diff --git a/basic-geometry-dev/basic-geometry-dev.cbp b/basic-geometry-dev/basic-geometry-dev.cbp index 408dee4..0e7489f 100644 --- a/basic-geometry-dev/basic-geometry-dev.cbp +++ b/basic-geometry-dev/basic-geometry-dev.cbp @@ -49,6 +49,14 @@ + + + + + + diff --git a/basic-geometry-dev/main.c b/basic-geometry-dev/main.c index e22fc9a..c3c1035 100644 --- a/basic-geometry-dev/main.c +++ b/basic-geometry-dev/main.c @@ -9,6 +9,8 @@ #include #endif // _WINDOWS_ +#include "vector3_pair_difference.h" + typedef struct { BGC_FP32_Turn3 versor1, versor2, result; } structure_fp32_t; @@ -51,25 +53,6 @@ structure_fp32_t* make_structures(const unsigned int amount) return list; } -void print_quaternion_fp32(const BGC_FP32_Quaternion* quaternion) -{ - printf("Quaternion FP32(s = %0.12f, x = %0.12f, y = %0.12f, z = %0.12f)\n", quaternion->s, quaternion->x, quaternion->y, quaternion->z); -} - -void print_quaternion_fp64(const BGC_FP64_Quaternion* quaternion) -{ - printf("Quaternion FP64(s = %0.12f, x = %0.12f, y = %0.12f, z = %0.12f)\n", quaternion->s, quaternion->x, quaternion->y, quaternion->z); -} - -void print_vector_fp32(const BGC_FP32_Vector3* vector) -{ - printf("(%f, %f, %f) / %f\n", vector->x, vector->y, vector->z, bgc_fp32_vector3_get_length(vector)); -} - -void print_vector_fp64(const BGC_FP64_Vector3* vector) -{ - printf("(%lf, %lf, %lf) / %lf\n", vector->x, vector->y, vector->z, bgc_fp64_vector3_get_length(vector)); -} void list_work(const uint_fast32_t amount, structure_fp32_t* list) { @@ -113,9 +96,9 @@ int main() printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001); #endif // _WIN64 - print_quaternion_fp32(&list[10].versor1._versor); - print_quaternion_fp32(&list[10].versor2._versor); - print_quaternion_fp32(&list[10].result._versor); + print_fp32_quaternion(&list[10].versor1._versor); + print_fp32_quaternion(&list[10].versor2._versor); + print_fp32_quaternion(&list[10].result._versor); free(list); @@ -149,364 +132,15 @@ int main() { } */ -void test_pair_difference_fp32() -{ - - BGC_FP32_Vector3 initial_main, initial_branch; - BGC_FP32_Vector3 final_main, final_branch; - BGC_FP32_Turn3 turn; - - // No turn - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f); - - bgc_fp32_vector3_set_values(&final_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nNo turn:\n"); - print_quaternion_fp32(&turn._versor); - - // Turn around (1, 1, 0) axis on 180 degrees - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f); - - bgc_fp32_vector3_set_values(&final_main, 0.0f, 1.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, 1.0f, 0.0f, 0.0f); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n"); - print_quaternion_fp32(&turn._versor); - - // 180 degree turn - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f); - - bgc_fp32_vector3_set_values(&final_main, -1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\n180 degree turn around (0, 1, 0):\n"); - print_quaternion_fp32(&turn._versor); - - // 90 degree turn around x3 axis - bgc_fp32_vector3_set_values(&initial_main, 2.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 3.1f, 0.0f); - - bgc_fp32_vector3_set_values(&final_main, 0.0f, 10.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch,-1.0f, 0.0f, 0.0f); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\n90 degree turn around (0, 0, 1):\n"); - print_quaternion_fp32(&turn._versor); - - // Unorthogonal pairs turn at 90 degrees around x3 axis - bgc_fp32_vector3_set_values(&initial_main, 2.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, -2.0f, 3.1f, 0.0f); - - bgc_fp32_vector3_set_values(&final_main, 0.0f, 10.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, -1.0f, 5.0f, 0.0f); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n"); - print_quaternion_fp32(&turn._versor); - - // Zero vectors - bgc_fp32_vector3_set_values(&initial_main, 0.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f); - - int code; - - code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - if (code == BGC_SUCCESS) { - printf("\nZero vectors: this cannot be!\n"); - print_quaternion_fp32(&turn._versor); - } - else { - printf("\nZero vector validation works fine\n"); - } - - // Parallel vectors - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 2.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f); - - code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - if (code == BGC_SUCCESS) { - printf("\nParallel vectors: this cannot be!\n"); - print_quaternion_fp32(&turn._versor); - } - else { - printf("\nParallelism validation works fine\n"); - } - - // Small angle turn (about 1 degree): - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f); - - bgc_fp32_vector3_set_values(&final_main, 0.999848f, 0.017452f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, -0.017452f, 0.999848f, 0.0f); - - bgc_fp32_turn3_find_pair_difference(&turn , &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nSmall angle turn (about 1 degree):\n"); - print_quaternion_fp32(&turn._versor); - - // About 179 degrees turn - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f); - - bgc_fp32_vector3_set_values(&final_main, -0.999848f, -0.017452f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, 0.017452f, -0.999848f, 0.0f); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nAbout 179 degrees turn:\n"); - print_quaternion_fp32(&turn._versor); - - // 120 degrees around (-1, -1, 1) - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f); - - bgc_fp32_vector3_set_values(&final_main, 0.0f, 1.