diff --git a/Geometry.workspace.layout b/Geometry.workspace.layout deleted file mode 100644 index a0fb322..0000000 --- a/Geometry.workspace.layout +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/dev/geometry-dev.cbp b/dev/geometry-dev.cbp deleted file mode 100644 index 6495c70..0000000 --- a/dev/geometry-dev.cbp +++ /dev/null @@ -1,50 +0,0 @@ - - - - - - diff --git a/dev/geometry-dev.depend b/dev/geometry-dev.depend deleted file mode 100644 index bb3e634..0000000 --- a/dev/geometry-dev.depend +++ /dev/null @@ -1,126 +0,0 @@ -# depslib dependency file v1.0 -1732169779 source:/home/andrey/Projects/Private/C/Geometry/dev/main.c - - - - - - - -1731906002 /home/andrey/Projects/Private/C/Geometry/src/geometry.h - "basis.h" - "angle.h" - "vector2.h" - "vector3.h" - "matrixes.h" - "matrix2x2.h" - "matrix2x3.h" - "matrix3x2.h" - "matrix3x3.h" - "rotation3.h" - "quaternion.h" - "versor.h" - -1732094620 /home/andrey/Projects/Private/C/Geometry/src/basis.h - -1732096335 /home/andrey/Projects/Private/C/Geometry/src/angle.h - - "basis.h" - -1732095049 /home/andrey/Projects/Private/C/Geometry/src/vector2.h - "basis.h" - "angle.h" - - -1732095097 /home/andrey/Projects/Private/C/Geometry/src/vector3.h - "basis.h" - "angle.h" - - -1729500312 /home/andrey/Projects/Private/C/Geometry/src/vector4.h - "basis.h" - "angle.h" - - -1732095748 /home/andrey/Projects/Private/C/Geometry/src/matrix2x2.h - "angle.h" - "vector2.h" - "matrixes.h" - -1732095414 /home/andrey/Projects/Private/C/Geometry/src/matrix3x3.h - "vector3.h" - "matrixes.h" - -1729490844 /home/andrey/Projects/Private/C/Geometry/src/matrix4x4.h - "vector4.h" - -1729490850 /home/andrey/Projects/Private/C/Geometry/src/tangent.h - - "basis.h" - "angle.h" - "vector2.h" - "matrix2x2.h" - -1732095748 /home/andrey/Projects/Private/C/Geometry/src/rotation3.h - "basis.h" - "angle.h" - "vector3.h" - -1732169837 /home/andrey/Projects/Private/C/Geometry/src/versor.h - - "basis.h" - "vector3.h" - "rotation3.h" - "matrix3x3.h" - -1729503008 /home/andrey/Projects/Private/C/Geometry/src/affine_map2.h - "vector2.h" - "matrix2x2.h" - -1729502996 /home/andrey/Projects/Private/C/Geometry/src/affine_map3.h - "vector3.h" - "matrix3x3.h" - -1729503020 /home/andrey/Projects/Private/C/Geometry/src/affine_map4.h - "vector4.h" - "matrix4x4.h" - -1729426494 /home/andrey/Projects/Private/C/Geometry/src/cartesian-frame2.h - "vector2.h" - "tangent.h" - "affine_map2.h" - -1729444022 /home/andrey/Projects/Private/C/Geometry/src/cartesian-frame3.h - - "vector3.h" - "versor.h" - "affine_map3.h" - -1729593024 /home/andrey/Projects/Private/C/Geometry/src/position2.h - "vector2.h" - "tangent.h" - "affine_map2.h" - -1729593010 /home/andrey/Projects/Private/C/Geometry/src/position3.h - - "vector3.h" - "versor.h" - "affine_map3.h" - -1732094620 /home/andrey/Projects/Private/C/Geometry/src/matrixes.h - -1732095530 /home/andrey/Projects/Private/C/Geometry/src/matrix2x3.h - "vector2.h" - "vector3.h" - "matrixes.h" - -1732095530 /home/andrey/Projects/Private/C/Geometry/src/matrix3x2.h - "vector2.h" - "vector3.h" - "matrixes.h" - -1732095234 /home/andrey/Projects/Private/C/Geometry/src/quaternion.h - - "basis.h" - "matrix3x3.h" - diff --git a/dev/geometry-dev.layout b/dev/geometry-dev.layout deleted file mode 100644 index 31c2b44..0000000 --- a/dev/geometry-dev.layout +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/dev/geometry-dev.vcxproj b/dev/geometry-dev.vcxproj deleted file mode 100644 index 7329822..0000000 --- a/dev/geometry-dev.vcxproj +++ /dev/null @@ -1,165 +0,0 @@ - - - - - Debug - Win32 - - - Release - Win32 - - - Debug - x64 - - - Release - x64 - - - - - - - - {40ca6fb4-135f-4d54-a8d9-7338ba56e6a7} - - - - 16.0 - Win32Proj - {46de6c8f-3179-4652-95cf-28d44ac4774a} - geometry-dev - 10.0 - - - - Application - true - v143 - Unicode - - - Application - false - v143 - true - Unicode - - - Application - true - v143 - Unicode - - - Application - false - v143 - true - Unicode - - - - - - - - - - - - - - - - - - - - - true - - - false - - - true - - - false - - - - Level3 - true - WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - CompileAsC - $(SolutionDir)src;%(AdditionalIncludeDirectories) - - - Console - true - - - - - Level3 - true - true - true - WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - CompileAsC - $(SolutionDir)src;%(AdditionalIncludeDirectories) - - - Console - true - true - true - - - - - Level3 - true - _DEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - CompileAsC - $(SolutionDir)src;%(AdditionalIncludeDirectories) - - - Console - true - - - - - Level3 - true - true - true - NDEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - CompileAsC - MaxSpeed - $(SolutionDir)src;%(AdditionalIncludeDirectories) - Neither - Sync - NotSet - Precise - - - Console - true - true - true - - - - - - \ No newline at end of file diff --git a/dev/geometry-dev.vcxproj.filters b/dev/geometry-dev.vcxproj.filters deleted file mode 100644 index 48814f7..0000000 --- a/dev/geometry-dev.vcxproj.filters +++ /dev/null @@ -1,22 +0,0 @@ - - - - - {4FC737F1-C7A5-4376-A066-2A32D752A2FF} - cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx - - - {93995380-89BD-4b04-88EB-625FBE52EBFB} - h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd - - - {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} - rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms - - - - - Исходные файлы - - - \ No newline at end of file diff --git a/dev/geometry-dev.vcxproj.user b/dev/geometry-dev.vcxproj.user deleted file mode 100644 index 0f14913..0000000 --- a/dev/geometry-dev.vcxproj.user +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/dev/main.c b/dev/main.c deleted file mode 100644 index a1aedea..0000000 --- a/dev/main.c +++ /dev/null @@ -1,194 +0,0 @@ -#include -#include -#include -#include - -#ifdef _WIN64 -#include -#else -#include -#endif // _WINDOWS_ - -BgFP32Versor * allocate_versors(const unsigned int amount) -{ - return calloc(amount, sizeof(BgFP32Versor)); -} - -BgFP32Versor * make_zero_versors(const unsigned int amount) -{ - BgFP32Versor * list = allocate_versors(amount); - - if (list == 0) { - return 0; - } - - for (unsigned int i = 0; i < amount; i++) { - bg_fp32_versor_reset(&list[i]); - } - - return list; -} - -BgFP32Versor * make_random_versors(const unsigned int amount) -{ - BgFP32Versor * list = allocate_versors(amount); - - if (list == 0) { - return 0; - } - - for (unsigned int i = 0; i < amount; i++) { - bg_fp32_versor_set_values( - (2.0f * rand()) / RAND_MAX - 1.0f, - (2.0f * rand()) / RAND_MAX - 1.0f, - (2.0f * rand()) / RAND_MAX - 1.0f, - (2.0f * rand()) / RAND_MAX - 1.0f, - &list[i] - ); - } - - return list; -} - -void print_versor(const BgFP32Versor* versor) -{ - printf("(%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_module(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; - -#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 * versors1 = make_random_versors(amount); - - if (versors1 == 0) { - printf("Cannot allocate memory for versors1"); - return 0; - } - - BgFP32Versor * versors2 = make_random_versors(amount); - - if (versors2 == 0) { - printf("Cannot allocate memory for versors2"); - free(versors1); - return 0; - } - - BgFP32Versor * results = make_zero_versors(amount); - - if (results == 0) { - printf("Cannot allocate memory for results"); - free(versors2); - free(versors1); - return 0; - } - -#ifdef _WIN64 - ULONGLONG start, end; - start = GetTickCount64(); -#else - struct timespec start, end; - clock_gettime(CLOCK_REALTIME, &start); -#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]); - } - } - -#ifdef _WIN64 - end = GetTickCount64(); - - printf("Time: %lld\n", end - start); -#else - clock_gettime(CLOCK_REALTIME, &end); - - printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001); -#endif // _WIN64 - - print_versor(versors1 + 10); - print_versor(versors2 + 10); - print_versor(results + 10); - - free(results); - free(versors2); - free(versors1); - return 0; -} - diff --git a/src/angle.c b/src/angle.c deleted file mode 100644 index b7b0313..0000000 --- a/src/angle.c +++ /dev/null @@ -1,3 +0,0 @@ -#include "basis.h" -#include "angle.h" - diff --git a/src/angle.h b/src/angle.h deleted file mode 100644 index 91f2753..0000000 --- a/src/angle.h +++ /dev/null @@ -1,557 +0,0 @@ -#ifndef _GEOMETRY_ANGLE_H_ -#define _GEOMETRY_ANGLE_H_ - -#include -#include "basis.h" - -#define BG_FP32_PI 3.1415926536f -#define BG_FP32_TWO_PI 6.2831853072f -#define BG_FP32_HALF_OF_PI 1.5707963268f -#define BG_FP32_THIRD_OF_PI 1.0471975512f -#define BG_FP32_FOURTH_OF_PI 0.7853981634f -#define BG_FP32_SIXTH_OF_PI 0.5235987756f - -#define 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 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 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 - -typedef enum { - BG_ANGLE_UNIT_RADIANS = 1, - BG_ANGLE_UNIT_DEGREES = 2, - BG_ANGLE_UNIT_TURNS = 3 -} angle_unit_t; - -typedef enum { - /** - * The measure of an angle with a range of: - * [0, 360) degrees, [0, 2xPI) radians, [0, 1) turns, [0, 400) gradians - */ - BG_ANGLE_RANGE_UNSIGNED = 1, - - /** - * The measure of an angle with a range of: - * (-180, 180] degrees, (-PI, PI] radians, (-0.5, 0.5] turns, (-200, 200] gradians - */ - BG_ANGLE_RANGE_SIGNED = 2 -} angle_range_t; - -// !================= Radians ==================! // - -// ========= Convert radians to degrees ========= // - -static inline float bg_fp32_radians_to_degrees(const float radians) -{ - return radians * BG_FP32_DEGREES_IN_RADIAN; -} - -static inline double bg_fp64_radians_to_degrees(const double radians) -{ - return radians * BG_FP64_DEGREES_IN_RADIAN; -} - -// ========== Convert radians to turns ========== // - -static inline float bg_fp32_radians_to_turns(const float radians) -{ - return radians * BG_FP32_TURNS_IN_RADIAN; -} - -static inline double bg_fp64_radians_to_turns(const double radians) -{ - return radians * BG_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) -{ - if (to_unit == BG_ANGLE_UNIT_DEGREES) { - return radians * BG_FP32_DEGREES_IN_RADIAN; - } - - if (to_unit == BG_ANGLE_UNIT_TURNS) { - return radians * BG_FP32_TURNS_IN_RADIAN; - } - - return radians; -} - -static inline double bg_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; - } - - if (to_unit == BG_ANGLE_UNIT_TURNS) { - return radians * BG_FP64_TURNS_IN_RADIAN; - } - - return radians; -} - -// ============ Normalize radians ============= // - -static inline float bg_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) { - return radians; - } - } - else { - if (-BG_FP32_PI < radians && radians <= BG_FP32_PI) { - return radians; - } - } - - float turns = radians * BG_FP32_TURNS_IN_RADIAN; - - turns -= floorf(turns); - - if (range == BG_ANGLE_RANGE_SIGNED && turns > 0.5f) { - turns -= 1.0f; - } - - return turns * BG_FP32_TWO_PI; -} - -static inline double bg_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) { - return radians; - } - } - else { - if (-BG_FP64_PI < radians && radians <= BG_FP64_PI) { - return radians; - } - } - - double turns = radians * BG_FP64_TURNS_IN_RADIAN; - - turns -= floor(turns); - - if (range == BG_ANGLE_RANGE_SIGNED && turns > 0.5) { - turns -= 1.0; - } - - return turns * BG_FP64_TWO_PI; -} - -// !================= Degrees ==================! // - -// ========= Convert degrees to radians ========= // - -static inline float bg_fp32_degrees_to_radians(const float degrees) -{ - return degrees * BG_FP32_RADIANS_IN_DEGREE; -} - -static inline double bg_fp64_degrees_to_radians(const double degrees) -{ - return degrees * BG_FP64_RADIANS_IN_DEGREE; -} - -// ========== Convert degrees to turns ========== // - -static inline float bg_fp32_degrees_to_turns(const float radians) -{ - return radians * BG_FP32_TURNS_IN_DEGREE; -} - -static inline double bg_fp64_degrees_to_turns(const double radians) -{ - return radians * BG_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) -{ - if (to_unit == BG_ANGLE_UNIT_RADIANS) { - return degrees * BG_FP32_RADIANS_IN_DEGREE; - } - - if (to_unit == BG_ANGLE_UNIT_TURNS) { - return degrees * BG_FP32_TURNS_IN_DEGREE; - } - - return degrees; -} - -static inline double bg_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; - } - - if (to_unit == BG_ANGLE_UNIT_TURNS) { - return degrees * BG_FP64_TURNS_IN_DEGREE; - } - - return degrees; -} - -// ============ Normalize degrees ============= // - -static inline float bg_fp32_degrees_normalize(const float degrees, const angle_range_t range) -{ - if (range == BG_ANGLE_RANGE_UNSIGNED) { - if (0.0f <= degrees && degrees < 360.0f) { - return degrees; - } - } - else { - if (-180.0f < degrees && degrees <= 180.0f) { - return degrees; - } - } - - float turns = degrees * BG_FP32_TURNS_IN_DEGREE; - - turns -= floorf(turns); - - if (range == BG_ANGLE_RANGE_SIGNED && turns > 0.5f) { - turns -= 1.0f; - } - - return turns * 360.0f; -} - -static inline double bg_fp64_degrees_normalize(const double degrees, const angle_range_t range) -{ - if (range == BG_ANGLE_RANGE_UNSIGNED) { - if (0.0 <= degrees && degrees < 360.0) { - return degrees; - } - } - else { - if (-180.0 < degrees && degrees <= 180.0) { - return degrees; - } - } - - double turns = degrees * BG_FP64_TURNS_IN_DEGREE; - - turns -= floor(turns); - - if (range == BG_ANGLE_RANGE_SIGNED && turns > 0.5) { - turns -= 1.0; - } - - return turns * 360.0; -} - -// !================== Turns ===================! // - -// ========== Convert turns to radians ========== // - -static inline float bg_fp32_turns_to_radians(const float turns) -{ - return turns * BG_FP32_TWO_PI; -} - -static inline double bg_fp64_turns_to_radians(const double turns) -{ - return turns * BG_FP64_TWO_PI; -} - -// ========== Convert turns to degrees ========== // - -static inline float bg_fp32_turns_to_degrees(const float turns) -{ - return turns * 360.0f; -} - -static inline double bg_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) -{ - if (to_unit == BG_ANGLE_UNIT_RADIANS) { - return turns * BG_FP32_TWO_PI; - } - - if (to_unit == BG_ANGLE_UNIT_DEGREES) { - return turns * 360.0f; - } - - return turns; -} - -static inline double bg_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; - } - - if (to_unit == BG_ANGLE_UNIT_DEGREES) { - return turns * 360.0; - } - - return turns; -} - -// ============= Normalize turns ============== // - -static inline float bg_fp32_turns_normalize(const float turns, const angle_range_t range) -{ - if (range == BG_ANGLE_RANGE_UNSIGNED) { - if (0.0f <= turns && turns < 1.0f) { - return turns; - } - } - else { - if (-0.5f < turns && turns <= 0.5f) { - return turns; - } - } - - float rest = turns - floorf(turns); - - if (range == BG_ANGLE_RANGE_SIGNED && rest > 0.5f) { - return rest - 1.0f; - } - - return rest; -} - -static inline double bg_fp64_turns_normalize(const double turns, const angle_range_t range) -{ - if (range == BG_ANGLE_RANGE_UNSIGNED) { - if (0.0 <= turns && turns < 1.0) { - return turns; - } - } - else { - if (-0.5 < turns && turns <= 0.5) { - return turns; - } - } - - double rest = turns - floor(turns); - - if (range == BG_ANGLE_RANGE_SIGNED && rest > 0.5) { - return rest - 1.0; - } - - return rest; -} - -// !================== Angle ===================! // - -// ========= Convert any unit to radians ======== // - -static inline float bg_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; - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return angle * BG_FP32_TWO_PI; - } - - return angle; -} - -static inline double bg_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; - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return angle * BG_FP64_TWO_PI; - } - - return angle; -} - -// ========= Convert any unit to degreess ======== // - -static inline float bg_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; - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return angle * 360.0f; - } - - return angle; -} - -static inline double bg_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; - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return angle * 360.0; - } - - return angle; -} - -// ========= Convert any unit to turns ======== // - -static inline float bg_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; - } - - if (unit == BG_ANGLE_UNIT_DEGREES) { - return angle * BG_FP32_TURNS_IN_DEGREE; - } - - return angle; -} - -static inline double bg_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; - } - - if (unit == BG_ANGLE_UNIT_DEGREES) { - return angle * BG_FP64_TURNS_IN_DEGREE; - } - - return angle; -} - -// ============= Get Full Circle ============== // - -static inline float bg_fp32_angle_get_full_circle(const angle_unit_t unit) -{ - if (unit == BG_ANGLE_UNIT_DEGREES) { - return 360.0f; - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return 1.0f; - } - - return BG_FP32_TWO_PI; -} - -static inline double bg_fp64_angle_get_full_circle(const angle_unit_t unit) -{ - if (unit == BG_ANGLE_UNIT_DEGREES) { - return 360.0; - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return 1.0; - } - - return BG_FP64_TWO_PI; -} - -// ============= Get Half Circle ============== // - -static inline float bg_fp32_angle_get_half_circle(const angle_unit_t unit) -{ - if (unit == BG_ANGLE_UNIT_DEGREES) { - return 180.0f; - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return 0.5f; - } - - return BG_FP32_PI; -} - -static inline double bg_fp64_angle_get_half_circle(const angle_unit_t unit) -{ - if (unit == BG_ANGLE_UNIT_DEGREES) { - return 180.0; - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return 0.5; - } - - return BG_FP64_PI; -} - -// ============= Get Half Circle ============== // - -static inline float bg_fp32_angle_get_quater_circle(const angle_unit_t unit) -{ - if (unit == BG_ANGLE_UNIT_DEGREES) { - return 90.0f; - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return 0.25f; - } - - return BG_FP32_HALF_OF_PI; -} - -static inline double bg_fp64_angle_get_quater_circle(const angle_unit_t unit) -{ - if (unit == BG_ANGLE_UNIT_DEGREES) { - return 90.0; - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return 0.25; - } - - return BG_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) -{ - if (unit == BG_ANGLE_UNIT_DEGREES) { - return bg_fp32_degrees_normalize(angle, range); - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return bg_fp32_turns_normalize(angle, range); - } - - return bg_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) -{ - if (unit == BG_ANGLE_UNIT_DEGREES) { - return bg_fp64_degrees_normalize(angle, range); - } - - if (unit == BG_ANGLE_UNIT_TURNS) { - return bg_fp64_turns_normalize(angle, range); - } - - return bg_fp64_radians_normalize(angle, range); -} - -#endif diff --git a/src/basis.c b/src/basis.c deleted file mode 100644 index 03a9af7..0000000 --- a/src/basis.c +++ /dev/null @@ -1,2 +0,0 @@ -#include "basis.h" - diff --git a/src/basis.h b/src/basis.h deleted file mode 100644 index 26528cf..0000000 --- a/src/basis.h +++ /dev/null @@ -1,56 +0,0 @@ -#ifndef __GEOMETRY__TYPES_H_ -#define __GEOMETRY__TYPES_H_ - -#define BG_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 BG_FP32_ONE_THIRD 0.333333333f -#define BG_FP32_ONE_SIXTH 0.166666667f -#define BG_FP32_ONE_NINETH 0.111111111f - -#define BG_FP32_GOLDEN_RATIO_HIGH 1.618034f -#define BG_FP32_GOLDEN_RATIO_LOW 0.618034f - -#define BG_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 BG_FP64_ONE_THIRD 0.333333333333333333 -#define BG_FP64_ONE_SIXTH 0.166666666666666667 -#define BG_FP64_ONE_NINETH 0.111111111111111111 - -#define BG_FP64_GOLDEN_RATIO_HIGH 1.61803398874989485 -#define BG_FP64_GOLDEN_RATIO_LOW 0.61803398874989485 - -static inline int bg_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 (value1 < 0.0f) { - return (1.0f + BG_FP32_EPSYLON) * value2 <= value1 && (1.0f + BG_FP32_EPSYLON) * value1 <= value2; - } - - return value2 <= value1 * (1.0f + BG_FP32_EPSYLON) && value1 <= value2 * (1.0f + BG_FP32_EPSYLON); -} - -static inline int bg_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 (value1 < 0.0) { - return (1.0 + BG_FP64_EPSYLON) * value2 <= value1 && (1.0 + BG_FP64_EPSYLON) * value1 <= value2; - } - - return value2 <= value1 * (1.0 + BG_FP64_EPSYLON) && value1 <= value2 * (1.0 + BG_FP64_EPSYLON); -} - -#endif diff --git a/src/geometry.cbp b/src/geometry.cbp deleted file mode 100644 index 08bb01b..0000000 --- a/src/geometry.cbp +++ /dev/null @@ -1,93 +0,0 @@ - - - - - - diff --git a/src/geometry.depend b/src/geometry.depend deleted file mode 100644 index c4ac310..0000000 --- a/src/geometry.depend +++ /dev/null @@ -1 +0,0 @@ -# depslib dependency file v1.0 diff --git a/src/geometry.h b/src/geometry.h deleted file mode 100644 index 80740bb..0000000 --- a/src/geometry.h +++ /dev/null @@ -1,22 +0,0 @@ -#ifndef __GEOMETRY_H__ -#define __GEOMETRY_H__ - -#include "basis.h" - -#include "angle.h" - -#include "vector2.h" -#include "vector3.h" - -#include "matrixes.h" -#include "matrix2x2.h" -#include "matrix2x3.h" -#include "matrix3x2.h" -#include "matrix3x3.h" - -#include "rotation3.h" - -#include "quaternion.h" -#include "versor.h" - -#endif diff --git a/src/geometry.layout b/src/geometry.layout deleted file mode 100644 index 5dc2255..0000000 --- a/src/geometry.layout +++ /dev/null @@ -1,120 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/geometry.vcxproj b/src/geometry.vcxproj deleted file mode 100644 index f211274..0000000 --- a/src/geometry.vcxproj +++ /dev/null @@ -1,181 +0,0 @@ - - - - - Debug - Win32 - - - Release - Win32 - - - Debug - x64 - - - Release - x64 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16.0 - Win32Proj - {40ca6fb4-135f-4d54-a8d9-7338ba56e6a7} - geometry - 10.0 - - - - StaticLibrary - true - v143 - Unicode - - - StaticLibrary - false - v143 - true - Unicode - - - StaticLibrary - true - v143 - Unicode - - - StaticLibrary - false - v143 - true - Unicode - - - - - - - - - - - - - - - - - - - - - true - - - false - - - true - - - false - - - - Level3 - true - WIN32;_DEBUG;_LIB;%(PreprocessorDefinitions) - true - NotUsing - - - - - true - - - - - Level3 - true - true - true - WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions) - true - NotUsing - - - - - true - true - true - - - - - Level3 - true - _DEBUG;_LIB;%(PreprocessorDefinitions) - true - NotUsing - - - - - true - - - - - Level3 - true - true - true - NDEBUG;_LIB;%(PreprocessorDefinitions) - true - NotUsing - - - - - true - true - true - - - - - - \ No newline at end of file diff --git a/src/geometry.vcxproj.filters b/src/geometry.vcxproj.filters deleted file mode 100644 index 45cc321..0000000 --- a/src/geometry.vcxproj.filters +++ /dev/null @@ -1,96 +0,0 @@ - - - - - {4FC737F1-C7A5-4376-A066-2A32D752A2FF} - cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx - - - {93995380-89BD-4b04-88EB-625FBE52EBFB} - h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd - - - {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} - rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms - - - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - Файлы заголовков - - - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - \ No newline at end of file diff --git a/src/geometry.vcxproj.user b/src/geometry.vcxproj.user deleted file mode 100644 index 0f14913..0000000 --- a/src/geometry.vcxproj.user +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/src/matrix2x2.c b/src/matrix2x2.c deleted file mode 100644 index 4bf7977..0000000 --- a/src/matrix2x2.c +++ /dev/null @@ -1 +0,0 @@ -#include "matrix2x2.h" diff --git a/src/matrix2x2.h b/src/matrix2x2.h deleted file mode 100644 index 70f8c91..0000000 --- a/src/matrix2x2.h +++ /dev/null @@ -1,488 +0,0 @@ -#ifndef _GEOMETRY_MATRIX2X2_H_ -#define _GEOMETRY_MATRIX2X2_H_ - -#include "angle.h" -#include "vector2.h" -#include "matrixes.h" - -// =================== Reset ==================== // - -static inline void bg_fp32_matrix2x2_reset(BgFP32Matrix2x2* matrix) -{ - matrix->r1c1 = 0.0f; - matrix->r1c2 = 0.0f; - matrix->r2c1 = 0.0f; - matrix->r2c2 = 0.0f; -} - -static inline void bg_fp64_matrix2x2_reset(BgFP64Matrix2x2* matrix) -{ - matrix->r1c1 = 0.0; - matrix->r1c2 = 0.0; - matrix->r2c1 = 0.0; - matrix->r2c2 = 0.0; -} - -// ================== Identity ================== // - -static inline void bg_fp32_matrix2x2_set_to_identity(BgFP32Matrix2x2* matrix) -{ - matrix->r1c1 = 1.0f; - matrix->r1c2 = 0.0f; - matrix->r2c1 = 0.0f; - matrix->r2c2 = 1.0f; -} - -static inline void bg_fp64_matrix2x2_set_to_identity(BgFP64Matrix2x2* matrix) -{ - matrix->r1c1 = 1.0; - matrix->r1c2 = 0.0; - matrix->r2c1 = 0.0; - matrix->r2c2 = 1.0; -} - -// ================ Make Diagonal =============== // - -static inline void bg_fp32_matrix2x2_set_to_diagonal(const float d1, const float d2, BgFP32Matrix2x2* matrix) -{ - matrix->r1c1 = d1; - matrix->r1c2 = 0.0f; - matrix->r2c1 = 0.0f; - matrix->r2c2 = d2; -} - -static inline void bg_fp64_matrix2x2_set_to_diagonal(const double d1, const double d2, BgFP64Matrix2x2* matrix) -{ - matrix->r1c1 = d1; - matrix->r1c2 = 0.0; - matrix->r2c1 = 0.0; - matrix->r2c2 = d2; -} - -// ============== Rotation Matrix =============== // - -static inline void bg_fp32_matrix2x2_make_turn(const float angle, const angle_unit_t unit, BgFP32Matrix2x2* matrix) -{ - const float radians = bg_fp32_angle_to_radians(angle, unit); - const float cosine = cosf(radians); - const float sine = sinf(radians); - - matrix->r1c1 = cosine; - matrix->r1c2 = -sine; - matrix->r2c1 = sine; - matrix->r2c2 = cosine; -} - -static inline void bg_fp64_matrix2x2_make_turn(const double angle, const angle_unit_t unit, BgFP64Matrix2x2* matrix) -{ - const double radians = bg_fp64_angle_to_radians(angle, unit); - const double cosine = cos(radians); - const double sine = sin(radians); - - matrix->r1c1 = cosine; - matrix->r1c2 = -sine; - matrix->r2c1 = sine; - matrix->r2c2 = cosine; -} - -// ==================== Copy ==================== // - -static inline void bg_fp32_matrix2x2_copy(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r1c2; - - to->r2c1 = from->r2c1; - to->r2c2 = from->r2c2; -} - -static inline void bg_fp64_matrix2x2_copy(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r1c2; - - to->r2c1 = from->r2c1; - to->r2c2 = from->r2c2; -} - -// ============= Copy to twin type ============== // - -static inline void bg_fp32_matrix2x2_set_from_fp64(const BgFP64Matrix2x2* from, BgFP32Matrix2x2* to) -{ - to->r1c1 = (float)from->r1c1; - to->r1c2 = (float)from->r1c2; - - to->r2c1 = (float)from->r2c1; - to->r2c2 = (float)from->r2c2; -} - -static inline void bg_fp64_matrix2x2_set_from_fp32(const BgFP32Matrix2x2* from, BgFP64Matrix2x2* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r1c2; - - to->r2c1 = from->r2c1; - to->r2c2 = from->r2c2; -} - -// ================ Determinant ================= // - -static inline float bg_fp32_matrix2x2_get_determinant(const BgFP32Matrix2x2* matrix) -{ - return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; -} - -static inline double bg_fp64_matrix2x2_get_determinant(const BgFP64Matrix2x2* matrix) -{ - return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; -} - -// ================== Singular ================== // - -static inline int bg_fp32_matrix2x2_is_singular(const BgFP32Matrix2x2* matrix) -{ - const float determinant = bg_fp32_matrix2x2_get_determinant(matrix); - - return -BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON; -} - -static inline int bg_fp64_matrix2x2_is_singular(const BgFP64Matrix2x2* matrix) -{ - const double determinant = bg_fp64_matrix2x2_get_determinant(matrix); - - return -BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON; -} - -// =============== Transposition ================ // - -static inline void bg_fp32_matrix2x2_transpose(BgFP32Matrix2x2* matrix) -{ - const float tmp = matrix->r1c2; - matrix->r1c2 = matrix->r2c1; - matrix->r2c1 = tmp; -} - -static inline void bg_fp64_matrix2x2_transpose(BgFP64Matrix2x2* matrix) -{ - const double tmp = matrix->r1c2; - matrix->r1c2 = matrix->r2c1; - matrix->r2c1 = tmp; -} - -// ================= Inversion ================== // - -static inline int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix) -{ - const float determinant = bg_fp32_matrix2x2_get_determinant(matrix); - - if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) { - return 0; - } - - const float r1c1 = matrix->r2c2; - const float r1c2 = -matrix->r1c2; - - const float r2c1 = -matrix->r2c1; - const float r2c2 = matrix->r1c1; - - matrix->r1c1 = r1c1 / determinant; - matrix->r1c2 = r1c2 / determinant; - - matrix->r2c1 = r2c1 / determinant; - matrix->r2c2 = r2c2 / determinant; - - return 1; -} - -static inline int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix) -{ - const double determinant = bg_fp64_matrix2x2_get_determinant(matrix); - - if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) { - return 0; - } - - const double r1c1 = matrix->r2c2; - const double r1c2 = -matrix->r1c2; - - const double r2c1 = -matrix->r2c1; - const double r2c2 = matrix->r1c1; - - matrix->r1c1 = r1c1 / determinant; - matrix->r1c2 = r1c2 / determinant; - - matrix->r2c1 = r2c1 / determinant; - matrix->r2c2 = r2c2 / determinant; - - return 1; -} - -// =============== Set Transposed =============== // - -static inline void bg_fp32_matrix2x2_set_transposed(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to) -{ - float tmp = from->r1c2; - - to->r1c1 = from->r1c1; - to->r1c2 = from->r2c1; - - to->r2c1 = tmp; - to->r2c2 = from->r2c2; -} - -static inline void bg_fp64_matrix2x2_set_transposed(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to) -{ - double tmp = from->r1c2; - - to->r1c1 = from->r1c1; - to->r1c2 = from->r2c1; - - to->r2c1 = tmp; - to->r2c2 = from->r2c2; -} - -// ================ Set Inverted ================ // - -static inline int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to) -{ - const float determinant = bg_fp32_matrix2x2_get_determinant(from); - - if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) { - return 0; - } - - const float r1c1 = from->r2c2; - const float r1c2 = -from->r1c2; - - const float r2c1 = -from->r2c1; - const float r2c2 = from->r1c1; - - to->r1c1 = r1c1 / determinant; - to->r1c2 = r1c2 / determinant; - - to->r2c1 = r2c1 / determinant; - to->r2c2 = r2c2 / determinant; - - return 1; -} - -static inline int bg_fp64_matrix2x2_set_inverted(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to) -{ - const double determinant = bg_fp64_matrix2x2_get_determinant(from); - - if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) { - return 0; - } - - const double r1c1 = from->r2c2; - const double r1c2 = -from->r1c2; - - const double r2c1 = -from->r2c1; - const double r2c2 = from->r1c1; - - to->r1c1 = r1c1 / determinant; - to->r1c2 = r1c2 / determinant; - - to->r2c1 = r2c1 / determinant; - to->r2c2 = r2c2 / determinant; - - return 1; -} - -// ================= Set Row 1 ================== // - -static inline void bg_fp32_matrix2x2_set_row1(const float c1, const float c2, BgFP32Matrix2x2* matrix) -{ - matrix->r1c1 = c1; - matrix->r1c2 = c2; -} - -static inline void bg_fp64_matrix2x2_set_row1(const double c1, const double c2, BgFP64Matrix2x2* matrix) -{ - matrix->r1c1 = c1; - matrix->r1c2 = c2; -} - -// ================= Set Row 2 ================== // - -static inline void bg_fp32_matrix2x2_set_row2(const float c1, const float c2, BgFP32Matrix2x2* matrix) -{ - matrix->r2c1 = c1; - matrix->r2c2 = c2; -} - -static inline void bg_fp64_matrix2x2_set_row2(const double c1, const double c2, BgFP64Matrix2x2* matrix) -{ - matrix->r2c1 = c1; - matrix->r2c2 = c2; -} - -// ================ Set Column 1 ================ // - -static inline void bg_fp32_matrix2x2_set_column1(const float r1, const float r2, BgFP32Matrix2x2* matrix) -{ - matrix->r1c1 = r1; - matrix->r2c1 = r2; -} - -static inline void bg_fp64_matrix2x2_set_column1(const double r1, const double r2, BgFP64Matrix2x2* matrix) -{ - matrix->r1c1 = r1; - matrix->r2c1 = r2; -} - -// ================ Set Column 2 ================ // - -static inline void bg_fp32_matrix2x2_set_column2(const float r1, const float r2, BgFP32Matrix2x2* matrix) -{ - matrix->r1c2 = r1; - matrix->r2c2 = r2; -} - -static inline void bg_fp64_matrix2x2_set_column2(const double r1, const double r2, BgFP64Matrix2x2* matrix) -{ - matrix->r1c2 = r1; - matrix->r2c2 = r2; -} - -// ================ Append scaled =============== // - -static inline void bg_fp32_matrix2x2_append_scaled(BgFP32Matrix2x2* basic_vector, const BgFP32Matrix2x2* scalable_vector, const float scale) -{ - basic_vector->r1c1 += scalable_vector->r1c1 * scale; - basic_vector->r1c2 += scalable_vector->r1c2 * scale; - - basic_vector->r2c1 += scalable_vector->r2c1 * scale; - 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) -{ - basic_vector->r1c1 += scalable_vector->r1c1 * scale; - basic_vector->r1c2 += scalable_vector->r1c2 * scale; - - basic_vector->r2c1 += scalable_vector->r2c1 * scale; - basic_vector->r2c2 += scalable_vector->r2c2 * scale; -} - -// ================== Addition ================== // - -static inline void bg_fp32_matrix2x2_add(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x2* sum) -{ - sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; - sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; - - sum->r2c1 = matrix1->r2c1 + matrix2->r2c1; - sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; -} - -static inline void bg_fp64_matrix2x2_add(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x2* sum) -{ - sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; - sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; - - sum->r2c1 = matrix1->r2c1 + matrix2->r2c1; - sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; -} - -// ================ Subtraction ================= // - -static inline void bg_fp32_matrix2x2_subtract(const BgFP32Matrix2x2* minuend, const BgFP32Matrix2x2* subtrahend, BgFP32Matrix2x2* difference) -{ - difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; - difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; - - difference->r2c1 = minuend->r2c1 - subtrahend->r2c1; - difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; -} - -static inline void bg_fp64_matrix2x2_subtract(const BgFP64Matrix2x2* minuend, const BgFP64Matrix2x2* subtrahend, BgFP64Matrix2x2* difference) -{ - difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; - difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; - - difference->r2c1 = minuend->r2c1 - subtrahend->r2c1; - difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; -} - -// =============== Multiplication =============== // - -static inline void bg_fp32_matrix2x2_multiply(const BgFP32Matrix2x2* multiplicand, const float multiplier, BgFP32Matrix2x2* product) -{ - product->r1c1 = multiplicand->r1c1 * multiplier; - product->r1c2 = multiplicand->r1c2 * multiplier; - - product->r2c1 = multiplicand->r2c1 * multiplier; - product->r2c2 = multiplicand->r2c2 * multiplier; -} - -static inline void bg_fp64_matrix2x2_multiply(const BgFP64Matrix2x2* multiplicand, const double multiplier, BgFP64Matrix2x2* product) -{ - product->r1c1 = multiplicand->r1c1 * multiplier; - product->r1c2 = multiplicand->r1c2 * multiplier; - - product->r2c1 = multiplicand->r2c1 * multiplier; - product->r2c2 = multiplicand->r2c2 * multiplier; -} - -// ================== Division ================== // - -static inline void bg_fp32_matrix2x2_divide(const BgFP32Matrix2x2* dividend, const float divisor, BgFP32Matrix2x2* quotient) -{ - quotient->r1c1 = dividend->r1c1 / divisor; - quotient->r1c2 = dividend->r1c2 / divisor; - - quotient->r2c1 = dividend->r2c1 / divisor; - quotient->r2c2 = dividend->r2c2 / divisor; -} - -static inline void bg_fp64_matrix2x2_divide(const BgFP64Matrix2x2* dividend, const double divisor, BgFP64Matrix2x2* quotient) -{ - quotient->r1c1 = dividend->r1c1 / divisor; - quotient->r1c2 = dividend->r1c2 / divisor; - - quotient->r2c1 = dividend->r2c1 / divisor; - quotient->r2c2 = dividend->r2c2 / divisor; -} - -// ============ Left Vector Product ============= // - -static inline void bg_fp32_matrix2x2_left_product(const BgFP32Vector2* vector, const BgFP32Matrix2x2* matrix, BgFP32Vector2* result) -{ - bg_fp32_vector2_set_values( - vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1, - vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2, - result - ); -} - -static inline void bg_fp64_matrix2x2_left_product(const BgFP64Vector2* vector, const BgFP64Matrix2x2* matrix, BgFP64Vector2* result) -{ - bg_fp64_vector2_set_values( - vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1, - vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2, - result - ); -} - -// ============ Right Vector Product ============ // - -static inline void bg_fp32_matrix2x2_right_product(const BgFP32Matrix2x2* matrix, const BgFP32Vector2* vector, BgFP32Vector2* result) -{ - bg_fp32_vector2_set_values( - matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2, - matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2, - result - ); -} - -static inline void bg_fp64_matrix2x2_right_product(const BgFP64Matrix2x2* matrix, const BgFP64Vector2* vector, BgFP64Vector2* result) -{ - bg_fp64_vector2_set_values( - matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2, - matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2, - result - ); -} - -#endif diff --git a/src/matrix2x3.c b/src/matrix2x3.c deleted file mode 100644 index 95b9a26..0000000 --- a/src/matrix2x3.c +++ /dev/null @@ -1,2 +0,0 @@ -#include "matrix2x3.h" - diff --git a/src/matrix2x3.h b/src/matrix2x3.h deleted file mode 100644 index ee3d3d7..0000000 --- a/src/matrix2x3.h +++ /dev/null @@ -1,372 +0,0 @@ -#ifndef _GEOMETRY_MATRIX2X3_H_ -#define _GEOMETRY_MATRIX2X3_H_ - -#include "vector2.h" -#include "vector3.h" -#include "matrixes.h" - -// =================== Reset ==================== // - -static inline void bg_fp32_matrix2x3_reset(BgFP32Matrix2x3* matrix) -{ - matrix->r1c1 = 0.0f; - matrix->r1c2 = 0.0f; - - matrix->r2c1 = 0.0f; - matrix->r2c2 = 0.0f; - - matrix->r3c1 = 0.0f; - matrix->r3c2 = 0.0f; -} - -static inline void bg_fp64_matrix2x3_reset(BgFP64Matrix2x3* matrix) -{ - matrix->r1c1 = 0.0; - matrix->r1c2 = 0.0; - - matrix->r2c1 = 0.0; - matrix->r2c2 = 0.0; - - matrix->r3c1 = 0.0; - matrix->r3c2 = 0.0; -} - -// ==================== Copy ==================== // - -static inline void bg_fp32_matrix2x3_copy(const BgFP32Matrix2x3* from, BgFP32Matrix2x3* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r1c2; - - to->r2c1 = from->r2c1; - to->r2c2 = from->r2c2; - - to->r3c1 = from->r3c1; - to->r3c2 = from->r3c2; -} - -static inline void bg_fp64_matrix2x3_copy(const BgFP64Matrix2x3* from, BgFP64Matrix2x3* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r1c2; - - to->r2c1 = from->r2c1; - to->r2c2 = from->r2c2; - - to->r3c1 = from->r3c1; - to->r3c2 = from->r3c2; -} - -// ============= Copy to twin type ============== // - -static inline void bg_fp32_matrix2x3_set_from_fp64(const BgFP64Matrix2x3* from, BgFP32Matrix2x3* to) -{ - to->r1c1 = (float) from->r1c1; - to->r1c2 = (float) from->r1c2; - - to->r2c1 = (float) from->r2c1; - to->r2c2 = (float) from->r2c2; - - to->r3c1 = (float) from->r3c1; - to->r3c2 = (float) from->r3c2; -} - -static inline void bg_fp64_matrix2x3_set_from_fp32(const BgFP32Matrix2x3* from, BgFP64Matrix2x3* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r1c2; - - to->r2c1 = from->r2c1; - to->r2c2 = from->r2c2; - - to->r3c1 = from->r3c1; - to->r3c2 = from->r3c2; -} - -// =============== Set transposed =============== // - -static inline void bg_fp32_matrix2x3_set_transposed(const BgFP32Matrix3x2* from, BgFP32Matrix2x3* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r2c1; - - to->r2c1 = from->r1c2; - to->r2c2 = from->r2c2; - - to->r3c1 = from->r1c3; - to->r3c2 = from->r2c3; -} - -static inline void bg_fp64_matrix2x3_set_transposed(const BgFP64Matrix3x2* from, BgFP64Matrix2x3* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r2c1; - - to->r2c1 = from->r1c2; - to->r2c2 = from->r2c2; - - to->r3c1 = from->r1c3; - to->r3c2 = from->r2c3; -} - -// =============== Set transposed =============== // - -static inline void bg_fp32_matrix2x3_set_transposed_fp64(const BgFP64Matrix3x2* from, BgFP32Matrix2x3* to) -{ - to->r1c1 = (float) from->r1c1; - to->r1c2 = (float) from->r2c1; - - to->r2c1 = (float) from->r1c2; - to->r2c2 = (float) from->r2c2; - - to->r3c1 = (float) from->r1c3; - to->r3c2 = (float) from->r2c3; -} - -static inline void bg_fp64_matrix2x3_set_transposed_fp32(const BgFP32Matrix3x2* from, BgFP64Matrix2x3* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r2c1; - - to->r2c1 = from->r1c2; - to->r2c2 = from->r2c2; - - to->r3c1 = from->r1c3; - to->r3c2 = from->r2c3; -} - -// ================= Set Row 1 ================== // - -static inline void bg_fp32_matrix2x3_set_row1(const float c1, const float c2, BgFP32Matrix2x3* matrix) -{ - matrix->r1c1 = c1; - matrix->r1c2 = c2; -} - -static inline void bg_fp64_matrix2x3_set_row1(const double c1, const double c2, BgFP64Matrix2x3* matrix) -{ - matrix->r1c1 = c1; - matrix->r1c2 = c2; -} - -// ================= Set Row 2 ================== // - -static inline void bg_fp32_matrix2x3_set_row2(const float c1, const float c2, BgFP32Matrix2x3* matrix) -{ - matrix->r2c1 = c1; - matrix->r2c2 = c2; -} - -static inline void bg_fp64_matrix2x3_set_row2(const double c1, const double c2, BgFP64Matrix2x3* matrix) -{ - matrix->r2c1 = c1; - matrix->r2c2 = c2; -} - -// ================= Set Row 3 ================== // - -static inline void bg_fp32_matrix2x3_set_row3(const float c1, const float c2, BgFP32Matrix2x3* matrix) -{ - matrix->r3c1 = c1; - matrix->r3c2 = c2; -} - -static inline void bg_fp64_matrix2x3_set_row3(const double c1, const double c2, BgFP64Matrix2x3* matrix) -{ - matrix->r3c1 = c1; - matrix->r3c2 = c2; -} - -// ================ Set Column 1 ================ // - -static inline void bg_fp32_matrix2x3_set_column1(const float r1, const float r2, const float r3, BgFP32Matrix2x3* 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) -{ - matrix->r1c1 = r1; - matrix->r2c1 = r2; - matrix->r3c1 = r3; -} - -// ================ Set Column 2 ================ // - -static inline void bg_fp32_matrix2x3_set_column2(const float r1, const float r2, const float r3, BgFP32Matrix2x3* 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) -{ - matrix->r1c2 = r1; - matrix->r2c2 = r2; - matrix->r3c2 = r3; -} - -// ================ Append scaled =============== // - -static