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Отказ от restrict функций для упрощения библиотеки. Компиляторы достаточно хорошо оптимизируют не-restrict inline-функции

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This commit is contained in:
Andrey Pokidov 2026-03-30 12:05:25 +07:00
parent f402f68516
commit ed404690ed
17 changed files with 48 additions and 257 deletions
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4
basic-geometry-dev/main.c
View file

@ -504,9 +504,9 @@ void test_pair_difference_fp64()
int main()
{
//test_pair_difference_fp32();
test_pair_difference_fp64();
//test_pair_difference_fp64();
//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));

8
basic-geometry/affine2.h
View file

@ -133,7 +133,7 @@ inline int bgc_fp64_affine2_get_inverse(BGC_FP64_Affine2* const inverse, const B
inline void bgc_fp32_affine2_combine(BGC_FP32_Affine2* const combination, const BGC_FP32_Affine2* const first, const BGC_FP32_Affine2* const second)
{
BGC_FP32_Vector2 first_shift;
_bgc_fp32_restrict_matrix2x2_multiply_by_vector2(&first_shift, &second->distortion, &first->shift);
bgc_fp32_matrix2x2_multiply_by_vector2(&first_shift, &second->distortion, &first->shift);
bgc_fp32_vector2_add(&combination->shift, &second->shift, &first_shift);
bgc_fp32_matrix2x2_multiply_by_matrix2x2(&combination->distortion, &second->distortion, &first->distortion);
}
@ -141,7 +141,7 @@ inline void bgc_fp32_affine2_combine(BGC_FP32_Affine2* const combination, const
inline void bgc_fp64_affine2_combine(BGC_FP64_Affine2* const combination, const BGC_FP64_Affine2* const first, const BGC_FP64_Affine2* const second)
{
BGC_FP64_Vector2 first_shift;
_bgc_fp64_restrict_matrix2x2_multiply_by_vector2(&first_shift, &second->distortion, &first->shift);
bgc_fp64_matrix2x2_multiply_by_vector2(&first_shift, &second->distortion, &first->shift);
bgc_fp64_vector2_add(&combination->shift, &second->shift, &first_shift);
bgc_fp64_matrix2x2_multiply_by_matrix2x2(&combination->distortion, &second->distortion, &first->distortion);
}
@ -151,14 +151,14 @@ inline void bgc_fp64_affine2_combine(BGC_FP64_Affine2* const combination, const
inline void bgc_fp32_affine2_transform_point(BGC_FP32_Vector2* const transformed_point, const BGC_FP32_Affine2* const affine, const BGC_FP32_Vector2* const initial_point)
{
BGC_FP32_Vector2 distorted;
_bgc_fp32_restrict_matrix2x2_multiply_by_vector2(&distorted, &affine->distortion, initial_point);
bgc_fp32_matrix2x2_multiply_by_vector2(&distorted, &affine->distortion, initial_point);
bgc_fp32_vector2_add(transformed_point, &affine->shift, &distorted);
}
inline void bgc_fp64_affine2_transform_point(BGC_FP64_Vector2* const transformed_point, const BGC_FP64_Affine2* const affine, const BGC_FP64_Vector2* const initial_point)
{
BGC_FP64_Vector2 distorted;
_bgc_fp64_restrict_matrix2x2_multiply_by_vector2(&distorted, &affine->distortion, initial_point);
bgc_fp64_matrix2x2_multiply_by_vector2(&distorted, &affine->distortion, initial_point);
bgc_fp64_vector2_add(transformed_point, &affine->shift, &distorted);
}