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, 0.0f, 0.0f, -1.0f); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\n120 degees turn:\n"); - print_quaternion_fp32(&turn._versor); - - - // About 1 degree turn difference between initial_main and initial_branch directions - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 0.999848f, 0.017452f, 0.0f); - bgc_fp32_vector3_set_values(&final_main, 0.0f, 1.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, -1.0f, 0.0f, 0.0f); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n"); - print_quaternion_fp32(&turn._versor); - - // About 0.01 degree turn difference between initial_main and initial_branch directions - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 1.0f, 0.000001f, 0.0f); - bgc_fp32_vector3_set_values(&final_main, 0.0f, -1.0f, 0.0f); - bgc_fp32_vector3_set_values(&final_branch, 1.0f, 0.0f, 0.0f); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n"); - print_quaternion_fp32(&turn._versor); - - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f); - bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 0.999999f, 0.00014142f); // почти (0,1,0), но крошечный z - - bgc_fp32_vector3_set_values(&final_main, -0.999999f, 0.0f, 0.00014142f); - bgc_fp32_vector3_set_values(&final_branch, 0.0f, 0.999999f, -0.00014142f); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - printf("\nNear 180° with tiny branch deviation:\n"); - print_quaternion_fp32(&turn._versor); - - bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.2f, 0.1f); - bgc_fp32_vector3_set_values(&initial_branch, 0.1f, 1.0f, 0.3f); // почти (0,1,0), но крошечный z - - BGC_FP32_Turn3 known; - - bgc_fp32_turn3_set_rotation(&known, 0.0f, 0.0f, 1.0f, 90.0f, BGC_ANGLE_UNIT_DEGREES); - - bgc_fp32_vector3_set_values(&initial_main, -0.999999f, 0.0f, 0.00014142f); - bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 0.999999f, -0.00014142f); - - bgc_fp32_turn3_vector(&final_main, &known, &initial_main); - bgc_fp32_turn3_vector(&final_branch, &known, &initial_branch); - - bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - printf("\nRecover known 90° Z rotation:\n"); - print_quaternion_fp32(&turn._versor); - - printf("Known was: "); - print_quaternion_fp32(&known._versor); -} - -void test_pair_difference_fp64() -{ - - BGC_FP64_Vector3 initial_main, initial_branch; - BGC_FP64_Vector3 final_main, final_branch; - BGC_FP64_Turn3 turn; - - // No turn - bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0); - bgc_fp64_vector3_set_values(&final_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&final_branch, 0.0, 1.0, 0.0); - - bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nNo turn:\n"); - print_quaternion_fp64(&turn._versor); - - // Turn around (1, 1, 0) axis on 180 degrees - bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0); - bgc_fp64_vector3_set_values(&final_main, 0.0, 1.0, 0.0); - bgc_fp64_vector3_set_values(&final_branch, 1.0, 0.0, 0.0); - - bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n"); - print_quaternion_fp64(&turn._versor); - - // 180 degree turn - bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0); - - bgc_fp64_vector3_set_values(&initial_branch, -1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&final_branch, 0.0, 1.0, 0.0); - - bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\n180 degree turn around (0, 1, 0):\n"); - print_quaternion_fp64(&turn._versor); - - // 90 degree turn around x3 axis - bgc_fp64_vector3_set_values(&initial_main, 2.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 0.0, 3.1, 0.0); - - bgc_fp64_vector3_set_values(&final_main, 0.0, 10.0, 0.0); - bgc_fp64_vector3_set_values(&final_branch, -1.0, 0.0, 0.0); - - bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\n90 degree turn around (0, 0, 1):\n"); - print_quaternion_fp64(&turn._versor); - - // Unorthogonal pairs turn at 90 degrees around x3 axis - bgc_fp64_vector3_set_values(&initial_main, 2.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, -2.0, 3.1, 0.0); - - bgc_fp64_vector3_set_values(&final_main, 0.0, 10.0, 0.0); - bgc_fp64_vector3_set_values(&final_branch, -1.0, 5.0, 0.0); - - bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n"); - print_quaternion_fp64(&turn._versor); - - // Zero vectors - bgc_fp64_vector3_set_values(&initial_main, 0.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0); - bgc_fp64_vector3_set_values(&final_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&final_branch, 0.0, 1.0, 0.0); - - int code; - - code = bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - if (code == BGC_SUCCESS) { - printf("\nZero vectors: this cannot be!\n"); - print_quaternion_fp64(&turn._versor); - } - else { - printf("\nZero vector validation works fine\n"); - } - - // Parallel vectors - bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 2.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&final_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&final_branch, 0.0, 1.0, 0.0); - - code = bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - if (code == BGC_SUCCESS) { - printf("\nParallel vectors: this cannot be!