent.c | 4 +- basic-geometry/tangent.h | 120 +++++------ basic-geometry/vector2.c | 40 ++-- basic-geometry/vector2.h | 204 +++++++++--------- basic-geometry/vector3.c | 40 ++-- basic-geometry/vector3.h | 220 ++++++++++---------- basic-geometry/versor.c | 44 ++-- basic-geometry/versor.h | 140 ++++++------- 25 files changed, 1109 insertions(+), 1035 deletions(-) diff --git a/basic-geometry-dev/main.c b/basic-geometry-dev/main.c index a9665a9..0c1224c 100644 --- a/basic-geometry-dev/main.c +++ b/basic-geometry-dev/main.c @@ -9,29 +9,172 @@ #include #endif // _WINDOWS_ -BgFP32Vector3* allocate_vectors3(const unsigned int amount) +typedef struct { +// fp32_versor_t versor1, versor2, result; + fp32_matrix3x3_t matrix; + fp32_vector3_t vector1, vector2; +} fp32_structure_t; + +fp32_structure_t* allocate_structures(const unsigned int amount) { - return calloc(amount, sizeof(BgFP32Vector3)); + return calloc(amount, sizeof(fp32_structure_t)); } -BgFP32Vector3* make_zero_vectors3(const unsigned int amount) +fp32_structure_t* make_structures(const unsigned int amount) { - BgFP32Vector3* list = allocate_vectors3(amount); + fp32_structure_t* list = allocate_structures(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].versor1 + ); + + fp32_versor_set_values( + rand() * multiplier - 1.0f, + rand() * multiplier - 1.0f, + rand() * multiplier - 1.0f, + rand() * multiplier - 1.0f, + &list[i].versor2 + ); + + fp32_versor_reset(&list[i].result); +*/ + fp32_matrix3x3_set_to_identity(&list[i].matrix); + + fp32_vector3_set_values( + rand() * multiplier - 1.0f, + rand() * multiplier - 1.0f, + rand() * multiplier - 1.0f, + &list[i].vector1 + ); + + fp32_vector3_reset(&list[i].vector2); + } + + return list; +} + +void print_versor(const fp32_versor_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) +{ + printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, fp32_vector3_get_modulus(vector)); +} + +void item_work(fp32_structure_t* item) +{ + //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); +} + +void circle_work(const unsigned int amount, fp32_structure_t* list) +{ + 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); + } +} + +int main() +{ + const unsigned int amount = 1000000; + fp32_structure_t* list; + +#ifdef _WIN64 + ULONGLONG now, start, end; + now = GetTickCount64(); + srand((unsigned int)(now & 0xfffffff)); +#else + struct timespec start, end; + clock_gettime(0, &start); + srand((unsigned int)(start.tv_nsec & 0xfffffff)); +#endif // _WIN64 + + list = make_structures(amount); + +#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 - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001); + + 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++) { + //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); + } + } + +#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(&list[10].versor1); + //print_versor(&list[10].versor2); + //print_versor(&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++) { - bg_fp32_vector3_reset(&list[i]); + fp32_vector3_reset(&list[i]); } return list; } -BgFP32Vector3* make_random_vectors3(const unsigned int amount) +fp32_vector3_t* make_random_vectors3(const unsigned int amount) { - BgFP32Vector3* list = allocate_vectors3(amount); + fp32_vector3_t* list = allocate_vectors3(amount); if (list == 0) { return 0; @@ -48,29 +191,29 @@ BgFP32Vector3* make_random_vectors3(const unsigned int amount) return list; } -BgFP32Versor* allocate_versors(const unsigned int amount) +fp32_versor_t* allocate_versors(const unsigned int amount) { - return calloc(amount, sizeof(BgFP32Versor)); + return calloc(amount, sizeof(fp32_versor_t)); } -BgFP32Versor * make_zero_versors(const unsigned int amount) +fp32_versor_t * make_zero_versors(const unsigned int amount) { - BgFP32Versor * list = allocate_versors(amount); + fp32_versor_t * list = allocate_versors(amount); if (list == 0) { return 0; } for (unsigned int i = 0; i < amount; i++) { - bg_fp32_versor_reset(&list[i]); + fp32_versor_reset(&list[i]); } return list; } -BgFP32Versor * make_random_versors(const unsigned int amount) +fp32_versor_t * make_random_versors(const unsigned int amount) { - BgFP32Versor * list = allocate_versors(amount); + fp32_versor_t * list = allocate_versors(amount); if (list == 0) { return 0; @@ -79,7 +222,7 @@ BgFP32Versor * make_random_versors(const unsigned int amount) const float multiplier = 2.0f / RAND_MAX; for (unsigned int i = 0; i < amount; i++) { - bg_fp32_versor_set_values( + fp32_versor_set_values( rand() * multiplier - 1.0f, rand() * multiplier - 1.0f, rand() * multiplier - 1.0f, @@ -91,76 +234,6 @@ BgFP32Versor * make_random_versors(const unsigned int amount) return list; } -void print_versor(const BgFP32Versor* versor) -{ - printf("Versor (%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3); -} - -void print_vector(const BgFP32Vector3* vector) -{ - printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, bg_fp32_vector3_get_modulus(vector)); -} -/* -int main() -{ - const unsigned int amount = 1000000; - -#ifdef _WIN64 - ULONGLONG now; - now = GetTickCount64(); - srand((unsigned int)(now & 0xfffffff)); -#else - struct timespec now; - clock_gettime(CLOCK_REALTIME, &now); - srand((unsigned int)(now.tv_nsec & 0xfffffff)); -#endif // _WIN64 - - BgFP32Versor * versors = make_random_versors(amount); - - if (versors == 0) { - printf("Cannot allocate memory for versors"); - return 0; - } - - BgFP32Vector3 initial, result; - - bg_fp32_vector3_set_values(1, 2, 3, &initial); - bg_fp32_vector3_copy(&initial, &result); - -#ifdef _WIN64 - ULONGLONG start, end; - start = GetTickCount64(); -#else - struct timespec start, end; - clock_gettime(CLOCK_REALTIME, &start); -#endif // _WIN64 - for (unsigned int i = 0; i < amount; i++) { - bg_fp32_versor_turn2(&versors[i], &result, &result); - } - - for (unsigned int i = amount; i > 0; i--) { - bg_fp32_versor_turn_back2(&versors[i - 1], &result, &result); - } - -#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_vector(&initial); - print_vector(&result); - - free(versors); - return 0; -} -*/ - int main() { const unsigned int amount = 1000000; @@ -175,14 +248,14 @@ int main() srand((unsigned int)(now.tv_nsec & 0xfffffff)); #endif // _WIN64 - BgFP32Versor * versors1 = make_random_versors(amount); + fp32_versor_t * versors1 = make_random_versors(amount); if (versors1 == 0) { printf("Cannot allocate memory for versors1"); return 0; } - BgFP32Versor * versors2 = make_random_versors(amount); + fp32_versor_t * versors2 = make_random_versors(amount); if (versors2 == 0) { printf("Cannot allocate memory for versors2"); @@ -190,7 +263,7 @@ int main() return 0; } - BgFP32Versor * results = make_zero_versors(amount); + fp32_versor_t * results = make_zero_versors(amount); if (results == 0) { printf("Cannot allocate memory for results"); @@ -199,7 +272,7 @@ int main() return 0; } - BgFP32Matrix3x3* matrixes =malloc(amount * sizeof(BgFP32Matrix3x3)); + fp32_matrix3x3_t* matrixes =malloc(amount * sizeof(fp32_matrix3x3_t)); if (matrixes == 0) { printf("Cannot allocate memory for matrixes"); @@ -209,7 +282,7 @@ int main() return 0; } - BgFP32Vector3* vectors = make_random_vectors3(amount); + fp32_vector3_t* vectors = make_random_vectors3(amount); if (results == 0) { printf("Cannot allocate memory for result vectors"); @@ -233,10 +306,10 @@ int main() #endif // _WIN64 for (int j = 0; j < 1000; j++) { for (unsigned int i = 0; i < amount; i++) { - bg_fp32_versor_combine(&versors1[i], &versors2[i], &results[i]); - bg_fp32_versor_make_rotation_matrix(&versors1[i], &matrixes[i]); - bg_fp32_matrix3x3_right_product(&matrixes[i], &vectors[i], &vectors[i]); - //bg_fp32_versor_turn(&results[i], &vectors[i], &vectors[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]); } } @@ -261,3 +334,4 @@ int main() free(versors1); return 0; } +*/ diff --git a/basic-geometry-test/fp32_vector2_test.c b/basic-geometry-test/fp32_vector2_test.c index aaf7091..33cc74c 100644 --- a/basic-geometry-test/fp32_vector2_test.c +++ b/basic-geometry-test/fp32_vector2_test.c @@ -1,8 +1,8 @@ #include "fp32_vector2_test.h" -const int TEST_BG_FP32_VECTOR2_AMOUNT_1 = 5; +const int TEST_FP32_VECTOR2_AMOUNT_1 = 5; -const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_1[] = { +const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1[] = { { 3.0f, 4.0f }, { -3.0f, -4.0f }, { 10000.0f, -20000.0f }, @@ -10,7 +10,7 @@ const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_1[] = { { -123.5f, 3.7283f } }; -const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_2[] = { +const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_2[] = { { -3.0f, -4.0f }, { -3.0f, -4.0f }, { 0.002f, -0.05f }, @@ -20,18 +20,18 @@ const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_2[] = { // =============== Square modulus =============== // -const float BG_FP32_VECTOR2_SQUARE_MODULUS_1[] = { 25.0f, 25.0f, 500000000.0f, 100.01f, 15266.150221f }; +const float FP32_VECTOR2_SQUARE_MODULUS_1[] = { 25.0f, 25.0f, 500000000.0f, 100.01f, 15266.150221f }; -int test_bg_fp32_vector2_square_modulus() +int test_fp32_vector2_square_modulus() { - print_test_name("BgFP32Vector2 square modulus"); + print_test_name("fp32_vector2_t square modulus"); float square_modulus; - for (int i = 0; i < TEST_BG_FP32_VECTOR2_AMOUNT_1; i++) { - square_modulus = bg_fp32_vector2_get_square_modulus(&TEST_BG_FP32_VECTOR2_COMMON_1[i]); + for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) { + square_modulus = fp32_vector2_get_square_modulus(&TEST_FP32_VECTOR2_COMMON_1[i]); - if (!test_bg_fp32_are_equal(square_modulus, BG_FP32_VECTOR2_SQUARE_MODULUS_1[i], TEST_BG_FP32_TWO_EPSYLON)) { + if (!test_fp32_are_equal(square_modulus, FP32_VECTOR2_SQUARE_MODULUS_1[i], TEST_FP32_TWO_EPSYLON)) { print_test_failed(); return TEST_RESULT_FAILED; } @@ -43,18 +43,18 @@ int test_bg_fp32_vector2_square_modulus() // =================== Module =================== // -const float BG_FP32_VECTOR2_MODULUS_1[] = { 5.0f, 5.0f, 22360.68f, 10.0005f, 123.55626338f }; +const float FP32_VECTOR2_MODULUS_1[] = { 5.0f, 5.0f, 22360.68f, 10.0005f, 123.55626338f }; -int test_bg_fp32_vector2_modulus() +int test_fp32_vector2_modulus() { - print_test_name("BgFP32Vector2 modulus"); + print_test_name("fp32_vector2_t modulus"); float square_modulus; - for (int i = 0; i < TEST_BG_FP32_VECTOR2_AMOUNT_1; i++) { - square_modulus = bg_fp32_vector2_get_modulus(&TEST_BG_FP32_VECTOR2_COMMON_1[i]); + for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) { + square_modulus = fp32_vector2_get_modulus(&TEST_FP32_VECTOR2_COMMON_1[i]); - if (!test_bg_fp32_are_equal(square_modulus, BG_FP32_VECTOR2_MODULUS_1[i], TEST_BG_FP32_EPSYLON)) { + if (!test_fp32_are_equal(square_modulus, FP32_VECTOR2_MODULUS_1[i], TEST_FP32_EPSYLON)) { print_test_failed(); return TEST_RESULT_FAILED; } @@ -66,7 +66,7 @@ int test_bg_fp32_vector2_modulus() // ===================== Add ==================== // -const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_1_2_SUM[] = { +const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = { { 0.0f, 0.0f }, { -6.0f, -8.0f }, { 10000.002f, -20000.05f }, @@ -74,17 +74,17 @@ const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_1_2_SUM[] = { { -122.0f, -19.6217f } }; -int test_bg_fp32_vector2_add() +int test_fp32_vector2_add() { - print_test_name("BgFP32Vector2 add"); + print_test_name("fp32_vector2_t add"); - BgFP32Vector2 vector; + fp32_vector2_t vector; - for (int i = 0; i < TEST_BG_FP32_VECTOR2_AMOUNT_1; i++) { - bg_fp32_vector2_add(&TEST_BG_FP32_VECTOR2_COMMON_1[i], &TEST_BG_FP32_VECTOR2_COMMON_2[i], &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); - if (!test_bg_fp32_are_equal(vector.x1, TEST_BG_FP32_VECTOR2_COMMON_1_2_SUM[i].x1, TEST_BG_FP32_EPSYLON) || - !test_bg_fp32_are_equal(vector.x2, TEST_BG_FP32_VECTOR2_COMMON_1_2_SUM[i].x2, TEST_BG_FP32_EPSYLON)) { + 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)) { print_test_failed(); return TEST_RESULT_FAILED; } @@ -96,7 +96,7 @@ int test_bg_fp32_vector2_add() // ================== Subtract ================== // -const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_1_2_DIFF[] = { +const fp32_vector2_t TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = { { 6.0f, 8.0f }, { 0.0f, 0.0f }, { 9999.998f, -19999.95f }, @@ -104,17 +104,17 @@ const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_1_2_DIFF[] = { { -125.0f, 27.0783f } }; -int test_bg_fp32_vector2_subtract() +int test_fp32_vector2_subtract() { - print_test_name("BgFP32Vector2 subtract"); + print_test_name("fp32_vector2_t subtract"); - BgFP32Vector2 vector; + fp32_vector2_t vector; - for (int i = 0; i < TEST_BG_FP32_VECTOR2_AMOUNT_1; i++) { - bg_fp32_vector2_subtract(&TEST_BG_FP32_VECTOR2_COMMON_1[i], &TEST_BG_FP32_VECTOR2_COMMON_2[i], &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); - if (!test_bg_fp32_are_equal(vector.x1, TEST_BG_FP32_VECTOR2_COMMON_1_2_DIFF[i].x1, TEST_BG_FP32_EPSYLON) || - !test_bg_fp32_are_equal(vector.x2, TEST_BG_FP32_VECTOR2_COMMON_1_2_DIFF[i].x2, TEST_BG_FP32_EPSYLON)) { + 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)) { print_test_failed(); return TEST_RESULT_FAILED; } @@ -126,23 +126,23 @@ int test_bg_fp32_vector2_subtract() // ==================== 1234 ==================== // -int test_bg_fp32_vector2() +int test_fp32_vector2() { - print_test_section("BgFP32Vector2"); + print_test_section("fp32_vector2_t"); - if (test_bg_fp32_vector2_square_modulus() != TEST_RESULT_SUCCES) { + if (test_fp32_vector2_square_modulus() != TEST_RESULT_SUCCES) { return TEST_RESULT_FAILED; } - if (test_bg_fp32_vector2_modulus() != TEST_RESULT_SUCCES) { + if (test_fp32_vector2_modulus() != TEST_RESULT_SUCCES) { return TEST_RESULT_FAILED; } - if (test_bg_fp32_vector2_add() != TEST_RESULT_SUCCES) { + if (test_fp32_vector2_add() != TEST_RESULT_SUCCES) { return TEST_RESULT_FAILED; } - if (test_bg_fp32_vector2_subtract() != TEST_RESULT_SUCCES) { + if (test_fp32_vector2_subtract() != TEST_RESULT_SUCCES) { return TEST_RESULT_FAILED; } diff --git a/basic-geometry-test/fp32_vector2_test.h b/basic-geometry-test/fp32_vector2_test.h index 9c97b42..8bfe676 100644 --- a/basic-geometry-test/fp32_vector2_test.h +++ b/basic-geometry-test/fp32_vector2_test.h @@ -3,14 +3,14 @@ #include "geometry_test.h" -int test_bg_fp32_vector2(); +int test_fp32_vector2(); -int test_bg_fp32_vector2_square_modulus(); +int test_fp32_vector2_square_modulus(); -int test_bg_fp32_vector2_modulus(); +int test_fp32_vector2_modulus(); -int test_bg_fp32_vector2_add(); +int test_fp32_vector2_add(); -int test_bg_fp32_vector2_subtract(); +int test_fp32_vector2_subtract(); #endif diff --git a/basic-geometry-test/geometry_test.h b/basic-geometry-test/geometry_test.h index c9d1740..04d5151 100644 --- a/basic-geometry-test/geometry_test.h +++ b/basic-geometry-test/geometry_test.h @@ -6,13 +6,13 @@ #define TEST_RESULT_SUCCES 0 #define TEST_RESULT_FAILED 100 -#define TEST_BG_FP32_EPSYLON 1E-6f -#define TEST_BG_FP32_TWO_EPSYLON 2E-6f -#define TEST_BG_FP32_SQUARE_EPSYLON 1E-12f +#define TEST_FP32_EPSYLON 1E-6f +#define TEST_FP32_TWO_EPSYLON 2E-6f +#define TEST_FP32_SQUARE_EPSYLON 1E-12f -#define TEST_BG_FP64_EPSYLON 1E-13f -#define TEST_BG_FP64_TWO_EPSYLON 2E-13f -#define TEST_BG_FP64_SQUARE_EPSYLON 1E-26f +#define TEST_FP64_EPSYLON 1E-13f +#define TEST_FP64_TWO_EPSYLON 2E-13f +#define TEST_FP64_SQUARE_EPSYLON 1E-26f void print_test_section(const char * name); @@ -22,7 +22,7 @@ void print_test_success(); void print_test_failed(); -inline int test_bg_fp32_are_equal(const float value1, const float value2, const float epsylon) +inline int test_fp32_are_equal(const float value1, const float value2, const float epsylon) { if (-1.0f <= value1 && value1 <= 1.0f) { const float difference = value1 - value2; @@ -36,7 +36,7 @@ inline int test_bg_fp32_are_equal(const float value1, const float value2, const return value1 * (1.0f + epsylon) <= value2 && value2 * (1.0f + epsylon) <= value1; } -inline int test_bg_fp64_are_equal(const double value1, const double value2, const double epsylon) +inline int test_fp64_are_equal(const double value1, const double value2, const double epsylon) { if (-1.0 <= value1 && value1 <= 1.0) { const double difference = value1 - value2; diff --git a/basic-geometry-test/main.c b/basic-geometry-test/main.c index f47ea7d..03b5b92 100644 --- a/basic-geometry-test/main.c +++ b/basic-geometry-test/main.c @@ -9,7 +9,7 @@ int main() { - if (test_bg_fp32_vector2() == TEST_RESULT_FAILED) { + if (test_fp32_vector2() == TEST_RESULT_FAILED) { return PROGRAM_RESULT_FAILED; } diff --git a/basic-geometry/angle.h b/basic-geometry/angle.h index 91f2753..36a91b0 100644 --- a/basic-geometry/angle.h +++ b/basic-geometry/angle.h @@ -1,32 +1,32 @@ -#ifndef _GEOMETRY_ANGLE_H_ -#define _GEOMETRY_ANGLE_H_ +#ifndef _BASIC_GEOMETRY_ANGLE_H_ +#define _BASIC_GEOMETRY_ANGLE_H_ #include #include "basis.h" -#define BG_FP32_PI 3.1415926536f -#define BG_FP32_TWO_PI 6.2831853072f -#define BG_FP32_HALF_OF_PI 1.5707963268f -#define BG_FP32_THIRD_OF_PI 1.0471975512f -#define BG_FP32_FOURTH_OF_PI 0.7853981634f -#define BG_FP32_SIXTH_OF_PI 0.5235987756f +#define FP32_PI 3.1415926536f +#define FP32_TWO_PI 6.2831853072f +#define FP32_HALF_OF_PI 1.5707963268f +#define FP32_THIRD_OF_PI 1.0471975512f +#define FP32_FOURTH_OF_PI 0.7853981634f +#define FP32_SIXTH_OF_PI 0.5235987756f -#define BG_FP32_DEGREES_IN_RADIAN 57.295779513f -#define BG_FP32_TURNS_IN_RADIAN 0.1591549431f -#define BG_FP32_RADIANS_IN_DEGREE 1.745329252E-2f -#define BG_FP32_TURNS_IN_DEGREE 2.7777777778E-3f +#define FP32_DEGREES_IN_RADIAN 57.295779513f +#define FP32_TURNS_IN_RADIAN 0.1591549431f +#define FP32_RADIANS_IN_DEGREE 1.745329252E-2f +#define FP32_TURNS_IN_DEGREE 2.7777777778E-3f -#define BG_FP64_PI 3.14159265358979324 -#define BG_FP64_TWO_PI 6.28318530717958648 -#define BG_FP64_HALF_OF_PI 1.57079632679489662 -#define BG_FP64_THIRD_OF_PI 1.04719755119659775 -#define BG_FP64_FOURTH_OF_PI 0.78539816339744831 -#define BG_FP64_SIXTH_OF_PI 0.523598775598298873 +#define FP64_PI 3.14159265358979324 +#define FP64_TWO_PI 6.28318530717958648 +#define FP64_HALF_OF_PI 1.57079632679489662 +#define FP64_THIRD_OF_PI 1.04719755119659775 +#define FP64_FOURTH_OF_PI 0.78539816339744831 +#define FP64_SIXTH_OF_PI 0.523598775598298873 -#define BG_FP64_DEGREES_IN_RADIAN 57.2957795130823209 -#define BG_FP64_TURNS_IN_RADIAN 0.159154943091895336 -#define BG_FP64_RADIANS_IN_DEGREE 1.74532925199432958E-2 -#define BG_FP64_TURNS_IN_DEGREE 2.77777777777777778E-3 +#define FP64_DEGREES_IN_RADIAN 57.2957795130823209 +#define FP64_TURNS_IN_RADIAN 0.159154943091895336 +#define FP64_RADIANS_IN_DEGREE 1.74532925199432958E-2 +#define FP64_TURNS_IN_DEGREE 2.77777777777777778E-3 typedef enum { BG_ANGLE_UNIT_RADIANS = 1, @@ -52,51 +52,51 @@ typedef enum { // ========= Convert radians to degrees ========= // -static inline float bg_fp32_radians_to_degrees(const float radians) +static inline float fp32_radians_to_degrees(const float radians) { - return radians * BG_FP32_DEGREES_IN_RADIAN; + return radians * FP32_DEGREES_IN_RADIAN; } -static inline double bg_fp64_radians_to_degrees(const double radians) +static inline double fp64_radians_to_degrees(const double radians) { - return radians * BG_FP64_DEGREES_IN_RADIAN; + return radians * FP64_DEGREES_IN_RADIAN; } // ========== Convert radians to turns ========== // -static inline float bg_fp32_radians_to_turns(const float radians) +static inline float fp32_radians_to_turns(const float radians) { - return radians * BG_FP32_TURNS_IN_RADIAN; + return radians * FP32_TURNS_IN_RADIAN; } -static inline double bg_fp64_radians_to_turns(const double radians) +static inline double fp64_radians_to_turns(const double radians) { - return radians * BG_FP64_TURNS_IN_RADIAN; + return radians * FP64_TURNS_IN_RADIAN; } // ========= Convert radians to any unit ======== // -static inline float bg_fp32_radians_to_units(const float radians, const angle_unit_t to_unit) +static inline float fp32_radians_to_units(const float radians, const angle_unit_t to_unit) { if (to_unit == BG_ANGLE_UNIT_DEGREES) { - return radians * BG_FP32_DEGREES_IN_RADIAN; + return radians * FP32_DEGREES_IN_RADIAN; } if (to_unit == BG_ANGLE_UNIT_TURNS) { - return radians * BG_FP32_TURNS_IN_RADIAN; + return radians * FP32_TURNS_IN_RADIAN; } return radians; } -static inline double bg_fp64_radians_to_units(const double radians, const angle_unit_t to_unit) +static inline double fp64_radians_to_units(const double radians, const angle_unit_t to_unit) { if (to_unit == BG_ANGLE_UNIT_DEGREES) { - return radians * BG_FP64_DEGREES_IN_RADIAN; + return radians * FP64_DEGREES_IN_RADIAN; } if (to_unit == BG_ANGLE_UNIT_TURNS) { - return radians * BG_FP64_TURNS_IN_RADIAN; + return radians * FP64_TURNS_IN_RADIAN; } return radians; @@ -104,20 +104,20 @@ static inline double bg_fp64_radians_to_units(const double radians, const angle_ // ============ Normalize radians ============= // -static inline float bg_fp32_radians_normalize(const float radians, const angle_range_t range) +static inline float fp32_radians_normalize(const float radians, const angle_range_t range) { if (range == BG_ANGLE_RANGE_UNSIGNED) { - if (0.0f <= radians && radians < BG_FP32_TWO_PI) { + if (0.0f <= radians && radians < FP32_TWO_PI) { return radians; } } else { - if (-BG_FP32_PI < radians && radians <= BG_FP32_PI) { + if (-FP32_PI < radians && radians <= FP32_PI) { return radians; } } - float turns = radians * BG_FP32_TURNS_IN_RADIAN; + float turns = radians * FP32_TURNS_IN_RADIAN; turns -= floorf(turns); @@ -125,23 +125,23 @@ static inline float bg_fp32_radians_normalize(const float radians, const angle_r turns -= 1.0f; } - return turns * BG_FP32_TWO_PI; + return turns * FP32_TWO_PI; } -static inline double bg_fp64_radians_normalize(const double radians, const angle_range_t range) +static inline double fp64_radians_normalize(const double radians, const angle_range_t range) { if (range == BG_ANGLE_RANGE_UNSIGNED) { - if (0.0 <= radians && radians < BG_FP64_TWO_PI) { + if (0.0 <= radians && radians < FP64_TWO_PI) { return radians; } } else { - if (-BG_FP64_PI < radians && radians <= BG_FP64_PI) { + if (-FP64_PI < radians && radians <= FP64_PI) { return radians; } } - double turns = radians * BG_FP64_TURNS_IN_RADIAN; + double turns = radians * FP64_TURNS_IN_RADIAN; turns -= floor(turns); @@ -149,58 +149,58 @@ static inline double bg_fp64_radians_normalize(const double radians, const angle turns -= 1.0; } - return turns * BG_FP64_TWO_PI; + return turns * FP64_TWO_PI; } // !================= Degrees ==================! // // ========= Convert degrees to radians ========= // -static inline float bg_fp32_degrees_to_radians(const float degrees) +static inline float fp32_degrees_to_radians(const float degrees) { - return degrees * BG_FP32_RADIANS_IN_DEGREE; + return degrees * FP32_RADIANS_IN_DEGREE; } -static inline double bg_fp64_degrees_to_radians(const double degrees) +static inline double fp64_degrees_to_radians(const double degrees) { - return degrees * BG_FP64_RADIANS_IN_DEGREE; + return degrees * FP64_RADIANS_IN_DEGREE; } // ========== Convert degrees to turns ========== // -static inline float bg_fp32_degrees_to_turns(const float radians) +static inline float fp32_degrees_to_turns(const float radians) { - return radians * BG_FP32_TURNS_IN_DEGREE; + return radians * FP32_TURNS_IN_DEGREE; } -static inline double bg_fp64_degrees_to_turns(const double radians) +static inline double fp64_degrees_to_turns(const double radians) { - return radians * BG_FP64_TURNS_IN_DEGREE; + return radians * FP64_TURNS_IN_DEGREE; } // ========= Convert degreess to any unit ======== // -static inline float bg_fp32_degrees_to_units(const float degrees, const angle_unit_t to_unit) +static inline float fp32_degrees_to_units(const float degrees, const angle_unit_t to_unit) { if (to_unit == BG_ANGLE_UNIT_RADIANS) { - return degrees * BG_FP32_RADIANS_IN_DEGREE; + return degrees * FP32_RADIANS_IN_DEGREE; } if (to_unit == BG_ANGLE_UNIT_TURNS) { - return degrees * BG_FP32_TURNS_IN_DEGREE; + return degrees * FP32_TURNS_IN_DEGREE; } return degrees; } -static inline double bg_fp64_degrees_to_units(const double degrees, const angle_unit_t to_unit) +static inline double fp64_degrees_to_units(const double degrees, const angle_unit_t to_unit) { if (to_unit == BG_ANGLE_UNIT_RADIANS) { - return degrees * BG_FP64_RADIANS_IN_DEGREE; + return degrees * FP64_RADIANS_IN_DEGREE; } if (to_unit == BG_ANGLE_UNIT_TURNS) { - return degrees * BG_FP64_TURNS_IN_DEGREE; + return degrees * FP64_TURNS_IN_DEGREE; } return degrees; @@ -208,7 +208,7 @@ static inline double bg_fp64_degrees_to_units(const double degrees, const angle_ // ============ Normalize degrees ============= // -static inline float bg_fp32_degrees_normalize(const float degrees, const angle_range_t range) +static 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) { @@ -221,7 +221,7 @@ static inline float bg_fp32_degrees_normalize(const float degrees, const angle_r } } - float turns = degrees * BG_FP32_TURNS_IN_DEGREE; + float turns = degrees * FP32_TURNS_IN_DEGREE; turns -= floorf(turns); @@ -232,7 +232,7 @@ static inline float bg_fp32_degrees_normalize(const float degrees, const angle_r return turns * 360.0f; } -static inline double bg_fp64_degrees_normalize(const double degrees, const angle_range_t range) +static 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) { @@ -245,7 +245,7 @@ static inline double bg_fp64_degrees_normalize(const double degrees, const angle } } - double turns = degrees * BG_FP64_TURNS_IN_DEGREE; + double turns = degrees * FP64_TURNS_IN_DEGREE; turns -= floor(turns); @@ -260,34 +260,34 @@ static inline double bg_fp64_degrees_normalize(const double degrees, const angle // ========== Convert turns to radians ========== // -static inline float bg_fp32_turns_to_radians(const float turns) +static inline float fp32_turns_to_radians(const float turns) { - return turns * BG_FP32_TWO_PI; + return turns * FP32_TWO_PI; } -static inline double bg_fp64_turns_to_radians(const double turns) +static inline double fp64_turns_to_radians(const double turns) { - return turns * BG_FP64_TWO_PI; + return turns * FP64_TWO_PI; } // ========== Convert turns to degrees ========== // -static inline float bg_fp32_turns_to_degrees(const float turns) +static inline float fp32_turns_to_degrees(const float turns) { return turns * 360.0f; } -static inline double bg_fp64_turns_to_degrees(const double turns) +static inline double fp64_turns_to_degrees(const double turns) { return turns * 360.0; } // ========= Convert turns to any unit ======== // -static inline float bg_fp32_turns_to_units(const float turns, const angle_unit_t to_unit) +static inline float fp32_turns_to_units(const float turns, const angle_unit_t to_unit) { if (to_unit == BG_ANGLE_UNIT_RADIANS) { - return turns * BG_FP32_TWO_PI; + return turns * FP32_TWO_PI; } if (to_unit == BG_ANGLE_UNIT_DEGREES) { @@ -297,10 +297,10 @@ static inline float bg_fp32_turns_to_units(const float turns, const angle_unit_t return turns; } -static inline double bg_fp64_turns_to_units(const double turns, const angle_unit_t to_unit) +static inline double fp64_turns_to_units(const double turns, const angle_unit_t to_unit) { if (to_unit == BG_ANGLE_UNIT_RADIANS) { - return turns * BG_FP64_TWO_PI; + return turns * FP64_TWO_PI; } if (to_unit == BG_ANGLE_UNIT_DEGREES) { @@ -312,7 +312,7 @@ static inline double bg_fp64_turns_to_units(const double turns, const angle_unit // ============= Normalize turns ============== // -static inline float bg_fp32_turns_normalize(const float turns, const angle_range_t range) +static 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 bg_fp32_turns_normalize(const float turns, const angle_range return rest; } -static inline double bg_fp64_turns_normalize(const double turns, const angle_range_t range) +static 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) { @@ -360,27 +360,27 @@ static inline double bg_fp64_turns_normalize(const double turns, const angle_ran // ========= Convert any unit to radians ======== // -static inline float bg_fp32_angle_to_radians(const float angle, const angle_unit_t unit) +static inline float fp32_angle_to_radians(const float angle, const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_DEGREES) { - return angle * BG_FP32_RADIANS_IN_DEGREE; + return angle * FP32_RADIANS_IN_DEGREE; } if (unit == BG_ANGLE_UNIT_TURNS) { - return angle * BG_FP32_TWO_PI; + return angle * FP32_TWO_PI; } return angle; } -static inline double bg_fp64_angle_to_radians(const double angle, const angle_unit_t unit) +static inline double fp64_angle_to_radians(const double angle, const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_DEGREES) { - return angle * BG_FP64_RADIANS_IN_DEGREE; + return angle * FP64_RADIANS_IN_DEGREE; } if (unit == BG_ANGLE_UNIT_TURNS) { - return angle * BG_FP64_TWO_PI; + return angle * FP64_TWO_PI; } return angle; @@ -388,10 +388,10 @@ static inline double bg_fp64_angle_to_radians(const double angle, const angle_un // ========= Convert any unit to degreess ======== // -static inline float bg_fp32_angle_to_degrees(const float angle, const angle_unit_t unit) +static inline float fp32_angle_to_degrees(const float angle, const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_RADIANS) { - return angle * BG_FP32_DEGREES_IN_RADIAN; + return angle * FP32_DEGREES_IN_RADIAN; } if (unit == BG_ANGLE_UNIT_TURNS) { @@ -401,10 +401,10 @@ static inline float bg_fp32_angle_to_degrees(const float angle, const angle_unit return angle; } -static inline double bg_fp64_angle_to_degrees(const double angle, const angle_unit_t unit) +static