Добавление тангентов (аналог версоров, но для двумерных пространств) / Adding of tangent pairs, it is like versors but for 2 dimensional spaces

basic-geometry-dev/main.c

@@ -234,7 +234,7 @@ int main()
     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_get_rotation_matrix(&versors1[i], &matrixes[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]);
         }

basic-geometry/basic-geometry.h

@@ -14,6 +14,8 @@
 #include "matrix3x2.h"
 #include "matrix3x3.h"
 
+#include "tangent.h"
+
 #include "rotation3.h"
 
 #include "quaternion.h"

basic-geometry/basic-geometry.vcxproj

@@ -29,6 +29,7 @@
     <ClInclude Include="matrixes.h" />
     <ClInclude Include="quaternion.h" />
     <ClInclude Include="rotation3.h" />
+    <ClInclude Include="tangent.h" />
     <ClInclude Include="versor.h" />
     <ClInclude Include="vector2.h" />
     <ClInclude Include="vector3.h" />
@@ -43,6 +44,7 @@
     <ClCompile Include="matrixes.c" />
     <ClCompile Include="quaternion.c" />
     <ClCompile Include="rotation3.c" />
+    <ClCompile Include="tangent.c" />
     <ClCompile Include="versor.c" />
     <ClCompile Include="vector2.c" />
     <ClCompile Include="vector3.c" />

basic-geometry/basic-geometry.vcxproj.filters

@@ -54,6 +54,9 @@
     <ClInclude Include="matrixes.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
+    <ClInclude Include="tangent.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="angle.c">
@@ -92,5 +95,8 @@
     <ClCompile Include="matrix3x2.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
+    <ClCompile Include="tangent.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
   </ItemGroup>
 </Project>

basic-geometry/tangent.c

@@ -0,0 +1,5 @@
+#include "tangent.h"
+
+const BgFP32Tangent BG_FP32_IDLE_TANGENT = { 1.0f, 0.0f };
+
+const BgFP64Tangent BG_FP64_IDLE_TANGENT = { 1.0, 0.0 };