\n"); - print_quaternion_fp64(&turn._versor); - } - else { - printf("\nParallelism validation works fine\n"); - } - - // Small angle turn (about 1 degree): - bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0); - - bgc_fp64_vector3_set_values(&final_main, 0.999848, 0.017452, 0.0); - bgc_fp64_vector3_set_values(&final_branch, -0.017452, 0.999848, 0.0); - - bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nSmall angle turn (about 1 degree):\n"); - print_quaternion_fp64(&turn._versor); - - // About 179 degrees turn - bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0); - - bgc_fp64_vector3_set_values(&final_main, -0.999848, -0.017452, 0.0); - bgc_fp64_vector3_set_values(&final_branch, 0.017452, -0.999848, 0.0); - - bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nAbout 179 degrees turn:\n"); - print_quaternion_fp64(&turn._versor); - - // 120 degrees around (-1, -1, 1) - bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0); - - bgc_fp64_vector3_set_values(&final_main, 0.0, 1.0, 0.0); - bgc_fp64_vector3_set_values(&final_branch, 0.0, 0.0, -1.0); - - bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\n120 degees turn:\n"); - print_quaternion_fp64(&turn._versor); - - - // About 1 degree turn difference between initial_main and initial_branch directions - bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 0.999848, 0.017452, 0.0); - bgc_fp64_vector3_set_values(&final_main, 0.0, 1.0, 0.0); - bgc_fp64_vector3_set_values(&final_branch, -1.0, 0.0, 0.0); - - bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n"); - print_quaternion_fp64(&turn._versor); - - // About 0.001 degree turn difference between initial_main and initial_branch directions - bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0); - bgc_fp64_vector3_set_values(&initial_branch, 1.0, 0.000001, 0.0); - bgc_fp64_vector3_set_values(&final_main, 0.0, -1.0, 0.0); - bgc_fp64_vector3_set_values(&final_branch, 1.0, 0.0, 0.0); - - bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); - - printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n"); - print_quaternion_fp64(&turn._versor); -} #include "affine3.h" int main() { - //test_pair_difference_fp32(); - //test_pair_difference_fp64(); + //test_fp32_pair_difference(); + test_fp64_pair_difference(); - printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10)); + //printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10)); //printf("sizeof(BGC_FP32_Affine3) = %zu\n", sizeof(BGC_FP32_Affine3)); //printf("offsetof(shift) = %zu\n", offsetof(BGC_FP32_Affine3, shift)); diff --git a/basic-geometry-dev/printing_utils.c b/basic-geometry-dev/printing_utils.c new file mode 100644 index 0000000..94451a0 --- /dev/null +++ b/basic-geometry-dev/printing_utils.c @@ -0,0 +1,8 @@ +#include "printing_utils.h" + +extern inline void print_fp32_quaternion(const BGC_FP32_Quaternion* const quaternion); +extern inline void print_fp64_quaternion(const BGC_FP64_Quaternion* const quaternion); + +extern inline void print_fp32_vector3(const BGC_FP32_Vector3* const vector); +extern inline void print_fp64_vector3(const BGC_FP64_Vector3* const vector); + diff --git a/basic-geometry-dev/printing_utils.h b/basic-geometry-dev/printing_utils.h new file mode 100644 index 0000000..3b770b1 --- /dev/null +++ b/basic-geometry-dev/printing_utils.h @@ -0,0 +1,37 @@ +#ifndef PRINTING_UTILS_H_INCLUDED +#define PRINTING_UTILS_H_INCLUDED + +#include +#include + +inline void print_fp32_quaternion(const BGC_FP32_Quaternion* const quaternion) +{ + printf("FP32 Quaternion(s = %0.12f, x = %0.12f, y = %0.12f, z = %0.12f)\n", quaternion->s, quaternion->x, quaternion->y, quaternion->z); +} + +inline void print_fp64_quaternion(const BGC_FP64_Quaternion* const quaternion) +{ + printf("FP64 Quaternion(s = %0.12f, x = %0.12f, y = %0.12f, z = %0.12f)\n", quaternion->s, quaternion->x, quaternion->y, quaternion->z); +} + +inline void print_fp32_vector2(const BGC_FP32_Vector2* const vector) +{ + printf("FP32 Vector2(x = %f, y = %f) / length = %f\n", vector->x, vector->y, bgc_fp32_vector2_get_length(vector)); +} + +inline void print_fp64_vector2(const BGC_FP64_Vector2* const vector) +{ + printf("FP32 Vector2(x = %lf, y = %lf) / length = %lf\n", vector->x, vector->y, bgc_fp64_vector2_get_length(vector)); +} + +inline void print_fp32_vector3(const BGC_FP32_Vector3* const vector) +{ + printf("FP32 Vector3(x = %f, y = %f, z = %f) / length = %f\n", vector->x, vector->y, vector->z, bgc_fp32_vector3_get_length(vector)); +} + +inline void print_fp64_vector3(const BGC_FP64_Vector3* const vector) +{ + printf("FP64 Vector3(x = %lf, y = %lf, z = %lf) / length = %lf\n", vector->x, vector->y, vector->z, bgc_fp64_vector3_get_length(vector)); +} + +#endif // QUATERNION_UTILS_H_INCLUDED diff --git a/basic-geometry-dev/vector3_pair_difference.c b/basic-geometry-dev/vector3_pair_difference.c new file mode 100644 index 0000000..1e76063 --- /dev/null +++ b/basic-geometry-dev/vector3_pair_difference.c @@ -0,0 +1,506 @@ +#include "printing_utils.h" +#include "vector3_pair_difference.h" + +// ======== Float Pointer 32-bit version ======== // + +static void _test_fp32_no_turn() +{ + BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Vector3 final_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 final_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nNo turn:\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_turn_at_180deg_v1() +{ + BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Vector3 final_main = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Vector3 final_branch = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_turn_at_180deg_v2() +{ + BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Vector3 final_main = { -1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 final_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nTurn around (0, 1, 0) axis on 180 degrees:\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_turn_at_90deg_v1() +{ + BGC_FP32_Vector3 initial_main = { 2.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 3.1f, 0.0f }; + BGC_FP32_Vector3 final_main = { 0.0f, 10.0f, 0.0f }; + BGC_FP32_Vector3 final_branch = { -1.0f, 0.0f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\n90 degree turn around (0, 0, 1):\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_turn_at_90deg_v2() +{ + BGC_FP32_Vector3 initial_main = { 2.