inline double fp64_angle_to_degrees(const double angle, const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_RADIANS) { - return angle * BG_FP64_DEGREES_IN_RADIAN; + return angle * FP64_DEGREES_IN_RADIAN; } if (unit == BG_ANGLE_UNIT_TURNS) { @@ -416,27 +416,27 @@ static inline double bg_fp64_angle_to_degrees(const double angle, const angle_un // ========= Convert any unit to turns ======== // -static inline float bg_fp32_angle_to_turns(const float angle, const angle_unit_t unit) +static inline float fp32_angle_to_turns(const float angle, const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_RADIANS) { - return angle * BG_FP32_TURNS_IN_RADIAN; + return angle * FP32_TURNS_IN_RADIAN; } if (unit == BG_ANGLE_UNIT_DEGREES) { - return angle * BG_FP32_TURNS_IN_DEGREE; + return angle * FP32_TURNS_IN_DEGREE; } return angle; } -static inline double bg_fp64_angle_to_turns(const double angle, const angle_unit_t unit) +static inline double fp64_angle_to_turns(const double angle, const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_RADIANS) { - return angle * BG_FP64_TURNS_IN_RADIAN; + return angle * FP64_TURNS_IN_RADIAN; } if (unit == BG_ANGLE_UNIT_DEGREES) { - return angle * BG_FP64_TURNS_IN_DEGREE; + return angle * FP64_TURNS_IN_DEGREE; } return angle; @@ -444,7 +444,7 @@ static inline double bg_fp64_angle_to_turns(const double angle, const angle_unit // ============= Get Full Circle ============== // -static inline float bg_fp32_angle_get_full_circle(const angle_unit_t unit) +static inline float fp32_angle_get_full_circle(const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_DEGREES) { return 360.0f; @@ -454,10 +454,10 @@ static inline float bg_fp32_angle_get_full_circle(const angle_unit_t unit) return 1.0f; } - return BG_FP32_TWO_PI; + return FP32_TWO_PI; } -static inline double bg_fp64_angle_get_full_circle(const angle_unit_t unit) +static inline double fp64_angle_get_full_circle(const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_DEGREES) { return 360.0; @@ -467,12 +467,12 @@ static inline double bg_fp64_angle_get_full_circle(const angle_unit_t unit) return 1.0; } - return BG_FP64_TWO_PI; + return FP64_TWO_PI; } // ============= Get Half Circle ============== // -static inline float bg_fp32_angle_get_half_circle(const angle_unit_t unit) +static inline float fp32_angle_get_half_circle(const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_DEGREES) { return 180.0f; @@ -482,10 +482,10 @@ static inline float bg_fp32_angle_get_half_circle(const angle_unit_t unit) return 0.5f; } - return BG_FP32_PI; + return FP32_PI; } -static inline double bg_fp64_angle_get_half_circle(const angle_unit_t unit) +static inline double fp64_angle_get_half_circle(const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_DEGREES) { return 180.0; @@ -495,12 +495,12 @@ static inline double bg_fp64_angle_get_half_circle(const angle_unit_t unit) return 0.5; } - return BG_FP64_PI; + return FP64_PI; } // ============= Get Half Circle ============== // -static inline float bg_fp32_angle_get_quater_circle(const angle_unit_t unit) +static inline float fp32_angle_get_quater_circle(const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_DEGREES) { return 90.0f; @@ -510,10 +510,10 @@ static inline float bg_fp32_angle_get_quater_circle(const angle_unit_t unit) return 0.25f; } - return BG_FP32_HALF_OF_PI; + return FP32_HALF_OF_PI; } -static inline double bg_fp64_angle_get_quater_circle(const angle_unit_t unit) +static inline double fp64_angle_get_quater_circle(const angle_unit_t unit) { if (unit == BG_ANGLE_UNIT_DEGREES) { return 90.0; @@ -523,35 +523,35 @@ static inline double bg_fp64_angle_get_quater_circle(const angle_unit_t unit) return 0.25; } - return BG_FP64_HALF_OF_PI; + return FP64_HALF_OF_PI; } // ================ Normalize ================= // -static inline float bg_fp32_angle_normalize(const float angle, const angle_unit_t unit, const angle_range_t range) +static 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 bg_fp32_degrees_normalize(angle, range); + return fp32_degrees_normalize(angle, range); } if (unit == BG_ANGLE_UNIT_TURNS) { - return bg_fp32_turns_normalize(angle, range); + return fp32_turns_normalize(angle, range); } - return bg_fp32_radians_normalize(angle, range); + return fp32_radians_normalize(angle, range); } -static inline double bg_fp64_angle_normalize(const double angle, const angle_unit_t unit, const angle_range_t range) +static 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 bg_fp64_degrees_normalize(angle, range); + return fp64_degrees_normalize(angle, range); } if (unit == BG_ANGLE_UNIT_TURNS) { - return bg_fp64_turns_normalize(angle, range); + return fp64_turns_normalize(angle, range); } - return bg_fp64_radians_normalize(angle, range); + return fp64_radians_normalize(angle, range); } #endif diff --git a/basic-geometry/basis.h b/basic-geometry/basis.h index 26528cf..e46a56f 100644 --- a/basic-geometry/basis.h +++ b/basic-geometry/basis.h @@ -1,56 +1,56 @@ #ifndef __GEOMETRY__TYPES_H_ #define __GEOMETRY__TYPES_H_ -#define BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT 10.0f +#define FP32_EPSYLON_EFFECTIVENESS_LIMIT 10.0f -#define BG_FP32_EPSYLON 5E-7f -#define BG_FP32_TWO_EPSYLON 1E-6f -#define BG_FP32_SQUARE_EPSYLON 2.5E-13f +#define FP32_EPSYLON 5E-7f +#define FP32_TWO_EPSYLON 1E-6f +#define FP32_SQUARE_EPSYLON 2.5E-13f -#define BG_FP32_ONE_THIRD 0.333333333f -#define BG_FP32_ONE_SIXTH 0.166666667f -#define BG_FP32_ONE_NINETH 0.111111111f +#define FP32_ONE_THIRD 0.333333333f +#define FP32_ONE_SIXTH 0.166666667f +#define FP32_ONE_NINETH 0.111111111f -#define BG_FP32_GOLDEN_RATIO_HIGH 1.618034f -#define BG_FP32_GOLDEN_RATIO_LOW 0.618034f +#define FP32_GOLDEN_RATIO_HIGH 1.618034f +#define FP32_GOLDEN_RATIO_LOW 0.618034f -#define BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT 10.0 +#define FP64_EPSYLON_EFFECTIVENESS_LIMIT 10.0 -#define BG_FP64_EPSYLON 5E-14 -#define BG_FP64_TWO_EPSYLON 1E-13 -#define BG_FP64_SQUARE_EPSYLON 2.5E-27 +#define FP64_EPSYLON 5E-14 +#define FP64_TWO_EPSYLON 1E-13 +#define FP64_SQUARE_EPSYLON 2.5E-27 -#define BG_FP64_ONE_THIRD 0.333333333333333333 -#define BG_FP64_ONE_SIXTH 0.166666666666666667 -#define BG_FP64_ONE_NINETH 0.111111111111111111 +#define FP64_ONE_THIRD 0.333333333333333333 +#define FP64_ONE_SIXTH 0.166666666666666667 +#define FP64_ONE_NINETH 0.111111111111111111 -#define BG_FP64_GOLDEN_RATIO_HIGH 1.61803398874989485 -#define BG_FP64_GOLDEN_RATIO_LOW 0.61803398874989485 +#define FP64_GOLDEN_RATIO_HIGH 1.61803398874989485 +#define FP64_GOLDEN_RATIO_LOW 0.61803398874989485 -static inline int bg_fp32_are_equal(const float value1, const float value2) +static inline int fp32_are_equal(const float value1, const float value2) { - if (-BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT) { - return -BG_FP32_EPSYLON <= (value1 - value2) && (value1 - value2) <= BG_FP32_EPSYLON; + if (-FP32_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) { + return -FP32_EPSYLON <= (value1 - value2) && (value1 - value2) <= FP32_EPSYLON; } if (value1 < 0.0f) { - return (1.0f + BG_FP32_EPSYLON) * value2 <= value1 && (1.0f + BG_FP32_EPSYLON) * value1 <= value2; + return (1.0f + FP32_EPSYLON) * value2 <= value1 && (1.0f + FP32_EPSYLON) * value1 <= value2; } - return value2 <= value1 * (1.0f + BG_FP32_EPSYLON) && value1 <= value2 * (1.0f + BG_FP32_EPSYLON); + return value2 <= value1 * (1.0f + FP32_EPSYLON) && value1 <= value2 * (1.0f + FP32_EPSYLON); } -static inline int bg_fp64_are_equal(const double value1, const double value2) +static inline int fp64_are_equal(const double value1, const double value2) { - if (-BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT) { - return -BG_FP64_EPSYLON <= (value1 - value2) && (value1 - value2) <= BG_FP64_EPSYLON; + if (-FP64_EPSYLON_EFFECTIVENESS_LIMIT < value1 && value1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) { + return -FP64_EPSYLON <= (value1 - value2) && (value1 - value2) <= FP64_EPSYLON; } if (value1 < 0.0) { - return (1.0 + BG_FP64_EPSYLON) * value2 <= value1 && (1.0 + BG_FP64_EPSYLON) * value1 <= value2; + return (1.0 + FP64_EPSYLON) * value2 <= value1 && (1.0 + FP64_EPSYLON) * value1 <= value2; } - return value2 <= value1 * (1.0 + BG_FP64_EPSYLON) && value1 <= value2 * (1.0 + BG_FP64_EPSYLON); + return value2 <= value1 * (1.0 + FP64_EPSYLON) && value1 <= value2 * (1.0 + FP64_EPSYLON); } #endif diff --git a/basic-geometry/matrix2x2.h b/basic-geometry/matrix2x2.h index f28f19a..0da1892 100644 --- a/basic-geometry/matrix2x2.h +++ b/basic-geometry/matrix2x2.h @@ -1,5 +1,5 @@ -#ifndef _GEOMETRY_MATRIX2X2_H_ -#define _GEOMETRY_MATRIX2X2_H_ +#ifndef _BASIC_GEOMETRY_MATRIX2X2_H_ +#define _BASIC_GEOMETRY_MATRIX2X2_H_ #include "angle.h" #include "vector2.h" @@ -7,7 +7,7 @@ // =================== Reset ==================== // -static inline void bg_fp32_matrix2x2_reset(BgFP32Matrix2x2* matrix) +static inline void fp32_matrix2x2_reset(fp32_matrix2x2_t* matrix) { matrix->r1c1 = 0.0f; matrix->r1c2 = 0.0f; @@ -15,7 +15,7 @@ static inline void bg_fp32_matrix2x2_reset(BgFP32Matrix2x2* matrix) matrix->r2c2 = 0.0f; } -static inline void bg_fp64_matrix2x2_reset(BgFP64Matrix2x2* matrix) +static inline void fp64_matrix2x2_reset(fp64_matrix2x2_t* matrix) { matrix->r1c1 = 0.0; matrix->r1c2 = 0.0; @@ -25,7 +25,7 @@ static inline void bg_fp64_matrix2x2_reset(BgFP64Matrix2x2* matrix) // ================== Identity ================== // -static inline void bg_fp32_matrix2x2_set_to_identity(BgFP32Matrix2x2* matrix) +static inline void fp32_matrix2x2_set_to_identity(fp32_matrix2x2_t* matrix) { matrix->r1c1 = 1.0f; matrix->r1c2 = 0.0f; @@ -33,7 +33,7 @@ static inline void bg_fp32_matrix2x2_set_to_identity(BgFP32Matrix2x2* matrix) matrix->r2c2 = 1.0f; } -static inline void bg_fp64_matrix2x2_set_to_identity(BgFP64Matrix2x2* matrix) +static inline void fp64_matrix2x2_set_to_identity(fp64_matrix2x2_t* matrix) { matrix->r1c1 = 1.0; matrix->r1c2 = 0.0; @@ -43,7 +43,7 @@ static inline void bg_fp64_matrix2x2_set_to_identity(BgFP64Matrix2x2* matrix) // ================ Make Diagonal =============== // -static inline void bg_fp32_matrix2x2_set_to_diagonal(const float d1, const float d2, BgFP32Matrix2x2* matrix) +static inline void fp32_matrix2x2_set_to_diagonal(const float d1, const float d2, fp32_matrix2x2_t* matrix) { matrix->r1c1 = d1; matrix->r1c2 = 0.0f; @@ -51,7 +51,7 @@ static inline void bg_fp32_matrix2x2_set_to_diagonal(const float d1, const float matrix->r2c2 = d2; } -static inline void bg_fp64_matrix2x2_set_to_diagonal(const double d1, const double d2, BgFP64Matrix2x2* matrix) +static inline void fp64_matrix2x2_set_to_diagonal(const double d1, const double d2, fp64_matrix2x2_t* matrix) { matrix->r1c1 = d1; matrix->r1c2 = 0.0; @@ -61,9 +61,9 @@ static inline void bg_fp64_matrix2x2_set_to_diagonal(const double d1, const doub // ============== Rotation Matrix =============== // -static inline void bg_fp32_matrix2x2_make_turn(const float angle, const angle_unit_t unit, BgFP32Matrix2x2* matrix) +static inline void fp32_matrix2x2_make_turn(const float angle, const angle_unit_t unit, fp32_matrix2x2_t* matrix) { - const float radians = bg_fp32_angle_to_radians(angle, unit); + const float radians = fp32_angle_to_radians(angle, unit); const float cosine = cosf(radians); const float sine = sinf(radians); @@ -73,9 +73,9 @@ static inline void bg_fp32_matrix2x2_make_turn(const float angle, const angle_un matrix->r2c2 = cosine; } -static inline void bg_fp64_matrix2x2_make_turn(const double angle, const angle_unit_t unit, BgFP64Matrix2x2* matrix) +static inline void fp64_matrix2x2_make_turn(const double angle, const angle_unit_t unit, fp64_matrix2x2_t* matrix) { - const double radians = bg_fp64_angle_to_radians(angle, unit); + const double radians = fp64_angle_to_radians(angle, unit); const double cosine = cos(radians); const double sine = sin(radians); @@ -87,7 +87,7 @@ static inline void bg_fp64_matrix2x2_make_turn(const double angle, const angle_u // ==================== Copy ==================== // -static inline void bg_fp32_matrix2x2_copy(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to) +static inline void fp32_matrix2x2_copy(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -96,7 +96,7 @@ static inline void bg_fp32_matrix2x2_copy(const BgFP32Matrix2x2* from, BgFP32Mat to->r2c2 = from->r2c2; } -static inline void bg_fp64_matrix2x2_copy(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to) +static inline void fp64_matrix2x2_copy(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -107,7 +107,7 @@ static inline void bg_fp64_matrix2x2_copy(const BgFP64Matrix2x2* from, BgFP64Mat // ==================== Swap ==================== // -static inline void bg_fp32_matrix2x2_swap(BgFP32Matrix2x2* matrix1, BgFP32Matrix2x2* matrix2) +static inline void fp32_matrix2x2_swap(fp32_matrix2x2_t* matrix1, fp32_matrix2x2_t* matrix2) { const float r1c1 = matrix2->r1c1; const float r1c2 = matrix2->r1c2; @@ -128,7 +128,7 @@ static inline void bg_fp32_matrix2x2_swap(BgFP32Matrix2x2* matrix1, BgFP32Matrix matrix1->r2c2 = r2c2; } -static inline void bg_fp64_matrix2x2_swap(BgFP64Matrix2x2* matrix1, BgFP64Matrix2x2* matrix2) +static inline void fp64_matrix2x2_swap(fp64_matrix2x2_t* matrix1, fp64_matrix2x2_t* matrix2) { const double r1c1 = matrix2->r1c1; const double r1c2 = matrix2->r1c2; @@ -151,7 +151,7 @@ static inline void bg_fp64_matrix2x2_swap(BgFP64Matrix2x2* matrix1, BgFP64Matrix // ============= Copy to twin type ============== // -static inline void bg_fp32_matrix2x2_set_from_fp64(const BgFP64Matrix2x2* from, BgFP32Matrix2x2* to) +static inline void fp32_matrix2x2_set_from_fp64(const fp64_matrix2x2_t* from, fp32_matrix2x2_t* to) { to->r1c1 = (float)from->r1c1; to->r1c2 = (float)from->r1c2; @@ -160,7 +160,7 @@ static inline void bg_fp32_matrix2x2_set_from_fp64(const BgFP64Matrix2x2* from, to->r2c2 = (float)from->r2c2; } -static inline void bg_fp64_matrix2x2_set_from_fp32(const BgFP32Matrix2x2* from, BgFP64Matrix2x2* to) +static inline void fp64_matrix2x2_set_from_fp32(const fp32_matrix2x2_t* from, fp64_matrix2x2_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -171,42 +171,42 @@ static inline void bg_fp64_matrix2x2_set_from_fp32(const BgFP32Matrix2x2* from, // ================ Determinant ================= // -static inline float bg_fp32_matrix2x2_get_determinant(const BgFP32Matrix2x2* matrix) +static inline float fp32_matrix2x2_get_determinant(const fp32_matrix2x2_t* matrix) { return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; } -static inline double bg_fp64_matrix2x2_get_determinant(const BgFP64Matrix2x2* matrix) +static inline double fp64_matrix2x2_get_determinant(const fp64_matrix2x2_t* matrix) { return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; } // ================== Singular ================== // -static inline int bg_fp32_matrix2x2_is_singular(const BgFP32Matrix2x2* matrix) +static inline int fp32_matrix2x2_is_singular(const fp32_matrix2x2_t* matrix) { - const float determinant = bg_fp32_matrix2x2_get_determinant(matrix); + const float determinant = fp32_matrix2x2_get_determinant(matrix); - return -BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON; + return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON; } -static inline int bg_fp64_matrix2x2_is_singular(const BgFP64Matrix2x2* matrix) +static inline int fp64_matrix2x2_is_singular(const fp64_matrix2x2_t* matrix) { - const double determinant = bg_fp64_matrix2x2_get_determinant(matrix); + const double determinant = fp64_matrix2x2_get_determinant(matrix); - return -BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON; + return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON; } // =============== Transposition ================ // -static inline void bg_fp32_matrix2x2_transpose(BgFP32Matrix2x2* matrix) +static inline void fp32_matrix2x2_transpose(fp32_matrix2x2_t* matrix) { const float tmp = matrix->r1c2; matrix->r1c2 = matrix->r2c1; matrix->r2c1 = tmp; } -static inline void bg_fp64_matrix2x2_transpose(BgFP64Matrix2x2* matrix) +static inline void fp64_matrix2x2_transpose(fp64_matrix2x2_t* matrix) { const double tmp = matrix->r1c2; matrix->r1c2 = matrix->r2c1; @@ -215,11 +215,11 @@ static inline void bg_fp64_matrix2x2_transpose(BgFP64Matrix2x2* matrix) // ================= Inversion ================== // -static inline int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix) +static inline int fp32_matrix2x2_invert(fp32_matrix2x2_t* matrix) { - const float determinant = bg_fp32_matrix2x2_get_determinant(matrix); + const float determinant = fp32_matrix2x2_get_determinant(matrix); - if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) { + if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) { return 0; } @@ -240,11 +240,11 @@ static inline int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix) return 1; } -static inline int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix) +static inline int fp64_matrix2x2_invert(fp64_matrix2x2_t* matrix) { - const double determinant = bg_fp64_matrix2x2_get_determinant(matrix); + const double determinant = fp64_matrix2x2_get_determinant(matrix); - if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) { + if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) { return 0; } @@ -267,7 +267,7 @@ static inline int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix) // =============== Set Transposed =============== // -static inline void bg_fp32_matrix2x2_set_transposed(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to) +static inline void fp32_matrix2x2_set_transposed(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to) { float tmp = from->r1c2; @@ -278,7 +278,7 @@ static inline void bg_fp32_matrix2x2_set_transposed(const BgFP32Matrix2x2* from, to->r2c2 = from->r2c2; } -static inline void bg_fp64_matrix2x2_set_transposed(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to) +static inline void fp64_matrix2x2_set_transposed(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to) { double tmp = from->r1c2; @@ -291,11 +291,11 @@ static inline void bg_fp64_matrix2x2_set_transposed(const BgFP64Matrix2x2* from, // ================ Set Inverted ================ // -static inline int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to) +static inline int fp32_matrix2x2_set_inverted(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to) { - const float determinant = bg_fp32_matrix2x2_get_determinant(from); + const float determinant = fp32_matrix2x2_get_determinant(from); - if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) { + if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) { return 0; } @@ -316,11 +316,11 @@ static inline int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, Bg return 1; } -static inline int bg_fp64_matrix2x2_set_inverted(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to) +static inline int fp64_matrix2x2_set_inverted(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to) { - const double determinant = bg_fp64_matrix2x2_get_determinant(from); + const double determinant = fp64_matrix2x2_get_determinant(from); - if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) { + if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) { return 0; } @@ -343,13 +343,13 @@ static inline int bg_fp64_matrix2x2_set_inverted(const BgFP64Matrix2x2* from, Bg // ================= Set Row 1 ================== // -static inline void bg_fp32_matrix2x2_set_row1(const float c1, const float c2, BgFP32Matrix2x2* matrix) +static inline void fp32_matrix2x2_set_row1(const float c1, const float c2, fp32_matrix2x2_t* matrix) { matrix->r1c1 = c1; matrix->r1c2 = c2; } -static inline void bg_fp64_matrix2x2_set_row1(const double c1, const double c2, BgFP64Matrix2x2* matrix) +static inline void fp64_matrix2x2_set_row1(const double c1, const double c2, fp64_matrix2x2_t* matrix) { matrix->r1c1 = c1; matrix->r1c2 = c2; @@ -357,13 +357,13 @@ static inline void bg_fp64_matrix2x2_set_row1(const double c1, const double c2, // ================= Set Row 2 ================== // -static inline void bg_fp32_matrix2x2_set_row2(const float c1, const float c2, BgFP32Matrix2x2* matrix) +static inline void fp32_matrix2x2_set_row2(const float c1, const float c2, fp32_matrix2x2_t* matrix) { matrix->r2c1 = c1; matrix->r2c2 = c2; } -static inline void bg_fp64_matrix2x2_set_row2(const double c1, const double c2, BgFP64Matrix2x2* matrix) +static inline void fp64_matrix2x2_set_row2(const double c1, const double c2, fp64_matrix2x2_t* matrix) { matrix->r2c1 = c1; matrix->r2c2 = c2; @@ -371,13 +371,13 @@ static inline void bg_fp64_matrix2x2_set_row2(const double c1, const double c2, // ================ Set Column 1 ================ // -static inline void bg_fp32_matrix2x2_set_column1(const float r1, const float r2, BgFP32Matrix2x2* matrix) +static inline void fp32_matrix2x2_set_column1(const float r1, const float r2, fp32_matrix2x2_t* matrix) { matrix->r1c1 = r1; matrix->r2c1 = r2; } -static inline void bg_fp64_matrix2x2_set_column1(const double r1, const double r2, BgFP64Matrix2x2* matrix) +static inline void fp64_matrix2x2_set_column1(const double r1, const double r2, fp64_matrix2x2_t* matrix) { matrix->r1c1 = r1; matrix->r2c1 = r2; @@ -385,13 +385,13 @@ static inline void bg_fp64_matrix2x2_set_column1(const double r1, const double r // ================ Set Column 2 ================ // -static inline void bg_fp32_matrix2x2_set_column2(const float r1, const float r2, BgFP32Matrix2x2* matrix) +static inline void fp32_matrix2x2_set_column2(const float r1, const float r2, fp32_matrix2x2_t* matrix) { matrix->r1c2 = r1; matrix->r2c2 = r2; } -static inline void bg_fp64_matrix2x2_set_column2(const double r1, const double r2, BgFP64Matrix2x2* matrix) +static inline void fp64_matrix2x2_set_column2(const double r1, const double r2, fp64_matrix2x2_t* matrix) { matrix->r1c2 = r1; matrix->r2c2 = r2; @@ -399,7 +399,7 @@ static inline void bg_fp64_matrix2x2_set_column2(const double r1, const double r // ================ Append scaled =============== // -static inline void bg_fp32_matrix2x2_append_scaled(BgFP32Matrix2x2* basic_vector, const BgFP32Matrix2x2* scalable_vector, const float scale) +static inline void fp32_matrix2x2_append_scaled(fp32_matrix2x2_t* basic_vector, const fp32_matrix2x2_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 bg_fp32_matrix2x2_append_scaled(BgFP32Matrix2x2* basic_vector basic_vector->r2c2 += scalable_vector->r2c2 * scale; } -static inline void bg_fp64_matrix2x2_append_scaled(BgFP64Matrix2x2* basic_vector, const BgFP64Matrix2x2* scalable_vector, const double scale) +static inline void fp64_matrix2x2_append_scaled(fp64_matrix2x2_t* basic_vector, const fp64_matrix2x2_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 bg_fp64_matrix2x2_append_scaled(BgFP64Matrix2x2* basic_vector // ================== Addition ================== // -static inline void bg_fp32_matrix2x2_add(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x2* sum) +static inline void fp32_matrix2x2_add(const fp32_matrix2x2_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x2_t* sum) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -428,7 +428,7 @@ static inline void bg_fp32_matrix2x2_add(const BgFP32Matrix2x2* matrix1, const B sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; } -static inline void bg_fp64_matrix2x2_add(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x2* sum) +static inline void fp64_matrix2x2_add(const fp64_matrix2x2_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x2_t* sum) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -439,7 +439,7 @@ static inline void bg_fp64_matrix2x2_add(const BgFP64Matrix2x2* matrix1, const B // ================ Subtraction ================= // -static inline void bg_fp32_matrix2x2_subtract(const BgFP32Matrix2x2* minuend, const BgFP32Matrix2x2* subtrahend, BgFP32Matrix2x2* difference) +static inline void fp32_matrix2x2_subtract(const fp32_matrix2x2_t* minuend, const fp32_matrix2x2_t* subtrahend, fp32_matrix2x2_t* difference) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -448,7 +448,7 @@ static inline void bg_fp32_matrix2x2_subtract(const BgFP32Matrix2x2* minuend, co difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; } -static inline void bg_fp64_matrix2x2_subtract(const BgFP64Matrix2x2* minuend, const BgFP64Matrix2x2* subtrahend, BgFP64Matrix2x2* difference) +static inline void fp64_matrix2x2_subtract(const fp64_matrix2x2_t* minuend, const fp64_matrix2x2_t* subtrahend, fp64_matrix2x2_t* difference) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -459,7 +459,7 @@ static inline void bg_fp64_matrix2x2_subtract(const BgFP64Matrix2x2* minuend, co // =============== Multiplication =============== // -static inline void bg_fp32_matrix2x2_multiply(const BgFP32Matrix2x2* multiplicand, const float multiplier, BgFP32Matrix2x2* product) +static inline void fp32_matrix2x2_multiply(const fp32_matrix2x2_t* multiplicand, const float multiplier, fp32_matrix2x2_t* product) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -468,7 +468,7 @@ static inline void bg_fp32_matrix2x2_multiply(const BgFP32Matrix2x2* multiplican product->r2c2 = multiplicand->r2c2 * multiplier; } -static inline void bg_fp64_matrix2x2_multiply(const BgFP64Matrix2x2* multiplicand, const double multiplier, BgFP64Matrix2x2* product) +static inline void fp64_matrix2x2_multiply(const fp64_matrix2x2_t* multiplicand, const double multiplier, fp64_matrix2x2_t* product) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -479,19 +479,19 @@ static inline void bg_fp64_matrix2x2_multiply(const BgFP64Matrix2x2* multiplican // ================== Division ================== // -static inline void bg_fp32_matrix2x2_divide(const BgFP32Matrix2x2* dividend, const float divisor, BgFP32Matrix2x2* quotient) +static inline void fp32_matrix2x2_divide(const fp32_matrix2x2_t* dividend, const float divisor, fp32_matrix2x2_t* quotient) { - bg_fp32_matrix2x2_multiply(dividend, 1.0f / divisor, quotient); + fp32_matrix2x2_multiply(dividend, 1.0f / divisor, quotient); } -static inline void bg_fp64_matrix2x2_divide(const BgFP64Matrix2x2* dividend, const double divisor, BgFP64Matrix2x2* quotient) +static inline void fp64_matrix2x2_divide(const fp64_matrix2x2_t* dividend, const double divisor, fp64_matrix2x2_t* quotient) { - bg_fp64_matrix2x2_multiply(dividend, 1.0 / divisor, quotient); + fp64_matrix2x2_multiply(dividend, 1.0 / divisor, quotient); } // ============ Left Vector Product ============= // -static inline void bg_fp32_matrix2x2_left_product(const BgFP32Vector2* vector, const BgFP32Matrix2x2* matrix, BgFP32Vector2* result) +static inline void fp32_matrix2x2_left_product(const fp32_vector2_t* vector, const fp32_matrix2x2_t* matrix, fp32_vector2_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 bg_fp32_matrix2x2_left_product(const BgFP32Vector2* vector, c result->x2 = x2; } -static inline void bg_fp64_matrix2x2_left_product(const BgFP64Vector2* vector, const BgFP64Matrix2x2* matrix, BgFP64Vector2* result) +static inline void fp64_matrix2x2_left_product(const fp64_vector2_t* vector, const fp64_matrix2x2_t* matrix, fp64_vector2_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 bg_fp64_matrix2x2_left_product(const BgFP64Vector2* vector, c // ============ Right Vector Product ============ // -static inline void bg_fp32_matrix2x2_right_product(const BgFP32Matrix2x2* matrix, const BgFP32Vector2* vector, BgFP32Vector2* result) +static inline void fp32_matrix2x2_right_product(const fp32_matrix2x2_t* matrix, const fp32_vector2_t* vector, fp32_vector2_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 bg_fp32_matrix2x2_right_product(const BgFP32Matrix2x2* matrix result->x2 = x2; } -static inline void bg_fp64_matrix2x2_right_product(const BgFP64Matrix2x2* matrix, const BgFP64Vector2* vector, BgFP64Vector2* result) +static inline void fp64_matrix2x2_right_product(const fp64_matrix2x2_t* matrix, const fp64_vector2_t* vector, fp64_vector2_t* result) { const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; diff --git a/basic-geometry/matrix2x3.h b/basic-geometry/matrix2x3.h index 2f4e3a3..6ac9f99 100644 --- a/basic-geometry/matrix2x3.h +++ b/basic-geometry/matrix2x3.h @@ -1,5 +1,5 @@ -#ifndef _GEOMETRY_MATRIX2X3_H_ -#define _GEOMETRY_MATRIX2X3_H_ +#ifndef _BASIC_GEOMETRY_MATRIX2X3_H_ +#define _BASIC_GEOMETRY_MATRIX2X3_H_ #include "vector2.h" #include "vector3.h" @@ -7,7 +7,7 @@ // =================== Reset ==================== // -static inline void bg_fp32_matrix2x3_reset(BgFP32Matrix2x3* matrix) +static inline void fp32_matrix2x3_reset(fp32_matrix2x3_t* matrix) { matrix->r1c1 = 0.0f; matrix->r1c2 = 0.0f; @@ -19,7 +19,7 @@ static inline void bg_fp32_matrix2x3_reset(BgFP32Matrix2x3* matrix) matrix->r3c2 = 0.0f; } -static inline void bg_fp64_matrix2x3_reset(BgFP64Matrix2x3* matrix) +static inline void fp64_matrix2x3_reset(fp64_matrix2x3_t* matrix) { matrix->r1c1 = 0.0; matrix->r1c2 = 0.0; @@ -33,7 +33,7 @@ static inline void bg_fp64_matrix2x3_reset(BgFP64Matrix2x3* matrix) // ==================== Copy ==================== // -static inline void bg_fp32_matrix2x3_copy(const BgFP32Matrix2x3* from, BgFP32Matrix2x3* to) +static inline void fp32_matrix2x3_copy(const fp32_matrix2x3_t* from, fp32_matrix2x3_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -45,7 +45,7 @@ static inline void bg_fp32_matrix2x3_copy(const BgFP32Matrix2x3* from, BgFP32Mat to->r3c2 = from->r3c2; } -static inline void bg_fp64_matrix2x3_copy(const BgFP64Matrix2x3* from, BgFP64Matrix2x3* to) +static inline void fp64_matrix2x3_copy(const fp64_matrix2x3_t* from, fp64_matrix2x3_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -59,7 +59,7 @@ static inline void bg_fp64_matrix2x3_copy(const BgFP64Matrix2x3* from, BgFP64Mat // ==================== Swap ==================== // -static inline void bg_fp32_matrix2x3_swap(BgFP32Matrix2x3* matrix1, BgFP32Matrix2x3* matrix2) +static inline void fp32_matrix2x3_swap(fp32_matrix2x3_t* matrix1, fp32_matrix2x3_t* matrix2) { const float r1c1 = matrix2->r1c1; const float r1c2 = matrix2->r1c2; @@ -89,7 +89,7 @@ static inline void bg_fp32_matrix2x3_swap(BgFP32Matrix2x3* matrix1, BgFP32Matrix matrix1->r3c2 = r3c2; } -static inline void bg_fp64_matrix2x3_swap(BgFP64Matrix2x3* matrix1, BgFP64Matrix2x3* matrix2) +static inline void fp64_matrix2x3_swap(fp64_matrix2x3_t* matrix1, fp64_matrix2x3_t* matrix2) { const double r1c1 = matrix2->r1c1; const double r1c2 = matrix2->r1c2; @@ -121,7 +121,7 @@ static inline void bg_fp64_matrix2x3_swap(BgFP64Matrix2x3* matrix1, BgFP64Matrix // ============= Copy to twin type ============== // -static inline void bg_fp32_matrix2x3_set_from_fp64(const BgFP64Matrix2x3* from, BgFP32Matrix2x3* to) +static inline void fp32_matrix2x3_set_from_fp64(const fp64_matrix2x3_t* from, fp32_matrix2x3_t* to) { to->r1c1 = (float) from->r1c1; to->r1c2 = (float) from->r1c2; @@ -133,7 +133,7 @@ static inline void bg_fp32_matrix2x3_set_from_fp64(const BgFP64Matrix2x3* from, to->r3c2 = (float) from->r3c2; } -static inline void bg_fp64_matrix2x3_set_from_fp32(const BgFP32Matrix2x3* from, BgFP64Matrix2x3* to) +static inline void fp64_matrix2x3_set_from_fp32(const fp32_matrix2x3_t* from, fp64_matrix2x3_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -147,7 +147,7 @@ static inline void bg_fp64_matrix2x3_set_from_fp32(const BgFP32Matrix2x3* from, // =============== Set transposed =============== // -static inline void bg_fp32_matrix2x3_set_transposed(const BgFP32Matrix3x2* from, BgFP32Matrix2x3* to) +static inline void fp32_matrix2x3_set_transposed(const fp32_matrix3x2_t* from, fp32_matrix2x3_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r2c1; @@ -159,7 +159,7 @@ static inline void bg_fp32_matrix2x3_set_transposed(const BgFP32Matrix3x2* from, to->r3c2 = from->r2c3; } -static inline void bg_fp64_matrix2x3_set_transposed(const BgFP64Matrix3x2* from, BgFP64Matrix2x3* to) +static inline void fp64_matrix2x3_set_transposed(const fp64_matrix3x2_t* from, fp64_matrix2x3_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r2c1; @@ -173,7 +173,7 @@ static inline void bg_fp64_matrix2x3_set_transposed(const BgFP64Matrix3x2* from, // =============== Set transposed =============== // -static inline void bg_fp32_matrix2x3_set_transposed_fp64(const BgFP64Matrix3x2* from, BgFP32Matrix2x3* to) +static inline void fp32_matrix2x3_set_transposed_fp64(const fp64_matrix3x2_t* from, fp32_matrix2x3_t* to) { to->r1c1 = (float) from->r1c1; to->r1c2 = (float) from->r2c1; @@ -185,7 +185,7 @@ static inline void bg_fp32_matrix2x3_set_transposed_fp64(const BgFP64Matrix3x2* to->r3c2 = (float) from->r2c3; } -static inline void bg_fp64_matrix2x3_set_transposed_fp32(const BgFP32Matrix3x2* from, BgFP64Matrix2x3* to) +static inline void fp64_matrix2x3_set_transposed_fp32(const fp32_matrix3x2_t* from, fp64_matrix2x3_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r2c1; @@ -199,13 +199,13 @@ static inline void bg_fp64_matrix2x3_set_transposed_fp32(const BgFP32Matrix3x2* // ================= Set Row 1 ================== // -static inline void bg_fp32_matrix2x3_set_row1(const float c1, const float c2, BgFP32Matrix2x3* matrix) +static inline void fp32_matrix2x3_set_row1(const float c1, const float c2, fp32_matrix2x3_t* matrix) { matrix->r1c1 = c1; matrix->r1c2 = c2; } -static inline void bg_fp64_matrix2x3_set_row1(const double c1, const double c2, BgFP64Matrix2x3* matrix) +static inline void fp64_matrix2x3_set_row1(const double c1, const double c2, fp64_matrix2x3_t* matrix) { matrix->r1c1 = c1; matrix->r1c2 = c2; @@ -213,13 +213,13 @@ static inline void bg_fp64_matrix2x3_set_row1(const double c1, const double c2, // ================= Set Row 2 ================== // -static inline void bg_fp32_matrix2x3_set_row2(const float c1, const float c2, BgFP32Matrix2x3* matrix) +static inline void fp32_matrix2x3_set_row2(const float c1, const float c2, fp32_matrix2x3_t* matrix) { matrix->r2c1 = c1; matrix->r2c2 = c2; } -static inline void bg_fp64_matrix2x3_set_row2(const double c1, const double c2, BgFP64Matrix2x3* matrix) +static inline void fp64_matrix2x3_set_row2(const double c1, const double c2, fp64_matrix2x3_t* matrix) { matrix->r2c1 = c1; matrix->r2c2 = c2; @@ -227,13 +227,13 @@ static inline void bg_fp64_matrix2x3_set_row2(const double c1, const double c2, // ================= Set Row 3 ================== // -static inline void bg_fp32_matrix2x3_set_row3(const float c1, const float c2, BgFP32Matrix2x3* matrix) +static inline void fp32_matrix2x3_set_row3(const float c1, const float c2, fp32_matrix2x3_t* matrix) { matrix->r3c1 = c1; matrix->r3c2 = c2; } -static inline void bg_fp64_matrix2x3_set_row3(const double c1, const double c2, BgFP64Matrix2x3* matrix) +static inline void fp64_matrix2x3_set_row3(const double c1, const double c2, fp64_matrix2x3_t* matrix) { matrix->r3c1 = c1; matrix->r3c2 = c2; @@ -241,14 +241,14 @@ static inline void bg_fp64_matrix2x3_set_row3(const double c1, const double c2, // ================ Set Column 1 ================ // -static inline void bg_fp32_matrix2x3_set_column1(const float r1, const float r2, const float r3, BgFP32Matrix2x3* matrix) +static inline void fp32_matrix2x3_set_column1(const float r1, const float r2, const float r3, fp32_matrix2x3_t* matrix) { matrix->r1c1 = r1; matrix->r2c1 = r2; matrix->r3c1 = r3; } -static inline void bg_fp64_matrix2x3_set_column1(const double r1, const double r2, const double r3, BgFP64Matrix2x3* matrix) +static inline void fp64_matrix2x3_set_column1(const double r1, const double r2, const double r3, fp64_matrix2x3_t* matrix) { matrix->r1c1 = r1; matrix->r2c1 = r2; @@ -257,14 +257,14 @@ static inline void bg_fp64_matrix2x3_set_column1(const double r1, const double r // ================ Set Column 2 ================ // -static inline void bg_fp32_matrix2x3_set_column2(const float r1, const float r2, const float r3, BgFP32Matrix2x3* matrix) +static inline void fp32_matrix2x3_set_column2(const float r1, const float r2, const float r3, fp32_matrix2x3_t* matrix) { matrix->r1c2 = r1; matrix->r2c2 = r2; matrix->r3c2 = r3; } -static inline void bg_fp64_matrix2x3_set_column2(const double r1, const double r2, const double r3, BgFP64Matrix2x3* matrix) +static inline void fp64_matrix2x3_set_column2(const double r1, const double r2, const double r3, fp64_matrix2x3_t* matrix) { matrix->r1c2 = r1; matrix->r2c2 = r2; @@ -273,7 +273,7 @@ static inline void bg_fp64_matrix2x3_set_column2(const double r1, const double r // ================ Append scaled =============== // -static inline void bg_fp32_matrix2x3_append_scaled(BgFP32Matrix2x3* basic_vector, const BgFP32Matrix2x3* scalable_vector, const float scale) +static inline void fp32_matrix2x3_append_scaled(fp32_matrix2x3_t* basic_vector, const fp32_matrix2x3_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 bg_fp32_matrix2x3_append_scaled(BgFP32Matrix2x3* basic_vector basic_vector->r3c2 += scalable_vector->r3c2 * scale; } -static inline void bg_fp64_matrix2x3_append_scaled(BgFP64Matrix2x3* basic_vector, const BgFP64Matrix2x3* scalable_vector, const double scale) +static inline void fp64_matrix2x3_append_scaled(fp64_matrix2x3_t* basic_vector, const fp64_matrix2x3_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 bg_fp64_matrix2x3_append_scaled(BgFP64Matrix2x3* basic_vector // ================== Addition ================== // -static inline void bg_fp32_matrix2x3_add(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x3* sum) +static inline void fp32_matrix2x3_add(const fp32_matrix2x3_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x3_t* sum) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -311,7 +311,7 @@ static inline void bg_fp32_matrix2x3_add(const BgFP32Matrix2x3* matrix1, const B sum->r3c2 = matrix1->r3c2 + matrix2->r3c2; } -static inline void bg_fp64_matrix2x3_add(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x3* sum) +static inline void fp64_matrix2x3_add(const fp64_matrix2x3_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x3_t* sum) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -325,7 +325,7 @@ static inline void bg_fp64_matrix2x3_add(const BgFP64Matrix2x3* matrix1, const B // ================ Subtraction ================= // -static inline void bg_fp32_matrix2x3_subtract(const BgFP32Matrix2x3* minuend, const BgFP32Matrix2x3* subtrahend, BgFP32Matrix2x3* difference) +static inline void fp32_matrix2x3_subtract(const fp32_matrix2x3_t* minuend, const fp32_matrix2x3_t* subtrahend, fp32_matrix2x3_t* difference) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -337,7 +337,7 @@ static inline void bg_fp32_matrix2x3_subtract(const BgFP32Matrix2x3* minuend, co difference->r3c2 = minuend->r3c2 - subtrahend->r3c2; } -static inline void bg_fp64_matrix2x3_subtract(const BgFP64Matrix2x3* minuend, const BgFP64Matrix2x3* subtrahend, BgFP64Matrix2x3* difference) +static inline void fp64_matrix2x3_subtract(const fp64_matrix2x3_t* minuend, const fp64_matrix2x3_t* subtrahend, fp64_matrix2x3_t* difference) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -351,7 +351,7 @@ static inline void bg_fp64_matrix2x3_subtract(const BgFP64Matrix2x3* minuend, co // =============== Multiplication =============== // -static inline void bg_fp32_matrix2x3_multiply(const BgFP32Matrix2x3* multiplicand, const float multiplier, BgFP32Matrix2x3* product) +static inline void fp32_matrix2x3_multiply(const fp32_matrix2x3_t* multiplicand, const float multiplier, fp32_matrix2x3_t* product) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -363,7 +363,7 @@ static inline void bg_fp32_matrix2x3_multiply(const BgFP32Matrix2x3* multiplican product->r3c2 = multiplicand->r3c2 * multiplier; } -static inline void bg_fp64_matrix2x3_multiply(const BgFP64Matrix2x3* multiplicand, const double multiplier, BgFP64Matrix2x3* product) +static inline void fp64_matrix2x3_multiply(const fp64_matrix2x3_t* multiplicand, const double multiplier, fp64_matrix2x3_t* product) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -377,25 +377,25 @@ static inline void bg_fp64_matrix2x3_multiply(const BgFP64Matrix2x3* multiplican // ================== Division ================== // -static inline void bg_fp32_matrix2x3_divide(const BgFP32Matrix2x3* dividend, const float divisor, BgFP32Matrix2x3* quotient) +static inline void fp32_matrix2x3_divide(const fp32_matrix2x3_t* dividend, const float divisor, fp32_matrix2x3_t* quotient) { - bg_fp32_matrix2x3_multiply(dividend, 1.0f / divisor, quotient); + fp32_matrix2x3_multiply(dividend, 1.0f / divisor, quotient); } -static inline void bg_fp64_matrix2x3_divide(const BgFP64Matrix2x3* dividend, const double divisor, BgFP64Matrix2x3* quotient) +static inline void fp64_matrix2x3_divide(const fp64_matrix2x3_t* dividend, const double divisor, fp64_matrix2x3_t* quotient) { - bg_fp64_matrix2x3_multiply(dividend, 1.0 / divisor, quotient); + fp64_matrix2x3_multiply(dividend, 1.0 / divisor, quotient); } // ============ Left Vector Product ============= // -static inline void bg_fp32_matrix2x3_left_product(const BgFP32Vector3* vector, const BgFP32Matrix2x3* matrix, BgFP32Vector2* result) +static inline void fp32_matrix2x3_left_product(const fp32_vector3_t* vector, const fp32_matrix2x3_t* matrix, fp32_vector2_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 bg_fp64_matrix2x3_left_product(const BgFP64Vector3* vector, const BgFP64Matrix2x3* matrix, BgFP64Vector2* result) +static inline void fp64_matrix2x3_left_product(const fp64_vector3_t* vector, const fp64_matrix2x3_t* matrix, fp64_vector2_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 bg_fp64_matrix2x3_left_product(const BgFP64Vector3* vector, c // ============ Right Vector Product ============ // -static inline void bg_fp32_matrix2x3_right_product(const BgFP32Matrix2x3* matrix, const BgFP32Vector2* vector, BgFP32Vector3* result) +static inline void fp32_matrix2x3_right_product(const fp32_matrix2x3_t* matrix, const fp32_vector2_t* vector, fp32_vector3_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 bg_fp64_matrix2x3_right_product(const BgFP64Matrix2x3* matrix, const BgFP64Vector2* vector, BgFP64Vector3* result) +static inline void fp64_matrix2x3_right_product(const fp64_matrix2x3_t* matrix, const fp64_vector2_t* vector, fp64_vector3_t* result) { result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; diff --git a/basic-geometry/matrix3x2.h b/basic-geometry/matrix3x2.h index c40caff..bcb7bb6 100644 --- a/basic-geometry/matrix3x2.h +++ b/basic-geometry/matrix3x2.h @@ -1,5 +1,5 @@ -#ifndef _GEOMETRY_MATRIX3X2_H_ -#define _GEOMETRY_MATRIX3X2_H_ +#ifndef _BASIC_GEOMETRY_MATRIX3X2_H_ +#define _BASIC_GEOMETRY_MATRIX3X2_H_ #include "vector2.h" #include "vector3.h" @@ -7,7 +7,7 @@ // =================== Reset ==================== // -static inline void bg_fp32_matrix3x2_reset(BgFP32Matrix3x2* matrix) +static inline void fp32_matrix3x2_reset(fp32_matrix3x2_t* matrix) { matrix->r1c1 = 0.0f; matrix->r1c2 = 0.0f; @@ -18,7 +18,7 @@ static inline void bg_fp32_matrix3x2_reset(BgFP32Matrix3x2* matrix) matrix->r2c3 = 0.0f; } -static inline void bg_fp64_matrix3x2_reset(BgFP64Matrix3x2* matrix) +static inline void fp64_matrix3x2_reset(fp64_matrix3x2_t* matrix) { matrix->r1c1 = 0.0; matrix->r1c2 = 0.0; @@ -31,7 +31,7 @@ static inline void bg_fp64_matrix3x2_reset(BgFP64Matrix3x2* matrix) // ==================== Copy ==================== // -static inline void bg_fp32_matrix3x2_copy(const BgFP32Matrix3x2* from, BgFP32Matrix3x2* to) +static inline void fp32_matrix3x2_copy(const fp32_matrix3x2_t* from, fp32_matrix3x2_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -42,7 +42,7 @@ static inline void bg_fp32_matrix3x2_copy(const BgFP32Matrix3x2* from, BgFP32Mat to->r2c3 = from->r2c3; } -static inline void bg_fp64_matrix3x2_copy(const BgFP64Matrix3x2* from, BgFP64Matrix3x2* to) +static inline void fp64_matrix3x2_copy(const fp64_matrix3x2_t* from, fp64_matrix3x2_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -55,7 +55,7 @@ static inline void bg_fp64_matrix3x2_copy(const BgFP64Matrix3x2* from, BgFP64Mat // ==================== Swap ==================== // -static inline void bg_fp32_matrix3x2_swap(BgFP32Matrix3x2* matrix1, BgFP32Matrix3x2* matrix2) +static inline void fp32_matrix3x2_swap(fp32_matrix3x2_t* matrix1, fp32_matrix3x2_t* matrix2) { const float r1c1 = matrix2->r1c1; const float r1c2 = matrix2->r1c2; @@ -82,7 +82,7 @@ static inline void bg_fp32_matrix3x2_swap(BgFP32Matrix3x2* matrix1, BgFP32Matrix matrix1->r2c3 = r2c3; } -static inline void bg_fp64_matrix3x2_swap(BgFP64Matrix3x2* matrix1, BgFP64Matrix3x2* matrix2) +static inline void fp64_matrix3x2_swap(fp64_matrix3x2_t* matrix1, fp64_matrix3x2_t* matrix2) { const double r1c1 = matrix2->r1c1; const double r1c2 = matrix2->r1c2; @@ -111,7 +111,7 @@ static inline void bg_fp64_matrix3x2_swap(BgFP64Matrix3x2* matrix1, BgFP64Matrix // ============= Set from twin type ============= // -static inline void bg_fp32_matrix3x2_set_from_fp64(const BgFP64Matrix3x2* from, BgFP32Matrix3x2* to) +static inline void fp32_matrix3x2_set_from_fp64(const fp64_matrix3x2_t* from, fp32_matrix3x2_t* to) { to->r1c1 = (float) from->r1c1; to->r1c2 = (float) from->r1c2; @@ -122,7 +122,7 @@ static inline void bg_fp32_matrix3x2_set_from_fp64(const BgFP64Matrix3x2* from, to->r2c3 = (float) from->r2c3; } -static inline void bg_fp64_matrix3x2_set_from_fp32(const BgFP32Matrix3x2* from, BgFP64Matrix3x2* to) +static inline void fp64_matrix3x2_set_from_fp32(const fp32_matrix3x2_t* from, fp64_matrix3x2_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -135,7 +135,7 @@ static inline void bg_fp64_matrix3x2_set_from_fp32(const BgFP32Matrix3x2* from, // =============== Set transposed =============== // -static inline void bg_fp32_matrix3x2_set_transposed(const BgFP32Matrix2x3* from, BgFP32Matrix3x2* to) +static inline void fp32_matrix3x2_set_transposed(const fp32_matrix2x3_t* from, fp32_matrix3x2_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r2c1; @@ -146,7 +146,7 @@ static inline void bg_fp32_matrix3x2_set_transposed(const BgFP32Matrix2x3* from, to->r2c3 = from->r3c2; } -static inline void bg_fp64_matrix3x2_set_transposed(const BgFP64Matrix2x3* from, BgFP64Matrix3x2* to) +static inline void fp64_matrix3x2_set_transposed(const fp64_matrix2x3_t* from, fp64_matrix3x2_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r2c1; @@ -159,7 +159,7 @@ static inline void bg_fp64_matrix3x2_set_transposed(const BgFP64Matrix2x3* from, // =============== Set transposed =============== // -static inline void bg_fp32_matrix3x2_set_transposed_fp64(const BgFP64Matrix2x3* from, BgFP32Matrix3x2* to) +static inline void fp32_matrix3x2_set_transposed_fp64(const fp64_matrix2x3_t* from, fp32_matrix3x2_t* to) { to->r1c1 = (float) from->r1c1; to->r1c2 = (float) from->r2c1; @@ -170,7 +170,7 @@ static inline void bg_fp32_matrix3x2_set_transposed_fp64(const BgFP64Matrix2x3* to->r2c3 = (float) from->r3c2; } -static inline void bg_fp64_matrix3x2_set_transposed_fp32(const BgFP32Matrix2x3* from, BgFP64Matrix3x2* to) +static inline void fp64_matrix3x2_set_transposed_fp32(const fp32_matrix2x3_t* from, fp64_matrix3x2_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r2c1; @@ -183,14 +183,14 @@ static inline void bg_fp64_matrix3x2_set_transposed_fp32(const BgFP32Matrix2x3* // ================= Set Row 1 ================== // -static inline void bg_fp32_matrix3x2_set_row1(const float c1, const float c2, const float c3, BgFP32Matrix3x2* matrix) +static inline void fp32_matrix3x2_set_row1(const float c1, const float c2, const float c3, fp32_matrix3x2_t* matrix) { matrix->r1c1 = c1; matrix->r1c2 = c2; matrix->r1c3 = c3; } -static inline void bg_fp64_matrix3x2_set_row1(const double c1, const double c2, const double c3, BgFP64Matrix3x2* matrix) +static inline void fp64_matrix3x2_set_row1(const double c1, const double c2, const double c3, fp64_matrix3x2_t* matrix) { matrix->r1c1 = c1; matrix->r1c2 = c2; @@ -199,14 +199,14 @@ static inline void bg_fp64_matrix3x2_set_row1(const double c1, const double c2, // ================= Set Row 2 ================== // -static inline void bg_fp32_matrix3x2_set_row2(const float c1, const float c2, const float c3, BgFP32Matrix3x2* matrix) +static inline void fp32_matrix3x2_set_row2(const float c1, const float c2, const float c3, fp32_matrix3x2_t* matrix) { matrix->r2c1 = c1; matrix->r2c2 = c2; matrix->r2c3 = c3; } -static inline void bg_fp64_matrix3x2_set_row2(const double c1, const double c2, const double c3, BgFP64Matrix3x2* matrix) +static inline void fp64_matrix3x2_set_row2(const double c1, const double c2, const double c3, fp64_matrix3x2_t* matrix) { matrix->r2c1 = c1; matrix->r2c2 = c2; @@ -215,13 +215,13 @@ static inline void bg_fp64_matrix3x2_set_row2(const double c1, const double c2, // ================ Set Column 1 ================ // -static inline void bg_fp32_matrix3x2_set_column1(const float r1, const float r2, BgFP32Matrix3x2* matrix) +static inline void fp32_matrix3x2_set_column1(const float r1, const float r2, fp32_matrix3x2_t* matrix) { matrix->r1c1 = r1; matrix->r2c1 = r2; } -static inline void bg_fp64_matrix3x2_set_column1(const double r1, const double r2, BgFP64Matrix3x2* matrix) +static inline void fp64_matrix3x2_set_column1(const double r1, const double r2, fp64_matrix3x2_t* matrix) { matrix->r1c1 = r1; matrix->r2c1 = r2; @@ -229,13 +229,13 @@ static inline void bg_fp64_matrix3x2_set_column1(const double r1, const double r // ================ Set Column 2 ================ // -static inline void bg_fp32_matrix3x2_set_column2(const float r1, const float r2, BgFP32Matrix3x2* matrix) +static inline void fp32_matrix3x2_set_column2(const float r1, const float r2, fp32_matrix3x2_t* matrix) { matrix->r1c2 = r1; matrix->r2c2 = r2; } -static inline void bg_fp64_matrix3x2_set_column2(const double r1, const double r2, BgFP64Matrix3x2* matrix) +static inline void fp64_matrix3x2_set_column2(const double r1, const double r2, fp64_matrix3x2_t* matrix) { matrix->r1c2 = r1; matrix->r2c2 = r2; @@ -243,13 +243,13 @@ static inline void bg_fp64_matrix3x2_set_column2(const double r1, const double r // ================ Set Column 3 ================ // -static inline void bg_fp32_matrix3x2_set_column3(const float r1, const float r2, BgFP32Matrix3x2* matrix) +static inline void fp32_matrix3x2_set_column3(const float r1, const float r2, fp32_matrix3x2_t* matrix) { matrix->r1c3 = r1; matrix->r2c3 = r2; } -static inline void bg_fp64_matrix3x2_set_column3(const double r1, const double r2, BgFP64Matrix3x2* matrix) +static inline void fp64_matrix3x2_set_column3(const double r1, const double r2, fp64_matrix3x2_t* matrix) { matrix->r1c3 = r1; matrix->r2c3 = r2; @@ -257,7 +257,7 @@ static inline void bg_fp64_matrix3x2_set_column3(const double r1, const double r // ================ Append scaled =============== // -static inline void bg_fp32_matrix3x2_append_scaled(BgFP32Matrix3x2* basic_vector, const BgFP32Matrix3x2* scalable_vector, const float scale) +static inline void fp32_matrix3x2_append_scaled(fp32_matrix3x2_t* basic_vector, const fp32_matrix3x2_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 bg_fp32_matrix3x2_append_scaled(BgFP32Matrix3x2* basic_vector basic_vector->r2c3 += scalable_vector->r2c3 * scale; } -static inline void bg_fp64_matrix3x2_append_scaled(BgFP64Matrix3x2* basic_vector, const BgFP64Matrix3x2* scalable_vector, const double scale) +static inline void fp64_matrix3x2_append_scaled(fp64_matrix3x2_t* basic_vector, const fp64_matrix3x2_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 bg_fp64_matrix3x2_append_scaled(BgFP64Matrix3x2* basic_vector // ================== Addition ================== // -static inline void bg_fp32_matrix3x2_add(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x2* sum) +static inline void fp32_matrix3x2_add(const fp32_matrix3x2_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x2_t* sum) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -292,7 +292,7 @@ static inline void bg_fp32_matrix3x2_add(const BgFP32Matrix3x2* matrix1, const B sum->r2c3 = matrix1->r2c3 + matrix2->r2c3; } -static inline void bg_fp64_matrix3x2_add(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x2* sum) +static inline void fp64_matrix3x2_add(const fp64_matrix3x2_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x2_t* sum) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -305,7 +305,7 @@ static inline void bg_fp64_matrix3x2_add(const BgFP64Matrix3x2* matrix1, const B // ================ Subtraction ================= // -static inline void bg_fp32_matrix3x2_subtract(const BgFP32Matrix3x2* minuend, const BgFP32Matrix3x2* subtrahend, BgFP32Matrix3x2* difference) +static inline void fp32_matrix3x2_subtract(const fp32_matrix3x2_t* minuend, const fp32_matrix3x2_t* subtrahend, fp32_matrix3x2_t* difference) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -316,7 +316,7 @@ static inline void bg_fp32_matrix3x2_subtract(const BgFP32Matrix3x2* minuend, co difference->r2c3 = minuend->r2c3 - subtrahend->r2c3; } -static inline void bg_fp64_matrix3x2_subtract(const BgFP64Matrix3x2* minuend, const BgFP64Matrix3x2* subtrahend, BgFP64Matrix3x2* difference) +static inline void fp64_matrix3x2_subtract(const fp64_matrix3x2_t* minuend, const fp64_matrix3x2_t* subtrahend, fp64_matrix3x2_t* difference) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -329,7 +329,7 @@ static inline void bg_fp64_matrix3x2_subtract(const BgFP64Matrix3x2* minuend, co // =============== Multiplication =============== // -static inline void bg_fp32_matrix3x2_multiply(const BgFP32Matrix3x2* multiplicand, const float multiplier, BgFP32Matrix3x2* product) +static inline void fp32_matrix3x2_multiply(const fp32_matrix3x2_t* multiplicand, const float multiplier, fp32_matrix3x2_t* product) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -340,7 +340,7 @@ static inline void bg_fp32_matrix3x2_multiply(const BgFP32Matrix3x2* multiplican product->r2c3 = multiplicand->r2c3 * multiplier; } -static inline void bg_fp64_matrix3x2_multiply(const BgFP64Matrix3x2* multiplicand, const double multiplier, BgFP64Matrix3x2* product) +static inline void fp64_matrix3x2_multiply(const fp64_matrix3x2_t* multiplicand, const double multiplier, fp64_matrix3x2_t* product) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -353,26 +353,26 @@ static inline void bg_fp64_matrix3x2_multiply(const BgFP64Matrix3x2* multiplican // ================== Division ================== // -static inline void bg_fp32_matrix3x2_divide(const BgFP32Matrix3x2* dividend, const float divisor, BgFP32Matrix3x2* quotient) +static inline void fp32_matrix3x2_divide(const fp32_matrix3x2_t* dividend, const float divisor, fp32_matrix3x2_t* quotient) { - bg_fp32_matrix3x2_multiply(dividend, 1.0f / divisor, quotient); + fp32_matrix3x2_multiply(dividend, 1.0f / divisor, quotient); } -static inline void bg_fp64_matrix3x2_divide(const BgFP64Matrix3x2* dividend, const double divisor, BgFP64Matrix3x2* quotient) +static inline void fp64_matrix3x2_divide(const fp64_matrix3x2_t* dividend, const double divisor, fp64_matrix3x2_t* quotient) { - bg_fp64_matrix3x2_multiply(dividend, 1.0 / divisor, quotient); + fp64_matrix3x2_multiply(dividend, 1.0 / divisor, quotient); } // ============ Left Vector Product ============= // -static inline void bg_fp32_matrix3x2_left_product(const BgFP32Vector2* vector, const BgFP32Matrix3x2* matrix, BgFP32Vector3* result) +static inline void fp32_matrix3x2_left_product(const fp32_vector2_t* vector, const fp32_matrix3x2_t* matrix, fp32_vector3_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 bg_fp64_matrix3x2_left_product(const BgFP64Vector2* vector, const BgFP64Matrix3x2* matrix, BgFP64Vector3* result) +static inline void fp64_matrix3x2_left_product(const fp64_vector2_t* vector, const fp64_matrix3x2_t* matrix, fp64_vector3_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 bg_fp64_matrix3x2_left_product(const BgFP64Vector2* vector, c // ============ Right Vector Product ============ // -static inline void bg_fp32_matrix3x2_right_product(const BgFP32Matrix3x2* matrix, const BgFP32Vector3* vector, BgFP32Vector2* result) +static inline void fp32_matrix3x2_right_product(const fp32_matrix3x2_t* matrix, const fp32_vector3_t* vector, fp32_vector2_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 bg_fp64_matrix3x2_right_product(const BgFP64Matrix3x2* matrix, const BgFP64Vector3* vector, BgFP64Vector2* result) +static inline void fp64_matrix3x2_right_product(const fp64_matrix3x2_t* matrix, const fp64_vector3_t* vector, fp64_vector2_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; diff --git a/basic-geometry/matrix3x3.c b/basic-geometry/matrix3x3.c index 2bbb63c..3c19b0c 100644 --- a/basic-geometry/matrix3x3.c +++ b/basic-geometry/matrix3x3.c @@ -2,11 +2,11 @@ // ================= Inversion ================== // -int bg_fp32_matrix3x3_invert(BgFP32Matrix3x3* matrix) +int fp32_matrix3x3_invert(fp32_matrix3x3_t* matrix) { - const float determinant = bg_fp32_matrix3x3_get_determinant(matrix); + const float determinant = fp32_matrix3x3_get_determinant(matrix); - if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) { + if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) { return 0; } @@ -39,11 +39,11 @@ int bg_fp32_matrix3x3_invert(BgFP32Matrix3x3* matrix) return 1; } -int bg_fp64_matrix3x3_invert(BgFP64Matrix3x3* matrix) +int fp64_matrix3x3_invert(fp64_matrix3x3_t* matrix) { - const double determinant = bg_fp64_matrix3x3_get_determinant(matrix); + const double determinant = fp64_matrix3x3_get_determinant(matrix); - if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) { + if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) { return 0; } @@ -78,11 +78,11 @@ int bg_fp64_matrix3x3_invert(BgFP64Matrix3x3* matrix) // ================ Make Inverted =============== // -int bg_fp32_matrix3x3_set_inverted(const BgFP32Matrix3x3* matrix, BgFP32Matrix3x3* result) +int fp32_matrix3x3_set_inverted(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result) { - const float determinant = bg_fp32_matrix3x3_get_determinant(matrix); + const float determinant = fp32_matrix3x3_get_determinant(matrix); - if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) { + if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) { return 0; } @@ -115,11 +115,11 @@ int bg_fp32_matrix3x3_set_inverted(const BgFP32Matrix3x3* matrix, BgFP32Matrix3x return 1; } -int bg_fp64_matrix3x3_set_inverted(const BgFP64Matrix3x3* matrix, BgFP64Matrix3x3* result) +int fp64_matrix3x3_set_inverted(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result) { - const double determinant = bg_fp64_matrix3x3_get_determinant(matrix); + const double determinant = fp64_matrix3x3_get_determinant(matrix); - if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) { + if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) { return 0; } diff --git a/basic-geometry/matrix3x3.h b/basic-geometry/matrix3x3.h index 1207cbd..343a974 100644 --- a/basic-geometry/matrix3x3.h +++ b/basic-geometry/matrix3x3.h @@ -1,12 +1,12 @@ -#ifndef _GEOMETRY_MATRIX3X3_H_ -#define _GEOMETRY_MATRIX3X3_H_ +#ifndef _BASIC_GEOMETRY_MATRIX3X3_H_ +#define _BASIC_GEOMETRY_MATRIX3X3_H_ #include "vector3.h" #include "matrixes.h" // =================== Reset ==================== // -static inline void bg_fp32_matrix3x3_reset(BgFP32Matrix3x3* matrix) +static