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Переименование типов в соответствии со стилем POSIX, отказ от префикса bg_

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This commit is contained in:
Andrey Pokidov 2025-01-13 21:31:26 +07:00
parent d2a25823a5
commit 605afabd94
25 changed files with 1109 additions and 1035 deletions
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262
basic-geometry-dev/main.c
View file

@ -9,29 +9,172 @@
#include <time.h>
#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;
}
*/

74
basic-geometry-test/fp32_vector2_test.c
View file

@ -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;
}

10
basic-geometry-test/fp32_vector2_test.h
View file

@ -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

16
basic-geometry-test/geometry_test.h
View file

@ -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;

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

@ -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;
}

224
basic-geometry/angle.h
View file

@ -1,32 +1,32 @@
#ifndef _GEOMETRY_ANGLE_H_
#define _GEOMETRY_ANGLE_H_
#ifndef _BASIC_GEOMETRY_ANGLE_H_
#define _BASIC_GEOMETRY_ANGLE_H_
#include <math.h>
#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

56
basic-geometry/basis.h
View file

@ -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

132
basic-geometry/matrix2x2.h
View file

@ -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;

80
basic-geometry/matrix2x3.h
View file

@ -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;

80
basic-geometry/matrix3x2.h
View file

@ -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;

24
basic-geometry/matrix3x3.c
View file

@ -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;
}

120
basic-geometry/matrix3x3.h
View file

@ -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;

28
basic-geometry/matrixes.c
View file

@ -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;

52
basic-geometry/matrixes.h
View file

@ -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_

124
basic-geometry/quaternion.h
View file

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

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -1,5 +1,5 @@
#ifndef _GEOMETRY_QUATERNION_H_
#define _GEOMETRY_QUATERNION_H_
#ifndef _BASIC_GEOMETRY_QUATERNION_H_
#define _BASIC_GEOMETRY_QUATERNION_H_
#include <math.h>
@ -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) {