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 3.1f, 0.0f }; + BGC_FP32_Vector3 final_main = { 0.0f, 10.0f, 0.0f }; + BGC_FP32_Vector3 final_branch = { -1.0f, 5.0f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_zero_vectors() +{ + BGC_FP32_Vector3 initial_main = { 0.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Vector3 final_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 final_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + const int code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + if (code == BGC_SUCCESS) { + printf("\nZero vectors: this cannot be!\n"); + print_fp32_quaternion(&turn._versor); + } + else { + printf("\nZero vector validation works fine\n"); + } +} + +static void _test_fp32_parallel_vectors() +{ + BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 2.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 final_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 final_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + const int code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + if (code == BGC_SUCCESS) { + printf("\nParallel vectors: this cannot be!\n"); + print_fp32_quaternion(&turn._versor); + } + else { + printf("\nParallelism validation works fine\n"); + } +} + +static void _test_fp32_small_angle_turn() +{ + BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Vector3 final_main = { 0.999848f, 0.017452f, 0.0f }; + BGC_FP32_Vector3 final_branch = { -0.017452f, 0.999848f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn , &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nSmall angle turn (about 1 degree):\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_turn_at_179deg() +{ + BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Vector3 final_main = { -0.999848f, -0.017452f, 0.0f }; + BGC_FP32_Vector3 final_branch = { 0.017452f, -0.999848f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nTurn around (0, 1, 0) axis on 179 degrees:\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_turn_at_120deg_around() +{ + // 120 degrees around (-1, -1, 1) + BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Vector3 final_main = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Vector3 final_branch = { 0.0f, 0.0f, -1.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\n120 degees turn:\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_1deg_difference() +{ + BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.999848f, 0.017452f, 0.0f }; + BGC_FP32_Vector3 final_main = { 0.0f, 1.0f, 0.0f }; + BGC_FP32_Vector3 final_branch = { -1.0f, 0.0f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_0_01deg_difference() +{ + BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 1.0f, 0.000001f, 0.0f }; + BGC_FP32_Vector3 final_main = { 0.0f, -1.0f, 0.0f }; + BGC_FP32_Vector3 final_branch = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_little_z_influence() +{ + // почти (0,1,0), но крошечный z + BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 0.999999f, 0.00014142f }; + BGC_FP32_Vector3 final_main = { -0.999999f, 0.0f, 0.00014142f }; + BGC_FP32_Vector3 final_branch = { 0.0f, 0.999999f, -0.00014142f }; + BGC_FP32_Turn3 turn; + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nNear 180° with tiny branch deviation:\n"); + print_fp32_quaternion(&turn._versor); +} + +static void _test_fp32_turn_restoring() +{ + BGC_FP32_Vector3 initial_main = { -0.999999f, 0.0f, 0.00014142f }; + BGC_FP32_Vector3 initial_branch = { 0.0f, 0.999999f, -0.00014142f }; + BGC_FP32_Vector3 final_main; + BGC_FP32_Vector3 final_branch; + BGC_FP32_Turn3 known, turn; + + bgc_fp32_turn3_set_rotation(&known, 0.0f, 0.0f, 1.0f, 90.0f, BGC_ANGLE_UNIT_DEGREES); + + bgc_fp32_turn3_vector(&final_main, &known, &initial_main); + bgc_fp32_turn3_vector(&final_branch, &known, &initial_branch); + + bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + printf("\nRecover known 90° Z rotation:\n"); + print_fp32_quaternion(&turn._versor); + + printf("Known was: "); + print_fp32_quaternion(&known._versor); +} + +void test_fp32_pair_difference() +{ + _test_fp32_no_turn(); + + _test_fp32_turn_at_180deg_v1(); + + _test_fp32_turn_at_180deg_v2(); + + _test_fp32_turn_at_90deg_v1(); + + _test_fp32_turn_at_90deg_v2(); + + _test_fp32_zero_vectors(); + + _test_fp32_parallel_vectors(); + + _test_fp32_small_angle_turn(); + + _test_fp32_turn_at_179deg(); + + _test_fp32_turn_at_120deg_around(); + + _test_fp32_1deg_difference(); + + _test_fp32_0_01deg_difference(); + + _test_fp32_little_z_influence(); + + _test_fp32_turn_restoring(); +} + +// ======== Float Pointer 64-bit version ======== // + +static void _test_fp64_no_turn() +{ + BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Vector3 final_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 final_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nNo turn:\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_turn_at_180deg_v1() +{ + BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Vector3 final_main = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Vector3 final_branch = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_turn_at_180deg_v2() +{ + BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Vector3 final_main = { -1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 final_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nTurn around (0, 1, 0) axis on 180 degrees:\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_turn_at_90deg_v1() +{ + BGC_FP64_Vector3 initial_main = { 2.