inline void fp32_matrix3x3_reset(fp32_matrix3x3_t* matrix) { matrix->r1c1 = 0.0f; matrix->r1c2 = 0.0f; @@ -21,7 +21,7 @@ static inline void bg_fp32_matrix3x3_reset(BgFP32Matrix3x3* matrix) matrix->r3c3 = 0.0f; } -static inline void bg_fp64_matrix3x3_reset(BgFP64Matrix3x3* matrix) +static inline void fp64_matrix3x3_reset(fp64_matrix3x3_t* matrix) { matrix->r1c1 = 0.0; matrix->r1c2 = 0.0; @@ -38,7 +38,7 @@ static inline void bg_fp64_matrix3x3_reset(BgFP64Matrix3x3* matrix) // ================== Identity ================== // -static inline void bg_fp32_matrix3x3_set_to_identity(BgFP32Matrix3x3* matrix) +static inline void fp32_matrix3x3_set_to_identity(fp32_matrix3x3_t* matrix) { matrix->r1c1 = 1.0f; matrix->r1c2 = 0.0f; @@ -53,7 +53,7 @@ static inline void bg_fp32_matrix3x3_set_to_identity(BgFP32Matrix3x3* matrix) matrix->r3c3 = 1.0f; } -static inline void bg_fp64_matrix3x3_set_to_identity(BgFP64Matrix3x3* matrix) +static inline void fp64_matrix3x3_set_to_identity(fp64_matrix3x3_t* matrix) { matrix->r1c1 = 1.0; matrix->r1c2 = 0.0; @@ -70,7 +70,7 @@ static inline void bg_fp64_matrix3x3_set_to_identity(BgFP64Matrix3x3* matrix) // ================ Make Diagonal =============== // -static inline void bg_fp32_matrix3x3_set_to_diagonal(const float d1, const float d2, const float d3, BgFP32Matrix3x3* matrix) +static inline void fp32_matrix3x3_set_to_diagonal(const float d1, const float d2, const float d3, fp32_matrix3x3_t* matrix) { matrix->r1c1 = d1; matrix->r1c2 = 0.0f; @@ -85,7 +85,7 @@ static inline void bg_fp32_matrix3x3_set_to_diagonal(const float d1, const float matrix->r3c3 = d2; } -static inline void bg_fp64_matrix3x3_set_to_diagonal(const double d1, const double d2, const double d3, BgFP64Matrix3x3* matrix) +static inline void fp64_matrix3x3_set_to_diagonal(const double d1, const double d2, const double d3, fp64_matrix3x3_t* matrix) { matrix->r1c1 = d1; matrix->r1c2 = 0.0; @@ -102,7 +102,7 @@ static inline void bg_fp64_matrix3x3_set_to_diagonal(const double d1, const doub // ==================== Copy ==================== // -static inline void bg_fp32_matrix3x3_copy(const BgFP32Matrix3x3* from, BgFP32Matrix3x3* to) +static inline void fp32_matrix3x3_copy(const fp32_matrix3x3_t* from, fp32_matrix3x3_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -117,7 +117,7 @@ static inline void bg_fp32_matrix3x3_copy(const BgFP32Matrix3x3* from, BgFP32Mat to->r3c3 = from->r3c3; } -static inline void bg_fp64_matrix3x3_copy(const BgFP64Matrix3x3* from, BgFP64Matrix3x3* to) +static inline void fp64_matrix3x3_copy(const fp64_matrix3x3_t* from, fp64_matrix3x3_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -134,7 +134,7 @@ static inline void bg_fp64_matrix3x3_copy(const BgFP64Matrix3x3* from, BgFP64Mat // ==================== Swap ==================== // -static inline void bg_fp32_matrix3x3_swap(BgFP32Matrix3x3* matrix1, BgFP32Matrix3x3* matrix2) +static inline void fp32_matrix3x3_swap(fp32_matrix3x3_t* matrix1, fp32_matrix3x3_t* matrix2) { const float r1c1 = matrix2->r1c1; const float r1c2 = matrix2->r1c2; @@ -173,7 +173,7 @@ static inline void bg_fp32_matrix3x3_swap(BgFP32Matrix3x3* matrix1, BgFP32Matrix matrix1->r3c3 = r3c3; } -static inline void bg_fp64_matrix3x3_swap(BgFP64Matrix3x3* matrix1, BgFP64Matrix3x3* matrix2) +static inline void fp64_matrix3x3_swap(fp64_matrix3x3_t* matrix1, fp64_matrix3x3_t* matrix2) { const double r1c1 = matrix2->r1c1; const double r1c2 = matrix2->r1c2; @@ -214,7 +214,7 @@ static inline void bg_fp64_matrix3x3_swap(BgFP64Matrix3x3* matrix1, BgFP64Matrix // ============= Set from twin type ============= // -static inline void bg_fp32_matrix3x3_set_from_fp64(const BgFP64Matrix3x3* from, BgFP32Matrix3x3* to) +static inline void fp32_matrix3x3_set_from_fp64(const fp64_matrix3x3_t* from, fp32_matrix3x3_t* to) { to->r1c1 = (float) from->r1c1; to->r1c2 = (float) from->r1c2; @@ -229,7 +229,7 @@ static inline void bg_fp32_matrix3x3_set_from_fp64(const BgFP64Matrix3x3* from, to->r3c3 = (float) from->r3c3; } -static inline void bg_fp64_matrix3x3_set_from_fp32(const BgFP32Matrix3x3* from, BgFP64Matrix3x3* to) +static inline void fp64_matrix3x3_set_from_fp32(const fp32_matrix3x3_t* from, fp64_matrix3x3_t* to) { to->r1c1 = from->r1c1; to->r1c2 = from->r1c2; @@ -246,14 +246,14 @@ static inline void bg_fp64_matrix3x3_set_from_fp32(const BgFP32Matrix3x3* from, // ================ Determinant ================= // -static inline float bg_fp32_matrix3x3_get_determinant(const BgFP32Matrix3x3* matrix) +static inline float fp32_matrix3x3_get_determinant(const fp32_matrix3x3_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 bg_fp64_matrix3x3_get_determinant(const BgFP64Matrix3x3* matrix) +static inline double fp64_matrix3x3_get_determinant(const fp64_matrix3x3_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 bg_fp64_matrix3x3_get_determinant(const BgFP64Matrix3x3* ma // ================== Singular ================== // -static inline int bg_fp32_matrix3x3_is_singular(const BgFP32Matrix3x3* matrix) +static inline int fp32_matrix3x3_is_singular(const fp32_matrix3x3_t* matrix) { - const float determinant = bg_fp32_matrix3x3_get_determinant(matrix); + const float determinant = fp32_matrix3x3_get_determinant(matrix); - return -BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON; + return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON; } -static inline int bg_fp64_matrix3x3_is_singular(const BgFP64Matrix3x3* matrix) +static inline int fp64_matrix3x3_is_singular(const fp64_matrix3x3_t* matrix) { - const double determinant = bg_fp64_matrix3x3_get_determinant(matrix); + const double determinant = fp64_matrix3x3_get_determinant(matrix); - return -BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON; + return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON; } // ================= Inversion ================== // -int bg_fp32_matrix3x3_invert(BgFP32Matrix3x3* matrix); +int fp32_matrix3x3_invert(fp32_matrix3x3_t* matrix); -int bg_fp64_matrix3x3_invert(BgFP64Matrix3x3* matrix); +int fp64_matrix3x3_invert(fp64_matrix3x3_t* matrix); // =============== Transposition ================ // -static inline void bg_fp32_matrix3x3_transpose(BgFP32Matrix3x3* matrix) +static inline void fp32_matrix3x3_transpose(fp32_matrix3x3_t* matrix) { float tmp = matrix->r1c2; matrix->r1c2 = matrix->r2c1; @@ -299,7 +299,7 @@ static inline void bg_fp32_matrix3x3_transpose(BgFP32Matrix3x3* matrix) matrix->r3c2 = tmp; } -static inline void bg_fp64_matrix3x3_transpose(BgFP64Matrix3x3* matrix) +static inline void fp64_matrix3x3_transpose(fp64_matrix3x3_t* matrix) { double tmp = matrix->r1c2; matrix->r1c2 = matrix->r2c1; @@ -316,16 +316,16 @@ static inline void bg_fp64_matrix3x3_transpose(BgFP64Matrix3x3* matrix) // ================ Make Inverted =============== // -int bg_fp32_matrix3x3_set_inverted(const BgFP32Matrix3x3* matrix, BgFP32Matrix3x3* result); +int fp32_matrix3x3_set_inverted(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result); -int bg_fp64_matrix3x3_set_inverted(const BgFP64Matrix3x3* matrix, BgFP64Matrix3x3* result); +int fp64_matrix3x3_set_inverted(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result); // =============== Make Transposed ============== // -static inline void bg_fp32_matrix3x3_set_transposed(const BgFP32Matrix3x3* matrix, BgFP32Matrix3x3* result) +static inline void fp32_matrix3x3_set_transposed(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result) { if (matrix == result) { - bg_fp32_matrix3x3_transpose(result); + fp32_matrix3x3_transpose(result); return; } @@ -342,10 +342,10 @@ static inline void bg_fp32_matrix3x3_set_transposed(const BgFP32Matrix3x3* matri result->r3c3 = matrix->r3c3; } -static inline void bg_fp64_matrix3x3_set_transposed(const BgFP64Matrix3x3* matrix, BgFP64Matrix3x3* result) +static inline void fp64_matrix3x3_set_transposed(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result) { if (matrix == result) { - bg_fp64_matrix3x3_transpose(result); + fp64_matrix3x3_transpose(result); return; } @@ -364,14 +364,14 @@ static inline void bg_fp64_matrix3x3_set_transposed(const BgFP64Matrix3x3* matri // ================= Set Row 1 ================== // -static inline void bg_fp32_matrix3x3_set_row1(const float c1, const float c2, const float c3, BgFP32Matrix3x3* matrix) +static inline void fp32_matrix3x3_set_row1(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix) { matrix->r1c1 = c1; matrix->r1c2 = c2; matrix->r1c3 = c3; } -static inline void bg_fp64_matrix3x3_set_row1(const double c1, const double c2, const double c3, BgFP64Matrix3x3* matrix) +static inline void fp64_matrix3x3_set_row1(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix) { matrix->r1c1 = c1; matrix->r1c2 = c2; @@ -380,14 +380,14 @@ static inline void bg_fp64_matrix3x3_set_row1(const double c1, const double c2, // ================= Set Row 2 ================== // -static inline void bg_fp32_matrix3x3_set_row2(const float c1, const float c2, const float c3, BgFP32Matrix3x3* matrix) +static inline void fp32_matrix3x3_set_row2(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix) { matrix->r2c1 = c1; matrix->r2c2 = c2; matrix->r2c3 = c3; } -static inline void bg_fp64_matrix3x3_set_row2(const double c1, const double c2, const double c3, BgFP64Matrix3x3* matrix) +static inline void fp64_matrix3x3_set_row2(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix) { matrix->r2c1 = c1; matrix->r2c2 = c2; @@ -396,14 +396,14 @@ static inline void bg_fp64_matrix3x3_set_row2(const double c1, const double c2, // ================= Set Row 3 ================== // -static inline void bg_fp32_matrix3x3_set_row3(const float c1, const float c2, const float c3, BgFP32Matrix3x3* matrix) +static inline void fp32_matrix3x3_set_row3(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix) { matrix->r3c1 = c1; matrix->r3c2 = c2; matrix->r3c3 = c3; } -static inline void bg_fp64_matrix3x3_set_row3(const double c1, const double c2, const double c3, BgFP64Matrix3x3* matrix) +static inline void fp64_matrix3x3_set_row3(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix) { matrix->r3c1 = c1; matrix->r3c2 = c2; @@ -412,14 +412,14 @@ static inline void bg_fp64_matrix3x3_set_row3(const double c1, const double c2, // ================ Set Column 1 ================ // -static inline void bg_fp32_matrix3x3_set_column1(const float r1, const float r2, const float r3, BgFP32Matrix3x3* matrix) +static inline void fp32_matrix3x3_set_column1(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix) { matrix->r1c1 = r1; matrix->r2c1 = r2; matrix->r3c1 = r3; } -static inline void bg_fp64_matrix3x3_set_column1(const double r1, const double r2, const double r3, BgFP64Matrix3x3* matrix) +static inline void fp64_matrix3x3_set_column1(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix) { matrix->r1c1 = r1; matrix->r2c1 = r2; @@ -428,14 +428,14 @@ static inline void bg_fp64_matrix3x3_set_column1(const double r1, const double r // ================ Set Column 2 ================ // -static inline void bg_fp32_matrix3x3_set_column2(const float r1, const float r2, const float r3, BgFP32Matrix3x3* matrix) +static inline void fp32_matrix3x3_set_column2(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix) { matrix->r1c2 = r1; matrix->r2c2 = r2; matrix->r3c2 = r3; } -static inline void bg_fp64_matrix3x3_set_column2(const double r1, const double r2, const double r3, BgFP64Matrix3x3* matrix) +static inline void fp64_matrix3x3_set_column2(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix) { matrix->r1c2 = r1; matrix->r2c2 = r2; @@ -444,14 +444,14 @@ static inline void bg_fp64_matrix3x3_set_column2(const double r1, const double r // ================ Set Column 3 ================ // -static inline void bg_fp32_matrix3x3_set_column3(const float r1, const float r2, const float r3, BgFP32Matrix3x3* matrix) +static inline void fp32_matrix3x3_set_column3(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix) { matrix->r1c3 = r1; matrix->r2c3 = r2; matrix->r3c3 = r3; } -static inline void bg_fp64_matrix3x3_set_column3(const double r1, const double r2, const double r3, BgFP64Matrix3x3* matrix) +static inline void fp64_matrix3x3_set_column3(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix) { matrix->r1c3 = r1; matrix->r2c3 = r2; @@ -460,7 +460,7 @@ static inline void bg_fp64_matrix3x3_set_column3(const double r1, const double r // ================ Append scaled =============== // -static inline void bg_fp32_matrix3x3_append_scaled(BgFP32Matrix3x3* basic_vector, const BgFP32Matrix3x3* scalable_vector, const float scale) +static inline void fp32_matrix3x3_append_scaled(fp32_matrix3x3_t* basic_vector, const fp32_matrix3x3_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 bg_fp32_matrix3x3_append_scaled(BgFP32Matrix3x3* basic_vector basic_vector->r3c3 += scalable_vector->r3c3 * scale; } -static inline void bg_fp64_matrix3x3_append_scaled(BgFP64Matrix3x3* basic_vector, const BgFP64Matrix3x3* scalable_vector, const double scale) +static inline void fp64_matrix3x3_append_scaled(fp64_matrix3x3_t* basic_vector, const fp64_matrix3x3_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 bg_fp64_matrix3x3_append_scaled(BgFP64Matrix3x3* basic_vector // ================== Addition ================== // -static inline void bg_fp32_matrix3x3_add(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x3* sum) +static inline void fp32_matrix3x3_add(const fp32_matrix3x3_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x3_t* sum) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -507,7 +507,7 @@ static inline void bg_fp32_matrix3x3_add(const BgFP32Matrix3x3* matrix1, const B sum->r3c3 = matrix1->r3c3 + matrix2->r3c3; } -static inline void bg_fp64_matrix3x3_add(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x3* sum) +static inline void fp64_matrix3x3_add(const fp64_matrix3x3_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x3_t* sum) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -524,7 +524,7 @@ static inline void bg_fp64_matrix3x3_add(const BgFP64Matrix3x3* matrix1, const B // ================ Subtraction ================= // -static inline void bg_fp32_matrix3x3_subtract(const BgFP32Matrix3x3* minuend, const BgFP32Matrix3x3* subtrahend, BgFP32Matrix3x3* difference) +static inline void fp32_matrix3x3_subtract(const fp32_matrix3x3_t* minuend, const fp32_matrix3x3_t* subtrahend, fp32_matrix3x3_t* difference) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -539,7 +539,7 @@ static inline void bg_fp32_matrix3x3_subtract(const BgFP32Matrix3x3* minuend, co difference->r3c3 = minuend->r3c3 - subtrahend->r3c3; } -static inline void bg_fp64_matrix3x3_subtract(const BgFP64Matrix3x3* minuend, const BgFP64Matrix3x3* subtrahend, BgFP64Matrix3x3* difference) +static inline void fp64_matrix3x3_subtract(const fp64_matrix3x3_t* minuend, const fp64_matrix3x3_t* subtrahend, fp64_matrix3x3_t* difference) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -556,7 +556,7 @@ static inline void bg_fp64_matrix3x3_subtract(const BgFP64Matrix3x3* minuend, co // =============== Multiplication =============== // -static inline void bg_fp32_matrix3x3_multiply(const BgFP32Matrix3x3* multiplicand, const float multiplier, BgFP32Matrix3x3* product) +static inline void fp32_matrix3x3_multiply(const fp32_matrix3x3_t* multiplicand, const float multiplier, fp32_matrix3x3_t* product) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -571,7 +571,7 @@ static inline void bg_fp32_matrix3x3_multiply(const BgFP32Matrix3x3* multiplican product->r3c3 = multiplicand->r3c3 * multiplier; } -static inline void bg_fp64_matrix3x3_multiply(const BgFP64Matrix3x3* multiplicand, const double multiplier, BgFP64Matrix3x3* product) +static inline void fp64_matrix3x3_multiply(const fp64_matrix3x3_t* multiplicand, const double multiplier, fp64_matrix3x3_t* product) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -588,19 +588,19 @@ static inline void bg_fp64_matrix3x3_multiply(const BgFP64Matrix3x3* multiplican // ================== Division ================== // -static inline void bg_fp32_matrix3x3_divide(const BgFP32Matrix3x3* dividend, const float divisor, BgFP32Matrix3x3* quotient) +static inline void fp32_matrix3x3_divide(const fp32_matrix3x3_t* dividend, const float divisor, fp32_matrix3x3_t* quotient) { - bg_fp32_matrix3x3_multiply(dividend, 1.0f / divisor, quotient); + fp32_matrix3x3_multiply(dividend, 1.0f / divisor, quotient); } -static inline void bg_fp64_matrix3x3_divide(const BgFP64Matrix3x3* dividend, const double divisor, BgFP64Matrix3x3* quotient) +static inline void fp64_matrix3x3_divide(const fp64_matrix3x3_t* dividend, const double divisor, fp64_matrix3x3_t* quotient) { - bg_fp64_matrix3x3_multiply(dividend, 1.0 / divisor, quotient); + fp64_matrix3x3_multiply(dividend, 1.0 / divisor, quotient); } // ============ Left Vector Product ============= // -static inline void bg_fp32_matrix3x3_left_product(const BgFP32Vector3* vector, const BgFP32Matrix3x3* matrix, BgFP32Vector3* result) +static inline void fp32_matrix3x3_left_product(const fp32_vector3_t* vector, const fp32_matrix3x3_t* matrix, fp32_vector3_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 bg_fp32_matrix3x3_left_product(const BgFP32Vector3* vector, c result->x3 = x3; } -static inline void bg_fp64_matrix3x3_left_product(const BgFP64Vector3* vector, const BgFP64Matrix3x3* matrix, BgFP64Vector3* result) +static inline void fp64_matrix3x3_left_product(const fp64_vector3_t* vector, const fp64_matrix3x3_t* matrix, fp64_vector3_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 bg_fp64_matrix3x3_left_product(const BgFP64Vector3* vector, c // ============ Right Vector Product ============ // -static inline void bg_fp32_matrix3x3_right_product(const BgFP32Matrix3x3* matrix, const BgFP32Vector3* vector, BgFP32Vector3* result) +static inline void fp32_matrix3x3_right_product(const fp32_matrix3x3_t* matrix, const fp32_vector3_t* vector, fp32_vector3_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 bg_fp32_matrix3x3_right_product(const BgFP32Matrix3x3* matrix result->x3 = x3; } -static inline void bg_fp64_matrix3x3_right_product(const BgFP64Matrix3x3* matrix, const BgFP64Vector3* vector, BgFP64Vector3* result) +static inline void fp64_matrix3x3_right_product(const fp64_matrix3x3_t* matrix, const fp64_vector3_t* vector, fp64_vector3_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; diff --git a/basic-geometry/matrixes.c b/basic-geometry/matrixes.c index 4da4587..1fb5858 100644 --- a/basic-geometry/matrixes.c +++ b/basic-geometry/matrixes.c @@ -2,7 +2,7 @@ // ========== Matrix Product 2x2 at 3x2 ========= // -void bg_fp32_matrix_product_2x2_at_3x2(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x2* result) +void fp32_matrix_product_2x2_at_3x2(const fp32_matrix2x2_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x2_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 bg_fp32_matrix_product_2x2_at_3x2(const BgFP32Matrix2x2* matrix1, const BgF result->r2c3 = r2c3; } -void bg_fp64_matrix_product_2x2_at_3x2(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x2* result) +void fp64_matrix_product_2x2_at_3x2(const fp64_matrix2x2_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x2_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 bg_fp64_matrix_product_2x2_at_3x2(const BgFP64Matrix2x2* matrix1, const BgF // ========== Matrix Product 2x3 at 2x2 ========= // -void bg_fp32_matrix_product_2x3_at_2x2(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x3* result) +void fp32_matrix_product_2x3_at_2x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x3_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 bg_fp32_matrix_product_2x3_at_2x2(const BgFP32Matrix2x3* matrix1, const BgF result->r3c2 = r3c2; } -void bg_fp64_matrix_product_2x3_at_2x2(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x3* result) +void fp64_matrix_product_2x3_at_2x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x3_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 bg_fp64_matrix_product_2x3_at_2x2(const BgFP64Matrix2x3* matrix1, const BgF // ========== Matrix Product 2x3 at 3x2 ========= // -void bg_fp32_matrix_product_2x3_at_3x2(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x3* result) +void fp32_matrix_product_2x3_at_3x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x3_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 bg_fp32_matrix_product_2x3_at_3x2(const BgFP32Matrix2x3* matrix1, const BgF result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3; } -void bg_fp64_matrix_product_2x3_at_3x2(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x3* result) +void fp64_matrix_product_2x3_at_3x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x3_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 bg_fp64_matrix_product_2x3_at_3x2(const BgFP64Matrix2x3* matrix1, const BgF // ========== Matrix Product 3x2 at 2x3 ========= // -void bg_fp32_matrix_product_3x2_at_2x3(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x2* result) +void fp32_matrix_product_3x2_at_2x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x2_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 bg_fp32_matrix_product_3x2_at_2x3(const BgFP32Matrix3x2* matrix1, const BgF result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; } -void bg_fp64_matrix_product_3x2_at_2x3(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x2* result) +void fp64_matrix_product_3x2_at_2x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x2_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 bg_fp64_matrix_product_3x2_at_2x3(const BgFP64Matrix3x2* matrix1, const BgF // ========== Matrix Product 3x2 at 3x3 ========= // -void bg_fp32_matrix_product_3x2_at_3x3(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x2* result) +void fp32_matrix_product_3x2_at_3x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x2_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 bg_fp32_matrix_product_3x2_at_3x3(const BgFP32Matrix3x2* matrix1, const BgF result->r2c3 = r2c3; } -void bg_fp64_matrix_product_3x2_at_3x3(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x2* result) +void fp64_matrix_product_3x2_at_3x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x2_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 bg_fp64_matrix_product_3x2_at_3x3(const BgFP64Matrix3x2* matrix1, const BgF // ========== Matrix Product 3x3 at 2x3 ========= // -void bg_fp32_matrix_product_3x3_at_2x3(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x3* result) +void fp32_matrix_product_3x3_at_2x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x3_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 bg_fp32_matrix_product_3x3_at_2x3(const BgFP32Matrix3x3* matrix1, const BgF result->r3c2 = r3c2; } -void bg_fp64_matrix_product_3x3_at_2x3(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x3* result) +void fp64_matrix_product_3x3_at_2x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x3_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 bg_fp64_matrix_product_3x3_at_2x3(const BgFP64Matrix3x3* matrix1, const BgF // ========== Matrix Product 3x3 at 3x3 ========= // -void bg_fp32_matrix_product_3x3_at_3x3(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x3* result) +void fp32_matrix_product_3x3_at_3x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x3_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 bg_fp32_matrix_product_3x3_at_3x3(const BgFP32Matrix3x3* matrix1, const BgF result->r3c3 = r3c3; } -void bg_fp64_matrix_product_3x3_at_3x3(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x3* result) +void fp64_matrix_product_3x3_at_3x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x3_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; diff --git a/basic-geometry/matrixes.h b/basic-geometry/matrixes.h index f448770..539cfc8 100644 --- a/basic-geometry/matrixes.h +++ b/basic-geometry/matrixes.h @@ -1,17 +1,17 @@ -#ifndef _GEOMETRY_MATRIX_TYPES_H_ -#define _GEOMETRY_MATRIX_TYPES_H_ +#ifndef _BASIC_GEOMETRY_MATRIX_TYPES_H_ +#define _BASIC_GEOMETRY_MATRIX_TYPES_H_ // ================== Matrix2x2 ================= // typedef struct { float r1c1, r1c2; float r2c1, r2c2; -} BgFP32Matrix2x2; +} fp32_matrix2x2_t; typedef struct { double r1c1, r1c2; double r2c1, r2c2; -} BgFP64Matrix2x2; +} fp64_matrix2x2_t; // ================== Matrix2x3 ================= // @@ -19,25 +19,25 @@ typedef struct { float r1c1, r1c2; float r2c1, r2c2; float r3c1, r3c2; -} BgFP32Matrix2x3; +} fp32_matrix2x3_t; typedef struct { double r1c1, r1c2; double r2c1, r2c2; double r3c1, r3c2; -} BgFP64Matrix2x3; +} fp64_matrix2x3_t; // ================== Matrix3x2 ================= // typedef struct { float r1c1, r1c2, r1c3; float r2c1, r2c2, r2c3; -} BgFP32Matrix3x2; +} fp32_matrix3x2_t; typedef struct { double r1c1, r1c2, r1c3; double r2c1, r2c2, r2c3; -} BgFP64Matrix3x2; +} fp64_matrix3x2_t; // ================== Matrix3x3 ================= // @@ -45,17 +45,17 @@ typedef struct { float r1c1, r1c2, r1c3; float r2c1, r2c2, r2c3; float r3c1, r3c2, r3c3; -} BgFP32Matrix3x3; +} fp32_matrix3x3_t; typedef struct { double r1c1, r1c2, r1c3; double r2c1, r2c2, r2c3; double r3c1, r3c2, r3c3; -} BgFP64Matrix3x3; +} fp64_matrix3x3_t; // ========== Matrix Product 2x2 at 2x2 ========= // -static inline void bg_fp32_matrix_product_2x2_at_2x2(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x2* result) +static inline void fp32_matrix_product_2x2_at_2x2(const fp32_matrix2x2_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x2_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 bg_fp32_matrix_product_2x2_at_2x2(const BgFP32Matrix2x2* matr result->r2c2 = r2c2; } -static inline void bg_fp64_matrix_product_2x2_at_2x2(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x2* result) +static inline void fp64_matrix_product_2x2_at_2x2(const fp64_matrix2x2_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x2_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 bg_fp64_matrix_product_2x2_at_2x2(const BgFP64Matrix2x2* matr // ========== Matrix Product 2x2 at 3x2 ========= // -void bg_fp32_matrix_product_2x2_at_3x2(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x2* result); +void fp32_matrix_product_2x2_at_3x2(const fp32_matrix2x2_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x2_t* result); -void bg_fp64_matrix_product_2x2_at_3x2(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x2* result); +void fp64_matrix_product_2x2_at_3x2(const fp64_matrix2x2_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x2_t* result); // ========== Matrix Product 2x3 at 2x2 ========= // -void bg_fp32_matrix_product_2x3_at_2x2(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x3* result); +void fp32_matrix_product_2x3_at_2x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x3_t* result); -void bg_fp64_matrix_product_2x3_at_2x2(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x3* result); +void fp64_matrix_product_2x3_at_2x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x3_t* result); // ========== Matrix Product 2x3 at 3x2 ========= // -void bg_fp32_matrix_product_2x3_at_3x2(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x3* result); +void fp32_matrix_product_2x3_at_3x2(const fp32_matrix2x3_t* matrix1, const fp32_matrix3x2_t* matrix2, fp32_matrix3x3_t* result); -void bg_fp64_matrix_product_2x3_at_3x2(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x3* result); +void fp64_matrix_product_2x3_at_3x2(const fp64_matrix2x3_t* matrix1, const fp64_matrix3x2_t* matrix2, fp64_matrix3x3_t* result); // ========== Matrix Product 3x2 at 2x3 ========= // -void bg_fp32_matrix_product_3x2_at_2x3(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x2* result); +void fp32_matrix_product_3x2_at_2x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x2_t* result); -void bg_fp64_matrix_product_3x2_at_2x3(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x2* result); +void fp64_matrix_product_3x2_at_2x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x2_t* result); // ========== Matrix Product 3x2 at 3x3 ========= // -void bg_fp32_matrix_product_3x2_at_3x3(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x2* result); +void fp32_matrix_product_3x2_at_3x3(const fp32_matrix3x2_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x2_t* result); -void bg_fp64_matrix_product_3x2_at_3x3(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x2* result); +void fp64_matrix_product_3x2_at_3x3(const fp64_matrix3x2_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x2_t* result); // ========== Matrix Product 3x3 at 2x3 ========= // -void bg_fp32_matrix_product_3x3_at_2x3(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x3* result); +void fp32_matrix_product_3x3_at_2x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix2x3_t* matrix2, fp32_matrix2x3_t* result); -void bg_fp64_matrix_product_3x3_at_2x3(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x3* result); +void fp64_matrix_product_3x3_at_2x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix2x3_t* matrix2, fp64_matrix2x3_t* result); // ========== Matrix Product 3x3 at 3x3 ========= // -void bg_fp32_matrix_product_3x3_at_3x3(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x3* result); +void fp32_matrix_product_3x3_at_3x3(const fp32_matrix3x3_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x3_t* result); -void bg_fp64_matrix_product_3x3_at_3x3(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x3* result); +void fp64_matrix_product_3x3_at_3x3(const fp64_matrix3x3_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x3_t* result); #endif // _GEOMETRY_MATRIX_TYPES_H_ diff --git a/basic-geometry/quaternion.h b/basic-geometry/quaternion.h index 49f0b05..8f1f53e 100644 --- a/basic-geometry/quaternion.h +++ b/basic-geometry/quaternion.h @@ -1,5 +1,5 @@ -#ifndef _GEOMETRY_QUATERNION_H_ -#define _GEOMETRY_QUATERNION_H_ +#ifndef _BASIC_GEOMETRY_QUATERNION_H_ +#define _BASIC_GEOMETRY_QUATERNION_H_ #include @@ -9,15 +9,15 @@ typedef struct { float s0, x1, x2, x3; -} BgFP32Quaternion; +} fp32_quaternion_t; typedef struct { double s0, x1, x2, x3; -} BgFP64Quaternion; +} fp64_quaternion_t; // ==================== Reset =================== // -static inline void bg_fp32_quaternion_reset(BgFP32Quaternion * quaternion) +static inline void fp32_quaternion_reset(fp32_quaternion_t * quaternion) { quaternion->s0 = 0.0f; quaternion->x1 = 0.0f; @@ -25,7 +25,7 @@ static inline void bg_fp32_quaternion_reset(BgFP32Quaternion * quaternion) quaternion->x3 = 0.0f; } -static inline void bg_fp64_quaternion_reset(BgFP64Quaternion * quaternion) +static inline void fp64_quaternion_reset(fp64_quaternion_t * quaternion) { quaternion->s0 = 0.0; quaternion->x1 = 0.0; @@ -35,7 +35,7 @@ static inline void bg_fp64_quaternion_reset(BgFP64Quaternion * quaternion) // ================== Set Unit ================== // -static inline void bg_fp32_quaternion_set_identity(BgFP32Quaternion * quaternion) +static inline void fp32_quaternion_set_identity(fp32_quaternion_t * quaternion) { quaternion->s0 = 1.0f; quaternion->x1 = 0.0f; @@ -43,7 +43,7 @@ static inline void bg_fp32_quaternion_set_identity(BgFP32Quaternion * quaternion quaternion->x3 = 0.0f; } -static inline void bg_fp64_quaternion_set_identity(BgFP64Quaternion * quaternion) +static inline void fp64_quaternion_set_identity(fp64_quaternion_t * quaternion) { quaternion->s0 = 1.0; quaternion->x1 = 0.0; @@ -53,7 +53,7 @@ static inline void bg_fp64_quaternion_set_identity(BgFP64Quaternion * quaternion // ==================== Set ===================== // -static inline void bg_fp32_quaternion_set_values(const float s0, const float x1, const float x2, const float x3, BgFP32Quaternion * quaternion) +static inline void fp32_quaternion_set_values(const float s0, const float x1, const float x2, const float x3, fp32_quaternion_t * quaternion) { quaternion->s0 = s0; quaternion->x1 = x1; @@ -61,7 +61,7 @@ static inline void bg_fp32_quaternion_set_values(const float s0, const float x1, quaternion->x3 = x3; } -static inline void bg_fp64_quaternion_set_values(const double s0, const double x1, const double x2, const double x3, BgFP64Quaternion * quaternion) +static inline void fp64_quaternion_set_values(const double s0, const double x1, const double x2, const double x3, fp64_quaternion_t * quaternion) { quaternion->s0 = s0; quaternion->x1 = x1; @@ -71,7 +71,7 @@ static inline void bg_fp64_quaternion_set_values(const double s0, const double x // ==================== Copy ==================== // -static inline void bg_fp32_quaternion_copy(const BgFP32Quaternion* from, BgFP32Quaternion* to) +static inline void fp32_quaternion_copy(const fp32_quaternion_t* from, fp32_quaternion_t* to) { to->s0 = from->s0; to->x1 = from->x1; @@ -79,7 +79,7 @@ static inline void bg_fp32_quaternion_copy(const BgFP32Quaternion* from, BgFP32Q to->x3 = from->x3; } -static inline void bg_fp64_quaternion_copy(const BgFP64Quaternion* from, BgFP64Quaternion* to) +static inline void fp64_quaternion_copy(const fp64_quaternion_t* from, fp64_quaternion_t* to) { to->s0 = from->s0; to->x1 = from->x1; @@ -89,7 +89,7 @@ static inline void bg_fp64_quaternion_copy(const BgFP64Quaternion* from, BgFP64Q // ==================== Swap ==================== // -static inline void bg_fp32_quaternion_swap(BgFP32Quaternion* quarternion1, BgFP32Quaternion* quarternion2) +static inline void fp32_quaternion_swap(fp32_quaternion_t* quarternion1, fp32_quaternion_t* quarternion2) { const float s0 = quarternion2->s0; const float x1 = quarternion2->x1; @@ -107,7 +107,7 @@ static inline void bg_fp32_quaternion_swap(BgFP32Quaternion* quarternion1, BgFP3 quarternion1->x3 = x3; } -static inline void bg_fp64_quaternion_swap(BgFP64Quaternion* quarternion1, BgFP64Quaternion* quarternion2) +static inline void fp64_quaternion_swap(fp64_quaternion_t* quarternion1, fp64_quaternion_t* quarternion2) { const double s0 = quarternion2->s0; const double x1 = quarternion2->x1; @@ -127,7 +127,7 @@ static inline void bg_fp64_quaternion_swap(BgFP64Quaternion* quarternion1, BgFP6 // ============= Copy to twin type ============== // -static inline void bg_fp32_quaternion_set_from_fp64(const BgFP64Quaternion* quaternion, BgFP32Quaternion* result) +static inline void fp32_quaternion_set_from_fp64(const fp64_quaternion_t* quaternion, fp32_quaternion_t* result) { result->s0 = (float) quaternion->s0; result->x1 = (float) quaternion->x1; @@ -135,7 +135,7 @@ static inline void bg_fp32_quaternion_set_from_fp64(const BgFP64Quaternion* quat result->x3 = (float) quaternion->x3; } -static inline void bg_fp64_quaternion_set_from_fp32(const BgFP32Quaternion* quaternion, BgFP64Quaternion* result) +static inline void fp64_quaternion_set_from_fp32(const fp32_quaternion_t* quaternion, fp64_quaternion_t* result) { result->s0 = quaternion->s0; result->x1 = quaternion->x1; @@ -145,14 +145,14 @@ static inline void bg_fp64_quaternion_set_from_fp32(const BgFP32Quaternion* quat // ================= Inversion ================== // -static inline void bg_fp32_quaternion_conjugate(BgFP32Quaternion* quaternion) +static inline void fp32_quaternion_conjugate(fp32_quaternion_t* quaternion) { quaternion->x1 = -quaternion->x1; quaternion->x2 = -quaternion->x2; quaternion->x3 = -quaternion->x3; } -static inline void bg_fp64_quaternion_conjugate(BgFP64Quaternion* quaternion) +static inline void fp64_quaternion_conjugate(fp64_quaternion_t* quaternion) { quaternion->x1 = -quaternion->x1; quaternion->x2 = -quaternion->x2; @@ -161,7 +161,7 @@ static inline void bg_fp64_quaternion_conjugate(BgFP64Quaternion* quaternion) // ================ Set Conjugate =============== // -static inline void bg_fp32_quaternion_set_conjugate(const BgFP32Quaternion* quaternion, BgFP32Quaternion* result) +static inline void fp32_quaternion_set_conjugate(const fp32_quaternion_t* quaternion, fp32_quaternion_t* result) { result->s0 = quaternion->s0; result->x1 = -quaternion->x1; @@ -169,7 +169,7 @@ static inline void bg_fp32_quaternion_set_conjugate(const BgFP32Quaternion* quat result->x3 = -quaternion->x3; } -static inline void bg_fp64_quaternion_set_conjugate(const BgFP64Quaternion* quaternion, BgFP64Quaternion* result) +static inline void fp64_quaternion_set_conjugate(const fp64_quaternion_t* quaternion, fp64_quaternion_t* result) { result->s0 = quaternion->s0; result->x1 = -quaternion->x1; @@ -179,7 +179,7 @@ static inline void bg_fp64_quaternion_set_conjugate(const BgFP64Quaternion* quat // ================ Set Conjugate =============== // -static inline void bg_fp32_quaternion_set_conjugate_fp64(const BgFP64Quaternion* quaternion, BgFP32Quaternion* result) +static inline void fp32_quaternion_set_conjugate_fp64(const fp64_quaternion_t* quaternion, fp32_quaternion_t* result) { result->s0 = (float) quaternion->s0; result->x1 = (float) -quaternion->x1; @@ -187,7 +187,7 @@ static inline void bg_fp32_quaternion_set_conjugate_fp64(const BgFP64Quaternion* result->x3 = (float) -quaternion->x3; } -static inline void bg_fp64_quaternion_set_conjugate_fp32(const BgFP32Quaternion* quaternion, BgFP64Quaternion* result) +static inline void fp64_quaternion_set_conjugate_fp32(const fp32_quaternion_t* quaternion, fp64_quaternion_t* result) { result->s0 = quaternion->s0; result->x1 = -quaternion->x1; @@ -197,40 +197,40 @@ static inline void bg_fp64_quaternion_set_conjugate_fp32(const BgFP32Quaternion* // ============= Get Square Modulus ============= // -static inline float bg_fp32_quaternion_get_square_modulus(const BgFP32Quaternion* quaternion) +static inline float fp32_quaternion_get_square_modulus(const fp32_quaternion_t* quaternion) { return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3); } -static inline double bg_fp64_quaternion_get_square_modulus(const BgFP64Quaternion* quaternion) +static inline double fp64_quaternion_get_square_modulus(const fp64_quaternion_t* quaternion) { return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3); } // ================ Get Modulus ================= // -static inline float bg_fp32_quaternion_get_modulus(const BgFP32Quaternion* quaternion) +static inline float fp32_quaternion_get_modulus(const fp32_quaternion_t* quaternion) { - return sqrtf(bg_fp32_quaternion_get_square_modulus(quaternion)); + return sqrtf(fp32_quaternion_get_square_modulus(quaternion)); } -static inline double bg_fp64_quaternion_get_modulus(const BgFP64Quaternion* quaternion) +static inline double fp64_quaternion_get_modulus(const fp64_quaternion_t* quaternion) { - return sqrt(bg_fp64_quaternion_get_square_modulus(quaternion)); + return sqrt(fp64_quaternion_get_square_modulus(quaternion)); } // =============== Normalization ================ // -static inline int bg_fp32_quaternion_normalize(BgFP32Quaternion* quaternion) +static inline int fp32_quaternion_normalize(fp32_quaternion_t* quaternion) { - const float square_modulus = bg_fp32_quaternion_get_square_modulus(quaternion); + const float square_modulus = fp32_quaternion_get_square_modulus(quaternion); - if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) { + if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { return 1; } - if (square_modulus <= BG_FP32_SQUARE_EPSYLON) { - bg_fp32_quaternion_reset(quaternion); + if (square_modulus <= FP32_SQUARE_EPSYLON) { + fp32_quaternion_reset(quaternion); return 0; } @@ -244,16 +244,16 @@ static inline int bg_fp32_quaternion_normalize(BgFP32Quaternion* quaternion) return 1; } -static inline int bg_fp64_quaternion_normalize(BgFP64Quaternion* quaternion) +static inline int fp64_quaternion_normalize(fp64_quaternion_t* quaternion) { - const double square_modulus = bg_fp64_quaternion_get_square_modulus(quaternion); + const double square_modulus = fp64_quaternion_get_square_modulus(quaternion); - if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) { + if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { return 1; } - if (square_modulus <= BG_FP32_SQUARE_EPSYLON) { - bg_fp64_quaternion_reset(quaternion); + if (square_modulus <= FP32_SQUARE_EPSYLON) { + fp64_quaternion_reset(quaternion); return 0; } @@ -269,7 +269,7 @@ static inline int bg_fp64_quaternion_normalize(BgFP64Quaternion* quaternion) // ============ Make Rotation Matrix ============ // -static inline void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix) +static inline void fp32_quaternion_get_rotation_matrix(const fp32_quaternion_t* quaternion, fp32_matrix3x3_t* matrix) { const float s0s0 = quaternion->s0 * quaternion->s0; const float x1x1 = quaternion->x1 * quaternion->x1; @@ -278,9 +278,9 @@ static inline void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); - if (-BG_FP32_EPSYLON <= square_modulus && square_modulus <= BG_FP32_EPSYLON) + if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON) { - bg_fp32_matrix3x3_set_to_identity(matrix); + fp32_matrix3x3_set_to_identity(matrix); return; } @@ -307,7 +307,7 @@ static inline void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion matrix->r1c3 = corrector2 * (x1x3 + s0x2); } -static inline void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix) +static inline void fp64_quaternion_get_rotation_matrix(const fp64_quaternion_t* quaternion, fp64_matrix3x3_t* matrix) { const double s0s0 = quaternion->s0 * quaternion->s0; const double x1x1 = quaternion->x1 * quaternion->x1; @@ -316,9 +316,9 @@ static inline void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); - if (-BG_FP64_EPSYLON <= square_modulus && square_modulus <= BG_FP64_EPSYLON) + if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON) { - bg_fp64_matrix3x3_set_to_identity(matrix); + fp64_matrix3x3_set_to_identity(matrix); return; } @@ -347,7 +347,7 @@ static inline void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion // ============ Make Reverse Matrix ============= // -static inline void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix) +static inline void fp32_quaternion_get_reverse_matrix(const fp32_quaternion_t* quaternion, fp32_matrix3x3_t* matrix) { const float s0s0 = quaternion->s0 * quaternion->s0; const float x1x1 = quaternion->x1 * quaternion->x1; @@ -356,9 +356,9 @@ static inline void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); - if (-BG_FP32_EPSYLON <= square_modulus && square_modulus <= BG_FP32_EPSYLON) + if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON) { - bg_fp32_matrix3x3_set_to_identity(matrix); + fp32_matrix3x3_set_to_identity(matrix); return; } @@ -385,7 +385,7 @@ static inline void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* matrix->r1c3 = corrector2 * (x1x3 - s0x2); } -static inline void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix) +static inline void fp64_quaternion_get_reverse_matrix(const fp64_quaternion_t* quaternion, fp64_matrix3x3_t* matrix) { const double s0s0 = quaternion->s0 * quaternion->s0; const double x1x1 = quaternion->x1 * quaternion->x1; @@ -394,9 +394,9 @@ static inline void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); - if (-BG_FP64_EPSYLON <= square_modulus && square_modulus <= BG_FP64_EPSYLON) + if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON) { - bg_fp64_matrix3x3_set_to_identity(matrix); + fp64_matrix3x3_set_to_identity(matrix); return; } @@ -425,7 +425,7 @@ static inline void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* // ==================== Add ===================== // -static inline void bg_fp32_quaternion_add(const BgFP32Quaternion * quaternion1, const BgFP32Quaternion * quaternion2, BgFP32Quaternion * result) +static inline void fp32_quaternion_add(const fp32_quaternion_t * quaternion1, const fp32_quaternion_t * quaternion2, fp32_quaternion_t * result) { result->s0 = quaternion1->s0 + quaternion2->s0; result->x1 = quaternion1->x1 + quaternion2->x1; @@ -433,7 +433,7 @@ static inline void bg_fp32_quaternion_add(const BgFP32Quaternion * quaternion1, result->x3 = quaternion1->x3 + quaternion2->x3; } -static inline void bg_fp64_quaternion_add(const BgFP64Quaternion * quaternion1, const BgFP64Quaternion * quaternion2, BgFP64Quaternion * result) +static inline void fp64_quaternion_add(const fp64_quaternion_t * quaternion1, const fp64_quaternion_t * quaternion2, fp64_quaternion_t * result) { result->s0 = quaternion1->s0 + quaternion2->s0; result->x1 = quaternion1->x1 + quaternion2->x1; @@ -443,7 +443,7 @@ static inline void bg_fp64_quaternion_add(const BgFP64Quaternion * quaternion1, // ================== Subtract ================== // -static inline void bg_fp32_quaternion_subtract(const BgFP32Quaternion * minuend, const BgFP32Quaternion * subtrahend, BgFP32Quaternion * difference) +static inline void fp32_quaternion_subtract(const fp32_quaternion_t * minuend, const fp32_quaternion_t * subtrahend, fp32_quaternion_t * difference) { difference->s0 = minuend->s0 - subtrahend->s0; difference->x1 = minuend->x1 - subtrahend->x1; @@ -451,7 +451,7 @@ static inline void bg_fp32_quaternion_subtract(const BgFP32Quaternion * minuend, difference->x3 = minuend->x3 - subtrahend->x3; } -static inline void bg_fp64_quaternion_subtract(const BgFP64Quaternion * minuend, const BgFP64Quaternion * subtrahend, BgFP64Quaternion * difference) +static inline void fp64_quaternion_subtract(const fp64_quaternion_t * minuend, const fp64_quaternion_t * subtrahend, fp64_quaternion_t * difference) { difference->s0 = minuend->s0 - subtrahend->s0; difference->x1 = minuend->x1 - subtrahend->x1; @@ -461,7 +461,7 @@ static inline void bg_fp64_quaternion_subtract(const BgFP64Quaternion * minuend, // =============== Multiplication =============== // -static inline void bg_fp32_quaternion_multiply(const BgFP32Quaternion* multiplicand, const float multipier, BgFP32Quaternion* product) +static inline void fp32_quaternion_multiply(const fp32_quaternion_t* multiplicand, const float multipier, fp32_quaternion_t* product) { product->s0 = multiplicand->s0 * multipier; product->x1 = multiplicand->x1 * multipier; @@ -469,7 +469,7 @@ static inline void bg_fp32_quaternion_multiply(const BgFP32Quaternion* multiplic product->x3 = multiplicand->x3 * multipier; } -static inline void bg_fp64_quaternion_multiply(const BgFP64Quaternion* multiplicand, const double multipier, BgFP64Quaternion* product) +static inline void fp64_quaternion_multiply(const fp64_quaternion_t* multiplicand, const double multipier, fp64_quaternion_t* product) { product->s0 = multiplicand->s0 * multipier; product->x1 = multiplicand->x1 * multipier; @@ -479,19 +479,19 @@ static inline void bg_fp64_quaternion_multiply(const BgFP64Quaternion* multiplic // ================== Division ================== // -static inline void bg_fp32_quaternion_divide(const BgFP32Quaternion* dividend, const float divisor, BgFP32Quaternion* quotient) +static inline void fp32_quaternion_divide(const fp32_quaternion_t* dividend, const float divisor, fp32_quaternion_t* quotient) { - bg_fp32_quaternion_multiply(dividend, 1.0f / divisor, quotient); + fp32_quaternion_multiply(dividend, 1.0f / divisor, quotient); } -static inline void bg_fp64_quaternion_divide(const BgFP64Quaternion* dividend, const double divisor, BgFP64Quaternion* quotient) +static inline void fp64_quaternion_divide(const fp64_quaternion_t* dividend, const double divisor, fp64_quaternion_t* quotient) { - bg_fp64_quaternion_multiply(dividend, 1.0 / divisor, quotient); + fp64_quaternion_multiply(dividend, 1.0 / divisor, quotient); } // ================== Product =================== // -static inline void bg_fp32_quaternion_get_product(const BgFP32Quaternion* left, const BgFP32Quaternion* right, BgFP32Quaternion* product) +static inline void fp32_quaternion_get_product(const fp32_quaternion_t* left, const fp32_quaternion_t* right, fp32_quaternion_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 bg_fp32_quaternion_get_product(const BgFP32Quaternion* left, product->x3 = x3; } -static inline void bg_fp64_quaternion_get_product(const BgFP64Quaternion* left, const BgFP64Quaternion* right, BgFP64Quaternion* product) +static inline void fp64_quaternion_get_product(const fp64_quaternion_t* left, const fp64_quaternion_t* right, fp64_quaternion_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); diff --git a/basic-geometry/rotation3.c b/basic-geometry/rotation3.c index e550206..033d875 100644 --- a/basic-geometry/rotation3.c +++ b/basic-geometry/rotation3.c @@ -1,5 +1,5 @@ #include "rotation3.h" -const BgFP32Rotation3 BG_FP32_IDLE_ROTATION3 = { {0.0f, 0.0f, 0.0f}, 0.0f}; +const fp32_rotation3_t FP32_IDLE_ROTATION3 = { {0.0f, 0.0f, 0.0f}, 0.0f}; -const BgFP64Rotation3 BG_FP64_IDLE_ROTATION3 = { {0.0, 0.0, 0.0}, 0.0}; +const fp64_rotation3_t FP64_IDLE_ROTATION3 = { {0.0, 0.0, 0.0}, 0.0}; diff --git a/basic-geometry/rotation3.h b/basic-geometry/rotation3.h index 0733e58..5f31c07 100644 --- a/basic-geometry/rotation3.h +++ b/basic-geometry/rotation3.h @@ -1,27 +1,27 @@ -#ifndef _GEOMETRY_ROTATION3_H_ -#define _GEOMETRY_ROTATION3_H_ +#ifndef _BASIC_GEOMETRY_ROTATION3_H_ +#define _BASIC_GEOMETRY_ROTATION3_H_ #include "basis.h" #include "angle.h" #include "vector3.h" typedef struct { - BgFP32Vector3 axis; + fp32_vector3_t axis; float radians; -} BgFP32Rotation3; +} fp32_rotation3_t; typedef struct { - BgFP64Vector3 axis; + fp64_vector3_t axis; double radians; -} BgFP64Rotation3; +} fp64_rotation3_t; -extern const BgFP32Rotation3 BG_FP32_IDLE_ROTATION3; +extern const fp32_rotation3_t FP32_IDLE_ROTATION3; -extern const BgFP64Rotation3 BG_FP64_IDLE_ROTATION3; +extern const fp64_rotation3_t FP64_IDLE_ROTATION3; // =================== Reset ==================== // -static inline void bg_fp32_rotation_reset(BgFP32Rotation3* rotation) +static inline void fp32_rotation_reset(fp32_rotation3_t* rotation) { rotation->axis.x1 = 0.0f; rotation->axis.x2 = 0.0f; @@ -30,7 +30,7 @@ static inline void bg_fp32_rotation_reset(BgFP32Rotation3* rotation) rotation->radians = 0.0f; } -static inline void bg_fp64_rotation_reset(BgFP64Rotation3* rotation) +static inline void fp64_rotation_reset(fp64_rotation3_t* rotation) { rotation->axis.x1 = 0.0; rotation->axis.x2 = 0.0; @@ -41,14 +41,14 @@ static inline void bg_fp64_rotation_reset(BgFP64Rotation3* rotation) // ==================== Make ==================== // -static inline void bg_fp32_rotation_set_values(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Rotation3* rotation) +static inline void fp32_rotation_set_values(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, fp32_rotation3_t* rotation) { rotation->axis.x1 = x1; rotation->axis.x2 = x2; rotation->axis.x3 = x3; - if (bg_fp32_vector3_normalize(&rotation->axis)) { - rotation->radians = bg_fp32_angle_to_radians(angle, unit); + if (fp32_vector3_normalize(&rotation->axis)) { + rotation->radians = fp32_angle_to_radians(angle, unit); } else { rotation->radians = 0.0f; @@ -56,42 +56,42 @@ static inline void bg_fp32_rotation_set_values(const float x1, const float x2, c } -static inline void bg_fp64_rotation_set_values(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Rotation3* rotation) +static inline void fp64_rotation_set_values(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, fp64_rotation3_t* rotation) { rotation->axis.x1 = x1; rotation->axis.x2 = x2; rotation->axis.x3 = x3; - if (bg_fp64_vector3_normalize(&rotation->axis)) { - rotation->radians = bg_fp64_angle_to_radians(angle, unit); + if (fp64_vector3_normalize(&rotation->axis)) { + rotation->radians = fp64_angle_to_radians(angle, unit); } else { rotation->radians = 0.0; } } -static inline void bg_fp32_rotation_set_with_axis(const BgFP32Vector3* axis, const float angle, const angle_unit_t unit, BgFP32Rotation3* rotation) +static inline void fp32_rotation_set_with_axis(const fp32_vector3_t* axis, const float angle, const angle_unit_t unit, fp32_rotation3_t* rotation) { rotation->axis.x1 = axis->x1; rotation->axis.x2 = axis->x2; rotation->axis.x3 = axis->x3; - if (bg_fp32_vector3_normalize(&rotation->axis)) { - rotation->radians = bg_fp32_angle_to_radians(angle, unit); + if (fp32_vector3_normalize(&rotation->axis)) { + rotation->radians = fp32_angle_to_radians(angle, unit); } else { rotation->radians = 0.0f; } } -static inline void bg_fp64_rotation_set_with_axis(const BgFP64Vector3* axis, const double angle, const angle_unit_t unit, BgFP64Rotation3* rotation) +static inline void fp64_rotation_set_with_axis(const fp64_vector3_t* axis, const double angle, const angle_unit_t unit, fp64_rotation3_t* rotation) { rotation->axis.x1 = axis->x1; rotation->axis.x2 = axis->x2; rotation->axis.x3 = axis->x3; - if (bg_fp64_vector3_normalize(&rotation->axis)) { - rotation->radians = bg_fp64_angle_to_radians(angle, unit); + if (fp64_vector3_normalize(&rotation->axis)) { + rotation->radians = fp64_angle_to_radians(angle, unit); } else { rotation->radians = 0.0; diff --git a/basic-geometry/tangent.c b/basic-geometry/tangent.c index 3e7f50c..cc76b2c 100644 --- a/basic-geometry/tangent.c +++ b/basic-geometry/tangent.c @@ -1,5 +1,5 @@ #include "tangent.h" -const BgFP32Tangent BG_FP32_IDLE_TANGENT = { 1.0f, 0.0f }; +const fp32_tangent_t FP32_IDLE_TANGENT = { 1.0f, 0.0f }; -const BgFP64Tangent BG_FP64_IDLE_TANGENT = { 1.0, 0.0 }; +const fp64_tangent_t FP64_IDLE_TANGENT = { 1.0, 0.0 }; diff --git a/basic-geometry/tangent.h b/basic-geometry/tangent.h index 95c0388..c1b009b 100644 --- a/basic-geometry/tangent.h +++ b/basic-geometry/tangent.h @@ -1,5 +1,5 @@ -#ifndef _GEOMETRY_TANGENT_H_ -#define _GEOMETRY_TANGENT_H_ +#ifndef _BASIC_GEOMETRY_TANGENT_H_ +#define _BASIC_GEOMETRY_TANGENT_H_ #include @@ -13,12 +13,12 @@ typedef struct { const float cos, sin; -} BgFP32Tangent; +} fp32_tangent_t; typedef struct { const double cos, sin; -} BgFP64Tangent; +} fp64_tangent_t; // ================= Dark Twins ================= // @@ -32,12 +32,12 @@ typedef struct { // ================= Constants ================== // -extern const BgFP32Tangent BG_FP32_IDLE_TANGENT; -extern const BgFP64Tangent BG_FP64_IDLE_TANGENT; +extern const fp32_tangent_t FP32_IDLE_TANGENT; +extern const fp64_tangent_t FP64_IDLE_TANGENT; // =================== Reset ==================== // -static inline void bg_fp32_tangent_reset(BgFP32Tangent* tangent) +static inline void fp32_tangent_reset(fp32_tangent_t* tangent) { __BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)tangent; @@ -45,7 +45,7 @@ static inline void bg_fp32_tangent_reset(BgFP32Tangent* tangent) twin->sin = 0.0f; } -static inline void bg_fp64_tangent_reset(BgFP64Tangent* tangent) +static inline void fp64_tangent_reset(fp64_tangent_t* tangent) { __BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)tangent; @@ -55,7 +55,7 @@ static inline void bg_fp64_tangent_reset(BgFP64Tangent* tangent) // ==================== Set ===================== // -static inline void bg_fp32_tangent_set_values(const float x1, const float x2, BgFP32Tangent* tangent) +static inline void fp32_tangent_set_values(const float x1, const float x2, fp32_tangent_t* tangent) { const float square_module = x1 * x1 + x2 * x2; @@ -64,11 +64,11 @@ static inline void bg_fp32_tangent_set_values(const float x1, const float x2, Bg twin->cos = x1; twin->sin = x2; - if (1.0f - BG_FP32_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP32_TWO_EPSYLON) { + if (1.0f - FP32_TWO_EPSYLON <= square_module && square_module <= 1.0f + FP32_TWO_EPSYLON) { return; } - if (square_module <= BG_FP32_SQUARE_EPSYLON) { + if (square_module <= FP32_SQUARE_EPSYLON) { twin->cos = 1.0f; twin->sin = 0.0f; return; @@ -80,7 +80,7 @@ static inline void bg_fp32_tangent_set_values(const float x1, const float x2, Bg twin->sin = x2 * multiplier; } -static inline void bg_fp64_tangent_set_values(const double x1, const double x2, BgFP64Tangent* tangent) +static inline void fp64_tangent_set_values(const double x1, const double x2, fp64_tangent_t* tangent) { const double square_module = x1 * x1 + x2 * x2; @@ -89,11 +89,11 @@ static inline void bg_fp64_tangent_set_values(const double x1, const double x2, twin->cos = x1; twin->sin = x2; - if (1.0 - BG_FP64_TWO_EPSYLON <= square_module && square_module <= 1.0 + BG_FP64_TWO_EPSYLON) { + if (1.0 - FP64_TWO_EPSYLON <= square_module && square_module <= 1.0 + FP64_TWO_EPSYLON) { return; } - if (square_module <= BG_FP64_SQUARE_EPSYLON) { + if (square_module <= FP64_SQUARE_EPSYLON) { twin->cos = 1.0; twin->sin = 0.0; return; @@ -107,7 +107,7 @@ static inline void bg_fp64_tangent_set_values(const double x1, const double x2, // ==================== Copy ==================== // -static inline void bg_fp32_tangent_copy(const BgFP32Tangent* from, BgFP32Tangent* to) +static inline void fp32_tangent_copy(const fp32_tangent_t* from, fp32_tangent_t* to) { __BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)to; @@ -115,7 +115,7 @@ static inline void bg_fp32_tangent_copy(const BgFP32Tangent* from, BgFP32Tangent twin->sin = from->sin; } -static inline void bg_fp64_tangent_copy(const BgFP64Tangent* from, BgFP64Tangent* to) +static inline void fp64_tangent_copy(const fp64_tangent_t* from, fp64_tangent_t* to) { __BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)to; @@ -125,7 +125,7 @@ static inline void bg_fp64_tangent_copy(const BgFP64Tangent* from, BgFP64Tangent // ==================== Swap ==================== // -static inline void bg_fp32_tangent_swap(BgFP32Tangent* tangent1, BgFP32Tangent* tangent2) +static inline void fp32_tangent_swap(fp32_tangent_t* tangent1, fp32_tangent_t* tangent2) { const float cos = tangent1->cos; const float sin = tangent1->sin; @@ -141,7 +141,7 @@ static inline void bg_fp32_tangent_swap(BgFP32Tangent* tangent1, BgFP32Tangent* twin2->sin = sin; } -static inline void bg_fp64_tangent_swap(BgFP64Tangent* tangent1, BgFP64Tangent* tangent2) +static inline void fp64_tangent_swap(fp64_tangent_t* tangent1, fp64_tangent_t* tangent2) { const double cos = tangent1->cos; const double sin = tangent1->sin; @@ -159,9 +159,9 @@ static inline void bg_fp64_tangent_swap(BgFP64Tangent* tangent1, BgFP64Tangent* // ================== Set Turn ================== // -static inline void bg_fp32_tangent_set_turn(const float angle, const angle_unit_t unit, BgFP32Tangent* tangent) +static inline void fp32_tangent_set_turn(const float angle, const angle_unit_t unit, fp32_tangent_t* tangent) { - const float radians = bg_fp32_angle_to_radians(angle, unit); + const float radians = fp32_angle_to_radians(angle, unit); __BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)tangent; @@ -169,9 +169,9 @@ static inline void bg_fp32_tangent_set_turn(const float angle, const angle_unit_ twin->sin = sinf(radians); } -static inline void bg_fp64_tangent_set_turn(const double angle, const angle_unit_t unit, BgFP64Tangent* tangent) +static inline void fp64_tangent_set_turn(const double angle, const angle_unit_t unit, fp64_tangent_t* tangent) { - const double radians = bg_fp64_angle_to_radians(angle, unit); + const double radians = fp64_angle_to_radians(angle, unit); __BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)tangent; @@ -181,31 +181,31 @@ static inline void bg_fp64_tangent_set_turn(const double angle, const angle_unit // ============= Copy to twin type ============== // -static inline void bg_fp32_tangent_set_from_fp64(const BgFP64Tangent* from, BgFP32Tangent* to) +static inline void fp32_tangent_set_from_fp64(const fp64_tangent_t* from, fp32_tangent_t* to) { - bg_fp32_tangent_set_values((float)from->cos, (float)from->sin, to); + fp32_tangent_set_values((float)from->cos, (float)from->sin, to); } -static