8
basic-geometry/affine3.h
View file

@ -132,7 +132,7 @@ inline int bgc_fp64_affine3_get_inverse(BGC_FP64_Affine3* const destination, con
inline void bgc_fp32_affine3_combine(BGC_FP32_Affine3* const combination, const BGC_FP32_Affine3* const first, const BGC_FP32_Affine3* const second)
{
BGC_FP32_Vector3 first_shift;
_bgc_fp32_restrict_matrix3x3_multiply_by_vector3(&first_shift, &second->distortion, &first->shift);
bgc_fp32_matrix3x3_multiply_by_vector3(&first_shift, &second->distortion, &first->shift);
bgc_fp32_vector3_add(&combination->shift, &first_shift, &second->shift);
bgc_fp32_matrix3x3_multiply_by_matrix3x3(&combination->distortion, &second->distortion, &first->distortion);
}
@ -140,7 +140,7 @@ inline void bgc_fp32_affine3_combine(BGC_FP32_Affine3* const combination, const
inline void bgc_fp64_affine3_combine(BGC_FP64_Affine3* const combination, const BGC_FP64_Affine3* const first, const BGC_FP64_Affine3* const second)
{
BGC_FP64_Vector3 first_shift;
_bgc_fp64_restrict_matrix3x3_multiply_by_vector3(&first_shift, &second->distortion, &first->shift);
bgc_fp64_matrix3x3_multiply_by_vector3(&first_shift, &second->distortion, &first->shift);
bgc_fp64_vector3_add(&combination->shift, &first_shift, &second->shift);
bgc_fp64_matrix3x3_multiply_by_matrix3x3(&combination->distortion, &second->distortion, &first->distortion);
}
@ -150,14 +150,14 @@ inline void bgc_fp64_affine3_combine(BGC_FP64_Affine3* const combination, const
inline void bgc_fp32_affine3_transform_point(BGC_FP32_Vector3* const transformed_point, const BGC_FP32_Affine3* const affine, const BGC_FP32_Vector3* const initial_point)
{
BGC_FP32_Vector3 distorted;
_bgc_fp32_restrict_matrix3x3_multiply_by_vector3(&distorted, &affine->distortion, initial_point);
bgc_fp32_matrix3x3_multiply_by_vector3(&distorted, &affine->distortion, initial_point);
bgc_fp32_vector3_add(transformed_point, &affine->shift, &distorted);
}
inline void bgc_fp64_affine3_transform_point(BGC_FP64_Vector3* const transformed_point, const BGC_FP64_Affine3* const affine, const BGC_FP64_Vector3* const initial_point)
{
BGC_FP64_Vector3 distorted;
_bgc_fp64_restrict_matrix3x3_multiply_by_vector3(&distorted, &affine->distortion, initial_point);
bgc_fp64_matrix3x3_multiply_by_vector3(&distorted, &affine->distortion, initial_point);
bgc_fp64_vector3_add(transformed_point, &affine->shift, &distorted);
}

20
basic-geometry/dual-quaternion.h
View file

@ -98,8 +98,8 @@ inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* const quater
BGC_FP32_Quaternion temporary;
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
bgc_fp32_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
bgc_fp32_quaternion_revert(&quaternion->dual_part);
@ -114,8 +114,8 @@ inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* const quater
BGC_FP64_Quaternion temporary;
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
bgc_fp64_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
bgc_fp64_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
bgc_fp64_quaternion_revert(&quaternion->dual_part);
@ -132,8 +132,8 @@ inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* const i
BGC_FP32_Quaternion temporary;
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
bgc_fp32_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
bgc_fp32_quaternion_revert(&inverse->dual_part);
@ -148,8 +148,8 @@ inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* const i
BGC_FP64_Quaternion temporary;
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
bgc_fp64_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
bgc_fp64_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
bgc_fp64_quaternion_revert(&inverse->dual_part);
@ -510,8 +510,8 @@ inline void bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQu
{
BGC_FP32_Quaternion dual_part1, dual_part2;
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&dual_part1, &left->real_part, &right->dual_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&dual_part2, &left->dual_part, &right->real_part);
bgc_fp32_quaternion_multiply_by_quaternion(&dual_part1, &left->real_part, &right->dual_part);
bgc_fp32_quaternion_multiply_by_quaternion(&dual_part2, &left->dual_part, &right->real_part);
bgc_fp32_quaternion_multiply_by_quaternion(&product->real_part, &left->real_part, &right->real_part);
bgc_fp32_quaternion_add(&product->dual_part, &dual_part1, &dual_part2);

3
basic-geometry/dual-vector3.c
View file

@ -42,9 +42,6 @@ extern inline void bgc_fp64_dual_vector3_multiply_by_conjugate_dual_number(BGC_F
extern inline void bgc_fp32_dual_vector3_multiply_by_matrix3x3(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const vector, const BGC_FP32_Matrix3x3* const matrix);
extern inline void bgc_fp64_dual_vector3_multiply_by_matrix3x3(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const vector, const BGC_FP64_Matrix3x3* const matrix);
extern inline void _bgc_fp32_restrict_dual_vector3_multiply_by_matrix3x3(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_DualVector3* const vector, const BGC_FP32_Matrix3x3* const matrix);
extern inline void _bgc_fp64_restrict_dual_vector3_multiply_by_matrix3x3(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_DualVector3* const vector, const BGC_FP64_Matrix3x3* const matrix);
extern inline int bgc_fp32_dual_vector3_divide_by_real_number(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const float divisor);
extern inline int bgc_fp64_dual_vector3_divide_by_real_number(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const double divisor);