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 3.1f, 0.0f }; + BGC_FP64_Vector3 final_main = { 0.0f, 10.0f, 0.0f }; + BGC_FP64_Vector3 final_branch = { -1.0f, 0.0f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\n90 degree turn around (0, 0, 1):\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_turn_at_90deg_v2() +{ + BGC_FP64_Vector3 initial_main = { 2.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 3.1f, 0.0f }; + BGC_FP64_Vector3 final_main = { 0.0f, 10.0f, 0.0f }; + BGC_FP64_Vector3 final_branch = { -1.0f, 5.0f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_zero_vectors() +{ + BGC_FP64_Vector3 initial_main = { 0.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Vector3 final_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 final_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + const int code = bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + if (code == BGC_SUCCESS) { + printf("\nZero vectors: this cannot be!\n"); + print_fp64_quaternion(&turn._versor); + } + else { + printf("\nZero vector validation works fine\n"); + } +} + +static void _test_fp64_parallel_vectors() +{ + BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 2.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 final_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 final_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + const int code = bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + if (code == BGC_SUCCESS) { + printf("\nParallel vectors: this cannot be!\n"); + print_fp64_quaternion(&turn._versor); + } + else { + printf("\nParallelism validation works fine\n"); + } +} + +static void _test_fp64_small_angle_turn() +{ + BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Vector3 final_main = { 0.999848f, 0.017452f, 0.0f }; + BGC_FP64_Vector3 final_branch = { -0.017452f, 0.999848f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn , &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nSmall angle turn (about 1 degree):\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_turn_at_179deg() +{ + BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Vector3 final_main = { -0.999848f, -0.017452f, 0.0f }; + BGC_FP64_Vector3 final_branch = { 0.017452f, -0.999848f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nTurn around (0, 1, 0) axis on 179 degrees:\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_turn_at_120deg_around() +{ + // 120 degrees around (-1, -1, 1) + BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Vector3 final_main = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Vector3 final_branch = { 0.0f, 0.0f, -1.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\n120 degees turn:\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_1deg_difference() +{ + BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.999848f, 0.017452f, 0.0f }; + BGC_FP64_Vector3 final_main = { 0.0f, 1.0f, 0.0f }; + BGC_FP64_Vector3 final_branch = { -1.0f, 0.0f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_0_01deg_difference() +{ + BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 1.0f, 0.000001f, 0.0f }; + BGC_FP64_Vector3 final_main = { 0.0f, -1.0f, 0.0f }; + BGC_FP64_Vector3 final_branch = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_little_z_influence() +{ + // почти (0,1,0), но крошечный z + BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 0.999999f, 0.00014142f }; + BGC_FP64_Vector3 final_main = { -0.999999f, 0.0f, 0.00014142f }; + BGC_FP64_Vector3 final_branch = { 0.0f, 0.999999f, -0.00014142f }; + BGC_FP64_Turn3 turn; + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + + printf("\nNear 180° with tiny branch deviation:\n"); + print_fp64_quaternion(&turn._versor); +} + +static void _test_fp64_turn_restoring() +{ + BGC_FP64_Vector3 initial_main = { -0.999999f, 0.0f, 0.00014142f }; + BGC_FP64_Vector3 initial_branch = { 0.0f, 0.999999f, -0.00014142f }; + BGC_FP64_Vector3 final_main; + BGC_FP64_Vector3 final_branch; + BGC_FP64_Turn3 known, turn; + + bgc_fp64_turn3_set_rotation(&known, 0.0f, 0.0f, 1.0f, 90.0f, BGC_ANGLE_UNIT_DEGREES); + + bgc_fp64_turn3_vector(&final_main, &known, &initial_main); + bgc_fp64_turn3_vector(&final_branch, &known, &initial_branch); + + bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch); + printf("\nRecover known 90° Z rotation:\n"); + print_fp64_quaternion(&turn._versor); + + printf("Known was: "); + print_fp64_quaternion(&known._versor); +} + +void test_fp64_pair_difference() +{ + _test_fp64_no_turn(); + + _test_fp64_turn_at_180deg_v1(); + + _test_fp64_turn_at_180deg_v2(); + + _test_fp64_turn_at_90deg_v1(); + + _test_fp64_turn_at_90deg_v2(); + + _test_fp64_zero_vectors(); + + _test_fp64_parallel_vectors(); + + _test_fp64_small_angle_turn(); + + _test_fp64_turn_at_179deg(); + + _test_fp64_turn_at_120deg_around(); + + _test_fp64_1deg_difference(); + + _test_fp64_0_01deg_difference(); + + _test_fp64_little_z_influence(); + + _test_fp64_turn_restoring(); +} diff --git a/basic-geometry-dev/vector3_pair_difference.h b/basic-geometry-dev/vector3_pair_difference.h new file mode 100644 index 0000000..be241a3 --- /dev/null +++ b/basic-geometry-dev/vector3_pair_difference.h @@ -0,0 +1,8 @@ +#ifndef VECTOR3_PAIR_DIFFERENCE_INCLUDED +#define VECTOR3_PAIR_DIFFERENCE_INCLUDED + +void test_fp32_pair_difference(); + +void test_fp64_pair_difference(); + +#endif // VECTOR3_PAIR_DIFFERENCE_INCLUDED diff --git a/basic-geometry/quaternion.c b/basic-geometry/quaternion.c index 4f33715..d9daa62 100644 --- a/basic-geometry/quaternion.c +++ b/basic-geometry/quaternion.c @@ -4,12 +4,6 @@ extern inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* const quaternion); extern inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* const quaternion); -extern inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* const quaternion); -extern inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* const quaternion); - -extern inline void bgc_fp32_quaternion_set_values(BGC_FP32_Quaternion* const quaternion, const float s, const float x, const float y, const float z); -extern inline void bgc_fp64_quaternion_set_values(BGC_FP64_Quaternion* const quaternion, const double s, const double x, const double y, const double z); - extern inline float bgc_fp32_quaternion_get_square_magnitude(const BGC_FP32_Quaternion* const quaternion); extern inline double bgc_fp64_quaternion_get_square_magnitude(const BGC_FP64_Quaternion* const quaternion); diff --git a/basic-geometry/quaternion.h b/basic-geometry/quaternion.h index 3e72e09..eeaf1e2 100644 --- a/basic-geometry/quaternion.h +++ b/basic-geometry/quaternion.h @@ -26,42 +26,6 @@ inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* const quaternion) quaternion->z = 0.0; } -// ================= Make Unit ================== // - -inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* const quaternion) -{ - quaternion->s = 1.0f; - quaternion->x = 0.0f; - quaternion->y = 0.0f; - quaternion->z = 0.0f; -} - -inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* const quaternion) -{ - quaternion->s = 1.0; - quaternion->x = 0.0; - quaternion->y = 0.0; - quaternion->z = 0.0; -} - -// ==================== Set ===================== // - -inline void bgc_fp32_quaternion_set_values(BGC_FP32_Quaternion* const quaternion, const float s, const float x, const float y, const float z) -{ - quaternion->s = s; - quaternion->x = x; - quaternion->y = y; - quaternion->z = z; -} - -inline void bgc_fp64_quaternion_set_values(BGC_FP64_Quaternion* const quaternion, const double s, const double x, const double y, const double z) -{ - quaternion->s = s; - quaternion->x = x; - quaternion->y = y; - quaternion->z = z; -} - // ============= Get Square Modulus ============= // inline float bgc_fp32_quaternion_get_square_magnitude(const BGC_FP32_Quaternion* const quaternion) diff --git a/basic-geometry/turn3.c b/basic-geometry/turn3.c index dd1ac87..68f3104 100644 --- a/basic-geometry/turn3.c +++ b/basic-geometry/turn3.c @@ -142,7 +142,10 @@ void bgc_fp32_turn3_set_rotation(BGC_FP32_Turn3* const turn, const float x, cons const float multiplier = sine / sqrtf(square_vector); - bgc_fp32_quaternion_set_values(&turn->_versor, cosf(half_angle), x * multiplier, y * multiplier, z * multiplier); + turn->_versor.s = cosf(half_angle); + turn->_versor.x = x * multiplier; + turn->_versor.y = y * multiplier; + turn->_versor.z = z * multiplier; _bgc_fp32_turn3_normalize(turn); } @@ -167,7 +170,10 @@ void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* const turn, const double x, con const double multiplier = sine / sqrt(square_vector); - bgc_fp64_quaternion_set_values(&turn->_versor, cos(half_angle), x * multiplier, y * multiplier, z * multiplier); + turn->_versor.s = cos(half_angle); + turn->_versor.x = x * multiplier; + turn->_versor.y = y * multiplier; + turn->_versor.z = z * multiplier; _bgc_fp64_turn3_normalize(turn); } diff --git a/basic-geometry/turn3.h b/basic-geometry/turn3.h index 70be635..fb8d0ef 100644 --- a/basic-geometry/turn3.h +++ b/basic-geometry/turn3.h @@ -104,13 +104,21 @@ inline void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* const turn) inline void bgc_fp32_turn3_set_values(BGC_FP32_Turn3* const turn, const float s, const float x, const float y, const float z) { - bgc_fp32_quaternion_set_values(&turn->_versor, s, x, y, z); + turn->_versor.s = s; + turn->_versor.x = x; + turn->_versor.y = y; + turn->_versor.z = z; + _bgc_fp32_turn3_normalize(turn); } inline void bgc_fp64_turn3_set_values(BGC_FP64_Turn3* const turn, const double s, const double x, const double y, const double z) { - bgc_fp64_quaternion_set_values(&turn->_versor, s, x, y, z); + turn->_versor.s = s; + turn->_versor.x = x; + turn->_versor.y = y; + turn->_versor.z = z; + _bgc_fp64_turn3_normalize(turn); } diff --git a/basic-geometry/vector2.c b/basic-geometry/vector2.c index ff857b0..50614a9 100644 --- a/basic-geometry/vector2.c +++ b/basic-geometry/vector2.c @@ -3,9 +3,6 @@ extern inline void bgc_fp32_vector2_reset(BGC_FP32_Vector2* const vector); extern inline void bgc_fp64_vector2_reset(BGC_FP64_Vector2* const vector); -extern inline void bgc_fp32_vector2_set_values(BGC_FP32_Vector2* const destination, const float x, const float y); -extern inline void bgc_fp64_vector2_set_values(BGC_FP64_Vector2* const destination, const double x, const double y); - extern inline float bgc_fp32_vector2_get_squared_length(const BGC_FP32_Vector2* const vector); extern inline double bgc_fp64_vector2_get_squared_length(const BGC_FP64_Vector2* const vector); diff --git a/basic-geometry/vector2.h b/basic-geometry/vector2.h index fc95607..f25b2bc 100644 --- a/basic-geometry/vector2.h +++ b/basic-geometry/vector2.h @@ -21,20 +21,6 @@ inline void bgc_fp64_vector2_reset(BGC_FP64_Vector2* const vector) vector->y = 0.0; } -// ==================== Set ===================== // - -inline void bgc_fp32_vector2_set_values(BGC_FP32_Vector2* const destination, const float x, const float y) -{ - destination->x = x; - destination->y = y; -} - -inline void bgc_fp64_vector2_set_values(BGC_FP64_Vector2* const destination, const double x, const double y) -{ - destination->x = x; - destination->y = y; -} - // ================== Modulus =================== // inline float bgc_fp32_vector2_get_squared_length(const BGC_FP32_Vector2* const vector) diff --git a/basic-geometry/vector3.c b/basic-geometry/vector3.c index 7b8126b..1ae18e1 100644 --- a/basic-geometry/vector3.c +++ b/basic-geometry/vector3.c @@ -3,9 +3,6 @@ extern inline void bgc_fp32_vector3_reset(BGC_FP32_Vector3* const vector); extern inline void bgc_fp64_vector3_reset(BGC_FP64_Vector3* const vector); -extern inline void bgc_fp32_vector3_set_values(BGC_FP32_Vector3* const destination, const float x, const float y, const float z); -extern inline void bgc_fp64_vector3_set_values(BGC_FP64_Vector3* const destination, const double x, const double y, const double z); - extern inline float bgc_fp32_vector3_get_squared_length(const BGC_FP32_Vector3* const vector); extern inline double bgc_fp64_vector3_get_squared_length(const BGC_FP64_Vector3* const vector); diff --git a/basic-geometry/vector3.h b/basic-geometry/vector3.h index 7392ff5..74c6928 100644 --- a/basic-geometry/vector3.h +++ b/basic-geometry/vector3.h @@ -23,22 +23,6 @@ inline void bgc_fp64_vector3_reset(BGC_FP64_Vector3* const vector) vector->z = 0.0; } -// ==================== Set ===================== // - -inline void bgc_fp32_vector3_set_values(BGC_FP32_Vector3* const destination, const float x, const float y, const float z) -{ - destination->x = x; - destination->y = y; - destination->z = z; -} - -inline void bgc_fp64_vector3_set_values(BGC_FP64_Vector3* const destination, const double x, const double y, const double z) -{ - destination->x = x; - destination->y = y; - destination->z = z; -} - // ================== Modulus =================== // inline float bgc_fp32_vector3_get_squared_length(const BGC_FP32_Vector3* const vector) diff --git a/docs/intro-zho.md b/docs/intro-zho.md index 76e4c61..fa6cb17 100644 --- a/docs/intro-zho.md +++ b/docs/intro-zho.md @@ -38,7 +38,7 @@ C 语言没有命名空间，因此名称中的前缀起到了命名空间的作 该库使用两种浮点数类型：**float** 和 **double**（**IEEE 754** 标准的 **binary32** 和 **binary64** 类型）。 因此，该库有两个类型前缀： -- **FP32** - 表示 Floating Point 32-bit, 即 32 位浮点数，对应于 C 语言中的 **float** 类型。 +- **FP32** - 表示 Floating Point 32-bit，即 32 位浮点数，对应于 C 语言中的 **float** 类型。 - **FP64** - 表示 Floating Point 64-bit，即 64 位浮点数，对应于 C 语言中的 **double** 类型。 基于浮点数类型的结构体和常量以 FP32_** 为前缀： diff --git a/docs/quaternion/copy-eng.md b/docs/quaternion/copy-eng.md index 5a373a2..5aa2e2d 100644 --- a/docs/quaternion/copy-eng.md +++ b/docs/quaternion/copy-eng.md @@ -2,15 +2,11 @@ [Русская версия / Russian version](copy-rus.md) -Function for **BGC_FP32_Quaternion**: +## Function options ```c inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* const destination, const BGC_FP32_Quaternion* const source); -``` -Function for **BGC_FP64_Quaternion**: - -```c inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* const destination, const BGC_FP64_Quaternion* const source); ``` @@ -25,7 +21,7 @@ destination->y = source->y; destination->z = source->z; ``` -### Parameters +## Parameters | Parameter | Direction | Description | | ----------- | ---------- | -------------------------------------------------------------------------------- | @@ -34,7 +30,7 @@ destination->z = source->z; The *source* and *destination* parameters must be valid pointers. The NULL (0) value is also considered invalid. -### Example +## Example ```c #include diff --git a/docs/quaternion/copy-rus.md b/docs/quaternion/copy-rus.md index b1348bd..9d94fc1 100644 --- a/docs/quaternion/copy-rus.md +++ b/docs/quaternion/copy-rus.md @@ -2,15 +2,9 @@ [English version / Английская версия](copy-eng.md) -Функция для **BGC_FP32_Quaternion**: - ```c inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* const destination, const BGC_FP32_Quaternion* const source); -``` -Функция для **BGC_FP64_Quaternion**: - -```c inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* const destination, const BGC_FP64_Quaternion* const source); ``` diff --git a/docs/vector2-eng.md b/docs/vector2-eng.md index 3f865d3..7ee4675 100644 --- a/docs/vector2-eng.md +++ b/docs/vector2-eng.md @@ -28,10 +28,6 @@ The fields *x* and *y* are the coordinates of a 3D vector. - bgc_fp32_vector2_reset - bgc_fp64_vector2_reset -- [Set Values](vector2/set-values-eng.md) - - bgc_fp32_vector2_set_values - - bgc_fp64_vector2_set_values - - [Copy](vector2/copy-eng.md) - bgc_fp32_vector2_copy - bgc_fp64_vector2_copy diff --git a/docs/vector2-rus.md b/docs/vector2-rus.md index 27e7d2a..108d542 100644 --- a/docs/vector2-rus.md +++ b/docs/vector2-rus.md @@ -28,10 +28,6 @@ - bgc_fp32_vector2_reset - bgc_fp64_vector2_reset -- [Установка значений координат](vector2/set-values-rus.md) - - bgc_fp32_vector2_set_values - - bgc_fp64_vector2_set_values - - [Копирование значений координат](vector2/copy-rus.md) - bgc_fp32_vector2_copy - bgc_fp64_vector2_copy diff --git a/docs/vector2/set-values-eng.md b/docs/vector2/set-values-eng.md deleted file mode 100644 index d1abbca..0000000 --- a/docs/vector2/set-values-eng.md +++ /dev/null @@ -1,52 +0,0 @@ -# Setting the coordinates of a two-dimensional vector - -[Русская версия / Russian version](set-values-rus.md) - -You can set the coordinates of vectors either directly or using functions. -The functions for setting coordinate values allow you to do this in one line. - -Function for **BGC_FP32_Vector2**: - -```c -inline void bgc_fp32_vector2_set_values(BGC_FP32_Vector2* const destination, const float x, const float y); -``` - -Function for **BGC_FP64_Vector2**: - -```c -inline void bgc_fp64_vector2_set_values(BGC_FP64_Vector2* const destination, const double x, const double y); -``` - -Each of these functions is equivalent to the following lines of code: - -```c -destination->x = x; -destination->y = y; -``` - -Valid pointers should pass in the **destination** parameter. -The NULL (0) value is considered invalid. - -This function is good for setting up the initial values of