inline void bg_fp64_tangent_set_from_fp32(const BgFP32Tangent* from, BgFP64Tangent* to) +static inline void fp64_tangent_set_from_fp32(const fp32_tangent_t* from, fp64_tangent_t* to) { - bg_fp64_tangent_set_values((double)from->cos, (double)from->sin, to); + fp64_tangent_set_values((double)from->cos, (double)from->sin, to); } // ================= Inversion ================== // -static inline void bg_fp32_tangent_invert(BgFP32Tangent* tangent) +static inline void fp32_tangent_invert(fp32_tangent_t* tangent) { ((__BgFP32DarkTwinTangent*)tangent)->sin = -tangent->sin; } -static inline void bg_fp64_tangent_invert(BgFP64Tangent* tangent) +static inline void fp64_tangent_invert(fp64_tangent_t* tangent) { ((__BgFP64DarkTwinTangent*)tangent)->sin = -tangent->sin; } // ================ Set Inverted ================ // -static inline void bg_fp32_tangent_set_inverted(const BgFP32Tangent* tangent, BgFP32Tangent* result) +static inline void fp32_tangent_set_inverted(const fp32_tangent_t* tangent, fp32_tangent_t* result) { __BgFP32DarkTwinTangent* twin = (__BgFP32DarkTwinTangent*)result; @@ -213,7 +213,7 @@ static inline void bg_fp32_tangent_set_inverted(const BgFP32Tangent* tangent, Bg twin->sin = -tangent->sin; } -static inline void bg_fp64_tangent_set_inverted(const BgFP64Tangent* tangent, BgFP64Tangent* result) +static inline void fp64_tangent_set_inverted(const fp64_tangent_t* tangent, fp64_tangent_t* result) { __BgFP64DarkTwinTangent* twin = (__BgFP64DarkTwinTangent*)result; @@ -223,7 +223,7 @@ static inline void bg_fp64_tangent_set_inverted(const BgFP64Tangent* tangent, Bg // ============== Rotation Matrix =============== // -static inline void bg_fp32_tangent_make_rotation_matrix(const BgFP32Tangent* tangent, BgFP32Matrix2x2* matrix) +static inline void fp32_tangent_make_rotation_matrix(const fp32_tangent_t* tangent, fp32_matrix2x2_t* matrix) { matrix->r1c1 = tangent->cos; matrix->r1c2 = -tangent->sin; @@ -231,7 +231,7 @@ static inline void bg_fp32_tangent_make_rotation_matrix(const BgFP32Tangent* tan matrix->r2c2 = tangent->cos; } -static inline void bg_fp64_tangent_make_rotation_matrix(const BgFP64Tangent* tangent, BgFP64Matrix2x2* matrix) +static inline void fp64_tangent_make_rotation_matrix(const fp64_tangent_t* tangent, fp64_matrix2x2_t* matrix) { matrix->r1c1 = tangent->cos; matrix->r1c2 = -tangent->sin; @@ -241,7 +241,7 @@ static inline void bg_fp64_tangent_make_rotation_matrix(const BgFP64Tangent* tan // ============== Reverse Matrix ================ // -static inline void bg_fp32_tangent_make_reverse_matrix(const BgFP32Tangent* tangent, BgFP32Matrix2x2* matrix) +static inline void fp32_tangent_make_reverse_matrix(const fp32_tangent_t* tangent, fp32_matrix2x2_t* matrix) { matrix->r1c1 = tangent->cos; matrix->r1c2 = tangent->sin; @@ -249,7 +249,7 @@ static inline void bg_fp32_tangent_make_reverse_matrix(const BgFP32Tangent* tang matrix->r2c2 = tangent->cos; } -static inline void bg_fp64_tangent_make_reverse_matrix(const BgFP64Tangent* tangent, BgFP64Matrix2x2* matrix) +static inline void fp64_tangent_make_reverse_matrix(const fp64_tangent_t* tangent, fp64_matrix2x2_t* matrix) { matrix->r1c1 = tangent->cos; matrix->r1c2 = tangent->sin; @@ -259,62 +259,62 @@ static inline void bg_fp64_tangent_make_reverse_matrix(const BgFP64Tangent* tang // =================== Angle =================== // -static inline float bg_fp32_tangent_get_angle(const BgFP32Tangent* tangent, const angle_unit_t unit) +static inline float fp32_tangent_get_angle(const fp32_tangent_t* tangent, const angle_unit_t unit) { - if (tangent->cos >= 1.0f - BG_FP32_TWO_EPSYLON) { + if (tangent->cos >= 1.0f - FP32_TWO_EPSYLON) { return 0.0f; } - if (tangent->cos <= -1.0f + BG_FP32_TWO_EPSYLON) { - return bg_fp32_angle_get_half_circle(unit); + if (tangent->cos <= -1.0f + FP32_TWO_EPSYLON) { + return fp32_angle_get_half_circle(unit); } - if (tangent->sin >= 1.0f - BG_FP32_TWO_EPSYLON) { - return bg_fp32_angle_get_quater_circle(unit); + if (tangent->sin >= 1.0f - FP32_TWO_EPSYLON) { + return fp32_angle_get_quater_circle(unit); } - if (tangent->sin <= -1.0f + BG_FP32_TWO_EPSYLON) { - return 0.75f * bg_fp32_angle_get_full_circle(unit); + if (tangent->sin <= -1.0f + FP32_TWO_EPSYLON) { + return 0.75f * fp32_angle_get_full_circle(unit); } - return bg_fp32_radians_to_units(atan2f(tangent->cos, tangent->sin), unit); + return fp32_radians_to_units(atan2f(tangent->cos, tangent->sin), unit); } -static inline double bg_fp64_tangent_get_angle(const BgFP64Tangent* tangent, const angle_unit_t unit) +static inline double fp64_tangent_get_angle(const fp64_tangent_t* tangent, const angle_unit_t unit) { - if (tangent->cos >= 1.0 - BG_FP64_TWO_EPSYLON) { + if (tangent->cos >= 1.0 - FP64_TWO_EPSYLON) { return 0.0; } - if (tangent->cos <= -1.0 + BG_FP64_TWO_EPSYLON) { - return bg_fp64_angle_get_half_circle(unit); + if (tangent->cos <= -1.0 + FP64_TWO_EPSYLON) { + return fp64_angle_get_half_circle(unit); } - if (tangent->sin >= 1.0 - BG_FP64_TWO_EPSYLON) { - return bg_fp64_angle_get_quater_circle(unit); + if (tangent->sin >= 1.0 - FP64_TWO_EPSYLON) { + return fp64_angle_get_quater_circle(unit); } - if (tangent->sin <= -1.0 + BG_FP64_TWO_EPSYLON) { - return 0.75 * bg_fp64_angle_get_full_circle(unit); + if (tangent->sin <= -1.0 + FP64_TWO_EPSYLON) { + return 0.75 * fp64_angle_get_full_circle(unit); } - return bg_fp64_radians_to_units(atan2(tangent->cos, tangent->sin), unit); + return fp64_radians_to_units(atan2(tangent->cos, tangent->sin), unit); } // ================ Combination ================= // -static inline void bg_fp32_tangent_combine(const BgFP32Tangent* tangent1, const BgFP32Tangent* tangent2, BgFP32Tangent* result) +static inline void fp32_tangent_combine(const fp32_tangent_t* tangent1, const fp32_tangent_t* tangent2, fp32_tangent_t* result) { - bg_fp32_tangent_set_values( + fp32_tangent_set_values( tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin, tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos, result ); } -static inline void bg_fp64_tangent_combine(const BgFP64Tangent* tangent1, const BgFP64Tangent* tangent2, BgFP64Tangent* result) +static inline void fp64_tangent_combine(const fp64_tangent_t* tangent1, const fp64_tangent_t* tangent2, fp64_tangent_t* result) { - bg_fp64_tangent_set_values( + fp64_tangent_set_values( tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin, tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos, result @@ -323,7 +323,7 @@ static inline void bg_fp64_tangent_combine(const BgFP64Tangent* tangent1, const // ================ Turn Vector ================= // -static inline void bg_fp32_tangent_turn(const BgFP32Tangent* tangent, const BgFP32Vector2* vector, BgFP32Vector2* result) +static inline void fp32_tangent_turn(const fp32_tangent_t* tangent, const fp32_vector2_t* vector, fp32_vector2_t* result) { const float x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2; const float x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2; @@ -332,7 +332,7 @@ static inline void bg_fp32_tangent_turn(const BgFP32Tangent* tangent, const BgFP result->x2 = x2; } -static inline void bg_fp64_tangent_turn(const BgFP64Tangent* tangent, const BgFP64Vector2* vector, BgFP64Vector2* result) +static inline void fp64_tangent_turn(const fp64_tangent_t* tangent, const fp64_vector2_t* vector, fp64_vector2_t* result) { const double x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2; const double x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2; @@ -343,7 +343,7 @@ static inline void bg_fp64_tangent_turn(const BgFP64Tangent* tangent, const BgFP // ============ Turn Vector Backward ============ // -static inline void bg_fp32_tangent_turn_back(const BgFP32Tangent* tangent, const BgFP32Vector2* vector, BgFP32Vector2* result) +static inline void fp32_tangent_turn_back(const fp32_tangent_t* tangent, const fp32_vector2_t* vector, fp32_vector2_t* result) { const float x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1; const float x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1; @@ -352,7 +352,7 @@ static inline void bg_fp32_tangent_turn_back(const BgFP32Tangent* tangent, const result->x2 = x2; } -static inline void bg_fp64_tangent_turn_back(const BgFP64Tangent* tangent, const BgFP64Vector2* vector, BgFP64Vector2* result) +static inline void fp64_tangent_turn_back(const fp64_tangent_t* tangent, const fp64_vector2_t* vector, fp64_vector2_t* result) { const double x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1; const double x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1; diff --git a/basic-geometry/vector2.c b/basic-geometry/vector2.c index 710aafe..5c9884d 100644 --- a/basic-geometry/vector2.c +++ b/basic-geometry/vector2.c @@ -2,64 +2,64 @@ // =================== Angle ==================== // -float bg_fp32_vector2_get_angle(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, const angle_unit_t unit) +float fp32_vector2_get_angle(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, const angle_unit_t unit) { if (vector1 == 0 || vector2 == 0) { return 0.0f; } - const float square_modulus1 = bg_fp32_vector2_get_square_modulus(vector1); + const float square_modulus1 = fp32_vector2_get_square_modulus(vector1); - if (square_modulus1 <= BG_FP32_SQUARE_EPSYLON) { + if (square_modulus1 <= FP32_SQUARE_EPSYLON) { return 0.0f; } - const float square_modulus2 = bg_fp32_vector2_get_square_modulus(vector2); + const float square_modulus2 = fp32_vector2_get_square_modulus(vector2); - if (square_modulus2 <= BG_FP32_SQUARE_EPSYLON) { + if (square_modulus2 <= FP32_SQUARE_EPSYLON) { return 0.0f; } - const float cosine = bg_fp32_vector2_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2); + const float cosine = fp32_vector2_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2); - if (cosine >= 1.0f - BG_FP32_EPSYLON) { + if (cosine >= 1.0f - FP32_EPSYLON) { return 0.0f; } - if (cosine <= -1.0f + BG_FP32_EPSYLON) { - return bg_fp32_angle_get_half_circle(unit); + if (cosine <= -1.0f + FP32_EPSYLON) { + return fp32_angle_get_half_circle(unit); } - return bg_fp32_radians_to_units(acosf(cosine), unit); + return fp32_radians_to_units(acosf(cosine), unit); } -double bg_fp64_vector2_get_angle(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, const angle_unit_t unit) +double fp64_vector2_get_angle(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, const angle_unit_t unit) { if (vector1 == 0 || vector2 == 0) { return 0.0; } - const double square_modulus1 = bg_fp64_vector2_get_square_modulus(vector1); + const double square_modulus1 = fp64_vector2_get_square_modulus(vector1); - if (square_modulus1 <= BG_FP64_SQUARE_EPSYLON) { + if (square_modulus1 <= FP64_SQUARE_EPSYLON) { return 0.0; } - const double square_modulus2 = bg_fp64_vector2_get_square_modulus(vector2); + const double square_modulus2 = fp64_vector2_get_square_modulus(vector2); - if (square_modulus2 <= BG_FP64_SQUARE_EPSYLON) { + if (square_modulus2 <= FP64_SQUARE_EPSYLON) { return 0.0; } - const double cosine = bg_fp64_vector2_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2); + const double cosine = fp64_vector2_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2); - if (cosine >= 1.0 - BG_FP64_EPSYLON) { + if (cosine >= 1.0 - FP64_EPSYLON) { return 0.0; } - if (cosine <= -1.0 + BG_FP64_EPSYLON) { - return bg_fp64_angle_get_half_circle(unit); + if (cosine <= -1.0 + FP64_EPSYLON) { + return fp64_angle_get_half_circle(unit); } - return bg_fp64_radians_to_units(acos(cosine), unit); + return fp64_radians_to_units(acos(cosine), unit); } diff --git a/basic-geometry/vector2.h b/basic-geometry/vector2.h index 425abd0..c6785c5 100644 --- a/basic-geometry/vector2.h +++ b/basic-geometry/vector2.h @@ -1,5 +1,5 @@ -#ifndef _GEOMETRY_VECTOR2_H_ -#define _GEOMETRY_VECTOR2_H_ +#ifndef _BASIC_GEOMETRY_VECTOR2_H_ +#define _BASIC_GEOMETRY_VECTOR2_H_ #include "basis.h" #include "angle.h" @@ -9,22 +9,22 @@ typedef struct { float x1, x2; -} BgFP32Vector2; +} fp32_vector2_t; typedef struct { double x1, x2; -} BgFP64Vector2; +} fp64_vector2_t; // =================== Reset ==================== // -static inline void bg_fp32_vector2_reset(BgFP32Vector2* vector) +static inline void fp32_vector2_reset(fp32_vector2_t* vector) { vector->x1 = 0.0f; vector->x2 = 0.0f; } -static inline void bg_fp64_vector2_reset(BgFP64Vector2* vector) +static inline void fp64_vector2_reset(fp64_vector2_t* vector) { vector->x1 = 0.0; vector->x2 = 0.0; @@ -32,13 +32,13 @@ static inline void bg_fp64_vector2_reset(BgFP64Vector2* vector) // ==================== Set ===================== // -static inline void bg_fp32_vector2_set_values(const float x1, const float x2, BgFP32Vector2* to) +static inline void fp32_vector2_set_values(const float x1, const float x2, fp32_vector2_t* to) { to->x1 = x1; to->x2 = x2; } -static inline void bg_fp64_vector2_set_values(const double x1, const double x2, BgFP64Vector2* to) +static inline void fp64_vector2_set_values(const double x1, const double x2, fp64_vector2_t* to) { to->x1 = x1; to->x2 = x2; @@ -46,13 +46,13 @@ static inline void bg_fp64_vector2_set_values(const double x1, const double x2, // ==================== Copy ==================== // -static inline void bg_fp32_vector2_copy(const BgFP32Vector2* from, BgFP32Vector2* to) +static inline void fp32_vector2_copy(const fp32_vector2_t* from, fp32_vector2_t* to) { to->x1 = from->x1; to->x2 = from->x2; } -static inline void bg_fp64_vector2_copy(const BgFP64Vector2* from, BgFP64Vector2* to) +static inline void fp64_vector2_copy(const fp64_vector2_t* from, fp64_vector2_t* to) { to->x1 = from->x1; to->x2 = from->x2; @@ -60,7 +60,7 @@ static inline void bg_fp64_vector2_copy(const BgFP64Vector2* from, BgFP64Vector2 // ==================== Swap ==================== // -static inline void bg_fp32_vector2_swap(BgFP32Vector2* vector1, BgFP32Vector2* vector2) +static inline void fp32_vector2_swap(fp32_vector2_t* vector1, fp32_vector2_t* vector2) { const float x1 = vector2->x1; const float x2 = vector2->x2; @@ -72,7 +72,7 @@ static inline void bg_fp32_vector2_swap(BgFP32Vector2* vector1, BgFP32Vector2* v vector1->x2 = x2; } -static inline void bg_fp64_vector2_swap(BgFP64Vector2* vector1, BgFP64Vector2* vector2) +static inline void fp64_vector2_swap(fp64_vector2_t* vector1, fp64_vector2_t* vector2) { const double x1 = vector2->x1; const double x2 = vector2->x2; @@ -86,13 +86,13 @@ static inline void bg_fp64_vector2_swap(BgFP64Vector2* vector1, BgFP64Vector2* v // ============= Copy to twin type ============== // -static inline void bg_fp32_vector2_set_from_fp64(const BgFP64Vector2* from, BgFP32Vector2* to) +static inline void fp32_vector2_set_from_fp64(const fp64_vector2_t* from, fp32_vector2_t* to) { to->x1 = (float)from->x1; to->x2 = (float)from->x2; } -static inline void bg_fp64_vector2_set_from_fp32(const BgFP32Vector2* from, BgFP64Vector2* to) +static inline void fp64_vector2_set_from_fp32(const fp32_vector2_t* from, fp64_vector2_t* to) { to->x1 = from->x1; to->x2 = from->x2; @@ -100,13 +100,13 @@ static inline void bg_fp64_vector2_set_from_fp32(const BgFP32Vector2* from, BgFP // =================== Reverse ================== // -static inline void bg_fp32_vector2_set_reverse(const BgFP32Vector2* from, BgFP32Vector2* to) +static inline void fp32_vector2_set_reverse(const fp32_vector2_t* from, fp32_vector2_t* to) { to->x1 = -from->x1; to->x2 = -from->x2; } -static inline void bg_fp64_vector2_set_reverse(const BgFP64Vector2* from, BgFP64Vector2* to) +static inline void fp64_vector2_set_reverse(const fp64_vector2_t* from, fp64_vector2_t* to) { to->x1 = -from->x1; to->x2 = -from->x2; @@ -114,13 +114,13 @@ static inline void bg_fp64_vector2_set_reverse(const BgFP64Vector2* from, BgFP64 // ============= Reverse twin type ============== // -static inline void bg_fp32_vector2_set_reverse_fp64(const BgFP64Vector2* from, BgFP32Vector2* to) +static inline void fp32_vector2_set_reverse_fp64(const fp64_vector2_t* from, fp32_vector2_t* to) { to->x1 = (float) -from->x1; to->x2 = (float) -from->x2; } -static inline void bg_fp64_vector2_set_reverse_fp32(const BgFP32Vector2* from, BgFP64Vector2* to) +static inline void fp64_vector2_set_reverse_fp32(const fp32_vector2_t* from, fp64_vector2_t* to) { to->x1 = -from->x1; to->x2 = -from->x2; @@ -128,61 +128,61 @@ static inline void bg_fp64_vector2_set_reverse_fp32(const BgFP32Vector2* from, B // =================== Module =================== // -static inline float bg_fp32_vector2_get_square_modulus(const BgFP32Vector2* vector) +static inline float fp32_vector2_get_square_modulus(const fp32_vector2_t* vector) { return vector->x1 * vector->x1 + vector->x2 * vector->x2; } -static inline double bg_fp64_vector2_get_square_modulus(const BgFP64Vector2* vector) +static inline double fp64_vector2_get_square_modulus(const fp64_vector2_t* vector) { return vector->x1 * vector->x1 + vector->x2 * vector->x2; } -static inline float bg_fp32_vector2_get_modulus(const BgFP32Vector2* vector) +static inline float fp32_vector2_get_modulus(const fp32_vector2_t* vector) { - return sqrtf(bg_fp32_vector2_get_square_modulus(vector)); + return sqrtf(fp32_vector2_get_square_modulus(vector)); } -static inline double bg_fp64_vector2_get_modulus(const BgFP64Vector2* vector) +static inline double fp64_vector2_get_modulus(const fp64_vector2_t* vector) { - return sqrt(bg_fp64_vector2_get_square_modulus(vector)); + return sqrt(fp64_vector2_get_square_modulus(vector)); } // ================= Comparison ================= // -static inline int bg_fp32_vector2_is_zero(const BgFP32Vector2* vector) +static inline int fp32_vector2_is_zero(const fp32_vector2_t* vector) { - return bg_fp32_vector2_get_square_modulus(vector) <= BG_FP32_SQUARE_EPSYLON; + return fp32_vector2_get_square_modulus(vector) <= FP32_SQUARE_EPSYLON; } -static inline int bg_fp64_vector2_is_zero(const BgFP64Vector2* vector) +static inline int fp64_vector2_is_zero(const fp64_vector2_t* vector) { - return bg_fp64_vector2_get_square_modulus(vector) <= BG_FP64_SQUARE_EPSYLON; + return fp64_vector2_get_square_modulus(vector) <= FP64_SQUARE_EPSYLON; } -static inline int bg_fp32_vector2_is_unit(const BgFP32Vector2* vector) +static inline int fp32_vector2_is_unit(const fp32_vector2_t* vector) { - const float square_modulus = bg_fp32_vector2_get_square_modulus(vector); + const float square_modulus = fp32_vector2_get_square_modulus(vector); - return 1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON; + return 1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON; } -static inline int bg_fp64_vector2_is_unit(const BgFP64Vector2* vector) +static inline int fp64_vector2_is_unit(const fp64_vector2_t* vector) { - const double square_modulus = bg_fp64_vector2_get_square_modulus(vector); + const double square_modulus = fp64_vector2_get_square_modulus(vector); - return 1.0f - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP64_TWO_EPSYLON; + return 1.0f - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP64_TWO_EPSYLON; } // ==================== Add ===================== // -static inline void bg_fp32_vector2_add(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, BgFP32Vector2* sum) +static inline void fp32_vector2_add(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, fp32_vector2_t* sum) { sum->x1 = vector1->x1 + vector2->x1; sum->x2 = vector1->x2 + vector2->x2; } -static inline void bg_fp64_vector2_add(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, BgFP64Vector2* sum) +static inline void fp64_vector2_add(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, fp64_vector2_t* sum) { sum->x1 = vector1->x1 + vector2->x1; sum->x2 = vector1->x2 + vector2->x2; @@ -190,13 +190,13 @@ static inline void bg_fp64_vector2_add(const BgFP64Vector2* vector1, const BgFP6 // ================ Subtraction ================= // -static inline void bg_fp32_vector2_subtract(const BgFP32Vector2* minuend, const BgFP32Vector2* subtrahend, BgFP32Vector2* difference) +static inline void fp32_vector2_subtract(const fp32_vector2_t* minuend, const fp32_vector2_t* subtrahend, fp32_vector2_t* difference) { difference->x1 = minuend->x1 - subtrahend->x1; difference->x2 = minuend->x2 - subtrahend->x2; } -static inline void bg_fp64_vector2_subtract(const BgFP64Vector2* minuend, const BgFP64Vector2* subtrahend, BgFP64Vector2* difference) +static inline void fp64_vector2_subtract(const fp64_vector2_t* minuend, const fp64_vector2_t* subtrahend, fp64_vector2_t* difference) { difference->x1 = minuend->x1 - subtrahend->x1; difference->x2 = minuend->x2 - subtrahend->x2; @@ -204,13 +204,13 @@ static inline void bg_fp64_vector2_subtract(const BgFP64Vector2* minuend, const // =============== Multiplication =============== // -static inline void bg_fp32_vector2_multiply(const BgFP32Vector2* multiplicand, const float multiplier, BgFP32Vector2* product) +static inline void fp32_vector2_multiply(const fp32_vector2_t* multiplicand, const float multiplier, fp32_vector2_t* product) { product->x1 = multiplicand->x1 * multiplier; product->x2 = multiplicand->x2 * multiplier; } -static inline void bg_fp64_vector2_multiply(const BgFP64Vector2* multiplicand, const double multiplier, BgFP64Vector2* product) +static inline void fp64_vector2_multiply(const fp64_vector2_t* multiplicand, const double multiplier, fp64_vector2_t* product) { product->x1 = multiplicand->x1 * multiplier; product->x2 = multiplicand->x2 * multiplier; @@ -218,25 +218,25 @@ static inline void bg_fp64_vector2_multiply(const BgFP64Vector2* multiplicand, c // ================== Division ================== // -static inline void bg_fp32_vector2_divide(const BgFP32Vector2* dividend, const float divisor, BgFP32Vector2* quotient) +static inline void fp32_vector2_divide(const fp32_vector2_t* dividend, const float divisor, fp32_vector2_t* quotient) { - bg_fp32_vector2_multiply(dividend, 1.0f / divisor, quotient); + fp32_vector2_multiply(dividend, 1.0f / divisor, quotient); } -static inline void bg_fp64_vector2_divide(const BgFP64Vector2* dividend, const double divisor, BgFP64Vector2* quotient) +static inline void fp64_vector2_divide(const fp64_vector2_t* dividend, const double divisor, fp64_vector2_t* quotient) { - bg_fp64_vector2_multiply(dividend, 1.0 / divisor, quotient); + fp64_vector2_multiply(dividend, 1.0 / divisor, quotient); } // ================ Append scaled =============== // -static inline void bg_fp32_vector2_append_scaled(BgFP32Vector2* basic_vector, const BgFP32Vector2* scalable_vector, const float scale) +static inline void fp32_vector2_append_scaled(fp32_vector2_t* basic_vector, const fp32_vector2_t* scalable_vector, const float scale) { basic_vector->x1 += scalable_vector->x1 * scale; basic_vector->x2 += scalable_vector->x2 * scale; } -static inline void bg_fp64_vector2_append_scaled(BgFP64Vector2* basic_vector, const BgFP64Vector2* scalable_vector, const double scale) +static inline void fp64_vector2_append_scaled(fp64_vector2_t* basic_vector, const fp64_vector2_t* scalable_vector, const double scale) { basic_vector->x1 += scalable_vector->x1 * scale; basic_vector->x2 += scalable_vector->x2 * scale; @@ -244,13 +244,13 @@ static inline void bg_fp64_vector2_append_scaled(BgFP64Vector2* basic_vector, co // ================== Average2 ================== // -static inline void bg_fp32_vector2_get_mean2(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, BgFP32Vector2* result) +static inline void fp32_vector2_get_mean2(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, fp32_vector2_t* result) { result->x1 = (vector1->x1 + vector2->x1) * 0.5f; result->x2 = (vector1->x2 + vector2->x2) * 0.5f; } -static inline void bg_fp64_vector2_get_mean2(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, BgFP64Vector2* result) +static inline void fp64_vector2_get_mean2(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, fp64_vector2_t* result) { result->x1 = (vector1->x1 + vector2->x1) * 0.5; result->x2 = (vector1->x2 + vector2->x2) * 0.5; @@ -258,45 +258,45 @@ static inline void bg_fp64_vector2_get_mean2(const BgFP64Vector2* vector1, const // ================== Average3 ================== // -static inline void bg_fp32_vector2_get_mean3(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, const BgFP32Vector2* vector3, BgFP32Vector2* result) +static inline void fp32_vector2_get_mean3(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, const fp32_vector2_t* vector3, fp32_vector2_t* result) { - result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BG_FP32_ONE_THIRD; - result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BG_FP32_ONE_THIRD; + result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP32_ONE_THIRD; + result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP32_ONE_THIRD; } -static inline void bg_fp64_vector2_get_mean3(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, const BgFP64Vector2* vector3, BgFP64Vector2* result) +static inline void fp64_vector2_get_mean3(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, const fp64_vector2_t* vector3, fp64_vector2_t* result) { - result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BG_FP64_ONE_THIRD; - result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BG_FP64_ONE_THIRD; + result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP64_ONE_THIRD; + result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP64_ONE_THIRD; } // =============== Scalar Product =============== // -static inline float bg_fp32_vector2_scalar_product(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2) +static inline float fp32_vector2_scalar_product(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2) { return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2; } -static inline double bg_fp64_vector2_scalar_product(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2) +static inline double fp64_vector2_scalar_product(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2) { return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2; } // =============== Cross Product ================ // -static inline float bg_fp32_vector2_cross_product(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2) +static inline float fp32_vector2_cross_product(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2) { return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1; } -static inline double bg_fp64_vector2_cross_product(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2) +static inline double fp64_vector2_cross_product(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2) { return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1; } // ============== Complex Product =============== // -static inline void bg_fp32_vector2_complex_product(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, BgFP32Vector2* result) +static inline void fp32_vector2_complex_product(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, fp32_vector2_t* result) { const float x1 = vector1->x1 * vector2->x1 - vector1->x2 * vector2->x2; const float x2 = vector1->x1 * vector2->x2 + vector1->x2 * vector2->x1; @@ -305,7 +305,7 @@ static inline void bg_fp32_vector2_complex_product(const BgFP32Vector2* vector1, result->x2 = x2; } -static inline void bg_fp64_vector2_complex_product(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, BgFP64Vector2* result) +static inline void fp64_vector2_complex_product(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, fp64_vector2_t* result) { const double x1 = vector1->x1 * vector2->x1 - vector1->x2 * vector2->x2; const double x2 = vector1->x1 * vector2->x2 + vector1->x2 * vector2->x1; @@ -316,63 +316,63 @@ static inline void bg_fp64_vector2_complex_product(const BgFP64Vector2* vector1, // =============== Normalization ================ // -static inline int bg_fp32_vector2_normalize(BgFP32Vector2* vector) +static inline int fp32_vector2_normalize(fp32_vector2_t* vector) { - const float square_modulus = bg_fp32_vector2_get_square_modulus(vector); + const float square_modulus = fp32_vector2_get_square_modulus(vector); - if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) { + if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { return 1; } - if (square_modulus <= BG_FP32_SQUARE_EPSYLON) { - bg_fp32_vector2_reset(vector); + if (square_modulus <= FP32_SQUARE_EPSYLON) { + fp32_vector2_reset(vector); return 0; } - bg_fp32_vector2_multiply(vector, sqrtf(1.0f / square_modulus), vector); + fp32_vector2_multiply(vector, sqrtf(1.0f / square_modulus), vector); return 1; } -static inline int bg_fp64_vector2_normalize(BgFP64Vector2* vector) +static inline int fp64_vector2_normalize(fp64_vector2_t* vector) { - const double square_modulus = bg_fp64_vector2_get_square_modulus(vector); + const double square_modulus = fp64_vector2_get_square_modulus(vector); - if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) { + if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { return 1; } - if (square_modulus <= BG_FP64_SQUARE_EPSYLON) { - bg_fp64_vector2_reset(vector); + if (square_modulus <= FP64_SQUARE_EPSYLON) { + fp64_vector2_reset(vector); return 0; } - bg_fp64_vector2_multiply(vector, sqrt(1.0 / square_modulus), vector); + fp64_vector2_multiply(vector, sqrt(1.0 / square_modulus), vector); return 1; } // =============== Get Normalized =============== // -static inline int bg_fp32_vector2_set_normalized(const BgFP32Vector2* vector, BgFP32Vector2* result) +static inline int fp32_vector2_set_normalized(const fp32_vector2_t* vector, fp32_vector2_t* result) { - bg_fp32_vector2_copy(vector, result); - return bg_fp32_vector2_normalize(result); + fp32_vector2_copy(vector, result); + return