44
basic-geometry/dual-vector3.h
View file

@ -222,9 +222,9 @@ inline void bgc_fp32_dual_vector3_multiply_by_matrix3x3(BGC_FP32_DualVector3* co
product->real_part.y = real_y;
product->real_part.z = real_z;
product->real_part.x = real_x;
product->real_part.y = real_y;
product->real_part.z = real_z;
product->real_part.x = dual_x;
product->real_part.y = dual_y;
product->real_part.z = dual_z;
}
inline void bgc_fp64_dual_vector3_multiply_by_matrix3x3(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const vector, const BGC_FP64_Matrix3x3* const matrix)
@ -241,33 +241,9 @@ inline void bgc_fp64_dual_vector3_multiply_by_matrix3x3(BGC_FP64_DualVector3* co
product->real_part.y = real_y;
product->real_part.z = real_z;
product->real_part.x = real_x;
product->real_part.y = real_y;
product->real_part.z = real_z;
}
// ===== Restrict Left Dual Vector Product ====== //
inline void _bgc_fp32_restrict_dual_vector3_multiply_by_matrix3x3(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_DualVector3* const vector, const BGC_FP32_Matrix3x3* const matrix)
{
product->real_part.x = vector->real_part.x * matrix->r1c1 + vector->real_part.y * matrix->r2c1 + vector->real_part.z * matrix->r3c1;
product->real_part.y = vector->real_part.x * matrix->r1c2 + vector->real_part.y * matrix->r2c2 + vector->real_part.z * matrix->r3c2;
product->real_part.z = vector->real_part.x * matrix->r1c3 + vector->real_part.y * matrix->r2c3 + vector->real_part.z * matrix->r3c3;
product->real_part.x = vector->real_part.x * matrix->r1c1 + vector->real_part.y * matrix->r2c1 + vector->real_part.z * matrix->r3c1;
product->real_part.y = vector->real_part.x * matrix->r1c2 + vector->real_part.y * matrix->r2c2 + vector->real_part.z * matrix->r3c2;
product->real_part.z = vector->real_part.x * matrix->r1c3 + vector->real_part.y * matrix->r2c3 + vector->real_part.z * matrix->r3c3;
}
inline void _bgc_fp64_restrict_dual_vector3_multiply_by_matrix3x3(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_DualVector3* const vector, const BGC_FP64_Matrix3x3* const matrix)
{
product->real_part.x = vector->real_part.x * matrix->r1c1 + vector->real_part.y * matrix->r2c1 + vector->real_part.z * matrix->r3c1;
product->real_part.y = vector->real_part.x * matrix->r1c2 + vector->real_part.y * matrix->r2c2 + vector->real_part.z * matrix->r3c2;
product->real_part.z = vector->real_part.x * matrix->r1c3 + vector->real_part.y * matrix->r2c3 + vector->real_part.z * matrix->r3c3;
product->real_part.x = vector->real_part.x * matrix->r1c1 + vector->real_part.y * matrix->r2c1 + vector->real_part.z * matrix->r3c1;
product->real_part.y = vector->real_part.x * matrix->r1c2 + vector->real_part.y * matrix->r2c2 + vector->real_part.z * matrix->r3c2;
product->real_part.z = vector->real_part.x * matrix->r1c3 + vector->real_part.y * matrix->r2c3 + vector->real_part.z * matrix->r3c3;
product->real_part.x = dual_x;
product->real_part.y = dual_y;
product->real_part.z = dual_z;
}
// =================== Divide =================== //
@ -422,8 +398,8 @@ inline void bgc_fp32_dual_vector3_get_cross_product(BGC_FP32_DualVector3* const
{
BGC_FP32_Vector3 part1, part2;
_bgc_fp32_restrict_vector3_get_cross_product(&part1, &first->dual_part, &second->real_part);
_bgc_fp32_restrict_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
bgc_fp32_vector3_get_cross_product(&part1, &first->dual_part, &second->real_part);
bgc_fp32_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
bgc_fp32_vector3_get_cross_product(&product->real_part, &first->real_part, &second->real_part);
bgc_fp32_vector3_add(&product->dual_part, &part1, &part2);
@ -433,8 +409,8 @@ inline void bgc_fp64_dual_vector3_get_cross_product(BGC_FP64_DualVector3* const
{
BGC_FP64_Vector3 part1, part2;
_bgc_fp64_restrict_vector3_get_cross_product(&part1, &first->dual_part, &second->real_part);
_bgc_fp64_restrict_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
bgc_fp64_vector3_get_cross_product(&part1, &first->dual_part, &second->real_part);
bgc_fp64_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
bgc_fp64_vector3_get_cross_product(&product->real_part, &first->real_part, &second->real_part);
bgc_fp64_vector3_add(&product->dual_part, &part1, &part2);

