Добавление арифметических операций для дуальных чисел, векторов и кватернионов

Geometry.workspace

@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
 <CodeBlocks_workspace_file>
 	<Workspace title="Workspace">
+		<Project filename="basic-geometry/basic-geometry.cbp" />
 		<Project filename="basic-geometry-dev/basic-geometry-dev.cbp">
 			<Depends filename="basic-geometry/basic-geometry.cbp" />
 		</Project>
-		<Project filename="basic-geometry/basic-geometry.cbp" />
 		<Project filename="basic-geometry-test/basic-geometry-test.cbp">
 			<Depends filename="basic-geometry/basic-geometry.cbp" />
 		</Project>

README-Eng.md

@@ -8,7 +8,7 @@
 
 Programming language: C (C99)
 
-Version: 0.2.0-dev
+Version: 0.3.0-dev
 
 License: Apache-2.0
 

README.md

@@ -10,7 +10,7 @@
 
 Язык программирования: Си (C99)
 
-Версия: 0.2.0-dev
+Версия: 0.3.0-dev
 
 Лицензия: Apache-2.0
 

basic-geometry-dev/affine3.c

@@ -9,16 +9,16 @@
 #include <time.h>
 #endif // _WINDOWS_
 
-BgcAffine3FP32* _create_bgc_affine3_list(int affine_amount)
+BGC_FP32_Affine3* _create_bgc_affine3_list(int affine_amount)
 {
-    BgcAffine3FP32* affines = malloc(affine_amount * sizeof(BgcAffine3FP32));
+    BGC_FP32_Affine3* affines = malloc(affine_amount * sizeof(BGC_FP32_Affine3));
 
     if (affines == 0) {
         return 0;
     }
 
     for (int i = 0; i < affine_amount; i++) {
-        bgc_affine3_reset_fp32(&affines[i]);
+        bgc_fp32_affine3_reset(&affines[i]);
     }
 
     return affines;
@@ -29,43 +29,43 @@ float get_random_value_fp32()
     return rand() * (2.0f / RAND_MAX) - 1.0f;
 }
 
-BgcAffine3FP32* _create_bgc_affine3_random_list(int affine_amount)
+BGC_FP32_Affine3* _create_bgc_affine3_random_list(int affine_amount)
 {
-    BgcAffine3FP32* affines = malloc(affine_amount * sizeof(BgcAffine3FP32));
+    BGC_FP32_Affine3* affines = malloc(affine_amount * sizeof(BGC_FP32_Affine3));
 
     if (affines == 0) {
         return 0;
     }
 
-    BgcPosition3FP32 position;
+    BGC_FP32_Position3 position;
 
     for (int i = 0; i < affine_amount; i++) {
-        bgc_versor_set_values_fp32(
+        bgc_fp32_turn3_set_raw_values(
+            &position.turn,
             get_random_value_fp32(),
             get_random_value_fp32(),
             get_random_value_fp32(),
-            get_random_value_fp32(),
+            get_random_value_fp32()
-            &position.turn
         );
 
         position.shift.x1 = get_random_value_fp32();
         position.shift.x2 = get_random_value_fp32();
         position.shift.x3 = get_random_value_fp32();
 
-        bgc_position3_get_outward_affine_fp32(&position, &affines[i]);
+        bgc_fp32_position3_get_outward_affine(&affines[i], &position);
     }
 
     return affines;
 }
 
-BgcVector3FP32* _create_bgc_vector3_list(int amount)
+BGC_FP32_Vector3* _create_bgc_vector3_list(int amount)
 {
-    return malloc(amount * sizeof(BgcVector3FP32));
+    return malloc(amount * sizeof(BGC_FP32_Vector3));
 }
 
-BgcVector3FP32* _create_bgc_vector3_random_list(int amount)
+BGC_FP32_Vector3* _create_bgc_vector3_random_list(int amount)
 {
-    BgcVector3FP32* vectors = _create_bgc_vector3_list(amount);
+    BGC_FP32_Vector3* vectors = _create_bgc_vector3_list(amount);
 
     if (vectors == 0) {
         return 0;
@@ -82,9 +82,9 @@ BgcVector3FP32* _create_bgc_vector3_random_list(int amount)
 
 float test_bgc_affine3_performance(int affine_amount, int vector_per_affine)
 {
-    BgcAffine3FP32* affines;
+    BGC_FP32_Affine3* affines;
-    BgcVector3FP32* source_vectors;
+    BGC_FP32_Vector3* source_vectors;
-    BgcVector3FP32* result_vectors;
+    BGC_FP32_Vector3* result_vectors;
 
     int vector_index = 0;
     float time = -1.0f;
@@ -131,7 +131,7 @@ float test_bgc_affine3_performance(int affine_amount, int vector_per_affine)
     for (int i = 0; i < affine_amount; i++)
     {
         for (int j = 0; j < vector_per_affine; j++) {
-            bgc_affine3_transform_point_fp32(&affines[i], &source_vectors[vector_index], &result_vectors[vector_index]);
+            bgc_fp32_affine3_transform_point(&result_vectors[vector_index], &affines[i], &source_vectors[vector_index]);
             vector_index++;
         }
     }

basic-geometry-dev/main.c

@@ -10,7 +10,7 @@
 #endif // _WINDOWS_
 
 typedef struct {
-    BgcVersorFP32 versor1, versor2, result;
+    BGC_FP32_Turn3 versor1, versor2, result;
 } structure_fp32_t;
 
 structure_fp32_t* allocate_structures(const unsigned int amount)
@@ -29,57 +29,57 @@ structure_fp32_t* make_structures(const unsigned int amount)
     const float multiplier = 2.0f / RAND_MAX;
 
     for (unsigned int i = 0; i < amount; i++) {
-        bgc_versor_set_values_fp32(
+        bgc_fp32_turn3_set_raw_values(
+            &list[i].versor1,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
-            rand() * multiplier - 1.0f,
+            rand() * multiplier - 1.0f
-            &list[i].versor1
         );
 
-        bgc_versor_set_values_fp32(
+        bgc_fp32_turn3_set_raw_values(
+            &list[i].versor2,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
-            rand() * multiplier - 1.0f,
+            rand() * multiplier - 1.0f
-            &list[i].versor2
         );
 
-        bgc_versor_reset_fp32(&list[i].result);
+        bgc_fp32_turn3_reset(&list[i].result);
     }
 
     return list;
 }
 
-void print_versor_fp32(const BgcVersorFP32* versor)
+void print_quaternion_fp32(const BGC_FP32_Quaternion* quaternion)
 {
-    printf("Versor (s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3);
+    printf("Quaternion FP32(s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", quaternion->s0, quaternion->x1, quaternion->x2, quaternion->x3);
 }
 
-void print_versor_fp64(const BgcVersorFP64* versor)
+void print_quaternion_fp64(const BGC_FP64_Quaternion* quaternion)
 {
-    printf("Versor (s0 = %0.20f, x1 = %0.20f, x2 = %0.20f, x3 = %0.20f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3);
+    printf("Quaternion FP64(s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", quaternion->s0, quaternion->x1, quaternion->x2, quaternion->x3);
 }
 
-void print_vector_fp32(const BgcVector3FP32* vector)
+void print_vector_fp32(const BGC_FP32_Vector3* vector)
 {
-    printf("(%f, %f, %f) / %f\n", vector->x1,  vector->x2,  vector->x3,  bgc_vector3_get_modulus_fp32(vector));
+    printf("(%f, %f, %f) / %f\n", vector->x1,  vector->x2,  vector->x3,  bgc_fp32_vector3_get_modulus(vector));
 }
 
-void print_vector_fp64(const BgcVector3FP64* vector)
+void print_vector_fp64(const BGC_FP64_Vector3* vector)
 {
-    printf("(%lf, %lf, %lf) / %lf\n", vector->x1,  vector->x2,  vector->x3,  bgc_vector3_get_modulus_fp64(vector));
+    printf("(%lf, %lf, %lf) / %lf\n", vector->x1,  vector->x2,  vector->x3,  bgc_fp64_vector3_get_modulus(vector));
 }
 
 void list_work(const uint_fast32_t amount, structure_fp32_t* list)
 {
     for (uint_fast32_t j = 0; j < 1000; j++) {
         for (uint_fast32_t i = 0; i < amount; i++) {
-            bgc_versor_combine_fp32(&list[i].versor1, &list[i].versor1, &list[i].result);
+            bgc_fp32_turn3_combine(&list[i].result, &list[i].versor1, &list[i].versor2);
         }
     }
 }
-/*
+
 int main()
 {
     const unsigned int amount = 1000000;
@@ -113,25 +113,25 @@ 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_versor_fp32(&list[10].versor1);
+    print_quaternion_fp32(&list[10].versor1._versor);
-    print_versor_fp32(&list[10].versor2);
+    print_quaternion_fp32(&list[10].versor2._versor);
-    print_versor_fp32(&list[10].result);
+    print_quaternion_fp32(&list[10].result._versor);
 
     free(list);
 
     return 0;
 }
-*/
+
 
 /*
 int main() {
-    BgcComplexFP32 complex, exponent, result;
+    BGC_FP32_Complex complex, exponent, result;
 
-    bgc_complex_set_values_fp32(0, 1, &complex);
+    bgc_fp32_complex_make(0, 1, &complex);
 
-    bgc_complex_set_values_fp32(4, 0, &exponent);
+    bgc_fp32_complex_make(4, 0, &exponent);
 
-    bgc_complex_get_exponation_fp32(&complex, exponent.real, exponent.imaginary, &result);
+    bgc_fp32_complex_get_exponation(&complex, exponent.real, exponent.imaginary, &result);
 
     printf("(%f, %f) ^ (%f, %f) = (%f, %f)\n", complex.real, complex.imaginary, exponent.real, exponent.imaginary, result.real, result.imaginary);
 
@@ -140,10 +140,10 @@ int main() {
 */
 /*
 int main() {
-    BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
+    BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f };
-    BgcVersorFP32 end = { 0.0f, 1.0f, 0.0f, 0.0f };
+    BGC_FP32_Turn3 end = { 0.0f, 1.0f, 0.0f, 0.0f };
-    BgcVersorFP32 result;
+    BGC_FP32_Turn3 result;
-    bgc_versor_spherical_interpolation_fp32(&start, &end, 0.5f, &result);
+    bgc_fp32_turn3_spherical_interpolation(&start, &end, 0.5f, &result);
     printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
     return 0;
 }
@@ -152,346 +152,347 @@ int main() {
 void test_basis_difference_fp32()
 {
 
-    BgcVector3FP32 initial_primary, initial_auxiliary;
+    BGC_FP32_Vector3 initial_primary, initial_auxiliary;
-    BgcVector3FP32 final_primary, final_auxiliary;
+    BGC_FP32_Vector3 final_primary, final_auxiliary;
-    BgcVersorFP32 turn;
+    BGC_FP32_Turn3 turn;
 
     // No turn
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
 
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary,   1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
 
-    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nNo turn:\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // Turn around (1, 1, 0) axis on 180 degrees
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
 
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary,   0.0f, 1.0f, 0.0f);
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f);
 
-    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // 180 degree turn
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
 
-    bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary,  -1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
 
-    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\n180 degree turn around (0, 1, 0):\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // 90 degree turn around x3 axis
-    bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   2.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 3.1f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 3.1f, 0.0f);
 
-    bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary,  0.0f, 10.0f, 0.0f);
-    bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary,-1.0f, 0.0f, 0.0f);
 
-    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\n90 degree turn around (0, 0, 1):\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // Unorthogonal pairs turn at 90 degrees around x3 axis
-    bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,    2.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(-2.0f, 3.1f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, -2.0f, 3.1f, 0.0f);
 
-    bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
-    bgc_vector3_set_values_fp32(-1.0f, 5.0f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 5.0f, 0.0f);
 
-    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // Zero vectors
-    bgc_vector3_set_values_fp32(0.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   0.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary,     1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary,   0.0f, 1.0f, 0.0f);
 
     int code;
 
-    code = bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     if (code >= 0) {
         printf("\nZero vectors: this cannot be!\n");
-        print_versor_fp32(&turn);
+        print_quaternion_fp32(&turn._versor);
     }
     else {
         printf("\nZero vector validation works fine\n");
     }
 
     // Parallel vectors
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 2.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary,     1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary,   0.0f, 1.0f, 0.0f);
 
-    code = bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     if (code >= 0) {
         printf("\nParallel vectors: this cannot be!\n");
-        print_versor_fp32(&turn);
+        print_quaternion_fp32(&turn._versor);
     }
     else {
         printf("\nParallelism validation works fine\n");
     }
 
     // Small angle turn (about 1 degree):
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
 
-    bgc_vector3_set_values_fp32(0.999848f, 0.017452f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary,    0.999848f, 0.017452f, 0.0f);
-    bgc_vector3_set_values_fp32(-0.017452f, 0.999848f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary, -0.017452f, 0.999848f, 0.0f);
 
-    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp32_turn3_make_basis_difference(&turn , &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nSmall angle turn (about 1 degree):\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // About 179 degrees turn
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
 
-    bgc_vector3_set_values_fp32(-0.999848f, -0.017452f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary,  -0.999848f, -0.017452f, 0.0f);
-    bgc_vector3_set_values_fp32(0.017452f, -0.999848f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary, 0.017452f, -0.999848f, 0.0f);
 
-    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nAbout 179 degrees turn:\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // 120 degrees around (-1, -1, 1)
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
 
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary,   0.0f, 1.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 0.0f, -1.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 0.0f, -1.0f);
 
-    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\n120 degees turn:\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
 
     // About 1 degree turn difference between initial_primary and initial_auxiliary directions
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(0.999848f, 0.017452f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 0.999848f, 0.017452f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
-    bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 0.0f, 0.0f);
 
-    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // About 0.01 degree turn difference between initial_primary and initial_auxiliary directions
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
-    bgc_vector3_set_values_fp32(1.0f, 0.000001f, 0.0f, &initial_auxiliary);
+    bgc_fp32_vector3_make(&initial_auxiliary, 1.0f, 0.000001f, 0.0f);
-    bgc_vector3_set_values_fp32(0.0f, -1.0f, 0.0f, &final_primary);
+    bgc_fp32_vector3_make(&final_primary,     0.0f, -1.0f, 0.0f);
-    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_auxiliary);
+    bgc_fp32_vector3_make(&final_auxiliary,   1.0f, 0.0f, 0.0f);
 
-    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 }
 
 void test_basis_difference_fp64()
 {
 
-    BgcVector3FP64 initial_primary, initial_auxiliary;
+    BGC_FP64_Vector3 initial_primary, initial_auxiliary;
-    BgcVector3FP64 final_primary, final_auxiliary;
+    BGC_FP64_Vector3 final_primary, final_auxiliary;
-    BgcVersorFP64 turn;
+    BGC_FP64_Turn3 turn;
 
     // No turn
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,     1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary,   0.0, 1.0, 0.0);
 
-    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nNo turn:\n");
-    print_versor_fp64(&turn);
+    print_quaternion_fp64(&turn._versor);
 
     // Turn around (1, 1, 0) axis on 180 degrees
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,     0.0, 1.0, 0.0);
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary,   1.0, 0.0, 0.0);
 
-    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
-    print_versor_fp64(&turn);
+    print_quaternion_fp64(&turn._versor);
 
     // 180 degree turn
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
 
-    bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&initial_auxiliary, -1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary,    0.0, 1.0, 0.0);
 
-    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\n180 degree turn around (0, 1, 0):\n");
-    print_versor_fp64(&turn);
+    print_quaternion_fp64(&turn._versor);
 
     // 90 degree turn around x3 axis
-    bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   2.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 3.1, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 3.1, 0.0);
 
-    bgc_vector3_set_values_fp64(0.0, 10.0, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,   0.0, 10.0, 0.0);
-    bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary, -1.0, 0.0, 0.0);
 
-    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\n90 degree turn around (0, 0, 1):\n");
-    print_versor_fp64(&turn);
+    print_quaternion_fp64(&turn._versor);
 
     // Unorthogonal pairs turn at 90 degrees around x3 axis
-    bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,    2.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(-2.0, 3.1, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, -2.0, 3.1, 0.0);
 
-    bgc_vector3_set_values_fp64(0.0, 10.0, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,   0.0, 10.0, 0.0);
-    bgc_vector3_set_values_fp64(-1.0, 5.0, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary, -1.0, 5.0, 0.0);
 
-    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
-    print_versor_fp64(&turn);
+    print_quaternion_fp64(&turn._versor);
 
     // Zero vectors
-    bgc_vector3_set_values_fp64(0.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   0.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,     1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary,   0.0, 1.0, 0.0);
 
     int code;
 
-    code = bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    code = bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     if (code >= 0) {
         printf("\nZero vectors: this cannot be!\n");
-        print_versor_fp64(&turn);
+        print_quaternion_fp64(&turn._versor);
     }
     else {
         printf("\nZero vector validation works fine\n");
     }
 
     // Parallel vectors
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 2.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,     1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary,   0.0, 1.0, 0.0);
 
-    code = bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    code = bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     if (code >= 0) {
         printf("\nParallel vectors: this cannot be!\n");
-        print_versor_fp64(&turn);
+        print_quaternion_fp64(&turn._versor);
     }
     else {
         printf("\nParallelism validation works fine\n");
     }
 
     // Small angle turn (about 1 degree):
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
 
-    bgc_vector3_set_values_fp64(0.999848, 0.017452, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,    0.999848, 0.017452, 0.0);
-    bgc_vector3_set_values_fp64(-0.017452, 0.999848, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary, -0.017452, 0.999848, 0.0);
 
-    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nSmall angle turn (about 1 degree):\n");
-    print_versor_fp64(&turn);
+    print_quaternion_fp64(&turn._versor);
 
     // About 179 degrees turn
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
 
-    bgc_vector3_set_values_fp64(-0.999848, -0.017452, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,  -0.999848, -0.017452, 0.0);
-    bgc_vector3_set_values_fp64(0.017452, -0.999848, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary, 0.017452, -0.999848, 0.0);
 
-    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nAbout 179 degrees turn:\n");
-    print_versor_fp64(&turn);
+    print_quaternion_fp64(&turn._versor);
 
     // 120 degrees around (-1, -1, 1)
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
 
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,   0.0, 1.0, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 0.0, -1.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary, 0.0, 0.0, -1.0);
 
-    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\n120 degees turn:\n");
-    print_versor_fp64(&turn);
+    print_quaternion_fp64(&turn._versor);
 
 
     // About 1 degree turn difference between initial_primary and initial_auxiliary directions
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(0.999848, 0.017452, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 0.999848, 0.017452, 0.0);
-    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,     0.0, 1.0, 0.0);
-    bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary,  -1.0, 0.0, 0.0);
 
-    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
-    print_versor_fp64(&turn);
+    print_quaternion_fp64(&turn._versor);
 
     // About 0.001 degree turn difference between initial_primary and initial_auxiliary directions
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_fp64_vector3_make(&initial_primary,   1.0, 0.0, 0.0);
-    bgc_vector3_set_values_fp64(1.0, 0.000001, 0.0, &initial_auxiliary);
+    bgc_fp64_vector3_make(&initial_auxiliary, 1.0, 0.000001, 0.0);
-    bgc_vector3_set_values_fp64(0.0, -1.0, 0.0, &final_primary);
+    bgc_fp64_vector3_make(&final_primary,     0.0, -1.0, 0.0);
-    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_auxiliary);
+    bgc_fp64_vector3_make(&final_auxiliary,   1.0, 0.0, 0.0);
 
-    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+    bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
-    print_versor_fp64(&turn);
+    print_quaternion_fp64(&turn._versor);
 }
-
+/*
 #include "affine3.h"
 
 int main()
 {
-    //BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
+    //BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f };
-    //BgcVersorFP32 end = { 0.0f, 1.0f, 0.0f, 0.0f };
+    //BGC_FP32_Turn3 end = { 0.0f, 1.0f, 0.0f, 0.0f };
-    /*
-    BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
-    BgcVersorFP32 end = { 0.9999f, 0.01414f, 0.0f, 0.0f };
-    BgcSlerpFP32 slerp;
-    BgcVersorFP32 result;
-    bgc_slerp_make_full_fp32(&start, &end, &slerp);
-    bgc_slerp_get_turn_for_phase_fp32(&slerp, 0.5f, &result);
 
-    print_versor_fp32(&result);
+    BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f };
-    */
+    BGC_FP32_Turn3 end = { 0.9999f, 0.01414f, 0.0f, 0.0f };
-    //test_basis_difference_fp64();
+    BGC_FP32_Slerp slerp;
+    BGC_FP32_Turn3 result;
+    bgc_fp32_slerp_make_full(&slerp, &start, &end);
+    bgc_fp32_slerp_get_phase_versor(&result, &slerp, 0.5f);
 
-    printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
+    //print_quaternion_fp32(&result);
 
-    printf("sizeof(BgcAffine3FP32)   = %zu\n", sizeof(BgcAffine3FP32));
+    test_basis_difference_fp64();
-    //printf("offsetof(shift)         = %zu\n", offsetof(BgcAffine3FP32, shift));
+
-    printf("sizeof(BgcMatrix3x3FP32) = %zu\n", sizeof(BgcMatrix3x3FP32));
+    //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));
+    //printf("sizeof(BGC_FP32_Matrix3x3) = %zu\n", sizeof(BGC_FP32_Matrix3x3));
 
     return 0;
 }
+*/

basic-geometry-test/basic-geometry-test.cbp

@@ -51,186 +51,6 @@
 		</Unit>
 		<Unit filename="main.h" />
 		<Unit filename="test_utilities.h" />
-		<Unit filename="tests/complex.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="tests/complex.h" />
-		<Unit filename="tests/complex/complex_copy.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="tests/complex/complex_copy.h" />
-		<Unit filename="tests/complex/complex_is_unit.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="tests/complex/complex_is_unit.h" />
-		<Unit filename="tests/complex/complex_is_zero.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="tests/complex/complex_is_zero.h" />
-		<Unit filename="tests/complex/complex_modulus.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="tests/complex/complex_modulus.h" />
-		<Unit filename="tests/complex/complex_reset.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="tests/complex/complex_reset.h" />
-		<Unit filename="tests/complex/complex_set_values.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="tests/complex/complex_set_values.h" />
-		<Unit filename="tests/complex/complex_swap.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="tests/complex/complex_swap.h" />
-		<Unit filename="tests/quaternion.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="tests/quaternion.h" />
-		<Unit filename="tests/quaternion/quaternion_copy.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="tests/quaternion/quaternion_copy.h" />
-		<Unit filename="tests/quaternion/quaternion_is_unit.c">
-			<Option compilerVar="CC" />
-		</Unit>
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basic-geometry-test/basic-geometry-test.vcxproj

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-      <Filter>tests\complex</Filter>
-    </ClInclude>
-    <ClInclude Include="tests\complex\complex_is_unit.h">
-      <Filter>tests\complex</Filter>
-    </ClInclude>
-    <ClInclude Include="tests\complex\complex_is_zero.h">
-      <Filter>tests\complex</Filter>
-    </ClInclude>
-    <ClInclude Include="tests\complex\complex_modulus.h">
-      <Filter>tests\complex</Filter>
-    </ClInclude>
-    <ClInclude Include="tests\complex\complex_reset.h">
-      <Filter>tests\complex</Filter>
-    </ClInclude>
-    <ClInclude Include="tests\complex\complex_set_values.h">
-      <Filter>tests\complex</Filter>
-    </ClInclude>
-    <ClInclude Include="tests\complex\complex_swap.h">
-      <Filter>tests\complex</Filter>
-    </ClInclude>
-    <ClInclude Include="tests\complex.h">
-      <Filter>tests</Filter>
-    </ClInclude>
-    <ClInclude Include="tests\vector2\vector2_arithmetics.h">
-      <Filter>tests\vector2</Filter>
-    </ClInclude>
-    <ClInclude Include="tests\vector3\vector3_arithmetics.h">
-      <Filter>tests\vector3</Filter>
-    </ClInclude>
-    <ClInclude Include="tests\complex\complex_arithmetics.h">
-      <Filter>tests\complex</Filter>
-    </ClInclude>
-  </ItemGroup>
-  <ItemGroup>
-    <Filter Include="tests">
-      <UniqueIdentifier>{10db9024-67b8-4555-80a9-48b54ae0dec9}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="tests\utilities">
-      <UniqueIdentifier>{392bc542-f334-4132-a22b-b5b440c77897}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="tests\vector2">
-      <UniqueIdentifier>{d9f520e0-1b2d-4379-8887-1b5728763129}</UniqueIdentifier>
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-    <Filter Include="tests\vector3">
-      <UniqueIdentifier>{dbf2eefa-8f1f-4447-b3d4-d17dee049580}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="tests\versor">
-      <UniqueIdentifier>{d6f82407-8310-4b32-b153-aa67e766c72a}</UniqueIdentifier>
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-      <UniqueIdentifier>{e8bafdb8-66e5-4393-bc89-8bff83bcccd6}</UniqueIdentifier>
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-    <Filter Include="tests\complex">
-      <UniqueIdentifier>{e025e123-45aa-44f9-aab4-f1705844b211}</UniqueIdentifier>
-    </Filter>
   </ItemGroup>
 </Project>

basic-geometry-test/helpers.h

@@ -25,19 +25,19 @@ typedef struct {
 // =================== Versor =================== //
 
 typedef struct {
-    BgcVersorFP32 first, second;
+    BGC_FP32_Turn3 first, second;
 } TestVersorPairFP32;
 
 typedef struct {
-    BgcVersorFP64 first, second;
+    BGC_FP64_Turn3 first, second;
 } TestVersorPairFP64;
 
 typedef struct {
-    BgcVersorFP32 first, second, result;
+    BGC_FP32_Turn3 first, second, result;
 } TestVersorTripletFP32;
 
 typedef struct {
-    BgcVersorFP64 first, second, result;
+    BGC_FP64_Turn3 first, second, result;
 } TestVersorTripletFP64;
 
 // ================= Functions ================== //

basic-geometry-test/tests/complex/complex_copy.c

@@ -7,7 +7,7 @@
 // ==================== FP32 ==================== //
 
 static const int _TEST_FP32_COMPLEX_AMOUNT = 4;
-static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST[] = {
+static const BGC_FP32_Complex _TEST_FP32_COMPLEX_LIST[] = {
     { 1.0f, 2.0f },
     { -4.0f, -3.0f },
     { -0.001f, 100.0f },
@@ -16,13 +16,13 @@ static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST[] = {
 
 void test_complex_copy_fp32()
 {
-    BgcComplexFP32 vector;
+    BGC_FP32_Complex vector;
 
-    print_testing_name("bgc_complex_copy_fp32");
+    print_testing_name("bgc_fp32_complex_copy");
 
     for (int i = 0; i < _TEST_FP32_COMPLEX_AMOUNT; i++) {
 
-        bgc_complex_copy_fp32(&_TEST_FP32_COMPLEX_LIST[i], &vector);
+        bgc_fp32_complex_copy(&_TEST_FP32_COMPLEX_LIST[i], &vector);
 
         if (vector.real != _TEST_FP32_COMPLEX_LIST[i].real ||
             vector.imaginary != _TEST_FP32_COMPLEX_LIST[i].imaginary) {
@@ -37,7 +37,7 @@ void test_complex_copy_fp32()
 // ==================== FP64 ==================== //
 
 static const int _TEST_FP64_COMPLEX_AMOUNT = 4;
-static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST[] = {
+static const BGC_FP64_Complex _TEST_FP64_COMPLEX_LIST[] = {
     { 1.0, 2.0 },
     { -4.0, -3.0 },
     { -0.001, 100.0 },
@@ -46,13 +46,13 @@ static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST[] = {
 
 void test_complex_copy_fp64()
 {
-    BgcComplexFP64 vector;
+    BGC_FP64_Complex vector;
 
-    print_testing_name("bgc_complex_copy_fp64");
+    print_testing_name("bgc_fp64_complex_copy");
 
     for (int i = 0; i < _TEST_FP64_COMPLEX_AMOUNT; i++) {
 
-        bgc_complex_copy_fp64(&_TEST_FP64_COMPLEX_LIST[i], &vector);
+        bgc_fp64_complex_copy(&_TEST_FP64_COMPLEX_LIST[i], &vector);
 
         if (vector.real != _TEST_FP64_COMPLEX_LIST[i].real ||
             vector.imaginary != _TEST_FP64_COMPLEX_LIST[i].imaginary) {

basic-geometry-test/tests/complex/complex_is_unit.c

@@ -7,35 +7,35 @@
 static const int _TEST_FP32_UNIT_COMPLEX_AMOUNT = 10;
 static const int _TEST_FP32_NONUNIT_COMPLEX_AMOUNT = 6;
 
-static const BgcComplexFP32 _TEST_FP32_UNIT_COMPLEX_LIST[] = {
+static const BGC_FP32_Complex _TEST_FP32_UNIT_COMPLEX_LIST[] = {
     { 1.0f, 0.0f },
     { -1.0f, 0.0f },
     { 0.6f, -0.8f },
-    { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON },
-    { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON },
     { 0.7071067812f, 0.7071067812f },
-    { 0.7071067812f + 0.75f * BGC_EPSYLON_FP32, 0.7071067812f },
+    { 0.7071067812f + 0.75f * BGC_FP32_EPSYLON, 0.7071067812f },
-    { 0.7071067812f, 0.7071067812f - 0.75f * BGC_EPSYLON_FP32 }
+    { 0.7071067812f, 0.7071067812f - 0.75f * BGC_FP32_EPSYLON }
 };
 
-static const BgcComplexFP32 _TEST_FP32_NONUNIT_QUATERION_LIST[] = {
+static const BGC_FP32_Complex _TEST_FP32_NONUNIT_QUATERION_LIST[] = {
-    { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON },
-    { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON },
-    { 0.7071067812f + 1.25f * BGC_EPSYLON_FP32, 0.7071067812f + 1.25f * BGC_EPSYLON_FP32 },
+    { 0.7071067812f + 1.25f * BGC_FP32_EPSYLON, 0.7071067812f + 1.25f * BGC_FP32_EPSYLON },
-    { 0.7071067812f - 1.25f * BGC_EPSYLON_FP32, 0.7071067812f - 1.25f * BGC_EPSYLON_FP32 }
+    { 0.7071067812f - 1.25f * BGC_FP32_EPSYLON, 0.7071067812f - 1.25f * BGC_FP32_EPSYLON }
 };
 
 void test_complex_is_unit_fp32()
 {
-    print_testing_name("bgc_complex_is_unit_fp32");
+    print_testing_name("bgc_fp32_complex_is_unit");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP32_UNIT_COMPLEX_AMOUNT; i++) {
-        if (!bgc_complex_is_unit_fp32(&_TEST_FP32_UNIT_COMPLEX_LIST[i])) {
+        if (!bgc_fp32_complex_is_unit(&_TEST_FP32_UNIT_COMPLEX_LIST[i])) {
             print_testing_error("A unit complex number was not recognized");
             return;
         }
@@ -43,7 +43,7 @@ void test_complex_is_unit_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NONUNIT_COMPLEX_AMOUNT; i++) {
-        if (bgc_complex_is_unit_fp32(&_TEST_FP32_NONUNIT_QUATERION_LIST[i])) {
+        if (bgc_fp32_complex_is_unit(&_TEST_FP32_NONUNIT_QUATERION_LIST[i])) {
             print_testing_error("A non-unit complex number was recognized a unit complex number");
             return;
         }
@@ -57,35 +57,35 @@ void test_complex_is_unit_fp32()
 static const int _TEST_FP64_UNIT_COMPLEX_AMOUNT = 10;
 static const int _TEST_FP64_NONUNIT_COMPLEX_AMOUNT = 6;
 
-static const BgcComplexFP64 _TEST_FP64_UNIT_COMPLEX_LIST[] = {
+static const BGC_FP64_Complex _TEST_FP64_UNIT_COMPLEX_LIST[] = {
     { 1.0, 0.0 },
     { -1.0, 0.0 },
     { -0.6, 0.8 },
-    { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON },
-    { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON },
     { 0.7071067811865475244, 0.7071067811865475244 },
-    { 0.7071067811865475244 + 0.75 * BGC_EPSYLON_FP64, 0.7071067811865475244 },
+    { 0.7071067811865475244 + 0.75 * BGC_FP64_EPSYLON, 0.7071067811865475244 },
-    { 0.7071067811865475244, 0.7071067811865475244 - 0.75 * BGC_EPSYLON_FP64 }
+    { 0.7071067811865475244, 0.7071067811865475244 - 0.75 * BGC_FP64_EPSYLON }
 };
 
-static const BgcComplexFP64 _TEST_FP64_NONUNIT_QUATERION_LIST[] = {
+static const BGC_FP64_Complex _TEST_FP64_NONUNIT_QUATERION_LIST[] = {
-    { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON },
-    { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON },
-    { 0.7071067811865475244 + 1.25 * BGC_EPSYLON_FP64, 0.7071067811865475244 + 1.25 * BGC_EPSYLON_FP64 },
+    { 0.7071067811865475244 + 1.25 * BGC_FP64_EPSYLON, 0.7071067811865475244 + 1.25 * BGC_FP64_EPSYLON },
-    { 0.7071067811865475244 - 1.25 * BGC_EPSYLON_FP64, 0.7071067811865475244 - 1.25 * BGC_EPSYLON_FP64 }
+    { 0.7071067811865475244 - 1.25 * BGC_FP64_EPSYLON, 0.7071067811865475244 - 1.25 * BGC_FP64_EPSYLON }
 };
 
 void test_complex_is_unit_fp64()
 {
-    print_testing_name("bgc_complex_is_unit_fp64");
+    print_testing_name("bgc_fp64_complex_is_unit");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_UNIT_COMPLEX_AMOUNT; i++) {
-        if (!bgc_complex_is_unit_fp64(&_TEST_FP64_UNIT_COMPLEX_LIST[i])) {
+        if (!bgc_fp64_complex_is_unit(&_TEST_FP64_UNIT_COMPLEX_LIST[i])) {
             print_testing_error("A unit complex number was not recognized");
             return;
         }
@@ -93,7 +93,7 @@ void test_complex_is_unit_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NONUNIT_COMPLEX_AMOUNT; i++) {
-        if (bgc_complex_is_unit_fp64(&_TEST_FP64_NONUNIT_QUATERION_LIST[i])) {
+        if (bgc_fp64_complex_is_unit(&_TEST_FP64_NONUNIT_QUATERION_LIST[i])) {
             print_testing_error("A non-unit complex number was recognized a unit complex number");
             return;
         }

basic-geometry-test/tests/complex/complex_is_zero.c

@@ -7,31 +7,31 @@
 static const int _TEST_FP32_ZERO_COMPLEX_AMOUNT = 4;
 static const int _TEST_FP32_NONZERO_COMPLEX_AMOUNT = 7;
 
-static const BgcComplexFP32 _TEST_FP32_ZERO_COMPLEX_LIST[] = {
+static const BGC_FP32_Complex _TEST_FP32_ZERO_COMPLEX_LIST[] = {
     { 0.0f, 0.0f },
-    { 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { -0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { -0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.75f * BGC_FP32_EPSYLON },
-    { 0.0f, -0.75f * BGC_EPSYLON_FP32 }
+    { 0.0f, -0.75f * BGC_FP32_EPSYLON }
 };
 
-static const BgcComplexFP32 _TEST_FP32_NONZERO_QUATERION_LIST[] = {
+static const BGC_FP32_Complex _TEST_FP32_NONZERO_QUATERION_LIST[] = {
     { 0.0f, 1.0f },
-    { 1.25f * BGC_EPSYLON_FP32 },
+    { 1.25f * BGC_FP32_EPSYLON },
-    { -1.25f * BGC_EPSYLON_FP32 },
+    { -1.25f * BGC_FP32_EPSYLON },
-    { 0.0f, 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.25f * BGC_FP32_EPSYLON },
-    { 0.0f, -1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, -1.25f * BGC_FP32_EPSYLON },
-    { 1.25f * BGC_EPSYLON_FP32, 1.25f * BGC_EPSYLON_FP32 },
+    { 1.25f * BGC_FP32_EPSYLON, 1.25f * BGC_FP32_EPSYLON },
-    { -1.25f * BGC_EPSYLON_FP32, -1.25f * BGC_EPSYLON_FP32 }
+    { -1.25f * BGC_FP32_EPSYLON, -1.25f * BGC_FP32_EPSYLON }
 };
 
 void test_complex_is_zero_fp32()
 {
-    print_testing_name("bgc_complex_is_zero_fp32");
+    print_testing_name("bgc_fp32_complex_is_zero");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP32_ZERO_COMPLEX_AMOUNT; i++) {
-        if (!bgc_complex_is_zero_fp32(&_TEST_FP32_ZERO_COMPLEX_LIST[i])) {
+        if (!bgc_fp32_complex_is_zero(&_TEST_FP32_ZERO_COMPLEX_LIST[i])) {
             print_testing_error("A zero complex number was not recognized");
             return;
         }
@@ -39,7 +39,7 @@ void test_complex_is_zero_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NONZERO_COMPLEX_AMOUNT; i++) {
-        if (bgc_complex_is_zero_fp32(&_TEST_FP32_NONZERO_QUATERION_LIST[i])) {
+        if (bgc_fp32_complex_is_zero(&_TEST_FP32_NONZERO_QUATERION_LIST[i])) {
             print_testing_error("A non-zero complex number was recognized as a zero complex number");
             return;
         }
@@ -53,31 +53,31 @@ void test_complex_is_zero_fp32()
 static const int _TEST_FP64_ZERO_COMPLEX_AMOUNT = 4;
 static const int _TEST_FP64_NONZERO_COMPLEX_AMOUNT = 7;
 
-static const BgcComplexFP64 _TEST_FP64_ZERO_COMPLEX_LIST[] = {
+static const BGC_FP64_Complex _TEST_FP64_ZERO_COMPLEX_LIST[] = {
     { 0.0, 0.0 },
-    { 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { -0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { -0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.75 * BGC_FP64_EPSYLON },
-    { 0.0, -0.75 * BGC_EPSYLON_FP64 }
+    { 0.0, -0.75 * BGC_FP64_EPSYLON }
 };
 
-static const BgcComplexFP64 _TEST_FP64_NONZERO_QUATERION_LIST[] = {
+static const BGC_FP64_Complex _TEST_FP64_NONZERO_QUATERION_LIST[] = {
     { 0.0, 1.0 },
-    { 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { -1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { -1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.25 * BGC_FP64_EPSYLON },
-    { 0.0, -1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, -1.25 * BGC_FP64_EPSYLON },
-    { 1.25 * BGC_EPSYLON_FP64, 1.25 * BGC_EPSYLON_FP64 },
+    { 1.25 * BGC_FP64_EPSYLON, 1.25 * BGC_FP64_EPSYLON },
-    { -1.25 * BGC_EPSYLON_FP64, -1.25 * BGC_EPSYLON_FP64 }
+    { -1.25 * BGC_FP64_EPSYLON, -1.25 * BGC_FP64_EPSYLON }
 };
 
 void test_complex_is_zero_fp64()
 {
-    print_testing_name("bgc_complex_is_zero_fp64");
+    print_testing_name("bgc_fp64_complex_is_zero");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_ZERO_COMPLEX_AMOUNT; i++) {
-        if (!bgc_complex_is_zero_fp64(&_TEST_FP64_ZERO_COMPLEX_LIST[i])) {
+        if (!bgc_fp64_complex_is_zero(&_TEST_FP64_ZERO_COMPLEX_LIST[i])) {
             print_testing_error("A zero complex number was not recognized");
             return;
         }
@@ -85,7 +85,7 @@ void test_complex_is_zero_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NONZERO_COMPLEX_AMOUNT; i++) {
-        if (bgc_complex_is_zero_fp64(&_TEST_FP64_NONZERO_QUATERION_LIST[i])) {
+        if (bgc_fp64_complex_is_zero(&_TEST_FP64_NONZERO_QUATERION_LIST[i])) {
             print_testing_error("A non-zero complex number was recognized as a zero complex number");
             return;
         }

basic-geometry-test/tests/complex/complex_modulus.c

@@ -6,7 +6,7 @@
 
 static const int _TEST_FP32_COMPLEX_AMOUNT = 4;
 
-static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST[] = {
+static const BGC_FP32_Complex _TEST_FP32_COMPLEX_LIST[] = {
     { 4.0f, 3.0f },
     { -1.0f, 1.0f },
     { 100.0f, -100.0f },
@@ -29,10 +29,10 @@ static const float _TEST_FP32_MODULUS_LIST[] = {
 
 void test_complex_square_modulus_fp32()
 {
-    print_testing_name("bgc_complex_get_square_modulus_fp32");
+    print_testing_name("bgc_fp32_complex_get_square_modulus");
 
     for (int i = 0; i < _TEST_FP32_COMPLEX_AMOUNT; i++) {
-        if (!bgc_are_close_fp32(bgc_complex_get_square_modulus_fp32(&_TEST_FP32_COMPLEX_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) {
+        if (!bgc_fp32_are_close(bgc_fp32_complex_get_square_modulus(&_TEST_FP32_COMPLEX_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -43,10 +43,10 @@ void test_complex_square_modulus_fp32()
 
 void test_complex_modulus_fp32()
 {
-    print_testing_name("bgc_complex_get_modulus_fp32");
+    print_testing_name("bgc_fp32_complex_get_modulus");
 
     for (int i = 0; i < _TEST_FP32_COMPLEX_AMOUNT; i++) {
-        if (!bgc_are_close_fp32(bgc_complex_get_modulus_fp32(&_TEST_FP32_COMPLEX_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) {
+        if (!bgc_fp32_are_close(bgc_fp32_complex_get_modulus(&_TEST_FP32_COMPLEX_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -59,7 +59,7 @@ void test_complex_modulus_fp32()
 
 static const int _TEST_FP64_COMPLEX_AMOUNT = 4;
 
-static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST[] = {
+static const BGC_FP64_Complex _TEST_FP64_COMPLEX_LIST[] = {
     { 4.0, 3.0 },
     { -1.0, -1.0 },
     { -100.0, 100.0 },
@@ -82,10 +82,10 @@ static const double _TEST_FP64_MODULUS_LIST[] = {
 
 void test_complex_square_modulus_fp64()
 {
-    print_testing_name("bgc_complex_get_square_modulus_fp64");
+    print_testing_name("bgc_fp64_complex_get_square_modulus");
 
     for (int i = 0; i < _TEST_FP64_COMPLEX_AMOUNT; i++) {
-        if (!bgc_are_close_fp64(bgc_complex_get_square_modulus_fp64(&_TEST_FP64_COMPLEX_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) {
+        if (!bgc_fp64_are_close(bgc_fp64_complex_get_square_modulus(&_TEST_FP64_COMPLEX_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -96,10 +96,10 @@ void test_complex_square_modulus_fp64()
 
 void test_complex_modulus_fp64()
 {
-    print_testing_name("bgc_complex_get_modulus_fp64");
+    print_testing_name("bgc_fp64_complex_get_modulus");
 
     for (int i = 0; i < _TEST_FP64_COMPLEX_AMOUNT; i++) {
-        if (!bgc_are_close_fp64(bgc_complex_get_modulus_fp64(&_TEST_FP64_COMPLEX_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) {
+        if (!bgc_fp64_are_close(bgc_fp64_complex_get_modulus(&_TEST_FP64_COMPLEX_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }

basic-geometry-test/tests/complex/complex_reset.c

@@ -4,11 +4,11 @@
 
 void test_complex_reset_fp32()
 {
-    BgcComplexFP32 vector;
+    BGC_FP32_Complex vector;
 
-    print_testing_name("bgc_complex_reset_fp32");
+    print_testing_name("bgc_fp32_complex_reset");
 
-    bgc_complex_reset_fp32(&vector);
+    bgc_fp32_complex_reset(&vector);
 
     if (vector.real != 0.0f || vector.imaginary != 0.0f) {
         print_testing_failed();
@@ -20,11 +20,11 @@ void test_complex_reset_fp32()
 
 void test_complex_reset_fp64()
 {
-    BgcComplexFP64 vector;
+    BGC_FP64_Complex vector;
 
-    print_testing_name("bgc_complex_reset_fp64");
+    print_testing_name("bgc_fp64_complex_reset");
 
-    bgc_complex_reset_fp64(&vector);
+    bgc_fp64_complex_reset(&vector);
 
     if (vector.real != 0.0 || vector.imaginary != 0.0) {
         print_testing_failed();

basic-geometry-test/tests/complex/complex_set_values.c

@@ -8,25 +8,25 @@
 
 void test_complex_set_values_fp32()
 {
-    BgcComplexFP32 vector;
+    BGC_FP32_Complex vector;
 
-    print_testing_name("bgc_complex_set_values_fp32");
+    print_testing_name("bgc_fp32_complex_make");
 
-    bgc_complex_set_values_fp32(1.0f, 2.0f, &vector);
+    bgc_fp32_complex_make(1.0f, 2.0f, &vector);
 
     if (vector.real != 1.0f || vector.imaginary != 2.0f) {
         print_testing_error("First step failed");
         return;
     }
 
-    bgc_complex_set_values_fp32(-1.0f, -3.0f, &vector);
+    bgc_fp32_complex_make(-1.0f, -3.0f, &vector);
 
     if (vector.real != -1.0f || vector.imaginary != -3.0f) {
         print_testing_error("Second step failed");
         return;
     }
 
-    bgc_complex_set_values_fp32(-8.0f, -2.0f, &vector);
+    bgc_fp32_complex_make(-8.0f, -2.0f, &vector);
 
     if (vector.real != -8.0f || vector.imaginary != -2.0f) {
         print_testing_error("Third step failed");
@@ -40,25 +40,25 @@ void test_complex_set_values_fp32()
 
 void test_complex_set_values_fp64()
 {
-    BgcComplexFP64 vector;
+    BGC_FP64_Complex vector;
 
-    print_testing_name("bgc_complex_set_values_fp64");
+    print_testing_name("bgc_fp64_complex_make");
 
-    bgc_complex_set_values_fp64(1.0, 2.0, &vector);
+    bgc_fp64_complex_make(1.0, 2.0, &vector);
 
     if (vector.real != 1.0 || vector.imaginary != 2.0) {
         print_testing_error("First step failed");
         return;
     }
 
-    bgc_complex_set_values_fp64(-1.0, -3.0, &vector);
+    bgc_fp64_complex_make(-1.0, -3.0, &vector);
 
     if (vector.real != -1.0 || vector.imaginary != -3.0) {
         print_testing_error("Second step failed");
         return;
     }
 
-    bgc_complex_set_values_fp64(-8.0, -2.0, &vector);
+    bgc_fp64_complex_make(-8.0, -2.0, &vector);
 
     if (vector.real != -8.0 || vector.imaginary != -2.0) {
         print_testing_error("Third step failed");

basic-geometry-test/tests/complex/complex_swap.c

@@ -8,14 +8,14 @@
 
 static const int _TEST_FP32_COMPLEX_AMOUNT = 4;
 
-static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST1[] = {
+static const BGC_FP32_Complex _TEST_FP32_COMPLEX_LIST1[] = {
     { 3.0f, 4.0f },
     { -2.0f, -1.0f },
     { -244.8f, 100.0f },
     { 1000.32f, -100.1f }
 };
 
-static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST2[] = {
+static const BGC_FP32_Complex _TEST_FP32_COMPLEX_LIST2[] = {
     { 5.3f, 1003.28f },
     { -0.0032f, 891.3f },
     { 5.322f, 0.9275f },
@@ -24,15 +24,15 @@ static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST2[] = {
 
 void test_complex_swap_fp32()
 {
-    BgcComplexFP32 compleimaginary, complex2;
+    BGC_FP32_Complex compleimaginary, complex2;
 
-    print_testing_name("bgc_complex_swap_fp32");
+    print_testing_name("bgc_fp32_complex_swap");
 
     for (int i = 0; i < _TEST_FP32_COMPLEX_AMOUNT; i++) {
-        bgc_complex_copy_fp32(&_TEST_FP32_COMPLEX_LIST1[i], &compleimaginary);
+        bgc_fp32_complex_copy(&_TEST_FP32_COMPLEX_LIST1[i], &compleimaginary);
-        bgc_complex_copy_fp32(&_TEST_FP32_COMPLEX_LIST2[i], &complex2);
+        bgc_fp32_complex_copy(&_TEST_FP32_COMPLEX_LIST2[i], &complex2);
 