basic-geometry/tangent.h

@@ -0,0 +1,296 @@
+#ifndef _GEOMETRY_TANGENT_H_
+#define _GEOMETRY_TANGENT_H_
+
+#include <math.h>
+
+#include "basis.h"
+#include "angle.h"
+#include "vector2.h"
+#include "matrix2x2.h"
+
+typedef struct
+{
+    float _cos, _sin;
+} BgFP32Tangent;
+
+typedef struct
+{
+    double _cos, _sin;
+} BgFP64Tangent;
+
+extern const BgFP32Tangent BG_FP32_IDLE_TANGENT;
+extern const BgFP64Tangent BG_FP64_IDLE_TANGENT;
+
+// =================== Reset ==================== //
+
+static inline void bg_fp32_tangent_reset(BgFP32Tangent* tangent)
+{
+    tangent->_cos = 1.0f;
+    tangent->_sin = 0.0f;
+}
+
+static inline void bg_fp64_tangent_reset(BgFP64Tangent* tangent)
+{
+    tangent->_cos = 1.0;
+    tangent->_sin = 0.0;
+}
+
+// ==================== Copy ==================== //
+
+static inline void bg_fp32_tangent_copy(const BgFP32Tangent* from, BgFP32Tangent* to)
+{
+    to->_cos = from->_cos;
+    to->_sin = from->_sin;
+}
+
+static inline void bg_fp64_tangent_copy(const BgFP64Tangent* from, BgFP64Tangent* to)
+{
+    to->_cos = from->_cos;
+    to->_sin = from->_sin;
+}
+
+// ==================== Make ==================== //
+
+static inline void bg_fp32_tangent_set_values(const float x1, const float x2, BgFP32Tangent* tangent)
+{
+    const float square_module = x1 * x1 + x2 * x2;
+
+    tangent->_cos = x1;
+    tangent->_sin = x2;
+
+    if (1.0f - BG_FP32_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP32_TWO_EPSYLON) {
+        return;
+    }
+
+    if (square_module <= BG_FP32_SQUARE_EPSYLON) {
+        tangent->_cos = 1.0f;
+        tangent->_sin = 0.0f;
+        return;
+    }
+
+    const float multiplier = sqrtf(1.0f / square_module);
+
+    tangent->_cos = x1 * multiplier;
+    tangent->_sin = x2 * multiplier;
+}
+
+static inline void bg_fp64_tangent_set_values(const double x1, const double x2, BgFP64Tangent* tangent)
+{
+    const double square_module = x1 * x1 + x2 * x2;
+
+    tangent->_cos = x1;
+    tangent->_sin = x2;
+
+    if (1.0 - BG_FP64_TWO_EPSYLON <= square_module && square_module <= 1.0 + BG_FP64_TWO_EPSYLON) {
+        return;
+    }
+
+    if (square_module <= BG_FP64_SQUARE_EPSYLON) {
+        tangent->_cos = 1.0;
+        tangent->_sin = 0.0;
+        return;
+    }
+
+    const double multiplier = sqrt(1.0 / square_module);
+
+    tangent->_cos = x1 * multiplier;
+    tangent->_sin = x2 * multiplier;
+}
+
+// ================== Set Angle ================= //
+
+static inline void bg_fp32_tangent_set_angle(const float angle, const angle_unit_t unit, BgFP32Tangent* tangent)
+{
+    const float radians = bg_fp32_angle_to_radians(angle, unit);
+
+    tangent->_cos = cosf(radians);
+    tangent->_sin = sinf(radians);
+}
+
+static inline void bg_fp64_tangent_set_angle(const double angle, const angle_unit_t unit, BgFP64Tangent* tangent)
+{
+    const double radians = bg_fp64_angle_to_radians(angle, unit);
+
+    tangent->_cos = cos(radians);
+    tangent->_sin = sin(radians);
+}
+
+// ============= Copy to twin type ============== //
+
+static inline void bg_fp32_tangent_copy_to_double(const BgFP32Tangent* from, BgFP64Tangent* to)
+{
+    bg_fp64_tangent_set_values((double)from->_cos, (double)from->_sin, to);
+}
+
+static inline void bg_fp64_tangent_copy_to_single(const BgFP64Tangent* from, BgFP32Tangent* to)
+{
+    bg_fp32_tangent_set_values((float)from->_cos, (float)from->_sin, to);
+}
+
+// ================= Inversion ================== //
+
+static inline void bg_fp32_tangent_invert(BgFP32Tangent* tangent)
+{
+    tangent->_sin = -tangent->_sin;
+}
+
+static inline void bg_fp64_tangent_invert(BgFP64Tangent* tangent)
+{
+    tangent->_sin = -tangent->_sin;
+}
+
+// ================ Set Inverted ================ //
+
+static inline void bg_fp32_tangent_set_inverted(const BgFP32Tangent* tangent, BgFP32Tangent* result)
+{
+    result->_cos = tangent->_cos;
+    result->_sin = -tangent->_sin;
+}
+
+static inline void bg_fp64_tangent_set_inverted(const BgFP64Tangent* tangent, BgFP64Tangent* result)
+{
+    result->_cos = tangent->_cos;
+    result->_sin = -tangent->_sin;
+}
+
+// ============== Rotation Matrix =============== //
+
+static inline void bg_fp32_tangent_make_rotation_matrix(const BgFP32Tangent* tangent, BgFP32Matrix2x2* matrix)
+{
+    matrix->r1c1 = tangent->_cos;
+    matrix->r1c2 = -tangent->_sin;
+    matrix->r2c1 = tangent->_sin;
+    matrix->r2c2 = tangent->_cos;
+}
+
+static inline void bg_fp64_tangent_make_rotation_matrix(const BgFP64Tangent* tangent, BgFP64Matrix2x2* matrix)
+{
+    matrix->r1c1 = tangent->_cos;
+    matrix->r1c2 = -tangent->_sin;
+    matrix->r2c1 = tangent->_sin;
+    matrix->r2c2 = tangent->_cos;
+}
+
+// ============== Reverse Matrix ================ //
+
+static inline void bg_fp32_tangent_make_reverse_matrix(const BgFP32Tangent* tangent, BgFP32Matrix2x2* matrix)
+{
+    matrix->r1c1 = tangent->_cos;
+    matrix->r1c2 = tangent->_sin;
+    matrix->r2c1 = -tangent->_sin;
+    matrix->r2c2 = tangent->_cos;
+}
+
+static inline void bg_fp64_tangent_make_reverse_matrix(const BgFP64Tangent* tangent, BgFP64Matrix2x2* matrix)
+{
+    matrix->r1c1 = tangent->_cos;
+    matrix->r1c2 = tangent->_sin;
+    matrix->r2c1 = -tangent->_sin;
+    matrix->r2c2 = tangent->_cos;
+}
+
+// =================== Angle =================== //
+
+static inline float bg_fp32_tangent_get_angle(const BgFP32Tangent* tangent, const angle_unit_t unit)
+{
+    if (tangent->_cos >= 1.0f - BG_FP32_TWO_EPSYLON) {
+        return 0.0f;
+    }
+
+    if (tangent->_cos <= -1.0f + BG_FP32_TWO_EPSYLON) {
+        return bg_fp32_angle_get_half_circle(unit);
+    }
+
+    if (tangent->_sin >= 1.0f - BG_FP32_TWO_EPSYLON) {
+        return bg_fp32_angle_get_quater_circle(unit);
+    }
+
+    if (tangent->_sin <= -1.0f + BG_FP32_TWO_EPSYLON) {
+        return 0.75f * bg_fp32_angle_get_full_circle(unit);
+    }
+
+    return bg_fp32_radians_to_units(atan2f(tangent->_cos, tangent->_sin), unit);
+}
+
+static inline double bg_fp64_tangent_get_angle(const BgFP64Tangent* tangent, const angle_unit_t unit)
+{
+    if (tangent->_cos >= 1.0 - BG_FP64_TWO_EPSYLON) {
+        return 0.0;
+    }
+
+    if (tangent->_cos <= -1.0 + BG_FP64_TWO_EPSYLON) {
+        return bg_fp64_angle_get_half_circle(unit);
+    }
+
+    if (tangent->_sin >= 1.0 - BG_FP64_TWO_EPSYLON) {
+        return bg_fp64_angle_get_quater_circle(unit);
+    }
+
+    if (tangent->_sin <= -1.0 + BG_FP64_TWO_EPSYLON) {
+        return 0.75 * bg_fp64_angle_get_full_circle(unit);
+    }
+
+    return bg_fp64_radians_to_units(atan2(tangent->_cos, tangent->_sin), unit);
+}
+
+// ================ Combination ================= //
+
+static inline void bg_fp32_tangent_combine(const BgFP32Tangent* tangent1, const BgFP32Tangent* tangent2, BgFP32Tangent* result)
+{
+    bg_fp32_tangent_set_values(
+        tangent1->_cos * tangent2->_cos - tangent1->_sin * tangent2->_sin,
+        tangent1->_cos * tangent2->_sin + tangent1->_sin * tangent2->_cos,
+        result
+    );
+}
+
+static inline void bg_fp64_tangent_combine(const BgFP64Tangent* tangent1, const BgFP64Tangent* tangent2, BgFP64Tangent* result)
+{
+    bg_fp64_tangent_set_values(
+        tangent1->_cos * tangent2->_cos - tangent1->_sin * tangent2->_sin,
+        tangent1->_cos * tangent2->_sin + tangent1->_sin * tangent2->_cos,
+        result
+    );
+}
+
+// ================ Turn Vector ================= //
+
+static inline void bg_fp32_tangent_turn(const BgFP32Tangent* tangent, const BgFP32Vector2* vector, BgFP32Vector2* result)
+{
+    const float x1 = tangent->_cos * vector->x1 - tangent->_sin * vector->x2;
+    const float x2 = tangent->_sin * vector->x1 + tangent->_cos * vector->x2;
+
+    result->x1 = x1;
+    result->x2 = x2;
+}
+
+static inline void bg_fp64_tangent_turn(const BgFP64Tangent* tangent, const BgFP64Vector2* vector, BgFP64Vector2* result)
+{
+    const double x1 = tangent->_cos * vector->x1 - tangent->_sin * vector->x2;
+    const double x2 = tangent->_sin * vector->x1 + tangent->_cos * vector->x2;
+
+    result->x1 = x1;
+    result->x2 = x2;
+}
+
+// ============ Turn Vector Backward ============ //
+
+static inline void bg_fp32_tangent_turn_back(const BgFP32Tangent* tangent, const BgFP32Vector2* vector, BgFP32Vector2* result)
+{
+    const float x1 = tangent->_sin * vector->x2 + tangent->_cos * vector->x1;
+    const float x2 = tangent->_cos * vector->x2 - tangent->_sin * vector->x1;
+
+    result->x1 = x1;
+    result->x2 = x2;
+}
+
+static inline void bg_fp64_tangent_turn_back(const BgFP64Tangent* tangent, const BgFP64Vector2* vector, BgFP64Vector2* result)
+{
+    const double x1 = tangent->_sin * vector->x2 + tangent->_cos * vector->x1;
+    const double x2 = tangent->_cos * vector->x2 - tangent->_sin * vector->x1;
+
+    result->x1 = x1;
+    result->x2 = x2;
+}
+
+#endif