3
basic-geometry/matrix2x2.c
View file

@ -75,9 +75,6 @@ extern inline void bgc_fp64_matrix2x2_multiply_by_real_number(BGC_FP64_Matrix2x2
extern inline void bgc_fp32_matrix2x2_multiply_by_vector2(BGC_FP32_Vector2* const product, const BGC_FP32_Matrix2x2* const matrix, const BGC_FP32_Vector2* const vector);
extern inline void bgc_fp64_matrix2x2_multiply_by_vector2(BGC_FP64_Vector2* const product, const BGC_FP64_Matrix2x2* const matrix, const BGC_FP64_Vector2* const vector);
extern inline void _bgc_fp32_restrict_matrix2x2_multiply_by_vector2(BGC_FP32_Vector2* restrict const product, const BGC_FP32_Matrix2x2* const matrix, const BGC_FP32_Vector2* const vector);
extern inline void _bgc_fp64_restrict_matrix2x2_multiply_by_vector2(BGC_FP64_Vector2* restrict const product, const BGC_FP64_Matrix2x2* const matrix, const BGC_FP64_Vector2* const vector);
extern inline void bgc_fp32_matrix2x2_multiply_by_matrix2x2(BGC_FP32_Matrix2x2* const product, const BGC_FP32_Matrix2x2* const matrix, const BGC_FP32_Matrix2x2* const matriy);
extern inline void bgc_fp64_matrix2x2_multiply_by_matrix2x2(BGC_FP64_Matrix2x2* const product, const BGC_FP64_Matrix2x2* const matrix, const BGC_FP64_Matrix2x2* const matriy);

14
basic-geometry/matrix2x2.h
View file

@ -597,20 +597,6 @@ inline void bgc_fp64_matrix2x2_multiply_by_vector2(BGC_FP64_Vector2* const produ
product->y = y;
}
// ======= Restrict Right Vector Product ======== //
inline void _bgc_fp32_restrict_matrix2x2_multiply_by_vector2(BGC_FP32_Vector2* restrict const product, const BGC_FP32_Matrix2x2* const matrix, const BGC_FP32_Vector2* const vector)
{
product->x = matrix->r1c1 * vector->x + matrix->r1c2 * vector->y;
product->y = matrix->r2c1 * vector->x + matrix->r2c2 * vector->y;
}
inline void _bgc_fp64_restrict_matrix2x2_multiply_by_vector2(BGC_FP64_Vector2* restrict const product, const BGC_FP64_Matrix2x2* const matrix, const BGC_FP64_Vector2* const vector)
{
product->x = matrix->r1c1 * vector->x + matrix->r1c2 * vector->y;
product->y = matrix->r2c1 * vector->x + matrix->r2c2 * vector->y;
}
// ========== Matrix Product 2y at 2y ========= //
inline void bgc_fp32_matrix2x2_multiply_by_matrix2x2(BGC_FP32_Matrix2x2* const product, const BGC_FP32_Matrix2x2* const matrix, const BGC_FP32_Matrix2x2* const matriy)

6
basic-geometry/matrix3x3.c
View file

@ -72,12 +72,6 @@ extern inline void bgc_fp64_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* cons
extern inline void bgc_fp32_matrix3x3_multiply_by_dual_vector3(BGC_FP32_DualVector3* const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_DualVector3* const vector);
extern inline void bgc_fp64_matrix3x3_multiply_by_dual_vector3(BGC_FP64_DualVector3* const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_DualVector3* const vector);
extern inline void _bgc_fp32_restrict_matrix3x3_multiply_by_vector3(BGC_FP32_Vector3* restrict const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Vector3* const vector);
extern inline void _bgc_fp64_restrict_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* restrict const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Vector3* const vector);
extern inline void _bgc_fp32_restrict_matrix3x3_multiply_by_dual_vector3(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_DualVector3* const vector);
extern inline void _bgc_fp64_restrict_matrix3x3_multiply_by_dual_vector3(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_DualVector3* const vector);
extern inline void bgc_fp32_matrix3x3_multiply_by_matrix2x3(BGC_FP32_Matrix2x3* const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Matrix2x3* const matriy);
extern inline void bgc_fp64_matrix3x3_multiply_by_matrix2x3(BGC_FP64_Matrix2x3* const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Matrix2x3* const matriy);