coordinates with -one-line especially when the values are fixed constants like in the example -below. - -Example of use: - -```c -#include -#include - -int main() -{ - BGC_FP32_Vector2 v; - - bgc_fp32_vector2_set_values(&v, -2.2f, 7.1f); - - printf("x = %f, y = %f\n", v.x, v.y); - - return 0; -} -``` - -[Documentation](../intro-eng.md) / [2D vectors](../vector2-eng.md) diff --git a/docs/vector2/set-values-rus.md b/docs/vector2/set-values-rus.md deleted file mode 100644 index 16ec0d4..0000000 --- a/docs/vector2/set-values-rus.md +++ /dev/null @@ -1,52 +0,0 @@ -# - -[English version / ](set-values-eng.md) - - , . - . - - **BGC_FP32_Vector2**: - -```c -inline void bgc_fp32_vector2_set_values(BGC_FP32_Vector2* const destination, const float x, const float y); -``` - - **BGC_FP64_Vector2**: - -```c -inline void bgc_fp64_vector2_set_values(BGC_FP64_Vector2* const destination, const double x, const double y); -``` - - : - -```c -destination->x = x; -destination->y = y; -``` - - **destination** . - NULL (0) . - - -. - . - - : - -```c -#include -#include - -int main() -{ - BGC_FP32_Vector2 v; - - bgc_fp32_vector2_set_values(&v, -2.2f, 7.1f); - - printf("x = %f, y = %f\n", v.x, v.y); - - return 0; -} -``` - -[](../intro-rus.md) / [2D ](../vector2-rus.md) diff --git a/docs/vector3-eng.md b/docs/vector3-eng.md index 81fe2bc..3f70f10 100644 --- a/docs/vector3-eng.md +++ b/docs/vector3-eng.md @@ -28,10 +28,6 @@ The fields *x*, *y* and *z* are the coordinates of a 3D vector. - bgc_fp32_vector3_reset - bgc_fp64_vector3_reset -- [Set Values](vector3/set-values-eng.md) - - bgc_fp32_vector3_set_values - - bgc_fp64_vector3_set_values - - [Copy](vector3/copy-eng.md) - bgc_fp32_vector3_copy - bgc_fp64_vector3_copy diff --git a/docs/vector3-rus.md b/docs/vector3-rus.md index 8d1a37b..f858f4e 100644 --- a/docs/vector3-rus.md +++ b/docs/vector3-rus.md @@ -28,10 +28,6 @@ - bgc_fp32_vector3_reset - bgc_fp64_vector3_reset -- [Установка значений координат](vector3/set-values-rus.md) - - bgc_fp32_vector3_set_values - - bgc_fp64_vector3_set_values - - [Копирование координат](vector3/copy-rus.md) - bgc_fp32_vector3_copy - bgc_fp64_vector3_copy diff --git a/docs/vector3/set-values-eng.md b/docs/vector3/set-values-eng.md deleted file mode 100644 index c197b8e..0000000 --- a/docs/vector3/set-values-eng.md +++ /dev/null @@ -1,59 +0,0 @@ -# Setting the coordinates of a three-dimensional vector - -[Русская версия / Russian version](set-values-rus.md) - -The function for **BGC_FP32_Vector3**: - -```c -inline void bgc_fp32_vector3_set_values(BGC_FP32_Vector3* const destination, const float x, const float y, const float z); -``` - -The function for **BGC_FP64_Vector3**: - -```c -inline void bgc_fp64_vector3_set_values(BGC_FP64_Vector3* const destination, const double x, const double y, const double z); -``` - -These functions allow to set the values of coordinates in one-line. - -The functions are especially useful when the values are constants like in the example below. - -Each of these functions is equivalent to the following lines of code: - -```c -destination->x = x; -destination->y = y; -destination->z = z; -``` - -### Parameters - -| Parameter | Direction | Description | -| ----------- | --------- | ------------------------------------------------------- | -| destination | out | A pointer to a 3D-vector, which coordinates must be set | -| x | in | A new value for the X-coordinate | -| y | in | A new value for the Y-coordinate | -| z | in | A new value for the Z-coordinate | - -The *destination* parameter must be a valid pointer. The NULL (0) value is considered invalid. - -### Example - -```c -#include -#include - -int main() -{ - BGC_FP32_Vector3 v; - - bgc_fp32_vector3_set_values(&v, -2.2f, 7.8f, 10.01f); - - printf("x = %f, y = %f, z = %f\n", v.x, v.y, v.z); - - return 0; -} -``` - -[Documentation](../intro-eng.md) / [3D vectors](../vector3-eng.md) - diff --git a/docs/vector3/set-values-rus.md b/docs/vector3/set-values-rus.md deleted file mode 100644 index 5d0f625..0000000 --- a/docs/vector3/set-values-rus.md +++ /dev/null @@ -1,58 +0,0 @@ -# Задание координат трёхмерного вектора. - -[English version / Английская версия](set-values-eng.md) - -Функция для **BGC_FP32_Vector3**: - -```c -inline void bgc_fp32_vector3_set_values(BGC_FP32_Vector3* const destination, const float x, const float y, const float z); -``` - -Функция для **BGC_FP64_Vector3**: - -```c -inline void bgc_fp64_vector3_set_values(BGC_FP64_Vector3* const destination, const double x, const double y, const double z); -``` - -Данные функции позволяют задать значения координат вектора одной строкой. - -Такая возможность может быть удобна, когда нужно указать значения координат с помощью числовых констант как в примере ниже. - -Каждая из функций аналогична следующим трём строкам кода: - -```c -destination->x = x; -destination->y = y; -destination->z = z; -``` - -### Параметры - -| Параметр | Направление | Описание | -| ----------- | ----------- | -------------------------------------------------------------- | -| destination | исходящий | Указатель на вектор, координаты которого будут заданы функцией | -| x | входящий | Значение координаты X | -| y | входящий | Значение координаты Y | -| z | входящий | Значение координаты Z | - -Параметр *destination* должен быть корректным указателем. Значение NULL (0) считается некорректным. - -### Пример - -```c -#include -#include - -int main() -{ - BGC_FP32_Vector3 v; - - bgc_fp32_vector3_set_values(&v, -2.2f, 7.8f, 10.01f); - - printf("x = %f, y = %f, z = %f\n", v.x, v.y, v.z); - - return 0; -} -``` - -[Документация](../intro-rus.md) / [Трёхмерные векторы](../vector3-rus.md)