-        bgc_complex_swap_fp32(&compleimaginary, &complex2);
+        bgc_fp32_complex_swap(&compleimaginary, &complex2);
 
         if (compleimaginary.real != _TEST_FP32_COMPLEX_LIST2[i].real ||
             compleimaginary.imaginary != _TEST_FP32_COMPLEX_LIST2[i].imaginary ||
@@ -50,14 +50,14 @@ void test_complex_swap_fp32()
 
 static const int _TEST_FP64_COMPLEX_AMOUNT = 4;
 
-static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST1[] = {
+static const BGC_FP64_Complex _TEST_FP64_COMPLEX_LIST1[] = {
     { 1.0, 4.0 },
     { -4.0, -3.0 },
     { -244.8, 344.7 },
     { 1000.32, -271.3 }
 };
 
-static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST2[] = {
+static const BGC_FP64_Complex _TEST_FP64_COMPLEX_LIST2[] = {
     { -0.123, 1003.28 },
     { 204.07, -781.89 },
     { 5.322, 0.9275 },
@@ -66,15 +66,15 @@ static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST2[] = {
 
 void test_complex_swap_fp64()
 {
-    BgcComplexFP64 compleimaginary, complex2;
+    BGC_FP64_Complex compleimaginary, complex2;
 
-    print_testing_name("bgc_complex_swap_fp64");
+    print_testing_name("bgc_fp64_complex_swap");
 
     for (int i = 0; i < _TEST_FP64_COMPLEX_AMOUNT; i++) {
-        bgc_complex_copy_fp64(&_TEST_FP64_COMPLEX_LIST1[i], &compleimaginary);
+        bgc_fp64_complex_copy(&_TEST_FP64_COMPLEX_LIST1[i], &compleimaginary);
-        bgc_complex_copy_fp64(&_TEST_FP64_COMPLEX_LIST2[i], &complex2);
+        bgc_fp64_complex_copy(&_TEST_FP64_COMPLEX_LIST2[i], &complex2);
 
-        bgc_complex_swap_fp64(&compleimaginary, &complex2);
+        bgc_fp64_complex_swap(&compleimaginary, &complex2);
 
         if (compleimaginary.real != _TEST_FP64_COMPLEX_LIST2[i].real ||
             compleimaginary.imaginary != _TEST_FP64_COMPLEX_LIST2[i].imaginary ||

basic-geometry-test/tests/quaternion/quaternion_copy.c

@@ -7,7 +7,7 @@
 // ==================== FP32 ==================== //
 
 static const int _TEST_FP32_QUATERNION_AMOUNT = 4;
-static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_QUATERNION_LIST[] = {
     { 1.0f, 2.0f, 3.0f, 4.0f },
     { -4.0f, -3.0f, -2.0f, -1.0f },
     { -0.001f, 100.0f, -100.0f, 0.001f },
@@ -16,13 +16,13 @@ static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST[] = {
 
 void test_quaternion_copy_fp32()
 {
-    BgcQuaternionFP32 vector;
+    BGC_FP32_Quaternion vector;
 
-    print_testing_name("bgc_quaternion_copy_fp32");
+    print_testing_name("bgc_fp32_quaternion_copy");
 
     for (int i = 0; i < _TEST_FP32_QUATERNION_AMOUNT; i++) {
 
-        bgc_quaternion_copy_fp32(&_TEST_FP32_QUATERNION_LIST[i], &vector);
+        bgc_fp32_quaternion_copy(&_TEST_FP32_QUATERNION_LIST[i], &vector);
 
         if (vector.s0 != _TEST_FP32_QUATERNION_LIST[i].s0 ||
             vector.x1 != _TEST_FP32_QUATERNION_LIST[i].x1 ||
@@ -39,7 +39,7 @@ void test_quaternion_copy_fp32()
 // ==================== FP64 ==================== //
 
 static const int _TEST_FP64_QUATERNION_AMOUNT = 4;
-static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST[] = {
+static const BGC_FP64_Quaternion _TEST_FP64_QUATERNION_LIST[] = {
     { 1.0, 2.0, 3.0, 4.0 },
     { -4.0, -3.0, -2.0, -1.0 },
     { -0.001, 100.0, -100.0, 0.001 },
@@ -48,13 +48,13 @@ static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST[] = {
 
 void test_quaternion_copy_fp64()
 {
-    BgcQuaternionFP64 vector;
+    BGC_FP64_Quaternion vector;
 
-    print_testing_name("bgc_quaternion_copy_fp64");
+    print_testing_name("bgc_fp64_quaternion_copy");
 
     for (int i = 0; i < _TEST_FP64_QUATERNION_AMOUNT; i++) {
 
-        bgc_quaternion_copy_fp64(&_TEST_FP64_QUATERNION_LIST[i], &vector);
+        bgc_fp64_quaternion_copy(&_TEST_FP64_QUATERNION_LIST[i], &vector);
 
         if (vector.s0 != _TEST_FP64_QUATERNION_LIST[i].s0 ||
             vector.x1 != _TEST_FP64_QUATERNION_LIST[i].x1 ||

basic-geometry-test/tests/quaternion/quaternion_is_unit.c

@@ -7,45 +7,45 @@
 static const int _TEST_FP32_UNIT_QUATERNION_AMOUNT = 16;
 static const int _TEST_FP32_NONUNIT_QUATERNION_AMOUNT = 10;
 
-static const BgcQuaternionFP32 _TEST_FP32_UNIT_QUATERNION_LIST[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_UNIT_QUATERNION_LIST[] = {
     { 1.0f, 0.0f, 0.0f, 0.0f },
     { -1.0f, 0.0f, 0.0f, 0.0f },
     { 0.0f, -0.8f, 0.6f, 0.0f },
-    { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f },
-    { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f },
-    { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON },
-    { 0.0f, 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON },
     { 0.5f, 0.5f, 0.5f, 0.5f },
-    { 0.5f + 0.75f * BGC_EPSYLON_FP32, 0.5f, 0.5f, 0.5f },
+    { 0.5f + 0.75f * BGC_FP32_EPSYLON, 0.5f, 0.5f, 0.5f },
-    { 0.5f, 0.5f - 0.75f * BGC_EPSYLON_FP32, 0.5f, 0.5f },
+    { 0.5f, 0.5f - 0.75f * BGC_FP32_EPSYLON, 0.5f, 0.5f },
-    { 0.5f, 0.5f, 0.5f + 0.75f * BGC_EPSYLON_FP32, 0.5f },
+    { 0.5f, 0.5f, 0.5f + 0.75f * BGC_FP32_EPSYLON, 0.5f },
-    { 0.5f, 0.5f, 0.5f, 0.5f - 0.75f * BGC_EPSYLON_FP32 }
+    { 0.5f, 0.5f, 0.5f, 0.5f - 0.75f * BGC_FP32_EPSYLON }
 };
 
-static const BgcQuaternionFP32 _TEST_FP32_NONUNIT_QUATERION_LIST[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_NONUNIT_QUATERION_LIST[] = {
-    { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f },
-    { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f },
-    { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON },
-    { 0.0f, 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON },
-    { 0.5f + 1.25f * BGC_EPSYLON_FP32, 0.5f + 1.25f * BGC_EPSYLON_FP32, 0.5f, 0.5f },
+    { 0.5f + 1.25f * BGC_FP32_EPSYLON, 0.5f + 1.25f * BGC_FP32_EPSYLON, 0.5f, 0.5f },
-    { 0.5f - 1.25f * BGC_EPSYLON_FP32, 0.5f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.5f }
+    { 0.5f - 1.25f * BGC_FP32_EPSYLON, 0.5f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.5f }
 };
 
 void test_quaternion_is_unit_fp32()
 {
-    print_testing_name("bgc_quaternion_is_unit_fp32");
+    print_testing_name("bgc_fp32_quaternion_is_unit");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP32_UNIT_QUATERNION_AMOUNT; i++) {
-        if (!bgc_quaternion_is_unit_fp32(&_TEST_FP32_UNIT_QUATERNION_LIST[i])) {
+        if (!bgc_fp32_quaternion_is_unit(&_TEST_FP32_UNIT_QUATERNION_LIST[i])) {
             print_testing_error("A unit quaternion was not recognized");
             return;
         }
@@ -53,7 +53,7 @@ void test_quaternion_is_unit_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NONUNIT_QUATERNION_AMOUNT; i++) {
-        if (bgc_quaternion_is_unit_fp32(&_TEST_FP32_NONUNIT_QUATERION_LIST[i])) {
+        if (bgc_fp32_quaternion_is_unit(&_TEST_FP32_NONUNIT_QUATERION_LIST[i])) {
             print_testing_error("A non-unit quaternion was recognized a unit quaternion");
             return;
         }
@@ -67,45 +67,45 @@ void test_quaternion_is_unit_fp32()
 static const int _TEST_FP64_UNIT_QUATERNION_AMOUNT = 16;
 static const int _TEST_FP64_NONUNIT_QUATERNION_AMOUNT = 10;
 
-static const BgcQuaternionFP64 _TEST_FP64_UNIT_QUATERNION_LIST[] = {
+static const BGC_FP64_Quaternion _TEST_FP64_UNIT_QUATERNION_LIST[] = {
     { 1.0, 0.0, 0.0, 0.0 },
     { -1.0, 0.0, 0.0, 0.0 },
     { 0.0, -0.6, 0.8, 0.0 },
-    { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 },
-    { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 },
-    { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON },
-    { 0.0, 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON },
     { 0.5, 0.5, 0.5, 0.5 },
-    { 0.5 + 0.75 * BGC_EPSYLON_FP64, 0.5, 0.5, 0.5 },
+    { 0.5 + 0.75 * BGC_FP64_EPSYLON, 0.5, 0.5, 0.5 },
-    { 0.5, 0.5 - 0.75 * BGC_EPSYLON_FP64, 0.5, 0.5 },
+    { 0.5, 0.5 - 0.75 * BGC_FP64_EPSYLON, 0.5, 0.5 },
-    { 0.5, 0.5, 0.5 + 0.75 * BGC_EPSYLON_FP64, 0.5 },
+    { 0.5, 0.5, 0.5 + 0.75 * BGC_FP64_EPSYLON, 0.5 },
-    { 0.5, 0.5, 0.5, 0.5 - 0.75 * BGC_EPSYLON_FP64 }
+    { 0.5, 0.5, 0.5, 0.5 - 0.75 * BGC_FP64_EPSYLON }
 };
 
-static const BgcQuaternionFP64 _TEST_FP64_NONUNIT_QUATERION_LIST[] = {
+static const BGC_FP64_Quaternion _TEST_FP64_NONUNIT_QUATERION_LIST[] = {
-    { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 },
-    { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 },
-    { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON },
-    { 0.0, 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON },
-    { 0.5 + 1.25 * BGC_EPSYLON_FP64, 0.5 + 1.25 * BGC_EPSYLON_FP64, 0.5, 0.5 },
+    { 0.5 + 1.25 * BGC_FP64_EPSYLON, 0.5 + 1.25 * BGC_FP64_EPSYLON, 0.5, 0.5 },
-    { 0.5 - 1.25 * BGC_EPSYLON_FP64, 0.5 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.5 }
+    { 0.5 - 1.25 * BGC_FP64_EPSYLON, 0.5 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.5 }
 };
 
 void test_quaternion_is_unit_fp64()
 {
-    print_testing_name("bgc_quaternion_is_unit_fp64");
+    print_testing_name("bgc_fp64_quaternion_is_unit");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_UNIT_QUATERNION_AMOUNT; i++) {
-        if (!bgc_quaternion_is_unit_fp64(&_TEST_FP64_UNIT_QUATERNION_LIST[i])) {
+        if (!bgc_fp64_quaternion_is_unit(&_TEST_FP64_UNIT_QUATERNION_LIST[i])) {
             print_testing_error("A unit quaternion was not recognized");
             return;
         }
@@ -113,7 +113,7 @@ void test_quaternion_is_unit_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NONUNIT_QUATERNION_AMOUNT; i++) {
-        if (bgc_quaternion_is_unit_fp64(&_TEST_FP64_NONUNIT_QUATERION_LIST[i])) {
+        if (bgc_fp64_quaternion_is_unit(&_TEST_FP64_NONUNIT_QUATERION_LIST[i])) {
             print_testing_error("A non-unit quaternion was recognized a unit quaternion");
             return;
         }

basic-geometry-test/tests/quaternion/quaternion_is_zero.c

@@ -7,39 +7,39 @@
 static const int _TEST_FP32_ZERO_QUATERNION_AMOUNT = 9;
 static const int _TEST_FP32_NONZERO_QUATERNION_AMOUNT = 11;
 
-static const BgcQuaternionFP32 _TEST_FP32_ZERO_QUATERNION_LIST[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_ZERO_QUATERNION_LIST[] = {
     { 0.0f, 0.0f, 0.0f, 0.0f },
-    { 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f },
-    { -0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { -0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f },
-    { 0.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, -0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, -0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, 0.75f * BGC_FP32_EPSYLON },
-    { 0.0f, 0.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32 }
+    { 0.0f, 0.0f, 0.0f, -0.75f * BGC_FP32_EPSYLON }
 };
 
-static const BgcQuaternionFP32 _TEST_FP32_NONZERO_QUATERION_LIST[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_NONZERO_QUATERION_LIST[] = {
     { 0.0f, 1.0f, 0.0f, 0.0f },
-    { 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f },
-    { -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { -1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f },
-    { 0.0f, 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, -1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, 0.0f, 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, -1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, -1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, 0.0f, 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, 1.25f * BGC_FP32_EPSYLON },
-    { 0.0f, 0.0f, 0.0f, -1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, -1.25f * BGC_FP32_EPSYLON },
-    { 1.25f * BGC_EPSYLON_FP32, 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.25f * BGC_FP32_EPSYLON, 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { -1.25f * BGC_EPSYLON_FP32, -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
+    { -1.25f * BGC_FP32_EPSYLON, -1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }
 };
 
 void test_quaternion_is_zero_fp32()
 {
-    print_testing_name("bgc_quaternion_is_zero_fp32");
+    print_testing_name("bgc_fp32_quaternion_is_zero");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP32_ZERO_QUATERNION_AMOUNT; i++) {
-        if (!bgc_quaternion_is_zero_fp32(&_TEST_FP32_ZERO_QUATERNION_LIST[i])) {
+        if (!bgc_fp32_quaternion_is_zero(&_TEST_FP32_ZERO_QUATERNION_LIST[i])) {
             print_testing_error("A zero quaternion was not recognized");
             return;
         }
@@ -47,7 +47,7 @@ void test_quaternion_is_zero_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NONZERO_QUATERNION_AMOUNT; i++) {
-        if (bgc_quaternion_is_zero_fp32(&_TEST_FP32_NONZERO_QUATERION_LIST[i])) {
+        if (bgc_fp32_quaternion_is_zero(&_TEST_FP32_NONZERO_QUATERION_LIST[i])) {
             print_testing_error("A non-zero quaternion was recognized as a zero quaternion");
             return;
         }
@@ -61,39 +61,39 @@ void test_quaternion_is_zero_fp32()
 static const int _TEST_FP64_ZERO_QUATERNION_AMOUNT = 9;
 static const int _TEST_FP64_NONZERO_QUATERNION_AMOUNT = 11;
 
-static const BgcQuaternionFP64 _TEST_FP64_ZERO_QUATERNION_LIST[] = {
+static const BGC_FP64_Quaternion _TEST_FP64_ZERO_QUATERNION_LIST[] = {
     { 0.0, 0.0, 0.0, 0.0 },
-    { 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 },
-    { -0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { -0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 },
-    { 0.0, 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, -0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, -0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, 0.0, 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, -0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, -0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, 0.0, 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, 0.75 * BGC_FP64_EPSYLON },
-    { 0.0, 0.0, 0.0, -0.75 * BGC_EPSYLON_FP64 }
+    { 0.0, 0.0, 0.0, -0.75 * BGC_FP64_EPSYLON }
 };
 
-static const BgcQuaternionFP64 _TEST_FP64_NONZERO_QUATERION_LIST[] = {
+static const BGC_FP64_Quaternion _TEST_FP64_NONZERO_QUATERION_LIST[] = {
     { 0.0, 1.0, 0.0, 0.0 },
-    { 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 },
-    { -1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { -1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 },
-    { 0.0, 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, -1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, -1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, 0.0, 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, -1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, -1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, 0.0, 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, 1.25 * BGC_FP64_EPSYLON },
-    { 0.0, 0.0, 0.0, -1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, -1.25 * BGC_FP64_EPSYLON },
-    { 1.25 * BGC_EPSYLON_FP64, 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.25 * BGC_FP64_EPSYLON, 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { -1.25 * BGC_EPSYLON_FP64, -1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }
+    { -1.25 * BGC_FP64_EPSYLON, -1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }
 };
 
 void test_quaternion_is_zero_fp64()
 {
-    print_testing_name("bgc_quaternion_is_zero_fp64");
+    print_testing_name("bgc_fp64_quaternion_is_zero");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_ZERO_QUATERNION_AMOUNT; i++) {
-        if (!bgc_quaternion_is_zero_fp64(&_TEST_FP64_ZERO_QUATERNION_LIST[i])) {
+        if (!bgc_fp64_quaternion_is_zero(&_TEST_FP64_ZERO_QUATERNION_LIST[i])) {
             print_testing_error("A zero quaternion was not recognized");
             return;
         }
@@ -101,7 +101,7 @@ void test_quaternion_is_zero_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NONZERO_QUATERNION_AMOUNT; i++) {
-        if (bgc_quaternion_is_zero_fp64(&_TEST_FP64_NONZERO_QUATERION_LIST[i])) {
+        if (bgc_fp64_quaternion_is_zero(&_TEST_FP64_NONZERO_QUATERION_LIST[i])) {
             print_testing_error("A non-zero quaternion was recognized as a zero quaternion");
             return;
         }

basic-geometry-test/tests/quaternion/quaternion_modulus.c

@@ -6,7 +6,7 @@
 
 static const int _TEST_FP32_QUATERNION_AMOUNT = 4;
 
-static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_QUATERNION_LIST[] = {
     { 0.0f, 4.0f, 3.0f, 0.0f },
     { -1.0f, 1.0f, -1.0f, 1.0f },
     { 100.0f, -100.0f, 0.0f, 100.0f },
@@ -29,10 +29,10 @@ static const float _TEST_FP32_MODULUS_LIST[] = {
 
 void test_quaternion_square_modulus_fp32()
 {
-    print_testing_name("bgc_quaternion_get_square_modulus_fp32");
+    print_testing_name("bgc_fp32_quaternion_get_square_modulus");
 
     for (int i = 0; i < _TEST_FP32_QUATERNION_AMOUNT; i++) {
-        if (!bgc_are_close_fp32(bgc_quaternion_get_square_modulus_fp32(&_TEST_FP32_QUATERNION_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) {
+        if (!bgc_fp32_are_close(bgc_fp32_quaternion_get_square_modulus(&_TEST_FP32_QUATERNION_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -43,10 +43,10 @@ void test_quaternion_square_modulus_fp32()
 
 void test_quaternion_modulus_fp32()
 {
-    print_testing_name("bgc_quaternion_get_modulus_fp32");
+    print_testing_name("bgc_fp32_quaternion_get_modulus");
 
     for (int i = 0; i < _TEST_FP32_QUATERNION_AMOUNT; i++) {
-        if (!bgc_are_close_fp32(bgc_quaternion_get_modulus_fp32(&_TEST_FP32_QUATERNION_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) {
+        if (!bgc_fp32_are_close(bgc_fp32_quaternion_get_modulus(&_TEST_FP32_QUATERNION_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -59,7 +59,7 @@ void test_quaternion_modulus_fp32()
 
 static const int _TEST_FP64_QUATERNION_AMOUNT = 4;
 
-static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST[] = {
+static const BGC_FP64_Quaternion _TEST_FP64_QUATERNION_LIST[] = {
     { 0.0, 4.0, 3.0, 0.0 },
     { -1.0, 1.0, -1.0, 1.0 },
     { 100.0, -100.0, 0.0, 100.0 },
@@ -82,10 +82,10 @@ static const double _TEST_FP64_MODULUS_LIST[] = {
 
 void test_quaternion_square_modulus_fp64()
 {
-    print_testing_name("bgc_quaternion_get_square_modulus_fp64");
+    print_testing_name("bgc_fp64_quaternion_get_square_modulus");
 
     for (int i = 0; i < _TEST_FP64_QUATERNION_AMOUNT; i++) {
-        if (!bgc_are_close_fp64(bgc_quaternion_get_square_modulus_fp64(&_TEST_FP64_QUATERNION_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) {
+        if (!bgc_fp64_are_close(bgc_fp64_quaternion_get_square_modulus(&_TEST_FP64_QUATERNION_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -96,10 +96,10 @@ void test_quaternion_square_modulus_fp64()
 
 void test_quaternion_modulus_fp64()
 {
-    print_testing_name("bgc_quaternion_get_modulus_fp64");
+    print_testing_name("bgc_fp64_quaternion_get_modulus");
 
     for (int i = 0; i < _TEST_FP64_QUATERNION_AMOUNT; i++) {
-        if (!bgc_are_close_fp64(bgc_quaternion_get_modulus_fp64(&_TEST_FP64_QUATERNION_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) {
+        if (!bgc_fp64_are_close(bgc_fp64_quaternion_get_modulus(&_TEST_FP64_QUATERNION_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }

basic-geometry-test/tests/quaternion/quaternion_reset.c

@@ -4,11 +4,11 @@
 
 void test_quaternion_reset_fp32()
 {
-    BgcQuaternionFP32 vector;
+    BGC_FP32_Quaternion vector;
 
-    print_testing_name("bgc_quaternion_reset_fp32");
+    print_testing_name("bgc_fp32_quaternion_reset");
 
-    bgc_quaternion_reset_fp32(&vector);
+    bgc_fp32_quaternion_reset(&vector);
 
     if (vector.s0 != 0.0f || vector.x1 != 0.0f || vector.x2 != 0.0f || vector.x3 != 0.0f) {
         print_testing_failed();
@@ -20,11 +20,11 @@ void test_quaternion_reset_fp32()
 
 void test_quaternion_reset_fp64()
 {
-    BgcQuaternionFP64 vector;
+    BGC_FP64_Quaternion vector;
 
-    print_testing_name("bgc_quaternion_reset_fp64");
+    print_testing_name("bgc_fp64_quaternion_reset");
 
-    bgc_quaternion_reset_fp64(&vector);
+    bgc_fp64_quaternion_reset(&vector);
 
     if (vector.s0 != 0.0 || vector.x1 != 0.0 || vector.x2 != 0.0 || vector.x3 != 0.0) {
         print_testing_failed();

basic-geometry-test/tests/quaternion/quaternion_set_to_identity.c

@@ -2,13 +2,13 @@
 
 #include "./../../helpers.h"
 
-void test_quaternion_set_to_identity_fp32()
+void test_quaternion_make_unit_fp32()
 {
-    BgcQuaternionFP32 vector;
+    BGC_FP32_Quaternion vector;
 
-    print_testing_name("bgc_quaternion_set_to_identity_fp32");
+    print_testing_name("bgc_fp32_quaternion_make_unit");
 
-    bgc_quaternion_make_unit_fp32(&vector);
+    bgc_fp32_quaternion_make_unit(&vector);
 
     if (vector.s0 != 1.0f || vector.x1 != 0.0f || vector.x2 != 0.0f || vector.x3 != 0.0f) {
         print_testing_failed();
@@ -18,13 +18,13 @@ void test_quaternion_set_to_identity_fp32()
     print_testing_success();
 }
 
-void test_quaternion_set_to_identity_fp64()
+void test_quaternion_make_unit_fp64()
 {
-    BgcQuaternionFP64 vector;
+    BGC_FP64_Quaternion vector;
 
-    print_testing_name("bgc_quaternion_set_to_identity_fp64");
+    print_testing_name("bgc_fp64_quaternion_make_unit");
 
-    bgc_quaternion_make_unit_fp64(&vector);
+    bgc_fp64_quaternion_make_unit(&vector);
 
     if (vector.s0 != 1.0 || vector.x1 != 0.0 || vector.x2 != 0.0 || vector.x3 != 0.0) {
         print_testing_failed();
@@ -36,6 +36,6 @@ void test_quaternion_set_to_identity_fp64()
 
 void test_quaternion_set_to_identity()
 {
-    test_quaternion_set_to_identity_fp32();
+    test_quaternion_make_unit_fp32();
-    test_quaternion_set_to_identity_fp64();
+    test_quaternion_make_unit_fp64();
 }

basic-geometry-test/tests/quaternion/quaternion_set_to_identity.h

@@ -1,9 +1,9 @@
 #ifndef _TEST_QUATERNION_SET_TO_IDENTITY_H_
 #define _TEST_QUATERNION_SET_TO_IDENTITY_H_
 
-void test_quaternion_set_to_identity_fp32();
+void test_quaternion_make_unit_fp32();
 
-void test_quaternion_set_to_identity_fp64();
+void test_quaternion_make_unit_fp64();
 
 void test_quaternion_set_to_identity();
 

basic-geometry-test/tests/quaternion/quaternion_set_values.c

@@ -8,25 +8,25 @@
 
 void test_quaternion_set_values_fp32()
 {
-    BgcQuaternionFP32 vector;
+    BGC_FP32_Quaternion vector;
 
-    print_testing_name("bgc_quaternion_set_values_fp32");
+    print_testing_name("bgc_fp32_quaternion_make");
 
-    bgc_quaternion_set_values_fp32(1.0f, 2.0f, 3.0f, 4.0f, &vector);
+    bgc_fp32_quaternion_make(1.0f, 2.0f, 3.0f, 4.0f, &vector);
 
     if (vector.s0 != 1.0f || vector.x1 != 2.0f || vector.x2 != 3.0f || vector.x3 != 4.0f) {
         print_testing_error("First step failed");
         return;
     }
 
-    bgc_quaternion_set_values_fp32(-1.0f, -3.0f, -5.0f, -7.0f, &vector);
+    bgc_fp32_quaternion_make(-1.0f, -3.0f, -5.0f, -7.0f, &vector);
 
     if (vector.s0 != -1.0f || vector.x1 != -3.0f || vector.x2 != -5.0f || vector.x3 != -7.0f) {
         print_testing_error("Second step failed");
         return;
     }
 
-    bgc_quaternion_set_values_fp32(-8.0f, -2.0f, 2.0f, 4.0f, &vector);
+    bgc_fp32_quaternion_make(-8.0f, -2.0f, 2.0f, 4.0f, &vector);
 
     if (vector.s0 != -8.0f || vector.x1 != -2.0f || vector.x2 != 2.0f || vector.x3 != 4.0f) {
         print_testing_error("Third step failed");
@@ -40,25 +40,25 @@ void test_quaternion_set_values_fp32()
 
 void test_quaternion_set_values_fp64()
 {
-    BgcQuaternionFP64 vector;
+    BGC_FP64_Quaternion vector;
 
-    print_testing_name("bgc_quaternion_set_values_fp64");
+    print_testing_name("bgc_fp64_quaternion_make");
 
-    bgc_quaternion_set_values_fp64(1.0, 2.0, 3.0, 4.0, &vector);
+    bgc_fp64_quaternion_make(1.0, 2.0, 3.0, 4.0, &vector);
 
     if (vector.s0 != 1.0 || vector.x1 != 2.0 || vector.x2 != 3.0 || vector.x3 != 4.0) {
         print_testing_error("First step failed");
         return;
     }
 
-    bgc_quaternion_set_values_fp64(-1.0, -3.0, -5.0, -7.0, &vector);
+    bgc_fp64_quaternion_make(-1.0, -3.0, -5.0, -7.0, &vector);
 
     if (vector.s0 != -1.0 || vector.x1 != -3.0 || vector.x2 != -5.0 || vector.x3 != -7.0) {
         print_testing_error("Second step failed");
         return;
     }
 
-    bgc_quaternion_set_values_fp64(-8.0, -2.0, 2.0, 4.0, &vector);
+    bgc_fp64_quaternion_make(-8.0, -2.0, 2.0, 4.0, &vector);
 
     if (vector.s0 != -8.0 || vector.x1 != -2.0 || vector.x2 != 2.0 || vector.x3 != 4.0) {
         print_testing_error("Third step failed");

basic-geometry-test/tests/quaternion/quaternion_swap.c

@@ -8,14 +8,14 @@
 
 static const int _TEST_FP32_QUATERNION_AMOUNT = 4;
 
-static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST1[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_QUATERNION_LIST1[] = {
     { 1.0f, 2.0f, 3.0f, 4.0f },
     { -4.0f, -3.0f, -2.0f, -1.0f },
     { -244.8f, 100.0f, -100.0f, 344.7f },
     { 1000.32f, -100.1f, 100.2f, -271.3f }
 };
 
-static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST2[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_QUATERNION_LIST2[] = {
     { 3.6f, -0.123f, 5.3f, 1003.28f },
     { 204.07f, -781.89f, -0.0032f, 891.3f },
     { -20.02f, -1.0003f, 5.322f, 0.9275f },
@@ -24,15 +24,15 @@ static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST2[] = {
 
 void test_quaternion_swap_fp32()
 {
-    BgcQuaternionFP32 quaternion1, quaternion2;
+    BGC_FP32_Quaternion quaternion1, quaternion2;
 
-    print_testing_name("bgc_quaternion_swap_fp32");
+    print_testing_name("bgc_fp32_quaternion_swap");
 
     for (int i = 0; i < _TEST_FP32_QUATERNION_AMOUNT; i++) {
-        bgc_quaternion_copy_fp32(&_TEST_FP32_QUATERNION_LIST1[i], &quaternion1);
+        bgc_fp32_quaternion_copy(&_TEST_FP32_QUATERNION_LIST1[i], &quaternion1);
-        bgc_quaternion_copy_fp32(&_TEST_FP32_QUATERNION_LIST2[i], &quaternion2);
+        bgc_fp32_quaternion_copy(&_TEST_FP32_QUATERNION_LIST2[i], &quaternion2);
 
-        bgc_quaternion_swap_fp32(&quaternion1, &quaternion2);
+        bgc_fp32_quaternion_swap(&quaternion1, &quaternion2);
 
         if (quaternion1.s0 != _TEST_FP32_QUATERNION_LIST2[i].s0 ||
             quaternion1.x1 != _TEST_FP32_QUATERNION_LIST2[i].x1 ||
@@ -54,14 +54,14 @@ void test_quaternion_swap_fp32()
 
 static const int _TEST_FP64_QUATERNION_AMOUNT = 4;
 
-static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST1[] = {
+static const BGC_FP64_Quaternion _TEST_FP64_QUATERNION_LIST1[] = {
     { 1.0, 2.0, 3.0, 4.0 },
     { -4.0, -3.0, -2.0, -1.0 },
     { -244.8, 100.0, -100.0, 344.7 },
     { 1000.32, -100.1, 100.2, -271.3 }
 };
 
-static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST2[] = {
+static const BGC_FP64_Quaternion _TEST_FP64_QUATERNION_LIST2[] = {
     { 3.6, -0.123, 5.3, 1003.28 },
     { 204.07, -781.89, -0.0032, 891.3 },
     { -20.02, -1.0003, 5.322, 0.9275 },
@@ -70,15 +70,15 @@ static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST2[] = {
 
 void test_quaternion_swap_fp64()
 {
-    BgcQuaternionFP64 quaternion1, quaternion2;
+    BGC_FP64_Quaternion quaternion1, quaternion2;
 
-    print_testing_name("bgc_quaternion_swap_fp64");
+    print_testing_name("bgc_fp64_quaternion_swap");
 
     for (int i = 0; i < _TEST_FP64_QUATERNION_AMOUNT; i++) {
-        bgc_quaternion_copy_fp64(&_TEST_FP64_QUATERNION_LIST1[i], &quaternion1);
+        bgc_fp64_quaternion_copy(&_TEST_FP64_QUATERNION_LIST1[i], &quaternion1);
-        bgc_quaternion_copy_fp64(&_TEST_FP64_QUATERNION_LIST2[i], &quaternion2);
+        bgc_fp64_quaternion_copy(&_TEST_FP64_QUATERNION_LIST2[i], &quaternion2);
 
-        bgc_quaternion_swap_fp64(&quaternion1, &quaternion2);
+        bgc_fp64_quaternion_swap(&quaternion1, &quaternion2);
 
         if (quaternion1.s0 != _TEST_FP64_QUATERNION_LIST2[i].s0 ||
             quaternion1.x1 != _TEST_FP64_QUATERNION_LIST2[i].x1 ||

basic-geometry-test/tests/utilities/are_close.c

@@ -12,22 +12,22 @@ static const TestNumberPairFP32 _TEST_FP32_DATA_CLOSE[] = {
     {1.0f, 1.0f},
     {-1.0f, -1.0f},
 
-    {-0.4f * BGC_EPSYLON_FP32, 0.4f * BGC_EPSYLON_FP32},
+    {-0.4f * BGC_FP32_EPSYLON, 0.4f * BGC_FP32_EPSYLON},
 
-    {1.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32},
+    {1.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON},
-    {1.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32},
+    {1.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON},
-    {1.0f + 0.75f * BGC_EPSYLON_FP32, 1.0f},
+    {1.0f + 0.75f * BGC_FP32_EPSYLON, 1.0f},
-    {1.0f - 0.75f * BGC_EPSYLON_FP32, 1.0f},
+    {1.0f - 0.75f * BGC_FP32_EPSYLON, 1.0f},
 
-    {-1.0f, -1.0f + 0.75f * BGC_EPSYLON_FP32},
+    {-1.0f, -1.0f + 0.75f * BGC_FP32_EPSYLON},
-    {-1.0f, -1.0f - 0.75f * BGC_EPSYLON_FP32},
+    {-1.0f, -1.0f - 0.75f * BGC_FP32_EPSYLON},
-    {-1.0f + 0.75f * BGC_EPSYLON_FP32, -1.0f},
+    {-1.0f + 0.75f * BGC_FP32_EPSYLON, -1.0f},
-    {-1.0f - 0.75f * BGC_EPSYLON_FP32, -1.0f},
+    {-1.0f - 0.75f * BGC_FP32_EPSYLON, -1.0f},
 
-    {100.0f, 100.0f * (1.0f + 0.75f * BGC_EPSYLON_FP32)},
+    {100.0f, 100.0f * (1.0f + 0.75f * BGC_FP32_EPSYLON)},
-    {100.0f, 100.0f * (1.0f - 0.75f * BGC_EPSYLON_FP32)},
+    {100.0f, 100.0f * (1.0f - 0.75f * BGC_FP32_EPSYLON)},
-    {-100.0f, -100.0f * (1.0f + 0.75f * BGC_EPSYLON_FP32)},
+    {-100.0f, -100.0f * (1.0f + 0.75f * BGC_FP32_EPSYLON)},
-    {-100.0f, -100.0f * (1.0f - 0.75f * BGC_EPSYLON_FP32)}
+    {-100.0f, -100.0f * (1.0f - 0.75f * BGC_FP32_EPSYLON)}
 };
 
 static const TestNumberPairFP32 _TEST_FP32_DATA_DIFFERENT[] = {
@@ -35,31 +35,31 @@ static const TestNumberPairFP32 _TEST_FP32_DATA_DIFFERENT[] = {
     {1.0f, 0.999f},
     {-1.0f, -0.999f},
 
-    {-0.6f * BGC_EPSYLON_FP32, 0.6f * BGC_EPSYLON_FP32},
+    {-0.6f * BGC_FP32_EPSYLON, 0.6f * BGC_FP32_EPSYLON},
 
-    {1.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32},
+    {1.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON},
-    {1.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32},
+    {1.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON},
-    {1.0f + 1.25f * BGC_EPSYLON_FP32, 1.0f},
+    {1.0f + 1.25f * BGC_FP32_EPSYLON, 1.0f},
-    {1.0f - 1.25f * BGC_EPSYLON_FP32, 1.0f},
+    {1.0f - 1.25f * BGC_FP32_EPSYLON, 1.0f},
 
-    {-1.0f, -1.0f + 1.25f * BGC_EPSYLON_FP32},
+    {-1.0f, -1.0f + 1.25f * BGC_FP32_EPSYLON},
-    {-1.0f, -1.0f - 1.25f * BGC_EPSYLON_FP32},
+    {-1.0f, -1.0f - 1.25f * BGC_FP32_EPSYLON},
-    {-1.0f + 1.25f * BGC_EPSYLON_FP32, -1.0f},
+    {-1.0f + 1.25f * BGC_FP32_EPSYLON, -1.0f},
-    {-1.0f - 1.25f * BGC_EPSYLON_FP32, -1.0f},
+    {-1.0f - 1.25f * BGC_FP32_EPSYLON, -1.0f},
 
-    {100.0f, 100.0f * (1.0f + 1.25f * BGC_EPSYLON_FP32)},
+    {100.0f, 100.0f * (1.0f + 1.25f * BGC_FP32_EPSYLON)},
-    {100.0f, 100.0f * (1.0f - 1.25f * BGC_EPSYLON_FP32)},
+    {100.0f, 100.0f * (1.0f - 1.25f * BGC_FP32_EPSYLON)},
-    {-100.0f, -100.0f * (1.0f + 1.25f * BGC_EPSYLON_FP32)},
+    {-100.0f, -100.0f * (1.0f + 1.25f * BGC_FP32_EPSYLON)},
-    {-100.0f, -100.0f * (1.0f - 1.25f * BGC_EPSYLON_FP32)}
+    {-100.0f, -100.0f * (1.0f - 1.25f * BGC_FP32_EPSYLON)}
 };
 
 void test_are_close_fp32()
 {
-    print_testing_name("bgc_are_close_fp32");
+    print_testing_name("bgc_fp32_are_close");
 
     // Testing close pairs of values:
     for (int i = 0; i < _TEST_FP32_CLOSE_NUMBERS_AMOUNT; i++) {
-        if (!bgc_are_close_fp32(_TEST_FP32_DATA_CLOSE[i].number1, _TEST_FP32_DATA_CLOSE[i].number2)) {
+        if (!bgc_fp32_are_close(_TEST_FP32_DATA_CLOSE[i].number1, _TEST_FP32_DATA_CLOSE[i].number2)) {
             print_testing_error("A pair of close numbers was not recognized");
             return;
         }
@@ -67,7 +67,7 @@ void test_are_close_fp32()
 
     // Testing different pairs of values:
     for (int i = 0; i < _TEST_FP32_DIFFERENT_NUMBERS_AMOUNT; i++) {
-        if (bgc_are_close_fp32(_TEST_FP32_DATA_DIFFERENT[i].number1, _TEST_FP32_DATA_DIFFERENT[i].number2)) {
+        if (bgc_fp32_are_close(_TEST_FP32_DATA_DIFFERENT[i].number1, _TEST_FP32_DATA_DIFFERENT[i].number2)) {
             print_testing_error("A pair of close numbers was not recognized");
             return;
         }
@@ -86,22 +86,22 @@ static const TestNumberPairFP64 _TEST_FP64_DATA_CLOSE[] = {
     {1.0, 1.0},
     {-1.0, -1.0},
 
-    {-0.4 * BGC_EPSYLON_FP64, 0.4 * BGC_EPSYLON_FP64},
+    {-0.4 * BGC_FP64_EPSYLON, 0.4 * BGC_FP64_EPSYLON},
 
-    {1.0, 1.0 + 0.75 * BGC_EPSYLON_FP64},
+    {1.0, 1.0 + 0.75 * BGC_FP64_EPSYLON},
-    {1.0, 1.0 - 0.75 * BGC_EPSYLON_FP64},
+    {1.0, 1.0 - 0.75 * BGC_FP64_EPSYLON},
-    {1.0 + 0.75 * BGC_EPSYLON_FP64, 1.0},
+    {1.0 + 0.75 * BGC_FP64_EPSYLON, 1.0},
-    {1.0 - 0.75 * BGC_EPSYLON_FP64, 1.0},
+    {1.0 - 0.75 * BGC_FP64_EPSYLON, 1.0},
 
-    {-1.0, -1.0 + 0.75 * BGC_EPSYLON_FP64},
+    {-1.0, -1.0 + 0.75 * BGC_FP64_EPSYLON},
-    {-1.0, -1.0 - 0.75 * BGC_EPSYLON_FP64},
+    {-1.0, -1.0 - 0.75 * BGC_FP64_EPSYLON},
-    {-1.0 + 0.75 * BGC_EPSYLON_FP64, -1.0},
+    {-1.0 + 0.75 * BGC_FP64_EPSYLON, -1.0},
-    {-1.0 - 0.75 * BGC_EPSYLON_FP64, -1.0},
+    {-1.0 - 0.75 * BGC_FP64_EPSYLON, -1.0},
 
-    {100.0, 100.0 * (1.0 + 0.75 * BGC_EPSYLON_FP64)},
+    {100.0, 100.0 * (1.0 + 0.75 * BGC_FP64_EPSYLON)},
-    {100.0, 100.0 * (1.0 - 0.75 * BGC_EPSYLON_FP64)},
+    {100.0, 100.0 * (1.0 - 0.75 * BGC_FP64_EPSYLON)},
-    {-100.0, -100.0 * (1.0 + 0.75 * BGC_EPSYLON_FP64)},
+    {-100.0, -100.0 * (1.0 + 0.75 * BGC_FP64_EPSYLON)},
-    {-100.0, -100.0 * (1.0 - 0.75 * BGC_EPSYLON_FP64)}
+    {-100.0, -100.0 * (1.0 - 0.75 * BGC_FP64_EPSYLON)}
 };
 
 static const TestNumberPairFP64 _TEST_FP64_DATA_DIFFERENT[] = {
@@ -109,31 +109,31 @@ static const TestNumberPairFP64 _TEST_FP64_DATA_DIFFERENT[] = {
     {1.0, 0.999999},
     {-1.0, -0.999999},
 
-    {-0.6 * BGC_EPSYLON_FP64, 0.6 * BGC_EPSYLON_FP64},
+    {-0.6 * BGC_FP64_EPSYLON, 0.6 * BGC_FP64_EPSYLON},
 
-    {1.0, 1.0 + 1.25 * BGC_EPSYLON_FP64},
+    {1.0, 1.0 + 1.25 * BGC_FP64_EPSYLON},
-    {1.0, 1.0 - 1.25 * BGC_EPSYLON_FP64},
+    {1.0, 1.0 - 1.25 * BGC_FP64_EPSYLON},
-    {1.0 + 1.25 * BGC_EPSYLON_FP64, 1.0},
+    {1.0 + 1.25 * BGC_FP64_EPSYLON, 1.0},
-    {1.0 - 1.25 * BGC_EPSYLON_FP64, 1.0},
+    {1.0 - 1.25 * BGC_FP64_EPSYLON, 1.0},
 
-    {-1.0, -1.0 + 1.25 * BGC_EPSYLON_FP64},
+    {-1.0, -1.0 + 1.25 * BGC_FP64_EPSYLON},
-    {-1.0, -1.0 - 1.25 * BGC_EPSYLON_FP64},
+    {-1.0, -1.0 - 1.25 * BGC_FP64_EPSYLON},
-    {-1.0 + 1.25 * BGC_EPSYLON_FP64, -1.0},
+    {-1.0 + 1.25 * BGC_FP64_EPSYLON, -1.0},
-    {-1.0 - 1.25 * BGC_EPSYLON_FP64, -1.0},
+    {-1.0 - 1.25 * BGC_FP64_EPSYLON, -1.0},
 
-    {100.0, 100.0 * (1.0 + 1.25 * BGC_EPSYLON_FP64)},
+    {100.0, 100.0 * (1.0 + 1.25 * BGC_FP64_EPSYLON)},
-    {100.0, 100.0 * (1.0 - 1.25 * BGC_EPSYLON_FP64)},
+    {100.0, 100.0 * (1.0 - 1.25 * BGC_FP64_EPSYLON)},
-    {-100.0, -100.0 * (1.0 + 1.25 * BGC_EPSYLON_FP64)},
+    {-100.0, -100.0 * (1.0 + 1.25 * BGC_FP64_EPSYLON)},
-    {-100.0, -100.0 * (1.0 - 1.25 * BGC_EPSYLON_FP64)}
+    {-100.0, -100.0 * (1.0 - 1.25 * BGC_FP64_EPSYLON)}
 };
 
 void test_are_close_fp64()
 {
-    print_testing_name("bgc_are_close_fp64");
+    print_testing_name("bgc_fp64_are_close");
 
     // Testing close pairs of values:
     for (int i = 0; i < _TEST_FP64_CLOSE_NUMBERS_AMOUNT; i++) {
-        if (!bgc_are_close_fp64(_TEST_FP64_DATA_CLOSE[i].number1, _TEST_FP64_DATA_CLOSE[i].number2)) {
+        if (!bgc_fp64_are_close(_TEST_FP64_DATA_CLOSE[i].number1, _TEST_FP64_DATA_CLOSE[i].number2)) {
             print_testing_error("A pair of close numbers was not recognized");
             return;
         }
@@ -141,7 +141,7 @@ void test_are_close_fp64()
 
     // Testing different pairs of values:
     for (int i = 0; i < _TEST_FP64_DIFFERENT_NUMBERS_AMOUNT; i++) {
-        if (bgc_are_close_fp64(_TEST_FP64_DATA_DIFFERENT[i].number1, _TEST_FP64_DATA_DIFFERENT[i].number2)) {
+        if (bgc_fp64_are_close(_TEST_FP64_DATA_DIFFERENT[i].number1, _TEST_FP64_DATA_DIFFERENT[i].number2)) {
             print_testing_error("A pair of different numbers was recognized as close numbers");
             return;
         }

basic-geometry-test/tests/utilities/is_unit.c

@@ -9,24 +9,24 @@ static const int _TEST_FP32_NONUNIT_NUMBERS_AMOUNT = 4;
 
 static const float _TEST_FP32_UNIT_NUMBERS[] = {
     1.0f,
-    1.0f + 0.75f * BGC_EPSYLON_FP32,
+    1.0f + 0.75f * BGC_FP32_EPSYLON,
-    1.0f - 0.75f * BGC_EPSYLON_FP32
+    1.0f - 0.75f * BGC_FP32_EPSYLON
 };
 
 static const float _TEST_FP32_NONUNIT_NUMBERS[] = {
     0.0f,
     -1.0f,
-    1.0f + 1.25f * BGC_EPSYLON_FP32,
+    1.0f + 1.25f * BGC_FP32_EPSYLON,
-    1.0f - 1.25f * BGC_EPSYLON_FP32
+    1.0f - 1.25f * BGC_FP32_EPSYLON
 };
 
 void test_is_unit_fp32()
 {
-    print_testing_name("bgc_is_unit_fp32");
+    print_testing_name("bgc_fp32_is_unit");
 
     // Testing unit values:
     for (int i = 0; i < _TEST_FP32_UNIT_NUMBERS_AMOUNT; i++) {
-        if (!bgc_is_unit_fp32(_TEST_FP32_UNIT_NUMBERS[i])) {
+        if (!bgc_fp32_is_unit(_TEST_FP32_UNIT_NUMBERS[i])) {
             print_testing_error("A unit value was not recognized");
             return;
         }
@@ -34,7 +34,7 @@ void test_is_unit_fp32()
 