52
basic-geometry/matrix3x3.h
View file

@ -856,9 +856,9 @@ inline void bgc_fp32_matrix3x3_multiply_by_dual_vector3(BGC_FP32_DualVector3* co
product->real_part.y = real_y;
product->real_part.z = real_z;
product->real_part.x = real_x;
product->real_part.y = real_y;
product->real_part.z = real_z;
product->real_part.x = dual_x;
product->real_part.y = dual_y;
product->real_part.z = dual_z;
}
inline void bgc_fp64_matrix3x3_multiply_by_dual_vector3(BGC_FP64_DualVector3* const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_DualVector3* const vector)
@ -875,49 +875,9 @@ inline void bgc_fp64_matrix3x3_multiply_by_dual_vector3(BGC_FP64_DualVector3* co
product->real_part.y = real_y;
product->real_part.z = real_z;
product->real_part.x = real_x;
product->real_part.y = real_y;
product->real_part.z = real_z;
}
// ======= Restrict Right Vector Product ======== //
inline void _bgc_fp32_restrict_matrix3x3_multiply_by_vector3(BGC_FP32_Vector3* restrict const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Vector3* const vector)
{
product->x = matrix->r1c1 * vector->x + matrix->r1c2 * vector->y + matrix->r1c3 * vector->z;
product->y = matrix->r2c1 * vector->x + matrix->r2c2 * vector->y + matrix->r2c3 * vector->z;
product->z = matrix->r3c1 * vector->x + matrix->r3c2 * vector->y + matrix->r3c3 * vector->z;
}
inline void _bgc_fp64_restrict_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* restrict const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Vector3* const vector)
{
product->x = matrix->r1c1 * vector->x + matrix->r1c2 * vector->y + matrix->r1c3 * vector->z;
product->y = matrix->r2c1 * vector->x + matrix->r2c2 * vector->y + matrix->r2c3 * vector->z;
product->z = matrix->r3c1 * vector->x + matrix->r3c2 * vector->y + matrix->r3c3 * vector->z;
}
// ========= Right Dual Vector Product ========== //
inline void _bgc_fp32_restrict_matrix3x3_multiply_by_dual_vector3(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_DualVector3* const vector)
{
product->real_part.x = matrix->r1c1 * vector->real_part.x + matrix->r1c2 * vector->real_part.y + matrix->r1c3 * vector->real_part.z;
product->real_part.y = matrix->r2c1 * vector->real_part.x + matrix->r2c2 * vector->real_part.y + matrix->r2c3 * vector->real_part.z;
product->real_part.z = matrix->r3c1 * vector->real_part.x + matrix->r3c2 * vector->real_part.y + matrix->r3c3 * vector->real_part.z;
product->real_part.x = matrix->r1c1 * vector->dual_part.x + matrix->r1c2 * vector->dual_part.y + matrix->r1c3 * vector->dual_part.z;
product->real_part.y = matrix->r2c1 * vector->dual_part.x + matrix->r2c2 * vector->dual_part.y + matrix->r2c3 * vector->dual_part.z;
product->real_part.z = matrix->r3c1 * vector->dual_part.x + matrix->r3c2 * vector->dual_part.y + matrix->r3c3 * vector->dual_part.z;
}
inline void _bgc_fp64_restrict_matrix3x3_multiply_by_dual_vector3(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_DualVector3* const vector)
{
product->real_part.x = matrix->r1c1 * vector->real_part.x + matrix->r1c2 * vector->real_part.y + matrix->r1c3 * vector->real_part.z;
product->real_part.y = matrix->r2c1 * vector->real_part.x + matrix->r2c2 * vector->real_part.y + matrix->r2c3 * vector->real_part.z;
product->real_part.z = matrix->r3c1 * vector->real_part.x + matrix->r3c2 * vector->real_part.y + matrix->r3c3 * vector->real_part.z;
product->real_part.x = matrix->r1c1 * vector->dual_part.x + matrix->r1c2 * vector->dual_part.y + matrix->r1c3 * vector->dual_part.z;
product->real_part.y = matrix->r2c1 * vector->dual_part.x + matrix->r2c2 * vector->dual_part.y + matrix->r2c3 * vector->dual_part.z;
product->real_part.z = matrix->r3c1 * vector->dual_part.x + matrix->r3c2 * vector->dual_part.y + matrix->r3c3 * vector->dual_part.z;
product->real_part.x = dual_x;
product->real_part.y = dual_y;
product->real_part.z = dual_z;
}
// ========== Matrix Product 3z at 2z ========= //

9
basic-geometry/quaternion.c
View file

@ -55,9 +55,6 @@ extern inline void bgc_fp64_quaternion_multiply_by_real_number(BGC_FP64_Quaterni
extern inline void bgc_fp32_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_Quaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier);
extern inline void bgc_fp64_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_Quaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier);
extern inline void _bgc_fp32_restrict_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* restrict const product, const BGC_FP32_Quaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier);
extern inline void _bgc_fp64_restrict_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* restrict const product, const BGC_FP64_Quaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier);
extern inline void bgc_fp32_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right);
extern inline void bgc_fp64_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right);
@ -73,12 +70,6 @@ extern inline void bgc_fp64_conjugate_quaternion_multiply_by_quaternion(BGC_FP64
extern inline void bgc_fp32_conjugate_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right);
extern inline void bgc_fp64_conjugate_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right);
extern inline void _bgc_fp32_restrict_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* restrict const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right);
extern inline void _bgc_fp64_restrict_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* restrict const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right);
extern inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* restrict const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right);
extern inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* restrict const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right);
extern inline int bgc_fp32_quaternion_divide_by_real_number(BGC_FP32_Quaternion* const quotient, const BGC_FP32_Quaternion* const dividend, const float divisor);
extern inline int bgc_fp64_quaternion_divide_by_real_number(BGC_FP64_Quaternion* const quotient, const BGC_FP64_Quaternion* const dividend, const double divisor);