fp32_vector2_normalize(result); } -static inline int bg_fp64_vector2_set_normalized(const BgFP64Vector2* vector, BgFP64Vector2* result) +static inline int fp64_vector2_set_normalized(const fp64_vector2_t* vector, fp64_vector2_t* result) { - bg_fp64_vector2_copy(vector, result); - return bg_fp64_vector2_normalize(result); + fp64_vector2_copy(vector, result); + return fp64_vector2_normalize(result); } // =================== Angle ==================== // -float bg_fp32_vector2_get_angle(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, const angle_unit_t unit); +float fp32_vector2_get_angle(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2, const angle_unit_t unit); -double bg_fp64_vector2_get_angle(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, const angle_unit_t unit); +double fp64_vector2_get_angle(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2, const angle_unit_t unit); // =============== Square Distance ============== // -static inline float bg_fp32_vector2_get_square_distance(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2) +static inline float fp32_vector2_get_square_distance(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2) { const float dx1 = (vector1->x1 - vector2->x1); const float dx2 = (vector1->x2 - vector2->x2); @@ -380,7 +380,7 @@ static inline float bg_fp32_vector2_get_square_distance(const BgFP32Vector2* vec return dx1 * dx1 + dx2 * dx2; } -static inline double bg_fp64_vector2_get_square_distance(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2) +static inline double fp64_vector2_get_square_distance(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2) { const double dx1 = (vector1->x1 - vector2->x1); const double dx2 = (vector1->x2 - vector2->x2); @@ -390,52 +390,52 @@ static inline double bg_fp64_vector2_get_square_distance(const BgFP64Vector2* ve // ================== Distance ================== // -static inline float bg_fp32_vector2_get_distance(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2) +static inline float fp32_vector2_get_distance(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2) { - return sqrtf(bg_fp32_vector2_get_square_distance(vector1, vector2)); + return sqrtf(fp32_vector2_get_square_distance(vector1, vector2)); } -static inline double bg_fp64_vector2_get_distance(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2) +static inline double fp64_vector2_get_distance(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2) { - return sqrt(bg_fp64_vector2_get_square_distance(vector1, vector2)); + return sqrt(fp64_vector2_get_square_distance(vector1, vector2)); } // ================== Are Equal ================= // -static inline int bg_fp32_vector2_are_equal(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2) +static inline int fp32_vector2_are_equal(const fp32_vector2_t* vector1, const fp32_vector2_t* vector2) { - const float square_modulus1 = bg_fp32_vector2_get_square_modulus(vector1); - const float square_modulus2 = bg_fp32_vector2_get_square_modulus(vector2); - const float square_modulus3 = bg_fp32_vector2_get_square_distance(vector1, vector2); + const float square_modulus1 = fp32_vector2_get_square_modulus(vector1); + const float square_modulus2 = fp32_vector2_get_square_modulus(vector2); + const float square_modulus3 = fp32_vector2_get_square_distance(vector1, vector2); // 2.0f means dimension amount - if (square_modulus1 < BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT) { - return square_modulus3 < (2.0f * BG_FP32_SQUARE_EPSYLON); + if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) { + return square_modulus3 < (2.0f * FP32_SQUARE_EPSYLON); } if (square_modulus1 <= square_modulus2) { - return square_modulus3 <= (2.0f * BG_FP32_SQUARE_EPSYLON) * square_modulus2; + return square_modulus3 <= (2.0f * FP32_SQUARE_EPSYLON) * square_modulus2; } - return square_modulus3 <= (2.0f * BG_FP32_SQUARE_EPSYLON) * square_modulus1; + return square_modulus3 <= (2.0f * FP32_SQUARE_EPSYLON) * square_modulus1; } -static inline int bg_fp64_vector2_are_equal(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2) +static inline int fp64_vector2_are_equal(const fp64_vector2_t* vector1, const fp64_vector2_t* vector2) { - const double square_modulus1 = bg_fp64_vector2_get_square_modulus(vector1); - const double square_modulus2 = bg_fp64_vector2_get_square_modulus(vector2); - const double square_modulus3 = bg_fp64_vector2_get_square_distance(vector1, vector2); + const double square_modulus1 = fp64_vector2_get_square_modulus(vector1); + const double square_modulus2 = fp64_vector2_get_square_modulus(vector2); + const double square_modulus3 = fp64_vector2_get_square_distance(vector1, vector2); // 2.0 means dimension amount - if (square_modulus1 < BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT) { - return square_modulus3 < (2.0 * BG_FP64_SQUARE_EPSYLON); + if (square_modulus1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) { + return square_modulus3 < (2.0 * FP64_SQUARE_EPSYLON); } if (square_modulus1 <= square_modulus2) { - return square_modulus3 <= (2.0 * BG_FP64_SQUARE_EPSYLON) * square_modulus2; + return square_modulus3 <= (2.0 * FP64_SQUARE_EPSYLON) * square_modulus2; } - return square_modulus3 <= (2.0 * BG_FP64_SQUARE_EPSYLON) * square_modulus1; + return square_modulus3 <= (2.0 * FP64_SQUARE_EPSYLON) * square_modulus1; } #endif diff --git a/basic-geometry/vector3.c b/basic-geometry/vector3.c index 3353b2c..fa7e31f 100644 --- a/basic-geometry/vector3.c +++ b/basic-geometry/vector3.c @@ -2,64 +2,64 @@ // =================== Angle ==================== // -float bg_fp32_vector3_get_angle(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const angle_unit_t unit) +float fp32_vector3_get_angle(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const angle_unit_t unit) { if (vector1 == 0 || vector2 == 0) { return 0.0f; } - const float square_modulus1 = bg_fp32_vector3_get_square_modulus(vector1); + const float square_modulus1 = fp32_vector3_get_square_modulus(vector1); - if (square_modulus1 <= BG_FP32_SQUARE_EPSYLON) { + if (square_modulus1 <= FP32_SQUARE_EPSYLON) { return 0.0f; } - const float square_modulus2 = bg_fp32_vector3_get_square_modulus(vector2); + const float square_modulus2 = fp32_vector3_get_square_modulus(vector2); - if (square_modulus2 <= BG_FP32_SQUARE_EPSYLON) { + if (square_modulus2 <= FP32_SQUARE_EPSYLON) { return 0.0f; } - const float cosine = bg_fp32_vector3_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2); + const float cosine = fp32_vector3_scalar_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2); - if (cosine >= 1.0f - BG_FP32_EPSYLON) { + if (cosine >= 1.0f - FP32_EPSYLON) { return 0.0f; } - if (cosine <= -1.0f + BG_FP32_EPSYLON) { - return bg_fp32_angle_get_half_circle(unit); + if (cosine <= -1.0f + FP32_EPSYLON) { + return fp32_angle_get_half_circle(unit); } - return bg_fp32_radians_to_units(acosf(cosine), unit); + return fp32_radians_to_units(acosf(cosine), unit); } -double bg_fp64_vector3_get_angle(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const angle_unit_t unit) +double fp64_vector3_get_angle(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const angle_unit_t unit) { if (vector1 == 0 || vector2 == 0) { return 0.0; } - const double square_modulus1 = bg_fp64_vector3_get_square_modulus(vector1); + const double square_modulus1 = fp64_vector3_get_square_modulus(vector1); - if (square_modulus1 <= BG_FP64_SQUARE_EPSYLON) { + if (square_modulus1 <= FP64_SQUARE_EPSYLON) { return 0.0; } - const double square_modulus2 = bg_fp64_vector3_get_square_modulus(vector2); + const double square_modulus2 = fp64_vector3_get_square_modulus(vector2); - if (square_modulus2 <= BG_FP64_SQUARE_EPSYLON) { + if (square_modulus2 <= FP64_SQUARE_EPSYLON) { return 0.0; } - const double cosine = bg_fp64_vector3_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2); + const double cosine = fp64_vector3_scalar_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2); - if (cosine >= 1.0 - BG_FP64_EPSYLON) { + if (cosine >= 1.0 - FP64_EPSYLON) { return 0.0; } - if (cosine <= -1.0 + BG_FP64_EPSYLON) { - return bg_fp64_angle_get_half_circle(unit); + if (cosine <= -1.0 + FP64_EPSYLON) { + return fp64_angle_get_half_circle(unit); } - return bg_fp64_radians_to_units(acos(cosine), unit); + return fp64_radians_to_units(acos(cosine), unit); } diff --git a/basic-geometry/vector3.h b/basic-geometry/vector3.h index d821919..bc4a945 100644 --- a/basic-geometry/vector3.h +++ b/basic-geometry/vector3.h @@ -1,5 +1,5 @@ -#ifndef _GEOMETRY_VECTOR3_H_ -#define _GEOMETRY_VECTOR3_H_ +#ifndef _BASIC_GEOMETRY_VECTOR3_H_ +#define _BASIC_GEOMETRY_VECTOR3_H_ #include "basis.h" #include "angle.h" @@ -11,23 +11,23 @@ typedef struct { float x1, x2, x3; -} BgFP32Vector3; +} fp32_vector3_t; typedef struct { double x1, x2, x3; -} BgFP64Vector3; +} fp64_vector3_t; // =================== Reset ==================== // -static inline void bg_fp32_vector3_reset(BgFP32Vector3* vector) +static inline void fp32_vector3_reset(fp32_vector3_t* vector) { vector->x1 = 0.0f; vector->x2 = 0.0f; vector->x3 = 0.0f; } -static inline void bg_fp64_vector3_reset(BgFP64Vector3* vector) +static inline void fp64_vector3_reset(fp64_vector3_t* vector) { vector->x1 = 0.0; vector->x2 = 0.0; @@ -36,14 +36,14 @@ static inline void bg_fp64_vector3_reset(BgFP64Vector3* vector) // ==================== Set ===================== // -static inline void bg_fp32_vector3_set_values(const float x1, const float x2, const float x3, BgFP32Vector3* to) +static inline void fp32_vector3_set_values(const float x1, const float x2, const float x3, fp32_vector3_t* to) { to->x1 = x1; to->x2 = x2; to->x3 = x3; } -static inline void bg_fp64_vector3_set_values(const double x1, const double x2, const double x3, BgFP64Vector3* to) +static inline void fp64_vector3_set_values(const double x1, const double x2, const double x3, fp64_vector3_t* to) { to->x1 = x1; to->x2 = x2; @@ -52,14 +52,14 @@ static inline void bg_fp64_vector3_set_values(const double x1, const double x2, // ==================== Copy ==================== // -static inline void bg_fp32_vector3_copy(const BgFP32Vector3* from, BgFP32Vector3* to) +static inline void fp32_vector3_copy(const fp32_vector3_t* from, fp32_vector3_t* to) { to->x1 = from->x1; to->x2 = from->x2; to->x3 = from->x3; } -static inline void bg_fp64_vector3_copy(const BgFP64Vector3* from, BgFP64Vector3* to) +static inline void fp64_vector3_copy(const fp64_vector3_t* from, fp64_vector3_t* to) { to->x1 = from->x1; to->x2 = from->x2; @@ -68,7 +68,7 @@ static inline void bg_fp64_vector3_copy(const BgFP64Vector3* from, BgFP64Vector3 // ==================== Swap ==================== // -static inline void bg_fp32_vector3_swap(BgFP32Vector3* vector1, BgFP32Vector3* vector2) +static inline void fp32_vector3_swap(fp32_vector3_t* vector1, fp32_vector3_t* vector2) { const float x1 = vector2->x1; const float x2 = vector2->x2; @@ -83,7 +83,7 @@ static inline void bg_fp32_vector3_swap(BgFP32Vector3* vector1, BgFP32Vector3* v vector1->x3 = x3; } -static inline void bg_fp64_vector3_swap(BgFP64Vector3* vector1, BgFP64Vector3* vector2) +static inline void fp64_vector3_swap(fp64_vector3_t* vector1, fp64_vector3_t* vector2) { const double x1 = vector2->x1; const double x2 = vector2->x2; @@ -100,14 +100,14 @@ static inline void bg_fp64_vector3_swap(BgFP64Vector3* vector1, BgFP64Vector3* v // ============= Copy to twin type ============== // -static inline void bg_fp32_vector3_set_from_fp64(const BgFP64Vector3* from, BgFP32Vector3* to) +static inline void fp32_vector3_set_from_fp64(const fp64_vector3_t* from, fp32_vector3_t* to) { to->x1 = (float) from->x1; to->x2 = (float) from->x2; to->x3 = (float) from->x3; } -static inline void bg_fp64_vector3_set_from_fp32(const BgFP32Vector3* from, BgFP64Vector3* to) +static inline void fp64_vector3_set_from_fp32(const fp32_vector3_t* from, fp64_vector3_t* to) { to->x1 = from->x1; to->x2 = from->x2; @@ -116,14 +116,14 @@ static inline void bg_fp64_vector3_set_from_fp32(const BgFP32Vector3* from, BgFP // =================== Reverse ================== // -static inline void bg_fp32_vector3_set_reverse(const BgFP32Vector3* from, BgFP32Vector3* to) +static inline void fp32_vector3_set_reverse(const fp32_vector3_t* from, fp32_vector3_t* to) { to->x1 = -from->x1; to->x2 = -from->x2; to->x3 = -from->x3; } -static inline void bg_fp64_vector3_set_reverse(const BgFP64Vector3* from, BgFP64Vector3* to) +static inline void fp64_vector3_set_reverse(const fp64_vector3_t* from, fp64_vector3_t* to) { to->x1 = -from->x1; to->x2 = -from->x2; @@ -132,14 +132,14 @@ static inline void bg_fp64_vector3_set_reverse(const BgFP64Vector3* from, BgFP64 // ============= Reverse twin type ============== // -static inline void bg_fp32_vector3_set_reverse_fp64(const BgFP64Vector3* from, BgFP32Vector3* to) +static inline void fp32_vector3_set_reverse_fp64(const fp64_vector3_t* from, fp32_vector3_t* to) { to->x1 = (float) -from->x1; to->x2 = (float) -from->x2; to->x3 = (float) -from->x3; } -static inline void bg_fp64_vector3_set_reverse_fp32(const BgFP32Vector3* from, BgFP64Vector3* to) +static inline void fp64_vector3_set_reverse_fp32(const fp32_vector3_t* from, fp64_vector3_t* to) { to->x1 = -from->x1; to->x2 = -from->x2; @@ -148,62 +148,62 @@ static inline void bg_fp64_vector3_set_reverse_fp32(const BgFP32Vector3* from, B // =================== Module =================== // -static inline float bg_fp32_vector3_get_square_modulus(const BgFP32Vector3* vector) +static inline float fp32_vector3_get_square_modulus(const fp32_vector3_t* vector) { return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3; } -static inline double bg_fp64_vector3_get_square_modulus(const BgFP64Vector3* vector) +static inline double fp64_vector3_get_square_modulus(const fp64_vector3_t* vector) { return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3; } -static inline float bg_fp32_vector3_get_modulus(const BgFP32Vector3* vector) +static inline float fp32_vector3_get_modulus(const fp32_vector3_t* vector) { - return sqrtf(bg_fp32_vector3_get_square_modulus(vector)); + return sqrtf(fp32_vector3_get_square_modulus(vector)); } -static inline double bg_fp64_vector3_get_modulus(const BgFP64Vector3* vector) +static inline double fp64_vector3_get_modulus(const fp64_vector3_t* vector) { - return sqrt(bg_fp64_vector3_get_square_modulus(vector)); + return sqrt(fp64_vector3_get_square_modulus(vector)); } // ================= Comparison ================= // -static inline int bg_fp32_vector3_is_zero(const BgFP32Vector3* vector) +static inline int fp32_vector3_is_zero(const fp32_vector3_t* vector) { - return bg_fp32_vector3_get_square_modulus(vector) <= BG_FP32_SQUARE_EPSYLON; + return fp32_vector3_get_square_modulus(vector) <= FP32_SQUARE_EPSYLON; } -static inline int bg_fp64_vector3_is_zero(const BgFP64Vector3* vector) +static inline int fp64_vector3_is_zero(const fp64_vector3_t* vector) { - return bg_fp64_vector3_get_square_modulus(vector) <= BG_FP64_SQUARE_EPSYLON; + return fp64_vector3_get_square_modulus(vector) <= FP64_SQUARE_EPSYLON; } -static inline int bg_fp32_vector3_is_unit(const BgFP32Vector3* vector) +static inline int fp32_vector3_is_unit(const fp32_vector3_t* vector) { - const float square_modulus = bg_fp32_vector3_get_square_modulus(vector); + const float square_modulus = fp32_vector3_get_square_modulus(vector); - return 1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON; + return 1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON; } -static inline int bg_fp64_vector3_is_unit(const BgFP64Vector3* vector) +static inline int fp64_vector3_is_unit(const fp64_vector3_t* vector) { - const double square_modulus = bg_fp64_vector3_get_square_modulus(vector); + const double square_modulus = fp64_vector3_get_square_modulus(vector); - return 1.0f - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP64_TWO_EPSYLON; + return 1.0f - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP64_TWO_EPSYLON; } // ==================== Add ===================== // -static inline void bg_fp32_vector3_add(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, BgFP32Vector3* sum) +static inline void fp32_vector3_add(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, fp32_vector3_t* sum) { sum->x1 = vector1->x1 + vector2->x1; sum->x2 = vector1->x2 + vector2->x2; sum->x3 = vector1->x3 + vector2->x3; } -static inline void bg_fp64_vector3_add(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, BgFP64Vector3* sum) +static inline void fp64_vector3_add(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, fp64_vector3_t* sum) { sum->x1 = vector1->x1 + vector2->x1; sum->x2 = vector1->x2 + vector2->x2; @@ -212,14 +212,14 @@ static inline void bg_fp64_vector3_add(const BgFP64Vector3* vector1, const BgFP6 // ================ Subtraction ================= // -static inline void bg_fp32_vector3_subtract(const BgFP32Vector3* minuend, const BgFP32Vector3* subtrahend, BgFP32Vector3* difference) +static inline void fp32_vector3_subtract(const fp32_vector3_t* minuend, const fp32_vector3_t* subtrahend, fp32_vector3_t* difference) { difference->x1 = minuend->x1 - subtrahend->x1; difference->x2 = minuend->x2 - subtrahend->x2; difference->x3 = minuend->x3 - subtrahend->x3; } -static inline void bg_fp64_vector3_subtract(const BgFP64Vector3* minuend, const BgFP64Vector3* subtrahend, BgFP64Vector3* difference) +static inline void fp64_vector3_subtract(const fp64_vector3_t* minuend, const fp64_vector3_t* subtrahend, fp64_vector3_t* difference) { difference->x1 = minuend->x1 - subtrahend->x1; difference->x2 = minuend->x2 - subtrahend->x2; @@ -228,14 +228,14 @@ static inline void bg_fp64_vector3_subtract(const BgFP64Vector3* minuend, const // =============== Multiplication =============== // -static inline void bg_fp32_vector3_multiply(const BgFP32Vector3* multiplicand, const float multiplier, BgFP32Vector3* product) +static inline void fp32_vector3_multiply(const fp32_vector3_t* multiplicand, const float multiplier, fp32_vector3_t* product) { product->x1 = multiplicand->x1 * multiplier; product->x2 = multiplicand->x2 * multiplier; product->x3 = multiplicand->x3 * multiplier; } -static inline void bg_fp64_vector3_multiply(const BgFP64Vector3* multiplicand, const double multiplier, BgFP64Vector3* product) +static inline void fp64_vector3_multiply(const fp64_vector3_t* multiplicand, const double multiplier, fp64_vector3_t* product) { product->x1 = multiplicand->x1 * multiplier; product->x2 = multiplicand->x2 * multiplier; @@ -244,26 +244,26 @@ static inline void bg_fp64_vector3_multiply(const BgFP64Vector3* multiplicand, c // ================== Division ================== // -static inline void bg_fp32_vector3_divide(const BgFP32Vector3* dividend, const float divisor, BgFP32Vector3* quotient) +static inline void fp32_vector3_divide(const fp32_vector3_t* dividend, const float divisor, fp32_vector3_t* quotient) { - bg_fp32_vector3_multiply(dividend, 1.0f / divisor, quotient); + fp32_vector3_multiply(dividend, 1.0f / divisor, quotient); } -static inline void bg_fp64_vector3_divide(const BgFP64Vector3* dividend, const double divisor, BgFP64Vector3* quotient) +static inline void fp64_vector3_divide(const fp64_vector3_t* dividend, const double divisor, fp64_vector3_t* quotient) { - bg_fp64_vector3_multiply(dividend, 1.0 / divisor, quotient); + fp64_vector3_multiply(dividend, 1.0 / divisor, quotient); } // ================ Append scaled =============== // -static inline void bg_fp32_vector3_append_scaled(BgFP32Vector3* basic_vector, const BgFP32Vector3* scalable_vector, const float scale) +static inline void fp32_vector3_append_scaled(fp32_vector3_t* basic_vector, const fp32_vector3_t* scalable_vector, const float scale) { basic_vector->x1 += scalable_vector->x1 * scale; basic_vector->x2 += scalable_vector->x2 * scale; basic_vector->x3 += scalable_vector->x3 * scale; } -static inline void bg_fp64_vector3_append_scaled(BgFP64Vector3* basic_vector, const BgFP64Vector3* scalable_vector, const double scale) +static inline void fp64_vector3_append_scaled(fp64_vector3_t* basic_vector, const fp64_vector3_t* scalable_vector, const double scale) { basic_vector->x1 += scalable_vector->x1 * scale; basic_vector->x2 += scalable_vector->x2 * scale; @@ -272,14 +272,14 @@ static inline void bg_fp64_vector3_append_scaled(BgFP64Vector3* basic_vector, co // ================== Average2 ================== // -static inline void bg_fp32_vector3_get_mean2(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, BgFP32Vector3* result) +static inline void fp32_vector3_get_mean2(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, fp32_vector3_t* result) { result->x1 = (vector1->x1 + vector2->x1) * 0.5f; result->x2 = (vector1->x2 + vector2->x2) * 0.5f; result->x3 = (vector1->x3 + vector2->x3) * 0.5f; } -static inline void bg_fp64_vector3_get_mean2(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, BgFP64Vector3* result) +static inline void fp64_vector3_get_mean2(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, fp64_vector3_t* result) { result->x1 = (vector1->x1 + vector2->x1) * 0.5; result->x2 = (vector1->x2 + vector2->x2) * 0.5; @@ -288,42 +288,42 @@ static inline void bg_fp64_vector3_get_mean2(const BgFP64Vector3* vector1, const // ================== Average3 ================== // -static inline void bg_fp32_vector3_get_mean3(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const BgFP32Vector3* vector3, BgFP32Vector3* result) +static inline void fp32_vector3_get_mean3(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const fp32_vector3_t* vector3, fp32_vector3_t* result) { - result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BG_FP32_ONE_THIRD; - result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BG_FP32_ONE_THIRD; - result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BG_FP32_ONE_THIRD; + result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP32_ONE_THIRD; + result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP32_ONE_THIRD; + result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * FP32_ONE_THIRD; } -static inline void bg_fp64_vector3_get_mean3(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const BgFP64Vector3* vector3, BgFP64Vector3* result) +static inline void fp64_vector3_get_mean3(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const fp64_vector3_t* vector3, fp64_vector3_t* result) { - result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BG_FP64_ONE_THIRD; - result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BG_FP64_ONE_THIRD; - result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BG_FP64_ONE_THIRD; + result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * FP64_ONE_THIRD; + result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * FP64_ONE_THIRD; + result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * FP64_ONE_THIRD; } // =============== Scalar Product =============== // -static inline float bg_fp32_vector3_scalar_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2) +static inline float fp32_vector3_scalar_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2) { return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3; } -static inline double bg_fp64_vector3_scalar_product(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2) +static inline double fp64_vector3_scalar_product(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2) { return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3; } // =============== Triple Product =============== // -static inline float bg_fp32_vector3_triple_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const BgFP32Vector3* vector3) +static inline float fp32_vector3_triple_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const fp32_vector3_t* vector3) { return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2) + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3) + vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1); } -static inline double bg_fp64_vector3_triple_product(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const BgFP64Vector3* vector3) +static inline double fp64_vector3_triple_product(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const fp64_vector3_t* vector3) { return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2) + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3) @@ -332,7 +332,7 @@ static inline double bg_fp64_vector3_triple_product(const BgFP64Vector3* vector1 // =============== Cross Product ================ // -static inline void bg_fp32_vector3_cross_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, BgFP32Vector3* result) +static inline void fp32_vector3_cross_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, fp32_vector3_t* result) { const float x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2; const float x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3; @@ -343,7 +343,7 @@ static inline void bg_fp32_vector3_cross_product(const BgFP32Vector3* vector1, c result->x3 = x3; } -static inline void bg_fp64_vector3_cross_product(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, BgFP64Vector3* result) +static inline void fp64_vector3_cross_product(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, fp64_vector3_t* result) { const double x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2; const double x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3; @@ -356,20 +356,20 @@ static inline void bg_fp64_vector3_cross_product(const BgFP64Vector3* vector1, c // ============ Double Cross Product ============ // -static inline void bg_fp32_vector3_double_cross_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const BgFP32Vector3* vector3, BgFP32Vector3* result) +static inline void fp32_vector3_double_cross_product(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const fp32_vector3_t* vector3, fp32_vector3_t* result) { - const float ac = bg_fp32_vector3_scalar_product(vector1, vector3); - const float ab = bg_fp32_vector3_scalar_product(vector1, vector2); + const float ac = fp32_vector3_scalar_product(vector1, vector3); + const float ab = fp32_vector3_scalar_product(vector1, vector2); result->x1 = vector2->x1 * ac - vector3->x1 * ab; result->x2 = vector2->x2 * ac - vector3->x2 * ab; result->x3 = vector2->x3 * ac - vector3->x3 * ab; } -static inline void bg_fp64_vector3_double_cross(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const BgFP64Vector3* vector3, BgFP64Vector3* result) +static inline void fp64_vector3_double_cross(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const fp64_vector3_t* vector3, fp64_vector3_t* result) { - const double ac = bg_fp64_vector3_scalar_product(vector1, vector3); - const double ab = bg_fp64_vector3_scalar_product(vector1, vector2); + const double ac = fp64_vector3_scalar_product(vector1, vector3); + const double ab = fp64_vector3_scalar_product(vector1, vector2); result->x1 = vector2->x1 * ac - vector3->x1 * ab; result->x2 = vector2->x2 * ac - vector3->x2 * ab; @@ -378,63 +378,63 @@ static inline void bg_fp64_vector3_double_cross(const BgFP64Vector3* vector1, co // =============== Normalization ================ // -static inline int bg_fp32_vector3_normalize(BgFP32Vector3* vector) +static inline int fp32_vector3_normalize(fp32_vector3_t* vector) { - const float square_modulus = bg_fp32_vector3_get_square_modulus(vector); + const float square_modulus = fp32_vector3_get_square_modulus(vector); - if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) { + if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { return 1; } - if (square_modulus <= BG_FP32_SQUARE_EPSYLON) { - bg_fp32_vector3_reset(vector); + if (square_modulus <= FP32_SQUARE_EPSYLON) { + fp32_vector3_reset(vector); return 0; } - bg_fp32_vector3_multiply(vector, sqrtf(1.0f / square_modulus), vector); + fp32_vector3_multiply(vector, sqrtf(1.0f / square_modulus), vector); return 1; } -static inline int bg_fp64_vector3_normalize(BgFP64Vector3* vector) +static inline int fp64_vector3_normalize(fp64_vector3_t* vector) { - const double square_modulus = bg_fp64_vector3_get_square_modulus(vector); + const double square_modulus = fp64_vector3_get_square_modulus(vector); - if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) { + if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { return 1; } - if (square_modulus <= BG_FP64_SQUARE_EPSYLON) { - bg_fp64_vector3_reset(vector); + if (square_modulus <= FP64_SQUARE_EPSYLON) { + fp64_vector3_reset(vector); return 0; } - bg_fp64_vector3_multiply(vector, sqrt(1.0 / square_modulus), vector); + fp64_vector3_multiply(vector, sqrt(1.0 / square_modulus), vector); return 1; } // =============== Get Normalized =============== // -static inline int bg_fp32_vector3_set_normalized(const BgFP32Vector3* vector, BgFP32Vector3* result) +static inline int fp32_vector3_set_normalized(const fp32_vector3_t* vector, fp32_vector3_t* result) { - bg_fp32_vector3_copy(vector, result); - return bg_fp32_vector3_normalize(result); + fp32_vector3_copy(vector, result); + return fp32_vector3_normalize(result); } -static inline int bg_fp64_vector3_set_normalized(const BgFP64Vector3* vector, BgFP64Vector3* result) +static inline int fp64_vector3_set_normalized(const fp64_vector3_t* vector, fp64_vector3_t* result) { - bg_fp64_vector3_copy(vector, result); - return bg_fp64_vector3_normalize(result); + fp64_vector3_copy(vector, result); + return fp64_vector3_normalize(result); } // =================== Angle ==================== // -float bg_fp32_vector3_get_angle(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const angle_unit_t unit); +float