inline void bg_fp32_matrix2x3_append_scaled(BgFP32Matrix2x3* basic_vector, const BgFP32Matrix2x3* scalable_vector, const float scale) -{ - basic_vector->r1c1 += scalable_vector->r1c1 * scale; - basic_vector->r1c2 += scalable_vector->r1c2 * scale; - - basic_vector->r2c1 += scalable_vector->r2c1 * scale; - basic_vector->r2c2 += scalable_vector->r2c2 * scale; - - basic_vector->r3c1 += scalable_vector->r3c1 * scale; - 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) -{ - basic_vector->r1c1 += scalable_vector->r1c1 * scale; - basic_vector->r1c2 += scalable_vector->r1c2 * scale; - - basic_vector->r2c1 += scalable_vector->r2c1 * scale; - basic_vector->r2c2 += scalable_vector->r2c2 * scale; - - basic_vector->r3c1 += scalable_vector->r3c1 * scale; - basic_vector->r3c2 += scalable_vector->r3c2 * scale; -} - -// ================== Addition ================== // - -static inline void bg_fp32_matrix2x3_add(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x3* sum) -{ - sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; - sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; - - sum->r2c1 = matrix1->r2c1 + matrix2->r2c1; - sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; - - sum->r3c1 = matrix1->r3c1 + matrix2->r3c1; - sum->r3c2 = matrix1->r3c2 + matrix2->r3c2; -} - -static inline void bg_fp64_matrix2x3_add(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x3* sum) -{ - sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; - sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; - - sum->r2c1 = matrix1->r2c1 + matrix2->r2c1; - sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; - - sum->r3c1 = matrix1->r3c1 + matrix2->r3c1; - sum->r3c2 = matrix1->r3c2 + matrix2->r3c2; -} - -// ================ Subtraction ================= // - -static inline void bg_fp32_matrix2x3_subtract(const BgFP32Matrix2x3* minuend, const BgFP32Matrix2x3* subtrahend, BgFP32Matrix2x3* difference) -{ - difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; - difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; - - difference->r2c1 = minuend->r2c1 - subtrahend->r2c1; - difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; - - difference->r3c1 = minuend->r3c1 - subtrahend->r3c1; - difference->r3c2 = minuend->r3c2 - subtrahend->r3c2; -} - -static inline void bg_fp64_matrix2x3_subtract(const BgFP64Matrix2x3* minuend, const BgFP64Matrix2x3* subtrahend, BgFP64Matrix2x3* difference) -{ - difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; - difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; - - difference->r2c1 = minuend->r2c1 - subtrahend->r2c1; - difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; - - difference->r3c1 = minuend->r3c1 - subtrahend->r3c1; - difference->r3c2 = minuend->r3c2 - subtrahend->r3c2; -} - -// =============== Multiplication =============== // - -static inline void bg_fp32_matrix2x3_multiply(const BgFP32Matrix2x3* multiplicand, const float multiplier, BgFP32Matrix2x3* product) -{ - product->r1c1 = multiplicand->r1c1 * multiplier; - product->r1c2 = multiplicand->r1c2 * multiplier; - - product->r2c1 = multiplicand->r2c1 * multiplier; - product->r2c2 = multiplicand->r2c2 * multiplier; - - product->r3c1 = multiplicand->r3c1 * multiplier; - product->r3c2 = multiplicand->r3c2 * multiplier; -} - -static inline void bg_fp64_matrix2x3_multiply(const BgFP64Matrix2x3* multiplicand, const double multiplier, BgFP64Matrix2x3* product) -{ - product->r1c1 = multiplicand->r1c1 * multiplier; - product->r1c2 = multiplicand->r1c2 * multiplier; - - product->r2c1 = multiplicand->r2c1 * multiplier; - product->r2c2 = multiplicand->r2c2 * multiplier; - - product->r3c1 = multiplicand->r3c1 * multiplier; - product->r3c2 = multiplicand->r3c2 * multiplier; -} - -// ================== Division ================== // - -static inline void bg_fp32_matrix2x3_divide(const BgFP32Matrix2x3* dividend, const float divisor, BgFP32Matrix2x3* quotient) -{ - quotient->r1c1 = dividend->r1c1 / divisor; - quotient->r1c2 = dividend->r1c2 / divisor; - - quotient->r2c1 = dividend->r2c1 / divisor; - quotient->r2c2 = dividend->r2c2 / divisor; - - quotient->r3c1 = dividend->r3c1 / divisor; - quotient->r3c2 = dividend->r3c2 / divisor; -} - -static inline void bg_fp64_matrix2x3_divide(const BgFP64Matrix2x3* dividend, const double divisor, BgFP64Matrix2x3* quotient) -{ - quotient->r1c1 = dividend->r1c1 / divisor; - quotient->r1c2 = dividend->r1c2 / divisor; - - quotient->r2c1 = dividend->r2c1 / divisor; - quotient->r2c2 = dividend->r2c2 / divisor; - - quotient->r3c1 = dividend->r3c1 / divisor; - quotient->r3c2 = dividend->r3c2 / divisor; -} - -// ============ Left Vector Product ============= // - -static inline void bg_fp32_matrix2x3_left_product(const BgFP32Vector3* vector, const BgFP32Matrix2x3* matrix, BgFP32Vector2* 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) -{ - 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; -} - -// ============ Right Vector Product ============ // - -static inline void bg_fp32_matrix2x3_right_product(const BgFP32Matrix2x3* matrix, const BgFP32Vector2* vector, BgFP32Vector3* 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) -{ - 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; -} - -#endif diff --git a/src/matrix3x2.c b/src/matrix3x2.c deleted file mode 100644 index 71834ad..0000000 --- a/src/matrix3x2.c +++ /dev/null @@ -1,2 +0,0 @@ -#include "matrix3x2.h" - diff --git a/src/matrix3x2.h b/src/matrix3x2.h deleted file mode 100644 index 3aa48d5..0000000 --- a/src/matrix3x2.h +++ /dev/null @@ -1,328 +0,0 @@ -#ifndef _GEOMETRY_MATRIX3X2_H_ -#define _GEOMETRY_MATRIX3X2_H_ - -#include "vector2.h" -#include "vector3.h" -#include "matrixes.h" - -// =================== Reset ==================== // - -static inline void bg_fp32_matrix3x2_reset(BgFP32Matrix3x2* matrix) -{ - matrix->r1c1 = 0.0f; - matrix->r1c2 = 0.0f; - matrix->r1c3 = 0.0f; - - matrix->r2c1 = 0.0f; - matrix->r2c2 = 0.0f; - matrix->r2c3 = 0.0f; -} - -static inline void bg_fp64_matrix3x2_reset(BgFP64Matrix3x2* matrix) -{ - matrix->r1c1 = 0.0; - matrix->r1c2 = 0.0; - matrix->r1c3 = 0.0; - - matrix->r2c1 = 0.0; - matrix->r2c2 = 0.0; - matrix->r2c3 = 0.0; -} - -// ============= Set from twin type ============= // - -static inline void bg_fp32_matrix3x2_set_from_fp64(const BgFP64Matrix3x2* from, BgFP32Matrix3x2* to) -{ - to->r1c1 = (float) from->r1c1; - to->r1c2 = (float) from->r1c2; - to->r1c3 = (float) from->r1c3; - - to->r2c1 = (float) from->r2c1; - to->r2c2 = (float) from->r2c2; - to->r2c3 = (float) from->r2c3; -} - -static inline void bg_fp64_matrix3x2_set_from_fp32(const BgFP32Matrix3x2* from, BgFP64Matrix3x2* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r1c2; - to->r1c3 = from->r1c3; - - to->r2c1 = from->r2c1; - to->r2c2 = from->r2c2; - to->r2c3 = from->r2c3; -} - -// =============== Set transposed =============== // - -static inline void bg_fp32_matrix3x2_set_transposed(const BgFP32Matrix2x3* from, BgFP32Matrix3x2* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r2c1; - to->r1c3 = from->r3c1; - - to->r2c1 = from->r1c2; - to->r2c2 = from->r2c2; - to->r2c3 = from->r3c2; -} - -static inline void bg_fp64_matrix3x2_set_transposed(const BgFP64Matrix2x3* from, BgFP64Matrix3x2* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r2c1; - to->r1c3 = from->r3c1; - - to->r2c1 = from->r1c2; - to->r2c2 = from->r2c2; - to->r2c3 = from->r3c2; -} - -// =============== Set transposed =============== // - -static inline void bg_fp32_matrix3x2_set_transposed_fp64(const BgFP64Matrix2x3* from, BgFP32Matrix3x2* to) -{ - to->r1c1 = (float) from->r1c1; - to->r1c2 = (float) from->r2c1; - to->r1c3 = (float) from->r3c1; - - to->r2c1 = (float) from->r1c2; - to->r2c2 = (float) from->r2c2; - to->r2c3 = (float) from->r3c2; -} - -static inline void bg_fp64_matrix3x2_set_transposed_fp32(const BgFP32Matrix2x3* from, BgFP64Matrix3x2* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r2c1; - to->r1c3 = from->r3c1; - - to->r2c1 = from->r1c2; - to->r2c2 = from->r2c2; - to->r2c3 = from->r3c2; -} - -// ================= Set Row 1 ================== // - -static inline void bg_fp32_matrix3x2_set_row1(const float c1, const float c2, const float c3, BgFP32Matrix3x2* 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) -{ - matrix->r1c1 = c1; - matrix->r1c2 = c2; - matrix->r1c3 = c3; -} - -// ================= Set Row 2 ================== // - -static inline void bg_fp32_matrix3x2_set_row2(const float c1, const float c2, const float c3, BgFP32Matrix3x2* 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) -{ - matrix->r2c1 = c1; - matrix->r2c2 = c2; - matrix->r2c3 = c3; -} - -// ================ Set Column 1 ================ // - -static inline void bg_fp32_matrix3x2_set_column1(const float r1, const float r2, BgFP32Matrix3x2* matrix) -{ - matrix->r1c1 = r1; - matrix->r2c1 = r2; -} - -static inline void bg_fp64_matrix3x2_set_column1(const double r1, const double r2, BgFP64Matrix3x2* matrix) -{ - matrix->r1c1 = r1; - matrix->r2c1 = r2; -} - -// ================ Set Column 2 ================ // - -static inline void bg_fp32_matrix3x2_set_column2(const float r1, const float r2, BgFP32Matrix3x2* matrix) -{ - matrix->r1c2 = r1; - matrix->r2c2 = r2; -} - -static inline void bg_fp64_matrix3x2_set_column2(const double r1, const double r2, BgFP64Matrix3x2* matrix) -{ - matrix->r1c2 = r1; - matrix->r2c2 = r2; -} - -// ================ Set Column 3 ================ // - -static inline void bg_fp32_matrix3x2_set_column3(const float r1, const float r2, BgFP32Matrix3x2* matrix) -{ - matrix->r1c3 = r1; - matrix->r2c3 = r2; -} - -static inline void bg_fp64_matrix3x2_set_column3(const double r1, const double r2, BgFP64Matrix3x2* matrix) -{ - matrix->r1c3 = r1; - matrix->r2c3 = r2; -} - -// ================ Append scaled =============== // - -static inline void bg_fp32_matrix3x2_append_scaled(BgFP32Matrix3x2* basic_vector, const BgFP32Matrix3x2* scalable_vector, const float scale) -{ - basic_vector->r1c1 += scalable_vector->r1c1 * scale; - basic_vector->r1c2 += scalable_vector->r1c2 * scale; - basic_vector->r1c3 += scalable_vector->r1c3 * scale; - - basic_vector->r2c1 += scalable_vector->r2c1 * scale; - basic_vector->r2c2 += scalable_vector->r2c2 * scale; - 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) -{ - basic_vector->r1c1 += scalable_vector->r1c1 * scale; - basic_vector->r1c2 += scalable_vector->r1c2 * scale; - basic_vector->r1c3 += scalable_vector->r1c3 * scale; - - basic_vector->r2c1 += scalable_vector->r2c1 * scale; - basic_vector->r2c2 += scalable_vector->r2c2 * scale; - basic_vector->r2c3 += scalable_vector->r2c3 * scale; -} - -// ================== Addition ================== // - -static inline void bg_fp32_matrix3x2_add(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x2* sum) -{ - sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; - sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; - sum->r1c3 = matrix1->r1c3 + matrix2->r1c3; - - sum->r2c1 = matrix1->r2c1 + matrix2->r2c1; - sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; - sum->r2c3 = matrix1->r2c3 + matrix2->r2c3; -} - -static inline void bg_fp64_matrix3x2_add(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x2* sum) -{ - sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; - sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; - sum->r1c3 = matrix1->r1c3 + matrix2->r1c3; - - sum->r2c1 = matrix1->r2c1 + matrix2->r2c1; - sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; - sum->r2c3 = matrix1->r2c3 + matrix2->r2c3; -} - -// ================ Subtraction ================= // - -static inline void bg_fp32_matrix3x2_subtract(const BgFP32Matrix3x2* minuend, const BgFP32Matrix3x2* subtrahend, BgFP32Matrix3x2* difference) -{ - difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; - difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; - difference->r1c3 = minuend->r1c3 - subtrahend->r1c3; - - difference->r2c1 = minuend->r2c1 - subtrahend->r2c1; - difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; - difference->r2c3 = minuend->r2c3 - subtrahend->r2c3; -} - -static inline void bg_fp64_matrix3x2_subtract(const BgFP64Matrix3x2* minuend, const BgFP64Matrix3x2* subtrahend, BgFP64Matrix3x2* difference) -{ - difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; - difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; - difference->r1c3 = minuend->r1c3 - subtrahend->r1c3; - - difference->r2c1 = minuend->r2c1 - subtrahend->r2c1; - difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; - difference->r2c3 = minuend->r2c3 - subtrahend->r2c3; -} - -// =============== Multiplication =============== // - -static inline void bg_fp32_matrix3x2_multiply(const BgFP32Matrix3x2* multiplicand, const float multiplier, BgFP32Matrix3x2* product) -{ - product->r1c1 = multiplicand->r1c1 * multiplier; - product->r1c2 = multiplicand->r1c2 * multiplier; - product->r1c3 = multiplicand->r1c3 * multiplier; - - product->r2c1 = multiplicand->r2c1 * multiplier; - product->r2c2 = multiplicand->r2c2 * multiplier; - product->r2c3 = multiplicand->r2c3 * multiplier; -} - -static inline void bg_fp64_matrix3x2_multiply(const BgFP64Matrix3x2* multiplicand, const double multiplier, BgFP64Matrix3x2* product) -{ - product->r1c1 = multiplicand->r1c1 * multiplier; - product->r1c2 = multiplicand->r1c2 * multiplier; - product->r1c3 = multiplicand->r1c3 * multiplier; - - product->r2c1 = multiplicand->r2c1 * multiplier; - product->r2c2 = multiplicand->r2c2 * multiplier; - product->r2c3 = multiplicand->r2c3 * multiplier; -} - -// ================== Division ================== // - -static inline void bg_fp32_matrix3x2_divide(const BgFP32Matrix3x2* dividend, const float divisor, BgFP32Matrix3x2* quotient) -{ - quotient->r1c1 = dividend->r1c1 / divisor; - quotient->r1c2 = dividend->r1c2 / divisor; - quotient->r1c3 = dividend->r1c3 / divisor; - - quotient->r2c1 = dividend->r2c1 / divisor; - quotient->r2c2 = dividend->r2c2 / divisor; - quotient->r2c3 = dividend->r2c3 / divisor; -} - -static inline void bg_fp64_matrix3x2_divide(const BgFP64Matrix3x2* dividend, const double divisor, BgFP64Matrix3x2* quotient) -{ - quotient->r1c1 = dividend->r1c1 / divisor; - quotient->r1c2 = dividend->r1c2 / divisor; - quotient->r1c3 = dividend->r1c3 / divisor; - - quotient->r2c1 = dividend->r2c1 / divisor; - quotient->r2c2 = dividend->r2c2 / divisor; - quotient->r2c3 = dividend->r2c3 / divisor; -} - -// ============ Left Vector Product ============= // - -static inline void bg_fp32_matrix3x2_left_product(const BgFP32Vector2* vector, const BgFP32Matrix3x2* matrix, BgFP32Vector3* 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) -{ - 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; -} - -// ============ Right Vector Product ============ // - -static inline void bg_fp32_matrix3x2_right_product(const BgFP32Matrix3x2* matrix, const BgFP32Vector3* vector, BgFP32Vector2* 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) -{ - 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; -} - -#endif diff --git a/src/matrix3x3.c b/src/matrix3x3.c deleted file mode 100644 index 357b3ca..0000000 --- a/src/matrix3x3.c +++ /dev/null @@ -1,145 +0,0 @@ -#include "matrix3x3.h" - -// ================= Inversion ================== // - -int bg_fp32_matrix3x3_invert(BgFP32Matrix3x3* matrix) -{ - const float determinant = bg_fp32_matrix3x3_get_determinant(matrix); - - if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) { - return 0; - } - - const float r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2; - const float r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3; - const float r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2; - - const float r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3; - const float r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1; - const float r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3; - - const float r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1; - const float r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2; - const float r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; - - matrix->r1c1 = r1c1 / determinant; - matrix->r1c2 = r1c2 / determinant; - matrix->r1c3 = r1c3 / determinant; - - matrix->r2c1 = r2c1 / determinant; - matrix->r2c2 = r2c2 / determinant; - matrix->r2c3 = r2c3 / determinant; - - matrix->r3c1 = r3c1 / determinant; - matrix->r3c2 = r3c2 / determinant; - matrix->r3c3 = r3c3 / determinant; - - return 1; -} - -int bg_fp64_matrix3x3_invert(BgFP64Matrix3x3* matrix) -{ - const double determinant = bg_fp64_matrix3x3_get_determinant(matrix); - - if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) { - return 0; - } - - const double r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2; - const double r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3; - const double r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2; - - const double r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3; - const double r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1; - const double r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3; - - const double r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1; - const double r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2; - const double r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; - - matrix->r1c1 = r1c1 / determinant; - matrix->r1c2 = r1c2 / determinant; - matrix->r1c3 = r1c3 / determinant; - - matrix->r2c1 = r2c1 / determinant; - matrix->r2c2 = r2c2 / determinant; - matrix->r2c3 = r2c3 / determinant; - - matrix->r3c1 = r3c1 / determinant; - matrix->r3c2 = r3c2 / determinant; - matrix->r3c3 = r3c3 / determinant; - - return 1; -} - -// ================ Make Inverted =============== // - -int bg_fp32_matrix3x3_set_inverted(const BgFP32Matrix3x3* matrix, BgFP32Matrix3x3* result) -{ - const float determinant = bg_fp32_matrix3x3_get_determinant(matrix); - - if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) { - return 0; - } - - const float r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2; - const float r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3; - const float r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2; - - const float r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3; - const float r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1; - const float r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3; - - const float r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1; - const float r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2; - const float r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; - - result->r1c1 = r1c1 / determinant; - result->r1c2 = r1c2 / determinant; - result->r1c3 = r1c3 / determinant; - - result->r2c1 = r2c1 / determinant; - result->r2c2 = r2c2 / determinant; - result->r2c3 = r2c3 / determinant; - - result->r3c1 = r3c1 / determinant; - result->r3c2 = r3c2 / determinant; - result->r3c3 = r3c3 / determinant; - - return 1; -} - -int bg_fp64_matrix3x3_set_inverted(const BgFP64Matrix3x3* matrix, BgFP64Matrix3x3* result) -{ - const double determinant = bg_fp64_matrix3x3_get_determinant(matrix); - - if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) { - return 0; - } - - const double r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2; - const double r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3; - const double r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2; - - const double r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3; - const double r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1; - const double r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3; - - const double r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1; - const double r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2; - const double r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; - - result->r1c1 = r1c1 / determinant; - result->r1c2 = r1c2 / determinant; - result->r1c3 = r1c3 / determinant; - - result->r2c1 = r2c1 / determinant; - result->r2c2 = r2c2 / determinant; - result->r2c3 = r2c3 / determinant; - - result->r3c1 = r3c1 / determinant; - result->r3c2 = r3c2 / determinant; - result->r3c3 = r3c3 / determinant; - - return 1; -} diff --git a/src/matrix3x3.h b/src/matrix3x3.h deleted file mode 100644 index d8a2fab..0000000 --- a/src/matrix3x3.h +++ /dev/null @@ -1,585 +0,0 @@ -#ifndef _GEOMETRY_MATRIX3X3_H_ -#define _GEOMETRY_MATRIX3X3_H_ - -#include "vector3.h" -#include "matrixes.h" - -// =================== Reset ==================== // - -static inline void bg_fp32_matrix3x3_reset(BgFP32Matrix3x3* matrix) -{ - matrix->r1c1 = 0.0f; - matrix->r1c2 = 0.0f; - matrix->r1c3 = 0.0f; - - matrix->r2c1 = 0.0f; - matrix->r2c2 = 0.0f; - matrix->r2c3 = 0.0f; - - matrix->r3c1 = 0.0f; - matrix->r3c2 = 0.0f; - matrix->r3c3 = 0.0f; -} - -static inline void bg_fp64_matrix3x3_reset(BgFP64Matrix3x3* matrix) -{ - matrix->r1c1 = 0.0; - matrix->r1c2 = 0.0; - matrix->r1c3 = 0.0; - - matrix->r2c1 = 0.0; - matrix->r2c2 = 0.0; - matrix->r2c3 = 0.0; - - matrix->r3c1 = 0.0; - matrix->r3c2 = 0.0; - matrix->r3c3 = 0.0; -} - -// ================== Identity ================== // - -static inline