64
basic-geometry/quaternion.h
View file

@ -346,34 +346,6 @@ inline void bgc_fp64_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion*
product->dual_part.z = dual_z;
}
// ====== Restrict Multiply By Dual Number ====== //
inline void _bgc_fp32_restrict_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* restrict const product, const BGC_FP32_Quaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier)
{
product->real_part.s = multiplicand->s * multiplier->real_part;
product->real_part.x = multiplicand->x * multiplier->real_part;
product->real_part.y = multiplicand->y * multiplier->real_part;
product->real_part.z = multiplicand->z * multiplier->real_part;
product->dual_part.s = multiplicand->s * multiplier->dual_part;
product->dual_part.x = multiplicand->x * multiplier->dual_part;
product->dual_part.y = multiplicand->y * multiplier->dual_part;
product->dual_part.z = multiplicand->z * multiplier->dual_part;
}
inline void _bgc_fp64_restrict_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* restrict const product, const BGC_FP64_Quaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier)
{
product->real_part.s = multiplicand->s * multiplier->real_part;
product->real_part.x = multiplicand->x * multiplier->real_part;
product->real_part.y = multiplicand->y * multiplier->real_part;
product->real_part.z = multiplicand->z * multiplier->real_part;
product->dual_part.s = multiplicand->s * multiplier->dual_part;
product->dual_part.x = multiplicand->x * multiplier->dual_part;
product->dual_part.y = multiplicand->y * multiplier->dual_part;
product->dual_part.z = multiplicand->z * multiplier->dual_part;
}
// =========== Multiply By Quaternion =========== //
inline void bgc_fp32_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right)
@ -486,42 +458,6 @@ inline void bgc_fp64_conjugate_quaternion_multiply_by_conjugate(BGC_FP64_Quatern
product->z = z;
}
// ====== Restrict Multiply By Quaternion ======= //
inline void _bgc_fp32_restrict_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* restrict const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right)
{
product->s = (left->s * right->s - left->x * right->x) - (left->y * right->y + left->z * right->z);
product->x = (left->x * right->s + left->s * right->x) - (left->z * right->y - left->y * right->z);
product->y = (left->y * right->s + left->s * right->y) - (left->x * right->z - left->z * right->x);
product->z = (left->z * right->s + left->s * right->z) - (left->y * right->x - left->x * right->y);
}
inline void _bgc_fp64_restrict_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* restrict const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right)
{
product->s = (left->s * right->s - left->x * right->x) - (left->y * right->y + left->z * right->z);
product->x = (left->x * right->s + left->s * right->x) - (left->z * right->y - left->y * right->z);
product->y = (left->y * right->s + left->s * right->y) - (left->x * right->z - left->z * right->x);
product->z = (left->z * right->s + left->s * right->z) - (left->y * right->x - left->x * right->y);
}
// = Restrict Multiply By Conjugate Quaternion == //
inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* restrict const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right)
{
product->s = (left->s * right->s + left->x * right->x) + (left->y * right->y + left->z * right->z);
product->x = (left->x * right->s + left->z * right->y) - (left->s * right->x + left->y * right->z);
product->y = (left->y * right->s + left->x * right->z) - (left->s * right->y + left->z * right->x);
product->z = (left->z * right->s + left->y * right->x) - (left->s * right->z + left->x * right->y);
}
inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* restrict const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right)
{
product->s = (left->s * right->s + left->x * right->x) + (left->y * right->y + left->z * right->z);
product->x = (left->x * right->s + left->z * right->y) - (left->s * right->x + left->y * right->z);
product->y = (left->y * right->s + left->x * right->z) - (left->s * right->y + left->z * right->x);
product->z = (left->z * right->s + left->y * right->x) - (left->s * right->z + left->x * right->y);
}
// ======== Multiply By Dual Quaternion ========= //
inline void bgc_fp32_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_DualQuaternion* const right)

8
basic-geometry/rigid-pose3.h
View file

@ -298,8 +298,8 @@ inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* const difference,
{
BGC_FP32_Quaternion dual_part1, dual_part2;
_bgc_fp32_restrict_quaternion_multiply_by_conjugate(&dual_part1, &base->_versor.real_part, &excludant->_versor.dual_part);
_bgc_fp32_restrict_quaternion_multiply_by_conjugate(&dual_part2, &base->_versor.dual_part, &excludant->_versor.real_part);
bgc_fp32_quaternion_multiply_by_conjugate(&dual_part1, &base->_versor.real_part, &excludant->_versor.dual_part);
bgc_fp32_quaternion_multiply_by_conjugate(&dual_part2, &base->_versor.dual_part, &excludant->_versor.real_part);
bgc_fp32_quaternion_multiply_by_conjugate(&difference->_versor.real_part, &base->_versor.real_part, &excludant->_versor.real_part);
bgc_fp32_quaternion_add(&difference->_versor.dual_part, &dual_part1, &dual_part2);
@ -311,8 +311,8 @@ inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference,
{
BGC_FP64_Quaternion dual_part1, dual_part2;
_bgc_fp64_restrict_quaternion_multiply_by_conjugate(&dual_part1, &base->_versor.real_part, &excludant->_versor.dual_part);
_bgc_fp64_restrict_quaternion_multiply_by_conjugate(&dual_part2, &base->_versor.dual_part, &excludant->_versor.real_part);
bgc_fp64_quaternion_multiply_by_conjugate(&dual_part1, &base->_versor.real_part, &excludant->_versor.dual_part);
bgc_fp64_quaternion_multiply_by_conjugate(&dual_part2, &base->_versor.dual_part, &excludant->_versor.real_part);
bgc_fp64_quaternion_multiply_by_conjugate(&difference->_versor.real_part, &base->_versor.real_part, &excludant->_versor.real_part);
bgc_fp64_quaternion_add(&difference->_versor.dual_part, &dual_part1, &dual_part2);