     // Testing non-unit values:
     for (int i = 0; i < _TEST_FP32_NONUNIT_NUMBERS_AMOUNT; i++) {
-        if (bgc_is_unit_fp32(_TEST_FP32_NONUNIT_NUMBERS[i])) {
+        if (bgc_fp32_is_unit(_TEST_FP32_NONUNIT_NUMBERS[i])) {
             print_testing_error("A non-unit value was recognized as a unit value");
             return;
         }
@@ -50,24 +50,24 @@ static const int _TEST_FP64_NONUNIT_NUMBERS_AMOUNT = 4;
 
 static const double _TEST_FP64_UNIT_NUMBERS[] = {
     1.0,
-    1.0 + 0.75 * BGC_EPSYLON_FP64,
+    1.0 + 0.75 * BGC_FP64_EPSYLON,
-    1.0 - 0.75 * BGC_EPSYLON_FP64
+    1.0 - 0.75 * BGC_FP64_EPSYLON
 };
 
 static const double _TEST_FP64_NONUNIT_NUMBERS[] = {
     0.0,
     -1.0,
-    1.0 + 1.25 * BGC_EPSYLON_FP64,
+    1.0 + 1.25 * BGC_FP64_EPSYLON,
-    1.0 - 1.25 * BGC_EPSYLON_FP64
+    1.0 - 1.25 * BGC_FP64_EPSYLON
 };
 
 void test_is_unit_fp64()
 {
-    print_testing_name("bgc_is_unit_fp64");
+    print_testing_name("bgc_fp64_is_unit");
 
     // Testing unit values:
     for (int i = 0; i < _TEST_FP64_UNIT_NUMBERS_AMOUNT; i++) {
-        if (!bgc_is_unit_fp64(_TEST_FP64_UNIT_NUMBERS[i])) {
+        if (!bgc_fp64_is_unit(_TEST_FP64_UNIT_NUMBERS[i])) {
             print_testing_error("A unit value was not recognized");
             return;
         }
@@ -75,7 +75,7 @@ void test_is_unit_fp64()
 
     // Testing non-unit values:
     for (int i = 0; i < _TEST_FP64_NONUNIT_NUMBERS_AMOUNT; i++) {
-        if (bgc_is_unit_fp64(_TEST_FP64_NONUNIT_NUMBERS[i])) {
+        if (bgc_fp64_is_unit(_TEST_FP64_NONUNIT_NUMBERS[i])) {
             print_testing_error("A non-unit value was recognized as a unit value");
             return;
         }
@@ -91,24 +91,24 @@ static const int _TEST_FP32_DATA_SQUARE_NONUNIT_AMOUNT = 4;
 
 static const float _TEST_FP32_DATA_SQUARE_UNIT[] = {
     1.0f,
-    1.0f + 1.75f * BGC_EPSYLON_FP32,
+    1.0f + 1.75f * BGC_FP32_EPSYLON,
-    1.0f - 1.75f * BGC_EPSYLON_FP32
+    1.0f - 1.75f * BGC_FP32_EPSYLON
 };
 
 static const float _TEST_FP32_DATA_SQUARE_NONUNIT[] = {
     0.0f,
     -1.0f,
-    1.0f + 2.25f * BGC_EPSYLON_FP32,
+    1.0f + 2.25f * BGC_FP32_EPSYLON,
-    1.0f - 2.25f * BGC_EPSYLON_FP32
+    1.0f - 2.25f * BGC_FP32_EPSYLON
 };
 
-void test_is_sqare_unit_fp32()
+void test_is_square_unit_fp32()
 {
-    print_testing_name("bgc_is_sqare_unit_fp32");
+    print_testing_name("bgc_fp32_is_square_unit");
 
     // Testing unit values:
     for (int i = 0; i < _TEST_FP32_DATA_SQUARE_UNIT_AMOUNT; i++) {
-        if (!bgc_is_sqare_unit_fp32(_TEST_FP32_DATA_SQUARE_UNIT[i])) {
+        if (!bgc_fp32_is_square_unit(_TEST_FP32_DATA_SQUARE_UNIT[i])) {
             print_testing_error("A square unit value was not recognized");
             return;
         }
@@ -116,7 +116,7 @@ void test_is_sqare_unit_fp32()
 
     // Testing non-unit values:
     for (int i = 0; i < _TEST_FP32_DATA_SQUARE_NONUNIT_AMOUNT; i++) {
-        if (bgc_is_sqare_unit_fp32(_TEST_FP32_DATA_SQUARE_NONUNIT[i])) {
+        if (bgc_fp32_is_square_unit(_TEST_FP32_DATA_SQUARE_NONUNIT[i])) {
             print_testing_error("A non-unit value was recognized as a square unit value");
             return;
         }
@@ -132,24 +132,24 @@ static const int _TEST_FP64_DATA_SQUARE_NONUNIT_AMOUNT = 4;
 
 static const double _TEST_FP64_DATA_SQUARE_UNIT[] = {
     1.0,
-    1.0 + 1.75 * BGC_EPSYLON_FP64,
+    1.0 + 1.75 * BGC_FP64_EPSYLON,
-    1.0 - 1.75 * BGC_EPSYLON_FP64
+    1.0 - 1.75 * BGC_FP64_EPSYLON
 };
 
 static const double _TEST_FP64_DATA_SQUARE_NONUNIT[] = {
     0.0,
     -1.0,
-    1.0 + 2.25 * BGC_EPSYLON_FP64,
+    1.0 + 2.25 * BGC_FP64_EPSYLON,
-    1.0 - 2.25 * BGC_EPSYLON_FP64
+    1.0 - 2.25 * BGC_FP64_EPSYLON
 };
 
-void test_is_sqare_unit_fp64()
+void test_is_square_unit_fp64()
 {
-    print_testing_name("bgc_is_sqare_unit_fp64");
+    print_testing_name("bgc_fp64_is_square_unit");
 
     // Testing unit values:
     for (int i = 0; i < _TEST_FP64_DATA_SQUARE_UNIT_AMOUNT; i++) {
-        if (!bgc_is_sqare_unit_fp64(_TEST_FP64_DATA_SQUARE_UNIT[i])) {
+        if (!bgc_fp64_is_square_unit(_TEST_FP64_DATA_SQUARE_UNIT[i])) {
             print_testing_error("A square unit value was not recognized");
             return;
         }
@@ -157,7 +157,7 @@ void test_is_sqare_unit_fp64()
 
     // Testing non-unit values:
     for (int i = 0; i < _TEST_FP64_DATA_SQUARE_NONUNIT_AMOUNT; i++) {
-        if (bgc_is_sqare_unit_fp64(_TEST_FP64_DATA_SQUARE_NONUNIT[i])) {
+        if (bgc_fp64_is_square_unit(_TEST_FP64_DATA_SQUARE_NONUNIT[i])) {
             print_testing_error("A non-unit value was recognized as a square unit value");
             return;
         }
@@ -171,6 +171,6 @@ void test_is_unit()
     test_is_unit_fp32();
     test_is_unit_fp64();
 
-    test_is_sqare_unit_fp32();
+    test_is_square_unit_fp32();
-    test_is_sqare_unit_fp64();
+    test_is_square_unit_fp64();
 }

basic-geometry-test/tests/utilities/is_unit.h

@@ -5,9 +5,9 @@ void test_is_unit_fp32();
 
 void test_is_unit_fp64();
 
-void test_is_sqare_unit_fp32();
+void test_is_square_unit_fp32();
 
-void test_is_sqare_unit_fp64();
+void test_is_square_unit_fp64();
 
 void test_is_unit();
 

basic-geometry-test/tests/utilities/is_zero.c

@@ -9,24 +9,24 @@ static const int _TEST_FP32_NONZERO_NUMBERS_AMOUNT = 4;
 
 static const float _TEST_FP32_ZERO_NUMBERS[] = {
     0.0f,
-    0.75f * BGC_EPSYLON_FP32,
+    0.75f * BGC_FP32_EPSYLON,
-    -0.75f * BGC_EPSYLON_FP32
+    -0.75f * BGC_FP32_EPSYLON
 };
 
 static const float _TEST_FP32_NONZERO_NUMBERS[] = {
     1.0f,
     -1.0f,
-    1.25f * BGC_EPSYLON_FP32,
+    1.25f * BGC_FP32_EPSYLON,
-    -1.25f * BGC_EPSYLON_FP32
+    -1.25f * BGC_FP32_EPSYLON
 };
 
 void test_is_zero_fp32()
 {
-    print_testing_name("bgc_is_zero_fp32");
+    print_testing_name("bgc_fp32_is_zero");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP32_ZERO_NUMBERS_AMOUNT; i++) {
-        if (!bgc_is_zero_fp32(_TEST_FP32_ZERO_NUMBERS[i])) {
+        if (!bgc_fp32_is_zero(_TEST_FP32_ZERO_NUMBERS[i])) {
             print_testing_error("A zero value was not recognized");
             return;
         }
@@ -34,7 +34,7 @@ void test_is_zero_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NONZERO_NUMBERS_AMOUNT; i++) {
-        if (bgc_is_zero_fp32(_TEST_FP32_NONZERO_NUMBERS[i])) {
+        if (bgc_fp32_is_zero(_TEST_FP32_NONZERO_NUMBERS[i])) {
             print_testing_error("A non-zero value was recognized as a zero value");
             return;
         }
@@ -50,24 +50,24 @@ static const int _TEST_FP64_NONZERO_NUMBERS_AMOUNT = 4;
 
 static const double _TEST_FP64_ZERO_NUMBERS[] = {
     0.0,
-    0.75 * BGC_EPSYLON_FP64,
+    0.75 * BGC_FP64_EPSYLON,
-    -0.75 * BGC_EPSYLON_FP64
+    -0.75 * BGC_FP64_EPSYLON
 };
 
 static const double _TEST_FP64_NONZERO_NUMBERS[] = {
     1.0,
     -1.0,
-    1.25 * BGC_EPSYLON_FP64,
+    1.25 * BGC_FP64_EPSYLON,
-    -1.25 * BGC_EPSYLON_FP64
+    -1.25 * BGC_FP64_EPSYLON
 };
 
 void test_is_zero_fp64()
 {
-    print_testing_name("bgc_is_zero_fp64");
+    print_testing_name("bgc_fp64_is_zero");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_ZERO_NUMBERS_AMOUNT; i++) {
-        if (!bgc_is_zero_fp64(_TEST_FP64_ZERO_NUMBERS[i])) {
+        if (!bgc_fp64_is_zero(_TEST_FP64_ZERO_NUMBERS[i])) {
             print_testing_error("A zero value was not recognized");
             return;
         }
@@ -75,7 +75,7 @@ void test_is_zero_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NONZERO_NUMBERS_AMOUNT; i++) {
-        if (bgc_is_zero_fp64(_TEST_FP64_NONZERO_NUMBERS[i])) {
+        if (bgc_fp64_is_zero(_TEST_FP64_NONZERO_NUMBERS[i])) {
             print_testing_error("A non-zero value was recognized as a zero value");
             return;
         }

basic-geometry-test/tests/vector2.c

@@ -22,7 +22,7 @@ void test_vector2()
 
 const int TEST_FP32_VECTOR2_AMOUNT_1 = 5;
 
-const BgcVector2FP32 TEST_FP32_VECTOR2_COMMON_1[] = {
+const BGC_FP32_Vector2 TEST_FP32_VECTOR2_COMMON_1[] = {
     { 3.0f, 4.0f },
     { -3.0f, -4.0f },
     { 10000.0f, -20000.0f },
@@ -30,7 +30,7 @@ const BgcVector2FP32 TEST_FP32_VECTOR2_COMMON_1[] = {
     { -123.5f, 3.7283f }
 };
 
-const BgcVector2FP32 TEST_FP32_VECTOR2_COMMON_2[] = {
+const BGC_FP32_Vector2 TEST_FP32_VECTOR2_COMMON_2[] = {
     { -3.0f, -4.0f },
     { -3.0f, -4.0f },
     { 0.002f, -0.05f },
@@ -49,7 +49,7 @@ int test_vector2_fp32_square_modulus()
     float square_modulus;
 
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
-        square_modulus = bgc_vector2_get_square_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]);
+        square_modulus = bgc_fp32_vector2_get_square_modulus(&TEST_FP32_VECTOR2_COMMON_1[i]);
 
         if (!test_are_equal_fp32(square_modulus, FP32_VECTOR2_SQUARE_MODULUS_1[i])) {
             print_testing_failed();
@@ -72,7 +72,7 @@ int test_vector2_fp32_modulus()
     float square_modulus;
 
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
-        square_modulus = bgc_vector2_get_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]);
+        square_modulus = bgc_fp32_vector2_get_modulus(&TEST_FP32_VECTOR2_COMMON_1[i]);
 
         if (!test_are_equal_fp32(square_modulus, FP32_VECTOR2_MODULUS_1[i])) {
             print_testing_failed();
@@ -86,7 +86,7 @@ int test_vector2_fp32_modulus()
 
 // ===================== Add ==================== //
 
-const BgcVector2FP32 TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = {
+const BGC_FP32_Vector2 TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = {
     { 0.0f, 0.0f },
     { -6.0f, -8.0f },
     { 10000.002f, -20000.05f },
@@ -98,10 +98,10 @@ int test_vector2_add_fp32()
 {
     print_testing_name("vector2_fp32_t add");
 
-    BgcVector2FP32 vector;
+    BGC_FP32_Vector2 vector;
 
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
-        bgc_vector2_add_fp32(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
+        bgc_fp32_vector2_add(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
 
         if (!test_are_equal_fp32(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x1) ||
             !test_are_equal_fp32(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x2)) {
@@ -116,7 +116,7 @@ int test_vector2_add_fp32()
 
 // ================== Subtract ================== //
 
-const BgcVector2FP32 TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = {
+const BGC_FP32_Vector2 TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = {
     { 6.0f, 8.0f },
     { 0.0f, 0.0f },
     { 9999.998f, -19999.95f },
@@ -128,10 +128,10 @@ int test_vector2_subtract_fp32()
 {
     print_testing_name("vector2_fp32_t subtract");
 
-    BgcVector2FP32 vector;
+    BGC_FP32_Vector2 vector;
 
     for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) {
-        bgc_vector2_subtract_fp32(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
+        bgc_fp32_vector2_subtract(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector);
 
         if (!test_are_equal_fp32(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x1) ||
             !test_are_equal_fp32(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x2)) {

basic-geometry-test/tests/vector2/vector2_copy.c

@@ -7,7 +7,7 @@
 // ==================== FP32 ==================== //
 
 static const int _TEST_FP32_VECTOR2_AMOUNT = 4;
-static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST[] = {
+static const BGC_FP32_Vector2 _TEST_FP32_VECTOR2_LIST[] = {
     { 1.0f, 2.0f },
     { -2.0f, -1.0f },
     { 100.0f, -100.0f },
@@ -16,13 +16,13 @@ static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST[] = {
 
 void test_vector2_copy_fp32()
 {
-    BgcVector2FP32 vector;
+    BGC_FP32_Vector2 vector;
 
-    print_testing_name("bgc_vector2_copy_fp32");
+    print_testing_name("bgc_fp32_vector2_copy");
 
     for (int i = 0; i < _TEST_FP32_VECTOR2_AMOUNT; i++) {
 
-        bgc_vector2_copy_fp32(&_TEST_FP32_VECTOR2_LIST[i], &vector);
+        bgc_fp32_vector2_copy(&_TEST_FP32_VECTOR2_LIST[i], &vector);
 
         if (vector.x1 != _TEST_FP32_VECTOR2_LIST[i].x1 || vector.x2 != _TEST_FP32_VECTOR2_LIST[i].x2) {
             print_testing_failed();
@@ -36,7 +36,7 @@ void test_vector2_copy_fp32()
 // ==================== FP64 ==================== //
 
 static const int _TEST_FP64_VECTOR2_AMOUNT = 4;
-static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST[] = {
+static const BGC_FP64_Vector2 _TEST_FP64_VECTOR2_LIST[] = {
     { 1.0, 2.0 },
     { -2.0, -1.0 },
     { 100.0, -100.0 },
@@ -45,13 +45,13 @@ static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST[] = {
 
 void test_vector2_copy_fp64()
 {
-    BgcVector2FP64 vector;
+    BGC_FP64_Vector2 vector;
 
-    print_testing_name("bgc_vector2_copy_fp64");
+    print_testing_name("bgc_fp64_vector2_copy");
 
     for (int i = 0; i < _TEST_FP64_VECTOR2_AMOUNT; i++) {
 
-        bgc_vector2_copy_fp64(&_TEST_FP64_VECTOR2_LIST[i], &vector);
+        bgc_fp64_vector2_copy(&_TEST_FP64_VECTOR2_LIST[i], &vector);
 
         if (vector.x1 != _TEST_FP64_VECTOR2_LIST[i].x1 || vector.x2 != _TEST_FP64_VECTOR2_LIST[i].x2) {
             print_testing_failed();

basic-geometry-test/tests/vector2/vector2_is_unit.c

@@ -7,32 +7,32 @@
 static const int _TEST_FP32_UNIT_VECTOR2_AMOUNT = 6;
 static const int _TEST_FP32_NONUNIT_VECTOR2_AMOUNT = 7;
 
-static const BgcVector2FP32 _TEST_FP32_UNIT_VECTOR2_LIST[] = {
+static const BGC_FP32_Vector2 _TEST_FP32_UNIT_VECTOR2_LIST[] = {
     { 1.0f, 0.0f },
     { 0.0f, -1.0f },
-    { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON },
-    { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 }
+    { 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON }
 };
 
-static const BgcVector2FP32 _TEST_FP32_NONUNIT_VECTOR2_LIST[] = {
+static const BGC_FP32_Vector2 _TEST_FP32_NONUNIT_VECTOR2_LIST[] = {
     { 0.0f, 0.0f },
-    { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON },
-    { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON },
-    { 0.8f + 1.25f * BGC_EPSYLON_FP32, 0.6f + 1.25f * BGC_EPSYLON_FP32 },
+    { 0.8f + 1.25f * BGC_FP32_EPSYLON, 0.6f + 1.25f * BGC_FP32_EPSYLON },
-    { 0.6f - 1.25f * BGC_EPSYLON_FP32, 0.8f - 1.25f * BGC_EPSYLON_FP32 }
+    { 0.6f - 1.25f * BGC_FP32_EPSYLON, 0.8f - 1.25f * BGC_FP32_EPSYLON }
 };
 
 void test_vector2_is_unit_fp32()
 {
-    print_testing_name("bgc_vector2_is_unit_fp32");
+    print_testing_name("bgc_fp32_vector2_is_unit");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP32_UNIT_VECTOR2_AMOUNT; i++) {
-        if (!bgc_vector2_is_unit_fp32(&_TEST_FP32_UNIT_VECTOR2_LIST[i])) {
+        if (!bgc_fp32_vector2_is_unit(&_TEST_FP32_UNIT_VECTOR2_LIST[i])) {
             print_testing_error("A unit vector was not recognized");
             return;
         }
@@ -40,7 +40,7 @@ void test_vector2_is_unit_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NONUNIT_VECTOR2_AMOUNT; i++) {
-        if (bgc_vector2_is_unit_fp32(&_TEST_FP32_NONUNIT_VECTOR2_LIST[i])) {
+        if (bgc_fp32_vector2_is_unit(&_TEST_FP32_NONUNIT_VECTOR2_LIST[i])) {
             print_testing_error("A non-unit vector was recognized as a unit vector");
             return;
         }
@@ -54,32 +54,32 @@ void test_vector2_is_unit_fp32()
 static const int _TEST_FP64_UNIT_VECTOR2_AMOUNT = 6;
 static const int _TEST_FP64_NONUNIT_VECTOR2_AMOUNT = 7;
 
-static const BgcVector2FP64 _TEST_FP64_UNIT_VECTOR2_LIST[] = {
+static const BGC_FP64_Vector2 _TEST_FP64_UNIT_VECTOR2_LIST[] = {
     { -1.0, 0.0 },
     { 0.0, 1.0 },
-    { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON },
-    { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 }
+    { 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON }
 };
 
-static const BgcVector2FP64 _TEST_FP64_NONUNIT_VECTOR2_LIST[] = {
+static const BGC_FP64_Vector2 _TEST_FP64_NONUNIT_VECTOR2_LIST[] = {
     { 0.0, 0.0 },
-    { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON },
-    { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON },
-    { 0.6 + 1.25 * BGC_EPSYLON_FP64, 0.8 + 1.25 * BGC_EPSYLON_FP64 },
+    { 0.6 + 1.25 * BGC_FP64_EPSYLON, 0.8 + 1.25 * BGC_FP64_EPSYLON },
-    { 0.8 - 1.25 * BGC_EPSYLON_FP64, 0.6 - 1.25 * BGC_EPSYLON_FP64 }
+    { 0.8 - 1.25 * BGC_FP64_EPSYLON, 0.6 - 1.25 * BGC_FP64_EPSYLON }
 };
 
 void test_vector2_is_unit_fp64()
 {
-    print_testing_name("bgc_vector2_is_unit_fp64");
+    print_testing_name("bgc_fp64_vector2_is_unit");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_UNIT_VECTOR2_AMOUNT; i++) {
-        if (!bgc_vector2_is_unit_fp64(&_TEST_FP64_UNIT_VECTOR2_LIST[i])) {
+        if (!bgc_fp64_vector2_is_unit(&_TEST_FP64_UNIT_VECTOR2_LIST[i])) {
             print_testing_error("A unit vector was not recognized");
             return;
         }
@@ -87,7 +87,7 @@ void test_vector2_is_unit_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NONUNIT_VECTOR2_AMOUNT; i++) {
-        if (bgc_vector2_is_unit_fp64(&_TEST_FP64_NONUNIT_VECTOR2_LIST[i])) {
+        if (bgc_fp64_vector2_is_unit(&_TEST_FP64_NONUNIT_VECTOR2_LIST[i])) {
             print_testing_error("A non-unit vector was recognized as a unit vector");
             return;
         }

basic-geometry-test/tests/vector2/vector2_is_zero.c

@@ -7,31 +7,31 @@
 static const int _TEST_FP32_ZERO_VECTOR2_AMOUNT = 5;
 static const int _TEST_FP32_NONZERO_VECTOR2_AMOUNT = 7;
 
-static const BgcVector2FP32 _TEST_FP32_ZERO_VECTOR2_LIST[] = {
+static const BGC_FP32_Vector2 _TEST_FP32_ZERO_VECTOR2_LIST[] = {
     { 0.0f, 0.0f },
-    { 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { -0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { -0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.75f * BGC_FP32_EPSYLON },
-    { 0.0f, -0.75f * BGC_EPSYLON_FP32 }
+    { 0.0f, -0.75f * BGC_FP32_EPSYLON }
 };
 
-static const BgcVector2FP32 _TEST_FP32_NONZERO_VECTOR2_LIST[] = {
+static const BGC_FP32_Vector2 _TEST_FP32_NONZERO_VECTOR2_LIST[] = {
     { 0.0f, 1.0f },
-    { 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { -1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { -1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 1.25f * BGC_FP32_EPSYLON },
-    { 0.0f, -1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, -1.25f * BGC_FP32_EPSYLON },
-    { 1.25f * BGC_EPSYLON_FP32, 1.25f * BGC_EPSYLON_FP32 },
+    { 1.25f * BGC_FP32_EPSYLON, 1.25f * BGC_FP32_EPSYLON },
-    { -1.25f * BGC_EPSYLON_FP32, -1.25f * BGC_EPSYLON_FP32 }
+    { -1.25f * BGC_FP32_EPSYLON, -1.25f * BGC_FP32_EPSYLON }
 };
 
 void test_vector2_is_zero_fp32()
 {
-    print_testing_name("bgc_vector2_is_zero_fp32");
+    print_testing_name("bgc_fp32_vector2_is_zero");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP32_ZERO_VECTOR2_AMOUNT; i++) {
-        if (!bgc_vector2_is_zero_fp32(&_TEST_FP32_ZERO_VECTOR2_LIST[i])) {
+        if (!bgc_fp32_vector2_is_zero(&_TEST_FP32_ZERO_VECTOR2_LIST[i])) {
             print_testing_error("A zero vector was not recongized");
             return;
         }
@@ -39,7 +39,7 @@ void test_vector2_is_zero_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NONZERO_VECTOR2_AMOUNT; i++) {
-        if (bgc_vector2_is_zero_fp32(&_TEST_FP32_NONZERO_VECTOR2_LIST[i])) {
+        if (bgc_fp32_vector2_is_zero(&_TEST_FP32_NONZERO_VECTOR2_LIST[i])) {
             print_testing_error("A non-zero vector was recongized as a zero vector");
             return;
         }
@@ -53,31 +53,31 @@ void test_vector2_is_zero_fp32()
 static const int _TEST_FP64_ZERO_VECTOR2_AMOUNT = 5;
 static const int _TEST_FP64_NONZERO_VECTOR2_AMOUNT = 7;
 
-static const BgcVector2FP64 _TEST_FP64_ZERO_VECTOR2_LIST[] = {
+static const BGC_FP64_Vector2 _TEST_FP64_ZERO_VECTOR2_LIST[] = {
     { 0.0, 0.0 },
-    { 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { -0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { -0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.75 * BGC_FP64_EPSYLON },
-    { 0.0, -0.75 * BGC_EPSYLON_FP64 }
+    { 0.0, -0.75 * BGC_FP64_EPSYLON }
 };
 
-static const BgcVector2FP64 _TEST_FP64_NONZERO_VECTOR2_LIST[] = {
+static const BGC_FP64_Vector2 _TEST_FP64_NONZERO_VECTOR2_LIST[] = {
     { 0.0, 1.0 },
-    { 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { -1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { -1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 1.25 * BGC_FP64_EPSYLON },
-    { 0.0, -1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, -1.25 * BGC_FP64_EPSYLON },
-    { 1.25 * BGC_EPSYLON_FP64, 1.25 * BGC_EPSYLON_FP64 },
+    { 1.25 * BGC_FP64_EPSYLON, 1.25 * BGC_FP64_EPSYLON },
-    { -1.25 * BGC_EPSYLON_FP64, -1.25 * BGC_EPSYLON_FP64 }
+    { -1.25 * BGC_FP64_EPSYLON, -1.25 * BGC_FP64_EPSYLON }
 };
 
 void test_vector2_is_zero_fp64()
 {
-    print_testing_name("bgc_vector2_is_zero_fp64");
+    print_testing_name("bgc_fp64_vector2_is_zero");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_ZERO_VECTOR2_AMOUNT; i++) {
-        if (!bgc_vector2_is_zero_fp64(&_TEST_FP64_ZERO_VECTOR2_LIST[i])) {
+        if (!bgc_fp64_vector2_is_zero(&_TEST_FP64_ZERO_VECTOR2_LIST[i])) {
             print_testing_error("A zero vector was not recongized");
             return;
         }
@@ -85,7 +85,7 @@ void test_vector2_is_zero_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NONZERO_VECTOR2_AMOUNT; i++) {
-        if (bgc_vector2_is_zero_fp64(&_TEST_FP64_NONZERO_VECTOR2_LIST[i])) {
+        if (bgc_fp64_vector2_is_zero(&_TEST_FP64_NONZERO_VECTOR2_LIST[i])) {
             print_testing_error("A non-zero vector was recongized as a zero vector");
             return;
         }

basic-geometry-test/tests/vector2/vector2_modulus.c

@@ -6,7 +6,7 @@
 
 static const int _TEST_FP32_VECTOR2_AMOUNT = 4;
 
-static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST[] = {
+static const BGC_FP32_Vector2 _TEST_FP32_VECTOR2_LIST[] = {
     { 4.0f, 3.0f },
     { -3.0f, -4.0f },
     { 100.0f, -100.0f },
@@ -29,10 +29,10 @@ static const float _TEST_FP32_MODULUS_LIST[] = {
 
 void test_vector2_square_modulus_fp32()
 {
-    print_testing_name("bgc_vector2_get_square_modulus_fp32");
+    print_testing_name("bgc_fp32_vector2_get_square_modulus");
 
     for (int i = 0; i < _TEST_FP32_VECTOR2_AMOUNT; i++) {
-        if (!bgc_are_close_fp32(bgc_vector2_get_square_modulus_fp32(&_TEST_FP32_VECTOR2_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) {
+        if (!bgc_fp32_are_close(bgc_fp32_vector2_get_square_modulus(&_TEST_FP32_VECTOR2_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -43,10 +43,10 @@ void test_vector2_square_modulus_fp32()
 
 void test_vector2_modulus_fp32()
 {
-    print_testing_name("bgc_vector2_get_modulus_fp32");
+    print_testing_name("bgc_fp32_vector2_get_modulus");
 
     for (int i = 0; i < _TEST_FP32_VECTOR2_AMOUNT; i++) {
-        if (!bgc_are_close_fp32(bgc_vector2_get_modulus_fp32(&_TEST_FP32_VECTOR2_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) {
+        if (!bgc_fp32_are_close(bgc_fp32_vector2_get_modulus(&_TEST_FP32_VECTOR2_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -59,7 +59,7 @@ void test_vector2_modulus_fp32()
 
 static const int _TEST_FP64_VECTOR2_AMOUNT = 4;
 
-static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST[] = {
+static const BGC_FP64_Vector2 _TEST_FP64_VECTOR2_LIST[] = {
     { 4.0, 3.0 },
     { -3.0, -4.0 },
     { 100.0, -100.0 },
@@ -82,10 +82,10 @@ static const double _TEST_FP64_MODULUS_LIST[] = {
 
 void test_vector2_square_modulus_fp64()
 {
-    print_testing_name("bgc_vector2_get_square_modulus_fp64");
+    print_testing_name("bgc_fp64_vector2_get_square_modulus");
 
     for (int i = 0; i < _TEST_FP64_VECTOR2_AMOUNT; i++) {
-        if (!bgc_are_close_fp64(bgc_vector2_get_square_modulus_fp64(&_TEST_FP64_VECTOR2_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) {
+        if (!bgc_fp64_are_close(bgc_fp64_vector2_get_square_modulus(&_TEST_FP64_VECTOR2_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -96,10 +96,10 @@ void test_vector2_square_modulus_fp64()
 
 void test_vector2_modulus_fp64()
 {
-    print_testing_name("bgc_vector2_get_modulus_fp64");
+    print_testing_name("bgc_fp64_vector2_get_modulus");
 
     for (int i = 0; i < _TEST_FP64_VECTOR2_AMOUNT; i++) {
-        if (!bgc_are_close_fp64(bgc_vector2_get_modulus_fp64(&_TEST_FP64_VECTOR2_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) {
+        if (!bgc_fp64_are_close(bgc_fp64_vector2_get_modulus(&_TEST_FP64_VECTOR2_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }

basic-geometry-test/tests/vector2/vector2_reset.c

@@ -4,11 +4,11 @@
 
 void test_vector2_reset_fp32()
 {
-    BgcVector2FP32 vector;
+    BGC_FP32_Vector2 vector;
 
-    print_testing_name("bgc_vector2_reset_fp32");
+    print_testing_name("bgc_fp32_vector2_reset");
 
-    bgc_vector2_reset_fp32(&vector);
+    bgc_fp32_vector2_reset(&vector);
 
     if (vector.x1 != 0.0f || vector.x2 != 0.0f) {
         print_testing_failed();
@@ -20,11 +20,11 @@ void test_vector2_reset_fp32()
 
 void test_vector2_reset_fp64()
 {
-    BgcVector2FP64 vector;
+    BGC_FP64_Vector2 vector;
 
-    print_testing_name("bgc_vector2_reset_fp64");
+    print_testing_name("bgc_fp64_vector2_reset");
 
-    bgc_vector2_reset_fp64(&vector);
+    bgc_fp64_vector2_reset(&vector);
 
     if (vector.x1 != 0.0 || vector.x2 != 0.0) {
         print_testing_failed();

basic-geometry-test/tests/vector2/vector2_set_values.c

@@ -8,25 +8,25 @@
 
 void test_vector2_set_values_fp32()
 {
-    BgcVector2FP32 vector;
+    BGC_FP32_Vector2 vector;
 
-    print_testing_name("bgc_vector2_set_values_fp32");
+    print_testing_name("bgc_fp32_vector2_make");
 
-    bgc_vector2_set_values_fp32(1.0f, 2.0f, &vector);
+    bgc_fp32_vector2_make(1.0f, 2.0f, &vector);
 
     if (vector.x1 != 1.0f || vector.x2 != 2.0f) {
         print_testing_error("First step failed");
         return;
     }
 
-    bgc_vector2_set_values_fp32(-3.0f, -5.0f, &vector);
+    bgc_fp32_vector2_make(-3.0f, -5.0f, &vector);
 
     if (vector.x1 != -3.0f || vector.x2 != -5.0f) {
         print_testing_error("Second step failed");
         return;
     }
 
-    bgc_vector2_set_values_fp32(-2.0f, 2.0f, &vector);
+    bgc_fp32_vector2_make(-2.0f, 2.0f, &vector);
 
     if (vector.x1 != -2.0f || vector.x2 != 2.0f) {
         print_testing_error("Third step failed");
@@ -40,26 +40,26 @@ void test_vector2_set_values_fp32()
 
 void test_vector2_set_values_fp64()
 {
-    BgcVector2FP64 vector;
+    BGC_FP64_Vector2 vector;
 
-    print_testing_name("bgc_vector2_set_values_fp64");
+    print_testing_name("bgc_fp64_vector2_make");
 
 
-    bgc_vector2_set_values_fp64(1.0, 2.0, &vector);
+    bgc_fp64_vector2_make(1.0, 2.0, &vector);
 
     if (vector.x1 != 1.0 || vector.x2 != 2.0) {
         print_testing_error("First step failed");
         return;
     }
 
-    bgc_vector2_set_values_fp64(-3.0, -5.0, &vector);
+    bgc_fp64_vector2_make(-3.0, -5.0, &vector);
 
     if (vector.x1 != -3.0 || vector.x2 != -5.0) {
         print_testing_error("Second step failed");
         return;
     }
 
-    bgc_vector2_set_values_fp64(-2.0, 2.0, &vector);
+    bgc_fp64_vector2_make(-2.0, 2.0, &vector);
 
     if (vector.x1 != -2.0 || vector.x2 != 2.0) {
         print_testing_error("Third step failed");

basic-geometry-test/tests/vector2/vector2_swap.c

@@ -8,14 +8,14 @@
 
 static const int _TEST_FP32_VECTOR2_AMOUNT = 4;
 
-static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST1[] = {
+static const BGC_FP32_Vector2 _TEST_FP32_VECTOR2_LIST1[] = {
     { 1.0f, 2.0f },
     { -2.0f, -1.0f },
     { 100.0f, -100.0f },
     { -100.1f, 100.2f }
 };
 
-static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST2[] = {
+static const BGC_FP32_Vector2 _TEST_FP32_VECTOR2_LIST2[] = {
     { 3.6f, 5.3f },
     { 204.07f, -781.89f },
     { -20.02f, -1.0003f },
@@ -24,15 +24,15 @@ static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST2[] = {
 
 void test_vector2_swap_fp32()
 {
-    BgcVector2FP32 vector1, vector2;
+    BGC_FP32_Vector2 vector1, vector2;
 
-    print_testing_name("bgc_vector2_swap_fp32");
+    print_testing_name("bgc_fp32_vector2_swap");
 
     for (int i = 0; i < _TEST_FP32_VECTOR2_AMOUNT; i++) {
-        bgc_vector2_copy_fp32(&_TEST_FP32_VECTOR2_LIST1[i], &vector1);
+        bgc_fp32_vector2_copy(&_TEST_FP32_VECTOR2_LIST1[i], &vector1);
-        bgc_vector2_copy_fp32(&_TEST_FP32_VECTOR2_LIST2[i], &vector2);
+        bgc_fp32_vector2_copy(&_TEST_FP32_VECTOR2_LIST2[i], &vector2);
 
-        bgc_vector2_swap_fp32(&vector1, &vector2);
+        bgc_fp32_vector2_swap(&vector1, &vector2);
 
         if (vector1.x1 != _TEST_FP32_VECTOR2_LIST2[i].x1 ||
             vector1.x2 != _TEST_FP32_VECTOR2_LIST2[i].x2 ||
@@ -50,14 +50,14 @@ void test_vector2_swap_fp32()
 
 static const int _TEST_FP64_VECTOR2_AMOUNT = 4;
 
-static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST1[] = {
+static const BGC_FP64_Vector2 _TEST_FP64_VECTOR2_LIST1[] = {
     { 1.0, 2.0 },
     { -2.0, -1.0 },
     { 100.0, -100.0 },
     { -100.1, 100.2 }
 };
 
-static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST2[] = {
+static const BGC_FP64_Vector2 _TEST_FP64_VECTOR2_LIST2[] = {
     { 3.6, 5.3 },
     { 204.07, -781.89 },
     { -20.02, -1.0003 },
@@ -66,15 +66,15 @@ static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST2[] = {
 
 void test_vector2_swap_fp64()
 {
-    BgcVector2FP64 vector1, vector2;
+    BGC_FP64_Vector2 vector1, vector2;
 
-    print_testing_name("bgc_vector2_swap_fp64");
+    print_testing_name("bgc_fp64_vector2_swap");
 
     for (int i = 0; i < _TEST_FP64_VECTOR2_AMOUNT; i++) {
-        bgc_vector2_copy_fp64(&_TEST_FP64_VECTOR2_LIST1[i], &vector1);
+        bgc_fp64_vector2_copy(&_TEST_FP64_VECTOR2_LIST1[i], &vector1);
-        bgc_vector2_copy_fp64(&_TEST_FP64_VECTOR2_LIST2[i], &vector2);
+        bgc_fp64_vector2_copy(&_TEST_FP64_VECTOR2_LIST2[i], &vector2);
 
-        bgc_vector2_swap_fp64(&vector1, &vector2);
+        bgc_fp64_vector2_swap(&vector1, &vector2);
 
         if (vector1.x1 != _TEST_FP64_VECTOR2_LIST2[i].x1 ||
             vector1.x2 != _TEST_FP64_VECTOR2_LIST2[i].x2 ||

basic-geometry-test/tests/vector3/vector3_copy.c

@@ -7,7 +7,7 @@
 // ==================== FP32 ==================== //
 
 static const int _TEST_FP32_VECTOR3_AMOUNT = 4;
-static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST[] = {
+static const BGC_FP32_Vector3 _TEST_FP32_VECTOR3_LIST[] = {
     { 1.0f, 2.0f, 3.0f },
     { -3.0f, -2.0f, -1.0f },
     { 100.0f, -100.0f, 0.001f },
@@ -16,13 +16,13 @@ static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST[] = {
 
 void test_vector3_copy_fp32()
 {
-    BgcVector3FP32 vector;
+    BGC_FP32_Vector3 vector;
 
-    print_testing_name("bgc_vector3_copy_fp32");
+    print_testing_name("bgc_fp32_vector3_copy");
 
     for (int i = 0; i < _TEST_FP32_VECTOR3_AMOUNT; i++) {
 
-        bgc_vector3_copy_fp32(&_TEST_FP32_VECTOR3_LIST[i], &vector);
+        bgc_fp32_vector3_copy(&_TEST_FP32_VECTOR3_LIST[i], &vector);
 
         if (vector.x1 != _TEST_FP32_VECTOR3_LIST[i].x1 ||
             vector.x2 != _TEST_FP32_VECTOR3_LIST[i].x2 ||
@@ -38,7 +38,7 @@ void test_vector3_copy_fp32()
 // ==================== FP64 ==================== //
 
 static const int _TEST_FP64_VECTOR3_AMOUNT = 4;
-static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST[] = {
+static const BGC_FP64_Vector3 _TEST_FP64_VECTOR3_LIST[] = {
     { 1.0, 2.0, 3.0 },
     { -3.0, -2.0, -1.0 },
     { 100.0, -100.0, 0.001 },
@@ -47,13 +47,13 @@ static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST[] = {
 
 void test_vector3_copy_fp64()
 {
-    BgcVector3FP64 vector;
+    BGC_FP64_Vector3 vector;
 
-    print_testing_name("bgc_vector3_copy_fp64");
+    print_testing_name("bgc_fp64_vector3_copy");
 
     for (int i = 0; i < _TEST_FP64_VECTOR3_AMOUNT; i++) {
 
-        bgc_vector3_copy_fp64(&_TEST_FP64_VECTOR3_LIST[i], &vector);
+        bgc_fp64_vector3_copy(&_TEST_FP64_VECTOR3_LIST[i], &vector);
 
         if (vector.x1 != _TEST_FP64_VECTOR3_LIST[i].x1 ||
             vector.x2 != _TEST_FP64_VECTOR3_LIST[i].x2 ||

basic-geometry-test/tests/vector3/vector3_is_unit.c

@@ -7,38 +7,38 @@
 static const int _TEST_FP32_UNIT_VECTOR3_AMOUNT = 10;
 static const int _TEST_FP32_NONUNIT_VECTOR3_AMOUNT = 9;
 
-static const BgcVector3FP32 _TEST_FP32_UNIT_VECTOR3_LIST[] = {
+static const BGC_FP32_Vector3 _TEST_FP32_UNIT_VECTOR3_LIST[] = {
     { 1.0f, 0.0f, 0.0f },
     { 0.0f, -1.0f, 0.0f },
     { 0.0f, -0.8f, 0.6f },
     { -0.6f, 0.0f, 0.8f },
-    { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, -1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, -1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, -1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, -1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON },
-    { 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 }
+    { 0.0f, 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON }
 };
 
-static const BgcVector3FP32 _TEST_FP32_NONUNIT_VECTOR3_LIST[] = {
+static const BGC_FP32_Vector3 _TEST_FP32_NONUNIT_VECTOR3_LIST[] = {
     { 0.0f, 0.0f, 0.0f },
-    { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON },
-    { 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON },
-    { 0.8f + 1.25f * BGC_EPSYLON_FP32, -0.6f - 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.8f + 1.25f * BGC_FP32_EPSYLON, -0.6f - 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.6f - 1.25f * BGC_EPSYLON_FP32, -0.8f + 1.25f * BGC_EPSYLON_FP32, 0.0f }
+    { 0.6f - 1.25f * BGC_FP32_EPSYLON, -0.8f + 1.25f * BGC_FP32_EPSYLON, 0.0f }
 };
 
 void test_vector3_is_unit_fp32()
 {
-    print_testing_name("bgc_vector3_is_unit_fp32");
+    print_testing_name("bgc_fp32_vector3_is_unit");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP32_UNIT_VECTOR3_AMOUNT; i++) {
-        if (!bgc_vector3_is_unit_fp32(&_TEST_FP32_UNIT_VECTOR3_LIST[i])) {
+        if (!bgc_fp32_vector3_is_unit(&_TEST_FP32_UNIT_VECTOR3_LIST[i])) {
             print_testing_error("A unit vector was not recognized");
             return;
         }
@@ -46,7 +46,7 @@ void test_vector3_is_unit_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NONUNIT_VECTOR3_AMOUNT; i++) {
-        if (bgc_vector3_is_unit_fp32(&_TEST_FP32_NONUNIT_VECTOR3_LIST[i])) {
+        if (bgc_fp32_vector3_is_unit(&_TEST_FP32_NONUNIT_VECTOR3_LIST[i])) {
             print_testing_error("A non-unit vector was recognized as a unit vector");
             return;
         }
@@ -60,38 +60,38 @@ void test_vector3_is_unit_fp32()
 static const int _TEST_FP64_UNIT_VECTOR3_AMOUNT = 10;
 static const int _TEST_FP64_NONUNIT_VECTOR3_AMOUNT = 9;
 
-static const BgcVector3FP64 _TEST_FP64_UNIT_VECTOR3_LIST[] = {
+static const BGC_FP64_Vector3 _TEST_FP64_UNIT_VECTOR3_LIST[] = {
     { 1.0, 0.0, 0.0 },
     { 0.0, -1.0, 0.0 },
     { 0.0, -0.8, 0.6 },
     { -0.6, 0.0, 0.8 },
-    { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, -1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, -1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, -1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, -1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON },
-    { 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 }
+    { 0.0, 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON }
 };
 
-static const BgcVector3FP64 _TEST_FP64_NONUNIT_VECTOR3_LIST[] = {
+static const BGC_FP64_Vector3 _TEST_FP64_NONUNIT_VECTOR3_LIST[] = {
     { 0.0, 0.0, 0.0 },
-    { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON },
-    { 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON },
-    { 0.8 + 1.25 * BGC_EPSYLON_FP64, -0.6 - 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.8 + 1.25 * BGC_FP64_EPSYLON, -0.6 - 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.6 - 1.25 * BGC_EPSYLON_FP64, -0.8 + 1.25 * BGC_EPSYLON_FP64, 0.0 }
+    { 0.6 - 1.25 * BGC_FP64_EPSYLON, -0.8 + 1.25 * BGC_FP64_EPSYLON, 0.0 }
 };
 
 void test_vector3_is_unit_fp64()
 {
-    print_testing_name("bgc_vector3_is_unit_fp64");
+    print_testing_name("bgc_fp64_vector3_is_unit");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_UNIT_VECTOR3_AMOUNT; i++) {
-        if (!bgc_vector3_is_unit_fp64(&_TEST_FP64_UNIT_VECTOR3_LIST[i])) {
+        if (!bgc_fp64_vector3_is_unit(&_TEST_FP64_UNIT_VECTOR3_LIST[i])) {
             print_testing_error("A unit vector was not recognized");
             return;
         }
@@ -99,7 +99,7 @@ void test_vector3_is_unit_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NONUNIT_VECTOR3_AMOUNT; i++) {
-        if (bgc_vector3_is_unit_fp64(&_TEST_FP64_NONUNIT_VECTOR3_LIST[i])) {
+        if (bgc_fp64_vector3_is_unit(&_TEST_FP64_NONUNIT_VECTOR3_LIST[i])) {
             print_testing_error("A non-unit vector was recognized as a unit vector");
             return;
         }

basic-geometry-test/tests/vector3/vector3_is_zero.c

@@ -7,35 +7,35 @@
 static const int _TEST_FP32_ZERO_VECTOR3_AMOUNT = 7;
 static const int _TEST_FP32_NONZERO_VECTOR3_AMOUNT = 9;
 
-static const BgcVector3FP32 _TEST_FP32_ZERO_VECTOR3_LIST[] = {
+static const BGC_FP32_Vector3 _TEST_FP32_ZERO_VECTOR3_LIST[] = {
     { 0.0f, 0.0f, 0.0f },
-    { 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { -0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { -0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, -0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.75f * BGC_FP32_EPSYLON },
-    { 0.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32 }
+    { 0.0f, 0.0f, -0.75f * BGC_FP32_EPSYLON }
 };
 
-static const BgcVector3FP32 _TEST_FP32_NONZERO_VECTOR3_LIST[] = {
+static const BGC_FP32_Vector3 _TEST_FP32_NONZERO_VECTOR3_LIST[] = {
     { 0.0f, 1.0f, 0.0f },
-    { 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { -1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 0.0f, 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, -1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, -1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { 0.0f, 0.0f, 1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 1.25f * BGC_FP32_EPSYLON },
-    { 0.0f, 0.0f, -1.25f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, -1.25f * BGC_FP32_EPSYLON },
-    { 1.25f * BGC_EPSYLON_FP32, 1.25f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.25f * BGC_FP32_EPSYLON, 1.25f * BGC_FP32_EPSYLON, 0.0f },
-    { -1.25f * BGC_EPSYLON_FP32, -1.25f * BGC_EPSYLON_FP32, 0.0f }
+    { -1.25f * BGC_FP32_EPSYLON, -1.25f * BGC_FP32_EPSYLON, 0.0f }
 };
 
 void test_vector3_is_zero_fp32()
 {
-    print_testing_name("bgc_vector3_is_zero_fp32");
+    print_testing_name("bgc_fp32_vector3_is_zero");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP32_ZERO_VECTOR3_AMOUNT; i++) {
-        if (!bgc_vector3_is_zero_fp32(&_TEST_FP32_ZERO_VECTOR3_LIST[i])) {
+        if (!bgc_fp32_vector3_is_zero(&_TEST_FP32_ZERO_VECTOR3_LIST[i])) {
             print_testing_error("A zero vector was not recongized");
             return;
         }
@@ -43,7 +43,7 @@ void test_vector3_is_zero_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NONZERO_VECTOR3_AMOUNT; i++) {
-        if (bgc_vector3_is_zero_fp32(&_TEST_FP32_NONZERO_VECTOR3_LIST[i])) {
+        if (bgc_fp32_vector3_is_zero(&_TEST_FP32_NONZERO_VECTOR3_LIST[i])) {
             print_testing_error("A non-zero vector was recongized as a zero vector");
             return;
         }
@@ -57,35 +57,35 @@ void test_vector3_is_zero_fp32()
 static const int _TEST_FP64_ZERO_VECTOR3_AMOUNT = 7;
 static const int _TEST_FP64_NONZERO_VECTOR3_AMOUNT = 9;
 