void bg_fp32_matrix3x3_set_to_identity(BgFP32Matrix3x3* matrix) -{ - matrix->r1c1 = 1.0f; - matrix->r1c2 = 0.0f; - matrix->r1c3 = 0.0f; - - matrix->r2c1 = 0.0f; - matrix->r2c2 = 1.0f; - matrix->r2c3 = 0.0f; - - matrix->r3c1 = 0.0f; - matrix->r3c2 = 0.0f; - matrix->r3c3 = 1.0f; -} - -static inline void bg_fp64_matrix3x3_set_to_identity(BgFP64Matrix3x3* matrix) -{ - matrix->r1c1 = 1.0; - matrix->r1c2 = 0.0; - matrix->r1c3 = 0.0; - - matrix->r2c1 = 0.0; - matrix->r2c2 = 1.0; - matrix->r2c3 = 0.0; - - matrix->r3c1 = 0.0; - matrix->r3c2 = 0.0; - matrix->r3c3 = 1.0; -} - -// ================ Make Diagonal =============== // - -static inline void bg_fp32_matrix3x3_set_to_diagonal(const float d1, const float d2, const float d3, BgFP32Matrix3x3* matrix) -{ - matrix->r1c1 = d1; - matrix->r1c2 = 0.0f; - matrix->r1c3 = 0.0f; - - matrix->r2c1 = 0.0f; - matrix->r2c2 = d2; - matrix->r2c3 = 0.0f; - - matrix->r3c1 = 0.0f; - matrix->r3c2 = 0.0f; - matrix->r3c3 = d2; -} - -static inline void bg_fp64_matrix3x3_set_to_diagonal(const double d1, const double d2, const double d3, BgFP64Matrix3x3* matrix) -{ - matrix->r1c1 = d1; - matrix->r1c2 = 0.0; - matrix->r1c3 = 0.0; - - matrix->r2c1 = 0.0; - matrix->r2c2 = d2; - matrix->r2c3 = 0.0; - - matrix->r3c1 = 0.0; - matrix->r3c2 = 0.0; - matrix->r3c3 = d2; -} - -// ==================== Copy ==================== // - -static inline void bg_fp32_matrix3x3_copy(const BgFP32Matrix3x3* from, BgFP32Matrix3x3* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r1c2; - to->r1c3 = from->r1c3; - - to->r2c1 = from->r2c1; - to->r2c2 = from->r2c2; - to->r2c3 = from->r2c3; - - to->r3c1 = from->r3c1; - to->r3c2 = from->r3c2; - to->r3c3 = from->r3c3; -} - -static inline void bg_fp64_matrix3x3_copy(const BgFP64Matrix3x3* from, BgFP64Matrix3x3* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r1c2; - to->r1c3 = from->r1c3; - - to->r2c1 = from->r2c1; - to->r2c2 = from->r2c2; - to->r2c3 = from->r2c3; - - to->r3c1 = from->r3c1; - to->r3c2 = from->r3c2; - to->r3c3 = from->r3c3; -} - -// ============= Set from twin type ============= // - -static inline void bg_fp32_matrix3x3_set_from_fp64(const BgFP64Matrix3x3* from, BgFP32Matrix3x3* to) -{ - to->r1c1 = (float) from->r1c1; - to->r1c2 = (float) from->r1c2; - to->r1c3 = (float) from->r1c3; - - to->r2c1 = (float) from->r2c1; - to->r2c2 = (float) from->r2c2; - to->r2c3 = (float) from->r2c3; - - to->r3c1 = (float) from->r3c1; - to->r3c2 = (float) from->r3c2; - to->r3c3 = (float) from->r3c3; -} - -static inline void bg_fp64_matrix3x3_set_from_fp32(const BgFP32Matrix3x3* from, BgFP64Matrix3x3* to) -{ - to->r1c1 = from->r1c1; - to->r1c2 = from->r1c2; - to->r1c3 = from->r1c3; - - to->r2c1 = from->r2c1; - to->r2c2 = from->r2c2; - to->r2c3 = from->r2c3; - - to->r3c1 = from->r3c1; - to->r3c2 = from->r3c2; - to->r3c3 = from->r3c3; -} - -// ================ Determinant ================= // - -static inline float bg_fp32_matrix3x3_get_determinant(const BgFP32Matrix3x3* 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) -{ - 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); -} - -// ================== Singular ================== // - -static inline int bg_fp32_matrix3x3_is_singular(const BgFP32Matrix3x3* matrix) -{ - const float determinant = bg_fp32_matrix3x3_get_determinant(matrix); - - return -BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON; -} - -static inline int bg_fp64_matrix3x3_is_singular(const BgFP64Matrix3x3* matrix) -{ - const double determinant = bg_fp64_matrix3x3_get_determinant(matrix); - - return -BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON; -} - -// ================= Inversion ================== // - -int bg_fp32_matrix3x3_invert(BgFP32Matrix3x3* matrix); - -int bg_fp64_matrix3x3_invert(BgFP64Matrix3x3* matrix); - -// =============== Transposition ================ // - -static inline void bg_fp32_matrix3x3_transpose(BgFP32Matrix3x3* matrix) -{ - float tmp = matrix->r1c2; - matrix->r1c2 = matrix->r2c1; - matrix->r2c1 = tmp; - - tmp = matrix->r1c3; - matrix->r1c3 = matrix->r3c1; - matrix->r3c1 = tmp; - - tmp = matrix->r2c3; - matrix->r2c3 = matrix->r3c2; - matrix->r3c2 = tmp; -} - -static inline void bg_fp64_matrix3x3_transpose(BgFP64Matrix3x3* matrix) -{ - double tmp = matrix->r1c2; - matrix->r1c2 = matrix->r2c1; - matrix->r2c1 = tmp; - - tmp = matrix->r1c3; - matrix->r1c3 = matrix->r3c1; - matrix->r3c1 = tmp; - - tmp = matrix->r2c3; - matrix->r2c3 = matrix->r3c2; - matrix->r3c2 = tmp; -} - -// ================ Make Inverted =============== // - -int bg_fp32_matrix3x3_set_inverted(const BgFP32Matrix3x3* matrix, BgFP32Matrix3x3* result); - -int bg_fp64_matrix3x3_set_inverted(const BgFP64Matrix3x3* matrix, BgFP64Matrix3x3* result); - -// =============== Make Transposed ============== // - -static inline void bg_fp32_matrix3x3_set_transposed(const BgFP32Matrix3x3* matrix, BgFP32Matrix3x3* result) -{ - if (matrix == result) { - bg_fp32_matrix3x3_transpose(result); - return; - } - - result->r1c1 = matrix->r1c1; - result->r1c2 = matrix->r2c1; - result->r1c3 = matrix->r3c1; - - result->r2c1 = matrix->r1c2; - result->r2c2 = matrix->r2c2; - result->r2c3 = matrix->r3c2; - - result->r3c1 = matrix->r1c3; - result->r3c2 = matrix->r2c3; - result->r3c3 = matrix->r3c3; -} - -static inline void bg_fp64_matrix3x3_set_transposed(const BgFP64Matrix3x3* matrix, BgFP64Matrix3x3* result) -{ - if (matrix == result) { - bg_fp64_matrix3x3_transpose(result); - return; - } - - result->r1c1 = matrix->r1c1; - result->r1c2 = matrix->r2c1; - result->r1c3 = matrix->r3c1; - - result->r2c1 = matrix->r1c2; - result->r2c2 = matrix->r2c2; - result->r2c3 = matrix->r3c2; - - result->r3c1 = matrix->r1c3; - result->r3c2 = matrix->r2c3; - result->r3c3 = matrix->r3c3; -} - -// ================= Set Row 1 ================== // - -static inline void bg_fp32_matrix3x3_set_row1(const float c1, const float c2, const float c3, BgFP32Matrix3x3* 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) -{ - matrix->r1c1 = c1; - matrix->r1c2 = c2; - matrix->r1c3 = c3; -} - -// ================= Set Row 2 ================== // - -static inline void bg_fp32_matrix3x3_set_row2(const float c1, const float c2, const float c3, BgFP32Matrix3x3* 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) -{ - matrix->r2c1 = c1; - matrix->r2c2 = c2; - matrix->r2c3 = c3; -} - -// ================= Set Row 3 ================== // - -static inline void bg_fp32_matrix3x3_set_row3(const float c1, const float c2, const float c3, BgFP32Matrix3x3* 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) -{ - matrix->r3c1 = c1; - matrix->r3c2 = c2; - matrix->r3c3 = c3; -} - -// ================ Set Column 1 ================ // - -static inline void bg_fp32_matrix3x3_set_column1(const float r1, const float r2, const float r3, BgFP32Matrix3x3* 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) -{ - matrix->r1c1 = r1; - matrix->r2c1 = r2; - matrix->r3c1 = r3; -} - -// ================ Set Column 2 ================ // - -static inline void bg_fp32_matrix3x3_set_column2(const float r1, const float r2, const float r3, BgFP32Matrix3x3* 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) -{ - matrix->r1c2 = r1; - matrix->r2c2 = r2; - matrix->r3c2 = r3; -} - -// ================ Set Column 3 ================ // - -static inline void bg_fp32_matrix3x3_set_column3(const float r1, const float r2, const float r3, BgFP32Matrix3x3* 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) -{ - matrix->r1c3 = r1; - matrix->r2c3 = r2; - matrix->r3c3 = r3; -} - -// ================ Append scaled =============== // - -static inline void bg_fp32_matrix3x3_append_scaled(BgFP32Matrix3x3* basic_vector, const BgFP32Matrix3x3* scalable_vector, const float scale) -{ - basic_vector->r1c1 += scalable_vector->r1c1 * scale; - basic_vector->r1c2 += scalable_vector->r1c2 * scale; - basic_vector->r1c3 += scalable_vector->r1c3 * scale; - - basic_vector->r2c1 += scalable_vector->r2c1 * scale; - basic_vector->r2c2 += scalable_vector->r2c2 * scale; - basic_vector->r2c3 += scalable_vector->r2c3 * scale; - - basic_vector->r3c1 += scalable_vector->r3c1 * scale; - basic_vector->r3c2 += scalable_vector->r3c2 * scale; - 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) -{ - basic_vector->r1c1 += scalable_vector->r1c1 * scale; - basic_vector->r1c2 += scalable_vector->r1c2 * scale; - basic_vector->r1c3 += scalable_vector->r1c3 * scale; - - basic_vector->r2c1 += scalable_vector->r2c1 * scale; - basic_vector->r2c2 += scalable_vector->r2c2 * scale; - basic_vector->r2c3 += scalable_vector->r2c3 * scale; - - basic_vector->r3c1 += scalable_vector->r3c1 * scale; - basic_vector->r3c2 += scalable_vector->r3c2 * scale; - basic_vector->r3c3 += scalable_vector->r3c3 * scale; -} - -// ================== Addition ================== // - -static inline void bg_fp32_matrix3x3_add(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x3* sum) -{ - sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; - sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; - sum->r1c3 = matrix1->r1c3 + matrix2->r1c3; - - sum->r2c1 = matrix1->r2c1 + matrix2->r2c1; - sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; - sum->r2c3 = matrix1->r2c3 + matrix2->r2c3; - - sum->r3c1 = matrix1->r3c1 + matrix2->r3c1; - sum->r3c2 = matrix1->r3c2 + matrix2->r3c2; - sum->r3c3 = matrix1->r3c3 + matrix2->r3c3; -} - -static inline void bg_fp64_matrix3x3_add(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x3* sum) -{ - sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; - sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; - sum->r1c3 = matrix1->r1c3 + matrix2->r1c3; - - sum->r2c1 = matrix1->r2c1 + matrix2->r2c1; - sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; - sum->r2c3 = matrix1->r2c3 + matrix2->r2c3; - - sum->r3c1 = matrix1->r3c1 + matrix2->r3c1; - sum->r3c2 = matrix1->r3c2 + matrix2->r3c2; - sum->r3c3 = matrix1->r3c3 + matrix2->r3c3; -} - -// ================ Subtraction ================= // - -static inline void bg_fp32_matrix3x3_subtract(const BgFP32Matrix3x3* minuend, const BgFP32Matrix3x3* subtrahend, BgFP32Matrix3x3* difference) -{ - difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; - difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; - difference->r1c3 = minuend->r1c3 - subtrahend->r1c3; - - difference->r2c1 = minuend->r2c1 - subtrahend->r2c1; - difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; - difference->r2c3 = minuend->r2c3 - subtrahend->r2c3; - - difference->r3c1 = minuend->r3c1 - subtrahend->r3c1; - difference->r3c2 = minuend->r3c2 - subtrahend->r3c2; - difference->r3c3 = minuend->r3c3 - subtrahend->r3c3; -} - -static inline void bg_fp64_matrix3x3_subtract(const BgFP64Matrix3x3* minuend, const BgFP64Matrix3x3* subtrahend, BgFP64Matrix3x3* difference) -{ - difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; - difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; - difference->r1c3 = minuend->r1c3 - subtrahend->r1c3; - - difference->r2c1 = minuend->r2c1 - subtrahend->r2c1; - difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; - difference->r2c3 = minuend->r2c3 - subtrahend->r2c3; - - difference->r3c1 = minuend->r3c1 - subtrahend->r3c1; - difference->r3c2 = minuend->r3c2 - subtrahend->r3c2; - difference->r3c3 = minuend->r3c3 - subtrahend->r3c3; -} - -// =============== Multiplication =============== // - -static inline void bg_fp32_matrix3x3_multiply(const BgFP32Matrix3x3* multiplicand, const float multiplier, BgFP32Matrix3x3* product) -{ - product->r1c1 = multiplicand->r1c1 * multiplier; - product->r1c2 = multiplicand->r1c2 * multiplier; - product->r1c3 = multiplicand->r1c3 * multiplier; - - product->r2c1 = multiplicand->r2c1 * multiplier; - product->r2c2 = multiplicand->r2c2 * multiplier; - product->r2c3 = multiplicand->r2c3 * multiplier; - - product->r3c1 = multiplicand->r3c1 * multiplier; - product->r3c2 = multiplicand->r3c2 * multiplier; - product->r3c3 = multiplicand->r3c3 * multiplier; -} - -static inline void bg_fp64_matrix3x3_multiply(const BgFP64Matrix3x3* multiplicand, const double multiplier, BgFP64Matrix3x3* product) -{ - product->r1c1 = multiplicand->r1c1 * multiplier; - product->r1c2 = multiplicand->r1c2 * multiplier; - product->r1c3 = multiplicand->r1c3 * multiplier; - - product->r2c1 = multiplicand->r2c1 * multiplier; - product->r2c2 = multiplicand->r2c2 * multiplier; - product->r2c3 = multiplicand->r2c3 * multiplier; - - product->r3c1 = multiplicand->r3c1 * multiplier; - product->r3c2 = multiplicand->r3c2 * multiplier; - product->r3c3 = multiplicand->r3c3 * multiplier; -} - -// ================== Division ================== // - -static inline void bg_fp32_matrix3x3_divide(const BgFP32Matrix3x3* dividend, const float divisor, BgFP32Matrix3x3* quotient) -{ - quotient->r1c1 = dividend->r1c1 / divisor; - quotient->r1c2 = dividend->r1c2 / divisor; - quotient->r1c3 = dividend->r1c3 / divisor; - - quotient->r2c1 = dividend->r2c1 / divisor; - quotient->r2c2 = dividend->r2c2 / divisor; - quotient->r2c3 = dividend->r2c3 / divisor; - - quotient->r3c1 = dividend->r3c1 / divisor; - quotient->r3c2 = dividend->r3c2 / divisor; - quotient->r3c3 = dividend->r3c3 / divisor; -} - -static inline void bg_fp64_matrix3x3_divide(const BgFP64Matrix3x3* dividend, const double divisor, BgFP64Matrix3x3* quotient) -{ - quotient->r1c1 = dividend->r1c1 / divisor; - quotient->r1c2 = dividend->r1c2 / divisor; - quotient->r1c3 = dividend->r1c3 / divisor; - - quotient->r2c1 = dividend->r2c1 / divisor; - quotient->r2c2 = dividend->r2c2 / divisor; - quotient->r2c3 = dividend->r2c3 / divisor; - - quotient->r3c1 = dividend->r3c1 / divisor; - quotient->r3c2 = dividend->r3c2 / divisor; - quotient->r3c3 = dividend->r3c3 / divisor; -} - -// ============ Left Vector Product ============= // - -static inline void bg_fp32_matrix3x3_left_product(const BgFP32Vector3* vector, const BgFP32Matrix3x3* matrix, BgFP32Vector3* result) -{ - bg_fp32_vector3_set_values( - vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1, - vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2, - vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3, - result - ); -} - -static inline void bg_fp64_matrix3x3_left_product(const BgFP64Vector3* vector, const BgFP64Matrix3x3* matrix, BgFP64Vector3* result) -{ - bg_fp64_vector3_set_values( - vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1, - vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2, - vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3, - result - ); -} - -// ============ Right Vector Product ============ // - -static inline void bg_fp32_matrix3x3_right_product(const BgFP32Matrix3x3* matrix, const BgFP32Vector3* vector, BgFP32Vector3* result) -{ - bg_fp32_vector3_set_values( - matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3, - matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3, - matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3, - result - ); -} - -static inline void bg_fp64_matrix3x3_right_product(const BgFP64Matrix3x3* matrix, const BgFP64Vector3* vector, BgFP64Vector3* result) -{ - bg_fp64_vector3_set_values( - matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3, - matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3, - matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3, - result - ); -} - -#endif diff --git a/src/matrixes.c b/src/matrixes.c deleted file mode 100644 index 4da4587..0000000 --- a/src/matrixes.c +++ /dev/null @@ -1,277 +0,0 @@ -#include "matrixes.h" - -// ========== Matrix Product 2x2 at 3x2 ========= // - -void bg_fp32_matrix_product_2x2_at_3x2(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x2* result) -{ - const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; -} - -void bg_fp64_matrix_product_2x2_at_3x2(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x2* result) -{ - const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; -} - -// ========== Matrix Product 2x3 at 2x2 ========= // - -void bg_fp32_matrix_product_2x3_at_2x2(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x3* result) -{ - const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - - const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; - const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; -} - -void bg_fp64_matrix_product_2x3_at_2x2(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x3* result) -{ - const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - - const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; - const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; -} - -// ========== Matrix Product 2x3 at 3x2 ========= // - -void bg_fp32_matrix_product_2x3_at_3x2(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x3* result) -{ - result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - result->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; - - result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - result->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; - - result->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; - result->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; - 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) -{ - result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - result->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; - - result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - result->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; - - result->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; - result->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; - result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3; -} - -// ========== Matrix Product 3x2 at 2x3 ========= // - -void bg_fp32_matrix_product_3x2_at_2x3(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x2* 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; - - result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - 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) -{ - 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; - - result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; -} - -// ========== Matrix Product 3x2 at 3x3 ========= // - -void bg_fp32_matrix_product_3x2_at_3x3(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x2* 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; - const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; -} - -void bg_fp64_matrix_product_3x2_at_3x3(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x2* 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; - const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; -} - -// ========== Matrix Product 3x3 at 2x3 ========= // - -void bg_fp32_matrix_product_3x3_at_2x3(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x3* 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; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - - const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; - const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; -} - -void bg_fp64_matrix_product_3x3_at_2x3(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x3* 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; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - - const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; - const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; -} - -// ========== Matrix Product 3x3 at 3x3 ========= // - -void bg_fp32_matrix_product_3x3_at_3x3(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x3* 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; - const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; - - const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; - const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; - const float r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; - result->r3c3 = r3c3; -} - -void bg_fp64_matrix_product_3x3_at_3x3(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x3* 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; - const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; - - const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; - const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; - const double r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; - result->r3c3 = r3c3; -} diff --git a/src/matrixes.h b/src/matrixes.h deleted file mode 100644 index f448770..0000000 --- a/src/matrixes.h +++ /dev/null @@ -1,130 +0,0 @@ -#ifndef _GEOMETRY_MATRIX_TYPES_H_ -#define _GEOMETRY_MATRIX_TYPES_H_ - -// ================== Matrix2x2 ================= // - -typedef struct { - float r1c1, r1c2; - float r2c1, r2c2; -} BgFP32Matrix2x2; - -typedef struct { - double r1c1, r1c2; - double r2c1, r2c2; -} BgFP64Matrix2x2; - -// ================== Matrix2x3 ================= // - -typedef struct { - float r1c1, r1c2; - float r2c1, r2c2; - float r3c1, r3c2; -} BgFP32Matrix2x3; - -typedef struct { - double r1c1, r1c2; - double r2c1, r2c2; - double r3c1, r3c2; -} BgFP64Matrix2x3; - -// ================== Matrix3x2 ================= // - -typedef struct { - float r1c1, r1c2, r1c3; - float r2c1, r2c2, r2c3; -} BgFP32Matrix3x2; - -typedef struct { - double r1c1, r1c2, r1c3; - double r2c1, r2c2, r2c3; -} BgFP64Matrix3x2; - -// ================== Matrix3x3 ================= // - -typedef struct { - float r1c1, r1c2, r1c3; - float r2c1, r2c2, r2c3; - float r3c1, r3c2, r3c3; -} BgFP32Matrix3x3; - -typedef struct { - double r1c1, r1c2, r1c3; - double r2c1, r2c2, r2c3; - double r3c1, r3c2, r3c3; -} BgFP64Matrix3x3; - -// ========== Matrix Product 2x2 at 2x2 ========= // - -static inline void bg_fp32_matrix_product_2x2_at_2x2(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x2* result) -{ - const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; -} - -static inline void bg_fp64_matrix_product_2x2_at_2x2(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x2* result) -{ - const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; -} - -// ========== Matrix Product 2x2 at 3x2 ========= // - -void bg_fp32_matrix_product_2x2_at_3x2(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x2* result); - -void bg_fp64_matrix_product_2x2_at_3x2(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x2* result); - -// ========== Matrix Product 2x3 at 2x2 ========= // - -void bg_fp32_matrix_product_2x3_at_2x2(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x3* result); - -void bg_fp64_matrix_product_2x3_at_2x2(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x3* result); - -// ========== Matrix Product 2x3 at 3x2 ========= // - -void bg_fp32_matrix_product_2x3_at_3x2(const BgFP32Matrix2x3* matrix1, const BgFP32Matrix3x2* matrix2, BgFP32Matrix3x3* result); - -void bg_fp64_matrix_product_2x3_at_3x2(const BgFP64Matrix2x3* matrix1, const BgFP64Matrix3x2* matrix2, BgFP64Matrix3x3* result); - -// ========== Matrix Product 3x2 at 2x3 ========= // - -void bg_fp32_matrix_product_3x2_at_2x3(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x2* result); - -void bg_fp64_matrix_product_3x2_at_2x3(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x2* result); - -// ========== Matrix Product 3x2 at 3x3 ========= // - -void bg_fp32_matrix_product_3x2_at_3x3(const BgFP32Matrix3x2* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x2* result); - -void bg_fp64_matrix_product_3x2_at_3x3(const BgFP64Matrix3x2* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x2* result); - -// ========== Matrix Product 3x3 at 2x3 ========= // - -void bg_fp32_matrix_product_3x3_at_2x3(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix2x3* matrix2, BgFP32Matrix2x3* result); - -void bg_fp64_matrix_product_3x3_at_2x3(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix2x3* matrix2, BgFP64Matrix2x3* result); - -// ========== Matrix Product 3x3 at 3x3 ========= // - -void bg_fp32_matrix_product_3x3_at_3x3(const BgFP32Matrix3x3* matrix1, const BgFP32Matrix3x3* matrix2, BgFP32Matrix3x3* result); - -void bg_fp64_matrix_product_3x3_at_3x3(const BgFP64Matrix3x3* matrix1, const BgFP64Matrix3x3* matrix2, BgFP64Matrix3x3* result); - -#endif // _GEOMETRY_MATRIX_TYPES_H_ diff --git a/src/quaternion.c b/src/quaternion.c deleted file mode 100644 index a937eb3..0000000 --- a/src/quaternion.c +++ /dev/null @@ -1,157 +0,0 @@ -#include "quaternion.h" - -// ============ Make Rotation Matrix ============ // - -void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix) -{ - const float s0s0 = quaternion->s0 * quaternion->s0; - const float x1x1 = quaternion->x1 * quaternion->x1; - const float x2x2 = quaternion->x2 * quaternion->x2; - const float x3x3 = quaternion->x3 * quaternion->x3; - - const float square_module = (s0s0 + x1x1) + (x2x2 + x3x3); - - if (-BG_FP32_EPSYLON <= square_module && square_module <= BG_FP32_EPSYLON) - { - bg_fp32_matrix3x3_set_to_identity(matrix); - return; - } - - const float corrector1 = 1.0f / square_module; - const float corrector2 = 2.0f * corrector1; - - const float s0x1 = quaternion->s0 * quaternion->x1; - const float s0x2 = quaternion->s0 * quaternion->x2; - const float s0x3 = quaternion->s0 * quaternion->x3; - const float x1x2 = quaternion->x1 * quaternion->x2; - const float x1x3 = quaternion->x1 * quaternion->x3; - const float x2x3 = quaternion->x2 * quaternion->x3; - - matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3)); - matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3)); - matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2)); - - matrix->r1c2 = corrector2 * (x1x2 - s0x3); - matrix->r2c3 = corrector2 * (x2x3 - s0x1); - matrix->r3c1 = corrector2 * (x1x3 - s0x2); - - matrix->r2c1 = corrector2 * (x1x2 + s0x3); - matrix->r3c2 = corrector2 * (x2x3 + s0x1); - matrix->r1c3 = corrector2 * (x1x3 + s0x2); -} - -void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix) -{ - const double s0s0 = quaternion->s0 * quaternion->s0; - const double x1x1 = quaternion->x1 * quaternion->x1; - const double x2x2 = quaternion->x2 * quaternion->x2; - const double x3x3 = quaternion->x3 * quaternion->x3; - - const double square_module = (s0s0 + x1x1) + (x2x2 + x3x3); - - if (-BG_FP64_EPSYLON <= square_module && square_module <= BG_FP64_EPSYLON) - { - bg_fp64_matrix3x3_set_to_identity(matrix); - return; - } - - const double corrector1 = 1.0f / square_module; - const double corrector2 = 2.0f * corrector1; - - const double s0x1 = quaternion->s0 * quaternion->x1; - const double s0x2 = quaternion->s0 * quaternion->x2; - const double s0x3 = quaternion->s0 * quaternion->x3; - const double x1x2 = quaternion->x1 * quaternion->x2; - const double x1x3 = quaternion->x1 * quaternion->x3; - const double x2x3 = quaternion->x2 * quaternion->x3; - - matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3)); - matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3)); - matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2)); - - matrix->r1c2 = corrector2 * (x1x2 - s0x3); - matrix->r2c3 = corrector2 * (x2x3 - s0x1); - matrix->r3c1 = corrector2 * (x1x3 - s0x2); - - matrix->r2c1 = corrector2 * (x1x2 + s0x3); - matrix->r3c2 = corrector2 * (x2x3 + s0x1); - matrix->r1c3 = corrector2 * (x1x3 + s0x2); -} - -// ============ Make Reverse Matrix ============= // - -void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix) -{ - const float s0s0 = quaternion->s0 * quaternion->s0; - const float x1x1 = quaternion->x1 * quaternion->x1; - const float x2x2 = quaternion->x2 * quaternion->x2; - const float x3x3 = quaternion->x3 * quaternion->x3; - - const float square_module = (s0s0 + x1x1) + (x2x2 + x3x3); - - if (-BG_FP32_EPSYLON <= square_module && square_module <= BG_FP32_EPSYLON) - { - bg_fp32_matrix3x3_set_to_identity(matrix); - return; - } - - const float corrector1 = 1.0f / square_module; - const float corrector2 = 2.0f * corrector1; - - const float s0x1 = quaternion->s0 * quaternion->x1; - const float s0x2 = quaternion->s0 * quaternion->x2; - const float s0x3 = quaternion->s0 * quaternion->x3; - const float x1x2 = quaternion->x1 * quaternion->x2; - const float x1x3 = quaternion->x1 * quaternion->x3; - const float x2x3 = quaternion->x2 * quaternion->x3; - - matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3)); - matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3)); - matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2)); - - matrix->r1c2 = corrector2 * (x1x2 + s0x3); - matrix->r2c3 = corrector2 * (x2x3 + s0x1); - matrix->r3c1 = corrector2 * (x1x3 + s0x2); - - matrix->r2c1 = corrector2 * (x1x2 - s0x3); - matrix->r3c2 = corrector2 * (x2x3 - s0x1); - matrix->r1c3 = corrector2 * (x1x3 - s0x2); -} - -void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix) -{ - const double s0s0 = quaternion->s0 * quaternion->s0; - const double x1x1 = quaternion->x1 * quaternion->x1; - const double x2x2 = quaternion->x2 * quaternion->x2; - const double x3x3 = quaternion->x3 * quaternion->x3; - - const double square_module = (s0s0 + x1x1) + (x2x2 + x3x3); - - if (-BG_FP64_EPSYLON <= square_module && square_module <= BG_FP64_EPSYLON) - { - bg_fp64_matrix3x3_set_to_identity(matrix); - return; - } - - const double corrector1 = 1.0f / square_module; - const double corrector2 = 2.0f * corrector1; - - const double s0x1 = quaternion->s0 * quaternion->x1; - const double s0x2 = quaternion->s0 * quaternion->x2; - const double s0x3 = quaternion->s0 * quaternion->x3; - const double x1x2 = quaternion->x1 * quaternion->x2; - const double x1x3 = quaternion->x1 * quaternion->x3; - const double x2x3 = quaternion->x2 * quaternion->x3; - - matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3)); - matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3)); - matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2)); - - matrix->r1c2 = corrector2 * (x1x2 + s0x3); - matrix->r2c3 = corrector2 * (x2x3 + s0x1); - matrix->r3c1 = corrector2 * (x1x3 + s0x2); - - matrix->r2c1 = corrector2 * (x1x2 - s0x3); - matrix->r3c2 = corrector2 * (x2x3 - s0x1); - matrix->r1c3 = corrector2 * (x1x3 - s0x2); -} diff --git a/src/quaternion.h b/src/quaternion.h deleted file mode 100644 index a44207a..0000000 --- a/src/quaternion.h +++ /dev/null @@ -1,235 +0,0 @@ -#ifndef _GEOMETRY_QUATERNION_H_ -#define _GEOMETRY_QUATERNION_H_ - -#include - -#include "basis.h" -#include "matrix3x3.h" - -typedef struct { - float s0, x1, x2, x3; -} BgFP32Quaternion; - -typedef struct { - double s0, x1, x2, x3; -} BgFP64Quaternion; - -// ==================== Reset =================== // - -static inline void bg_fp32_quaternion_reset(BgFP32Quaternion * quaternion) -{ - quaternion->s0 = 0.0f; - quaternion->x1 = 0.0f; - quaternion->x2 = 0.0f; - quaternion->x3 = 0.0f; -} - -static inline void bg_fp64_quaternion_reset(BgFP64Quaternion * quaternion) -{ - quaternion->s0 = 0.0; - quaternion->x1 = 0.0; - quaternion->x2 = 0.0; - quaternion->x3 = 0.0; -} - -// ================== Set Unit ================== // - -static inline void bg_fp32_quaternion_set_identity(BgFP32Quaternion * quaternion) -{ - quaternion->s0 = 1.0f; - quaternion->x1 = 0.0f; - quaternion->x2 = 0.0f; - quaternion->x3 = 0.0f; -} - -static inline void bg_fp64_quaternion_set_identity(BgFP64Quaternion * quaternion) -{ - quaternion->s0 = 1.0; - quaternion->x1 = 0.0; - quaternion->x2 = 0.0; - quaternion->x3 = 0.0; -} - -// ==================== Set ===================== // - -static inline void bg_fp32_quaternion_set_values(const float s0, const float x1, const float x2, const float x3, BgFP32Quaternion * quaternion) -{ - quaternion->s0 = s0; - quaternion->x1 = x1; - quaternion->x2 = x2; - 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) -{ - quaternion->s0 = s0; - quaternion->x1 = x1; - quaternion->x2 = x2; - quaternion->x3 = x3; -} - -// ==================== Copy ==================== // - -static inline void bg_fp32_quaternion_copy(const BgFP32Quaternion* from, BgFP32Quaternion* to) -{ - to->s0 = from->s0; - to->x1 = from->x1; - to->x2 = from->x2; - to->x3 = from->x3; -} - -static inline void bg_fp64_quaternion_copy(const BgFP64Quaternion* from, BgFP64Quaternion* to) -{ - to->s0 = from->s0; - to->x1 = from->x1; - to->x2 = from->x2; - to->x3 = from->x3; -} - -// ============= Copy to twin type ============== // - -static inline void bg_fp32_quaternion_set_from_fp64(const BgFP64Quaternion* versor, BgFP32Quaternion* result) -{ - result->s0 = (float) versor->s0; - result->x1 = (float) versor->x1; - result->x2 = (float) versor->x2; - result->x3 = (float) versor->x3; -} - -static inline void bg_fp64_quaternion_set_from_fp32(const BgFP32Quaternion* versor, BgFP64Quaternion* result) -{ - result->s0 = versor->s0; - result->x1 = versor->x1; - result->x2 = versor->x2; - result->x3 = versor->x3; -} - -// ================= Inversion ================== // - -static inline void bg_fp32_quaternion_conjugate(BgFP32Quaternion* versor) -{ - versor->x1 = -versor->x1; - versor->x2 = -versor->x2; - versor->x3 = -versor->x3; -} - -static inline void bg_fp64_quaternion_conjugate(BgFP64Quaternion* versor) -{ - versor->x1 = -versor->x1; - versor->x2 = -versor->x2; - versor->x3 = -versor->x3; -} - -// ================ Set Conjugate =============== // - -static inline void bg_fp32_quaternion_set_conjugate(const BgFP32Quaternion* versor, BgFP32Quaternion* result) -{ - result->s0 = versor->s0; - result->x1 = -versor->x1; - result->x2 = -versor->x2; - result->x3 = -versor->x3; -} - -static inline void bg_fp64_quaternion_set_conjugate(const BgFP64Quaternion* versor, BgFP64Quaternion* result) -{ - result->s0 = versor->s0; - result->x1 = -versor->x1; - result->x2 = -versor->x2; - result->x3 = -versor->x3; -} - -// ================ Get Inverted ================ // - -static inline void bg_fp32_quaternion_set_conjugate_fp64(const BgFP64Quaternion* versor, BgFP32Quaternion* result) -{ - result->s0 = (float) versor->s0; - result->x1 = (float) -versor->x1; - result->x2 = (float) -versor->x2; - result->x3 = (float) -versor->x3; -} - -static inline void bg_fp64_quaternion_set_conjugate_fp32(const BgFP32Quaternion* versor, BgFP64Quaternion* result) -{ - result->s0 = versor->s0; - result->x1 = -versor->x1; - result->x2 = -versor->x2; - result->x3 = -versor->x3; -} - -// ============ Make Rotation Matrix ============ // - -void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix); - -void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix); - -// ============ Make Reverse Matrix ============= // - -void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix); - -void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix); - -// ==================== Add ===================== // - -static inline void bg_fp32_quaternion_add(const BgFP32Quaternion * quaternion1, const BgFP32Quaternion * quaternion2, BgFP32Quaternion * result) -{ - result->s0 = quaternion1->s0 + quaternion2->s0; - result->x1 = quaternion1->x1 + quaternion2->x1; - result->x2 = quaternion1->x2 + quaternion2->x2; - result->x3 = quaternion1->x3 + quaternion2->x3; -} - -static inline void bg_fp64_quaternion_add(const BgFP64Quaternion * quaternion1, const BgFP64Quaternion * quaternion2, BgFP64Quaternion * result) -{ - result->s0 = quaternion1->s0 + quaternion2->s0; - result->x1 = quaternion1->x1 + quaternion2->x1; - result->x2 = quaternion1->x2 + quaternion2->x2; - result->x3 = quaternion1->x3 + quaternion2->x3; -} - -// ================== Subtract ================== // - -static inline void bg_fp32_quaternion_subtract(const BgFP32Quaternion * minuend, const BgFP32Quaternion * subtrahend, BgFP32Quaternion * result) -{ - result->s0 = minuend->s0 - subtrahend->s0; - result->x1 = minuend->x1 - subtrahend->x1; - result->x2 = minuend->x2 - subtrahend->x2; - result->x3 = minuend->x3 - subtrahend->x3; -} - -static inline void bg_fp64_quaternion_subtract(const BgFP64Quaternion * minuend, const BgFP64Quaternion * subtrahend, BgFP64Quaternion * result) -{ - result->s0 = minuend->s0 - subtrahend->s0; - result->x1 = minuend->x1 - subtrahend->x1; - result->x2 = minuend->x2 - subtrahend->x2; - result->x3 = minuend->x3 - subtrahend->x3; -} - -// =============== Multiplication =============== // - -static inline void bg_fp32_quaternion_multiply(const BgFP32Quaternion* left, const BgFP32Quaternion* right, BgFP32Quaternion* result) -{ - const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3); - const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3); - const float x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1); - const float x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2); - - result->s0 = s0; - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -static inline void bg_fp64_quaternion_multiply(const BgFP64Quaternion* left, const BgFP64Quaternion* right, BgFP64Quaternion* result) -{ - const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3); - const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3); - const double x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1); - const double x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2); - - result->s0 = s0; - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -#endif // _GEOMETRY_QUATERNION_H_ diff --git a/src/rotation3.c b/src/rotation3.c deleted file mode 100644 index e550206..0000000 --- a/src/rotation3.c +++ /dev/null @@ -1,5 +0,0 @@ -#include "rotation3.h" - -const BgFP32Rotation3 BG_FP32_IDLE_ROTATION3 = { {0.0f, 0.0f, 0.0f}, 0.0f}; - -const BgFP64Rotation3 BG_FP64_IDLE_ROTATION3 = { {0.0, 0.0, 0.0}, 0.0}; diff --git a/src/rotation3.h b/src/rotation3.h deleted file mode 100644 index 0733e58..0000000 --- a/src/rotation3.h +++ /dev/null @@ -1,101 +0,0 @@ -#ifndef _GEOMETRY_ROTATION3_H_ -#define _GEOMETRY_ROTATION3_H_ - -#include "basis.h" -#include "angle.h" -#include "vector3.h" - -typedef struct { - BgFP32Vector3 axis; - float radians; -} BgFP32Rotation3; - -typedef struct { - BgFP64Vector3 axis; - double radians; -} BgFP64Rotation3; - -extern const BgFP32Rotation3 BG_FP32_IDLE_ROTATION3; - -extern const BgFP64Rotation3 BG_FP64_IDLE_ROTATION3; - -// =================== Reset ==================== // - -static inline void bg_fp32_rotation_reset(BgFP32Rotation3* rotation) -{ - rotation->axis.x1 = 0.0f; - rotation->axis.x2 = 0.0f; - rotation->axis.x3 = 0.0f; - - rotation->radians = 0.0f; -} - -static inline void bg_fp64_rotation_reset(BgFP64Rotation3* rotation) -{ - rotation->axis.x1 = 0.0; - rotation->axis.x2 = 0.0; - rotation->axis.x3 = 0.0; - - rotation->radians = 0.0; -} - -// ==================== Make ==================== // - -static inline void bg_fp32_rotation_set_values(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Rotation3* rotation) -{ - rotation->axis.x1 = x1; - rotation->axis.x2 = x2; - rotation->axis.x3 = x3; - - if (bg_fp32_vector3_normalize(&rotation->axis)) { - rotation->radians = bg_fp32_angle_to_radians(angle, unit); - } - else { - rotation->radians = 0.0f; - } -} - - -static inline void bg_fp64_rotation_set_values(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Rotation3* rotation) -{ - rotation->axis.x1 = x1; - rotation->axis.x2 = x2; - rotation->axis.x3 = x3; - - if (bg_fp64_vector3_normalize(&rotation->axis)) { - rotation->radians = bg_fp64_angle_to_radians(angle, unit); - } - else { - rotation->radians = 0.0; - } -} - -static inline void bg_fp32_rotation_set_with_axis(const BgFP32Vector3* axis, const float angle, const angle_unit_t unit, BgFP32Rotation3* rotation) -{ - rotation->axis.x1 = axis->x1; - rotation->axis.x2 = axis->x2; - rotation->axis.x3 = axis->x3; - - if (bg_fp32_vector3_normalize(&rotation->axis)) { - rotation->radians = bg_fp32_angle_to_radians(angle, unit); - } - else { - rotation->radians = 0.0f; - } -} - -static inline void bg_fp64_rotation_set_with_axis(const BgFP64Vector3* axis, const double angle, const angle_unit_t unit, BgFP64Rotation3* rotation) -{ - rotation->axis.x1 = axis->x1; - rotation->axis.x2 = axis->x2; - rotation->axis.x3 = axis->x3; - - if (bg_fp64_vector3_normalize(&rotation->axis)) { - rotation->radians = bg_fp64_angle_to_radians(angle, unit); - } - else { - rotation->radians = 0.0; - } -} - -#endif diff --git a/src/vector2.c b/src/vector2.c deleted file mode 100644 index 145dd0c..0000000 --- a/src/vector2.c +++ /dev/null @@ -1,65 +0,0 @@ -#include "vector2.h" - -// =================== Angle ==================== // - -float bg_fp32_vector2_get_angle(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, const angle_unit_t unit) -{ - if (vector1 == 0 || vector2 == 0) { - return 0.0f; - } - - const float square_module1 = bg_fp32_vector2_get_square_module(vector1); - - if (square_module1 <= BG_FP32_SQUARE_EPSYLON) { - return 0.0f; - } - - const float square_module2 = bg_fp32_vector2_get_square_module(vector2); - - if (square_module2 <= BG_FP32_SQUARE_EPSYLON) { - return 0.0f; - } - - const float cosine = bg_fp32_vector2_dot_product(vector1, vector2) / sqrtf(square_module1 * square_module2); - - if (cosine >= 1.0f - BG_FP32_EPSYLON) { - return 0.0f; - } - - if (cosine <= -1.0f + BG_FP32_EPSYLON) { - return bg_fp32_angle_get_half_circle(unit); - } - - return bg_fp32_radians_to_units(acosf(cosine), unit); -} - -double bg_fp64_vector2_get_angle(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, const angle_unit_t unit) -{ - if (vector1 == 0 || vector2 == 0) { - return 0.0; - } - - const double square_module1 = bg_fp64_vector2_get_square_module(vector1); - - if (square_module1 <= BG_FP64_SQUARE_EPSYLON) { - return 0.0; - } - - const double square_module2 = bg_fp64_vector2_get_square_module(vector2); - - if (square_module2 <= BG_FP64_SQUARE_EPSYLON) { - return 0.0; - } - - const double cosine = bg_fp64_vector2_dot_product(vector1, vector2) / sqrt(square_module1 * square_module2); - - if (cosine >= 1.0 - BG_FP64_EPSYLON) { - return 0.0; - } - - if (cosine <= -1.0 + BG_FP64_EPSYLON) { - return bg_fp64_angle_get_half_circle(unit); - } - - return bg_fp64_radians_to_units(acos(cosine), unit); -} diff --git a/src/vector2.h b/src/vector2.h deleted file mode 100644 index 36178d2..0000000 --- a/src/vector2.h +++ /dev/null @@ -1,397 +0,0 @@ -#ifndef _GEOMETRY_VECTOR2_H_ -#define _GEOMETRY_VECTOR2_H_ - -#include "basis.h" -#include "angle.h" - -#include - -typedef struct -{ - float x1, x2; -} BgFP32Vector2; - -typedef struct -{ - double x1, x2; -} BgFP64Vector2; - -// =================== Reset ==================== // - -static inline void bg_fp32_vector2_reset(BgFP32Vector2* vector) -{ - vector->x1 = 0.0f; - vector->x2 = 0.0f; -} - -static inline void bg_fp64_vector2_reset(BgFP64Vector2* vector) -{ - vector->x1 = 0.0; - vector->x2 = 0.0; -} - -// ==================== Set ===================== // - -static inline void