4
basic-geometry/turn3.c
View file

@ -192,7 +192,7 @@ int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* const turn, const B
BGC_FP32_Vector3 axis;
_bgc_fp32_restrict_vector3_get_cross_product(&axis, first, second);
bgc_fp32_vector3_get_cross_product(&axis, first, second);
const float square_product = first_square_modulus * second_square_modulus;
const float dot_product = bgc_fp32_vector3_get_dot_product(first, second);
@ -233,7 +233,7 @@ int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* const turn, const B
BGC_FP64_Vector3 axis;
_bgc_fp64_restrict_vector3_get_cross_product(&axis, first, second);
bgc_fp64_vector3_get_cross_product(&axis, first, second);
const double square_product = first_square_modulus * second_square_modulus;
const double dot_product = bgc_fp64_vector3_get_dot_product(first, second);

4
basic-geometry/turn3.h
View file

@ -333,7 +333,7 @@ inline void bgc_fp32_turn3_combine3(BGC_FP32_Turn3* const combination, const BGC
{
BGC_FP32_Quaternion product;
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&product, &second->_versor, &first->_versor);
bgc_fp32_quaternion_multiply_by_quaternion(&product, &second->_versor, &first->_versor);
bgc_fp32_quaternion_multiply_by_quaternion(&combination->_versor, &third->_versor, &product);
@ -344,7 +344,7 @@ inline void bgc_fp64_turn3_combine3(BGC_FP64_Turn3* const combination, const BGC
{
BGC_FP64_Quaternion product;
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&product, &second->_versor, &first->_versor);
bgc_fp64_quaternion_multiply_by_quaternion(&product, &second->_versor, &first->_versor);
bgc_fp64_quaternion_multiply_by_quaternion(&combination->_versor, &third->_versor, &product);

10
basic-geometry/vector3.c
View file

@ -45,9 +45,6 @@ extern inline void bgc_fp64_vector3_multiply_by_real_number(BGC_FP64_Vector3* co
extern inline void bgc_fp32_vector3_multiply_by_dual_number(BGC_FP32_DualVector3* const product, const BGC_FP32_Vector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier);
extern inline void bgc_fp64_vector3_multiply_by_dual_number(BGC_FP64_DualVector3* const product, const BGC_FP64_Vector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier);
extern inline void _bgc_fp32_restrict_vector3_multiply_by_dual_number(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_Vector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier);
extern inline void _bgc_fp64_restrict_vector3_multiply_by_dual_number(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_Vector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier);
extern inline void bgc_fp32_vector3_multiply_by_matrix2x3(BGC_FP32_Vector2* const product, const BGC_FP32_Vector3* const vector, const BGC_FP32_Matrix2x3* const matrix);
extern inline void bgc_fp64_vector3_multiply_by_matrix2x3(BGC_FP64_Vector2* const product, const BGC_FP64_Vector3* const vector, const BGC_FP64_Matrix2x3* const matrix);
@ -84,9 +81,6 @@ extern inline double bgc_fp64_vector3_get_dot_product(const BGC_FP64_Vector3* co
extern inline float bgc_fp32_vector3_get_triple_product(const BGC_FP32_Vector3* const vector1, const BGC_FP32_Vector3* const vector2, const BGC_FP32_Vector3* const vector3);
extern inline double bgc_fp64_vector3_get_triple_product(const BGC_FP64_Vector3* const vector1, const BGC_FP64_Vector3* const vector2, const BGC_FP64_Vector3* const vector3);
extern inline void _bgc_fp32_restrict_vector3_get_cross_product(BGC_FP32_Vector3* restrict const product, const BGC_FP32_Vector3* const vector1, const BGC_FP32_Vector3* const vector2);
extern inline void _bgc_fp64_restrict_vector3_get_cross_product(BGC_FP64_Vector3* restrict const product, const BGC_FP64_Vector3* const vector1, const BGC_FP64_Vector3* const vector2);
extern inline void bgc_fp32_vector3_get_cross_product(BGC_FP32_Vector3* const product, const BGC_FP32_Vector3* const vector1, const BGC_FP32_Vector3* const vector2);
extern inline void bgc_fp64_vector3_get_cross_product(BGC_FP64_Vector3* const product, const BGC_FP64_Vector3* const vector1, const BGC_FP64_Vector3* const vector2);
@ -181,7 +175,7 @@ int bgc_fp32_vector3_get_attitude(const BGC_FP32_Vector3* const vector1, const B
BGC_FP32_Vector3 product;
_bgc_fp32_restrict_vector3_get_cross_product(&product, vector1, vector2);
bgc_fp32_vector3_get_cross_product(&product, vector1, vector2);
if (bgc_fp32_vector3_get_squared_length(&product) > square_limit) {
return BGC_ATTITUDE_ANY;
@ -209,7 +203,7 @@ int bgc_fp64_vector3_get_attitude(const BGC_FP64_Vector3* const vector1, const B
BGC_FP64_Vector3 product;
_bgc_fp64_restrict_vector3_get_cross_product(&product, vector1, vector2);
bgc_fp64_vector3_get_cross_product(&product, vector1, vector2);
if (bgc_fp64_vector3_get_squared_length(&product) > square_limit) {
return BGC_ATTITUDE_ANY;