-static const BgcVector3FP64 _TEST_FP64_ZERO_VECTOR3_LIST[] = {
+static const BGC_FP64_Vector3 _TEST_FP64_ZERO_VECTOR3_LIST[] = {
     { 0.0, 0.0, 0.0 },
-    { 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { -0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { -0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, -0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, -0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, 0.75 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.75 * BGC_FP64_EPSYLON },
-    { 0.0, 0.0, -0.75 * BGC_EPSYLON_FP64 }
+    { 0.0, 0.0, -0.75 * BGC_FP64_EPSYLON }
 };
 
-static const BgcVector3FP64 _TEST_FP64_NONZERO_VECTOR3_LIST[] = {
+static const BGC_FP64_Vector3 _TEST_FP64_NONZERO_VECTOR3_LIST[] = {
     { 0.0, 1.0, 0.0 },
-    { 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { -1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { -1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 0.0, 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, -1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, -1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { 0.0, 0.0, 1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 1.25 * BGC_FP64_EPSYLON },
-    { 0.0, 0.0, -1.25 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, -1.25 * BGC_FP64_EPSYLON },
-    { 1.25 * BGC_EPSYLON_FP64, 1.25 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.25 * BGC_FP64_EPSYLON, 1.25 * BGC_FP64_EPSYLON, 0.0 },
-    { -BGC_EPSYLON_FP64, -BGC_EPSYLON_FP64, 0.0 }
+    { -BGC_FP64_EPSYLON, -BGC_FP64_EPSYLON, 0.0 }
 };
 
 void test_vector3_is_zero_fp64()
 {
-    print_testing_name("bgc_vector3_is_zero_fp64");
+    print_testing_name("bgc_fp64_vector3_is_zero");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_ZERO_VECTOR3_AMOUNT; i++) {
-        if (!bgc_vector3_is_zero_fp64(&_TEST_FP64_ZERO_VECTOR3_LIST[i])) {
+        if (!bgc_fp64_vector3_is_zero(&_TEST_FP64_ZERO_VECTOR3_LIST[i])) {
             print_testing_error("A zero vector was not recongized");
             return;
         }
@@ -93,7 +93,7 @@ void test_vector3_is_zero_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NONZERO_VECTOR3_AMOUNT; i++) {
-        if (bgc_vector3_is_zero_fp64(&_TEST_FP64_NONZERO_VECTOR3_LIST[i])) {
+        if (bgc_fp64_vector3_is_zero(&_TEST_FP64_NONZERO_VECTOR3_LIST[i])) {
             print_testing_error("A non-zero vector was recongized as a zero vector");
             return;
         }

basic-geometry-test/tests/vector3/vector3_modulus.c

@@ -6,7 +6,7 @@
 
 static const int _TEST_FP32_VECTOR3_AMOUNT = 4;
 
-static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST[] = {
+static const BGC_FP32_Vector3 _TEST_FP32_VECTOR3_LIST[] = {
     { 4.0f, 3.0f, 0.0f },
     { 0.0f, -3.0f, -4.0f },
     { 100.0f, -100.0f, 100.0f },
@@ -29,10 +29,10 @@ static const float _TEST_FP32_MODULUS_LIST[] = {
 
 void test_vector3_square_modulus_fp32()
 {
-    print_testing_name("bgc_vector3_get_square_modulus_fp32");
+    print_testing_name("bgc_fp32_vector3_get_square_modulus");
 
     for (int i = 0; i < _TEST_FP32_VECTOR3_AMOUNT; i++) {
-        if (!bgc_are_close_fp32(bgc_vector3_get_square_modulus_fp32(&_TEST_FP32_VECTOR3_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) {
+        if (!bgc_fp32_are_close(bgc_fp32_vector3_get_square_modulus(&_TEST_FP32_VECTOR3_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -43,10 +43,10 @@ void test_vector3_square_modulus_fp32()
 
 void test_vector3_modulus_fp32()
 {
-    print_testing_name("bgc_vector3_get_modulus_fp32");
+    print_testing_name("bgc_fp32_vector3_get_modulus");
 
     for (int i = 0; i < _TEST_FP32_VECTOR3_AMOUNT; i++) {
-        if (!bgc_are_close_fp32(bgc_vector3_get_modulus_fp32(&_TEST_FP32_VECTOR3_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) {
+        if (!bgc_fp32_are_close(bgc_fp32_vector3_get_modulus(&_TEST_FP32_VECTOR3_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -59,7 +59,7 @@ void test_vector3_modulus_fp32()
 
 static const int _TEST_FP64_VECTOR3_AMOUNT = 4;
 
-static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST[] = {
+static const BGC_FP64_Vector3 _TEST_FP64_VECTOR3_LIST[] = {
     { 0.0, 4.0, 3.0 },
     { -3.0, 0.0, -4.0 },
     { 100.0, -100.0, 100.0 },
@@ -82,10 +82,10 @@ static const double _TEST_FP64_MODULUS_LIST[] = {
 
 void test_vector3_square_modulus_fp64()
 {
-    print_testing_name("bgc_vector3_get_square_modulus_fp64");
+    print_testing_name("bgc_fp64_vector3_get_square_modulus");
 
     for (int i = 0; i < _TEST_FP64_VECTOR3_AMOUNT; i++) {
-        if (!bgc_are_close_fp64(bgc_vector3_get_square_modulus_fp64(&_TEST_FP64_VECTOR3_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) {
+        if (!bgc_fp64_are_close(bgc_fp64_vector3_get_square_modulus(&_TEST_FP64_VECTOR3_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }
@@ -96,10 +96,10 @@ void test_vector3_square_modulus_fp64()
 
 void test_vector3_modulus_fp64()
 {
-    print_testing_name("bgc_vector3_get_modulus_fp64");
+    print_testing_name("bgc_fp64_vector3_get_modulus");
 
     for (int i = 0; i < _TEST_FP64_VECTOR3_AMOUNT; i++) {
-        if (!bgc_are_close_fp64(bgc_vector3_get_modulus_fp64(&_TEST_FP64_VECTOR3_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) {
+        if (!bgc_fp64_are_close(bgc_fp64_vector3_get_modulus(&_TEST_FP64_VECTOR3_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) {
             print_testing_failed();
             return;
         }

basic-geometry-test/tests/vector3/vector3_reset.c

@@ -4,11 +4,11 @@
 
 void test_vector3_reset_fp32()
 {
-    BgcVector3FP32 vector;
+    BGC_FP32_Vector3 vector;
 
-    print_testing_name("bgc_vector3_reset_fp32");
+    print_testing_name("bgc_fp32_vector3_reset");
 
-    bgc_vector3_reset_fp32(&vector);
+    bgc_fp32_vector3_reset(&vector);
 
     if (vector.x1 != 0.0f || vector.x2 != 0.0f || vector.x3 != 0.0f) {
         print_testing_failed();
@@ -20,11 +20,11 @@ void test_vector3_reset_fp32()
 
 void test_vector3_reset_fp64()
 {
-    BgcVector3FP64 vector;
+    BGC_FP64_Vector3 vector;
 
-    print_testing_name("bgc_vector3_reset_fp64");
+    print_testing_name("bgc_fp64_vector3_reset");
 
-    bgc_vector3_reset_fp64(&vector);
+    bgc_fp64_vector3_reset(&vector);
 
     if (vector.x1 != 0.0 || vector.x2 != 0.0 || vector.x3 != 0.0) {
         print_testing_failed();

basic-geometry-test/tests/vector3/vector3_set_values.c

@@ -8,25 +8,25 @@
 
 void test_vector3_set_values_fp32()
 {
-    BgcVector3FP32 vector;
+    BGC_FP32_Vector3 vector;
 
-    print_testing_name("bgc_vector3_set_values_fp32");
+    print_testing_name("bgc_fp32_vector3_make");
 
-    bgc_vector3_set_values_fp32(1.0f, 2.0f, 3.0f, &vector);
+    bgc_fp32_vector3_make(1.0f, 2.0f, 3.0f, &vector);
 
     if (vector.x1 != 1.0f || vector.x2 != 2.0f || vector.x3 != 3.0f) {
         print_testing_error("First step failed");
         return;
     }
 
-    bgc_vector3_set_values_fp32(-3.0f, -5.0f, -7.0f, &vector);
+    bgc_fp32_vector3_make(-3.0f, -5.0f, -7.0f, &vector);
 
     if (vector.x1 != -3.0f || vector.x2 != -5.0f || vector.x3 != -7.0f) {
         print_testing_error("Second step failed");
         return;
     }
 
-    bgc_vector3_set_values_fp32(-2.0f, 2.0f, 4.0f, &vector);
+    bgc_fp32_vector3_make(-2.0f, 2.0f, 4.0f, &vector);
 
     if (vector.x1 != -2.0f || vector.x2 != 2.0f || vector.x3 != 4.0f) {
         print_testing_error("Third step failed");
@@ -40,26 +40,26 @@ void test_vector3_set_values_fp32()
 
 void test_vector3_set_values_fp64()
 {
-    BgcVector3FP64 vector;
+    BGC_FP64_Vector3 vector;
 
-    print_testing_name("bgc_vector3_set_values_fp64");
+    print_testing_name("bgc_fp64_vector3_make");
 
 
-    bgc_vector3_set_values_fp64(1.0, 2.0, 3.0, &vector);
+    bgc_fp64_vector3_make(1.0, 2.0, 3.0, &vector);
 
     if (vector.x1 != 1.0 || vector.x2 != 2.0 || vector.x3 != 3.0) {
         print_testing_error("First step failed");
         return;
     }
 
-    bgc_vector3_set_values_fp64(-3.0, -5.0, -7.0, &vector);
+    bgc_fp64_vector3_make(-3.0, -5.0, -7.0, &vector);
 
     if (vector.x1 != -3.0 || vector.x2 != -5.0 || vector.x3 != -7.0) {
         print_testing_error("Second step failed");
         return;
     }
 
-    bgc_vector3_set_values_fp64(-2.0, 2.0, 4.0, &vector);
+    bgc_fp64_vector3_make(-2.0, 2.0, 4.0, &vector);
 
     if (vector.x1 != -2.0 || vector.x2 != 2.0 || vector.x3 != 4.0) {
         print_testing_error("Third step failed");

basic-geometry-test/tests/vector3/vector3_swap.c

@@ -8,14 +8,14 @@
 
 static const int _TEST_FP32_VECTOR3_AMOUNT = 4;
 
-static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST1[] = {
+static const BGC_FP32_Vector3 _TEST_FP32_VECTOR3_LIST1[] = {
     { 1.0f, 2.0f, 3.0f },
     { -3.0f, -2.0f, -1.0f },
     { 100.0f, -100.0f, 344.7f },
     { -100.1f, 100.2f, -271.3f }
 };
 
-static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST2[] = {
+static const BGC_FP32_Vector3 _TEST_FP32_VECTOR3_LIST2[] = {
     { 3.6f, 5.3f, -0.123f },
     { 204.07f, -781.89f, 891.3f },
     { -20.02f, -1.0003f, 0.9275f },
@@ -24,15 +24,15 @@ static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST2[] = {
 
 void test_vector3_swap_fp32()
 {
-    BgcVector3FP32 vector1, vector2;
+    BGC_FP32_Vector3 vector1, vector2;
 
-    print_testing_name("bgc_vector3_swap_fp32");
+    print_testing_name("bgc_fp32_vector3_swap");
 
     for (int i = 0; i < _TEST_FP32_VECTOR3_AMOUNT; i++) {
-        bgc_vector3_copy_fp32(&_TEST_FP32_VECTOR3_LIST1[i], &vector1);
+        bgc_fp32_vector3_copy(&_TEST_FP32_VECTOR3_LIST1[i], &vector1);
-        bgc_vector3_copy_fp32(&_TEST_FP32_VECTOR3_LIST2[i], &vector2);
+        bgc_fp32_vector3_copy(&_TEST_FP32_VECTOR3_LIST2[i], &vector2);
 
-        bgc_vector3_swap_fp32(&vector1, &vector2);
+        bgc_fp32_vector3_swap(&vector1, &vector2);
 
         if (vector1.x1 != _TEST_FP32_VECTOR3_LIST2[i].x1 ||
             vector1.x2 != _TEST_FP32_VECTOR3_LIST2[i].x2 ||
@@ -52,14 +52,14 @@ void test_vector3_swap_fp32()
 
 static const int _TEST_FP64_VECTOR3_AMOUNT = 4;
 
-static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST1[] = {
+static const BGC_FP64_Vector3 _TEST_FP64_VECTOR3_LIST1[] = {
     { 1.0, 2.0, 3.0 },
     { -3.0, -2.0, -1.0 },
     { 100.0, -100.0, 344.7 },
     { -100.1, 100.2, -271.3 }
 };
 
-static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST2[] = {
+static const BGC_FP64_Vector3 _TEST_FP64_VECTOR3_LIST2[] = {
     { 3.6, 5.3, -0.123 },
     { 204.07, -781.89, 891.3 },
     { -20.02, -1.0003, 0.9275 },
@@ -68,15 +68,15 @@ static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST2[] = {
 
 void test_vector3_swap_fp64()
 {
-    BgcVector3FP64 vector1, vector2;
+    BGC_FP64_Vector3 vector1, vector2;
 
-    print_testing_name("bgc_vector3_swap_fp64");
+    print_testing_name("bgc_fp64_vector3_swap");
 
     for (int i = 0; i < _TEST_FP64_VECTOR3_AMOUNT; i++) {
-        bgc_vector3_copy_fp64(&_TEST_FP64_VECTOR3_LIST1[i], &vector1);
+        bgc_fp64_vector3_copy(&_TEST_FP64_VECTOR3_LIST1[i], &vector1);
-        bgc_vector3_copy_fp64(&_TEST_FP64_VECTOR3_LIST2[i], &vector2);
+        bgc_fp64_vector3_copy(&_TEST_FP64_VECTOR3_LIST2[i], &vector2);
 
-        bgc_vector3_swap_fp64(&vector1, &vector2);
+        bgc_fp64_vector3_swap(&vector1, &vector2);
 
         if (vector1.x1 != _TEST_FP64_VECTOR3_LIST2[i].x1 ||
             vector1.x2 != _TEST_FP64_VECTOR3_LIST2[i].x2 ||

basic-geometry-test/tests/versor/versor_are_close.c

@@ -9,35 +9,35 @@ static const int _TEST_FP32_CLOSE_VERSOR_PAIR_AMOUNT = 10;
 static const TestVersorPairFP32 _TEST_FP32_CLOSE_VERSOR_PAIR_LIST[] = {
     {
         { 1.0f, 0.0f, 0.0f, 0.0f },
-        { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
+        { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }
     },
     {
         { 1.0f, 0.0f, 0.0f, 0.0f },
-        { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
+        { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }
     },
     {
         { 0.0f, 1.0f, 0.0f, 0.0f },
-        { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
+        { 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }
     },
     {
         { 0.0f, 1.0f, 0.0f, 0.0f },
-        { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
+        { 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }
     },
     {
         { 0.0f, 0.0f, 1.0f, 0.0f },
-        { 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f }
+        { 0.0f, 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f }
     },
     {
         { 0.0f, 0.0f, 1.0f, 0.0f },
-        { 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f }
+        { 0.0f, 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f }
     },
     {
         { 0.0f, 0.0f, 0.0f, 1.0f },
-        { 0.0f, 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 }
+        { 0.0f, 0.0f, 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON }
     },
     {
         { 0.0f, 0.0f, 0.0f, 1.0f },
-        { 0.0f, 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 }
+        { 0.0f, 0.0f, 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON }
     },
     {
         { 0.70710678f, 0.0f, 0.70710675f, 0.0f },
@@ -54,35 +54,35 @@ static const int _TEST_FP32_DIFFERENT_VERSOR_PAIR_AMOUNT = 10;
 static const TestVersorPairFP32 _TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[] = {
     {
         { 1.0f, 0.0f, 0.0f, 0.0f },
-        { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
+        { 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }
     },
     {
         { 1.0f, 0.0f, 0.0f, 0.0f },
-        { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }
+        { 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }
     },
     {
         { 0.0f, 1.0f, 0.0f, 0.0f },
-        { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
+        { 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }
     },
     {
         { 0.0f, 1.0f, 0.0f, 0.0f },
-        { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
+        { 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }
     },
     {
         { 0.0f, 0.0f, 1.0f, 0.0f },
-        { 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f }
+        { 0.0f, 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f }
     },
     {
         { 0.0f, 0.0f, 1.0f, 0.0f },
-        { 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f }
+        { 0.0f, 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f }
     },
     {
         { 0.0f, 0.0f, 0.0f, 1.0f },
-        { 0.0f, 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 }
+        { 0.0f, 0.0f, 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON }
     },
     {
         { 0.0f, 0.0f, 0.0f, 1.0f },
-        { 0.0f, 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 }
+        { 0.0f, 0.0f, 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON }
     },
     {
         { 0.707106f, 0.0f, 0.707107f, 0.0f },
@@ -96,11 +96,11 @@ static const TestVersorPairFP32 _TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[] = {
 
 void test_versor_are_close_fp32()
 {
-    print_testing_name("bgc_versor_are_close_fp32");
+    print_testing_name("bgc_fp32_versor_are_close");
 
     // Testing close pairs of versors:
     for (int i = 0; i < _TEST_FP32_CLOSE_VERSOR_PAIR_AMOUNT; i++) {
-        if (!bgc_versor_are_close_fp32(&_TEST_FP32_CLOSE_VERSOR_PAIR_LIST[i].first, &_TEST_FP32_CLOSE_VERSOR_PAIR_LIST[i].second)) {
+        if (!bgc_fp32_versor_are_close(&_TEST_FP32_CLOSE_VERSOR_PAIR_LIST[i].first, &_TEST_FP32_CLOSE_VERSOR_PAIR_LIST[i].second)) {
             print_testing_error("A pair of close versors was not recognized");
             return;
         }
@@ -108,7 +108,7 @@ void test_versor_are_close_fp32()
 
     // Testing different pairs of versors:
     for (int i = 0; i < _TEST_FP32_DIFFERENT_VERSOR_PAIR_AMOUNT; i++) {
-        if (bgc_versor_are_close_fp32(&_TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[i].first, &_TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[i].second)) {
+        if (bgc_fp32_versor_are_close(&_TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[i].first, &_TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[i].second)) {
             print_testing_error("A pair of different versors was recognized as close versors");
             return;
         }
@@ -125,35 +125,35 @@ static const int _TEST_FP64_CLOSE_VERSOR_PAIR_AMOUNT = 10;
 static const TestVersorPairFP64 _TEST_FP64_CLOSE_VERSOR_PAIR_LIST[] = {
     {
         { 1.0, 0.0, 0.0, 0.0 },
-        { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
+        { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }
     },
     {
         { 1.0, 0.0, 0.0, 0.0 },
-        { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
+        { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }
     },
     {
         { 0.0, 1.0, 0.0, 0.0 },
-        { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }
+        { 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }
     },
     {
         { 0.0, 1.0, 0.0, 0.0 },
-        { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }
+        { 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }
     },
     {
         { 0.0, 0.0, 1.0, 0.0 },
-        { 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 }
+        { 0.0, 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0 }
     },
     {
         { 0.0, 0.0, 1.0, 0.0 },
-        { 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 }
+        { 0.0, 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0 }
     },
     {
         { 0.0, 0.0, 0.0, 1.0 },
-        { 0.0, 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 }
+        { 0.0, 0.0, 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON }
     },
     {
         { 0.0, 0.0, 0.0, 1.0 },
-        { 0.0, 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 }
+        { 0.0, 0.0, 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON }
     },
     {
         { 0.7071067811865475244, 0.0, 0.7071067811865465244, 0.0 },
@@ -170,35 +170,35 @@ static const int _TEST_FP64_DIFFERENT_VERSOR_PAIR_AMOUNT = 10;
 static const TestVersorPairFP64 _TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[] = {
     {
         { 1.0, 0.0, 0.0, 0.0 },
-        { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
+        { 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }
     },
     {
         { 1.0, 0.0, 0.0, 0.0 },
-        { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }
+        { 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }
     },
     {
         { 0.0, 1.0, 0.0, 0.0 },
-        { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }
+        { 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }
     },
     {
         { 0.0, 1.0, 0.0, 0.0 },
-        { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }
+        { 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }
     },
     {
         { 0.0, 0.0, 1.0, 0.0 },
-        { 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 }
+        { 0.0, 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0 }
     },
     {
         { 0.0, 0.0, 1.0, 0.0 },
-        { 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 }
+        { 0.0, 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0 }
     },
     {
         { 0.0, 0.0, 0.0, 1.0 },
-        { 0.0, 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 }
+        { 0.0, 0.0, 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON }
     },
     {
         { 0.0, 0.0, 0.0, 1.0 },
-        { 0.0, 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 }
+        { 0.0, 0.0, 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON }
     },
     {
         { 0.7071067811866, 0.0, 0.7071067811865, 0.0 },
@@ -212,11 +212,11 @@ static const TestVersorPairFP64 _TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[] = {
 
 void test_versor_are_close_fp64()
 {
-    print_testing_name("bgc_versor_are_close_fp64");
+    print_testing_name("bgc_fp64_versor_are_close");
 
     // Testing close pairs of versors:
     for (int i = 0; i < _TEST_FP64_CLOSE_VERSOR_PAIR_AMOUNT; i++) {
-        if (!bgc_versor_are_close_fp64(&_TEST_FP64_CLOSE_VERSOR_PAIR_LIST[i].first, &_TEST_FP64_CLOSE_VERSOR_PAIR_LIST[i].second)) {
+        if (!bgc_fp64_versor_are_close(&_TEST_FP64_CLOSE_VERSOR_PAIR_LIST[i].first, &_TEST_FP64_CLOSE_VERSOR_PAIR_LIST[i].second)) {
             print_testing_error("A pair of close versors was not recognized");
             return;
         }
@@ -224,7 +224,7 @@ void test_versor_are_close_fp64()
 
     // Testing different pairs of versors:
     for (int i = 0; i < _TEST_FP64_DIFFERENT_VERSOR_PAIR_AMOUNT; i++) {
-        if (bgc_versor_are_close_fp64(&_TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[i].first, &_TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[i].second)) {
+        if (bgc_fp64_versor_are_close(&_TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[i].first, &_TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[i].second)) {
             print_testing_error("A pair of different versors was recognized as close versors");
             return;
         }

basic-geometry-test/tests/versor/versor_combine.c

@@ -38,14 +38,14 @@ static const TestVersorTripletFP32 _TEST_FP32_VERSOR_TRIPLET_LIST[] = {
 
 void test_versor_combine_fp32()
 {
-    BgcVersorFP32 versor;
+    BGC_FP32_Versor versor;
 
-    print_testing_name("bgc_versor_combine_fp32");
+    print_testing_name("bgc_fp32_versor_combine");
 
     for (int i = 0; i < _TEST_FP32_VERSOR_TRIPLET_AMOUNT; i++) {
-        bgc_versor_combine_fp32(&_TEST_FP32_VERSOR_TRIPLET_LIST[i].first, &_TEST_FP32_VERSOR_TRIPLET_LIST[i].second, &versor);
+        bgc_fp32_versor_combine(&_TEST_FP32_VERSOR_TRIPLET_LIST[i].first, &_TEST_FP32_VERSOR_TRIPLET_LIST[i].second, &versor);
 
-        if (!bgc_versor_are_close_fp32(&versor, &_TEST_FP32_VERSOR_TRIPLET_LIST[i].result)) {
+        if (!bgc_fp32_versor_are_close(&versor, &_TEST_FP32_VERSOR_TRIPLET_LIST[i].result)) {
             print_testing_failed();
             return;
         }
@@ -88,14 +88,14 @@ static const TestVersorTripletFP64 _TEST_FP64_VERSOR_TRIPLET_LIST[] = {
 
 void test_versor_combine_fp64()
 {
-    BgcVersorFP64 versor;
+    BGC_FP64_Versor versor;
 
-    print_testing_name("bgc_versor_combine_fp64");
+    print_testing_name("bgc_fp64_versor_combine");
 
     for (int i = 0; i < _TEST_FP64_VERSOR_TRIPLET_AMOUNT; i++) {
-        bgc_versor_combine_fp64(&_TEST_FP64_VERSOR_TRIPLET_LIST[i].first, &_TEST_FP64_VERSOR_TRIPLET_LIST[i].second, &versor);
+        bgc_fp64_versor_combine(&_TEST_FP64_VERSOR_TRIPLET_LIST[i].first, &_TEST_FP64_VERSOR_TRIPLET_LIST[i].second, &versor);
 
-        if (!bgc_versor_are_close_fp64(&versor, &_TEST_FP64_VERSOR_TRIPLET_LIST[i].result)) {
+        if (!bgc_fp64_versor_are_close(&versor, &_TEST_FP64_VERSOR_TRIPLET_LIST[i].result)) {
             print_testing_failed();
             return;
         }

basic-geometry-test/tests/versor/versor_copy.c

@@ -7,7 +7,7 @@
 // ==================== FP32 ==================== //
 
 static const int _TEST_FP32_VERSOR_AMOUNT = 8;
-static const BgcVersorFP32 _TEST_FP32_VERSOR_LIST[] = {
+static const BGC_FP32_Versor _TEST_FP32_VERSOR_LIST[] = {
     { 1.0f, 0.0f, 0.0f, 0.0f },
     { -1.0f, 0.0f, 0.0f, 0.0f },
     { 0.182574185835f, 0.36514837167f, 0.54772255751f, 0.73029674334f },
@@ -20,13 +20,13 @@ static const BgcVersorFP32 _TEST_FP32_VERSOR_LIST[] = {
 
 void test_versor_copy_fp32()
 {
-    BgcVersorFP32 versor;
+    BGC_FP32_Versor versor;
 
-    print_testing_name("bgc_versor_copy_fp32");
+    print_testing_name("bgc_fp32_versor_copy");
 
     for (int i = 0; i < _TEST_FP32_VERSOR_AMOUNT; i++) {
 
-        bgc_versor_copy_fp32(&_TEST_FP32_VERSOR_LIST[i], &versor);
+        bgc_fp32_versor_copy(&_TEST_FP32_VERSOR_LIST[i], &versor);
 
         if (versor._s0 != _TEST_FP32_VERSOR_LIST[i]._s0 ||
             versor._x1 != _TEST_FP32_VERSOR_LIST[i]._x1 ||
@@ -43,7 +43,7 @@ void test_versor_copy_fp32()
 // ==================== FP64 ==================== //
 
 static const int _TEST_FP64_VERSOR_AMOUNT = 8;
-static const BgcVersorFP64 _TEST_FP64_VERSOR_LIST[] = {
+static const BGC_FP64_Versor _TEST_FP64_VERSOR_LIST[] = {
     { 1.0f, 0.0f, 0.0f, 0.0f },
     { -1.0f, 0.0f, 0.0f, 0.0f },
     { 0.1825741858350553712, 0.3651483716701107423, 0.5477225575051661135, 0.7302967433402214846 },
@@ -56,13 +56,13 @@ static const BgcVersorFP64 _TEST_FP64_VERSOR_LIST[] = {
 
 void test_versor_copy_fp64()
 {
-    BgcVersorFP64 versor;
+    BGC_FP64_Versor versor;
 
-    print_testing_name("bgc_versor_copy_fp64");
+    print_testing_name("bgc_fp64_versor_copy");
 
     for (int i = 0; i < _TEST_FP64_VERSOR_AMOUNT; i++) {
 
-        bgc_versor_copy_fp64(&_TEST_FP64_VERSOR_LIST[i], &versor);
+        bgc_fp64_versor_copy(&_TEST_FP64_VERSOR_LIST[i], &versor);
 
         if (versor._s0 != _TEST_FP64_VERSOR_LIST[i]._s0 ||
             versor._x1 != _TEST_FP64_VERSOR_LIST[i]._x1 ||

basic-geometry-test/tests/versor/versor_is_identity.c

@@ -7,33 +7,33 @@
 static const int _TEST_FP32_IDENTIYTY_VERSOR_AMOUNT = 9;
 static const int _TEST_FP32_NON_IDENTIYTY_VERSOR_AMOUNT = 5;
 
-static const BgcVersorFP32 _TEST_FP32_IDENTIYTY_VERSOR_LIST[] = {
+static const BGC_FP32_Versor _TEST_FP32_IDENTIYTY_VERSOR_LIST[] = {
     { 1.0f, 0.0f, 0.0f, 0.0f },
-    { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f },
-    { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f },
-    { 1.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.0f, 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 1.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 1.0f, -0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f },
-    { 1.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f, 0.0f, 0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 1.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f },
+    { 1.0f, 0.0f, -0.75f * BGC_FP32_EPSYLON, 0.0f },
-    { 1.0f, 0.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32 },
+    { 1.0f, 0.0f, 0.0f, 0.75f * BGC_FP32_EPSYLON },
-    { 1.0f, 0.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32 }
+    { 1.0f, 0.0f, 0.0f, -0.75f * BGC_FP32_EPSYLON }
 };
 
-static const BgcVersorFP32 _TEST_FP32_NON_IDENTIYTY_VERSOR_LIST[] = {
+static const BGC_FP32_Versor _TEST_FP32_NON_IDENTIYTY_VERSOR_LIST[] = {
     { 0.0f, 1.0f, 0.0f, 0.0f },
     { 0.0f, 0.0f, 1.0f, 0.0f },
     { 0.0f, 0.0f, 0.0f, 1.0f },
     { 0.5f, 0.5f, 0.5f, 0.5f },
-    { 1.0f, -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }
+    { 1.0f, -1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }
 };
 
 void test_versor_is_identity_fp32()
 {
-    print_testing_name("bgc_versor_is_identity_fp32");
+    print_testing_name("bgc_fp32_versor_is_idle");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP32_IDENTIYTY_VERSOR_AMOUNT; i++) {
-        if (!bgc_versor_is_identity_fp32(&_TEST_FP32_IDENTIYTY_VERSOR_LIST[i])) {
+        if (!bgc_fp32_versor_is_idle(&_TEST_FP32_IDENTIYTY_VERSOR_LIST[i])) {
             print_testing_error("An identity versor was not recognized");
             return;
         }
@@ -41,7 +41,7 @@ void test_versor_is_identity_fp32()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP32_NON_IDENTIYTY_VERSOR_AMOUNT; i++) {
-        if (bgc_versor_is_identity_fp32(&_TEST_FP32_NON_IDENTIYTY_VERSOR_LIST[i])) {
+        if (bgc_fp32_versor_is_idle(&_TEST_FP32_NON_IDENTIYTY_VERSOR_LIST[i])) {
             print_testing_error("A non-identity versor was recognized as an identity versor");
             return;
         }
@@ -55,33 +55,33 @@ void test_versor_is_identity_fp32()
 static const int _TEST_FP64_IDENTIYTY_VERSOR_AMOUNT = 9;
 static const int _TEST_FP64_NON_IDENTIYTY_VERSOR_AMOUNT = 5;
 
-static const BgcVersorFP64 _TEST_FP64_IDENTIYTY_VERSOR_LIST[] = {
+static const BGC_FP64_Versor _TEST_FP64_IDENTIYTY_VERSOR_LIST[] = {
     { 1.0, 0.0, 0.0, 0.0 },
-    { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 },
-    { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 },
-    { 1.0, -0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.0, -0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 1.0, 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 1.0, 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 },
-    { 1.0, 0.0, 0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0, 0.0, 0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 1.0, 0.0, -0.75 * BGC_EPSYLON_FP64, 0.0 },
+    { 1.0, 0.0, -0.75 * BGC_FP64_EPSYLON, 0.0 },
-    { 1.0, 0.0, 0.0, 0.75 * BGC_EPSYLON_FP64 },
+    { 1.0, 0.0, 0.0, 0.75 * BGC_FP64_EPSYLON },
-    { 1.0, 0.0, 0.0, -0.75 * BGC_EPSYLON_FP64 }
+    { 1.0, 0.0, 0.0, -0.75 * BGC_FP64_EPSYLON }
 };
 
-static const BgcVersorFP64 _TEST_FP64_NON_IDENTIYTY_VERSOR_LIST[] = {
+static const BGC_FP64_Versor _TEST_FP64_NON_IDENTIYTY_VERSOR_LIST[] = {
     { 0.0, 1.0, 0.0, 0.0 },
     { 0.0, 0.0, 1.0, 0.0 },
     { 0.0, 0.0, 0.0, 1.0 },
     { 0.5, 0.5, 0.5, 0.5 },
-    { 1.0, 0.0, 1.25 * BGC_EPSYLON_FP64, 0.0 }
+    { 1.0, 0.0, 1.25 * BGC_FP64_EPSYLON, 0.0 }
 };
 
 void test_versor_is_identity_fp64()
 {
-    print_testing_name("bgc_versor_is_identity_fp64");
+    print_testing_name("bgc_fp64_versor_is_idle");
 
     // Testing zero values:
     for (int i = 0; i < _TEST_FP64_IDENTIYTY_VERSOR_AMOUNT; i++) {
-        if (!bgc_versor_is_identity_fp64(&_TEST_FP64_IDENTIYTY_VERSOR_LIST[i])) {
+        if (!bgc_fp64_versor_is_idle(&_TEST_FP64_IDENTIYTY_VERSOR_LIST[i])) {
             print_testing_error("An identity versor was not recognized");
             return;
         }
@@ -89,7 +89,7 @@ void test_versor_is_identity_fp64()
 
     // Testing non-zero values:
     for (int i = 0; i < _TEST_FP64_NON_IDENTIYTY_VERSOR_AMOUNT; i++) {
-        if (bgc_versor_is_identity_fp64(&_TEST_FP64_NON_IDENTIYTY_VERSOR_LIST[i])) {
+        if (bgc_fp64_versor_is_idle(&_TEST_FP64_NON_IDENTIYTY_VERSOR_LIST[i])) {
             print_testing_error("A non-identity versor was recognized as an identity versor");
             return;
         }

basic-geometry-test/tests/versor/versor_reset.c

@@ -4,11 +4,11 @@
 
 void test_versor_reset_fp32()
 {
-    BgcVersorFP32 versor;
+    BGC_FP32_Versor versor;
 
-    print_testing_name("bgc_versor_reset_fp32");
+    print_testing_name("bgc_fp32_versor_reset");
 
-    bgc_versor_reset_fp32(&versor);
+    bgc_fp32_versor_reset(&versor);
 
     if (versor._s0 != 1.0f || versor._x1 != 0.0f || versor._x2 != 0.0f || versor._x3 != 0.0f) {
         print_testing_failed();
@@ -20,11 +20,11 @@ void test_versor_reset_fp32()
 
 void test_versor_reset_fp64()
 {
-    BgcVersorFP64 versor;
+    BGC_FP64_Versor versor;
 
-    print_testing_name("bgc_versor_reset_fp64");
+    print_testing_name("bgc_fp64_versor_reset");
 
-    bgc_versor_reset_fp64(&versor);
+    bgc_fp64_versor_reset(&versor);
 
     if (versor._s0 != 1.0 || versor._x1 != 0.0 || versor._x2 != 0.0 || versor._x3 != 0.0) {
         print_testing_failed();

basic-geometry-test/tests/versor/versor_set_values.c

@@ -7,7 +7,7 @@
 // ==================== FP32 ==================== //
 
 static const int _TEST_FP32_VERSOR_DATA_AMOUNT = 4;
-static const BgcQuaternionFP32 _TEST_FP32_VERSOR_DATA_LIST[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_VERSOR_DATA_LIST[] = {
     { 1.0f, 2.0f, 3.0f, 4.0f },
     { 4.0f, 3.0f, 2.0f, 1.0f },
     { -1.0f, 0.0f, 0.0f, 0.0f },
@@ -17,12 +17,12 @@ static const BgcQuaternionFP32 _TEST_FP32_VERSOR_DATA_LIST[] = {
 void test_versor_set_values_fp32()
 {
     float versor_module, ratio;
-    BgcVersorFP32 versor;
+    BGC_FP32_Versor versor;
 
-    print_testing_name("bgc_versor_set_values_fp32");
+    print_testing_name("bgc_fp32_versor_make");
 
     for (int i = 0; i < _TEST_FP32_VERSOR_DATA_AMOUNT; i++) {
-        bgc_versor_set_values_fp32(
+        bgc_fp32_versor_make(
             _TEST_FP32_VERSOR_DATA_LIST[i].s0,
             _TEST_FP32_VERSOR_DATA_LIST[i].x1,
             _TEST_FP32_VERSOR_DATA_LIST[i].x2,
@@ -32,28 +32,28 @@ void test_versor_set_values_fp32()
 
         versor_module = sqrtf(versor._s0 * versor._s0 + versor._x1 * versor._x1 + versor._x2 * versor._x2 + versor._x3 * versor._x3);
 
-        if (!bgc_is_unit_fp32(versor_module)) {
+        if (!bgc_fp32_is_unit(versor_module)) {
             print_testing_error("Versor module is not equal to one.");
             return;
         }
 
-        if (bgc_is_zero_fp32(_TEST_FP32_VERSOR_DATA_LIST[i].s0)) {
+        if (bgc_fp32_is_zero(_TEST_FP32_VERSOR_DATA_LIST[i].s0)) {
             continue;
         }
 
         ratio = _TEST_FP32_VERSOR_DATA_LIST[i].s0 / versor._s0;
 
-        if (!bgc_is_zero_fp32(_TEST_FP32_VERSOR_DATA_LIST[i].x1) && !bgc_are_close_fp32(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x1 / versor._x1)) {
+        if (!bgc_fp32_is_zero(_TEST_FP32_VERSOR_DATA_LIST[i].x1) && !bgc_fp32_are_close(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x1 / versor._x1)) {
             print_testing_error("Versor was not normalized proportionally (x1).");
             return;
         }
 
-        if (!bgc_is_zero_fp32(_TEST_FP32_VERSOR_DATA_LIST[i].x2) && !bgc_are_close_fp32(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x2 / versor._x2)) {
+        if (!bgc_fp32_is_zero(_TEST_FP32_VERSOR_DATA_LIST[i].x2) && !bgc_fp32_are_close(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x2 / versor._x2)) {
             print_testing_error("Versor was not normalized proportionally (x2).");
             return;
         }
 
-        if (!bgc_is_zero_fp32(_TEST_FP32_VERSOR_DATA_LIST[i].x3) && !bgc_are_close_fp32(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x3 / versor._x3)) {
+        if (!bgc_fp32_is_zero(_TEST_FP32_VERSOR_DATA_LIST[i].x3) && !bgc_fp32_are_close(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x3 / versor._x3)) {
             print_testing_error("Versor was not normalized proportionally (x3).");
             return;
         }
@@ -65,7 +65,7 @@ void test_versor_set_values_fp32()
 // ==================== FP64 ==================== //
 
 static const int _TEST_FP64_VERSOR_DATA_AMOUNT = 4;
-static const BgcQuaternionFP64 _TEST_FP64_VERSOR_DATA_LIST[] = {
+static const BGC_FP64_Quaternion _TEST_FP64_VERSOR_DATA_LIST[] = {
     { 1.0, 2.0, 3.0, 4.0 },
     { 4.0, 3.0, 2.0, 1.0 },
     { -1.0, 0.0, 0.0, 0.0 },
@@ -75,12 +75,12 @@ static const BgcQuaternionFP64 _TEST_FP64_VERSOR_DATA_LIST[] = {
 void test_versor_set_values_fp64()
 {
     double versor_module, ratio;
-    BgcVersorFP64 versor;
+    BGC_FP64_Versor versor;
 
-    print_testing_name("bgc_versor_set_values_fp64");
+    print_testing_name("bgc_fp64_versor_make");
 
     for (int i = 0; i < _TEST_FP64_VERSOR_DATA_AMOUNT; i++) {
-        bgc_versor_set_values_fp64(
+        bgc_fp64_versor_make(
             _TEST_FP64_VERSOR_DATA_LIST[i].s0,
             _TEST_FP64_VERSOR_DATA_LIST[i].x1,
             _TEST_FP64_VERSOR_DATA_LIST[i].x2,
@@ -90,28 +90,28 @@ void test_versor_set_values_fp64()
 
         versor_module = sqrt(versor._s0 * versor._s0 + versor._x1 * versor._x1 + versor._x2 * versor._x2 + versor._x3 * versor._x3);
 
-        if (!bgc_is_unit_fp64(versor_module)) {
+        if (!bgc_fp64_is_unit(versor_module)) {
             print_testing_error("Versor module is not equal to one.");
             return;
         }
 
-        if (bgc_is_zero_fp64(_TEST_FP64_VERSOR_DATA_LIST[i].s0)) {
+        if (bgc_fp64_is_zero(_TEST_FP64_VERSOR_DATA_LIST[i].s0)) {
             continue;
         }
 
         ratio = _TEST_FP64_VERSOR_DATA_LIST[i].s0 / versor._s0;
 
-        if (!bgc_is_zero_fp64(_TEST_FP64_VERSOR_DATA_LIST[i].x1) && !bgc_are_close_fp64(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x1 / versor._x1)) {
+        if (!bgc_fp64_is_zero(_TEST_FP64_VERSOR_DATA_LIST[i].x1) && !bgc_fp64_are_close(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x1 / versor._x1)) {
             print_testing_error("Versor was not normalized proportionally (x1).");
             return;
         }
 
-        if (!bgc_is_zero_fp64(_TEST_FP64_VERSOR_DATA_LIST[i].x2) && !bgc_are_close_fp64(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x2 / versor._x2)) {
+        if (!bgc_fp64_is_zero(_TEST_FP64_VERSOR_DATA_LIST[i].x2) && !bgc_fp64_are_close(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x2 / versor._x2)) {
             print_testing_error("Versor was not normalized proportionally (x2).");
             return;
         }
 
-        if (!bgc_is_zero_fp64(_TEST_FP64_VERSOR_DATA_LIST[i].x3) && !bgc_are_close_fp64(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x3 / versor._x3)) {
+        if (!bgc_fp64_is_zero(_TEST_FP64_VERSOR_DATA_LIST[i].x3) && !bgc_fp64_are_close(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x3 / versor._x3)) {
             print_testing_error("Versor was not normalized proportionally (x3).");
             return;
         }

basic-geometry-test/tests/versor/versor_swap.c

@@ -8,13 +8,13 @@
 
 static const int _TEST_FP32_VERSOR_AMOUNT = 3;
 
-static const BgcQuaternionFP32 _TEST_FP32_VERSOR_LIST1[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_VERSOR_LIST1[] = {
     { 1.0f, 2.0f, 3.0f, 4.0f },
     { -4.0f, -3.0f, -2.0f, -1.0f },
     { 0.5f, -0.5f, -0.5f, -0.5f }
 };
 
-static const BgcQuaternionFP32 _TEST_FP32_VERSOR_LIST2[] = {
+static const BGC_FP32_Quaternion _TEST_FP32_VERSOR_LIST2[] = {
     { -0.5f, 0.5f, 0.5f, 0.5f },
     { -1.0f, -2.0f, -3.0f, -4.0f },
     { 4.0f, 3.0f, 2.0f, 1.0f }
@@ -22,12 +22,12 @@ static const BgcQuaternionFP32 _TEST_FP32_VERSOR_LIST2[] = {
 
 void test_versor_swap_fp32()
 {
-    BgcVersorFP32 versor1a, versor2a, versor1b, versor2b;
+    BGC_FP32_Versor versor1a, versor2a, versor1b, versor2b;
 
-    print_testing_name("bgc_versor_swap_fp32");
+    print_testing_name("bgc_fp32_versor_swap");
 
     for (int i = 0; i < _TEST_FP32_VERSOR_AMOUNT; i++) {
-        bgc_versor_set_values_fp32(
+        bgc_fp32_versor_make(
             _TEST_FP32_VERSOR_LIST1[i].s0,
             _TEST_FP32_VERSOR_LIST1[i].x1,
             _TEST_FP32_VERSOR_LIST1[i].x2,
@@ -35,7 +35,7 @@ void test_versor_swap_fp32()
             &versor1a
         );
 
-        bgc_versor_set_values_fp32(
+        bgc_fp32_versor_make(
             _TEST_FP32_VERSOR_LIST2[i].s0,
             _TEST_FP32_VERSOR_LIST2[i].x1,
             _TEST_FP32_VERSOR_LIST2[i].x2,
@@ -43,10 +43,10 @@ void test_versor_swap_fp32()
             &versor2a
         );
 
-        bgc_versor_copy_fp32(&versor1a, &versor1b);
+        bgc_fp32_versor_copy(&versor1a, &versor1b);
-        bgc_versor_copy_fp32(&versor2a, &versor2b);
+        bgc_fp32_versor_copy(&versor2a, &versor2b);
 
-        bgc_versor_swap_fp32(&versor1b, &versor2b);
+        bgc_fp32_versor_swap(&versor1b, &versor2b);
 
         if (versor1a._s0 != versor2b._s0 || versor1a._x1 != versor2b._x1 || versor1a._x2 != versor2b._x2 || versor1a._x3 != versor2b._x3 ||
             versor2a._s0 != versor1b._s0 || versor2a._x1 != versor1b._x1 || versor2a._x2 != versor1b._x2 || versor2a._x3 != versor1b._x3) {
@@ -62,12 +62,12 @@ void test_versor_swap_fp32()
 
 void test_versor_swap_fp64()
 {
-    BgcVersorFP64 versor1a, versor2a, versor1b, versor2b;
+    BGC_FP64_Versor versor1a, versor2a, versor1b, versor2b;
 
-    print_testing_name("bgc_versor_swap_fp64");
+    print_testing_name("bgc_fp64_versor_swap");
 
     for (int i = 0; i < _TEST_FP32_VERSOR_AMOUNT; i++) {
-        bgc_versor_set_values_fp64(
+        bgc_fp64_versor_make(
             _TEST_FP32_VERSOR_LIST1[i].s0,
             _TEST_FP32_VERSOR_LIST1[i].x1,
             _TEST_FP32_VERSOR_LIST1[i].x2,
@@ -75,7 +75,7 @@ void test_versor_swap_fp64()
             &versor1a
         );
 
-        bgc_versor_set_values_fp64(
+        bgc_fp64_versor_make(
             _TEST_FP32_VERSOR_LIST2[i].s0,
             _TEST_FP32_VERSOR_LIST2[i].x1,
             _TEST_FP32_VERSOR_LIST2[i].x2,
@@ -83,10 +83,10 @@ void test_versor_swap_fp64()
             &versor2a
         );
 
-        bgc_versor_copy_fp64(&versor1a, &versor1b);
+        bgc_fp64_versor_copy(&versor1a, &versor1b);
-        bgc_versor_copy_fp64(&versor2a, &versor2b);
+        bgc_fp64_versor_copy(&versor2a, &versor2b);
 
-        bgc_versor_swap_fp64(&versor1b, &versor2b);
+        bgc_fp64_versor_swap(&versor1b, &versor2b);
 
         if (versor1a._s0 != versor2b._s0 || versor1a._x1 != versor2b._x1 || versor1a._x2 != versor2b._x2 || versor1a._x3 != versor2b._x3 ||
             versor2a._s0 != versor1b._s0 || versor2a._x1 != versor1b._x1 || versor2a._x2 != versor1b._x2 || versor2a._x3 != versor1b._x3) {

basic-geometry/affine2.c

@@ -1,28 +1,31 @@
 #include "affine2.h"
 
-extern inline void bgc_affine2_reset_fp32(BgcAffine2FP32 * affine);
+extern inline void bgc_fp32_affine2_reset(BGC_FP32_Affine2* affine);
-extern inline void bgc_affine2_reset_fp64(BgcAffine2FP64 * affine);
+extern inline void bgc_fp64_affine2_reset(BGC_FP64_Affine2* affine);
 