bg_fp32_vector2_set_values(const float x1, const float x2, BgFP32Vector2* to) -{ - to->x1 = x1; - to->x2 = x2; -} - -static inline void bg_fp64_vector2_set_values(const double x1, const double x2, BgFP64Vector2* to) -{ - to->x1 = x1; - to->x2 = x2; -} - -// ==================== Copy ==================== // - -static inline void bg_fp32_vector2_copy(const BgFP32Vector2* from, BgFP32Vector2* to) -{ - to->x1 = from->x1; - to->x2 = from->x2; -} - -static inline void bg_fp64_vector2_copy(const BgFP64Vector2* from, BgFP64Vector2* to) -{ - to->x1 = from->x1; - to->x2 = from->x2; -} - -// ============= Copy to twin type ============== // - -static inline void bg_fp32_vector2_set_from_fp64(const BgFP64Vector2* from, BgFP32Vector2* to) -{ - to->x1 = (float)from->x1; - to->x2 = (float)from->x2; -} - -static inline void bg_fp64_vector2_set_from_fp32(const BgFP32Vector2* from, BgFP64Vector2* to) -{ - to->x1 = from->x1; - to->x2 = from->x2; -} - -// =================== Reverse ================== // - -static inline void bg_fp32_vector2_set_reverse(const BgFP32Vector2* from, BgFP32Vector2* to) -{ - to->x1 = -from->x1; - to->x2 = -from->x2; -} - -static inline void bg_fp64_vector2_set_reverse(const BgFP64Vector2* from, BgFP64Vector2* to) -{ - to->x1 = -from->x1; - to->x2 = -from->x2; -} - -// ============= Reverse twin type ============== // - -static inline void bg_fp32_vector2_set_reverse_fp64(const BgFP64Vector2* from, BgFP32Vector2* to) -{ - to->x1 = (float) -from->x1; - to->x2 = (float) -from->x2; -} - -static inline void bg_fp64_vector2_set_reverse_fp32(const BgFP32Vector2* from, BgFP64Vector2* to) -{ - to->x1 = -from->x1; - to->x2 = -from->x2; -} - -// =================== Module =================== // - -static inline float bg_fp32_vector2_get_square_module(const BgFP32Vector2* vector) -{ - return vector->x1 * vector->x1 + vector->x2 * vector->x2; -} - -static inline double bg_fp64_vector2_get_square_module(const BgFP64Vector2* vector) -{ - return vector->x1 * vector->x1 + vector->x2 * vector->x2; -} - -static inline float bg_fp32_vector2_get_module(const BgFP32Vector2* vector) -{ - return sqrtf(bg_fp32_vector2_get_square_module(vector)); -} - -static inline double bg_fp64_vector2_get_module(const BgFP64Vector2* vector) -{ - return sqrt(bg_fp64_vector2_get_square_module(vector)); -} - -// ================= Comparison ================= // - -static inline int bg_fp32_vector2_is_zero(const BgFP32Vector2* vector) -{ - return bg_fp32_vector2_get_square_module(vector) <= BG_FP32_SQUARE_EPSYLON; -} - -static inline int bg_fp64_vector2_is_zero(const BgFP64Vector2* vector) -{ - return bg_fp64_vector2_get_square_module(vector) <= BG_FP64_SQUARE_EPSYLON; -} - -static inline int bg_fp32_vector2_is_unit(const BgFP32Vector2* vector) -{ - const float square_module = bg_fp32_vector2_get_square_module(vector); - - return 1.0f - BG_FP32_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP32_TWO_EPSYLON; -} - -static inline int bg_fp64_vector2_is_unit(const BgFP64Vector2* vector) -{ - const double square_module = bg_fp64_vector2_get_square_module(vector); - - return 1.0f - BG_FP64_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP64_TWO_EPSYLON; -} - -// ==================== Add ===================== // - -static inline void bg_fp32_vector2_add(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, BgFP32Vector2* result) -{ - result->x1 = vector1->x1 + vector2->x1; - result->x2 = vector1->x2 + vector2->x2; -} - -static inline void bg_fp64_vector2_add(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, BgFP64Vector2* result) -{ - result->x1 = vector1->x1 + vector2->x1; - result->x2 = vector1->x2 + vector2->x2; -} - -// ================ Subtraction ================= // - -static inline void bg_fp32_vector2_subtract(const BgFP32Vector2* minuend, const BgFP32Vector2* subtrahend, BgFP32Vector2* result) -{ - result->x1 = minuend->x1 - subtrahend->x1; - result->x2 = minuend->x2 - subtrahend->x2; -} - -static inline void bg_fp64_vector2_subtract(const BgFP64Vector2* minuend, const BgFP64Vector2* subtrahend, BgFP64Vector2* result) -{ - result->x1 = minuend->x1 - subtrahend->x1; - result->x2 = minuend->x2 - subtrahend->x2; -} - -// =============== Multiplication =============== // - -static inline void bg_fp32_vector2_multiply(const BgFP32Vector2* multiplicand, const float multiplier, BgFP32Vector2* result) -{ - result->x1 = multiplicand->x1 * multiplier; - result->x2 = multiplicand->x2 * multiplier; -} - -static inline void bg_fp64_vector2_multiply(const BgFP64Vector2* multiplicand, const double multiplier, BgFP64Vector2* result) -{ - result->x1 = multiplicand->x1 * multiplier; - result->x2 = multiplicand->x2 * multiplier; -} - -// ================== Division ================== // - -static inline void bg_fp32_vector2_divide(const BgFP32Vector2* dividend, const float divisor, BgFP32Vector2* result) -{ - result->x1 = dividend->x1 / divisor; - result->x2 = dividend->x2 / divisor; -} - -static inline void bg_fp64_vector2_divide(const BgFP64Vector2* dividend, const double divisor, BgFP64Vector2* result) -{ - result->x1 = dividend->x1 / divisor; - result->x2 = dividend->x2 / divisor; -} - -// ================ Append scaled =============== // - -static inline void bg_fp32_vector2_append_scaled(BgFP32Vector2* basic_vector, const BgFP32Vector2* scalable_vector, const float scale) -{ - basic_vector->x1 += scalable_vector->x1 * scale; - basic_vector->x2 += scalable_vector->x2 * scale; -} - -static inline void bg_fp64_vector2_append_scaled(BgFP64Vector2* basic_vector, const BgFP64Vector2* scalable_vector, const double scale) -{ - basic_vector->x1 += scalable_vector->x1 * scale; - basic_vector->x2 += scalable_vector->x2 * scale; -} - -// ================== Average2 ================== // - -static inline void bg_fp32_vector2_get_mean2(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, BgFP32Vector2* result) -{ - result->x1 = (vector1->x1 + vector2->x1) * 0.5f; - result->x2 = (vector1->x2 + vector2->x2) * 0.5f; -} - -static inline void bg_fp64_vector2_get_mean2(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, BgFP64Vector2* result) -{ - result->x1 = (vector1->x1 + vector2->x1) * 0.5; - result->x2 = (vector1->x2 + vector2->x2) * 0.5; -} - -// ================== Average3 ================== // - -static inline void bg_fp32_vector2_get_mean3(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, const BgFP32Vector2* vector3, BgFP32Vector2* result) -{ - result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BG_FP32_ONE_THIRD; - result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BG_FP32_ONE_THIRD; -} - -static inline void bg_fp64_vector2_get_mean3(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, const BgFP64Vector2* vector3, BgFP64Vector2* result) -{ - result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BG_FP64_ONE_THIRD; - result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BG_FP64_ONE_THIRD; -} - -// =============== Scalar Product =============== // - -static inline float bg_fp32_vector2_dot_product(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2) -{ - return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2; -} - -static inline double bg_fp64_vector2_dot_product(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2) -{ - return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2; -} - -// =============== Cross Product ================ // - -static inline float bg_fp32_vector2_cross_product(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2) -{ - return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1; -} - -static inline double bg_fp64_vector2_cross_product(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, BgFP64Vector2* result) -{ - return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1; -} - -// =============== Normalization ================ // - -static inline int bg_fp32_vector2_normalize(BgFP32Vector2* vector) -{ - const float square_module = bg_fp32_vector2_get_square_module(vector); - - if (1.0f - BG_FP32_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP32_TWO_EPSYLON) { - return 1; - } - - if (square_module <= BG_FP32_SQUARE_EPSYLON) { - bg_fp32_vector2_reset(vector); - return 0; - } - - bg_fp32_vector2_divide(vector, sqrtf(square_module), vector); - return 1; -} - -static inline int bg_fp64_vector2_normalize(BgFP64Vector2* vector) -{ - const double square_module = bg_fp64_vector2_get_square_module(vector); - - if (1.0 - BG_FP64_TWO_EPSYLON <= square_module && square_module <= 1.0 + BG_FP64_TWO_EPSYLON) { - return 1; - } - - if (square_module <= BG_FP64_SQUARE_EPSYLON) { - bg_fp64_vector2_reset(vector); - return 0; - } - - bg_fp64_vector2_divide(vector, sqrt(square_module), vector); - return 1; -} - -// =============== Get Normalized =============== // - -static inline int bg_fp32_vector2_set_normalized(const BgFP32Vector2* vector, BgFP32Vector2* result) -{ - bg_fp32_vector2_copy(vector, result); - return bg_fp32_vector2_normalize(result); -} - -static inline int bg_fp64_vector2_set_normalized(const BgFP64Vector2* vector, BgFP64Vector2* result) -{ - bg_fp64_vector2_copy(vector, result); - return bg_fp64_vector2_normalize(result); -} - -// =================== Angle ==================== // - -float bg_fp32_vector2_get_angle(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2, const angle_unit_t unit); - -double bg_fp64_vector2_get_angle(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2, const angle_unit_t unit); - -// =============== Square Distance ============== // - -static inline float bg_fp32_vector2_get_square_distance(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2) -{ - const float dx1 = (vector1->x1 - vector2->x1); - const float dx2 = (vector1->x2 - vector2->x2); - - return dx1 * dx1 + dx2 * dx2; -} - -static inline double bg_fp64_vector2_get_square_distance(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2) -{ - const double dx1 = (vector1->x1 - vector2->x1); - const double dx2 = (vector1->x2 - vector2->x2); - - return dx1 * dx1 + dx2 * dx2; -} - -// ================== Distance ================== // - -static inline float bg_fp32_vector2_get_distance(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2) -{ - return sqrtf(bg_fp32_vector2_get_square_distance(vector1, vector2)); -} - -static inline double bg_fp64_vector2_get_distance(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2) -{ - return sqrt(bg_fp64_vector2_get_square_distance(vector1, vector2)); -} - -// ================== Are Equal ================= // - -static inline int bg_fp32_vector2_are_equal(const BgFP32Vector2* vector1, const BgFP32Vector2* vector2) -{ - const float square_module1 = bg_fp32_vector2_get_square_module(vector1); - const float square_module2 = bg_fp32_vector2_get_square_module(vector2); - const float square_module3 = bg_fp32_vector2_get_square_distance(vector1, vector2); - - // 2.0f means dimension amount - if (square_module1 < BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_module2 < BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT) { - return square_module3 < (2.0f * BG_FP32_SQUARE_EPSYLON); - } - - if (square_module1 <= square_module2) { - return square_module3 <= (2.0f * BG_FP32_SQUARE_EPSYLON) * square_module2; - } - - return square_module3 <= (2.0f * BG_FP32_SQUARE_EPSYLON) * square_module1; -} - -static inline int bg_fp64_vector2_are_equal(const BgFP64Vector2* vector1, const BgFP64Vector2* vector2) -{ - const double square_module1 = bg_fp64_vector2_get_square_module(vector1); - const double square_module2 = bg_fp64_vector2_get_square_module(vector2); - const double square_module3 = bg_fp64_vector2_get_square_distance(vector1, vector2); - - // 2.0 means dimension amount - if (square_module1 < BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_module2 < BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT) { - return square_module3 < (2.0 * BG_FP64_SQUARE_EPSYLON); - } - - if (square_module1 <= square_module2) { - return square_module3 <= (2.0 * BG_FP64_SQUARE_EPSYLON) * square_module2; - } - - return square_module3 <= (2.0 * BG_FP64_SQUARE_EPSYLON) * square_module1; -} - -#endif diff --git a/src/vector3.c b/src/vector3.c deleted file mode 100644 index cb7450f..0000000 --- a/src/vector3.c +++ /dev/null @@ -1,65 +0,0 @@ -#include "vector3.h" - -// =================== Angle ==================== // - -float bg_fp32_vector3_get_angle(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const angle_unit_t unit) -{ - if (vector1 == 0 || vector2 == 0) { - return 0.0f; - } - - const float square_module1 = bg_fp32_vector3_get_square_module(vector1); - - if (square_module1 <= BG_FP32_SQUARE_EPSYLON) { - return 0.0f; - } - - const float square_module2 = bg_fp32_vector3_get_square_module(vector2); - - if (square_module2 <= BG_FP32_SQUARE_EPSYLON) { - return 0.0f; - } - - const float cosine = bg_fp32_vector3_dot_product(vector1, vector2) / sqrtf(square_module1 * square_module2); - - if (cosine >= 1.0f - BG_FP32_EPSYLON) { - return 0.0f; - } - - if (cosine <= -1.0f + BG_FP32_EPSYLON) { - return bg_fp32_angle_get_half_circle(unit); - } - - return bg_fp32_radians_to_units(acosf(cosine), unit); -} - -double bg_fp64_vector3_get_angle(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const angle_unit_t unit) -{ - if (vector1 == 0 || vector2 == 0) { - return 0.0; - } - - const double square_module1 = bg_fp64_vector3_get_square_module(vector1); - - if (square_module1 <= BG_FP64_SQUARE_EPSYLON) { - return 0.0; - } - - const double square_module2 = bg_fp64_vector3_get_square_module(vector2); - - if (square_module2 <= BG_FP64_SQUARE_EPSYLON) { - return 0.0; - } - - const double cosine = bg_fp64_vector3_dot_product(vector1, vector2) / sqrt(square_module1 * square_module2); - - if (cosine >= 1.0 - BG_FP64_EPSYLON) { - return 0.0; - } - - if (cosine <= -1.0 + BG_FP64_EPSYLON) { - return bg_fp64_angle_get_half_circle(unit); - } - - return bg_fp64_radians_to_units(acos(cosine), unit); -} diff --git a/src/vector3.h b/src/vector3.h deleted file mode 100644 index 5b91ab0..0000000 --- a/src/vector3.h +++ /dev/null @@ -1,475 +0,0 @@ -#ifndef _GEOMETRY_VECTOR3_H_ -#define _GEOMETRY_VECTOR3_H_ - -#include "basis.h" -#include "angle.h" - -#include - -// ================== Vector3 =================== // -// -typedef struct -{ - float x1, x2, x3; -} BgFP32Vector3; - -typedef struct -{ - double x1, x2, x3; -} BgFP64Vector3; - -// =================== Reset ==================== // - -static inline void bg_fp32_vector3_reset(BgFP32Vector3* vector) -{ - vector->x1 = 0.0f; - vector->x2 = 0.0f; - vector->x3 = 0.0f; -} - -static inline void bg_fp64_vector3_reset(BgFP64Vector3* vector) -{ - vector->x1 = 0.0; - vector->x2 = 0.0; - vector->x3 = 0.0; -} - -// ==================== Set ===================== // - -static inline void bg_fp32_vector3_set_values(const float x1, const float x2, const float x3, BgFP32Vector3* to) -{ - to->x1 = x1; - to->x2 = x2; - to->x3 = x3; -} - -static inline void bg_fp64_vector3_set_values(const double x1, const double x2, const double x3, BgFP64Vector3* to) -{ - to->x1 = x1; - to->x2 = x2; - to->x3 = x3; -} - -// ==================== Copy ==================== // - -static inline void bg_fp32_vector3_copy(const BgFP32Vector3* from, BgFP32Vector3* to) -{ - to->x1 = from->x1; - to->x2 = from->x2; - to->x3 = from->x3; -} - -static inline void bg_fp64_vector3_copy(const BgFP64Vector3* from, BgFP64Vector3* to) -{ - to->x1 = from->x1; - to->x2 = from->x2; - to->x3 = from->x3; -} - -// ============= Copy to twin type ============== // - -static inline void bg_fp32_vector3_set_from_fp64(const BgFP64Vector3* from, BgFP32Vector3* to) -{ - to->x1 = (float) from->x1; - to->x2 = (float) from->x2; - to->x3 = (float) from->x3; -} - -static inline void bg_fp64_vector3_set_from_fp32(const BgFP32Vector3* from, BgFP64Vector3* to) -{ - to->x1 = from->x1; - to->x2 = from->x2; - to->x3 = from->x3; -} - -// =================== Reverse ================== // - -static inline void bg_fp32_vector3_set_reverse(const BgFP32Vector3* from, BgFP32Vector3* to) -{ - to->x1 = -from->x1; - to->x2 = -from->x2; - to->x3 = -from->x3; -} - -static inline void bg_fp64_vector3_set_reverse(const BgFP64Vector3* from, BgFP64Vector3* to) -{ - to->x1 = -from->x1; - to->x2 = -from->x2; - to->x3 = -from->x3; -} - -// ============= Reverse twin type ============== // - -static inline void bg_fp32_vector3_set_reverse_fp64(const BgFP64Vector3* from, BgFP32Vector3* to) -{ - to->x1 = (float) -from->x1; - to->x2 = (float) -from->x2; - to->x3 = (float) -from->x3; -} - -static inline void bg_fp64_vector3_set_reverse_fp32(const BgFP32Vector3* from, BgFP64Vector3* to) -{ - to->x1 = -from->x1; - to->x2 = -from->x2; - to->x3 = -from->x3; -} - -// =================== Module =================== // - -static inline float bg_fp32_vector3_get_square_module(const BgFP32Vector3* vector) -{ - return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3; -} - -static inline double bg_fp64_vector3_get_square_module(const BgFP64Vector3* vector) -{ - return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3; -} - -static inline float bg_fp32_vector3_get_module(const BgFP32Vector3* vector) -{ - return sqrtf(bg_fp32_vector3_get_square_module(vector)); -} - -static inline double bg_fp64_vector3_get_module(const BgFP64Vector3* vector) -{ - return sqrt(bg_fp64_vector3_get_square_module(vector)); -} - -// ================= Comparison ================= // - -static inline int bg_fp32_vector3_is_zero(const BgFP32Vector3* vector) -{ - return bg_fp32_vector3_get_square_module(vector) <= BG_FP32_SQUARE_EPSYLON; -} - -static inline int bg_fp64_vector3_is_zero(const BgFP64Vector3* vector) -{ - return bg_fp64_vector3_get_square_module(vector) <= BG_FP64_SQUARE_EPSYLON; -} - -static inline int bg_fp32_vector3_is_unit(const BgFP32Vector3* vector) -{ - const float square_module = bg_fp32_vector3_get_square_module(vector); - - return 1.0f - BG_FP32_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP32_TWO_EPSYLON; -} - -static inline int bg_fp64_vector3_is_unit(const BgFP64Vector3* vector) -{ - const double square_module = bg_fp64_vector3_get_square_module(vector); - - return 1.0f - BG_FP64_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP64_TWO_EPSYLON; -} - -// ==================== Add ===================== // - -static inline void bg_fp32_vector3_add(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, BgFP32Vector3* result) -{ - result->x1 = vector1->x1 + vector2->x1; - result->x2 = vector1->x2 + vector2->x2; - result->x3 = vector1->x3 + vector2->x3; -} - -static inline void bg_fp64_vector3_add(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, BgFP64Vector3* result) -{ - result->x1 = vector1->x1 + vector2->x1; - result->x2 = vector1->x2 + vector2->x2; - result->x3 = vector1->x3 + vector2->x3; -} - -// ================ Subtraction ================= // - -static inline void bg_fp32_vector3_subtract(const BgFP32Vector3* minuend, const BgFP32Vector3* subtrahend, BgFP32Vector3* result) -{ - result->x1 = minuend->x1 - subtrahend->x1; - result->x2 = minuend->x2 - subtrahend->x2; - result->x3 = minuend->x3 - subtrahend->x3; -} - -static inline void bg_fp64_vector3_subtract(const BgFP64Vector3* minuend, const BgFP64Vector3* subtrahend, BgFP64Vector3* result) -{ - result->x1 = minuend->x1 - subtrahend->x1; - result->x2 = minuend->x2 - subtrahend->x2; - result->x3 = minuend->x3 - subtrahend->x3; -} - -// =============== Multiplication =============== // - -static inline void bg_fp32_vector3_multiply(const BgFP32Vector3* multiplicand, const float multiplier, BgFP32Vector3* result) -{ - result->x1 = multiplicand->x1 * multiplier; - result->x2 = multiplicand->x2 * multiplier; - result->x3 = multiplicand->x3 * multiplier; -} - -static inline void bg_fp64_vector3_multiply(const BgFP64Vector3* multiplicand, const double multiplier, BgFP64Vector3* result) -{ - result->x1 = multiplicand->x1 * multiplier; - result->x2 = multiplicand->x2 * multiplier; - result->x3 = multiplicand->x3 * multiplier; -} - -// ================== Division ================== // - -static inline void bg_fp32_vector3_divide(const BgFP32Vector3* dividend, const float divisor, BgFP32Vector3* result) -{ - result->x1 = dividend->x1 / divisor; - result->x2 = dividend->x2 / divisor; - result->x3 = dividend->x3 / divisor; -} - -static inline void bg_fp64_vector3_divide(const BgFP64Vector3* dividend, const double divisor, BgFP64Vector3* result) -{ - result->x1 = dividend->x1 / divisor; - result->x2 = dividend->x2 / divisor; - result->x3 = dividend->x3 / divisor; -} - -// ================ Append scaled =============== // - -static inline void bg_fp32_vector3_append_scaled(BgFP32Vector3* basic_vector, const BgFP32Vector3* scalable_vector, const float scale) -{ - basic_vector->x1 += scalable_vector->x1 * scale; - basic_vector->x2 += scalable_vector->x2 * scale; - basic_vector->x3 += scalable_vector->x3 * scale; -} - -static inline void bg_fp64_vector3_append_scaled(BgFP64Vector3* basic_vector, const BgFP64Vector3* scalable_vector, const double scale) -{ - basic_vector->x1 += scalable_vector->x1 * scale; - basic_vector->x2 += scalable_vector->x2 * scale; - basic_vector->x3 += scalable_vector->x3 * scale; -} - -// ================== Average2 ================== // - -static inline void bg_fp32_vector3_get_mean2(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, BgFP32Vector3* result) -{ - result->x1 = (vector1->x1 + vector2->x1) * 0.5f; - result->x2 = (vector1->x2 + vector2->x2) * 0.5f; - result->x3 = (vector1->x3 + vector2->x3) * 0.5f; -} - -static inline void bg_fp64_vector3_get_mean2(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, BgFP64Vector3* result) -{ - result->x1 = (vector1->x1 + vector2->x1) * 0.5; - result->x2 = (vector1->x2 + vector2->x2) * 0.5; - result->x3 = (vector1->x3 + vector2->x3) * 0.5; -} - -// ================== Average3 ================== // - -static inline void bg_fp32_vector3_get_mean3(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const BgFP32Vector3* vector3, BgFP32Vector3* result) -{ - result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BG_FP32_ONE_THIRD; - result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BG_FP32_ONE_THIRD; - result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BG_FP32_ONE_THIRD; -} - -static inline void bg_fp64_vector3_get_mean3(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const BgFP64Vector3* vector3, BgFP64Vector3* result) -{ - result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BG_FP64_ONE_THIRD; - result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BG_FP64_ONE_THIRD; - result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BG_FP64_ONE_THIRD; -} - -// =============== Scalar Product =============== // - -static inline float bg_fp32_vector3_dot_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2) -{ - return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3; -} - -static inline double bg_fp64_vector3_dot_product(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2) -{ - return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3; -} - -// =============== Triple Product =============== // - -static inline float bg_fp32_vector3_triple_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const BgFP32Vector3* vector3) -{ - return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2) - + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3) - + vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1); -} - -static inline double bg_fp64_vector3_triple_product(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const BgFP64Vector3* vector3) -{ - return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2) - + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3) - + vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1); -} - -// =============== Cross Product ================ // - -static inline void bg_fp32_vector3_cross_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, BgFP32Vector3* result) -{ - bg_fp32_vector3_set_values( - vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2, - vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3, - vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1, - result - ); -} - -static inline void bg_fp64_vector3_cross_product(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, BgFP64Vector3* result) -{ - bg_fp64_vector3_set_values( - vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2, - vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3, - vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1, - result - ); -} - -// ============ Double Cross Product ============ // - -static inline void bg_fp32_vector3_double_cross_product(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const BgFP32Vector3* vector3, BgFP32Vector3* result) -{ - const float ac = bg_fp32_vector3_dot_product(vector1, vector3); - const float ab = bg_fp32_vector3_dot_product(vector1, vector2); - - result->x1 = vector2->x1 * ac - vector3->x1 * ab; - result->x2 = vector2->x2 * ac - vector3->x2 * ab; - result->x3 = vector2->x3 * ac - vector3->x3 * ab; -} - -static inline void bg_fp64_vector3_double_cross(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const BgFP64Vector3* vector3, BgFP64Vector3* result) -{ - const double ac = bg_fp64_vector3_dot_product(vector1, vector3); - const double ab = bg_fp64_vector3_dot_product(vector1, vector2); - - result->x1 = vector2->x1 * ac - vector3->x1 * ab; - result->x2 = vector2->x2 * ac - vector3->x2 * ab; - result->x3 = vector2->x3 * ac - vector3->x3 * ab; -} - -// =============== Normalization ================ // - -static inline int bg_fp32_vector3_normalize(BgFP32Vector3* vector) -{ - const float square_module = bg_fp32_vector3_get_square_module(vector); - - if (1.0f - BG_FP32_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP32_TWO_EPSYLON) { - return 1; - } - - if (square_module <= BG_FP32_SQUARE_EPSYLON) { - bg_fp32_vector3_reset(vector); - return 0; - } - - bg_fp32_vector3_divide(vector, sqrtf(square_module), vector); - return 1; -} - -static inline int bg_fp64_vector3_normalize(BgFP64Vector3* vector) -{ - const double square_module = bg_fp64_vector3_get_square_module(vector); - - if (1.0 - BG_FP64_TWO_EPSYLON <= square_module && square_module <= 1.0 + BG_FP64_TWO_EPSYLON) { - return 1; - } - - if (square_module <= BG_FP64_SQUARE_EPSYLON) { - bg_fp64_vector3_reset(vector); - return 0; - } - - bg_fp64_vector3_divide(vector, sqrt(square_module), vector); - return 1; -} - -// =============== Get Normalized =============== // - -static inline int bg_fp32_vector3_set_normalized(const BgFP32Vector3* vector, BgFP32Vector3* result) -{ - bg_fp32_vector3_copy(vector, result); - return bg_fp32_vector3_normalize(result); -} - -static inline int bg_fp64_vector3_set_normalized(const BgFP64Vector3* vector, BgFP64Vector3* result) -{ - bg_fp64_vector3_copy(vector, result); - return bg_fp64_vector3_normalize(result); -} - -// =================== Angle ==================== // - -float bg_fp32_vector3_get_angle(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2, const angle_unit_t unit); - -double bg_fp64_vector3_get_angle(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2, const angle_unit_t unit); - -// =============== Square Distance ============== // - -static inline float bg_fp32_vector3_get_square_distance(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2) -{ - const float dx1 = (vector1->x1 - vector2->x1); - const float dx2 = (vector1->x2 - vector2->x2); - const float dx3 = (vector1->x3 - vector2->x3); - - return dx1 * dx1 + dx2 * dx2 + dx3 * dx3; -} - -static inline double bg_fp64_vector3_get_square_distance(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2) -{ - const double dx1 = (vector1->x1 - vector2->x1); - const double dx2 = (vector1->x2 - vector2->x2); - const double dx3 = (vector1->x3 - vector2->x3); - - return dx1 * dx1 + dx2 * dx2 + dx3 * dx3; -} - -// ================== Distance ================== // - -static inline float bg_fp32_vector3_get_distance(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2) -{ - return sqrtf(bg_fp32_vector3_get_square_distance(vector1, vector2)); -} - -static inline double bg_fp64_vector3_get_distance(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2) -{ - return sqrt(bg_fp64_vector3_get_square_distance(vector1, vector2)); -} - -// ================== Are Equal ================= // - -static inline int bg_fp32_vector3_are_equal(const BgFP32Vector3* vector1, const BgFP32Vector3* vector2) -{ - const float square_module1 = bg_fp32_vector3_get_square_module(vector1); - const float square_module2 = bg_fp32_vector3_get_square_module(vector2); - const float square_module3 = bg_fp32_vector3_get_square_distance(vector1, vector2); - - // 3.0f means dimension amount - if (square_module1 < BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_module2 < BG_FP32_EPSYLON_EFFECTIVENESS_LIMIT) { - return square_module3 < (3.0f * BG_FP32_SQUARE_EPSYLON); - } - - if (square_module1 <= square_module2) { - return square_module3 <= (3.0f * BG_FP32_SQUARE_EPSYLON) * square_module2; - } - - return square_module3 <= (3.0f * BG_FP32_SQUARE_EPSYLON) * square_module1; -} - -static inline int bg_fp64_vector3_are_equal(const BgFP64Vector3* vector1, const BgFP64Vector3* vector2) -{ - const double square_module1 = bg_fp64_vector3_get_square_module(vector1); - const double square_module2 = bg_fp64_vector3_get_square_module(vector2); - const double square_module3 = bg_fp64_vector3_get_square_distance(vector1, vector2); - - // 3.0 means dimension amount - if (square_module1 < BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_module2 < BG_FP64_EPSYLON_EFFECTIVENESS_LIMIT) { - return square_module3 < (3.0 * BG_FP64_SQUARE_EPSYLON); - } - - if (square_module1 <= square_module2) { - return square_module3 <= (3.0 * BG_FP64_SQUARE_EPSYLON) * square_module2; - } - - return square_module3 <= (3.0 * BG_FP64_SQUARE_EPSYLON) * square_module1; -} - -#endif diff --git a/src/versor.c b/src/versor.c deleted file mode 100644 index 2874d2a..0000000 --- a/src/versor.c +++ /dev/null @@ -1,138 +0,0 @@ -#include - -#include "angle.h" -#include "versor.h" - -const BgFP32Versor BG_FP32_IDLE_VERSOR = { 1.0f, 0.0f, 0.0f, 0.0f }; - -const BgFP64Versor BG_FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 }; - -void __bg_fp32_versor_normalize(const float square_module, __BgFP32DarkTwinVersor* twin) -{ - if (square_module <= BG_FP32_SQUARE_EPSYLON || (twin->x1 * twin->x1 + twin->x2 * twin->x2 + twin->x3 * twin->x3) <= BG_FP32_SQUARE_EPSYLON * square_module) { - twin->s0 = 1.0f; - twin->x1 = 0.0f; - twin->x2 = 0.0f; - twin->x3 = 0.0f; - return; - } - - const float module = sqrtf(square_module); - - twin->s0 /= module; - twin->x1 /= module; - twin->x2 /= module; - twin->x3 /= module; -} - -void __bg_fp64_versor_normalize(const double square_module, __BgFP64DarkTwinVersor* twin) -{ - if (square_module <= BG_FP64_SQUARE_EPSYLON || (twin->x1 * twin->x1 + twin->x2 * twin->x2 + twin->x3 * twin->x3) <= BG_FP64_SQUARE_EPSYLON * square_module) { - twin->s0 = 1.0; - twin->x1 = 0.0; - twin->x2 = 0.0; - twin->x3 = 0.0; - return; - } - - const double module = sqrt(square_module); - - twin->s0 /= module; - twin->x1 /= module; - twin->x2 /= module; - twin->x3 /= module; -} - -// =============== Set Crude Turn =============== // - -void bg_fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Versor* result) -{ - const float square_vector = x1 * x1 + x2 * x2 + x3 * x3; - - if (square_vector <= BG_FP32_SQUARE_EPSYLON) { - bg_fp32_versor_reset(result); - return; - } - - const float half_angle = bg_fp32_angle_to_radians(0.5f * angle, unit); - - const float sine = sinf(half_angle); - - if (-BG_FP32_EPSYLON <= sine && sine <= BG_FP32_EPSYLON) { - bg_fp32_versor_reset(result); - return; - } - - const float multiplier = sine / sqrtf(square_vector); - - bg_fp32_versor_set_values(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result); -} - -void bg_fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Versor* result) -{ - const double square_vector = x1 * x1 + x2 * x2 + x3 * x3; - - if (square_vector <= BG_FP64_SQUARE_EPSYLON) { - bg_fp64_versor_reset(result); - return; - } - - const double half_angle = bg_fp64_angle_to_radians(0.5 * angle, unit); - - const double sine = sin(half_angle); - - if (-BG_FP64_EPSYLON <= sine && sine <= BG_FP64_EPSYLON) { - bg_fp64_versor_reset(result); - return; - } - - const double multiplier = sine / sqrt(square_vector); - - bg_fp64_versor_set_values(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result); -} - -// ================= Rotation3 ================== // - -void bg_fp32_versor_get_rotation(const BgFP32Versor* versor, BgFP32Rotation3* result) -{ - if (versor == 0 || result == 0) { - return; - } - - if (versor->s0 <= -(1.0f - BG_FP32_EPSYLON) || 1.0f - BG_FP32_EPSYLON <= versor->s0) { - bg_fp32_rotation_reset(result); - return; - } - - const float square_vector = versor->x1 * versor->x1 + versor->x2 * versor->x2 + versor->x3 * versor->x3; - - result->radians = 2.0f * acosf(versor->s0 / sqrtf(versor->s0 * versor->s0 + square_vector)); - - const float vector_module = sqrtf(square_vector); - - result->axis.x1 = versor->x1 / vector_module; - result->axis.x2 = versor->x2 / vector_module; - result->axis.x3 = versor->x3 / vector_module; -} - -void bg_fp64_versor_get_rotation(const BgFP64Versor* versor, BgFP64Rotation3* result) -{ - if (versor == 0 || result == 0) { - return; - } - - if (versor->s0 <= -(1.0 - BG_FP64_EPSYLON) || 1.0 - BG_FP64_EPSYLON <= versor->s0) { - bg_fp64_rotation_reset(result); - return; - } - - const double square_vector = versor->x1 * versor->x1 + versor->x2 * versor->x2 + versor->x3 * versor->x3; - - result->radians = 2.0 * acos(versor->s0 / sqrt(versor->s0 * versor->s0 + square_vector)); - - const double vector_module = sqrt(square_vector); - - result->axis.x1 = versor->x1 / vector_module; - result->axis.x2 = versor->x2 / vector_module; - result->axis.x3 = versor->x3 / vector_module; -} diff --git a/src/versor.h b/src/versor.h deleted file mode 100644 index bdc5769..0000000 --- a/src/versor.h +++ /dev/null @@ -1,626 +0,0 @@ -#ifndef _GEOMETRY_VERSOR_H_ -#define _GEOMETRY_VERSOR_H_ - -#include - -#include - -#include "basis.h" -#include "vector3.h" -#include "rotation3.h" -#include "matrix3x3.h" - -// =================== Types ==================== // - -typedef struct { - const float s0, x1, x2, x3; -} BgFP32Versor; - -typedef struct { - const double s0, x1, x2, x3; -} BgFP64Versor; - -// ================= Dark Twins ================= // - -typedef struct { - float s0, x1, x2, x3; -} __BgFP32DarkTwinVersor; - -typedef struct { - double s0, x1, x2, x3; -} __BgFP64DarkTwinVersor; - -// ================= Constants ================== // - -extern const BgFP32Versor BG_FP32_IDLE_VERSOR; -extern const BgFP64Versor BG_FP64_IDLE_VERSOR; - -// =================== Reset ==================== // - -static inline void bg_fp32_versor_reset(BgFP32Versor* versor) -{ - __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor; - - twin->s0 = 1.0f; - twin->x1 = 0.0f; - twin->x2 = 0.0f; - twin->x3 = 0.0f; -} - -static inline void bg_fp64_versor_reset(BgFP64Versor* versor) -{ - __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor; - - twin->s0 = 1.0; - twin->x1 = 0.0; - twin->x2 = 0.0; - twin->x3 = 0.0; -} - -// ==================== Set ===================== // - -void __bg_fp32_versor_normalize(const float square_module, __BgFP32DarkTwinVersor* twin); - -void __bg_fp64_versor_normalize(const double square_module, __BgFP64DarkTwinVersor* twin); - -static inline void bg_fp32_versor_set_values(const float s0, const float x1, const float x2, const float x3, BgFP32Versor* versor) -{ - __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor; - - twin->s0 = s0; - twin->x1 = x1; - twin->x2 = x2; - twin->x3 = x3; - - const float square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); - - if (square_module < 1.0f - BG_FP32_TWO_EPSYLON || 1.0f + BG_FP32_TWO_EPSYLON < square_module) { - __bg_fp32_versor_normalize(square_module, (__BgFP32DarkTwinVersor*)versor); - } -} - -static inline void bg_fp64_versor_set_values(const double s0, const double x1, const double x2, const double x3, BgFP64Versor* versor) -{ - __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor; - - twin->s0 = s0; - twin->x1 = x1; - twin->x2 = x2; - twin->x3 = x3; - - const double square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); - - if (square_module < 1.0 - BG_FP64_TWO_EPSYLON || 1.0 + BG_FP64_TWO_EPSYLON < square_module) { - __bg_fp64_versor_normalize(square_module, twin); - } -} - -// ==================== Copy ==================== // - -static inline void bg_fp32_versor_copy(const BgFP32Versor* from, BgFP32Versor* to) -{ - __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to; - - twin->s0 = from->s0; - twin->x1 = from->x1; - twin->x2 = from->x2; - twin->x3 = from->x3; -} - -static inline void bg_fp64_versor_copy(const BgFP64Versor* from, BgFP64Versor* to) -{ - __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to; - - twin->s0 = from->s0; - twin->x1 = from->x1; - twin->x2 = from->x2; - twin->x3 = from->x3; -} - -// =============== Set Crude Turn =============== // - -void bg_fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Versor* result); - -void bg_fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Versor* result); - -// ================== Set Turn ================== // - -static inline void bg_fp32_versor_set_turn(const BgFP32Vector3* axis, const float angle, const angle_unit_t unit, BgFP32Versor* result) -{ - bg_fp32_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result); -} - -static inline void bg_fp64_versor_set_turn(const BgFP32Vector3* axis, const double angle, const angle_unit_t unit, BgFP64Versor* result) -{ - bg_fp64_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result); -} - -// ================ Set Rotation ================ // - -static inline void bg_fp32_versor_set_rotation(const BgFP32Rotation3* rotation, BgFP32Versor* result) -{ - bg_fp32_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result); -} - -static inline void bg_fp64_versor_set_rotation(const BgFP64Rotation3* rotation, BgFP64Versor* result) -{ - bg_fp64_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result); -} - -// ================= Comparison ================= // - -static inline int bg_fp32_versor_is_idle(const BgFP32Versor* versor) -{ - return 1.0f - BG_FP32_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - BG_FP32_EPSYLON); -} - -static inline int bg_fp64_versor_is_idle(const BgFP64Versor* versor) -{ - return 1.0 - BG_FP64_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - BG_FP64_EPSYLON); -} - -// ============= Copy to twin type ============== // - -static inline void bg_fp32_versor_set_from_fp64(const BgFP64Versor* versor, BgFP32Versor* result) -{ - bg_fp32_versor_set_values( - (float) versor->s0, - (float) versor->x1, - (float) versor->x2, - (float) versor->x3, - result - ); -} - -static inline void bg_fp64_versor_set_from_fp32(const BgFP32Versor* versor, BgFP64Versor* result) -{ - bg_fp64_versor_set_values( - versor->s0, - versor->x1, - versor->x2, - versor->x3, - result - ); -} - -// ================= Inversion ================== // - -static inline void bg_fp32_versor_invert(BgFP32Versor* versor) -{ - __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)versor; - twin->x1 = -versor->x1; - twin->x2 = -versor->x2; - twin->x3 = -versor->x3; -} - -static inline void bg_fp64_versor_invert(BgFP64Versor* versor) -{ - __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)versor; - twin->x1 = -versor->x1; - twin->x2 = -versor->x2; - twin->x3 = -versor->x3; -} - -// ================ Set Inverted ================ // - -static inline void bg_fp32_versor_set_inverted(const BgFP32Versor* versor, BgFP32Versor* to) -{ - __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)to; - twin->s0 = versor->s0; - twin->x1 = -versor->x1; - twin->x2 = -versor->x2; - twin->x3 = -versor->x3; -} - -static inline void bg_fp64_versor_set_inverted(const BgFP64Versor* versor, BgFP64Versor* to) -{ - __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)to; - twin->s0 = versor->s0; - twin->x1 = -versor->x1; - twin->x2 = -versor->x2; - twin->x3 = -versor->x3; -} - -// ================ Set Inverted ================ // - -static inline void bg_fp32_versor_set_inverted_fp64(const BgFP64Versor* versor, BgFP32Versor* to) -{ - bg_fp32_versor_set_values( - (float) versor->s0, - (float) -versor->x1, - (float) -versor->x2, - (float) -versor->x3, - to - ); -} - -static inline void bg_fp64_versor_set_inverted_fp32(const BgFP32Versor* versor, BgFP64Versor* to) -{ - bg_fp64_versor_set_values( - versor->s0, - -versor->x1, - -versor->x2, - -versor->x3, - to - ); -} - -// ================ Combination ================= // - -static inline void bg_fp32_versor_combine(const BgFP32Versor* second, const BgFP32Versor* first, BgFP32Versor* result) -{ - const float s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3); - const float x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3); - const float x2 = (second->x2 * first->s0 + second->s0 * first->x2) - (second->x1 * first->x3 - second->x3 * first->x1); - const float x3 = (second->x3 * first->s0 + second->s0 * first->x3) - (second->x2 * first->x1 - second->x1 * first->x2); - - const float square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); - - __BgFP32DarkTwinVersor* twin = (__BgFP32DarkTwinVersor*)result; - - twin->s0 = s0; - twin->x1 = x1; - twin->x2 = x2; - twin->x3 = x3; - - if (square_module < 1.0f - BG_FP32_TWO_EPSYLON || 1.0f + BG_FP32_TWO_EPSYLON < square_module) { - __bg_fp32_versor_normalize(square_module, twin); - } -} - -static inline void bg_fp64_versor_combine(const BgFP64Versor* second, const BgFP64Versor* first, BgFP64Versor* result) -{ - const double s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3); - const double x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3); - const double x2 = (second->x2 * first->s0 + second->s0 * first->x2) - (second->x1 * first->x3 - second->x3 * first->x1); - const double x3 = (second->x3 * first->s0 + second->s0 * first->x3) - (second->x2 * first->x1 - second->x1 * first->x2); - - const double square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); - - __BgFP64DarkTwinVersor* twin = (__BgFP64DarkTwinVersor*)result; - - twin->s0 = s0; - twin->x1 = x1; - twin->x2 = x2; - twin->x3 = x3; - - if (square_module < 1.0 - BG_FP64_TWO_EPSYLON || 1.0 + BG_FP64_TWO_EPSYLON < square_module) { - __bg_fp64_versor_normalize(square_module, twin); - } -} - -// ================= Rotation3 ================== // - -void bg_fp32_versor_get_rotation(const BgFP32Versor* versor, BgFP32Rotation3* result); - -void bg_fp64_versor_get_rotation(const BgFP64Versor* versor, BgFP64Rotation3* result); - -// =========== Make Rotation Matrix3x3 ========== // - -static inline void bg_fp32_versor_get_rotation_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix) -{ - const float s0s0 = versor->s0 * versor->s0; - const float x1x1 = versor->x1 * versor->x1; - const float x2x2 = versor->x2 * versor->x2; - const float x3x3 = versor->x3 * versor->x3; - - const float s0x1 = 2.0f * versor->s0 * versor->x1; - const float s0x2 = 2.0f * versor->s0 * versor->x2; - const float s0x3 = 2.0f * versor->s0 * versor->x3; - - const float x1x2 = 2.0f * versor->x1 * versor->x2; - const float x1x3 = 2.0f * versor->x1 * versor->x3; - const float x2x3 = 2.0f * versor->x2 * versor->x3; - - matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - matrix->r1c2 = x1x2 - s0x3; - matrix->r2c3 = x2x3 - s0x1; - matrix->r3c1 = x1x3 - s0x2; - - matrix->r2c1 = x1x2 + s0x3; - matrix->r3c2 = x2x3 + s0x1; - matrix->r1c3 = x1x3 + s0x2; -} - -static inline void bg_fp64_versor_get_rotation_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix) -{ - const double s0s0 = versor->s0 * versor->s0; - const double x1x1 = versor->x1 * versor->x1; - const double x2x2 = versor->x2 * versor->x2; - const double x3x3 = versor->x3 * versor->x3; - - const double s0x1 = 2.0 * versor->s0 * versor->x1; - const double s0x2 = 2.0 * versor->s0 * versor->x2; - const double s0x3 = 2.0 * versor->s0 * versor->x3; - - const double x1x2 = 2.0 * versor->x1 * versor->x2; - const double x1x3 = 2.0 * versor->x1 * versor->x3; - const double x2x3 = 2.0 * versor->x2 * versor->x3; - - matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - matrix->r1c2 = x1x2 - s0x3; - matrix->r2c3 = x2x3 - s0x1; - matrix->r3c1 = x1x3 - s0x2; - - matrix->r2c1 = x1x2 + s0x3; - matrix->r3c2 = x2x3 + s0x1; - matrix->r1c3 = x1x3 + s0x2; -} - -// =========== Make Reverse Matrix3x3 =========== // - -static inline void bg_fp32_versor_get_reverse_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix) -{ - const float s0s0 = versor->s0 * versor->s0; - const float x1x1 = versor->x1 * versor->x1; - const float x2x2 = versor->x2 * versor->x2; - const float x3x3 = versor->x3 * versor->x3; - - const float s0x1 = 2.0f * versor->s0 * versor->x1; - const float s0x2 = 2.0f * versor->s0 * versor->x2; - const float s0x3 = 2.0f * versor->s0 * versor->x3; - - const float x1x2 = 2.0f * versor->x1 * versor->x2; - const float x1x3 = 2.0f * versor->x1 * versor->x3; - const float x2x3 = 2.0f * versor->x2 * versor->x3; - - matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - matrix->r1c2 = x1x2 + s0x3; - matrix->r2c3 = x2x3 + s0x1; - matrix->r3c1 = x1x3 + s0x2; - - matrix->r2c1 = x1x2 - s0x3; - matrix->r3c2 = x2x3 - s0x1; - matrix->r1c3 = x1x3 - s0x2; -} - -static inline void bg_fp64_versor_get_reverse_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix) -{ - const double s0s0 = versor->s0 * versor->s0; - const double x1x1 = versor->x1 * versor->x1; - const double x2x2 = versor->x2 * versor->x2; - const double x3x3 = versor->x3 * versor->x3; - - const double s0x1 = 2.0 * versor->s0 * versor->x1; - const double s0x2 = 2.0 * versor->s0 * versor->x2; - const double s0x3 = 2.0 * versor->s0 * versor->x3; - - const double x1x2 = 2.0 * versor->x1 * versor->x2; - const double x1x3 = 2.0 * versor->x1 * versor->x3; - const double x2x3 = 2.0 * versor->x2 * versor->x3; - - matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - matrix->r1c2 = x1x2 + s0x3; - matrix->r2c3 = x2x3 + s0x1; - matrix->r3c1 = x1x3 + s0x2; - - matrix->r2c1 = x1x2 - s0x3; - matrix->r3c2 = x2x3 - s0x1; - matrix->r1c3 = x1x3 - s0x2; -} - -// ================ Turn Vector ================= // - -static inline void bg_fp32_versor_turn(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result) -{ - const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2); - const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3); - const float tx3 = 2.0f * (versor->x1 * vector->x2 - versor->x2 * vector->x1); - - const float x1 = (vector->x1 + tx1 * versor->s0) + (versor->x2 * tx3 - versor->x3 * tx2); - const float x2 = (vector->x2 + tx2 * versor->s0) + (versor->x3 * tx1 - versor->x1 * tx3); - const float x3 = (vector->x3 + tx3 * versor->s0) + (versor->x1 * tx2 - versor->x2 * tx1); - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -static inline void bg_fp64_versor_turn(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result) -{ - const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2); - const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3); - const double tx3 = 2.0 * (versor->x1 * vector->x2 - versor->x2 * vector->x1); - - const double x1 = (vector->x1 + tx1 * versor->s0) + (versor->x2 * tx3 - versor->x3 * tx2); - const double x2 = (vector->x2 + tx2 * versor->s0) + (versor->x3 * tx1 - versor->x1 * tx3); - const double x3 = (vector->x3 + tx3 * versor->s0) + (versor->x1 * tx2 - versor->x2 * tx1); - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -// ================ Turn2 Vector ================ // - -static inline void bg_fp32_versor_turn2(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result) -{ - const float s0s0 = versor->s0 * versor->s0; - const float x1x1 = versor->x1 * versor->x1; - const float x2x2 = versor->x2 * versor->x2; - const float x3x3 = versor->x3 * versor->x3; - - const float s0x1 = 2.0f * versor->s0 * versor->x1; - const float s0x2 = 2.0f * versor->s0 * versor->x2; - const float s0x3 = 2.0f * versor->s0 * versor->x3; - - const float x1x2 = 2.0f * versor->x1 * versor->x2; - const float x1x3 = 2.0f * versor->x1 * versor->x3; - const float x2x3 = 2.0f * versor->x2 * versor->x3; - - const float r2c1 = x1x2 + s0x3; - const float r3c2 = x2x3 + s0x1; - const float r1c3 = x1x3 + s0x2; - - const float r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - const float r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - const float r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - const float r1c2 = x1x2 - s0x3; - const float r2c3 = x2x3 - s0x1; - const float r3c1 = x1x3 - s0x2; - - const float x1 = r1c1 * vector->x1 + r1c2 * vector->x2 + r1c3 * vector->x3; - const float x2 = r2c1 * vector->x1 + r2c2 * vector->x2 + r2c3 * vector->x3; - const float x3 = r3c1 * vector->x1 + r3c2 * vector->x2 + r3c3 * vector->x3; - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -static inline void bg_fp64_versor_turn2(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result) -{ - const double s0s0 = versor->s0 * versor->s0; - const double x1x1 = versor->x1 * versor->x1; - const double x2x2 = versor->x2 * versor->x2; - const double x3x3 = versor->x3 * versor->x3; - - const double s0x1 = 2.0f * versor->s0 * versor->x1; - const double s0x2 = 2.0f * versor->s0 * versor->x2; - const double s0x3 = 2.0f * versor->s0 * versor->x3; - - const double x1x2 = 2.0f * versor->x1 * versor->x2; - const double x1x3 = 2.0f * versor->x1 * versor->x3; - const double x2x3 = 2.0f * versor->x2 * versor->x3; - - const double r2c1 = x1x2 + s0x3; - const double r3c2 = x2x3 + s0x1; - const double r1c3 = x1x3 + s0x2; - - const double r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - const double r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - const double r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - const double r1c2 = x1x2 - s0x3; - const double r2c3 = x2x3 - s0x1; - const double r3c1 = x1x3 - s0x2; - - const double x1 = r1c1 * vector->x1 + r1c2 * vector->x2 + r1c3 * vector->x3; - const double x2 = r2c1 * vector->x1 + r2c2 * vector->x2 + r2c3 * vector->x3; - const double x3 = r3c1 * vector->x1 + r3c2 * vector->x2 + r3c3 * vector->x3; - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -// ============== Turn Vector Back ============== // - -static inline void bg_fp32_versor_turn_back(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result) -{ - const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2); - const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3); - const float tx3 = 2.0f * (versor->x1 * vector->x2 - versor->x2 * vector->x1); - - const float x1 = (vector->x1 - tx1 * versor->s0) + (versor->x2 * tx3 - versor->x3 * tx2); - const float x2 = (vector->x2 - tx2 * versor->s0) + (versor->x3 * tx1 - versor->x1 * tx3); - const float x3 = (vector->x3 - tx3 * versor->s0) + (versor->x1 * tx2 - versor->x2 * tx1); - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -static inline void bg_fp64_versor_turn_back(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result) -{ - const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2); - const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3); - const double tx3 = 2.0 * (versor->x1 * vector->x2 - versor->x2 * vector->x1); - - const double x1 = (vector->x1 - tx1 * versor->s0) + (versor->x2 * tx3 - versor->x3 * tx2); - const double x2 = (vector->x2 - tx2 * versor->s0) + (versor->x3 * tx1 - versor->x1 * tx3); - const double x3 = (vector->x3 - tx3 * versor->s0) + (versor->x1 * tx2 - versor->x2 * tx1); - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -// ============== Turn Vector Back2 ============= // - -static inline void bg_fp32_versor_turn_back2(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result) -{ - const float s0s0 = versor->s0 * versor->s0; - const float x1x1 = versor->x1 * versor->x1; - const float x2x2 = versor->x2 * versor->x2; - const float x3x3 = versor->x3 * versor->x3; - - const float s0x1 = 2.0f * versor->s0 * versor->x1; - const float s0x2 = 2.0f * versor->s0 * versor->x2; - const float s0x3 = 2.0f * versor->s0 * versor->x3; - - const float x1x2 = 2.0f * versor->x1 * versor->x2; - const float x1x3 = 2.0f * versor->x1 * versor->x3; - const float x2x3 = 2.0f * versor->x2 * versor->x3; - - const float r1c2 = x1x2 + s0x3; - const float r2c3 = x2x3 + s0x1; - const float r3c1 = x1x3 + s0x2; - - const float r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - const float r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - const float r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - const float r2c1 = x1x2 - s0x3; - const float r3c2 = x2x3 - s0x1; - const float r1c3 = x1x3 - s0x2; - - const float x1 = r1c1 * vector->x1 + r1c2 * vector->x2 + r1c3 * vector->x3; - const float x2 = r2c1 * vector->x1 + r2c2 * vector->x2 + r2c3 * vector->x3; - const float x3 = r3c1 * vector->x1 + r3c2 * vector->x2 + r3c3 * vector->x3; - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -static inline void bg_fp64_versor_turn_back2(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result) -{ - const double s0s0 = versor->s0 * versor->s0; - const double x1x1 = versor->x1 * versor->x1; - const double x2x2 = versor->x2 * versor->x2; - const double x3x3 = versor->x3 * versor->x3; - - const double s0x1 = 2.0f * versor->s0 * versor->x1; - const double s0x2 = 2.0f * versor->s0 * versor->x2; - const double s0x3 = 2.0f * versor->s0 * versor->x3; - - const double x1x2 = 2.0f * versor->x1 * versor->x2; - const double x1x3 = 2.0f * versor->x1 * versor->x3; - const double x2x3 = 2.0f * versor->x2 * versor->x3; - - const double r1c2 = x1x2 + s0x3; - const double r2c3 = x2x3 + s0x1; - const double r3c1 = x1x3 + s0x2; - - const double r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - const double r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - const double r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - const double r2c1 = x1x2 - s0x3; - const double r3c2 = x2x3 - s0x1; - const double r1c3 = x1x3 - s0x2; - - const double x1 = r1c1 * vector->x1 + r1c2 * vector->x2 + r1c3 * vector->x3; - const double x2 = r2c1 * vector->x1 + r2c2 * vector->x2 + r2c3 * vector->x3; - const double x3 = r3c1 * vector->x1 + r3c2 * vector->x2 + r3c3 * vector->x3; - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -#endif diff --git a/test/fp32_vector2_test.c b/test/fp32_vector2_test.c deleted file mode 100644 index c5bbc81..0000000 --- a/test/fp32_vector2_test.c +++ /dev/null @@ -1,150 +0,0 @@ -#include "fp32_vector2_test.h" - -const int TEST_BG_FP32_VECTOR2_AMOUNT_1 = 5; - -const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_1[] = { - { 3.0f, 4.0f }, - { -3.0f, -4.0f }, - { 10000.0f, -20000.0f }, - { 0.1f, -10.0f }, - { -123.5f, 3.7283f } -}; - -const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_2[] = { - { -3.0f, -4.0f }, - { -3.0f, -4.0f }, - { 0.002f, -0.05f }, - { -0.2f, 12.0f }, - { 1.5f, -23.35f } -}; - -// =============== Square module ================ // - -const float BG_FP32_VECTOR2_SQUARE_MODULE_1[] = { 25.0f, 25.0f, 500000000.0f, 100.01f, 15266.150221f }; - -int test_bg_fp32_vector2_square_module() -{ - print_test_name("BgFP32Vector2 square module"); - - float square_module; - - for (int i = 0; i < TEST_BG_FP32_VECTOR2_AMOUNT_1; i++) { - square_module = bg_fp32_vector2_get_square_module(&TEST_BG_FP32_VECTOR2_COMMON_1[i]); - - if (!test_bg_fp32_are_equal(square_module, BG_FP32_VECTOR2_SQUARE_MODULE_1[i], TEST_BG_FP32_TWO_EPSYLON)) { - print_test_failed(); - return TEST_RESULT_FAILED; - } - } - - print_test_success(); - return TEST_RESULT_SUCCES; -} - -// =================== Module =================== // - -const float BG_FP32_VECTOR2_MODULE_1[] = { 5.0f, 5.0f, 22360.68f, 10.0005f, 123.55626338f }; - -int test_bg_fp32_vector2_module() -{ - print_test_name("BgFP32Vector2 module"); - - float square_module; - - for (int i = 0; i < TEST_BG_FP32_VECTOR2_AMOUNT_1; i++) { - square_module = bg_fp32_vector2_get_module(&TEST_BG_FP32_VECTOR2_COMMON_1[i]); - - if (!test_bg_fp32_are_equal(square_module, BG_FP32_VECTOR2_MODULE_1[i], TEST_BG_FP32_EPSYLON)) { - print_test_failed(); - return TEST_RESULT_FAILED; - } - } - - print_test_success(); - return TEST_RESULT_SUCCES; -} - -// ===================== Add ==================== // - -const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_1_2_SUM[] = { - { 0.0f, 0.0f }, - { -6.0f, -8.0f }, - { 10000.002f, -20000.05f }, - { -0.1f, 2.0f }, - { -122.0f, -19.6217f } -}; - -int test_bg_fp32_vector2_add() -{ - print_test_name("BgFP32Vector2 add"); - - BgFP32Vector2 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); - - 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)) { - print_test_failed(); - return TEST_RESULT_FAILED; - } - } - - print_test_success(); - return TEST_RESULT_SUCCES; -} - -// ================== Subtract ================== // - -const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_1_2_DIFF[] = { - { 6.0f, 8.0f }, - { 0.0f, 0.0f }, - { 9999.998f, -19999.95f }, - { 0.3f, -22.0f }, - { -125.0f, 27.0783f } -}; - -int test_bg_fp32_vector2_subtract() -{ - print_test_name("BgFP32Vector2 subtract"); - - BgFP32Vector2 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); - - 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)) { - print_test_failed(); - return TEST_RESULT_FAILED; - } - } - - print_test_success(); - return TEST_RESULT_SUCCES; -} - -// ==================== 1234 ==================== // - -int test_bg_fp32_vector2() -{ - print_test_section("BgFP32Vector2"); - - if (test_bg_fp32_vector2_square_module() != TEST_RESULT_SUCCES) { - return TEST_RESULT_FAILED; - } - - if (test_bg_fp32_vector2_module() != TEST_RESULT_SUCCES) { - return TEST_RESULT_FAILED; - } - - if (test_bg_fp32_vector2_add() != TEST_RESULT_SUCCES) { - return TEST_RESULT_FAILED; - } - - if (test_bg_fp32_vector2_subtract() != TEST_RESULT_SUCCES) { - return TEST_RESULT_FAILED; - } - - return TEST_RESULT_SUCCES; -} diff --git a/test/fp32_vector2_test.h b/test/fp32_vector2_test.h deleted file mode 100644 index ef16f2b..0000000 --- a/test/fp32_vector2_test.h +++ /dev/null @@ -1,16 +0,0 @@ -#ifndef __GEOMETRY_VECTOR2_FLOAT_TEST_H__ -#define __GEOMETRY_VECTOR2_FLOAT_TEST_H__ - -#include "geometry_test.h" - -int test_bg_fp32_vector2(); - -int test_bg_fp32_vector2_square_module(); - -int test_bg_fp32_vector2_module(); - -int test_bg_fp32_vector2_add(); - -int test_bg_fp32_vector2_subtract(); - -#endif diff --git a/test/geometry-test.cbp b/test/geometry-test.cbp deleted file mode 100644 index fe34b41..0000000 --- a/test/geometry-test.cbp +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - diff --git a/test/geometry-test.layout b/test/geometry-test.layout deleted file mode 100644 index e6201cb..0000000 --- a/test/geometry-test.layout +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/test/geometry-test.vcxproj b/test/geometry-test.vcxproj deleted file mode 100644 index 0ca598a..0000000 --- a/test/geometry-test.vcxproj +++ /dev/null @@ -1,162 +0,0 @@ - - - - - Debug - Win32 - - - Release - Win32 - - - Debug - x64 - - - Release - x64 - - - - 16.0 - Win32Proj - {48dae315-715f-4044-adf5-0308483b887c} - geometry-test - 10.0 - - - - Application - true - v143 - Unicode - - - Application - false - v143 - true - Unicode - - - Application - true - v143 - Unicode - - - Application - false - v143 - true - Unicode - - - - - - - - - - - - - - - - - - - - - true - - - false - - - true - - - false - - - - Level3 - true - WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - $(SolutionDir)src;%(AdditionalIncludeDirectories) - - - Console - true - - - - - Level3 - true - true - true - WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - $(SolutionDir)src;%(AdditionalIncludeDirectories) - - - Console - true - true - true - - - - - Level3 - true - _DEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - $(SolutionDir)src;%(AdditionalIncludeDirectories) - - - Console - true - - - - - Level3 - true - true - true - NDEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - $(SolutionDir)src;%(AdditionalIncludeDirectories) - - - Console - true - true - true - - - - - {40ca6fb4-135f-4d54-a8d9-7338ba56e6a7} - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/test/geometry-test.vcxproj.filters b/test/geometry-test.vcxproj.filters deleted file mode 100644 index df06490..0000000 --- a/test/geometry-test.vcxproj.filters +++ /dev/null @@ -1,36 +0,0 @@ - - - - - {4FC737F1-C7A5-4376-A066-2A32D752A2FF} - cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx - - - {93995380-89BD-4b04-88EB-625FBE52EBFB} - h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd - - - {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} - rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms - - - - - Исходные файлы - - - Исходные файлы - - - Исходные файлы - - - - - Исходные файлы - - - Исходные файлы - - - \ No newline at end of file diff --git a/test/geometry-test.vcxproj.user b/test/geometry-test.vcxproj.user deleted file mode 100644 index 0f14913..0000000 --- a/test/geometry-test.vcxproj.user +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/test/geometry_test.c b/test/geometry_test.c deleted file mode 100644 index b6f5de5..0000000 --- a/test/geometry_test.c +++ /dev/null @@ -1,23 +0,0 @@ -#include "geometry_test.h" - -#include - -void print_test_section(const char * name) -{ - printf("================ %s ================\n", name); -} - -void print_test_name(const char * name) -{ - printf(" Testing of %s: ", name); -} - -void print_test_success() -{ - printf("[ \x1b[32mSuccess\x1b[0m ]\n"); -} - -void print_test_failed() -{ - printf("[ \x1b[31mFailed\x1b[0m ]\n"); -} diff --git a/test/geometry_test.h b/test/geometry_test.h deleted file mode 100644 index 5f9c868..0000000 --- a/test/geometry_test.h +++ /dev/null @@ -1,53 +0,0 @@ -#ifndef __GEOMETRY_TEST_H__ -#define __GEOMETRY_TEST_H__ - -#include - -#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_BG_FP64_EPSYLON 1E-13f -#define TEST_BG_FP64_TWO_EPSYLON 2E-13f -#define TEST_BG_FP64_SQUARE_EPSYLON 1E-26f - -void print_test_section(const char * name); - -void print_test_name(const char * name); - -void print_test_success(); - -void print_test_failed(); - -inline int test_bg_fp32_are_equal(const float value1, const float value2, const float epsylon) -{ - if (-1.0f <= value1 && value1 <= 1.0f) { - const float difference = value1 - value2; - return -epsylon <= difference && difference <= epsylon; - } - - if (value1 > 0.0f) { - return value1 <= value2 * (1.0f + epsylon) && value2 <= value1 * (1.0f + epsylon); - } - - 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) -{ - if (-1.0 <= value1 && value1 <= 1.0) { - const double difference = value1 - value2; - return -epsylon <= difference && difference <= epsylon; - } - - if (value1 > 0.0) { - return value1 <= value2 * (1.0 + epsylon) && value2 <= value1 * (1.0 + epsylon); - } - - return value1 * (1.0 + epsylon) <= value2 && value2 * (1.0 + epsylon) <= value1; -} - -#endif diff --git a/test/main.c b/test/main.c deleted file mode 100644 index f47ea7d..0000000 --- a/test/main.c +++ /dev/null @@ -1,17 +0,0 @@ -#include -#include - -#include "geometry_test.h" -#include "fp32_vector2_test.h" - -#define PROGRAM_RESULT_SUCCESS 0 -#define PROGRAM_RESULT_FAILED 1 - -int main() -{ - if (test_bg_fp32_vector2() == TEST_RESULT_FAILED) { - return PROGRAM_RESULT_FAILED; - } - - return PROGRAM_RESULT_SUCCESS; -}