44
basic-geometry/vector3.h
View file

@ -267,30 +267,6 @@ inline void bgc_fp64_vector3_multiply_by_dual_number(BGC_FP64_DualVector3* const
product->dual_part.z = dual_z;
}
// ====== Restrict Multiply by Dual Number ====== //
inline void _bgc_fp32_restrict_vector3_multiply_by_dual_number(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_Vector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier)
{
product->real_part.x = multiplicand->x * multiplier->real_part;
product->real_part.y = multiplicand->y * multiplier->real_part;
product->real_part.z = multiplicand->z * multiplier->real_part;
product->dual_part.x = multiplicand->x * multiplier->dual_part;
product->dual_part.y = multiplicand->y * multiplier->dual_part;
product->dual_part.z = multiplicand->z * multiplier->dual_part;
}
inline void _bgc_fp64_restrict_vector3_multiply_by_dual_number(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_Vector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier)
{
product->real_part.x = multiplicand->x * multiplier->real_part;
product->real_part.y = multiplicand->y * multiplier->real_part;
product->real_part.z = multiplicand->z * multiplier->real_part;
product->dual_part.x = multiplicand->x * multiplier->dual_part;
product->dual_part.y = multiplicand->y * multiplier->dual_part;
product->dual_part.z = multiplicand->z * multiplier->dual_part;
}
// ============ Left Vector Product ============= //
inline void bgc_fp32_vector3_multiply_by_matrix2x3(BGC_FP32_Vector2* const product, const BGC_FP32_Vector3* const vector, const BGC_FP32_Matrix2x3* const matrix)
@ -543,22 +519,6 @@ inline double bgc_fp64_vector3_get_triple_product(const BGC_FP64_Vector3* const
+ vector1->z * (vector2->x * vector3->y - vector2->y * vector3->x);
}
// =========== Restrict Cross Product =========== //
inline void _bgc_fp32_restrict_vector3_get_cross_product(BGC_FP32_Vector3* restrict const product, const BGC_FP32_Vector3* const vector1, const BGC_FP32_Vector3* const vector2)
{
product->x = vector1->y * vector2->z - vector1->z * vector2->y;
product->y = vector1->z * vector2->x - vector1->x * vector2->z;
product->z = vector1->x * vector2->y - vector1->y * vector2->x;
}
inline void _bgc_fp64_restrict_vector3_get_cross_product(BGC_FP64_Vector3* restrict const product, const BGC_FP64_Vector3* const vector1, const BGC_FP64_Vector3* const vector2)
{
product->x = vector1->y * vector2->z - vector1->z * vector2->y;
product->y = vector1->z * vector2->x - vector1->x * vector2->z;
product->z = vector1->x * vector2->y - vector1->y * vector2->x;
}
// =============== Cross Product ================ //
inline void bgc_fp32_vector3_get_cross_product(BGC_FP32_Vector3* const product, const BGC_FP32_Vector3* const vector1, const BGC_FP32_Vector3* const vector2)
@ -722,7 +682,7 @@ inline int bgc_fp32_vector3_are_parallel(const BGC_FP32_Vector3* const vector1,
BGC_FP32_Vector3 product;
_bgc_fp32_restrict_vector3_get_cross_product(&product, vector1, vector2);
bgc_fp32_vector3_get_cross_product(&product, vector1, vector2);
return bgc_fp32_vector3_get_squared_length(&product) <= BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2;
}
@ -738,7 +698,7 @@ inline int bgc_fp64_vector3_are_parallel(const BGC_FP64_Vector3* const vector1,
BGC_FP64_Vector3 product;
_bgc_fp64_restrict_vector3_get_cross_product(&product, vector1, vector2);
bgc_fp64_vector3_get_cross_product(&product, vector1, vector2);
return bgc_fp64_vector3_get_squared_length(&product) <= BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2;
}