-extern inline void bgc_affine2_make_fp32(const BgcMatrix2x2FP32 * distortion, const BgcVector2FP32 * shift, BgcAffine2FP32 * affine);
+extern inline void bgc_fp32_affine2_make(BGC_FP32_Affine2* affine, const BGC_FP32_Matrix2x2* distortion, const BGC_FP32_Vector2* shift);
-extern inline void bgc_affine2_make_fp64(const BgcMatrix2x2FP64 * distortion, const BgcVector2FP64 * shift, BgcAffine2FP64 * affine);
+extern inline void bgc_fp64_affine2_make(BGC_FP64_Affine2* affine, const BGC_FP64_Matrix2x2* distortion, const BGC_FP64_Vector2* shift);
 
-extern inline void bgc_affine2_copy_fp32(const BgcAffine2FP32 * source, BgcAffine2FP32 * destination);
+extern inline void bgc_fp32_affine2_copy(BGC_FP32_Affine2* destination, const BGC_FP32_Affine2* source);
-extern inline void bgc_affine2_copy_fp64(const BgcAffine2FP64 * source, BgcAffine2FP64 * destination);
+extern inline void bgc_fp64_affine2_copy(BGC_FP64_Affine2* destination, const BGC_FP64_Affine2* source);
 
-extern inline void bgc_affine2_convert_fp64_to_fp32(const BgcAffine2FP64 * source, BgcAffine2FP32 * destination);
+extern inline void bgc_fp32_affine2_swap(BGC_FP32_Affine2* first, BGC_FP32_Affine2* second);
-extern inline void bgc_affine2_convert_fp32_to_fp64(const BgcAffine2FP32 * source, BgcAffine2FP64 * destination);
+extern inline void bgc_fp64_affine2_swap(BGC_FP64_Affine2* first, BGC_FP64_Affine2* second);
 
-extern inline int bgc_affine2_invert_fp32(BgcAffine2FP32 * affine);
+extern inline void bgc_fp32_affine2_convert_to_fp64(BGC_FP64_Affine2* destination, const BGC_FP32_Affine2* source);
-extern inline int bgc_affine2_invert_fp64(BgcAffine2FP64 * affine);
+extern inline void bgc_fp64_affine2_convert_to_fp32(BGC_FP32_Affine2* destination, const BGC_FP64_Affine2* source);
 
-extern inline int bgc_affine2_get_inverse_fp32(const BgcAffine2FP32 * source, BgcAffine2FP32 * destination);
+extern inline int bgc_fp32_affine2_invert(BGC_FP32_Affine2* affine);
-extern inline int bgc_affine2_get_inverse_fp64(const BgcAffine2FP64 * source, BgcAffine2FP64 * destination);
+extern inline int bgc_fp64_affine2_invert(BGC_FP64_Affine2* affine);
 
-extern inline void bgc_affine2_combine_fp32(const BgcAffine2FP32 * first, const BgcAffine2FP32 * second, BgcAffine2FP32 * combination);
+extern inline int bgc_fp32_affine2_get_inverse(BGC_FP32_Affine2* inverse, const BGC_FP32_Affine2* affine);
-extern inline void bgc_affine2_combine_fp64(const BgcAffine2FP64 * first, const BgcAffine2FP64 * second, BgcAffine2FP64 * combination);
+extern inline int bgc_fp64_affine2_get_inverse(BGC_FP64_Affine2* inverse, const BGC_FP64_Affine2* affine);
 
-extern inline void bgc_affine2_transform_point_fp32(const BgcAffine2FP32 * affine, const BgcVector2FP32 * initial_point, BgcVector2FP32 * transformed_point);
+extern inline void bgc_fp32_affine2_combine(BGC_FP32_Affine2* combination, const BGC_FP32_Affine2* first, const BGC_FP32_Affine2* second);
-extern inline void bgc_affine2_transform_point_fp64(const BgcAffine2FP64 * affine, const BgcVector2FP64 * initial_point, BgcVector2FP64 * transformed_point);
+extern inline void bgc_fp64_affine2_combine(BGC_FP64_Affine2* combination, const BGC_FP64_Affine2* first, const BGC_FP64_Affine2* second);
 
-extern inline void bgc_affine2_transform_vector_fp32(const BgcAffine2FP32 * affine, const BgcVector2FP32 * initial_vector, BgcVector2FP32 * transformed_vector);
+extern inline void bgc_fp32_affine2_transform_point(BGC_FP32_Vector2* transformed_point, const BGC_FP32_Affine2* affine, const BGC_FP32_Vector2* initial_point);
-extern inline void bgc_affine2_transform_vector_fp64(const BgcAffine2FP64 * affine, const BgcVector2FP64 * initial_vector, BgcVector2FP64 * transformed_vector);
+extern inline void bgc_fp64_affine2_transform_point(BGC_FP64_Vector2* transformed_point, const BGC_FP64_Affine2* affine, const BGC_FP64_Vector2* initial_point);
+
+extern inline void bgc_fp32_affine2_transform_vector(BGC_FP32_Vector2* transformed_vector, const BGC_FP32_Affine2* affine, const BGC_FP32_Vector2* initial_vector);
+extern inline void bgc_fp64_affine2_transform_vector(BGC_FP64_Vector2* transformed_vector, const BGC_FP64_Affine2* affine, const BGC_FP64_Vector2* initial_vector);

basic-geometry/affine2.h

@@ -2,174 +2,188 @@
 #define _BGC_AFFINE2_H_INCLUDED_
 
 #include "vector2.h"
-#include "matrixes.h"
+#include "matrices.h"
 #include "matrix2x2.h"
 
 // ==================== Types ==================== //
 
 typedef struct {
-    BgcMatrix2x2FP32 distortion;
+    BGC_FP32_Matrix2x2 distortion;
-    BgcVector2FP32 shift;
+    BGC_FP32_Vector2 shift;
-} BgcAffine2FP32;
+} BGC_FP32_Affine2;
 
 typedef struct {
-    BgcMatrix2x2FP64 distortion;
+    BGC_FP64_Matrix2x2 distortion;
-    BgcVector2FP64 shift;
+    BGC_FP64_Vector2 shift;
-} BgcAffine2FP64;
+} BGC_FP64_Affine2;
 
 // ==================== Reset ==================== //
 
-inline void bgc_affine2_reset_fp32(BgcAffine2FP32 * affine)
+inline void bgc_fp32_affine2_reset(BGC_FP32_Affine2* affine)
 {
-    bgc_matrix2x2_set_to_identity_fp32(&affine->distortion);
+    bgc_fp32_matrix2x2_make_identity(&affine->distortion);
-    bgc_vector2_reset_fp32(&affine->shift);
+    bgc_fp32_vector2_reset(&affine->shift);
 }
 
-inline void bgc_affine2_reset_fp64(BgcAffine2FP64 * affine)
+inline void bgc_fp64_affine2_reset(BGC_FP64_Affine2* affine)
 {
-    bgc_matrix2x2_set_to_identity_fp64(&affine->distortion);
+    bgc_fp64_matrix2x2_make_identity(&affine->distortion);
-    bgc_vector2_reset_fp64(&affine->shift);
+    bgc_fp64_vector2_reset(&affine->shift);
 }
 
 // ==================== Make ===================== //
 
-inline void bgc_affine2_make_fp32(const BgcMatrix2x2FP32 * distortion, const BgcVector2FP32 * shift, BgcAffine2FP32 * affine)
+inline void bgc_fp32_affine2_make(BGC_FP32_Affine2* affine, const BGC_FP32_Matrix2x2* distortion, const BGC_FP32_Vector2* shift)
 {
-    bgc_matrix2x2_copy_fp32(distortion, &affine->distortion);
+    bgc_fp32_matrix2x2_copy(&affine->distortion, distortion);
-    bgc_vector2_copy_fp32(shift, &affine->shift);
+    bgc_fp32_vector2_copy(&affine->shift, shift);
 }
 
-inline void bgc_affine2_make_fp64(const BgcMatrix2x2FP64 * distortion, const BgcVector2FP64 * shift, BgcAffine2FP64 * affine)
+inline void bgc_fp64_affine2_make(BGC_FP64_Affine2* affine, const BGC_FP64_Matrix2x2* distortion, const BGC_FP64_Vector2* shift)
 {
-    bgc_matrix2x2_copy_fp64(distortion, &affine->distortion);
+    bgc_fp64_matrix2x2_copy(&affine->distortion, distortion);
-    bgc_vector2_copy_fp64(shift, &affine->shift);
+    bgc_fp64_vector2_copy(&affine->shift, shift);
 }
 
 
 // ==================== Copy ===================== //
 
-inline void bgc_affine2_copy_fp32(const BgcAffine2FP32 * source, BgcAffine2FP32 * destination)
+inline void bgc_fp32_affine2_copy(BGC_FP32_Affine2* destination, const BGC_FP32_Affine2* source)
 {
-    bgc_matrix2x2_copy_fp32(&source->distortion, &destination->distortion);
+    bgc_fp32_matrix2x2_copy(&destination->distortion, &source->distortion);
-    bgc_vector2_copy_fp32(&source->shift, &destination->shift);
+    bgc_fp32_vector2_copy(&destination->shift, &source->shift);
 }
 
-inline void bgc_affine2_copy_fp64(const BgcAffine2FP64 * source, BgcAffine2FP64 * destination)
+inline void bgc_fp64_affine2_copy(BGC_FP64_Affine2* destination, const BGC_FP64_Affine2* source)
 {
-    bgc_matrix2x2_copy_fp64(&source->distortion, &destination->distortion);
+    bgc_fp64_matrix2x2_copy(&destination->distortion, &source->distortion);
-    bgc_vector2_copy_fp64(&source->shift, &destination->shift);
+    bgc_fp64_vector2_copy(&destination->shift, &source->shift);
+}
+
+// ==================== Swap ===================== //
+
+inline void bgc_fp32_affine2_swap(BGC_FP32_Affine2 * first, BGC_FP32_Affine2 * second)
+{
+    bgc_fp32_matrix2x2_swap(&first->distortion, &second->distortion);
+    bgc_fp32_vector2_swap(&first->shift, &second->shift);
+}
+
+inline void bgc_fp64_affine2_swap(BGC_FP64_Affine2 * first, BGC_FP64_Affine2 * second)
+{
+    bgc_fp64_matrix2x2_swap(&first->distortion, &second->distortion);
+    bgc_fp64_vector2_swap(&first->shift, &second->shift);
 }
 
 // =================== Convert =================== //
 
-inline void bgc_affine2_convert_fp64_to_fp32(const BgcAffine2FP64 * source, BgcAffine2FP32 * destination)
+inline void bgc_fp32_affine2_convert_to_fp64(BGC_FP64_Affine2* destination, const BGC_FP32_Affine2* source)
 {
-    bgc_matrix2x2_convert_fp64_to_fp32(&source->distortion, &destination->distortion);
+    bgc_fp32_matrix2x2_convert_to_fp64(&destination->distortion, &source->distortion);
-    bgc_vector2_convert_fp64_to_fp32(&source->shift, &destination->shift);
+    bgc_fp32_vector2_convert_to_fp64(&destination->shift, &source->shift);
 }
 
-inline void bgc_affine2_convert_fp32_to_fp64(const BgcAffine2FP32 * source, BgcAffine2FP64 * destination)
+inline void bgc_fp64_affine2_convert_to_fp32(BGC_FP32_Affine2* destination, const BGC_FP64_Affine2 * source)
 {
-    bgc_matrix2x2_convert_fp32_to_fp64(&source->distortion, &destination->distortion);
+    bgc_fp64_matrix2x2_convert_to_fp32(&destination->distortion, &source->distortion);
-    bgc_vector2_convert_fp32_to_fp64(&source->shift, &destination->shift);
+    bgc_fp64_vector2_convert_to_fp32(&destination->shift, &source->shift);
 }
 
 // =================== Invert ==================== //
 
-inline int bgc_affine2_invert_fp32(BgcAffine2FP32 * affine)
+inline int bgc_fp32_affine2_invert(BGC_FP32_Affine2 * affine)
 {
-    if (!bgc_matrix2x2_invert_fp32(&affine->distortion, &affine->distortion)) {
+    if (!bgc_fp32_matrix2x2_invert(&affine->distortion)) {
         return 0;
     }
 
-    bgc_matrix2x2_get_right_product_fp32(&affine->distortion, &affine->shift, &affine->shift);
+    bgc_fp32_multiply_matrix2x2_by_vector2(&affine->shift, &affine->distortion, &affine->shift);
-    bgc_vector2_make_opposite_fp32(&affine->shift);
+    bgc_fp32_vector2_revert(&affine->shift);
 
     return 1;
 }
 
-inline int bgc_affine2_invert_fp64(BgcAffine2FP64 * affine)
+inline int bgc_fp64_affine2_invert(BGC_FP64_Affine2 * affine)
 {
-    if (!bgc_matrix2x2_invert_fp64(&affine->distortion, &affine->distortion)) {
+    if (!bgc_fp64_matrix2x2_invert(&affine->distortion)) {
         return 0;
     }
 
-    bgc_matrix2x2_get_right_product_fp64(&affine->distortion, &affine->shift, &affine->shift);
+    bgc_fp64_multiply_matrix2x2_by_vector2(&affine->shift, &affine->distortion, &affine->shift);
-    bgc_vector2_make_opposite_fp64(&affine->shift);
+    bgc_fp64_vector2_revert(&affine->shift);
 
     return 1;
 }
 
 // ================= Get Inverse ================= //
 
-inline int bgc_affine2_get_inverse_fp32(const BgcAffine2FP32 * source, BgcAffine2FP32 * destination)
+inline int bgc_fp32_affine2_get_inverse(BGC_FP32_Affine2* inverse, const BGC_FP32_Affine2 * affine)
 {
-    if (!bgc_matrix2x2_invert_fp32(&source->distortion, &destination->distortion)) {
+    if (!bgc_fp32_matrix2x2_get_inverse(&inverse->distortion, &affine->distortion)) {
         return 0;
     }
 
-    bgc_matrix2x2_get_right_product_fp32(&destination->distortion, &source->shift, &destination->shift);
+    bgc_fp32_multiply_matrix2x2_by_vector2(&inverse->shift, &inverse->distortion, &affine->shift);
-    bgc_vector2_make_opposite_fp32(&destination->shift);
+    bgc_fp32_vector2_revert(&inverse->shift);
 
     return 1;
 }
 
-inline int bgc_affine2_get_inverse_fp64(const BgcAffine2FP64 * source, BgcAffine2FP64 * destination)
+inline int bgc_fp64_affine2_get_inverse(BGC_FP64_Affine2* inverse, const BGC_FP64_Affine2 * affine)
 {
-    if (!bgc_matrix2x2_invert_fp64(&source->distortion, &destination->distortion)) {
+    if (!bgc_fp64_matrix2x2_get_inverse(&inverse->distortion, &affine->distortion)) {
         return 0;
     }
 
-    bgc_matrix2x2_get_right_product_fp64(&destination->distortion, &source->shift, &destination->shift);
+    bgc_fp64_multiply_matrix2x2_by_vector2(&inverse->shift, &inverse->distortion, &affine->shift);
-    bgc_vector2_make_opposite_fp64(&destination->shift);
+    bgc_fp64_vector2_revert(&inverse->shift);
 
     return 1;
 }
 
 // =================== Combine =================== //
 
-inline void bgc_affine2_combine_fp32(const BgcAffine2FP32 * first, const BgcAffine2FP32 * second, BgcAffine2FP32 * combination)
+inline void bgc_fp32_affine2_combine(BGC_FP32_Affine2* combination, const BGC_FP32_Affine2 * first, const BGC_FP32_Affine2 * second)
 {
-    BgcVector2FP32 first_shift;
+    BGC_FP32_Vector2 first_shift;
-    bgc_matrix2x2_get_right_product_fp32(&second->distortion, &first->shift, &first_shift);
+    bgc_fp32_multiply_matrix2x2_by_vector2(&first_shift, &second->distortion, &first->shift);
-    bgc_matrix_product_2x2_at_2x2_fp32(&second->distortion, &first->distortion, &combination->distortion);
+    bgc_fp32_multiply_matrix2x2_by_matrix2x2(&combination->distortion, &second->distortion, &first->distortion);
-    bgc_vector2_add_fp32(&first_shift, &second->shift, &combination->shift);
+    bgc_fp32_vector2_add(&combination->shift, &second->shift, &first_shift);
 }
 
-inline void bgc_affine2_combine_fp64(const BgcAffine2FP64 * first, const BgcAffine2FP64 * second, BgcAffine2FP64 * combination)
+inline void bgc_fp64_affine2_combine(BGC_FP64_Affine2* combination, const BGC_FP64_Affine2 * first, const BGC_FP64_Affine2 * second)
 {
-    BgcVector2FP64 first_shift;
+    BGC_FP64_Vector2 first_shift;
-    bgc_matrix2x2_get_right_product_fp64(&second->distortion, &first->shift, &first_shift);
+    bgc_fp64_multiply_matrix2x2_by_vector2(&first_shift, &second->distortion, &first->shift);
-    bgc_matrix_product_2x2_at_2x2_fp64(&second->distortion, &first->distortion, &combination->distortion);
+    bgc_fp64_multiply_matrix2x2_by_matrix2x2(&combination->distortion, &second->distortion, &first->distortion);
-    bgc_vector2_add_fp64(&first_shift, &second->shift, &combination->shift);
+    bgc_fp64_vector2_add(&combination->shift, &second->shift, &first_shift);
 }
 
 // =============== Transform Point =============== //
 
-inline void bgc_affine2_transform_point_fp32(const BgcAffine2FP32 * affine, const BgcVector2FP32 * initial_point, BgcVector2FP32 * transformed_point)
+inline void bgc_fp32_affine2_transform_point(BGC_FP32_Vector2* transformed_point, const BGC_FP32_Affine2 * affine, const BGC_FP32_Vector2 * initial_point)
 {
-    BgcVector2FP32 distorted;
+    BGC_FP32_Vector2 distorted;
-    bgc_matrix2x2_get_right_product_fp32(&affine->distortion, initial_point, &distorted);
+    bgc_fp32_multiply_matrix2x2_by_vector2(&distorted, &affine->distortion, initial_point);
-    bgc_vector2_add_fp32(&affine->shift, &distorted, transformed_point);
+    bgc_fp32_vector2_add(transformed_point, &affine->shift, &distorted);
 }
 
-inline void bgc_affine2_transform_point_fp64(const BgcAffine2FP64 * affine, const BgcVector2FP64 * initial_point, BgcVector2FP64 * transformed_point)
+inline void bgc_fp64_affine2_transform_point(BGC_FP64_Vector2* transformed_point, const BGC_FP64_Affine2 * affine, const BGC_FP64_Vector2 * initial_point)
 {
-    BgcVector2FP64 distorted;
+    BGC_FP64_Vector2 distorted;
-    bgc_matrix2x2_get_right_product_fp64(&affine->distortion, initial_point, &distorted);
+    bgc_fp64_multiply_matrix2x2_by_vector2(&distorted, &affine->distortion, initial_point);
-    bgc_vector2_add_fp64(&affine->shift, &distorted, transformed_point);
+    bgc_fp64_vector2_add(transformed_point, &affine->shift, &distorted);
 }
 
 // ============== Transform Vector =============== //
 
-inline void bgc_affine2_transform_vector_fp32(const BgcAffine2FP32 * affine, const BgcVector2FP32 * initial_vector, BgcVector2FP32 * transformed_vector)
+inline void bgc_fp32_affine2_transform_vector(BGC_FP32_Vector2* transformed_vector, const BGC_FP32_Affine2 * affine, const BGC_FP32_Vector2 * initial_vector)
 {
-    bgc_matrix2x2_get_right_product_fp32(&affine->distortion, initial_vector, transformed_vector);
+    bgc_fp32_multiply_matrix2x2_by_vector2(transformed_vector, &affine->distortion, initial_vector);
 }
 
-inline void bgc_affine2_transform_vector_fp64(const BgcAffine2FP64 * affine, const BgcVector2FP64 * initial_vector, BgcVector2FP64 * transformed_vector)
+inline void bgc_fp64_affine2_transform_vector(BGC_FP64_Vector2* transformed_vector, const BGC_FP64_Affine2 * affine, const BGC_FP64_Vector2 * initial_vector)
 {
-    bgc_matrix2x2_get_right_product_fp64(&affine->distortion, initial_vector, transformed_vector);
+    bgc_fp64_multiply_matrix2x2_by_vector2(transformed_vector, &affine->distortion, initial_vector);
 }
 
 #endif

basic-geometry/affine3.c

@@ -1,28 +1,31 @@
 #include "affine3.h"
 
-extern inline void bgc_affine3_reset_fp32(BgcAffine3FP32 * affine);
+extern inline void bgc_fp32_affine3_reset(BGC_FP32_Affine3* affine);
-extern inline void bgc_affine3_reset_fp64(BgcAffine3FP64 * affine);
+extern inline void bgc_fp64_affine3_reset(BGC_FP64_Affine3* affine);
 
-extern inline void bgc_affine3_make_fp32(const BgcMatrix3x3FP32 * distortion, const BgcVector3FP32 * shift, BgcAffine3FP32 * affine);
+extern inline void bgc_fp32_affine3_make(BGC_FP32_Affine3* affine, const BGC_FP32_Matrix3x3* distortion, const BGC_FP32_Vector3* shift);
-extern inline void bgc_affine3_make_fp64(const BgcMatrix3x3FP64 * distortion, const BgcVector3FP64 * shift, BgcAffine3FP64 * affine);
+extern inline void bgc_fp64_affine3_make(BGC_FP64_Affine3* affine, const BGC_FP64_Matrix3x3* distortion, const BGC_FP64_Vector3* shift);
 
-extern inline void bgc_affine3_copy_fp32(const BgcAffine3FP32 * source, BgcAffine3FP32 * destination);
+extern inline void bgc_fp32_affine3_copy(BGC_FP32_Affine3* destination, const BGC_FP32_Affine3* source);
-extern inline void bgc_affine3_copy_fp64(const BgcAffine3FP64 * source, BgcAffine3FP64 * destination);
+extern inline void bgc_fp64_affine3_copy(BGC_FP64_Affine3* destination, const BGC_FP64_Affine3* source);
 
-extern inline void bgc_affine3_convert_fp64_to_fp32(const BgcAffine3FP64 * source, BgcAffine3FP32 * destination);
+extern inline void bgc_fp32_affine3_swap(BGC_FP32_Affine3* first, BGC_FP32_Affine3* second);
-extern inline void bgc_affine3_convert_fp32_to_fp64(const BgcAffine3FP32 * source, BgcAffine3FP64 * destination);
+extern inline void bgc_fp64_affine3_swap(BGC_FP64_Affine3* first, BGC_FP64_Affine3* second);
 
-extern inline int bgc_affine3_invert_fp32(BgcAffine3FP32 * affine);
+extern inline void bgc_fp32_affine3_convert_to_fp64(BGC_FP64_Affine3* destination, const BGC_FP32_Affine3* source);
-extern inline int bgc_affine3_invert_fp64(BgcAffine3FP64 * affine);
+extern inline void bgc_fp64_affine3_convert_to_fp32(BGC_FP32_Affine3* destination, const BGC_FP64_Affine3* source);
 
-extern inline int bgc_affine3_get_inverse_fp32(const BgcAffine3FP32 * source, BgcAffine3FP32 * destination);
+extern inline int bgc_fp32_affine3_invert(BGC_FP32_Affine3* affine);
-extern inline int bgc_affine3_get_inverse_fp64(const BgcAffine3FP64 * source, BgcAffine3FP64 * destination);
+extern inline int bgc_fp64_affine3_invert(BGC_FP64_Affine3* affine);
 
-extern inline void bgc_affine3_combine_fp32(const BgcAffine3FP32 * first, const BgcAffine3FP32 * second, BgcAffine3FP32 * combination);
+extern inline int bgc_fp32_affine3_get_inverse(BGC_FP32_Affine3* inverse, const BGC_FP32_Affine3* affine);
-extern inline void bgc_affine3_combine_fp64(const BgcAffine3FP64 * first, const BgcAffine3FP64 * second, BgcAffine3FP64 * combination);
+extern inline int bgc_fp64_affine3_get_inverse(BGC_FP64_Affine3* inverse, const BGC_FP64_Affine3* affine);
 
-extern inline void bgc_affine3_transform_point_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_point, BgcVector3FP32 * transformed_point);
+extern inline void bgc_fp32_affine3_combine(BGC_FP32_Affine3* combination, const BGC_FP32_Affine3* first, const BGC_FP32_Affine3* second);
-extern inline void bgc_affine3_transform_point_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_point, BgcVector3FP64 * transformed_point);
+extern inline void bgc_fp64_affine3_combine(BGC_FP64_Affine3* combination, const BGC_FP64_Affine3* first, const BGC_FP64_Affine3* second);
 
-extern inline void bgc_affine3_transform_vector_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_vector, BgcVector3FP32 * transformed_vector);
+extern inline void bgc_fp32_affine3_transform_point(BGC_FP32_Vector3* transformed_point, const BGC_FP32_Affine3* affine, const BGC_FP32_Vector3* initial_point);
-extern inline void bgc_affine3_transform_vector_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_vector, BgcVector3FP64 * transformed_vector);
+extern inline void bgc_fp64_affine3_transform_point(BGC_FP64_Vector3* transformed_point, const BGC_FP64_Affine3* affine, const BGC_FP64_Vector3* initial_point);
+
+extern inline void bgc_fp32_affine3_transform_vector(BGC_FP32_Vector3* transformed_vector, const BGC_FP32_Affine3* affine, const BGC_FP32_Vector3* initial_vector);
+extern inline void bgc_fp64_affine3_transform_vector(BGC_FP64_Vector3* transformed_vector, const BGC_FP64_Affine3* affine, const BGC_FP64_Vector3* initial_vector);

basic-geometry/affine3.h

@@ -2,173 +2,187 @@
 #define _BGC_AFFINE3_H_INCLUDED_
 
 #include "vector3.h"
-#include "matrixes.h"
+#include "matrices.h"
 #include "matrix3x3.h"
 
 // ==================== Types ==================== //
 
 typedef struct {
-    BgcMatrix3x3FP32 distortion;
+    BGC_FP32_Matrix3x3 distortion;
-    BgcVector3FP32 shift;
+    BGC_FP32_Vector3 shift;
-} BgcAffine3FP32;
+} BGC_FP32_Affine3;
 
 typedef struct {
-    BgcMatrix3x3FP64 distortion;
+    BGC_FP64_Matrix3x3 distortion;
-    BgcVector3FP64 shift;
+    BGC_FP64_Vector3 shift;
-} BgcAffine3FP64;
+} BGC_FP64_Affine3;
 
 // ==================== Reset ==================== //
 
-inline void bgc_affine3_reset_fp32(BgcAffine3FP32 * affine)
+inline void bgc_fp32_affine3_reset(BGC_FP32_Affine3 * affine)
 {
-    bgc_matrix3x3_set_to_identity_fp32(&affine->distortion);
+    bgc_fp32_matrix3x3_make_identity(&affine->distortion);
-    bgc_vector3_reset_fp32(&affine->shift);
+    bgc_fp32_vector3_reset(&affine->shift);
 }
 
-inline void bgc_affine3_reset_fp64(BgcAffine3FP64 * affine)
+inline void bgc_fp64_affine3_reset(BGC_FP64_Affine3 * affine)
 {
-    bgc_matrix3x3_set_to_identity_fp64(&affine->distortion);
+    bgc_fp64_matrix3x3_make_identity(&affine->distortion);
-    bgc_vector3_reset_fp64(&affine->shift);
+    bgc_fp64_vector3_reset(&affine->shift);
 }
 
 // ==================== Make ===================== //
 
-inline void bgc_affine3_make_fp32(const BgcMatrix3x3FP32 * distortion, const BgcVector3FP32 * shift, BgcAffine3FP32 * affine)
+inline void bgc_fp32_affine3_make(BGC_FP32_Affine3* affine, const BGC_FP32_Matrix3x3 * distortion, const BGC_FP32_Vector3 * shift)
 {
-    bgc_matrix3x3_copy_fp32(distortion, &affine->distortion);
+    bgc_fp32_matrix3x3_copy(&affine->distortion, distortion);
-    bgc_vector3_copy_fp32(shift, &affine->shift);
+    bgc_fp32_vector3_copy(&affine->shift, shift);
 }
 
-inline void bgc_affine3_make_fp64(const BgcMatrix3x3FP64 * distortion, const BgcVector3FP64 * shift, BgcAffine3FP64 * affine)
+inline void bgc_fp64_affine3_make(BGC_FP64_Affine3* affine, const BGC_FP64_Matrix3x3 * distortion, const BGC_FP64_Vector3 * shift)
 {
-    bgc_matrix3x3_copy_fp64(distortion, &affine->distortion);
+    bgc_fp64_matrix3x3_copy(&affine->distortion, distortion);
-    bgc_vector3_copy_fp64(shift, &affine->shift);
+    bgc_fp64_vector3_copy(&affine->shift, shift);
 }
 
 // ==================== Copy ===================== //
 
-inline void bgc_affine3_copy_fp32(const BgcAffine3FP32 * source, BgcAffine3FP32 * destination)
+inline void bgc_fp32_affine3_copy(BGC_FP32_Affine3* destination, const BGC_FP32_Affine3 * source)
 {
-    bgc_matrix3x3_copy_fp32(&source->distortion, &destination->distortion);
+    bgc_fp32_matrix3x3_copy(&destination->distortion, &source->distortion);
-    bgc_vector3_copy_fp32(&source->shift, &destination->shift);
+    bgc_fp32_vector3_copy(&destination->shift, &source->shift);
 }
 
-inline void bgc_affine3_copy_fp64(const BgcAffine3FP64 * source, BgcAffine3FP64 * destination)
+inline void bgc_fp64_affine3_copy(BGC_FP64_Affine3* destination, const BGC_FP64_Affine3 * source)
 {
-    bgc_matrix3x3_copy_fp64(&source->distortion, &destination->distortion);
+    bgc_fp64_matrix3x3_copy(&destination->distortion, &source->distortion);
-    bgc_vector3_copy_fp64(&source->shift, &destination->shift);
+    bgc_fp64_vector3_copy(&destination->shift, &source->shift);
+}
+
+// ==================== Swap ===================== //
+
+inline void bgc_fp32_affine3_swap(BGC_FP32_Affine3 * first, BGC_FP32_Affine3 * second)
+{
+    bgc_fp32_matrix3x3_swap(&first->distortion, &second->distortion);
+    bgc_fp32_vector3_swap(&first->shift, &second->shift);
+}
+
+inline void bgc_fp64_affine3_swap(BGC_FP64_Affine3 * first, BGC_FP64_Affine3 * second)
+{
+    bgc_fp64_matrix3x3_swap(&first->distortion, &second->distortion);
+    bgc_fp64_vector3_swap(&first->shift, &second->shift);
 }
 
 // =================== Convert =================== //
 
-inline void bgc_affine3_convert_fp64_to_fp32(const BgcAffine3FP64 * source, BgcAffine3FP32 * destination)
+inline void bgc_fp32_affine3_convert_to_fp64(BGC_FP64_Affine3* destination, const BGC_FP32_Affine3 * source)
 {
-    bgc_matrix3x3_convert_fp64_to_fp32(&source->distortion, &destination->distortion);
+    bgc_fp32_matrix3x3_convert_to_fp64(&destination->distortion, &source->distortion);
-    bgc_vector3_convert_fp64_to_fp32(&source->shift, &destination->shift);
+    bgc_fp32_vector3_convert_to_fp64(&destination->shift, &source->shift);
 }
 
-inline void bgc_affine3_convert_fp32_to_fp64(const BgcAffine3FP32 * source, BgcAffine3FP64 * destination)
+inline void bgc_fp64_affine3_convert_to_fp32(BGC_FP32_Affine3* destination, const BGC_FP64_Affine3* source)
 {
-    bgc_matrix3x3_convert_fp32_to_fp64(&source->distortion, &destination->distortion);
+    bgc_fp64_matrix3x3_convert_to_fp32(&destination->distortion, &source->distortion);
-    bgc_vector3_convert_fp32_to_fp64(&source->shift, &destination->shift);
+    bgc_fp64_vector3_convert_to_fp32(&destination->shift, &source->shift);
 }
 
 // =================== Invert ==================== //
 
-inline int bgc_affine3_invert_fp32(BgcAffine3FP32 * affine)
+inline int bgc_fp32_affine3_invert(BGC_FP32_Affine3 * affine)
 {
-    if (!bgc_matrix3x3_invert_fp32(&affine->distortion, &affine->distortion)) {
+    if (!bgc_fp32_matrix3x3_invert(&affine->distortion)) {
         return 0;
     }
 
-    bgc_matrix3x3_get_right_product_fp32(&affine->distortion, &affine->shift, &affine->shift);
+    bgc_fp32_multiply_matrix3x3_by_vector3(&affine->shift, &affine->distortion, &affine->shift);
-    bgc_vector3_make_opposite_fp32(&affine->shift);
+    bgc_fp32_vector3_revert(&affine->shift);
 
     return 1;
 }
 
-inline int bgc_affine3_invert_fp64(BgcAffine3FP64 * affine)
+inline int bgc_fp64_affine3_invert(BGC_FP64_Affine3 * affine)
 {
-    if (!bgc_matrix3x3_invert_fp64(&affine->distortion, &affine->distortion)) {
+    if (!bgc_fp64_matrix3x3_invert(&affine->distortion)) {
         return 0;
     }
 
-    bgc_matrix3x3_get_right_product_fp64(&affine->distortion, &affine->shift, &affine->shift);
+    bgc_fp64_multiply_matrix3x3_by_vector3(&affine->shift, &affine->distortion, &affine->shift);
-    bgc_vector3_make_opposite_fp64(&affine->shift);
+    bgc_fp64_vector3_revert(&affine->shift);
 
     return 1;
 }
 
 // ================= Get Inverse ================= //
 
-inline int bgc_affine3_get_inverse_fp32(const BgcAffine3FP32 * source, BgcAffine3FP32 * destination)
+inline int bgc_fp32_affine3_get_inverse(BGC_FP32_Affine3* destination, const BGC_FP32_Affine3 * source)
 {
-    if (!bgc_matrix3x3_invert_fp32(&source->distortion, &destination->distortion)) {
+    if (!bgc_fp32_matrix3x3_get_inverse(&destination->distortion, &source->distortion)) {
         return 0;
     }
 
-    bgc_matrix3x3_get_right_product_fp32(&destination->distortion, &source->shift, &destination->shift);
+    bgc_fp32_multiply_matrix3x3_by_vector3(&destination->shift, &destination->distortion, &source->shift);
-    bgc_vector3_make_opposite_fp32(&destination->shift);
+    bgc_fp32_vector3_revert(&destination->shift);
 
     return 1;
 }
 
-inline int bgc_affine3_get_inverse_fp64(const BgcAffine3FP64 * source, BgcAffine3FP64 * destination)
+inline int bgc_fp64_affine3_get_inverse(BGC_FP64_Affine3* destination, const BGC_FP64_Affine3 * source)
 {
-    if (!bgc_matrix3x3_invert_fp64(&source->distortion, &destination->distortion)) {
+    if (!bgc_fp64_matrix3x3_get_inverse(&destination->distortion, &source->distortion)) {
         return 0;
     }
 
-    bgc_matrix3x3_get_right_product_fp64(&destination->distortion, &source->shift, &destination->shift);
+    bgc_fp64_multiply_matrix3x3_by_vector3(&destination->shift, &destination->distortion, &source->shift);
-    bgc_vector3_make_opposite_fp64(&destination->shift);
+    bgc_fp64_vector3_revert(&destination->shift);
 
     return 1;
 }
 
 // =================== Combine =================== //
 
-inline void bgc_affine3_combine_fp32(const BgcAffine3FP32 * first, const BgcAffine3FP32 * second, BgcAffine3FP32 * combination)
+inline void bgc_fp32_affine3_combine(BGC_FP32_Affine3* combination, const BGC_FP32_Affine3 * first, const BGC_FP32_Affine3 * second)
 {
-    BgcVector3FP32 first_shift;
+    BGC_FP32_Vector3 first_shift;
-    bgc_matrix3x3_get_right_product_fp32(&second->distortion, &first->shift, &first_shift);
+    bgc_fp32_multiply_matrix3x3_by_vector3(&first_shift, &second->distortion, &first->shift);
-    bgc_matrix_product_3x3_at_3x3_fp32(&second->distortion, &first->distortion, &combination->distortion);
+    bgc_fp32_multiply_matrix3x3_by_matrix3x3(&combination->distortion, &second->distortion, &first->distortion);
-    bgc_vector3_add_fp32(&first_shift, &second->shift, &combination->shift);
+    bgc_fp32_vector3_add(&combination->shift, &first_shift, &second->shift);
 }
 
-inline void bgc_affine3_combine_fp64(const BgcAffine3FP64 * first, const BgcAffine3FP64 * second, BgcAffine3FP64 * combination)
+inline void bgc_fp64_affine3_combine(BGC_FP64_Affine3* combination, const BGC_FP64_Affine3 * first, const BGC_FP64_Affine3 * second)
 {
-    BgcVector3FP64 first_shift;
+    BGC_FP64_Vector3 first_shift;
-    bgc_matrix3x3_get_right_product_fp64(&second->distortion, &first->shift, &first_shift);
+    bgc_fp64_multiply_matrix3x3_by_vector3(&first_shift, &second->distortion, &first->shift);
-    bgc_matrix_product_3x3_at_3x3_fp64(&second->distortion, &first->distortion, &combination->distortion);
+    bgc_fp64_multiply_matrix3x3_by_matrix3x3(&combination->distortion, &second->distortion, &first->distortion);
-    bgc_vector3_add_fp64(&first_shift, &second->shift, &combination->shift);
+    bgc_fp64_vector3_add(&combination->shift, &first_shift, &second->shift);
 }
 
 // =============== Transform Point =============== //
 
-inline void bgc_affine3_transform_point_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_point, BgcVector3FP32 * transformed_point)
+inline void bgc_fp32_affine3_transform_point(BGC_FP32_Vector3* transformed_point, const BGC_FP32_Affine3 * affine, const BGC_FP32_Vector3 * initial_point)
 {
-    BgcVector3FP32 distorted;
+    BGC_FP32_Vector3 distorted;
-    bgc_matrix3x3_get_right_product_fp32(&affine->distortion, initial_point, &distorted);
+    bgc_fp32_multiply_matrix3x3_by_vector3(&distorted, &affine->distortion, initial_point);
-    bgc_vector3_add_fp32(&affine->shift, &distorted, transformed_point);
+    bgc_fp32_vector3_add(transformed_point, &affine->shift, &distorted);
 }
 
-inline void bgc_affine3_transform_point_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_point, BgcVector3FP64 * transformed_point)
+inline void bgc_fp64_affine3_transform_point(BGC_FP64_Vector3* transformed_point, const BGC_FP64_Affine3 * affine, const BGC_FP64_Vector3 * initial_point)
 {
-    BgcVector3FP64 distorted;
+    BGC_FP64_Vector3 distorted;
-    bgc_matrix3x3_get_right_product_fp64(&affine->distortion, initial_point, &distorted);
+    bgc_fp64_multiply_matrix3x3_by_vector3(&distorted, &affine->distortion, initial_point);
-    bgc_vector3_add_fp64(&affine->shift, &distorted, transformed_point);
+    bgc_fp64_vector3_add(transformed_point, &affine->shift, &distorted);
 }
 
 // ============== Transform Vector =============== //
 
-inline void bgc_affine3_transform_vector_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_vector, BgcVector3FP32 * transformed_vector)
+inline void bgc_fp32_affine3_transform_vector(BGC_FP32_Vector3* transformed_vector, const BGC_FP32_Affine3 * affine, const BGC_FP32_Vector3 * initial_vector)
 {
-    bgc_matrix3x3_get_right_product_fp32(&affine->distortion, initial_vector, transformed_vector);
+    bgc_fp32_multiply_matrix3x3_by_vector3(transformed_vector, &affine->distortion, initial_vector);
 }
 
-inline void bgc_affine3_transform_vector_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_vector, BgcVector3FP64 * transformed_vector)
+inline void bgc_fp64_affine3_transform_vector(BGC_FP64_Vector3* transformed_vector, const BGC_FP64_Affine3 * affine, const BGC_FP64_Vector3 * initial_vector)
 {
-    bgc_matrix3x3_get_right_product_fp64(&affine->distortion, initial_vector, transformed_vector);
+    bgc_fp64_multiply_matrix3x3_by_vector3(transformed_vector, &affine->distortion, initial_vector);
 }
 
 #endif

basic-geometry/angle.c

@@ -3,65 +3,59 @@
 
 // !================= Radians ==================! //
 
-extern inline float bgc_radians_to_degrees_fp32(const float radians);
+extern inline float bgc_fp32_radians_to_degrees(const float radians);
-extern inline double bgc_radians_to_degrees_fp64(const double radians);
+extern inline double bgc_fp64_radians_to_degrees(const double radians);
 
-extern inline float bgc_radians_to_turns_fp32(const float radians);
+extern inline float bgc_fp32_radians_to_turns(const float radians);
-extern inline double bgc_radians_to_turns_fp64(const double radians);
+extern inline double bgc_fp64_radians_to_turns(const double radians);
 
-extern inline float bgc_radians_to_units_fp32(const float radians, const BgcAngleUnitEnum to_unit);
+extern inline float bgc_fp32_radians_to_units(const float radians, const int angle_unit);
-extern inline double bgc_radians_to_units_fp64(const double radians, const BgcAngleUnitEnum to_unit);
+extern inline double bgc_fp64_radians_to_units(const double radians, const int angle_unit);
 
-extern inline float bgc_radians_normalize_fp32(const float radians, const BgcAngleRangeEnum range);
+extern inline float bgc_fp32_normalize_radians(const float radians, const int angle_range);
-extern inline double bgc_radians_normalize_fp64(const double radians, const BgcAngleRangeEnum range);
+extern inline double bgc_fp64_normalize_radians(const double radians, const int angle_range);
 
 // !================= Degrees ==================! //
 
-extern inline float bgc_degrees_to_radians_fp32(const float degrees);
+extern inline float bgc_fp32_degrees_to_radians(const float degrees);
-extern inline double bgc_degrees_to_radians_fp64(const double degrees);
+extern inline double bgc_fp64_degrees_to_radians(const double degrees);
 
-extern inline float bgc_degrees_to_turns_fp32(const float radians);
+extern inline float bgc_fp32_degrees_to_turns(const float radians);
-extern inline double bgc_degrees_to_turns_fp64(const double radians);
+extern inline double bgc_fp64_degrees_to_turns(const double radians);
 
-extern inline float bgc_degrees_to_units_fp32(const float degrees, const BgcAngleUnitEnum to_unit);
+extern inline float bgc_fp32_degrees_to_units(const float degrees, const int angle_unit);
-extern inline double bgc_degrees_to_units_fp64(const double degrees, const BgcAngleUnitEnum to_unit);
+extern inline double bgc_fp64_degrees_to_units(const double degrees, const int angle_unit);
 
-extern inline float bgc_degrees_normalize_fp32(const float degrees, const BgcAngleRangeEnum range);
+extern inline float bgc_fp32_normalize_degrees(const float degrees, const int angle_range);
-extern inline double bgc_degrees_normalize_fp64(const double degrees, const BgcAngleRangeEnum range);
+extern inline double bgc_fp64_degrees_normalize(const double degrees, const int angle_range);
 
 // !================== Turns ===================! //
 
-extern inline float bgc_turns_to_radians_fp32(const float turns);
+extern inline float bgc_fp32_turns_to_radians(const float turns);
-extern inline double bgc_turns_to_radians_fp64(const double turns);
+extern inline double bgc_fp64_turns_to_radians(const double turns);
 
-extern inline float bgc_turns_to_degrees_fp32(const float turns);
+extern inline float bgc_fp32_turns_to_degrees(const float turns);
-extern inline double bgc_turns_to_degrees_fp64(const double turns);
+extern inline double bgc_fp64_turns_to_degrees(const double turns);
 
-extern inline float bgc_turns_to_units_fp32(const float turns, const BgcAngleUnitEnum to_unit);
+extern inline float bgc_fp32_turns_to_units(const float turns, const int angle_unit);
-extern inline double bgc_turns_to_units_fp64(const double turns, const BgcAngleUnitEnum to_unit);
+extern inline double bgc_fp64_turns_to_units(const double turns, const int angle_unit);
 
-extern inline float bgc_turns_normalize_fp32(const float turns, const BgcAngleRangeEnum range);
+extern inline float bgc_fp32_normalize_turns(const float turns, const int angle_range);
-extern inline double bgc_turns_normalize_fp64(const double turns, const BgcAngleRangeEnum range);
+extern inline double bgc_fp64_normalize_turns(const double turns, const int angle_range);
 
 // !================== Angle ===================! //
 
-extern inline float bgc_angle_to_radians_fp32(const float angle, const BgcAngleUnitEnum unit);
+extern inline float bgc_fp32_angle_to_radians(const float angle, const int angle_unit);
-extern inline double bgc_angle_to_radians_fp64(const double angle, const BgcAngleUnitEnum unit);
+extern inline double bgc_fp64_angle_to_radians(const double angle, const int angle_unit);
 
-extern inline float bgc_angle_to_degrees_fp32(const float angle, const BgcAngleUnitEnum unit);
+extern inline float bgc_fp32_angle_to_degrees(const float angle, const int angle_unit);
-extern inline double bgc_angle_to_degrees_fp64(const double angle, const BgcAngleUnitEnum unit);
+extern inline double bgc_fp64_angle_to_degrees(const double angle, const int angle_unit);
 
-extern inline float bgc_angle_to_turns_fp32(const float angle, const BgcAngleUnitEnum unit);
+extern inline float bgc_fp32_angle_to_turns(const float angle, const int angle_unit);
-extern inline double bgc_angle_to_turns_fp64(const double angle, const BgcAngleUnitEnum unit);
+extern inline double bgc_fp64_angle_to_turns(const double angle, const int angle_unit);
 
-extern inline float bgc_angle_get_full_circle_fp32(const BgcAngleUnitEnum unit);
+extern inline float bgc_fp32_full_circle(const int angle_unit);
-extern inline double bgc_angle_get_full_circle_fp64(const BgcAngleUnitEnum unit);
+extern inline double bgc_fp64_full_circle(const int angle_unit);
 
-extern inline float bgc_angle_get_half_circle_fp32(const BgcAngleUnitEnum unit);
+extern inline float bgc_fp32_normalize_angle(const float angle, const int angle_unit, const int angle_range);
-extern inline double bgc_angle_get_half_circle_fp64(const BgcAngleUnitEnum unit);
+extern inline double bgc_fp64_normalize_angle(const double angle, const int angle_unit, const int angle_range);
-
-extern inline float bgc_angle_get_quater_circle_fp32(const BgcAngleUnitEnum unit);
-extern inline double bgc_angle_get_quater_circle_fp64(const BgcAngleUnitEnum unit);
-
-extern inline float bgc_angle_normalize_fp32(const float angle, const BgcAngleUnitEnum unit, const BgcAngleRangeEnum range);
-extern inline double bgc_angle_normalize_fp64(const double angle, const BgcAngleUnitEnum unit, const BgcAngleRangeEnum range);

basic-geometry/angle.h

@@ -1,102 +1,98 @@
-#ifndef _BGC_ANGLE_H_
+#ifndef _BGC_ANGLE_H_INCLUDED_
-#define _BGC_ANGLE_H_
+#define _BGC_ANGLE_H_INCLUDED_
 
 #include <math.h>
 #include "utilities.h"
 
-#define BGC_PI_FP32           3.1415926536f
+#define BGC_FP32_PI               3.1415926536f
-#define BGC_TWO_PI_FP32       6.2831853072f
+#define BGC_FP32_TWO_PI           6.2831853072f
-#define BGC_HALF_OF_PI_FP32   1.5707963268f
+#define BGC_FP32_HALF_OF_PI       1.5707963268f
-#define BGC_THIRD_OF_PI_FP32  1.0471975512f
+#define BGC_FP32_ONE_THIRD_OF_PI  1.0471975512f
-#define BGC_FOURTH_OF_PI_FP32 0.7853981634f
+#define BGC_FP32_ONE_FOURTH_OF_PI 0.7853981634f
-#define BGC_SIXTH_OF_PI_FP32  0.5235987756f
+#define BGC_FP32_ONE_SIXTH_OF_PI  0.5235987756f
 