fp32_vector3_get_angle(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2, const angle_unit_t unit); -double bg_fp64_vector3_get_angle(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const angle_unit_t unit); +double fp64_vector3_get_angle(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2, const angle_unit_t unit); // =============== Square Distance ============== // -static inline float bg_fp32_vector3_get_square_distance(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2) +static inline float fp32_vector3_get_square_distance(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2) { const float dx1 = (vector1->x1 - vector2->x1); const float dx2 = (vector1->x2 - vector2->x2); @@ -443,7 +443,7 @@ static inline float bg_fp32_vector3_get_square_distance(const BgFP32Vector3* vec return dx1 * dx1 + dx2 * dx2 + dx3 * dx3; } -static inline double bg_fp64_vector3_get_square_distance(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2) +static inline double fp64_vector3_get_square_distance(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2) { const double dx1 = (vector1->x1 - vector2->x1); const double dx2 = (vector1->x2 - vector2->x2); @@ -454,52 +454,52 @@ static inline double bg_fp64_vector3_get_square_distance(const BgFP64Vector3* ve // ================== Distance ================== // -static inline float bg_fp32_vector3_get_distance(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2) +static inline float fp32_vector3_get_distance(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2) { - return sqrtf(bg_fp32_vector3_get_square_distance(vector1, vector2)); + return sqrtf(fp32_vector3_get_square_distance(vector1, vector2)); } -static inline double bg_fp64_vector3_get_distance(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2) +static inline double fp64_vector3_get_distance(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2) { - return sqrt(bg_fp64_vector3_get_square_distance(vector1, vector2)); + return sqrt(fp64_vector3_get_square_distance(vector1, vector2)); } // ================== Are Equal ================= // -static inline int bg_fp32_vector3_are_equal(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2) +static inline int fp32_vector3_are_equal(const fp32_vector3_t* vector1, const fp32_vector3_t* vector2) { - const float square_modulus1 = bg_fp32_vector3_get_square_modulus(vector1); - const float square_modulus2 = bg_fp32_vector3_get_square_modulus(vector2); - const float square_modulus3 = bg_fp32_vector3_get_square_distance(vector1, vector2); + const float square_modulus1 = fp32_vector3_get_square_modulus(vector1); + const float square_modulus2 = fp32_vector3_get_square_modulus(vector2); + const float square_modulus3 = fp32_vector3_get_square_distance(vector1, vector2); // 3.0f means dimension amount - if (square_modulus1 < BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT) { - return square_modulus3 < (3.0f * BG_FP32_SQUARE_EPSYLON); + if (square_modulus1 < FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP32_EPSYLON_EFFECTIVENESS_LIMIT) { + return square_modulus3 < (3.0f * FP32_SQUARE_EPSYLON); } if (square_modulus1 <= square_modulus2) { - return square_modulus3 <= (3.0f * BG_FP32_SQUARE_EPSYLON) * square_modulus2; + return square_modulus3 <= (3.0f * FP32_SQUARE_EPSYLON) * square_modulus2; } - return square_modulus3 <= (3.0f * BG_FP32_SQUARE_EPSYLON) * square_modulus1; + return square_modulus3 <= (3.0f * FP32_SQUARE_EPSYLON) * square_modulus1; } -static inline int bg_fp64_vector3_are_equal(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2) +static inline int fp64_vector3_are_equal(const fp64_vector3_t* vector1, const fp64_vector3_t* vector2) { - const double square_modulus1 = bg_fp64_vector3_get_square_modulus(vector1); - const double square_modulus2 = bg_fp64_vector3_get_square_modulus(vector2); - const double square_modulus3 = bg_fp64_vector3_get_square_distance(vector1, vector2); + const double square_modulus1 = fp64_vector3_get_square_modulus(vector1); + const double square_modulus2 = fp64_vector3_get_square_modulus(vector2); + const double square_modulus3 = fp64_vector3_get_square_distance(vector1, vector2); // 3.0 means dimension amount - if (square_modulus1 < BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT) { - return square_modulus3 < (3.0 * BG_FP64_SQUARE_EPSYLON); + if (square_modulus1 < FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 < FP64_EPSYLON_EFFECTIVENESS_LIMIT) { + return square_modulus3 < (3.0 * FP64_SQUARE_EPSYLON); } if (square_modulus1 <= square_modulus2) { - return square_modulus3 <= (3.0 * BG_FP64_SQUARE_EPSYLON) * square_modulus2; + return square_modulus3 <= (3.0 * FP64_SQUARE_EPSYLON) * square_modulus2; } - return square_modulus3 <= (3.0 * BG_FP64_SQUARE_EPSYLON) * square_modulus1; + return square_modulus3 <= (3.0 * FP64_SQUARE_EPSYLON) * square_modulus1; } #endif diff --git a/basic-geometry/versor.c b/basic-geometry/versor.c index 9a459a5..209cc40 100644 --- a/basic-geometry/versor.c +++ b/basic-geometry/versor.c @@ -3,68 +3,68 @@ #include "angle.h" #include "versor.h" -const BgFP32Versor BG_FP32_IDLE_VERSOR = { 1.0f, 0.0f, 0.0f, 0.0f }; +const fp32_versor_t FP32_IDLE_VERSOR = { 1.0f, 0.0f, 0.0f, 0.0f }; -const BgFP64Versor BG_FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 }; +const fp64_versor_t FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 }; // =============== Set Crude Turn =============== // -void bg_fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Versor* result) +void fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, fp32_versor_t* result) { const float square_vector = x1 * x1 + x2 * x2 + x3 * x3; - if (square_vector <= BG_FP32_SQUARE_EPSYLON) { - bg_fp32_versor_reset(result); + if (square_vector <= FP32_SQUARE_EPSYLON) { + fp32_versor_reset(result); return; } - const float half_angle = bg_fp32_angle_to_radians(0.5f * angle, unit); + const float half_angle = fp32_angle_to_radians(0.5f * angle, unit); const float sine = sinf(half_angle); - if (-BG_FP32_EPSYLON <= sine && sine <= BG_FP32_EPSYLON) { - bg_fp32_versor_reset(result); + if (-FP32_EPSYLON <= sine && sine <= FP32_EPSYLON) { + fp32_versor_reset(result); return; } const float multiplier = sine / sqrtf(square_vector); - bg_fp32_versor_set_values(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result); + fp32_versor_set_values(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result); } -void bg_fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Versor* result) +void fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, fp64_versor_t* result) { const double square_vector = x1 * x1 + x2 * x2 + x3 * x3; - if (square_vector <= BG_FP64_SQUARE_EPSYLON) { - bg_fp64_versor_reset(result); + if (square_vector <= FP64_SQUARE_EPSYLON) { + fp64_versor_reset(result); return; } - const double half_angle = bg_fp64_angle_to_radians(0.5 * angle, unit); + const double half_angle = fp64_angle_to_radians(0.5 * angle, unit); const double sine = sin(half_angle); - if (-BG_FP64_EPSYLON <= sine && sine <= BG_FP64_EPSYLON) { - bg_fp64_versor_reset(result); + if (-FP64_EPSYLON <= sine && sine <= FP64_EPSYLON) { + fp64_versor_reset(result); return; } const double multiplier = sine / sqrt(square_vector); - bg_fp64_versor_set_values(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result); + fp64_versor_set_values(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result); } // ================= Rotation3 ================== // -void bg_fp32_versor_get_rotation(const BgFP32Versor* versor, BgFP32Rotation3* result) +void fp32_versor_get_rotation(const fp32_versor_t* versor, fp32_rotation3_t* result) { if (versor == 0 || result == 0) { return; } - if (versor->s0 <= -(1.0f - BG_FP32_EPSYLON) || 1.0f - BG_FP32_EPSYLON <= versor->s0) { - bg_fp32_rotation_reset(result); + if (versor->s0 <= -(1.0f - FP32_EPSYLON) || 1.0f - FP32_EPSYLON <= versor->s0) { + fp32_rotation_reset(result); return; } @@ -79,14 +79,14 @@ void bg_fp32_versor_get_rotation(const BgFP32Versor* versor, BgFP32Rotation3* re result->axis.x3 = versor->x3 * multiplier; } -void bg_fp64_versor_get_rotation(const BgFP64Versor* versor, BgFP64Rotation3* result) +void fp64_versor_get_rotation(const fp64_versor_t* versor, fp64_rotation3_t* result) { if (versor == 0 || result == 0) { return; } - if (versor->s0 <= -(1.0 - BG_FP64_EPSYLON) || 1.0 - BG_FP64_EPSYLON <= versor->s0) { - bg_fp64_rotation_reset(result); + if (versor->s0 <= -(1.0 - FP64_EPSYLON) || 1.0 - FP64_EPSYLON <= versor->s0) { + fp64_rotation_reset(result); return; } diff --git a/basic-geometry/versor.h b/basic-geometry/versor.h index dca3da6..15275f1 100644 --- a/basic-geometry/versor.h +++ b/basic-geometry/versor.h @@ -1,5 +1,5 @@ -#ifndef _GEOMETRY_VERSOR_H_ -#define _GEOMETRY_VERSOR_H_ +#ifndef _BASIC_GEOMETRY_VERSOR_H_ +#define _BASIC_GEOMETRY_VERSOR_H_ #include @@ -13,11 +13,11 @@ typedef struct { const float s0, x1, x2, x3; -} BgFP32Versor; +} fp32_versor_t; typedef struct { const double s0, x1, x2, x3; -} BgFP64Versor; +} fp64_versor_t; // ================= Dark Twins ================= // @@ -31,12 +31,12 @@ typedef struct { // ================= Constants ================== // -extern const BgFP32Versor BG_FP32_IDLE_VERSOR; -extern const BgFP64Versor BG_FP64_IDLE_VERSOR; +extern const fp32_versor_t FP32_IDLE_VERSOR; +extern const fp64_versor_t FP64_IDLE_VERSOR; // =================== Reset ==================== // -static inline void bg_fp32_versor_reset(BgFP32Versor* versor) +static inline void fp32_versor_reset(fp32_versor_t* versor) { __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor; @@ -46,7 +46,7 @@ static inline void bg_fp32_versor_reset(BgFP32Versor* versor) twin->x3 = 0.0f; } -static inline void bg_fp64_versor_reset(BgFP64Versor* versor) +static inline void fp64_versor_reset(fp64_versor_t* versor) { __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor; @@ -58,7 +58,7 @@ static inline void bg_fp64_versor_reset(BgFP64Versor* versor) // ==================== Set ===================== // -static inline void bg_fp32_versor_set_values(const float s0, const float x1, const float x2, const float x3, BgFP32Versor* versor) +static inline void fp32_versor_set_values(const float s0, const float x1, const float x2, const float x3, fp32_versor_t* versor) { __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor; @@ -69,11 +69,11 @@ static inline void bg_fp32_versor_set_values(const float s0, const float x1, con const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); - if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) { + if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { return; } - if (square_modulus <= BG_FP32_SQUARE_EPSYLON) { + if (square_modulus <= FP32_SQUARE_EPSYLON) { twin->s0 = 1.0f; twin->x1 = 0.0f; twin->x2 = 0.0f; @@ -89,7 +89,7 @@ static inline void bg_fp32_versor_set_values(const float s0, const float x1, con twin->x3 *= multiplier; } -static inline void bg_fp64_versor_set_values(const double s0, const double x1, const double x2, const double x3, BgFP64Versor* versor) +static inline void fp64_versor_set_values(const double s0, const double x1, const double x2, const double x3, fp64_versor_t* versor) { __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor; @@ -100,11 +100,11 @@ static inline void bg_fp64_versor_set_values(const double s0, const double x1, c const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); - if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) { + if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { return; } - if (square_modulus <= BG_FP64_SQUARE_EPSYLON) { + if (square_modulus <= FP64_SQUARE_EPSYLON) { twin->s0 = 1.0; twin->x1 = 0.0; twin->x2 = 0.0; @@ -122,7 +122,7 @@ static inline void bg_fp64_versor_set_values(const double s0, const double x1, c // ==================== Copy ==================== // -static inline void bg_fp32_versor_copy(const BgFP32Versor* from, BgFP32Versor* to) +static inline void fp32_versor_copy(const fp32_versor_t* from, fp32_versor_t* to) { __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to; @@ -132,7 +132,7 @@ static inline void bg_fp32_versor_copy(const BgFP32Versor* from, BgFP32Versor* t twin->x3 = from->x3; } -static inline void bg_fp64_versor_copy(const BgFP64Versor* from, BgFP64Versor* to) +static inline void fp64_versor_copy(const fp64_versor_t* from, fp64_versor_t* to) { __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to; @@ -144,7 +144,7 @@ static inline void bg_fp64_versor_copy(const BgFP64Versor* from, BgFP64Versor* t // ==================== Swap ==================== // -static inline void bg_fp32_versor_swap(BgFP32Versor* versor1, BgFP32Versor* versor2) +static inline void fp32_versor_swap(fp32_versor_t* versor1, fp32_versor_t* versor2) { const float s0 = versor1->s0; const float x1 = versor1->x1; @@ -166,7 +166,7 @@ static inline void bg_fp32_versor_swap(BgFP32Versor* versor1, BgFP32Versor* vers twin2->x3 = x3; } -static inline void bg_fp64_versor_swap(BgFP64Versor* versor1, BgFP64Versor* versor2) +static inline void fp64_versor_swap(fp64_versor_t* versor1, fp64_versor_t* versor2) { const double s0 = versor1->s0; const double x1 = versor1->x1; @@ -190,51 +190,51 @@ static inline void bg_fp64_versor_swap(BgFP64Versor* versor1, BgFP64Versor* vers // =============== Set Crude Turn =============== // -void bg_fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Versor* result); +void fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, fp32_versor_t* result); -void bg_fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Versor* result); +void fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, fp64_versor_t* result); // ================== Set Turn ================== // -static inline void bg_fp32_versor_set_turn(const BgFP32Vector3* axis, const float angle, const angle_unit_t unit, BgFP32Versor* result) +static inline void fp32_versor_set_turn(const fp32_vector3_t* axis, const float angle, const angle_unit_t unit, fp32_versor_t* result) { - bg_fp32_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result); + fp32_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result); } -static inline void bg_fp64_versor_set_turn(const BgFP32Vector3* axis, const double angle, const angle_unit_t unit, BgFP64Versor* result) +static inline void fp64_versor_set_turn(const fp32_vector3_t* axis, const double angle, const angle_unit_t unit, fp64_versor_t* result) { - bg_fp64_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result); + fp64_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result); } // ================ Set Rotation ================ // -static inline void bg_fp32_versor_set_rotation(const BgFP32Rotation3* rotation, BgFP32Versor* result) +static inline void fp32_versor_set_rotation(const fp32_rotation3_t* rotation, fp32_versor_t* result) { - bg_fp32_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result); + fp32_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result); } -static inline void bg_fp64_versor_set_rotation(const BgFP64Rotation3* rotation, BgFP64Versor* result) +static inline void fp64_versor_set_rotation(const fp64_rotation3_t* rotation, fp64_versor_t* result) { - bg_fp64_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result); + fp64_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result); } // ================= Comparison ================= // -static inline int bg_fp32_versor_is_idle(const BgFP32Versor* versor) +static inline int fp32_versor_is_idle(const fp32_versor_t* versor) { - return 1.0f - BG_FP32_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - BG_FP32_EPSYLON); + return 1.0f - FP32_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - FP32_EPSYLON); } -static inline int bg_fp64_versor_is_idle(const BgFP64Versor* versor) +static inline int fp64_versor_is_idle(const fp64_versor_t* versor) { - return 1.0 - BG_FP64_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - BG_FP64_EPSYLON); + return 1.0 - FP64_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - FP64_EPSYLON); } // ============= Copy to twin type ============== // -static inline void bg_fp32_versor_set_from_fp64(const BgFP64Versor* versor, BgFP32Versor* result) +static inline void fp32_versor_set_from_fp64(const fp64_versor_t* versor, fp32_versor_t* result) { - bg_fp32_versor_set_values( + fp32_versor_set_values( (float) versor->s0, (float) versor->x1, (float) versor->x2, @@ -243,9 +243,9 @@ static inline void bg_fp32_versor_set_from_fp64(const BgFP64Versor* versor, BgFP ); } -static inline void bg_fp64_versor_set_from_fp32(const BgFP32Versor* versor, BgFP64Versor* result) +static inline void fp64_versor_set_from_fp32(const fp32_versor_t* versor, fp64_versor_t* result) { - bg_fp64_versor_set_values( + fp64_versor_set_values( versor->s0, versor->x1, versor->x2, @@ -256,7 +256,7 @@ static inline void bg_fp64_versor_set_from_fp32(const BgFP32Versor* versor, BgFP // ================== Shorten =================== // -static inline void bg_fp32_versor_shorten(BgFP32Versor* versor) +static inline void fp32_versor_shorten(fp32_versor_t* versor) { if (versor->s0 >= 0.0f) { return; @@ -269,7 +269,7 @@ static inline void bg_fp32_versor_shorten(BgFP32Versor* versor) twin->x3 = -versor->x3; } -static inline void bg_fp64_versor_shorten(BgFP64Versor* versor) +static inline void fp64_versor_shorten(fp64_versor_t* versor) { if (versor->s0 >= 0.0f) { return; @@ -284,7 +284,7 @@ static inline void bg_fp64_versor_shorten(BgFP64Versor* versor) // ================== Shorten =================== // -static inline void bg_fp32_versor_set_shortened(const BgFP32Versor* versor, BgFP32Versor* shortened) +static inline void fp32_versor_set_shortened(const fp32_versor_t* versor, fp32_versor_t* shortened) { __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)shortened; @@ -302,7 +302,7 @@ static inline void bg_fp32_versor_set_shortened(const BgFP32Versor* versor, BgFP twin->x3 = -versor->x3; } -static inline void bg_fp64_versor_set_shortened(const BgFP64Versor* versor, BgFP64Versor* shortened) +static inline void fp64_versor_set_shortened(const fp64_versor_t* versor, fp64_versor_t* shortened) { __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)shortened; @@ -322,7 +322,7 @@ static inline void bg_fp64_versor_set_shortened(const BgFP64Versor* versor, BgFP // ================= Inversion ================== // -static inline void bg_fp32_versor_invert(BgFP32Versor* versor) +static inline void fp32_versor_invert(fp32_versor_t* versor) { __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor; twin->x1 = -versor->x1; @@ -330,7 +330,7 @@ static inline void bg_fp32_versor_invert(BgFP32Versor* versor) twin->x3 = -versor->x3; } -static inline void bg_fp64_versor_invert(BgFP64Versor* versor) +static inline void fp64_versor_invert(fp64_versor_t* versor) { __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor; twin->x1 = -versor->x1; @@ -340,7 +340,7 @@ static inline void bg_fp64_versor_invert(BgFP64Versor* versor) // ================ Set Inverted ================ // -static inline void bg_fp32_versor_set_inverted(const BgFP32Versor* versor, BgFP32Versor* to) +static inline void fp32_versor_set_inverted(const fp32_versor_t* versor, fp32_versor_t* to) { __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to; twin->s0 = versor->s0; @@ -349,7 +349,7 @@ static inline void bg_fp32_versor_set_inverted(const BgFP32Versor* versor, BgFP3 twin->x3 = -versor->x3; } -static inline void bg_fp64_versor_set_inverted(const BgFP64Versor* versor, BgFP64Versor* to) +static inline void fp64_versor_set_inverted(const fp64_versor_t* versor, fp64_versor_t* to) { __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to; twin->s0 = versor->s0; @@ -360,9 +360,9 @@ static inline void bg_fp64_versor_set_inverted(const BgFP64Versor* versor, BgFP6 // ================ Set Inverted ================ // -static inline void bg_fp32_versor_set_inverted_fp64(const BgFP64Versor* versor, BgFP32Versor* to) +static inline void fp32_versor_set_inverted_fp64(const fp64_versor_t* versor, fp32_versor_t* to) { - bg_fp32_versor_set_values( + fp32_versor_set_values( (float) versor->s0, (float) -versor->x1, (float) -versor->x2, @@ -371,9 +371,9 @@ static inline void bg_fp32_versor_set_inverted_fp64(const BgFP64Versor* versor, ); } -static inline void bg_fp64_versor_set_inverted_fp32(const BgFP32Versor* versor, BgFP64Versor* to) +static inline void fp64_versor_set_inverted_fp32(const fp32_versor_t* versor, fp64_versor_t* to) { - bg_fp64_versor_set_values( + fp64_versor_set_values( versor->s0, -versor->x1, -versor->x2, @@ -384,7 +384,7 @@ static inline void bg_fp64_versor_set_inverted_fp32(const BgFP32Versor* versor, // ================ Combination ================= // -static inline void bg_fp32_versor_combine(const BgFP32Versor* second, const BgFP32Versor* first, BgFP32Versor* result) +static inline void fp32_versor_combine(const fp32_versor_t* second, const fp32_versor_t* first, fp32_versor_t* result) { const float s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3); const float x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3); @@ -400,7 +400,7 @@ static inline void bg_fp32_versor_combine(const BgFP32Versor* second, const BgFP twin->x2 = x2; twin->x3 = x3; - if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) { + if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { return; } @@ -412,7 +412,7 @@ static inline void bg_fp32_versor_combine(const BgFP32Versor* second, const BgFP twin->x3 *= multiplier; } -static inline void bg_fp64_versor_combine(const BgFP64Versor* second, const BgFP64Versor* first, BgFP64Versor* result) +static inline void fp64_versor_combine(const fp64_versor_t* second, const fp64_versor_t* first, fp64_versor_t* result) { const double s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3); const double x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3); @@ -428,7 +428,7 @@ static inline void bg_fp64_versor_combine(const BgFP64Versor* second, const BgFP twin->x2 = x2; twin->x3 = x3; - if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) { + if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { return; } @@ -442,7 +442,7 @@ static inline void bg_fp64_versor_combine(const BgFP64Versor* second, const BgFP // ============ Combination of three ============ // -static inline void bg_fp32_versor_combine3(const BgFP32Versor* third, const BgFP32Versor* second, const BgFP32Versor* first, BgFP32Versor* result) +static inline void fp32_versor_combine3(const fp32_versor_t* third, const fp32_versor_t* second, const fp32_versor_t* first, fp32_versor_t* result) { const float s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3); const float x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3); @@ -463,7 +463,7 @@ static inline void bg_fp32_versor_combine3(const BgFP32Versor* third, const BgFP twin->x2 = x2b; twin->x3 = x3b; - if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) { + if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { return; } @@ -475,7 +475,7 @@ static inline void bg_fp32_versor_combine3(const BgFP32Versor* third, const BgFP twin->x3 *= multiplier; } -static inline void bg_fp64_versor_combine3(const BgFP64Versor* third, const BgFP64Versor* second, const BgFP64Versor* first, BgFP64Versor* result) +static inline void fp64_versor_combine3(const fp64_versor_t* third, const fp64_versor_t* second, const fp64_versor_t* first, fp64_versor_t* result) { const double s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3); const double x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3); @@ -496,7 +496,7 @@ static inline void bg_fp64_versor_combine3(const BgFP64Versor* third, const BgFP twin->x2 = x2b; twin->x3 = x3b; - if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) { + if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { return; } @@ -510,7 +510,7 @@ static inline void bg_fp64_versor_combine3(const BgFP64Versor* third, const BgFP // ================= Exclusion ================== // -static inline void bg_fp32_versor_exclude(const BgFP32Versor* basic, const BgFP32Versor* exclusion, BgFP32Versor* result) +static inline void fp32_versor_exclude(const fp32_versor_t* basic, const fp32_versor_t* exclusion, fp32_versor_t* result) { const float s0 = (basic->s0 * exclusion->s0 + basic->x1 * exclusion->x1) + (basic->x2 * exclusion->x2 + basic->x3 * exclusion->x3); const float x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3); @@ -526,7 +526,7 @@ static inline void bg_fp32_versor_exclude(const BgFP32Versor* basic, const BgFP3 twin->x2 = x2; twin->x3 = x3; - if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) { + if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) { return; } @@ -538,7 +538,7 @@ static inline void bg_fp32_versor_exclude(const BgFP32Versor* basic, const BgFP3 twin->x3 *= multiplier; } -static inline void bg_fp64_versor_exclude(const BgFP64Versor* basic, const BgFP64Versor* exclusion, BgFP64Versor* result) +static inline void fp64_versor_exclude(const fp64_versor_t* basic, const fp64_versor_t* exclusion, fp64_versor_t* result) { const double s0 = (basic->s0 * exclusion->s0 + basic->x1 * exclusion->x1) + (basic->x2 * exclusion->x2 + basic->x3 * exclusion->x3); const double x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3); @@ -554,7 +554,7 @@ static inline void bg_fp64_versor_exclude(const BgFP64Versor* basic, const BgFP6 twin->x2 = x2; twin->x3 = x3; - if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) { + if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) { return; } @@ -568,13 +568,13 @@ static inline void bg_fp64_versor_exclude(const BgFP64Versor* basic, const BgFP6 // ================= Rotation3 ================== // -void bg_fp32_versor_get_rotation(const BgFP32Versor* versor, BgFP32Rotation3* result); +void fp32_versor_get_rotation(const fp32_versor_t* versor, fp32_rotation3_t* result); -void bg_fp64_versor_get_rotation(const BgFP64Versor* versor, BgFP64Rotation3* result); +void fp64_versor_get_rotation(const fp64_versor_t* versor, fp64_rotation3_t* result); // =========== Make Rotation Matrix3x3 ========== // -static inline void bg_fp32_versor_make_rotation_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix) +static inline void fp32_versor_make_rotation_matrix(const fp32_versor_t* versor, fp32_matrix3x3_t* matrix) { const float s0s0 = versor->s0 * versor->s0; const float x1x1 = versor->x1 * versor->x1; @@ -602,7 +602,7 @@ static inline void bg_fp32_versor_make_rotation_matrix(const BgFP32Versor* verso matrix->r1c3 = x1x3 + s0x2; } -static inline void bg_fp64_versor_make_rotation_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix) +static inline void fp64_versor_make_rotation_matrix(const fp64_versor_t* versor, fp64_matrix3x3_t* matrix) { const double s0s0 = versor->s0 * versor->s0; const double x1x1 = versor->x1 * versor->x1; @@ -632,7 +632,7 @@ static inline void bg_fp64_versor_make_rotation_matrix(const BgFP64Versor* verso // =========== Make Reverse Matrix3x3 =========== // -static inline void bg_fp32_versor_make_reverse_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix) +static inline void fp32_versor_make_reverse_matrix(const fp32_versor_t* versor, fp32_matrix3x3_t* matrix) { const float s0s0 = versor->s0 * versor->s0; const float x1x1 = versor->x1 * versor->x1; @@ -660,7 +660,7 @@ static inline void bg_fp32_versor_make_reverse_matrix(const BgFP32Versor* versor matrix->r1c3 = x1x3 - s0x2; } -static inline void bg_fp64_versor_make_reverse_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix) +static inline void fp64_versor_make_reverse_matrix(const fp64_versor_t* versor, fp64_matrix3x3_t* matrix) { const double s0s0 = versor->s0 * versor->s0; const double x1x1 = versor->x1 * versor->x1; @@ -690,7 +690,7 @@ static inline void bg_fp64_versor_make_reverse_matrix(const BgFP64Versor* versor // ================ Turn Vector ================= // -static inline void bg_fp32_versor_turn(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result) +static inline void fp32_versor_turn(const fp32_versor_t* versor, const fp32_vector3_t* vector, fp32_vector3_t* result) { const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2); const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3); @@ -705,7 +705,7 @@ static inline void bg_fp32_versor_turn(const BgFP32Versor* versor, const BgFP32V result->x3 = x3; } -static inline void bg_fp64_versor_turn(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result) +static inline void fp64_versor_turn(const fp64_versor_t* versor, const fp64_vector3_t* vector, fp64_vector3_t* result) { const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2); const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3); @@ -722,7 +722,7 @@ static inline void bg_fp64_versor_turn(const BgFP64Versor* versor, const BgFP64V // ============== Turn Vector Back ============== // -static inline void bg_fp32_versor_turn_back(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result) +static inline void fp32_versor_turn_back(const fp32_versor_t* versor, const fp32_vector3_t* vector, fp32_vector3_t* result) { const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2); const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3); @@ -737,7 +737,7 @@ static inline void bg_fp32_versor_turn_back(const BgFP32Versor* versor, const Bg result->x3 = x3; } -static inline void bg_fp64_versor_turn_back(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result) +static inline void fp64_versor_turn_back(const fp64_versor_t* versor, const fp64_vector3_t* vector, fp64_vector3_t* result) { const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2); const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3);