basic-geometry/versor.h

@@ -530,7 +530,7 @@ void bg_fp64_versor_get_rotation(const BgFP64Versor* versor, BgFP64Rotation3* re
 
 // =========== Make Rotation Matrix3x3 ========== //
 
-static inline void bg_fp32_versor_get_rotation_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix)
+static inline void bg_fp32_versor_make_rotation_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix)
 {
     const float s0s0 = versor->s0 * versor->s0;
     const float x1x1 = versor->x1 * versor->x1;
@@ -558,7 +558,7 @@ static inline void bg_fp32_versor_get_rotation_matrix(const BgFP32Versor* versor
     matrix->r1c3 = x1x3 + s0x2;
 }
 
-static inline void bg_fp64_versor_get_rotation_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix)
+static inline void bg_fp64_versor_make_rotation_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix)
 {
     const double s0s0 = versor->s0 * versor->s0;
     const double x1x1 = versor->x1 * versor->x1;
@@ -588,7 +588,7 @@ static inline void bg_fp64_versor_get_rotation_matrix(const BgFP64Versor* versor
 
 // =========== Make Reverse Matrix3x3 =========== //
 
-static inline void bg_fp32_versor_get_reverse_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix)
+static inline void bg_fp32_versor_make_reverse_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix)
 {
     const float s0s0 = versor->s0 * versor->s0;
     const float x1x1 = versor->x1 * versor->x1;
@@ -616,7 +616,7 @@ static inline void bg_fp32_versor_get_reverse_matrix(const BgFP32Versor* versor,
     matrix->r1c3 = x1x3 - s0x2;
 }
 
-static inline void bg_fp64_versor_get_reverse_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix)
+static inline void bg_fp64_versor_make_reverse_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix)
 {
     const double s0s0 = versor->s0 * versor->s0;
     const double x1x1 = versor->x1 * versor->x1;