-#define BGC_DEGREES_IN_RADIAN_FP32 57.295779513f
+#define BGC_FP32_DEGREES_IN_RADIAN 57.295779513f
-#define BGC_TURNS_IN_RADIAN_FP32   0.1591549431f
+#define BGC_FP32_TURNS_IN_RADIAN   0.1591549431f
-#define BGC_RADIANS_IN_DEGREE_FP32 1.745329252E-2f
+#define BGC_FP32_RADIANS_IN_DEGREE 1.745329252E-2f
-#define BGC_TURNS_IN_DEGREE_FP32   2.7777777778E-3f
+#define BGC_FP32_TURNS_IN_DEGREE   2.7777777778E-3f
 
-#define BGC_PI_FP64           3.14159265358979324
+#define BGC_FP64_PI               3.14159265358979324
-#define BGC_TWO_PI_FP64       6.28318530717958648
+#define BGC_FP64_TWO_PI           6.28318530717958648
-#define BGC_HALF_OF_PI_FP64   1.57079632679489662
+#define BGC_FP64_HALF_OF_PI       1.57079632679489662
-#define BGC_THIRD_OF_PI_FP64  1.04719755119659775
+#define BGC_FP64_ONE_THIRD_OF_PI  1.04719755119659775
-#define BGC_FOURTH_OF_PI_FP64 0.78539816339744831
+#define BGC_FP64_ONE_FOURTH_OF_PI 0.78539816339744831
-#define BGC_SIXTH_OF_PI_FP64  0.523598775598298873
+#define BGC_FP64_ONE_SIXTH_OF_PI  0.523598775598298873
 
-#define BGC_DEGREES_IN_RADIAN_FP64 57.2957795130823209
+#define BGC_FP64_DEGREES_IN_RADIAN 57.2957795130823209
-#define BGC_TURNS_IN_RADIAN_FP64   0.159154943091895336
+#define BGC_FP64_TURNS_IN_RADIAN   0.159154943091895336
-#define BGC_RADIANS_IN_DEGREE_FP64 1.74532925199432958E-2
+#define BGC_FP64_RADIANS_IN_DEGREE 1.74532925199432958E-2
-#define BGC_TURNS_IN_DEGREE_FP64   2.77777777777777778E-3
+#define BGC_FP64_TURNS_IN_DEGREE   2.77777777777777778E-3
 
-typedef enum {
+#define BGC_ANGLE_UNIT_RADIANS 1
-    BGC_ANGLE_UNIT_RADIANS = 1,
+#define BGC_ANGLE_UNIT_DEGREES 2
-    BGC_ANGLE_UNIT_DEGREES = 2,
+#define BGC_ANGLE_UNIT_TURNS   3
-    BGC_ANGLE_UNIT_TURNS   = 3
-} BgcAngleUnitEnum;
 
-typedef enum {
+ /**
-    /**
+  * The measure of an angle with a range of:
-     * The measure of an angle with a range of:
+  * [0, 360) degrees, [0, 2xPI) radians, [0, 1) turns, [0, 400) gradians
-     * [0, 360) degrees, [0, 2xPI) radians, [0, 1) turns, [0, 400) gradians
+  */
-     */
+#define BGC_ANGLE_RANGE_UNSIGNED 1
-    BGC_ANGLE_RANGE_UNSIGNED = 1,
 
-    /**
+/**
-     * The measure of an angle with a range of:
+ * The measure of an angle with a range of:
-     * (-180, 180] degrees, (-PI, PI] radians, (-0.5, 0.5] turns, (-200, 200] gradians
+ * (-180, 180] degrees, (-PI, PI] radians, (-0.5, 0.5] turns, (-200, 200] gradians
-     */
+ */
-    BGC_ANGLE_RANGE_SIGNED = 2
+#define BGC_ANGLE_RANGE_SIGNED 2
-} BgcAngleRangeEnum;
 
 // !================= Radians ==================! //
 
 // ========= Convert radians to degrees ========= //
 
-inline float bgc_radians_to_degrees_fp32(const float radians)
+inline float bgc_fp32_radians_to_degrees(const float radians)
 {
-    return radians * BGC_DEGREES_IN_RADIAN_FP32;
+    return radians * BGC_FP32_DEGREES_IN_RADIAN;
 }
 
-inline double bgc_radians_to_degrees_fp64(const double radians)
+inline double bgc_fp64_radians_to_degrees(const double radians)
 {
-    return radians * BGC_DEGREES_IN_RADIAN_FP64;
+    return radians * BGC_FP64_DEGREES_IN_RADIAN;
 }
 
 // ========== Convert radians to turns ========== //
 
-inline float bgc_radians_to_turns_fp32(const float radians)
+inline float bgc_fp32_radians_to_turns(const float radians)
 {
-    return radians * BGC_TURNS_IN_RADIAN_FP32;
+    return radians * BGC_FP32_TURNS_IN_RADIAN;
 }
 
-inline double bgc_radians_to_turns_fp64(const double radians)
+inline double bgc_fp64_radians_to_turns(const double radians)
 {
-    return radians * BGC_TURNS_IN_RADIAN_FP64;
+    return radians * BGC_FP64_TURNS_IN_RADIAN;
 }
 
 // ========= Convert radians to any unit ======== //
 
-inline float bgc_radians_to_units_fp32(const float radians, const BgcAngleUnitEnum to_unit)
+inline float bgc_fp32_radians_to_units(const float radians, const int angle_unit)
 {
-    if (to_unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
-        return radians * BGC_DEGREES_IN_RADIAN_FP32;
+        return radians * BGC_FP32_DEGREES_IN_RADIAN;
     }
 
-    if (to_unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
-        return radians * BGC_TURNS_IN_RADIAN_FP32;
+        return radians * BGC_FP32_TURNS_IN_RADIAN;
     }
 
     return radians;
 }
 
-inline double bgc_radians_to_units_fp64(const double radians, const BgcAngleUnitEnum to_unit)
+inline double bgc_fp64_radians_to_units(const double radians, const int angle_unit)
 {
-    if (to_unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
-        return radians * BGC_DEGREES_IN_RADIAN_FP64;
+        return radians * BGC_FP64_DEGREES_IN_RADIAN;
     }
 
-    if (to_unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
-        return radians * BGC_TURNS_IN_RADIAN_FP64;
+        return radians * BGC_FP64_TURNS_IN_RADIAN;
     }
 
     return radians;
@@ -104,103 +100,103 @@ inline double bgc_radians_to_units_fp64(const double radians, const BgcAngleUnit
 
 // ============ Normalize radians ============= //
 
-inline float bgc_radians_normalize_fp32(const float radians, const BgcAngleRangeEnum range)
+inline float bgc_fp32_normalize_radians(const float radians, const int angle_range)
 {
-    if (range == BGC_ANGLE_RANGE_UNSIGNED) {
+    if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) {
-        if (0.0f <= radians && radians < BGC_TWO_PI_FP32) {
+        if (0.0f <= radians && radians < BGC_FP32_TWO_PI) {
             return radians;
         }
     }
     else {
-        if (-BGC_PI_FP32 < radians && radians <= BGC_PI_FP32) {
+        if (-BGC_FP32_PI < radians && radians <= BGC_FP32_PI) {
             return radians;
         }
     }
 
-    float turns = radians * BGC_TURNS_IN_RADIAN_FP32;
+    float turns = radians * BGC_FP32_TURNS_IN_RADIAN;
 
     turns -= floorf(turns);
 
-    if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5f) {
+    if (angle_range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5f) {
         turns -= 1.0f;
     }
 
-    return turns * BGC_TWO_PI_FP32;
+    return turns * BGC_FP32_TWO_PI;
 }
 
-inline double bgc_radians_normalize_fp64(const double radians, const BgcAngleRangeEnum range)
+inline double bgc_fp64_normalize_radians(const double radians, const int angle_range)
 {
-    if (range == BGC_ANGLE_RANGE_UNSIGNED) {
+    if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) {
-        if (0.0 <= radians && radians < BGC_TWO_PI_FP64) {
+        if (0.0 <= radians && radians < BGC_FP64_TWO_PI) {
             return radians;
         }
     }
     else {
-        if (-BGC_PI_FP64 < radians && radians <= BGC_PI_FP64) {
+        if (-BGC_FP64_PI < radians && radians <= BGC_FP64_PI) {
             return radians;
         }
     }
 
-    double turns = radians * BGC_TURNS_IN_RADIAN_FP64;
+    double turns = radians * BGC_FP64_TURNS_IN_RADIAN;
 
     turns -= floor(turns);
 
-    if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5) {
+    if (angle_range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5) {
         turns -= 1.0;
     }
 
-    return turns * BGC_TWO_PI_FP64;
+    return turns * BGC_FP64_TWO_PI;
 }
 
 // !================= Degrees ==================! //
 
 // ========= Convert degrees to radians ========= //
 
-inline float bgc_degrees_to_radians_fp32(const float degrees)
+inline float bgc_fp32_degrees_to_radians(const float degrees)
 {
-    return degrees * BGC_RADIANS_IN_DEGREE_FP32;
+    return degrees * BGC_FP32_RADIANS_IN_DEGREE;
 }
 
-inline double bgc_degrees_to_radians_fp64(const double degrees)
+inline double bgc_fp64_degrees_to_radians(const double degrees)
 {
-    return degrees * BGC_RADIANS_IN_DEGREE_FP64;
+    return degrees * BGC_FP64_RADIANS_IN_DEGREE;
 }
 
 // ========== Convert degrees to turns ========== //
 
-inline float bgc_degrees_to_turns_fp32(const float radians)
+inline float bgc_fp32_degrees_to_turns(const float radians)
 {
-    return radians * BGC_TURNS_IN_DEGREE_FP32;
+    return radians * BGC_FP32_TURNS_IN_DEGREE;
 }
 
-inline double bgc_degrees_to_turns_fp64(const double radians)
+inline double bgc_fp64_degrees_to_turns(const double radians)
 {
-    return radians * BGC_TURNS_IN_DEGREE_FP64;
+    return radians * BGC_FP64_TURNS_IN_DEGREE;
 }
 
 // ========= Convert degreess to any unit ======== //
 
-inline float bgc_degrees_to_units_fp32(const float degrees, const BgcAngleUnitEnum to_unit)
+inline float bgc_fp32_degrees_to_units(const float degrees, const int angle_unit)
 {
-    if (to_unit == BGC_ANGLE_UNIT_RADIANS) {
+    if (angle_unit == BGC_ANGLE_UNIT_RADIANS) {
-        return degrees * BGC_RADIANS_IN_DEGREE_FP32;
+        return degrees * BGC_FP32_RADIANS_IN_DEGREE;
     }
 
-    if (to_unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
-        return degrees * BGC_TURNS_IN_DEGREE_FP32;
+        return degrees * BGC_FP32_TURNS_IN_DEGREE;
     }
 
     return degrees;
 }
 
-inline double bgc_degrees_to_units_fp64(const double degrees, const BgcAngleUnitEnum to_unit)
+inline double bgc_fp64_degrees_to_units(const double degrees, const int angle_unit)
 {
-    if (to_unit == BGC_ANGLE_UNIT_RADIANS) {
+    if (angle_unit == BGC_ANGLE_UNIT_RADIANS) {
-        return degrees * BGC_RADIANS_IN_DEGREE_FP64;
+        return degrees * BGC_FP64_RADIANS_IN_DEGREE;
     }
 
-    if (to_unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
-        return degrees * BGC_TURNS_IN_DEGREE_FP64;
+        return degrees * BGC_FP64_TURNS_IN_DEGREE;
     }
 
     return degrees;
@@ -208,9 +204,9 @@ inline double bgc_degrees_to_units_fp64(const double degrees, const BgcAngleUnit
 
 // ============ Normalize degrees ============= //
 
-inline float bgc_degrees_normalize_fp32(const float degrees, const BgcAngleRangeEnum range)
+inline float bgc_fp32_normalize_degrees(const float degrees, const int angle_range)
 {
-    if (range == BGC_ANGLE_RANGE_UNSIGNED) {
+    if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) {
         if (0.0f <= degrees && degrees < 360.0f) {
             return degrees;
         }
@@ -221,20 +217,20 @@ inline float bgc_degrees_normalize_fp32(const float degrees, const BgcAngleRange
         }
     }
 
-    float turns = degrees * BGC_TURNS_IN_DEGREE_FP32;
+    float turns = degrees * BGC_FP32_TURNS_IN_DEGREE;
 
     turns -= floorf(turns);
 
-    if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5f) {
+    if (angle_range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5f) {
         turns -= 1.0f;
     }
 
     return turns * 360.0f;
 }
 
-inline double bgc_degrees_normalize_fp64(const double degrees, const BgcAngleRangeEnum range)
+inline double bgc_fp64_degrees_normalize(const double degrees, const int angle_range)
 {
-    if (range == BGC_ANGLE_RANGE_UNSIGNED) {
+    if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) {
         if (0.0 <= degrees && degrees < 360.0) {
             return degrees;
         }
@@ -245,11 +241,11 @@ inline double bgc_degrees_normalize_fp64(const double degrees, const BgcAngleRan
         }
     }
 
-    double turns = degrees * BGC_TURNS_IN_DEGREE_FP64;
+    double turns = degrees * BGC_FP64_TURNS_IN_DEGREE;
 
     turns -= floor(turns);
 
-    if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5) {
+    if (angle_range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5) {
         turns -= 1.0;
     }
 
@@ -260,50 +256,50 @@ inline double bgc_degrees_normalize_fp64(const double degrees, const BgcAngleRan
 
 // ========== Convert turns to radians ========== //
 
-inline float bgc_turns_to_radians_fp32(const float turns)
+inline float bgc_fp32_turns_to_radians(const float turns)
 {
-    return turns * BGC_TWO_PI_FP32;
+    return turns * BGC_FP32_TWO_PI;
 }
 
-inline double bgc_turns_to_radians_fp64(const double turns)
+inline double bgc_fp64_turns_to_radians(const double turns)
 {
-    return turns * BGC_TWO_PI_FP64;
+    return turns * BGC_FP64_TWO_PI;
 }
 
 // ========== Convert turns to degrees ========== //
 
-inline float bgc_turns_to_degrees_fp32(const float turns)
+inline float bgc_fp32_turns_to_degrees(const float turns)
 {
     return turns * 360.0f;
 }
 
-inline double bgc_turns_to_degrees_fp64(const double turns)
+inline double bgc_fp64_turns_to_degrees(const double turns)
 {
     return turns * 360.0;
 }
 
 // ========= Convert turns to any unit ======== //
 
-inline float bgc_turns_to_units_fp32(const float turns, const BgcAngleUnitEnum to_unit)
+inline float bgc_fp32_turns_to_units(const float turns, const int angle_unit)
 {
-    if (to_unit == BGC_ANGLE_UNIT_RADIANS) {
+    if (angle_unit == BGC_ANGLE_UNIT_RADIANS) {
-        return turns * BGC_TWO_PI_FP32;
+        return turns * BGC_FP32_TWO_PI;
     }
 
-    if (to_unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
         return turns * 360.0f;
     }
 
     return turns;
 }
 
-inline double bgc_turns_to_units_fp64(const double turns, const BgcAngleUnitEnum to_unit)
+inline double bgc_fp64_turns_to_units(const double turns, const int angle_unit)
 {
-    if (to_unit == BGC_ANGLE_UNIT_RADIANS) {
+    if (angle_unit == BGC_ANGLE_UNIT_RADIANS) {
-        return turns * BGC_TWO_PI_FP64;
+        return turns * BGC_FP64_TWO_PI;
     }
 
-    if (to_unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
         return turns * 360.0;
     }
 
@@ -312,9 +308,9 @@ inline double bgc_turns_to_units_fp64(const double turns, const BgcAngleUnitEnum
 
 // ============= Normalize turns ============== //
 
-inline float bgc_turns_normalize_fp32(const float turns, const BgcAngleRangeEnum range)
+inline float bgc_fp32_normalize_turns(const float turns, const int angle_range)
 {
-    if (range == BGC_ANGLE_RANGE_UNSIGNED) {
+    if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) {
         if (0.0f <= turns && turns < 1.0f) {
             return turns;
         }
@@ -327,16 +323,16 @@ inline float bgc_turns_normalize_fp32(const float turns, const BgcAngleRangeEnum
 
     float rest = turns - floorf(turns);
 
-    if (range == BGC_ANGLE_RANGE_SIGNED && rest > 0.5f) {
+    if (angle_range == BGC_ANGLE_RANGE_SIGNED && rest > 0.5f) {
         return rest - 1.0f;
     }
 
     return rest;
 }
 
-inline double bgc_turns_normalize_fp64(const double turns, const BgcAngleRangeEnum range)
+inline double bgc_fp64_normalize_turns(const double turns, const int angle_range)
 {
-    if (range == BGC_ANGLE_RANGE_UNSIGNED) {
+    if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) {
         if (0.0 <= turns && turns < 1.0) {
             return turns;
         }
@@ -349,7 +345,7 @@ inline double bgc_turns_normalize_fp64(const double turns, const BgcAngleRangeEn
 
     double rest = turns - floor(turns);
 
-    if (range == BGC_ANGLE_RANGE_SIGNED && rest > 0.5) {
+    if (angle_range == BGC_ANGLE_RANGE_SIGNED && rest > 0.5) {
         return rest - 1.0;
     }
 
@@ -360,27 +356,27 @@ inline double bgc_turns_normalize_fp64(const double turns, const BgcAngleRangeEn
 
 // ========= Convert any unit to radians ======== //
 
-inline float bgc_angle_to_radians_fp32(const float angle, const BgcAngleUnitEnum unit)
+inline float bgc_fp32_angle_to_radians(const float angle, const int angle_unit)
 {
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
-        return angle * BGC_RADIANS_IN_DEGREE_FP32;
+        return angle * BGC_FP32_RADIANS_IN_DEGREE;
     }
 
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
-        return angle * BGC_TWO_PI_FP32;
+        return angle * BGC_FP32_TWO_PI;
     }
 
     return angle;
 }
 
-inline double bgc_angle_to_radians_fp64(const double angle, const BgcAngleUnitEnum unit)
+inline double bgc_fp64_angle_to_radians(const double angle, const int angle_unit)
 {
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
-        return angle * BGC_RADIANS_IN_DEGREE_FP64;
+        return angle * BGC_FP64_RADIANS_IN_DEGREE;
     }
 
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
-        return angle * BGC_TWO_PI_FP64;
+        return angle * BGC_FP64_TWO_PI;
     }
 
     return angle;
@@ -388,26 +384,26 @@ inline double bgc_angle_to_radians_fp64(const double angle, const BgcAngleUnitEn
 
 // ========= Convert any unit to degreess ======== //
 
-inline float bgc_angle_to_degrees_fp32(const float angle, const BgcAngleUnitEnum unit)
+inline float bgc_fp32_angle_to_degrees(const float angle, const int angle_unit)
 {
-    if (unit == BGC_ANGLE_UNIT_RADIANS) {
+    if (angle_unit == BGC_ANGLE_UNIT_RADIANS) {
-        return angle * BGC_DEGREES_IN_RADIAN_FP32;
+        return angle * BGC_FP32_DEGREES_IN_RADIAN;
     }
 
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
         return angle * 360.0f;
     }
 
     return angle;
 }
 
-inline double bgc_angle_to_degrees_fp64(const double angle, const BgcAngleUnitEnum unit)
+inline double bgc_fp64_angle_to_degrees(const double angle, const int angle_unit)
 {
-    if (unit == BGC_ANGLE_UNIT_RADIANS) {
+    if (angle_unit == BGC_ANGLE_UNIT_RADIANS) {
-        return angle * BGC_DEGREES_IN_RADIAN_FP64;
+        return angle * BGC_FP64_DEGREES_IN_RADIAN;
     }
 
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
         return angle * 360.0;
     }
 
@@ -416,27 +412,27 @@ inline double bgc_angle_to_degrees_fp64(const double angle, const BgcAngleUnitEn
 
 // ========= Convert any unit to turns ======== //
 
-inline float bgc_angle_to_turns_fp32(const float angle, const BgcAngleUnitEnum unit)
+inline float bgc_fp32_angle_to_turns(const float angle, const int angle_unit)
 {
-    if (unit == BGC_ANGLE_UNIT_RADIANS) {
+    if (angle_unit == BGC_ANGLE_UNIT_RADIANS) {
-        return angle * BGC_TURNS_IN_RADIAN_FP32;
+        return angle * BGC_FP32_TURNS_IN_RADIAN;
     }
 
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
-        return angle * BGC_TURNS_IN_DEGREE_FP32;
+        return angle * BGC_FP32_TURNS_IN_DEGREE;
     }
 
     return angle;
 }
 
-inline double bgc_angle_to_turns_fp64(const double angle, const BgcAngleUnitEnum unit)
+inline double bgc_fp64_angle_to_turns(const double angle, const int angle_unit)
 {
-    if (unit == BGC_ANGLE_UNIT_RADIANS) {
+    if (angle_unit == BGC_ANGLE_UNIT_RADIANS) {
-        return angle * BGC_TURNS_IN_RADIAN_FP64;
+        return angle * BGC_FP64_TURNS_IN_RADIAN;
     }
 
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
-        return angle * BGC_TURNS_IN_DEGREE_FP64;
+        return angle * BGC_FP64_TURNS_IN_DEGREE;
     }
 
     return angle;
@@ -444,114 +440,58 @@ inline double bgc_angle_to_turns_fp64(const double angle, const BgcAngleUnitEnum
 
 // ============= Get Full Circle ============== //
 
-inline float bgc_angle_get_full_circle_fp32(const BgcAngleUnitEnum unit)
+inline float bgc_fp32_full_circle(const int angle_unit)
 {
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
         return 360.0f;
     }
 
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
         return 1.0f;
     }
 
-    return BGC_TWO_PI_FP32;
+    return BGC_FP32_TWO_PI;
 }
 
-inline double bgc_angle_get_full_circle_fp64(const BgcAngleUnitEnum unit)
+inline double bgc_fp64_full_circle(const int angle_unit)
 {
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
         return 360.0;
     }
 
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
         return 1.0;
     }
 
-    return BGC_TWO_PI_FP64;
+    return BGC_FP64_TWO_PI;
-}
-
-// ============= Get Half Circle ============== //
-
-inline float bgc_angle_get_half_circle_fp32(const BgcAngleUnitEnum unit)
-{
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
-        return 180.0f;
-    }
-
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
-        return 0.5f;
-    }
-
-    return BGC_PI_FP32;
-}
-
-inline double bgc_angle_get_half_circle_fp64(const BgcAngleUnitEnum unit)
-{
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
-        return 180.0;
-    }
-
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
-        return 0.5;
-    }
-
-    return BGC_PI_FP64;
-}
-
-// ============= Get Half Circle ============== //
-
-inline float bgc_angle_get_quater_circle_fp32(const BgcAngleUnitEnum unit)
-{
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
-        return 90.0f;
-    }
-
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
-        return 0.25f;
-    }
-
-    return BGC_HALF_OF_PI_FP32;
-}
-
-inline double bgc_angle_get_quater_circle_fp64(const BgcAngleUnitEnum unit)
-{
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
-        return 90.0;
-    }
-
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
-        return 0.25;
-    }
-
-    return BGC_HALF_OF_PI_FP64;
 }
 
 // ================ Normalize ================= //
 
-inline float bgc_angle_normalize_fp32(const float angle, const BgcAngleUnitEnum unit, const BgcAngleRangeEnum range)
+inline float bgc_fp32_normalize_angle(const float angle, const int angle_unit, const int angle_range)
 {
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
-        return bgc_degrees_normalize_fp32(angle, range);
+        return bgc_fp32_normalize_degrees(angle, angle_range);
     }
 
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
-        return bgc_turns_normalize_fp32(angle, range);
+        return bgc_fp32_normalize_turns(angle, angle_range);
     }
 
-    return bgc_radians_normalize_fp32(angle, range);
+    return bgc_fp32_normalize_radians(angle, angle_range);
 }
 
-inline double bgc_angle_normalize_fp64(const double angle, const BgcAngleUnitEnum unit, const BgcAngleRangeEnum range)
+inline double bgc_fp64_normalize_angle(const double angle, const int angle_unit, const int angle_range)
 {
-    if (unit == BGC_ANGLE_UNIT_DEGREES) {
+    if (angle_unit == BGC_ANGLE_UNIT_DEGREES) {
-        return bgc_degrees_normalize_fp64(angle, range);
+        return bgc_fp64_degrees_normalize(angle, angle_range);
     }
 
-    if (unit == BGC_ANGLE_UNIT_TURNS) {
+    if (angle_unit == BGC_ANGLE_UNIT_TURNS) {
-        return bgc_turns_normalize_fp64(angle, range);
+        return bgc_fp64_normalize_turns(angle, angle_range);
     }
 
-    return bgc_radians_normalize_fp64(angle, range);
+    return bgc_fp64_normalize_radians(angle, angle_range);
 }
 
 #endif

basic-geometry/basic-geometry.cbp

@@ -60,10 +60,30 @@
 			<Option compilerVar="CC" />
 		</Unit>
 		<Unit filename="complex.h" />
-		<Unit filename="cotes-number.c">
+		<Unit filename="dual-number.c">
 			<Option compilerVar="CC" />
 		</Unit>
-		<Unit filename="cotes-number.h" />
+		<Unit filename="dual-number.h" />
+		<Unit filename="dual-quaternion.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="dual-quaternion.h" />
+		<Unit filename="dual-vector3.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="dual-vector3.h" />
+		<Unit filename="hg-matrix3x3.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="hg-matrix3x3.h" />
+		<Unit filename="hg-vector3.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="hg-vector3.h" />
+		<Unit filename="matrices.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="matrices.h" />
 		<Unit filename="matrix2x2.c">
 			<Option compilerVar="CC" />
 		</Unit>
@@ -80,10 +100,6 @@
 			<Option compilerVar="CC" />
 		</Unit>
 		<Unit filename="matrix3x3.h" />
-		<Unit filename="matrixes.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="matrixes.h" />
 		<Unit filename="position2.c">
 			<Option compilerVar="CC" />
 		</Unit>
@@ -96,10 +112,18 @@
 			<Option compilerVar="CC" />
 		</Unit>
 		<Unit filename="quaternion.h" />
-		<Unit filename="rotation3.c">
+		<Unit filename="slerp.c">
 			<Option compilerVar="CC" />
 		</Unit>
-		<Unit filename="rotation3.h" />
+		<Unit filename="slerp.h" />
+		<Unit filename="turn2.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="turn2.h" />
+		<Unit filename="turn3.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="turn3.h" />
 		<Unit filename="utilities.c">
 			<Option compilerVar="CC" />
 		</Unit>
@@ -112,10 +136,6 @@
 			<Option compilerVar="CC" />
 		</Unit>
 		<Unit filename="vector3.h" />
-		<Unit filename="versor.c">
-			<Option compilerVar="CC" />
-		</Unit>
-		<Unit filename="versor.h" />
 		<Extensions />
 	</Project>
 </CodeBlocks_project_file>

basic-geometry/basic-geometry.h

@@ -1,5 +1,5 @@
-#ifndef _BGC_H_
+#ifndef _BGC_H_INCLUDED_
-#define _BGC_H_
+#define _BGC_H_INCLUDED_
 
 #include "./utilities.h"
 
@@ -8,7 +8,7 @@
 #include "./vector2.h"
 #include "./vector3.h"
 
-#include "./matrixes.h"
+#include "./matrices.h"
 #include "./matrix2x2.h"
 #include "./matrix2x3.h"
 #include "./matrix3x2.h"
@@ -18,15 +18,14 @@
 #include "./affine3.h"
 
 #include "./complex.h"
-#include "./cotes-number.h"
-
-#include "./rotation3.h"
-
 #include "./quaternion.h"
-#include "./versor.h"
+
-#include "./slerp.h"
+#include "./turn2.h"
+#include "./turn3.h"
 
 #include "./position2.h"
 #include "./position3.h"
 
+#include "./slerp.h"
+
 #endif

basic-geometry/basic-geometry.vcxproj

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <ItemGroup Label="ProjectConfigurations">
     <ProjectConfiguration Include="Debug|Win32">
@@ -24,20 +24,23 @@
     <ClInclude Include="angle.h" />
     <ClInclude Include="basic-geometry.h" />
     <ClInclude Include="complex.h" />
-    <ClInclude Include="cotes-number.h" />
+    <ClInclude Include="dual-number.h" />
+    <ClInclude Include="dual-quaternion.h" />
+    <ClInclude Include="dual-vector3.h" />
+    <ClInclude Include="hg-matrix3x3.h" />
+    <ClInclude Include="hg-vector3.h" />
     <ClInclude Include="matrix2x2.h" />
     <ClInclude Include="matrix2x3.h" />
     <ClInclude Include="matrix3x2.h" />
     <ClInclude Include="matrix3x3.h" />
-    <ClInclude Include="matrixes.h" />
+    <ClInclude Include="matrices.h" />
     <ClInclude Include="position2.h" />
     <ClInclude Include="position3.h" />
     <ClInclude Include="quaternion.h" />
-    <ClInclude Include="rotation3.h" />
+    <ClInclude Include="turn2.h" />
-    <ClInclude Include="types.h" />
+    <ClInclude Include="turn3.h" />
     <ClInclude Include="utilities.h" />
     <ClInclude Include="slerp.h" />
-    <ClInclude Include="versor.h" />
     <ClInclude Include="vector2.h" />
     <ClInclude Include="vector3.h" />
   </ItemGroup>
@@ -46,19 +49,23 @@
     <ClCompile Include="affine3.c" />
     <ClCompile Include="angle.c" />
     <ClInclude Include="complex.c" />
-    <ClInclude Include="cotes-number.c" />
+    <ClCompile Include="dual-number.c" />
+    <ClCompile Include="dual-quaternion.c" />
+    <ClCompile Include="dual-vector3.c" />
+    <ClCompile Include="hg-matrix3x3.c" />
+    <ClCompile Include="hg-vector3.c" />
     <ClCompile Include="position2.c" />
     <ClCompile Include="position3.c" />
+    <ClCompile Include="turn2.c" />
+    <ClCompile Include="turn3.c" />
     <ClCompile Include="utilities.c" />
     <ClCompile Include="matrix2x2.c" />
     <ClCompile Include="matrix2x3.c" />
     <ClCompile Include="matrix3x2.c" />
     <ClCompile Include="matrix3x3.c" />
-    <ClCompile Include="matrixes.c" />
+    <ClCompile Include="matrices.c" />
     <ClCompile Include="quaternion.c" />
-    <ClCompile Include="rotation3.c" />
     <ClCompile Include="slerp.c" />
-    <ClCompile Include="versor.c" />
     <ClCompile Include="vector2.c" />
     <ClCompile Include="vector3.c" />
   </ItemGroup>

basic-geometry/basic-geometry.vcxproj.filters

@@ -21,9 +21,6 @@
     <ClInclude Include="complex.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
-    <ClInclude Include="cotes-number.h">
-      <Filter>Файлы заголовков</Filter>
-    </ClInclude>
     <ClInclude Include="utilities.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
@@ -36,12 +33,6 @@
     <ClInclude Include="matrix3x3.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
-    <ClInclude Include="rotation3.h">
-      <Filter>Файлы заголовков</Filter>
-    </ClInclude>
-    <ClInclude Include="versor.h">
-      <Filter>Файлы заголовков</Filter>
-    </ClInclude>
     <ClInclude Include="vector2.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
@@ -57,21 +48,15 @@
     <ClInclude Include="matrix3x2.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
-    <ClInclude Include="matrixes.h">
+    <ClInclude Include="matrices.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
     <ClInclude Include="complex.c">
       <Filter>Исходные файлы</Filter>
     </ClInclude>
-    <ClInclude Include="cotes-number.c">
-      <Filter>Исходные файлы</Filter>
-    </ClInclude>
     <ClInclude Include="slerp.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
-    <ClInclude Include="types.h">
-      <Filter>Файлы заголовков</Filter>
-    </ClInclude>
     <ClInclude Include="affine3.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
@@ -84,6 +69,27 @@
     <ClInclude Include="position3.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
+    <ClInclude Include="hg-vector3.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="dual-number.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="dual-vector3.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="dual-quaternion.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="hg-matrix3x3.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="turn2.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="turn3.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="angle.c">
@@ -98,22 +104,16 @@
     <ClCompile Include="matrix3x3.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
-    <ClCompile Include="versor.c">
-      <Filter>Исходные файлы</Filter>
-    </ClCompile>
     <ClCompile Include="vector2.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
     <ClCompile Include="vector3.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
-    <ClCompile Include="rotation3.c">
-      <Filter>Исходные файлы</Filter>
-    </ClCompile>
     <ClCompile Include="quaternion.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
-    <ClCompile Include="matrixes.c">
+    <ClCompile Include="matrices.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
     <ClCompile Include="matrix2x3.c">
@@ -137,5 +137,26 @@
     <ClCompile Include="position3.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
+    <ClCompile Include="hg-vector3.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="dual-number.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="dual-vector3.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="dual-quaternion.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="hg-matrix3x3.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="turn2.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="turn3.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
   </ItemGroup>
 </Project>

basic-geometry/complex.c

@@ -1,96 +1,96 @@
 #include "./complex.h"
 
-extern inline void bgc_complex_reset_fp32(BgcComplexFP32* complex);
+extern inline void bgc_fp32_complex_reset(BGC_FP32_Complex* complex);
-extern inline void bgc_complex_reset_fp64(BgcComplexFP64* complex);
+extern inline void bgc_fp64_complex_reset(BGC_FP64_Complex* complex);
 
-extern inline void bgc_complex_set_values_fp32(const float real, const float imaginary, BgcComplexFP32* destination);
+extern inline void bgc_fp32_complex_make(BGC_FP32_Complex* complex, const float real, const float imaginary);
-extern inline void bgc_complex_set_values_fp64(const double real, const double imaginary, BgcComplexFP64* destination);
+extern inline void bgc_fp64_complex_make(BGC_FP64_Complex* complex, const double real, const double imaginary);
 
-extern inline float bgc_complex_get_square_modulus_fp32(const BgcComplexFP32* number);
+extern inline float bgc_fp32_complex_get_square_modulus(const BGC_FP32_Complex* number);
-extern inline double bgc_complex_get_square_modulus_fp64(const BgcComplexFP64* number);
+extern inline double bgc_fp64_complex_get_square_modulus(const BGC_FP64_Complex* number);
 
-extern inline float bgc_complex_get_modulus_fp32(const BgcComplexFP32* number);
+extern inline float bgc_fp32_complex_get_modulus(const BGC_FP32_Complex* number);
-extern inline double bgc_complex_get_modulus_fp64(const BgcComplexFP64* number);
+extern inline double bgc_fp64_complex_get_modulus(const BGC_FP64_Complex* number);
 
-extern inline int bgc_complex_is_zero_fp32(const BgcComplexFP32* number);
+extern inline int bgc_fp32_complex_is_zero(const BGC_FP32_Complex* number);
-extern inline int bgc_complex_is_zero_fp64(const BgcComplexFP64* number);
+extern inline int bgc_fp64_complex_is_zero(const BGC_FP64_Complex* number);
 
-extern inline int bgc_complex_is_unit_fp32(const BgcComplexFP32* number);
+extern inline int bgc_fp32_complex_is_unit(const BGC_FP32_Complex* number);
-extern inline int bgc_complex_is_unit_fp64(const BgcComplexFP64* number);
+extern inline int bgc_fp64_complex_is_unit(const BGC_FP64_Complex* number);
 
-extern inline void bgc_complex_copy_fp32(const BgcComplexFP32* source, BgcComplexFP32* destination);
+extern inline void bgc_fp32_complex_copy(BGC_FP32_Complex* destination, const BGC_FP32_Complex* source);
-extern inline void bgc_complex_copy_fp64(const BgcComplexFP64* source, BgcComplexFP64* destination);
+extern inline void bgc_fp64_complex_copy(BGC_FP64_Complex* destination, const BGC_FP64_Complex* source);
 
-extern inline void bgc_complex_swap_fp32(BgcComplexFP32* number1, BgcComplexFP32* number2);
+extern inline void bgc_fp32_complex_swap(BGC_FP32_Complex* number1, BGC_FP32_Complex* number2);
-extern inline void bgc_complex_swap_fp64(BgcComplexFP64* number1, BgcComplexFP64* number2);
+extern inline void bgc_fp64_complex_swap(BGC_FP64_Complex* number1, BGC_FP64_Complex* number2);
 
-extern inline void bgc_complex_convert_fp64_to_fp32(const BgcComplexFP64* source, BgcComplexFP32* destination);
+extern inline void bgc_fp64_complex_convert_to_fp32(BGC_FP32_Complex* destination, const BGC_FP64_Complex* source);
-extern inline void bgc_complex_convert_fp32_to_fp64(const BgcComplexFP32* source, BgcComplexFP64* destination);
+extern inline void bgc_fp32_complex_convert_to_fp64(BGC_FP64_Complex* destination, const BGC_FP32_Complex* source);
 
-extern inline void bgc_complex_make_opposite_fp32(BgcComplexFP32* number);
+extern inline void bgc_fp32_complex_revert(BGC_FP32_Complex* number);
-extern inline void bgc_complex_make_opposite_fp64(BgcComplexFP64* number);
+extern inline void bgc_fp64_complex_revert(BGC_FP64_Complex* number);
 
-extern inline void bgc_complex_get_opposite_fp32(const BgcComplexFP32* number, BgcComplexFP32* opposite);
+extern inline void bgc_fp32_complex_get_reverse(BGC_FP32_Complex* reverse, const BGC_FP32_Complex* number);
-extern inline void bgc_complex_get_opposite_fp64(const BgcComplexFP64* number, BgcComplexFP64* opposite);
+extern inline void bgc_fp64_complex_get_reverse(BGC_FP64_Complex* reverse, const BGC_FP64_Complex* number);
 
-extern inline int bgc_complex_normalize_fp32(BgcComplexFP32* number);
+extern inline int bgc_fp32_complex_normalize(BGC_FP32_Complex* number);
-extern inline int bgc_complex_normalize_fp64(BgcComplexFP64* number);
+extern inline int bgc_fp64_complex_normalize(BGC_FP64_Complex* number);
 
-extern inline int bgc_complex_get_normalized_fp32(const BgcComplexFP32* number, BgcComplexFP32* normalized);
+extern inline int bgc_fp32_complex_get_normalized(BGC_FP32_Complex* normalized, const BGC_FP32_Complex* number);
-extern inline int bgc_complex_get_normalized_fp64(const BgcComplexFP64* number, BgcComplexFP64* normalized);
+extern inline int bgc_fp64_complex_get_normalized(BGC_FP64_Complex* normalized, const BGC_FP64_Complex* number);
 
-extern inline void bgc_complex_conjugate_fp32(BgcComplexFP32* number);
+extern inline void bgc_fp32_complex_conjugate(BGC_FP32_Complex* number);
-extern inline void bgc_complex_conjugate_fp64(BgcComplexFP64* number);
+extern inline void bgc_fp64_complex_conjugate(BGC_FP64_Complex* number);
 
-extern inline void bgc_complex_get_conjugate_fp32(const BgcComplexFP32* number, BgcComplexFP32* conjugate);
+extern inline void bgc_fp32_complex_get_conjugate(BGC_FP32_Complex* conjugate, const BGC_FP32_Complex* number);
-extern inline void bgc_complex_get_conjugate_fp64(const BgcComplexFP64* number, BgcComplexFP64* conjugate);
+extern inline void bgc_fp64_complex_get_conjugate(BGC_FP64_Complex* conjugate, const BGC_FP64_Complex* number);
 
-extern inline int bgc_complex_invert_fp32(BgcComplexFP32* number);
+extern inline int bgc_fp32_complex_invert(BGC_FP32_Complex* number);
-extern inline int bgc_complex_invert_fp64(BgcComplexFP64* number);
+extern inline int bgc_fp64_complex_invert(BGC_FP64_Complex* number);
 
-extern inline int bgc_complex_get_inverse_fp32(const BgcComplexFP32* number, BgcComplexFP32* inverse);
+extern inline int bgc_fp32_complex_get_inverse(BGC_FP32_Complex* inverse, const BGC_FP32_Complex* number);
-extern inline int bgc_complex_get_inverse_fp64(const BgcComplexFP64* number, BgcComplexFP64* inverse);
+extern inline int bgc_fp64_complex_get_inverse(BGC_FP64_Complex* inverse, const BGC_FP64_Complex* number);
 
-extern inline void bgc_complex_multiply_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* result);
+extern inline void bgc_fp32_complex_get_product(BGC_FP32_Complex* product, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2);
-extern inline void bgc_complex_multiply_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* result);
+extern inline void bgc_fp64_complex_get_product(BGC_FP64_Complex* product, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2);
 
-extern inline int bgc_complex_devide_fp32(const BgcComplexFP32* divident, const BgcComplexFP32* divisor, BgcComplexFP32* quotient);
+extern inline int bgc_fp32_complex_get_ratio(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* divident, const BGC_FP32_Complex* divisor);
-extern inline int bgc_complex_devide_fp64(const BgcComplexFP64* divident, const BgcComplexFP64* divisor, BgcComplexFP64* quotient);
+extern inline int bgc_fp64_complex_get_ratio(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* divident, const BGC_FP64_Complex* divisor);
 
-extern inline void bgc_complex_add_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* sum);
+extern inline void bgc_fp32_complex_add(BGC_FP32_Complex* sum, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2);
-extern inline void bgc_complex_add_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* sum);
+extern inline void bgc_fp64_complex_add(BGC_FP64_Complex* sum, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2);
 
-extern inline void bgc_complex_add_scaled_fp32(const BgcComplexFP32* basic_number, const BgcComplexFP32* scalable_number, const float scale, BgcComplexFP32* sum);
+extern inline void bgc_fp32_complex_add_scaled(BGC_FP32_Complex* sum, const BGC_FP32_Complex* basic_number, const BGC_FP32_Complex* scalable_number, const float scale);
-extern inline void bgc_complex_add_scaled_fp64(const BgcComplexFP64* basic_number, const BgcComplexFP64* scalable_number, const double scale, BgcComplexFP64* sum);
+extern inline void bgc_fp64_complex_add_scaled(BGC_FP64_Complex* sum, const BGC_FP64_Complex* basic_number, const BGC_FP64_Complex* scalable_number, const double scale);
 
-extern inline void bgc_complex_subtract_fp32(const BgcComplexFP32* minuend, const BgcComplexFP32* subtrahend, BgcComplexFP32* difference);
+extern inline void bgc_fp32_complex_subtract(BGC_FP32_Complex* difference, const BGC_FP32_Complex* minuend, const BGC_FP32_Complex* subtrahend);
-extern inline void bgc_complex_subtract_fp64(const BgcComplexFP64* minuend, const BgcComplexFP64* subtrahend, BgcComplexFP64* difference);
+extern inline void bgc_fp64_complex_subtract(BGC_FP64_Complex* difference, const BGC_FP64_Complex* minuend, const BGC_FP64_Complex* subtrahend);
 
-extern inline void bgc_complex_multiply_by_number_fp32(const BgcComplexFP32* multiplicand, const float multiplier, BgcComplexFP32* product);
+extern inline void bgc_fp32_complex_multiply(BGC_FP32_Complex* product, const BGC_FP32_Complex* multiplicand, const float multiplier);
-extern inline void bgc_complex_multiply_by_number_fp64(const BgcComplexFP64* multiplicand, const double multiplier, BgcComplexFP64* product);
+extern inline void bgc_fp64_complex_multiply(BGC_FP64_Complex* product, const BGC_FP64_Complex* multiplicand, const double multiplier);
 
-extern inline void bgc_complex_divide_by_number_fp32(const BgcComplexFP32* dividend, const float divisor, BgcComplexFP32* quotient);
+extern inline void bgc_fp32_complex_divide(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* dividend, const float divisor);
-extern inline void bgc_complex_divide_by_number_fp64(const BgcComplexFP64* dividend, const double divisor, BgcComplexFP64* quotient);
+extern inline void bgc_fp64_complex_divide(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* dividend, const double divisor);
 
-extern inline void bgc_complex_get_mean_of_two_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* mean);
+extern inline void bgc_fp32_complex_get_mean2(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2);
-extern inline void bgc_complex_get_mean_of_two_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* mean);
+extern inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2);
 
-extern inline void bgc_complex_get_mean_of_three_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, const BgcComplexFP32* number3, BgcComplexFP32* mean);
+extern inline void bgc_fp32_complex_get_mean3(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const BGC_FP32_Complex* number3);
-extern inline void bgc_complex_get_mean_of_three_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, const BgcComplexFP64* number3, BgcComplexFP64* mean);
+extern inline void bgc_fp64_complex_get_mean3(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const BGC_FP64_Complex* number3);
 
-extern inline void bgc_complex_interpolate_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, const float phase, BgcComplexFP32* interpolation);
+extern inline void bgc_fp32_complex_interpolate(BGC_FP32_Complex* interpolation, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const float phase);
-extern inline void bgc_complex_interpolate_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, const double phase, BgcComplexFP64* interpolation);
+extern inline void bgc_fp64_complex_interpolate(BGC_FP64_Complex* interpolation, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const double phase);
 
-extern inline int bgc_complex_are_close_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2);
+extern inline int bgc_fp32_complex_are_close(const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2);
-extern inline int bgc_complex_are_close_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2);
+extern inline int bgc_fp64_complex_are_close(const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2);
 
 // =============== Get Exponation =============== //
 
-void bgc_complex_get_exponation_fp32(const BgcComplexFP32* base, const float real_exponent, const float imaginary_exponent, BgcComplexFP32* power)
+void bgc_fp32_complex_get_exponation(BGC_FP32_Complex* power, const BGC_FP32_Complex* base, const float real_exponent, const float imaginary_exponent)
 {
-    const float square_modulus = bgc_complex_get_square_modulus_fp32(base);
+    const float square_modulus = bgc_fp32_complex_get_square_modulus(base);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) {
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON) {
         power->real = 0.0f;
         power->imaginary = 0.0f;
         return;
@@ -106,11 +106,11 @@ void bgc_complex_get_exponation_fp32(const BgcComplexFP32* base, const float rea
     power->imaginary = power_modulus * sinf(power_angle);
 }
 
-void bgc_complex_get_exponation_fp64(const BgcComplexFP64* base, const double real_exponent, const double imaginary_exponent, BgcComplexFP64* power)
+void bgc_fp64_complex_get_exponation(BGC_FP64_Complex* power, const BGC_FP64_Complex* base, const double real_exponent, const double imaginary_exponent)
 {
-    const double square_modulus = bgc_complex_get_square_modulus_fp64(base);
+    const double square_modulus = bgc_fp64_complex_get_square_modulus(base);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64) {
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON) {
         power->real = 0.0;
         power->imaginary = 0.0;
         return;

basic-geometry/complex.h

@@ -1,5 +1,5 @@
-#ifndef _BGC_COMPLEX_H_
+#ifndef _BGC_COMPLEX_H_INCLUDED_
-#define _BGC_COMPLEX_H_
+#define _BGC_COMPLEX_H_INCLUDED_
 
 #include "utilities.h"
 #include "angle.h"
@@ -9,22 +9,22 @@
 typedef struct
 {
     float real, imaginary;
-} BgcComplexFP32;
+} BGC_FP32_Complex;
 
 typedef struct
 {
     double real, imaginary;
-} BgcComplexFP64;
+} BGC_FP64_Complex;
 
 // =================== Reset ==================== //
 
-inline void bgc_complex_reset_fp32(BgcComplexFP32* complex)
+inline void bgc_fp32_complex_reset(BGC_FP32_Complex* complex)
 {
     complex->real = 0.0f;
     complex->imaginary = 0.0f;
 }
 
-inline void bgc_complex_reset_fp64(BgcComplexFP64* complex)
+inline void bgc_fp64_complex_reset(BGC_FP64_Complex* complex)
 {
     complex->real = 0.0;
     complex->imaginary = 0.0;
@@ -32,71 +32,71 @@ inline void bgc_complex_reset_fp64(BgcComplexFP64* complex)
 
 // ==================== Set ===================== //
 
-inline void bgc_complex_set_values_fp32(const float real, const float imaginary, BgcComplexFP32* destination)
+inline void bgc_fp32_complex_make(BGC_FP32_Complex* complex, const float real, const float imaginary)
 {
-    destination->real = real;
+    complex->real = real;
-    destination->imaginary = imaginary;
+    complex->imaginary = imaginary;
 }
 
-inline void bgc_complex_set_values_fp64(const double real, const double imaginary, BgcComplexFP64* destination)
+inline void bgc_fp64_complex_make(BGC_FP64_Complex* complex, const double real, const double imaginary)
 {
-    destination->real = real;
+    complex->real = real;
-    destination->imaginary = imaginary;
+    complex->imaginary = imaginary;
 }
 
 // ================== Modulus =================== //
 
-inline float bgc_complex_get_square_modulus_fp32(const BgcComplexFP32* number)
+inline float bgc_fp32_complex_get_square_modulus(const BGC_FP32_Complex* number)
 {
     return number->real * number->real + number->imaginary * number->imaginary;
 }
 
-inline double bgc_complex_get_square_modulus_fp64(const BgcComplexFP64* number)
+inline double bgc_fp64_complex_get_square_modulus(const BGC_FP64_Complex* number)
 {
     return number->real * number->real + number->imaginary * number->imaginary;
 }
 
-inline float bgc_complex_get_modulus_fp32(const BgcComplexFP32* number)
+inline float bgc_fp32_complex_get_modulus(const BGC_FP32_Complex* number)
 {
-    return sqrtf(bgc_complex_get_square_modulus_fp32(number));
+    return sqrtf(bgc_fp32_complex_get_square_modulus(number));
 }
 
-inline double bgc_complex_get_modulus_fp64(const BgcComplexFP64* number)
+inline double bgc_fp64_complex_get_modulus(const BGC_FP64_Complex* number)
 {
-    return sqrt(bgc_complex_get_square_modulus_fp64(number));
+    return sqrt(bgc_fp64_complex_get_square_modulus(number));
 }
 
 // ================= Comparison ================= //
 
-inline int bgc_complex_is_zero_fp32(const BgcComplexFP32* number)
+inline int bgc_fp32_complex_is_zero(const BGC_FP32_Complex* number)
 {
-    return bgc_complex_get_square_modulus_fp32(number) <= BGC_SQUARE_EPSYLON_FP32;
+    return bgc_fp32_complex_get_square_modulus(number) <= BGC_FP32_SQUARE_EPSILON;
 }
 
-inline int bgc_complex_is_zero_fp64(const BgcComplexFP64* number)
+inline int bgc_fp64_complex_is_zero(const BGC_FP64_Complex* number)
 {
-    return bgc_complex_get_square_modulus_fp64(number) <= BGC_SQUARE_EPSYLON_FP64;
+    return bgc_fp64_complex_get_square_modulus(number) <= BGC_FP64_SQUARE_EPSILON;
 }
 
-inline int bgc_complex_is_unit_fp32(const BgcComplexFP32* number)
+inline int bgc_fp32_complex_is_unit(const BGC_FP32_Complex* number)
 {
-    return bgc_is_sqare_unit_fp32(bgc_complex_get_square_modulus_fp32(number));
+    return bgc_fp32_is_square_unit(bgc_fp32_complex_get_square_modulus(number));
 }
 
-inline int bgc_complex_is_unit_fp64(const BgcComplexFP64* number)
+inline int bgc_fp64_complex_is_unit(const BGC_FP64_Complex* number)
 {
-    return bgc_is_sqare_unit_fp64(bgc_complex_get_square_modulus_fp64(number));
+    return bgc_fp64_is_square_unit(bgc_fp64_complex_get_square_modulus(number));
 }
 
 // ==================== Copy ==================== //
 
-inline void bgc_complex_copy_fp32(const BgcComplexFP32* source, BgcComplexFP32* destination)
+inline void bgc_fp32_complex_copy(BGC_FP32_Complex* destination, const BGC_FP32_Complex* source)
 {
     destination->real = source->real;
     destination->imaginary = source->imaginary;
 }
 
-inline void bgc_complex_copy_fp64(const BgcComplexFP64* source, BgcComplexFP64* destination)
+inline void bgc_fp64_complex_copy(BGC_FP64_Complex* destination, const BGC_FP64_Complex* source)
 {
     destination->real = source->real;
     destination->imaginary = source->imaginary;
@@ -104,7 +104,7 @@ inline void bgc_complex_copy_fp64(const BgcComplexFP64* source, BgcComplexFP64*
 
 // ==================== Swap ==================== //
 
-inline void bgc_complex_swap_fp32(BgcComplexFP32* number1, BgcComplexFP32* number2)
+inline void bgc_fp32_complex_swap(BGC_FP32_Complex* number1, BGC_FP32_Complex* number2)
 {
     const float real = number2->real;
     const float imaginary = number2->imaginary;
@@ -116,7 +116,7 @@ inline void bgc_complex_swap_fp32(BgcComplexFP32* number1, BgcComplexFP32* numbe
     number1->imaginary = imaginary;
 }
 
-inline void bgc_complex_swap_fp64(BgcComplexFP64* number1, BgcComplexFP64* number2)
+inline void bgc_fp64_complex_swap(BGC_FP64_Complex* number1, BGC_FP64_Complex* number2)
 {
     const double real = number2->real;
     const double imaginary = number2->imaginary;
@@ -130,13 +130,13 @@ inline void bgc_complex_swap_fp64(BgcComplexFP64* number1, BgcComplexFP64* numbe
 
 // ================== Convert =================== //
 
-inline void bgc_complex_convert_fp64_to_fp32(const BgcComplexFP64* source, BgcComplexFP32* destination)
+inline void bgc_fp64_complex_convert_to_fp32(BGC_FP32_Complex* destination, const BGC_FP64_Complex* source)
 {
     destination->real = (float)source->real;
     destination->imaginary = (float)source->imaginary;
 }
 
-inline void bgc_complex_convert_fp32_to_fp64(const BgcComplexFP32* source, BgcComplexFP64* destination)
+inline void bgc_fp32_complex_convert_to_fp64(BGC_FP64_Complex* destination, const BGC_FP32_Complex* source)
 {
     destination->real = source->real;
     destination->imaginary = source->imaginary;
@@ -144,41 +144,41 @@ inline void bgc_complex_convert_fp32_to_fp64(const BgcComplexFP32* source, BgcCo
 
 // ================== Negative ================== //
 
-inline void bgc_complex_make_opposite_fp32(BgcComplexFP32* number)
+inline void bgc_fp32_complex_revert(BGC_FP32_Complex* number)
 {
     number->real = -number->real;
     number->imaginary = -number->imaginary;
 }
 
-inline void bgc_complex_make_opposite_fp64(BgcComplexFP64* number)
+inline void bgc_fp64_complex_revert(BGC_FP64_Complex* number)
 {
     number->real = -number->real;
     number->imaginary = -number->imaginary;
 }
 
-inline void bgc_complex_get_opposite_fp32(const BgcComplexFP32* number, BgcComplexFP32* opposite)
+inline void bgc_fp32_complex_get_reverse(BGC_FP32_Complex* reverse, const BGC_FP32_Complex* number)
 {
-    opposite->real = -number->real;
+    reverse->real = -number->real;
-    opposite->imaginary = -number->imaginary;
+    reverse->imaginary = -number->imaginary;
 }
 
-inline void bgc_complex_get_opposite_fp64(const BgcComplexFP64* number, BgcComplexFP64* opposite)
+inline void bgc_fp64_complex_get_reverse(BGC_FP64_Complex* reverse, const BGC_FP64_Complex* number)
 {
-    opposite->real = -number->real;
+    reverse->real = -number->real;
-    opposite->imaginary = -number->imaginary;
+    reverse->imaginary = -number->imaginary;
 }
 
 // ================= Normalize ================== //
 
-inline int bgc_complex_normalize_fp32(BgcComplexFP32* number)
+inline int bgc_fp32_complex_normalize(BGC_FP32_Complex* number)
 {
-    const float square_modulus = bgc_complex_get_square_modulus_fp32(number);
+    const float square_modulus = bgc_fp32_complex_get_square_modulus(number);
 
-    if (bgc_is_sqare_unit_fp32(square_modulus)) {
+    if (bgc_fp32_is_square_unit(square_modulus)) {
         return 1;
     }
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
         return 0;
     }
 
@@ -190,15 +190,15 @@ inline int bgc_complex_normalize_fp32(BgcComplexFP32* number)
     return 1;
 }
 
-inline int bgc_complex_normalize_fp64(BgcComplexFP64* number)
+inline int bgc_fp64_complex_normalize(BGC_FP64_Complex* number)
 {
-    const double square_modulus = bgc_complex_get_square_modulus_fp64(number);
+    const double square_modulus = bgc_fp64_complex_get_square_modulus(number);
 
-    if (bgc_is_sqare_unit_fp64(square_modulus)) {
+    if (bgc_fp64_is_square_unit(square_modulus)) {
         return 1;
     }
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
         return 0;
     }
 
@@ -210,17 +210,17 @@ inline int bgc_complex_normalize_fp64(BgcComplexFP64* number)
     return 1;
 }
 
-inline int bgc_complex_get_normalized_fp32(const BgcComplexFP32* number, BgcComplexFP32* normalized)
+inline int bgc_fp32_complex_get_normalized(BGC_FP32_Complex* normalized, const BGC_FP32_Complex* number)
 {
-    const float square_modulus = bgc_complex_get_square_modulus_fp32(number);
+    const float square_modulus = bgc_fp32_complex_get_square_modulus(number);
 
-    if (bgc_is_sqare_unit_fp32(square_modulus)) {
+    if (bgc_fp32_is_square_unit(square_modulus)) {
         normalized->real = number->real;
         normalized->imaginary = number->imaginary;
         return 1;
     }
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
         normalized->real = 0.0f;
         normalized->imaginary = 0.0f;
         return 0;
@@ -234,17 +234,17 @@ inline int bgc_complex_get_normalized_fp32(const BgcComplexFP32* number, BgcComp
     return 1;
 }
 
-inline int bgc_complex_get_normalized_fp64(const BgcComplexFP64* number, BgcComplexFP64* normalized)
+inline int bgc_fp64_complex_get_normalized(BGC_FP64_Complex* normalized, const BGC_FP64_Complex* number)
 {
-    const double square_modulus = bgc_complex_get_square_modulus_fp64(number);
+    const double square_modulus = bgc_fp64_complex_get_square_modulus(number);
 
-    if (bgc_is_sqare_unit_fp64(square_modulus)) {
+    if (bgc_fp64_is_square_unit(square_modulus)) {
         normalized->real = number->real;
         normalized->imaginary = number->imaginary;
         return 1;
     }
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
         normalized->real = 0.0;
         normalized->imaginary = 0.0;
         return 0;
@@ -260,23 +260,23 @@ inline int bgc_complex_get_normalized_fp64(const BgcComplexFP64* number, BgcComp
 
 // ================= Conjugate ================== //
 
-inline void bgc_complex_conjugate_fp32(BgcComplexFP32* number)
+inline void bgc_fp32_complex_conjugate(BGC_FP32_Complex* number)
 {
     number->imaginary = -number->imaginary;
 }
 
-inline void bgc_complex_conjugate_fp64(BgcComplexFP64* number)
+inline void bgc_fp64_complex_conjugate(BGC_FP64_Complex* number)
 {
     number->imaginary = -number->imaginary;
 }
 
-inline void bgc_complex_get_conjugate_fp32(const BgcComplexFP32* number, BgcComplexFP32* conjugate)
+inline void bgc_fp32_complex_get_conjugate(BGC_FP32_Complex* conjugate, const BGC_FP32_Complex* number)
 {
     conjugate->real = number->real;
     conjugate->imaginary = -number->imaginary;
 }
 
-inline void bgc_complex_get_conjugate_fp64(const BgcComplexFP64* number, BgcComplexFP64* conjugate)
+inline void bgc_fp64_complex_get_conjugate(BGC_FP64_Complex* conjugate, const BGC_FP64_Complex* number)
 {
     conjugate->real = number->real;
     conjugate->imaginary = -number->imaginary;
@@ -284,11 +284,11 @@ inline void bgc_complex_get_conjugate_fp64(const BgcComplexFP64* number, BgcComp
 
 // =================== Invert =================== //
 
-inline int bgc_complex_get_inverse_fp32(const BgcComplexFP32* number, BgcComplexFP32* inverse)
+inline int bgc_fp32_complex_get_inverse(BGC_FP32_Complex* inverse, const BGC_FP32_Complex* number)
 {
-    const float square_modulus = bgc_complex_get_square_modulus_fp32(number);
+    const float square_modulus = bgc_fp32_complex_get_square_modulus(number);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
         return 0;
     }
 
@@ -300,11 +300,11 @@ inline int bgc_complex_get_inverse_fp32(const BgcComplexFP32* number, BgcComplex
     return 1;
 }
 
-inline int bgc_complex_get_inverse_fp64(const BgcComplexFP64* number, BgcComplexFP64* inverse)
+inline int bgc_fp64_complex_get_inverse(BGC_FP64_Complex* inverse, const BGC_FP64_Complex* number)
 {
-    const double square_modulus = bgc_complex_get_square_modulus_fp64(number);
+    const double square_modulus = bgc_fp64_complex_get_square_modulus(number);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
         return 0;
     }
 
@@ -316,31 +316,31 @@ inline int bgc_complex_get_inverse_fp64(const BgcComplexFP64* number, BgcComplex
     return 1;
 }
 
-inline int bgc_complex_invert_fp32(BgcComplexFP32* number)
+inline int bgc_fp32_complex_invert(BGC_FP32_Complex* number)
 {
-    return bgc_complex_get_inverse_fp32(number, number);
+    return bgc_fp32_complex_get_inverse(number, number);
 }
 
-inline int bgc_complex_invert_fp64(BgcComplexFP64* number)
+inline int bgc_fp64_complex_invert(BGC_FP64_Complex* number)
 {
-    return bgc_complex_get_inverse_fp64(number, number);
+    return bgc_fp64_complex_get_inverse(number, number);
 }
 
 // =============== Get Exponation =============== //
 
-void bgc_complex_get_exponation_fp32(const BgcComplexFP32* base, const float real_exponent, const float imaginary_exponent, BgcComplexFP32* power);
+void bgc_fp32_complex_get_exponation(BGC_FP32_Complex* power, const BGC_FP32_Complex* base, const float real_exponent, const float imaginary_exponent);
 
-void bgc_complex_get_exponation_fp64(const BgcComplexFP64* base, const double real_exponent, const double imaginary_exponent, BgcComplexFP64* power);
+void bgc_fp64_complex_get_exponation(BGC_FP64_Complex* power, const BGC_FP64_Complex* base, const double real_exponent, const double imaginary_exponent);
 
 // ==================== Add ===================== //
 
-inline void bgc_complex_add_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* sum)
+inline void bgc_fp32_complex_add(BGC_FP32_Complex* sum, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2)
 {
     sum->real = number1->real + number2->real;
     sum->imaginary = number1->imaginary + number2->imaginary;
 }
 
-inline void bgc_complex_add_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* sum)
+inline void bgc_fp64_complex_add(BGC_FP64_Complex* sum, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2)
 {
     sum->real = number1->real + number2->real;
     sum->imaginary = number1->imaginary + number2->imaginary;
@@ -348,13 +348,13 @@ inline void bgc_complex_add_fp64(const BgcComplexFP64* number1, const BgcComplex
 
 // ================= Add scaled ================= //
 
-inline void bgc_complex_add_scaled_fp32(const BgcComplexFP32* basic_number, const BgcComplexFP32* scalable_number, const float scale, BgcComplexFP32* sum)
+inline void bgc_fp32_complex_add_scaled(BGC_FP32_Complex* sum, const BGC_FP32_Complex* basic_number, const BGC_FP32_Complex* scalable_number, const float scale)
 {
     sum->real = basic_number->real + scalable_number->real * scale;
     sum->imaginary = basic_number->imaginary + scalable_number->imaginary * scale;
 }
 
-inline void bgc_complex_add_scaled_fp64(const BgcComplexFP64* basic_number, const BgcComplexFP64* scalable_number, const double scale, BgcComplexFP64* sum)
+inline void bgc_fp64_complex_add_scaled(BGC_FP64_Complex* sum, const BGC_FP64_Complex* basic_number, const BGC_FP64_Complex* scalable_number, const double scale)
 {
     sum->real = basic_number->real + scalable_number->real * scale;
     sum->imaginary = basic_number->imaginary + scalable_number->imaginary * scale;
@@ -362,13 +362,13 @@ inline void bgc_complex_add_scaled_fp64(const BgcComplexFP64* basic_number, cons
 
 // ================== Subtract ================== //
 
-inline void bgc_complex_subtract_fp32(const BgcComplexFP32* minuend, const BgcComplexFP32* subtrahend, BgcComplexFP32* difference)
+inline void bgc_fp32_complex_subtract(BGC_FP32_Complex* difference, const BGC_FP32_Complex* minuend, const BGC_FP32_Complex* subtrahend)
 {
     difference->real = minuend->real - subtrahend->real;
     difference->imaginary = minuend->imaginary - subtrahend->imaginary;
 }
 
-inline void bgc_complex_subtract_fp64(const BgcComplexFP64* minuend, const BgcComplexFP64* subtrahend, BgcComplexFP64* difference)
+inline void bgc_fp64_complex_subtract(BGC_FP64_Complex* difference, const BGC_FP64_Complex* minuend, const BGC_FP64_Complex* subtrahend)
 {
     difference->real = minuend->real - subtrahend->real;
     difference->imaginary = minuend->imaginary - subtrahend->imaginary;
@@ -376,7 +376,7 @@ inline void bgc_complex_subtract_fp64(const BgcComplexFP64* minuend, const BgcCo
 
 // ================== Multiply ================== //
 
-inline void bgc_complex_multiply_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* product)
+inline void bgc_fp32_complex_get_product(BGC_FP32_Complex* product, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2)
 {
     const float real = number1->real * number2->real - number1->imaginary * number2->imaginary;
     const float imaginary = number1->real * number2->imaginary + number1->imaginary * number2->real;
@@ -385,7 +385,7 @@ inline void bgc_complex_multiply_fp32(const BgcComplexFP32* number1, const BgcCo
     product->imaginary = imaginary;
 }
 
-inline void bgc_complex_multiply_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* product)
+inline void bgc_fp64_complex_get_product(BGC_FP64_Complex* product, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2)
 {
     const double real = number1->real * number2->real - number1->imaginary * number2->imaginary;
     const double imaginary = number1->real * number2->imaginary + number1->imaginary * number2->real;
@@ -396,13 +396,13 @@ inline void bgc_complex_multiply_fp64(const BgcComplexFP64* number1, const BgcCo
 
 // ============= Multiply By Number ============= //
 
-inline void bgc_complex_multiply_by_number_fp32(const BgcComplexFP32* multiplicand, const float multiplier, BgcComplexFP32* product)
+inline void bgc_fp32_complex_multiply(BGC_FP32_Complex* product, const BGC_FP32_Complex* multiplicand, const float multiplier)
 {
     product->real = multiplicand->real * multiplier;
     product->imaginary = multiplicand->imaginary * multiplier;
 }
 
-inline void bgc_complex_multiply_by_number_fp64(const BgcComplexFP64* multiplicand, const double multiplier, BgcComplexFP64* product)
+inline void bgc_fp64_complex_multiply(BGC_FP64_Complex* product, const BGC_FP64_Complex* multiplicand, const double multiplier)
 {
     product->real = multiplicand->real * multiplier;
     product->imaginary = multiplicand->imaginary * multiplier;
@@ -410,11 +410,11 @@ inline void bgc_complex_multiply_by_number_fp64(const BgcComplexFP64* multiplica
 
 // =================== Divide =================== //
 
-inline int bgc_complex_devide_fp32(const BgcComplexFP32* divident, const BgcComplexFP32* divisor, BgcComplexFP32* quotient)
+inline int bgc_fp32_complex_get_ratio(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* divident, const BGC_FP32_Complex* divisor)
 {
-    const float square_modulus = bgc_complex_get_square_modulus_fp32(divisor);
+    const float square_modulus = bgc_fp32_complex_get_square_modulus(divisor);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) {
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON) {
         return 0;
     }
 
@@ -429,11 +429,11 @@ inline int bgc_complex_devide_fp32(const BgcComplexFP32* divident, const BgcComp
     return 1;
 }
 
-inline int bgc_complex_devide_fp64(const BgcComplexFP64* divident, const BgcComplexFP64* divisor, BgcComplexFP64* quotient)
+inline int bgc_fp64_complex_get_ratio(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* divident, const BGC_FP64_Complex* divisor)
 {
-    const double square_modulus = bgc_complex_get_square_modulus_fp64(divisor);
+    const double square_modulus = bgc_fp64_complex_get_square_modulus(divisor);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64) {
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON) {
         return 0;
     }
 
@@ -450,25 +450,25 @@ inline int bgc_complex_devide_fp64(const BgcComplexFP64* divident, const BgcComp
 
 // ============== Divide By Number ============== //
 
-inline void bgc_complex_divide_by_number_fp32(const BgcComplexFP32* dividend, const float divisor, BgcComplexFP32* quotient)
+inline void bgc_fp32_complex_divide(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* dividend, const float divisor)
 {
-    bgc_complex_multiply_by_number_fp32(dividend, 1.0f / divisor, quotient);
+    bgc_fp32_complex_multiply(quotient, dividend, 1.0f / divisor);
 }
 
-inline void bgc_complex_divide_by_number_fp64(const BgcComplexFP64* dividend, const double divisor, BgcComplexFP64* quotient)
+inline void bgc_fp64_complex_divide(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* dividend, const double divisor)
 {
-    bgc_complex_multiply_by_number_fp64(dividend, 1.0 / divisor, quotient);
+    bgc_fp64_complex_multiply(quotient, dividend, 1.0 / divisor);
 }
 
 // ================== Average2 ================== //
 
-inline void bgc_complex_get_mean_of_two_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* mean)
+inline void bgc_fp32_complex_get_mean2(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2)
 {
     mean->real = (number1->real + number2->real) * 0.5f;
     mean->imaginary = (number1->imaginary + number2->imaginary) * 0.5f;
 }
 
-inline void bgc_complex_get_mean_of_two_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* mean)
+inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2)
 {
     mean->real = (number1->real + number2->real) * 0.5;
     mean->imaginary = (number1->imaginary + number2->imaginary) * 0.5;
@@ -476,70 +476,70 @@ inline void bgc_complex_get_mean_of_two_fp64(const BgcComplexFP64* number1, cons
 
 // ================== Average3 ================== //
 
-inline void bgc_complex_get_mean_of_three_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, const BgcComplexFP32* number3, BgcComplexFP32* mean)
+inline void bgc_fp32_complex_get_mean3(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const BGC_FP32_Complex* number3)
 {
-    mean->real = (number1->real + number2->real + number3->real) * BGC_ONE_THIRD_FP32;
+    mean->real = (number1->real + number2->real + number3->real) * BGC_FP32_ONE_THIRD;
-    mean->imaginary = (number1->imaginary + number2->imaginary + number3->imaginary) * BGC_ONE_THIRD_FP32;
+    mean->imaginary = (number1->imaginary + number2->imaginary + number3->imaginary) * BGC_FP32_ONE_THIRD;
 }
 
-inline void bgc_complex_get_mean_of_three_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, const BgcComplexFP64* number3, BgcComplexFP64* mean)
+inline void bgc_fp64_complex_get_mean3(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const BGC_FP64_Complex* number3)
 {
-    mean->real = (number1->real + number2->real + number3->real) * BGC_ONE_THIRD_FP64;
+    mean->real = (number1->real + number2->real + number3->real) * BGC_FP64_ONE_THIRD;
-    mean->imaginary = (number1->imaginary + number2->imaginary + number3->imaginary) * BGC_ONE_THIRD_FP64;
+    mean->imaginary = (number1->imaginary + number2->imaginary + number3->imaginary) * BGC_FP64_ONE_THIRD;
 }
 
 // =================== Linear =================== //
 
-inline void bgc_complex_interpolate_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, const float phase, BgcComplexFP32* interpolation)
+inline void bgc_fp32_complex_interpolate(BGC_FP32_Complex* interpolation, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const float phase)
 {
-    const float counterphase = 1.0f - phase;
+    const float counter_phase = 1.0f - phase;
 
-    interpolation->real = number1->real * counterphase + number2->real * phase;
+    interpolation->real = number1->real * counter_phase + number2->real * phase;
-    interpolation->imaginary = number1->imaginary * counterphase + number2->imaginary * phase;
+    interpolation->imaginary = number1->imaginary * counter_phase + number2->imaginary * phase;
 }
 
-inline void bgc_complex_interpolate_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, const double phase, BgcComplexFP64* interpolation)
+inline void bgc_fp64_complex_interpolate(BGC_FP64_Complex* interpolation, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const double phase)
 {
-    const double counterphase = 1.0 - phase;
+    const double counter_phase = 1.0 - phase;
 
-    interpolation->real = number1->real * counterphase + number2->real * phase;
+    interpolation->real = number1->real * counter_phase + number2->real * phase;
-    interpolation->imaginary = number1->imaginary * counterphase + number2->imaginary * phase;
+    interpolation->imaginary = number1->imaginary * counter_phase + number2->imaginary * phase;
 }
 
 // ================== Are Close ================= //
 
-inline int bgc_complex_are_close_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2)
+inline int bgc_fp32_complex_are_close(const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2)
 {
-    const float square_modulus1 = bgc_complex_get_square_modulus_fp32(number1);
+    const float square_modulus1 = bgc_fp32_complex_get_square_modulus(number1);
-    const float square_modulus2 = bgc_complex_get_square_modulus_fp32(number2);
+    const float square_modulus2 = bgc_fp32_complex_get_square_modulus(number2);
 
     const float d_real = number1->real - number2->real;
     const float d_imaginary = number1->imaginary - number2->imaginary;
 
     const float square_distance = d_real * d_real + d_imaginary * d_imaginary;
 
-    if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) {
+    if (square_modulus1 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT) {
-        return square_distance <= BGC_SQUARE_EPSYLON_FP32;
+        return square_distance <= BGC_FP32_SQUARE_EPSILON;
     }
 
-    return square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus2;
+    return square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus2;
 }
 
-inline int bgc_complex_are_close_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2)
+inline int bgc_fp64_complex_are_close(const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2)
 {
-    const double square_modulus1 = bgc_complex_get_square_modulus_fp64(number1);
+    const double square_modulus1 = bgc_fp64_complex_get_square_modulus(number1);
-    const double square_modulus2 = bgc_complex_get_square_modulus_fp64(number2);
+    const double square_modulus2 = bgc_fp64_complex_get_square_modulus(number2);
 
     const double d_real = number1->real - number2->real;
     const double d_imaginary = number1->imaginary - number2->imaginary;
 
     const double square_distance = d_real * d_real + d_imaginary * d_imaginary;
 
-    if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) {
+    if (square_modulus1 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT) {
-        return square_distance <= BGC_SQUARE_EPSYLON_FP64;
+        return square_distance <= BGC_FP64_SQUARE_EPSILON;
     }
 
-    return square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus2;
+    return square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus2;
 }
 
 #endif

basic-geometry/cotes-number.c

@@ -1,94 +0,0 @@
-#include "./cotes-number.h"
-
-const BgcCotesNumberFP32 BGC_IDLE_COTES_NUMBER_FP32 = { 1.0f, 0.0f };
-
-const BgcCotesNumberFP64 BGC_IDLE_COTES_NUMBER_FP64 = { 1.0, 0.0 };
-
-extern inline void bgc_cotes_number_reset_fp32(BgcCotesNumberFP32* number);
-extern inline void bgc_cotes_number_reset_fp64(BgcCotesNumberFP64* number);
-
-extern inline void bgc_cotes_number_set_values_fp32(const float x1, const float x2, BgcCotesNumberFP32* number);
-extern inline void bgc_cotes_number_set_values_fp64(const double x1, const double x2, BgcCotesNumberFP64* number);
-
-extern inline void bgc_cotes_number_set_turn_fp32(const float angle, const BgcAngleUnitEnum unit, BgcCotesNumberFP32* number);
-extern inline void bgc_cotes_number_set_turn_fp64(const double angle, const BgcAngleUnitEnum unit, BgcCotesNumberFP64* number);
-
-extern inline float bgc_cotes_number_get_angle_fp32(const BgcCotesNumberFP32* number, const BgcAngleUnitEnum unit);
-extern inline double bgc_cotes_number_get_angle_fp64(const BgcCotesNumberFP64* number, const BgcAngleUnitEnum unit);
-
-extern inline void bgc_cotes_number_copy_fp32(const BgcCotesNumberFP32* source, BgcCotesNumberFP32* destination);
-extern inline void bgc_cotes_number_copy_fp64(const BgcCotesNumberFP64* source, BgcCotesNumberFP64* destination);
-
-extern inline void bgc_cotes_number_swap_fp32(BgcCotesNumberFP32* number1, BgcCotesNumberFP32* number2);
-extern inline void bgc_cotes_number_swap_fp64(BgcCotesNumberFP64* number1, BgcCotesNumberFP64* number2);
-
-extern inline void bgc_cotes_number_convert_fp64_to_fp32(const BgcCotesNumberFP64* source, BgcCotesNumberFP32* destination);
-extern inline void bgc_cotes_number_convert_fp32_to_fp64(const BgcCotesNumberFP32* source, BgcCotesNumberFP64* destination);
-
-extern inline void bgc_cotes_number_make_opposite_fp32(BgcCotesNumberFP32* number);
-extern inline void bgc_cotes_number_make_opposite_fp64(BgcCotesNumberFP64* number);
-
-extern inline void bgc_cotes_number_get_opposite_fp32(const BgcCotesNumberFP32* number, BgcCotesNumberFP32* opposite);
-extern inline void bgc_cotes_number_get_opposite_fp64(const BgcCotesNumberFP64* number, BgcCotesNumberFP64* opposite);
-
-extern inline void bgc_cotes_number_invert_fp32(BgcCotesNumberFP32* number);
-extern inline void bgc_cotes_number_invert_fp64(BgcCotesNumberFP64* number);
-
-extern inline void bgc_cotes_number_get_inverse_fp32(const BgcCotesNumberFP32* number, BgcCotesNumberFP32* inverse);
-extern inline void bgc_cotes_number_get_inverse_fp64(const BgcCotesNumberFP64* number, BgcCotesNumberFP64* inverse);
-
-extern inline void bgc_cotes_number_get_exponation_fp32(const BgcCotesNumberFP32* base, const float exponent, BgcCotesNumberFP32* power);
-extern inline void bgc_cotes_number_get_exponation_fp64(const BgcCotesNumberFP64* base, const double exponent, BgcCotesNumberFP64* power);
-
-extern inline void bgc_cotes_number_combine_fp32(const BgcCotesNumberFP32* number1, const BgcCotesNumberFP32* number2, BgcCotesNumberFP32* result);
-extern inline void bgc_cotes_number_combine_fp64(const BgcCotesNumberFP64* number1, const BgcCotesNumberFP64* number2, BgcCotesNumberFP64* result);
-
-extern inline void bgc_cotes_number_exclude_fp32(const BgcCotesNumberFP32* base, const BgcCotesNumberFP32* excludant, BgcCotesNumberFP32* difference);
-extern inline void bgc_cotes_number_exclude_fp64(const BgcCotesNumberFP64* base, const BgcCotesNumberFP64* excludant, BgcCotesNumberFP64* difference);
-
-extern inline void bgc_cotes_number_get_rotation_matrix_fp32(const BgcCotesNumberFP32* number, BgcMatrix2x2FP32* matrix);
-extern inline void bgc_cotes_number_get_rotation_matrix_fp64(const BgcCotesNumberFP64* number, BgcMatrix2x2FP64* matrix);
-
-extern inline void bgc_cotes_number_get_reverse_matrix_fp32(const BgcCotesNumberFP32* number, BgcMatrix2x2FP32* matrix);
-extern inline void bgc_cotes_number_get_reverse_matrix_fp64(const BgcCotesNumberFP64* number, BgcMatrix2x2FP64* matrix);
-
-extern inline void bgc_cotes_number_turn_vector_fp32(const BgcCotesNumberFP32* number, const BgcVector2FP32* vector, BgcVector2FP32* result);
-extern inline void bgc_cotes_number_turn_vector_fp64(const BgcCotesNumberFP64* number, const BgcVector2FP64* vector, BgcVector2FP64* result);
-
-extern inline void bgc_cotes_number_turn_vector_back_fp32(const BgcCotesNumberFP32* number, const BgcVector2FP32* vector, BgcVector2FP32* result);
-extern inline void bgc_cotes_number_turn_vector_back_fp64(const BgcCotesNumberFP64* number, const BgcVector2FP64* vector, BgcVector2FP64* result);
-
-extern inline int bgc_cotes_number_are_close_fp32(const BgcCotesNumberFP32* number1, const BgcCotesNumberFP32* number2);
-extern inline int bgc_cotes_number_are_close_fp64(const BgcCotesNumberFP64* number1, const BgcCotesNumberFP64* number2);
-
-void _bgc_cotes_number_normalize_fp32(const float square_modulus, BgcCotesNumberFP32* number)
-{
-    // (square_modulus != square_modulus) is true when square_modulus is NaN
-
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
-        number->_cos = 1.0f;
-        number->_sin = 0.0f;
-        return;
-    }
-
-    const float multiplier = sqrtf(1.0f / square_modulus);
-
-    number->_cos *= multiplier;
-    number->_sin *= multiplier;
-}
-
-void _bgc_cotes_number_normalize_fp64(const double square_modulus, BgcCotesNumberFP64* number)
-{
-    // (square_modulus != square_modulus) is true when square_modulus is NaN
-
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
-        number->_cos = 1.0;
-        number->_sin = 0.0;
-        return;
-    }
-
-    const double multiplier = sqrt(1.0 / square_modulus);
-
-    number->_cos *= multiplier;
-    number->_sin *= multiplier;
-}

basic-geometry/cotes-number.h

@@ -1,356 +0,0 @@
-#ifndef _BGC_COTES_NUMBER_H_
-#define _BGC_COTES_NUMBER_H_
-
-#include <math.h>
-
-#include "utilities.h"
-#include "angle.h"
-#include "vector2.h"
-#include "matrix2x2.h"
-
-// =================== Types ==================== //
-
-typedef struct
-{
-    float _cos, _sin;
-} BgcCotesNumberFP32;
-
-typedef struct
-{
-    double _cos, _sin;
-} BgcCotesNumberFP64;
-
-// ================= Constants ================== //
-
-extern const BgcCotesNumberFP32 BGC_IDLE_COTES_NUMBER_FP32;
-extern const BgcCotesNumberFP64 BGC_IDLE_COTES_NUMBER_FP64;
-
-// =================== Reset ==================== //
-
-inline void bgc_cotes_number_reset_fp32(BgcCotesNumberFP32* number)
-{
-    number->_cos = 1.0f;
-    number->_sin = 0.0f;
-}
-
-inline void bgc_cotes_number_reset_fp64(BgcCotesNumberFP64* number)
-{
-    number->_cos = 1.0;
-    number->_sin = 0.0;
-}
-
-// ==================== Set ===================== //
-
-void _bgc_cotes_number_normalize_fp32(const float square_modulus, BgcCotesNumberFP32* twin);
-
-void _bgc_cotes_number_normalize_fp64(const double square_modulus, BgcCotesNumberFP64* twin);
-
-inline void bgc_cotes_number_set_values_fp32(const float x1, const float x2, BgcCotesNumberFP32* number)
-{
-    const float square_modulus = x1 * x1 + x2 * x2;
-
-    number->_cos = x1;
-    number->_sin = x2;
-
-    if (!bgc_is_sqare_unit_fp32(square_modulus)) {
-        _bgc_cotes_number_normalize_fp32(square_modulus, number);
-    }
-}
-
-inline void bgc_cotes_number_set_values_fp64(const double x1, const double x2, BgcCotesNumberFP64* number)
-{
-    const double square_modulus = x1 * x1 + x2 * x2;
-
-    number->_cos = x1;
-    number->_sin = x2;
-
-    if (!bgc_is_sqare_unit_fp64(square_modulus)) {
-        _bgc_cotes_number_normalize_fp64(square_modulus, number);
-    }
-}
-
-// ================== Set Turn ================== //
-
-inline void bgc_cotes_number_set_turn_fp32(const float angle, const BgcAngleUnitEnum unit, BgcCotesNumberFP32* number)
-{
-    const float radians = bgc_angle_to_radians_fp32(angle, unit);
-
-    number->_cos = cosf(radians);
-    number->_sin = sinf(radians);
-}
-
-inline void bgc_cotes_number_set_turn_fp64(const double angle, const BgcAngleUnitEnum unit, BgcCotesNumberFP64* number)
-{
-    const double radians = bgc_angle_to_radians_fp64(angle, unit);
-
-    number->_cos = cos(radians);
-    number->_sin = sin(radians);
-}
-
-// =================== Angle =================== //
-
-inline float bgc_cotes_number_get_angle_fp32(const BgcCotesNumberFP32* number, const BgcAngleUnitEnum unit)
-{
-    return bgc_radians_to_units_fp32(atan2f(number->_sin, number->_cos), unit);
-}
-
-inline double bgc_cotes_number_get_angle_fp64(const BgcCotesNumberFP64* number, const BgcAngleUnitEnum unit)
-{
-    return bgc_radians_to_units_fp64(atan2(number->_sin, number->_cos), unit);
-}
-
-// ==================== Copy ==================== //
-
-inline void bgc_cotes_number_copy_fp32(const BgcCotesNumberFP32* source, BgcCotesNumberFP32* destination)
-{
-    destination->_cos = source->_cos;
-    destination->_sin = source->_sin;
-}
-
-inline void bgc_cotes_number_copy_fp64(const BgcCotesNumberFP64* source, BgcCotesNumberFP64* destination)
-{
-    destination->_cos = source->_cos;
-    destination->_sin = source->_sin;
-}
-
-// ==================== Swap ==================== //
-
-inline void bgc_cotes_number_swap_fp32(BgcCotesNumberFP32* number1, BgcCotesNumberFP32* number2)
-{
-    const float cos = number1->_cos;
-    const float sin = number1->_sin;
-
-    number1->_cos = number2->_cos;
-    number1->_sin = number2->_sin;
-
-    number2->_cos = cos;
-    number2->_sin = sin;
-}
-
-inline void bgc_cotes_number_swap_fp64(BgcCotesNumberFP64* number1, BgcCotesNumberFP64* number2)
-{
-    const double cos = number1->_cos;
-    const double sin = number1->_sin;
-
-    number1->_cos = number2->_cos;
-    number1->_sin = number2->_sin;
-
-    number2->_cos = cos;
-    number2->_sin = sin;
-}
-
-// ================== Convert =================== //
-
-inline void bgc_cotes_number_convert_fp64_to_fp32(const BgcCotesNumberFP64* source, BgcCotesNumberFP32* destination)
-{
-    bgc_cotes_number_set_values_fp32((float)source->_cos, (float)source->_sin, destination);
-}
-
-inline void bgc_cotes_number_convert_fp32_to_fp64(const BgcCotesNumberFP32* source, BgcCotesNumberFP64* destination)
-{
-    bgc_cotes_number_set_values_fp64((double)source->_cos, (double)source->_sin, destination);
-}
-
-// ================== Negative ================== //
-
-inline void bgc_cotes_number_make_opposite_fp32(BgcCotesNumberFP32* number)
-{
-    number->_cos = -number->_cos;
-    number->_sin = -number->_sin;
-}
-
-inline void bgc_cotes_number_make_opposite_fp64(BgcCotesNumberFP64* number)
-{
-    number->_cos = -number->_cos;
-    number->_sin = -number->_sin;
-}
-
-inline void bgc_cotes_number_get_opposite_fp32(const BgcCotesNumberFP32* number, BgcCotesNumberFP32* opposite)
-{
-    opposite->_cos = -number->_cos;
-    opposite->_sin = -number->_sin;
-}
-
-inline void bgc_cotes_number_get_opposite_fp64(const BgcCotesNumberFP64* number, BgcCotesNumberFP64* opposite)
-{
-    opposite->_cos = -number->_cos;
-    opposite->_sin = -number->_sin;
-}
-
-// =================== Invert =================== //
-
-inline void bgc_cotes_number_invert_fp32(BgcCotesNumberFP32* number)
-{
-    number->_sin = -number->_sin;
-}
-
-inline void bgc_cotes_number_invert_fp64(BgcCotesNumberFP64* number)
-{
-    number->_sin = -number->_sin;
-}
-
-inline void bgc_cotes_number_get_inverse_fp32(const BgcCotesNumberFP32* number, BgcCotesNumberFP32* inverse)
-{
-    inverse->_cos = number->_cos;
-    inverse->_sin = -number->_sin;
-}
-
-inline void bgc_cotes_number_get_inverse_fp64(const BgcCotesNumberFP64* number, BgcCotesNumberFP64* inverse)
-{
-    inverse->_cos = number->_cos;
-    inverse->_sin = -number->_sin;
-}
-
-// ================= Exponation ================= //
-
-inline void bgc_cotes_number_get_exponation_fp32(const BgcCotesNumberFP32* base, const float exponent, BgcCotesNumberFP32* power)
-{
-    const float power_angle = exponent * atan2f(base->_sin, base->_cos);
-
-    power->_cos = cosf(power_angle);
-    power->_sin = sinf(power_angle);
-}
-
-inline void bgc_cotes_number_get_exponation_fp64(const BgcCotesNumberFP64* base, const double exponent, BgcCotesNumberFP64* power)
-{
-    const double power_angle = exponent * atan2(base->_sin, base->_cos);
-
-    power->_cos = cos(power_angle);
-    power->_sin = sin(power_angle);
-}
-
-// ================ Combination ================= //
-
-inline void bgc_cotes_number_combine_fp32(const BgcCotesNumberFP32* number1, const BgcCotesNumberFP32* number2, BgcCotesNumberFP32* result)
-{
-    bgc_cotes_number_set_values_fp32(
-        number1->_cos * number2->_cos - number1->_sin * number2->_sin,
-        number1->_cos * number2->_sin + number1->_sin * number2->_cos,
-        result
-    );
-}
-
-inline void bgc_cotes_number_combine_fp64(const BgcCotesNumberFP64* number1, const BgcCotesNumberFP64* number2, BgcCotesNumberFP64* result)
-{
-    bgc_cotes_number_set_values_fp64(
-        number1->_cos * number2->_cos - number1->_sin * number2->_sin,
-        number1->_cos * number2->_sin + number1->_sin * number2->_cos,
-        result
-    );
-}
-
-// ================= Exclusion ================== //
-
-inline void bgc_cotes_number_exclude_fp32(const BgcCotesNumberFP32* base, const BgcCotesNumberFP32* excludant, BgcCotesNumberFP32* difference)
-{
-    bgc_cotes_number_set_values_fp32(
-        base->_cos * excludant->_cos + base->_sin * excludant->_sin,
-        base->_sin * excludant->_cos - base->_cos * excludant->_sin,
-        difference
-    );
-}
-
-inline void bgc_cotes_number_exclude_fp64(const BgcCotesNumberFP64* base, const BgcCotesNumberFP64* excludant, BgcCotesNumberFP64* difference)
-{
-    bgc_cotes_number_set_values_fp64(
-        base->_cos * excludant->_cos + base->_sin * excludant->_sin,
-        base->_sin * excludant->_cos - base->_cos * excludant->_sin,
-        difference
-    );
-}
-
-// ============== Rotation Matrix =============== //
-
-inline void bgc_cotes_number_get_rotation_matrix_fp32(const BgcCotesNumberFP32* number, BgcMatrix2x2FP32* matrix)
-{
-    matrix->r1c1 = number->_cos;
-    matrix->r1c2 = -number->_sin;
-    matrix->r2c1 = number->_sin;
-    matrix->r2c2 = number->_cos;
-}
-
-inline void bgc_cotes_number_get_rotation_matrix_fp64(const BgcCotesNumberFP64* number, BgcMatrix2x2FP64* matrix)
-{
-    matrix->r1c1 = number->_cos;
-    matrix->r1c2 = -number->_sin;
-    matrix->r2c1 = number->_sin;
-    matrix->r2c2 = number->_cos;
-}
-
-// ============== Reverse Matrix ================ //
-
-inline void bgc_cotes_number_get_reverse_matrix_fp32(const BgcCotesNumberFP32* number, BgcMatrix2x2FP32* matrix)
-{
-    matrix->r1c1 = number->_cos;
-    matrix->r1c2 = number->_sin;
-    matrix->r2c1 = -number->_sin;
-    matrix->r2c2 = number->_cos;
-}
-
-inline void bgc_cotes_number_get_reverse_matrix_fp64(const BgcCotesNumberFP64* number, BgcMatrix2x2FP64* matrix)
-{
-    matrix->r1c1 = number->_cos;
-    matrix->r1c2 = number->_sin;
-    matrix->r2c1 = -number->_sin;
-    matrix->r2c2 = number->_cos;
-}
-
-// ================ Turn Vector ================= //
-
-inline void bgc_cotes_number_turn_vector_fp32(const BgcCotesNumberFP32* number, const BgcVector2FP32* vector, BgcVector2FP32* result)
-{
-    const float x1 = number->_cos * vector->x1 - number->_sin * vector->x2;
-    const float x2 = number->_sin * vector->x1 + number->_cos * vector->x2;
-
-    result->x1 = x1;
-    result->x2 = x2;
-}
-
-inline void bgc_cotes_number_turn_vector_fp64(const BgcCotesNumberFP64* number, const BgcVector2FP64* vector, BgcVector2FP64* result)
-{
-    const double x1 = number->_cos * vector->x1 - number->_sin * vector->x2;
-    const double x2 = number->_sin * vector->x1 + number->_cos * vector->x2;
-
-    result->x1 = x1;
-    result->x2 = x2;
-}
-
-// ============ Turn Vector Backward ============ //
-
-inline void bgc_cotes_number_turn_vector_back_fp32(const BgcCotesNumberFP32* number, const BgcVector2FP32* vector, BgcVector2FP32* result)
-{
-    const float x1 = number->_sin * vector->x2 + number->_cos * vector->x1;
-    const float x2 = number->_cos * vector->x2 - number->_sin * vector->x1;
-
-    result->x1 = x1;
-    result->x2 = x2;
-}
-
-inline void bgc_cotes_number_turn_vector_back_fp64(const BgcCotesNumberFP64* number, const BgcVector2FP64* vector, BgcVector2FP64* result)
-{
-    const double x1 = number->_sin * vector->x2 + number->_cos * vector->x1;
-    const double x2 = number->_cos * vector->x2 - number->_sin * vector->x1;
-
-    result->x1 = x1;
-    result->x2 = x2;
-}
-
-// ================== Are Close ================= //
-
-inline int bgc_cotes_number_are_close_fp32(const BgcCotesNumberFP32* number1, const BgcCotesNumberFP32* number2)
-{
-    const float d_cos = number1->_cos - number2->_cos;
-    const float d_sin = number1->_sin - number2->_sin;
-
-    return d_cos * d_cos + d_sin * d_sin <= BGC_SQUARE_EPSYLON_FP32;
-}
-
-inline int bgc_cotes_number_are_close_fp64(const BgcCotesNumberFP64* number1, const BgcCotesNumberFP64* number2)
-{
-    const double d_cos = number1->_cos - number2->_cos;
-    const double d_sin = number1->_sin - number2->_sin;
-
-    return d_cos * d_cos + d_sin * d_sin <= BGC_SQUARE_EPSYLON_FP64;
-}
-
-#endif

basic-geometry/dual-number.c

@@ -0,0 +1,43 @@
+#include "dual-number.h"
+
+extern inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number);
+extern inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number);
+
+extern inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual);
+extern inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real, const double dual);
+
+extern inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source);
+extern inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source);
+
+extern inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second);
+extern inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second);
+
+extern inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second);
+extern inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second);
+
+extern inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale);
+extern inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale);
+
+extern inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend);
+extern inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* minuend, const BGC_FP64_DualNumber* subtrahend);
+
+extern inline void bgc_fp32_dual_number_multiply(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier);
+extern inline void bgc_fp64_dual_number_multiply(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const double multiplier);
+
+extern inline void bgc_fp32_dual_number_divide(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor);
+extern inline void bgc_fp64_dual_number_divide(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const double divisor);
+
+extern inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second);
+extern inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second);
+
+extern inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const BGC_FP32_DualNumber* third);
+extern inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const BGC_FP64_DualNumber* third);
+
+extern inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const float phase);
+extern inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* interpolation, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const double phase);
+
+extern inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* number);
+extern inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number);
+
+extern inline void bgc_fp32_number_get_reverse(BGC_FP32_DualNumber* reverse, const BGC_FP32_DualNumber* number);
+extern inline void bgc_fp64_number_get_reverse(BGC_FP64_DualNumber* reverse, const BGC_FP64_DualNumber* number);

basic-geometry/dual-number.h

@@ -0,0 +1,214 @@
+#ifndef _BGC_DUAL_NUMBER_H_INCLUDED_
+#define _BGC_DUAL_NUMBER_H_INCLUDED_
+
+#include "utilities.h"
+
+// =================== Types ==================== //
+
+typedef struct {
+    float real, dual;
+} BGC_FP32_DualNumber;
+
+typedef struct {
+    double real, dual;
+} BGC_FP64_DualNumber;
+
+// =================== Reset ==================== //
+
+inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number)
+{
+    number->real = 0.0f;
+    number->dual = 0.0f;
+}
+
+inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number)
+{
+    number->real = 0.0;
+    number->dual = 0.0;
+}
+
+// ==================== Make ==================== //
+
+inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual)
+{
+    number->real = real;
+    number->dual = dual;
+}
+
+inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real, const double dual)
+{
+    number->real = real;
+    number->dual = dual;
+}
+
+// ==================== Copy ==================== //
+
+inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source)
+{
+    destination->real = source->real;
+    destination->dual = source->dual;
+}
+
+inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source)
+{
+    destination->real = source->real;
+    destination->dual = source->dual;
+}
+
+// ==================== Swap ==================== //
+
+inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second)
+{
+    first->real = second->real;
+    first->dual = second->dual;
+}
+
+inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second)
+{
+    first->real = second->real;
+    first->dual = second->dual;
+}
+
+// ==================== Add ===================== //
+
+inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second)
+{
+    sum->real = first->real + second->real;
+    sum->dual = first->dual + second->dual;
+}
+
+inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second)
+{
+    sum->real = first->real + second->real;
+    sum->dual = first->dual + second->dual;
+}
+
+// ================= Add Scaled ================= //
+
+inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale)
+{
+    sum->real = base_number->real + scalable_number->real * scale;
+    sum->dual = base_number->dual + scalable_number->dual * scale;
+}
+
+inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale)
+{
+    sum->real = base_number->real + scalable_number->real * scale;
+    sum->dual = base_number->dual + scalable_number->dual * scale;
+}
+
+// ================== Subtract ================== //
+
+inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend)
+{
+    difference->real = minuend->real - subtrahend->real;
+    difference->dual = minuend->dual - subtrahend->dual;
+}
+
+inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* minuend, const BGC_FP64_DualNumber* subtrahend)
+{
+    difference->real = minuend->real - subtrahend->real;
+    difference->dual = minuend->dual - subtrahend->dual;
+}
+
+// ================== Multiply ================== //
+
+inline void bgc_fp32_dual_number_multiply(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier)
+{
+    product->real = multiplicand->real * multiplier;
+    product->dual = multiplicand->dual * multiplier;
+}
+
+inline void bgc_fp64_dual_number_multiply(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const double multiplier)
+{
+    product->real = multiplicand->real * multiplier;
+    product->dual = multiplicand->dual * multiplier;
+}
+
+// =================== Divide =================== //
+
+inline void bgc_fp32_dual_number_divide(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor)
+{
+    bgc_fp32_dual_number_multiply(quotient, dividend, 1.0f / divisor);
+}
+
+inline void bgc_fp64_dual_number_divide(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const double divisor)
+{
+    bgc_fp64_dual_number_multiply(quotient, dividend, 1.0 / divisor);
+}
+
+// ================ Mean of Two ================= //
+
+inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second)
+{
+    mean->real = (first->real + second->real) * 0.5f;
+    mean->dual = (first->dual + second->dual) * 0.5f;
+}
+
+inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second)
+{
+    mean->real = (first->real + second->real) * 0.5;
+    mean->dual = (first->dual + second->dual) * 0.5;
+}
+
+// =============== Mean of Three ================ //
+
+inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const BGC_FP32_DualNumber* third)
+{
+    mean->real = (first->real + second->real + third->real) * BGC_FP32_ONE_THIRD;
+    mean->dual = (first->dual + second->dual + third->dual) * BGC_FP32_ONE_THIRD;
+}
+
+inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const BGC_FP64_DualNumber* third)
+{
+    mean->real = (first->real + second->real + third->real) * BGC_FP64_ONE_THIRD;
+    mean->dual = (first->dual + second->dual + third->dual) * BGC_FP64_ONE_THIRD;
+}
+
+// ============ Linear Interpolation ============ //
+
+inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const float phase)
+{
+    const float counter_phase = 1.0f - phase;
+
+    interpolation->real = first->real *counter_phase + second->real * phase;
+    interpolation->dual = first->dual *counter_phase + second->dual * phase;
+}
+
+inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* interpolation, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const double phase)
+{
+    const double counter_phase = 1.0 - phase;
+
+    interpolation->real = first->real * counter_phase + second->real * phase;
+    interpolation->dual = first->dual * counter_phase + second->dual * phase;
+}
+
+// =================== Revert =================== //
+
+inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* number)
+{
+    number->real = -number->real;
+    number->dual = -number->dual;
+}
+
+inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number)
+{
+    number->real = -number->real;
+    number->dual = -number->dual;
+}
+
+// ================ Get Reverse ================= //
+
+inline void bgc_fp32_number_get_reverse(BGC_FP32_DualNumber* reverse, const BGC_FP32_DualNumber* number)
+{
+    reverse->real = -number->real;
+    reverse->dual = -number->dual;
+}
+
+inline void bgc_fp64_number_get_reverse(BGC_FP64_DualNumber* reverse, const BGC_FP64_DualNumber* number)
+{
+    reverse->real = -number->real;
+    reverse->dual = -number->dual;
+}
+
+#endif

basic-geometry/dual-quaternion.c

@@ -0,0 +1,43 @@
+#include "dual-quaternion.h"
+
+extern inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion);
+extern inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion);
+
+extern inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source);
+extern inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source);
+
+extern inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second);
+extern inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second);
+
+extern inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source);
+extern inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source);
+
+extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second);
+extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second);
+
+extern inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale);
+extern inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale);
+
+extern inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend);
+extern inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend);
+
+extern inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier);
+extern inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier);
+
+extern inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor);
+extern inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor);
+
+extern inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2);
+extern inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2);
+
+extern inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3);
+extern inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3);
+
+extern inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase);
+extern inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase);
+
+extern inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion);
+extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion);
+
+extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion);
+extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion);

basic-geometry/dual-quaternion.h

@@ -0,0 +1,210 @@
+#ifndef _BGC_DUAL_QUATERNION_H_INCLUDED_
+#define _BGC_DUAL_QUATERNION_H_INCLUDED_
+
+#include "quaternion.h"
+
+// =================== Types ==================== //
+
+typedef struct {
+    BGC_FP32_Quaternion real, dual;
+} BGC_FP32_DualQuaternion;
+
+typedef struct {
+    BGC_FP64_Quaternion real, dual;
+} BGC_FP64_DualQuaternion;
+
+// =================== Reset ==================== //
+
+inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion)
+{
+    bgc_fp32_quaternion_reset(&quaternion->real);
+    bgc_fp32_quaternion_reset(&quaternion->dual);
+}
+
+inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion)
+{
+    bgc_fp64_quaternion_reset(&quaternion->real);
+    bgc_fp64_quaternion_reset(&quaternion->dual);
+}
+
+// ==================== Copy ==================== //
+
+inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
+{
+    bgc_fp32_quaternion_copy(&destination->real, &source->real);
+    bgc_fp32_quaternion_copy(&destination->dual, &source->dual);
+}
+
+inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
+{
+    bgc_fp64_quaternion_copy(&destination->real, &source->real);
+    bgc_fp64_quaternion_copy(&destination->dual, &source->dual);
+}
+
+// ==================== Swap ==================== //
+
+inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second)
+{
+    bgc_fp32_quaternion_swap(&first->real, &second->real);
+    bgc_fp32_quaternion_swap(&first->dual, &second->dual);
+}
+
+inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second)
+{
+    bgc_fp64_quaternion_swap(&first->real, &second->real);
+    bgc_fp64_quaternion_swap(&first->dual, &second->dual);
+}
+
+// ================== Convert =================== //
+
+inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
+{
+    bgc_fp32_quaternion_convert_to_fp64(&destination->real, &source->real);
+    bgc_fp32_quaternion_convert_to_fp64(&destination->dual, &source->dual);
+}
+
+inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
+{
+    bgc_fp64_quaternion_convert_to_fp32(&destination->real, &source->real);
+    bgc_fp64_quaternion_convert_to_fp32(&destination->dual, &source->dual);
+}
+
+// ==================== Add ===================== //
+
+inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)
+{
+    bgc_fp32_quaternion_add(&sum->real, &first->real, &second->real);
+    bgc_fp32_quaternion_add(&sum->dual, &first->dual, &second->dual);
+}
+
+inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second)
+{
+    bgc_fp64_quaternion_add(&sum->real, &first->real, &second->real);
+    bgc_fp64_quaternion_add(&sum->dual, &first->dual, &second->dual);
+}
+
+// ================= Add Scaled ================= //
+
+inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
+{
+    bgc_fp32_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale);
+    bgc_fp32_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale);
+}
+
+inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
+{
+    bgc_fp64_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale);
+    bgc_fp64_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale);
+}
+
+// ================== Subtract ================== //
+
+inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend)
+{
+    bgc_fp32_quaternion_subtract(&difference->real, &minuend->real, &subtrahend->real);
+    bgc_fp32_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
+}
+
+inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend)
+{
+    bgc_fp64_quaternion_subtract(&difference->real, &minuend->real, &subtrahend->real);
+    bgc_fp64_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
+}
+
+// ================== Multiply ================== //
+
+inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier)
+{
+    bgc_fp32_quaternion_multiply(&product->real, &multiplicand->real, multipier);
+    bgc_fp32_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
+}
+
+inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier)
+{
+    bgc_fp64_quaternion_multiply(&product->real, &multiplicand->real, multipier);
+    bgc_fp64_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
+}
+
+// =================== Divide =================== //
+
+inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor)
+{
+    bgc_fp32_dual_quaternion_multiply(quotient, divident, 1.0f / divisor);
+}
+
+inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor)
+{
+    bgc_fp64_dual_quaternion_multiply(quotient, divident, 1.0 / divisor);
+}
+
+// ================ Mean of Two ================= //
+
+inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2)
+{
+    bgc_fp32_quaternion_get_mean2(&mean->real, &quaternion1->real, &quaternion2->real);
+    bgc_fp32_quaternion_get_mean2(&mean->dual, &quaternion1->dual, &quaternion2->dual);
+}
+
+inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2)
+{
+    bgc_fp64_quaternion_get_mean2(&mean->real, &quaternion1->real, &quaternion2->real);
+    bgc_fp64_quaternion_get_mean2(&mean->dual, &quaternion1->dual, &quaternion2->dual);
+}
+
+// =============== Mean of Three ================ //
+
+inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3)
+{
+    bgc_fp32_quaternion_get_mean3(&mean->real, &quaternion1->real, &quaternion2->real, &quaternion3->real);
+    bgc_fp32_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual);
+}
+
+inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3)
+{
+    bgc_fp64_quaternion_get_mean3(&mean->real, &quaternion1->real, &quaternion2->real, &quaternion3->real);
+    bgc_fp64_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual);
+}
+
+// ============ Linear Interpolation ============ //
+
+inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase)
+{
+    bgc_fp32_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase);
+    bgc_fp32_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
+}
+
+inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase)
+{
+    bgc_fp64_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase);
+    bgc_fp64_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
+}
+
+// =================== Revert =================== //
+
+inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion)
+{
+    bgc_fp32_quaternion_revert(&quaternion->real);
+    bgc_fp32_quaternion_revert(&quaternion->dual);
+}
+
+inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
+{
+    bgc_fp64_quaternion_revert(&quaternion->real);
+    bgc_fp64_quaternion_revert(&quaternion->dual);
+}
+
+// ================ Get Reverse ================= //
+
+inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion)
+{
+    bgc_fp32_quaternion_get_reverse(&reverse->real, &quaternion->real);
+    bgc_fp32_quaternion_get_reverse(&reverse->dual, &quaternion->dual);
+}
+
+inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion)
+{
+    bgc_fp64_quaternion_get_reverse(&reverse->real, &quaternion->real);
+    bgc_fp64_quaternion_get_reverse(&reverse->dual, &quaternion->dual);
+}
+
+#endif

basic-geometry/dual-vector3.c

@@ -0,0 +1,49 @@
+#include "./dual-vector3.h"
+
+extern inline void bgc_fp32_dual_vector3_reset(BGC_FP32_DualVector3* vector);
+extern inline void bgc_fp64_dual_vector3_reset(BGC_FP64_DualVector3* vector);
+
+extern inline void bgc_fp32_dual_vector3_make(BGC_FP32_DualVector3* vector, const BGC_FP32_Vector3* real, const BGC_FP32_Vector3* dual);
+extern inline void bgc_fp64_dual_vector3_make(BGC_FP64_DualVector3* vector, const BGC_FP64_Vector3* real, const BGC_FP64_Vector3* dual);
+
+extern inline void bgc_fp32_dual_vector3_copy(BGC_FP32_DualVector3* destination, const BGC_FP32_DualVector3* source);
+extern inline void bgc_fp64_dual_vector3_copy(BGC_FP64_DualVector3* destination, const BGC_FP64_DualVector3* source);
+
+extern inline void bgc_fp32_dual_vector3_swap(BGC_FP32_DualVector3* first, BGC_FP32_DualVector3* second);
+extern inline void bgc_fp64_dual_vector3_swap(BGC_FP64_DualVector3* first, BGC_FP64_DualVector3* second);
+
+extern inline void bgc_fp32_dual_vector3_set_real_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3);
+extern inline void bgc_fp64_dual_vector3_set_real_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3);
+
+extern inline void bgc_fp32_dual_vector3_set_dual_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3);
+extern inline void bgc_fp64_dual_vector3_set_dual_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3);
+
+extern inline void bgc_fp32_dual_vector3_add(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second);
+extern inline void bgc_fp64_dual_vector3_add(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second);
+
+extern inline void bgc_fp32_dual_vector3_add_scaled(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* base_vector, const BGC_FP32_DualVector3* scalable_vector, const float scale);
+extern inline void bgc_fp64_dual_vector3_add_scaled(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* base_vector, const BGC_FP64_DualVector3* scalable_vector, const double scale);
+
+extern inline void bgc_fp32_dual_vector3_subtract(BGC_FP32_DualVector3* difference, const BGC_FP32_DualVector3* minuend, const BGC_FP32_DualVector3* subtrahend);
+extern inline void bgc_fp64_dual_vector3_subtract(BGC_FP64_DualVector3* difference, const BGC_FP64_DualVector3* minuend, const BGC_FP64_DualVector3* subtrahend);
+
+extern inline void bgc_fp32_dual_vector3_multiply(BGC_FP32_DualVector3* product, const BGC_FP32_DualVector3* multiplicand, const float multiplier);
+extern inline void bgc_fp64_dual_vector3_multiply(BGC_FP64_DualVector3* product, const BGC_FP64_DualVector3* multiplicand, const double multiplier);
+
+extern inline void bgc_fp32_dual_vector3_divide(BGC_FP32_DualVector3* quotient, const BGC_FP32_DualVector3* dividend, const float divisor);
+extern inline void bgc_fp64_dual_vector3_divide(BGC_FP64_DualVector3* quotient, const BGC_FP64_DualVector3* dividend, const double divisor);
+
+extern inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2);
+extern inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2);
+
+extern inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2, const BGC_FP32_DualVector3* vector3);
+extern inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2, const BGC_FP64_DualVector3* vector3);
+
+extern inline void bgc_fp32_dual_vector3_interpolate(BGC_FP32_DualVector3* interpolation, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second, const float phase);
+extern inline void bgc_fp64_dual_vector3_interpolate(BGC_FP64_DualVector3* interpolation, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second, const double phase);
+
+extern inline void bgc_fp32_dual_vector3_revert(BGC_FP32_DualVector3* vector);
+extern inline void bgc_fp64_dual_vector3_revert(BGC_FP64_DualVector3* vector);
+
+extern inline void bgc_fp32_dual_vector3_get_reverse(BGC_FP32_DualVector3* reverse, const BGC_FP32_DualVector3* vector);
+extern inline void bgc_fp64_dual_vector3_get_reverse(BGC_FP64_DualVector3* reverse, const BGC_FP64_DualVector3* vector);

basic-geometry/dual-vector3.h

@@ -0,0 +1,242 @@
+#ifndef _BGC_DUAL_VECTOR3_H_INCLUDED_
+#define _BGC_DUAL_VECTOR3_H_INCLUDED_
+
+#include "./vector3.h"
+
+// =================== Types ==================== //
+
+typedef struct {
+    BGC_FP32_Vector3 real, dual;
+} BGC_FP32_DualVector3;
+
+typedef struct {
+    BGC_FP64_Vector3 real, dual;
+} BGC_FP64_DualVector3;
+
+// =================== Reset ==================== //
+
+inline void bgc_fp32_dual_vector3_reset(BGC_FP32_DualVector3* vector)
+{
+    bgc_fp32_vector3_reset(&vector->real);
+    bgc_fp32_vector3_reset(&vector->dual);
+}
+
+inline void bgc_fp64_dual_vector3_reset(BGC_FP64_DualVector3* vector)
+{
+    bgc_fp64_vector3_reset(&vector->real);
+    bgc_fp64_vector3_reset(&vector->dual);
+}
+
+// ==================== Make ==================== //
+
+inline void bgc_fp32_dual_vector3_make(BGC_FP32_DualVector3* vector, const BGC_FP32_Vector3* real, const BGC_FP32_Vector3* dual)
+{
+    bgc_fp32_vector3_copy(&vector->real, real);
+    bgc_fp32_vector3_copy(&vector->dual, dual);
+}
+
+inline void bgc_fp64_dual_vector3_make(BGC_FP64_DualVector3* vector, const BGC_FP64_Vector3* real, const BGC_FP64_Vector3* dual)
+{
+    bgc_fp64_vector3_copy(&vector->real, real);
+    bgc_fp64_vector3_copy(&vector->dual, dual);
+}
+
+// ==================== Copy ==================== //
+
+inline void bgc_fp32_dual_vector3_copy(BGC_FP32_DualVector3* destination, const BGC_FP32_DualVector3* source)
+{
+    bgc_fp32_vector3_copy(&destination->real, &source->real);
+    bgc_fp32_vector3_copy(&destination->dual, &source->dual);
+}
+
+inline void bgc_fp64_dual_vector3_copy(BGC_FP64_DualVector3* destination, const BGC_FP64_DualVector3* source)
+{
+    bgc_fp64_vector3_copy(&destination->real, &source->real);
+    bgc_fp64_vector3_copy(&destination->dual, &source->dual);
+}
+
+// ==================== Swap ==================== //
+
+inline void bgc_fp32_dual_vector3_swap(BGC_FP32_DualVector3* first, BGC_FP32_DualVector3* second)
+{
+    bgc_fp32_vector3_swap(&first->real, &second->real);
+    bgc_fp32_vector3_swap(&first->dual, &second->dual);
+}
+
+inline void bgc_fp64_dual_vector3_swap(BGC_FP64_DualVector3* first, BGC_FP64_DualVector3* second)
+{
+    bgc_fp64_vector3_swap(&first->real, &second->real);
+    bgc_fp64_vector3_swap(&first->dual, &second->dual);
+}
+
+// ================== Set Real ================== //
+
+inline void bgc_fp32_dual_vector3_set_real_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3)
+{
+    vector->real.x1 = x1;
+    vector->real.x2 = x2;
+    vector->real.x3 = x3;
+}
+
+inline void bgc_fp64_dual_vector3_set_real_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3)
+{
+    vector->real.x1 = x1;
+    vector->real.x2 = x2;
+    vector->real.x3 = x3;
+}
+
+// ================== Set Dual ================== //
+
+inline void bgc_fp32_dual_vector3_set_dual_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3)
+{
+    vector->dual.x1 = x1;
+    vector->dual.x2 = x2;
+    vector->dual.x3 = x3;
+}
+
+inline void bgc_fp64_dual_vector3_set_dual_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3)
+{
+    vector->dual.x1 = x1;
+    vector->dual.x2 = x2;
+    vector->dual.x3 = x3;
+}
+
+// ==================== Add ===================== //
+
+inline void bgc_fp32_dual_vector3_add(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second)
+{
+    bgc_fp32_vector3_add(&sum->real, &first->real, &second->real);
+    bgc_fp32_vector3_add(&sum->dual, &first->dual, &second->dual);
+}
+
+inline void bgc_fp64_dual_vector3_add(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second)
+{
+    bgc_fp64_vector3_add(&sum->real, &first->real, &second->real);
+    bgc_fp64_vector3_add(&sum->dual, &first->dual, &second->dual);
+}
+
+// ================= Add Scaled ================= //
+
+inline void bgc_fp32_dual_vector3_add_scaled(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* base_vector, const BGC_FP32_DualVector3* scalable_vector, const float scale)
+{
+    bgc_fp32_vector3_add_scaled(&sum->real, &base_vector->real, &scalable_vector->real, scale);
+    bgc_fp32_vector3_add_scaled(&sum->dual, &base_vector->dual, &scalable_vector->dual, scale);
+}
+
+inline void bgc_fp64_dual_vector3_add_scaled(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* base_vector, const BGC_FP64_DualVector3* scalable_vector, const double scale)
+{
+    bgc_fp64_vector3_add_scaled(&sum->real, &base_vector->real, &scalable_vector->real, scale);
+    bgc_fp64_vector3_add_scaled(&sum->dual, &base_vector->dual, &scalable_vector->dual, scale);
+}
+
+// ================== Subtract ================== //
+
+inline void bgc_fp32_dual_vector3_subtract(BGC_FP32_DualVector3* difference, const BGC_FP32_DualVector3* minuend, const BGC_FP32_DualVector3* subtrahend)
+{
+    bgc_fp32_vector3_subtract(&difference->real, &minuend->real, &subtrahend->real);
+    bgc_fp32_vector3_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
+}
+
+inline void bgc_fp64_dual_vector3_subtract(BGC_FP64_DualVector3* difference, const BGC_FP64_DualVector3* minuend, const BGC_FP64_DualVector3* subtrahend)
+{
+    bgc_fp64_vector3_subtract(&difference->real, &minuend->real, &subtrahend->real);
+    bgc_fp64_vector3_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
+}
+
+// ================== Multiply ================== //
+
+inline void bgc_fp32_dual_vector3_multiply(BGC_FP32_DualVector3* product, const BGC_FP32_DualVector3* multiplicand, const float multiplier)
+{
+    bgc_fp32_vector3_multiply(&product->real, &multiplicand->real, multiplier);
+    bgc_fp32_vector3_multiply(&product->dual, &multiplicand->dual, multiplier);
+}
+
+inline void bgc_fp64_dual_vector3_multiply(BGC_FP64_DualVector3* product, const BGC_FP64_DualVector3* multiplicand, const double multiplier)
+{
+    bgc_fp64_vector3_multiply(&product->real, &multiplicand->real, multiplier);
+    bgc_fp64_vector3_multiply(&product->dual, &multiplicand->dual, multiplier);
+}
+
+// =================== Divide =================== //
+
+inline void bgc_fp32_dual_vector3_divide(BGC_FP32_DualVector3* quotient, const BGC_FP32_DualVector3* dividend, const float divisor)
+{
+    bgc_fp32_dual_vector3_multiply(quotient, dividend, 1.0f / divisor);
+}
+
+inline void bgc_fp64_dual_vector3_divide(BGC_FP64_DualVector3* quotient, const BGC_FP64_DualVector3* dividend, const double divisor)
+{
+    bgc_fp64_dual_vector3_multiply(quotient, dividend, 1.0 / divisor);
+}
+
+// ================ Mean of Two ================= //
+
+inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2)
+{
+    bgc_fp32_vector3_get_mean2(&mean->real, &vector1->real, &vector2->real);
+    bgc_fp32_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual);
+}
+
+inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2)
+{
+    bgc_fp64_vector3_get_mean2(&mean->real, &vector1->real, &vector2->real);
+    bgc_fp64_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual);
+}
+
+// =============== Mean of Three ================ //
+
+inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2, const BGC_FP32_DualVector3* vector3)
+{
+    bgc_fp32_vector3_get_mean3(&mean->real, &vector1->real, &vector2->real, &vector3->real);
+    bgc_fp32_vector3_get_mean3(&mean->dual, &vector1->dual, &vector2->dual, &vector3->dual);
+}
+
+inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2, const BGC_FP64_DualVector3* vector3)
+{
+    bgc_fp64_vector3_get_mean3(&mean->real, &vector1->real, &vector2->real, &vector3->real);
+    bgc_fp64_vector3_get_mean3(&mean->dual, &vector1->dual, &vector2->dual, &vector3->dual);
+}
+
+// ============ Linear Interpolation ============ //
+
+inline void bgc_fp32_dual_vector3_interpolate(BGC_FP32_DualVector3* interpolation, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second, const float phase)
+{
+    bgc_fp32_vector3_interpolate(&interpolation->real, &first->real, &second->real, phase);
+    bgc_fp32_vector3_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
+}
+
+inline void bgc_fp64_dual_vector3_interpolate(BGC_FP64_DualVector3* interpolation, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second, const double phase)
+{
+    bgc_fp64_vector3_interpolate(&interpolation->real, &first->real, &second->real, phase);
+    bgc_fp64_vector3_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
+}
+
+// =================== Revert =================== //
+
+inline void bgc_fp32_dual_vector3_revert(BGC_FP32_DualVector3* vector)
+{
+    bgc_fp32_vector3_revert(&vector->real);
+    bgc_fp32_vector3_revert(&vector->dual);
+}
+
+inline void bgc_fp64_dual_vector3_revert(BGC_FP64_DualVector3* vector)
+{
+    bgc_fp64_vector3_revert(&vector->real);
+    bgc_fp64_vector3_revert(&vector->dual);
+}
+
+// ================ Get Reverse ================= //
+
+inline void bgc_fp32_dual_vector3_get_reverse(BGC_FP32_DualVector3* reverse, const BGC_FP32_DualVector3* vector)
+{
+    bgc_fp32_vector3_get_reverse(&reverse->real, &vector->real);
+    bgc_fp32_vector3_get_reverse(&reverse->dual, &vector->dual);
+}
+
+inline void bgc_fp64_dual_vector3_get_reverse(BGC_FP64_DualVector3* reverse, const BGC_FP64_DualVector3* vector)
+{
+    bgc_fp64_vector3_get_reverse(&reverse->real, &vector->real);
+    bgc_fp64_vector3_get_reverse(&reverse->dual, &vector->dual);
+}
+
+#endif

basic-geometry/hg-matrix3x3.c

@@ -0,0 +1,7 @@
+#include "hg-matrix3x3.h"
+
+inline void bgc_fp32_hg_matrix3x3_reset(BGC_FP32_HgMatrix3x3* homogeneous_matrix);
+inline void bgc_fp64_hg_matrix3x3_reset(BGC_FP64_HgMatrix3x3* homogeneous_matrix);
+
+inline void bgc_fp32_hg_matrix3x3_make(BGC_FP32_HgMatrix3x3* homogeneous_matrix, const BGC_FP32_Matrix3x3* linear_matrix, const BGC_FP32_Vector3* shift);
+inline void bgc_fp64_hg_matrix3x3_make(BGC_FP64_HgMatrix3x3* homogeneous_matrix, const BGC_FP64_Matrix3x3* linear_matrix, const BGC_FP64_Vector3* shift);

basic-geometry/hg-matrix3x3.h

@@ -0,0 +1,123 @@
+#ifndef _BGC_HG_MATRIX3X3_H_INCLUDED_
+#define _BGC_HG_MATRIX3X3_H_INCLUDED_
+
+#include "vector3.h"
+#include "matrices.h"
+
+#include "hg-vector3.h"
+
+// =================== Types ==================== //
+
+typedef struct
+{
+    float r1c1, r1c2, r1c3, r1d0;
+    float r2c1, r2c2, r2c3, r2d0;
+    float r3c1, r3c2, r3c3, r3d0;
+    float d0c1, d0c2, d0c3, d0d0;
+} BGC_FP32_HgMatrix3x3;
+
+typedef struct
+{
+    double r1c1, r1c2, r1c3, r1d0;
+    double r2c1, r2c2, r2c3, r2d0;
+    double r3c1, r3c2, r3c3, r3d0;
+    double d0c1, d0c2, d0c3, d0d0;
+} BGC_FP64_HgMatrix3x3;
+
+// =================== Reset ==================== //
+
+inline void bgc_fp32_hg_matrix3x3_reset(BGC_FP32_HgMatrix3x3* homogeneous_matrix)
+{
+    homogeneous_matrix->r1c1 = 1.0f;
+    homogeneous_matrix->r1c2 = 0.0f;
+    homogeneous_matrix->r1c2 = 0.0f;
+    homogeneous_matrix->r1d0 = 0.0f;
+
+    homogeneous_matrix->r2c1 = 0.0f;
+    homogeneous_matrix->r2c2 = 1.0f;
+    homogeneous_matrix->r2c2 = 0.0f;
+    homogeneous_matrix->r2d0 = 0.0f;
+
+    homogeneous_matrix->r3c1 = 0.0f;
+    homogeneous_matrix->r3c2 = 0.0f;
+    homogeneous_matrix->r3c2 = 1.0f;
+    homogeneous_matrix->r3d0 = 0.0f;
+
+    homogeneous_matrix->d0c1 = 0.0f;
+    homogeneous_matrix->d0c2 = 0.0f;
+    homogeneous_matrix->d0c2 = 0.0f;
+    homogeneous_matrix->d0d0 = 1.0f;
+}
+
+inline void bgc_fp64_hg_matrix3x3_reset(BGC_FP64_HgMatrix3x3* homogeneous_matrix)
+{
+    homogeneous_matrix->r1c1 = 1.0;
+    homogeneous_matrix->r1c2 = 0.0;
+    homogeneous_matrix->r1c2 = 0.0;
+    homogeneous_matrix->r1d0 = 0.0;
+
+    homogeneous_matrix->r2c1 = 0.0;
+    homogeneous_matrix->r2c2 = 1.0;
+    homogeneous_matrix->r2c2 = 0.0;
+    homogeneous_matrix->r2d0 = 0.0;
+
+    homogeneous_matrix->r3c1 = 0.0;
+    homogeneous_matrix->r3c2 = 0.0;
+    homogeneous_matrix->r3c2 = 1.0;
+    homogeneous_matrix->r3d0 = 0.0;
+
+    homogeneous_matrix->d0c1 = 0.0;
+    homogeneous_matrix->d0c2 = 0.0;
+    homogeneous_matrix->d0c2 = 0.0;
+    homogeneous_matrix->d0d0 = 1.0;
+}
+
+// ==================== Make ==================== //
+
+inline void bgc_fp32_hg_matrix3x3_make(BGC_FP32_HgMatrix3x3* homogeneous_matrix, const BGC_FP32_Matrix3x3* linear_matrix, const BGC_FP32_Vector3* shift)
+{
+    homogeneous_matrix->r1c1 = linear_matrix->r1c1;
+    homogeneous_matrix->r1c2 = linear_matrix->r1c2;
+    homogeneous_matrix->r1c2 = linear_matrix->r1c3;
+    homogeneous_matrix->r1d0 = shift->x1;
+
+    homogeneous_matrix->r2c1 = linear_matrix->r2c1;
+    homogeneous_matrix->r2c2 = linear_matrix->r2c2;
+    homogeneous_matrix->r2c2 = linear_matrix->r2c3;
+    homogeneous_matrix->r2d0 = shift->x2;
+
+    homogeneous_matrix->r3c1 = linear_matrix->r3c1;
+    homogeneous_matrix->r3c2 = linear_matrix->r3c2;
+    homogeneous_matrix->r3c2 = linear_matrix->r3c3;
+    homogeneous_matrix->r3d0 = shift->x3;
+
+    homogeneous_matrix->d0c1 = 0.0f;
+    homogeneous_matrix->d0c2 = 0.0f;
+    homogeneous_matrix->d0c2 = 0.0f;
+    homogeneous_matrix->d0d0 = 1.0f;
+}
+
+inline void bgc_fp64_hg_matrix3x3_make(BGC_FP64_HgMatrix3x3* homogeneous_matrix, const BGC_FP64_Matrix3x3* linear_matrix, const BGC_FP64_Vector3* shift)
+{
+    homogeneous_matrix->r1c1 = linear_matrix->r1c1;
+    homogeneous_matrix->r1c2 = linear_matrix->r1c2;
+    homogeneous_matrix->r1c2 = linear_matrix->r1c3;
+    homogeneous_matrix->r1d0 = shift->x1;
+
+    homogeneous_matrix->r2c1 = linear_matrix->r2c1;
+    homogeneous_matrix->r2c2 = linear_matrix->r2c2;
+    homogeneous_matrix->r2c2 = linear_matrix->r2c3;
+    homogeneous_matrix->r2d0 = shift->x2;
+
+    homogeneous_matrix->r3c1 = linear_matrix->r3c1;
+    homogeneous_matrix->r3c2 = linear_matrix->r3c2;
+    homogeneous_matrix->r3c2 = linear_matrix->r3c3;
+    homogeneous_matrix->r3d0 = shift->x3;
+
+    homogeneous_matrix->d0c1 = 0.0;
+    homogeneous_matrix->d0c2 = 0.0;
+    homogeneous_matrix->d0c2 = 0.0;
+    homogeneous_matrix->d0d0 = 1.0;
+}
+
+#endif

basic-geometry/hg-vector3.c

@@ -0,0 +1,28 @@
+#include "./hg-vector3.h"
+
+extern inline void bgc_fp32_hg_vector3_reset_point(BGC_FP32_HgVector3* homogeneous_vector);
+extern inline void bgc_fp64_hg_vector3_reset_point(BGC_FP64_HgVector3* homogeneous_vector);
+
+extern inline void bgc_fp32_hg_vector3_reset_vector(BGC_FP32_HgVector3* homogeneous_vector);
+extern inline void bgc_fp64_hg_vector3_reset_vector(BGC_FP64_HgVector3* homogeneous_vector);
+
+extern inline void bgc_fp32_hg_vector3_make(BGC_FP32_HgVector3* homogeneous_vector, const float x1, const float x2, const float x3, const float ratio);
+extern inline void bgc_fp64_hg_vector3_make(BGC_FP64_HgVector3* homogeneous_vector, const double x1, const double x2, const double x3, const double ratio);
+
+extern inline void bgc_fp32_hg_vector3_make_point(BGC_FP32_HgVector3* homogeneous_vector, const BGC_FP32_Vector3* regular_vector);
+extern inline void bgc_fp64_hg_vector3_make_point(BGC_FP64_HgVector3* homogeneous_vector, const BGC_FP64_Vector3* regular_vector);
+
+extern inline void bgc_fp32_hg_vector3_make_vector(BGC_FP32_HgVector3* homogeneous_vector, const BGC_FP32_Vector3* regular_vector);
+extern inline void bgc_fp64_hg_vector3_make_vector(BGC_FP64_HgVector3* homogeneous_vector, const BGC_FP64_Vector3* regular_vector);
+
+extern inline int bgc_fp32_hg_vector3_is_point(const BGC_FP32_HgVector3* homogeneous_vector);
+extern inline int bgc_fp64_hg_vector3_is_point(const BGC_FP64_HgVector3* homogeneous_vector);
+
+extern inline int bgc_fp32_hg_vector3_is_vector(const BGC_FP32_HgVector3* homogeneous_vector);
+extern inline int bgc_fp64_hg_vector3_is_vector(const BGC_FP64_HgVector3* homogeneous_vector);
+
+extern inline void bgc_fp32_hg_vector3_copy(BGC_FP32_HgVector3* destination, const BGC_FP32_HgVector3* source);
+extern inline void bgc_fp64_hg_vector3_copy(BGC_FP64_HgVector3* destination, const BGC_FP64_HgVector3* source);
+
+extern inline void bgc_fp32_hg_vector3_swap(BGC_FP32_HgVector3* first, BGC_FP32_HgVector3* second);
+extern inline void bgc_fp64_hg_vector3_swap(BGC_FP64_HgVector3* first, BGC_FP64_HgVector3* second);

basic-geometry/hg-vector3.h

@@ -0,0 +1,224 @@
+#ifndef _BGC_HG_VECTOR3_H_INCLUDED_
+#define _BGC_HG_VECTOR3_H_INCLUDED_
+
+#include "./vector3.h"
+
+// ================== Vector3 =================== //
+
+// Homogeneous 3D Vector
+typedef struct
+{
+    float x1, x2, x3, d0;
+} BGC_FP32_HgVector3;
+
+// Homogeneous 3D Vector
+typedef struct
+{
+    double x1, x2, x3, d0;
+} BGC_FP64_HgVector3;
+
+// ================ Reset Point ================= //
+
+inline void bgc_fp32_hg_vector3_reset_point(BGC_FP32_HgVector3* homogeneous_vector)
+{
+    homogeneous_vector->x1 = 0.0f;
+    homogeneous_vector->x2 = 0.0f;
+    homogeneous_vector->x3 = 0.0f;
+    homogeneous_vector->d0 = 1.0f;
+}
+
+inline void bgc_fp64_hg_vector3_reset_point(BGC_FP64_HgVector3* homogeneous_vector)
+{
+    homogeneous_vector->x1 = 0.0;
+    homogeneous_vector->x2 = 0.0;
+    homogeneous_vector->x3 = 0.0;
+    homogeneous_vector->d0 = 1.0;
+}
+
+// ================ Reset Point ================= //
+
+inline void bgc_fp32_hg_vector3_reset_vector(BGC_FP32_HgVector3* homogeneous_vector)
+{
+    homogeneous_vector->x1 = 0.0f;
+    homogeneous_vector->x2 = 0.0f;
+    homogeneous_vector->x3 = 0.0f;
+    homogeneous_vector->d0 = 0.0f;
+}
+
+inline void bgc_fp64_hg_vector3_reset_vector(BGC_FP64_HgVector3* homogeneous_vector)
+{
+    homogeneous_vector->x1 = 0.0;
+    homogeneous_vector->x2 = 0.0;
+    homogeneous_vector->x3 = 0.0;
+    homogeneous_vector->d0 = 0.0;
+}
+
+// ==================== Make ==================== //
+
+inline void bgc_fp32_hg_vector3_make(BGC_FP32_HgVector3* homogeneous_vector, const float x1, const float x2, const float x3, const float d0)
+{
+    homogeneous_vector->x1 = x1;
+    homogeneous_vector->x2 = x2;
+    homogeneous_vector->x3 = x3;
+    homogeneous_vector->d0 = d0;
+}
+
+inline void bgc_fp64_hg_vector3_make(BGC_FP64_HgVector3* homogeneous_vector, const double x1, const double x2, const double x3, const double d0)
+{
+    homogeneous_vector->x1 = x1;
+    homogeneous_vector->x2 = x2;
+    homogeneous_vector->x3 = x3;
+    homogeneous_vector->d0 = d0;
+}
+
+// ================= Make Point ================= //
+
+inline void bgc_fp32_hg_vector3_make_point(BGC_FP32_HgVector3* homogeneous_vector, const BGC_FP32_Vector3* regular_vector)
+{
+    homogeneous_vector->x1 = regular_vector->x1;
+    homogeneous_vector->x2 = regular_vector->x2;
+    homogeneous_vector->x3 = regular_vector->x3;
+    homogeneous_vector->d0 = 1.0f;
+}
+
+inline void bgc_fp64_hg_vector3_make_point(BGC_FP64_HgVector3* homogeneous_vector, const BGC_FP64_Vector3* regular_vector)
+{
+    homogeneous_vector->x1 = regular_vector->x1;
+    homogeneous_vector->x2 = regular_vector->x2;
+    homogeneous_vector->x3 = regular_vector->x3;
+    homogeneous_vector->d0 = 1.0;
+}
+
+// ================ Make Vector ================= //
+
+inline void bgc_fp32_hg_vector3_make_vector(BGC_FP32_HgVector3* homogeneous_vector, const BGC_FP32_Vector3* regular_vector)
+{
+    homogeneous_vector->x1 = regular_vector->x1;
+    homogeneous_vector->x2 = regular_vector->x2;
+    homogeneous_vector->x3 = regular_vector->x3;
+    homogeneous_vector->d0 = 0.0f;
+}
+
+inline void bgc_fp64_hg_vector3_make_vector(BGC_FP64_HgVector3* homogeneous_vector, const BGC_FP64_Vector3* regular_vector)
+{
+    homogeneous_vector->x1 = regular_vector->x1;
+    homogeneous_vector->x2 = regular_vector->x2;
+    homogeneous_vector->x3 = regular_vector->x3;
+    homogeneous_vector->d0 = 0.0;
+}
+
+// ================== Is Point ================== //
+
+inline int bgc_fp32_hg_vector3_is_point(const BGC_FP32_HgVector3* homogeneous_vector)
+{
+    return !bgc_fp32_is_zero(homogeneous_vector->d0);
+}
+
+inline int bgc_fp64_hg_vector3_is_point(const BGC_FP64_HgVector3* homogeneous_vector)
+{
+    return !bgc_fp64_is_zero(homogeneous_vector->d0);
+}
+
+// ================= Is Vector ================== //
+
+inline int bgc_fp32_hg_vector3_is_vector(const BGC_FP32_HgVector3* homogeneous_vector)
+{
+    return bgc_fp32_is_zero(homogeneous_vector->d0);
+}
+
+inline int bgc_fp64_hg_vector3_is_vector(const BGC_FP64_HgVector3* homogeneous_vector)
+{
+    return bgc_fp64_is_zero(homogeneous_vector->d0);
+}
+
+// ==================== Copy ==================== //
+
+inline void bgc_fp32_hg_vector3_copy(BGC_FP32_HgVector3* destination, const BGC_FP32_HgVector3* source)
+{
+    destination->x1 = source->x1;
+    destination->x2 = source->x2;
+    destination->x3 = source->x3;
+    destination->d0 = source->d0;
+}
+
+inline void bgc_fp64_hg_vector3_copy(BGC_FP64_HgVector3* destination, const BGC_FP64_HgVector3* source)
+{
+    destination->x1 = source->x1;
+    destination->x2 = source->x2;
+    destination->x3 = source->x3;
+    destination->d0 = source->d0;
+}
+
+// ==================== Swap ==================== //
+
+inline void bgc_fp32_hg_vector3_swap(BGC_FP32_HgVector3* first, BGC_FP32_HgVector3* second)
+{
+    const float x1 = first->x1;
+    const float x2 = first->x2;
+    const float x3 = first->x3;
+    const float d0 = first->d0;
+
+    first->x1 = second->x1;
+    first->x2 = second->x2;
+    first->x3 = second->x3;
+    first->d0 = second->d0;
+
+    second->x1 = x1;
+    second->x2 = x2;
+    second->x3 = x3;
+    second->d0 = d0;
+}
+
+inline void bgc_fp64_hg_vector3_swap(BGC_FP64_HgVector3* first, BGC_FP64_HgVector3* second)
+{
+    const double x1 = first->x1;
+    const double x2 = first->x2;
+    const double x3 = first->x3;
+    const double d0 = first->d0;
+
+    first->x1 = second->x1;
+    first->x2 = second->x2;
+    first->x3 = second->x3;
+    first->d0 = second->d0;
+
+    second->x1 = x1;
+    second->x2 = x2;
+    second->x3 = x3;
+    second->d0 = d0;
+}
+
+// ================== Rescale =================== //
+
+inline int bgc_fp32_hg_vector3_rescale(BGC_FP32_HgVector3* homogeneous_vector, const float new_ratio)
+{
+    if (bgc_fp32_is_zero(homogeneous_vector->d0)) {
+        return 0;
+    }
+
+    const float multiplier = new_ratio / homogeneous_vector->d0;
+
+    homogeneous_vector->x1 *= multiplier;
+    homogeneous_vector->x2 *= multiplier;
+    homogeneous_vector->x3 *= multiplier;
+    homogeneous_vector->d0 = new_ratio;
+
+    return 1;
+}
+
+inline int bgc_fp64_hg_vector3_rescale(BGC_FP64_HgVector3* homogeneous_vector, const double new_ratio)
+{
+    if (bgc_fp64_is_zero(homogeneous_vector->d0)) {
+        return 0;
+    }
+
+    const double multiplier = new_ratio / homogeneous_vector->d0;
+
+    homogeneous_vector->x1 *= multiplier;
+    homogeneous_vector->x2 *= multiplier;
+    homogeneous_vector->x3 *= multiplier;
+    homogeneous_vector->d0 = new_ratio;
+
+    return 1;
+}
+
+#endif

basic-geometry/matrices.c

@@ -0,0 +1,25 @@
+#include "matrices.h"
+
+extern inline void bgc_fp32_multiply_matrix2x2_by_matrix2x2(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix2x2* matrix2);
+extern inline void bgc_fp64_multiply_matrix2x2_by_matrix2x2(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix2x2* matrix2);
+
+extern inline void bgc_fp32_multiply_matrix2x2_by_matrix3x2(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix3x2* matrix2);
+extern inline void bgc_fp64_multiply_matrix2x2_by_matrix3x2(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix3x2* matrix2);
+
+extern inline void bgc_fp32_multiply_matrix2x3_by_matrix2x2(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix2x2* matrix2);
+extern inline void bgc_fp64_multiply_matrix2x3_by_matrix2x2(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix2x2* matrix2);
+
+extern inline void bgc_fp32_multiply_matrix2x3_by_matrix3x2(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix3x2* matrix2);
+extern inline void bgc_fp64_multiply_matrix2x3_by_matrix3x2(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix3x2* matrix2);
+
+extern inline void bgc_fp32_multiply_matrix3x2_by_matrix2x3(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix2x3* matrix2);
+extern inline void bgc_fp64_multiply_matrix3x2_by_matrix2x3(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix2x3* matrix2);
+
+extern inline void bgc_fp32_multiply_matrix3x2_by_matrix3x3(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix3x3* matrix2);
+extern inline void bgc_fp64_multiply_matrix3x2_by_matrix3x3(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix3x3* matrix2);
+
+extern inline void bgc_fp32_multiply_matrix3x3_by_matrix2x3(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix2x3* matrix2);
+extern inline void bgc_fp64_multiply_matrix3x3_by_matrix2x3(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix2x3* matrix2);
+
+extern inline void bgc_fp32_multiply_matrix3x3_by_matrix3x3(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix3x3* matrix2);
+extern inline void bgc_fp64_multiply_matrix3x3_by_matrix3x3(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix3x3* matrix2);

basic-geometry/matrices.h

@@ -0,0 +1,364 @@
+#ifndef _BGC_MATRICES_H_INCLUDED_
+#define _BGC_MATRICES_H_INCLUDED_
+
+// ================== Matrix2x2 ================= //
+
+typedef struct {
+    float r1c1, r1c2;
+    float r2c1, r2c2;
+} BGC_FP32_Matrix2x2;
+
+typedef struct {
+    double r1c1, r1c2;
+    double r2c1, r2c2;
+} BGC_FP64_Matrix2x2;
+
+// ================== Matrix2x3 ================= //
+
+typedef struct {
+    float r1c1, r1c2;
+    float r2c1, r2c2;
+    float r3c1, r3c2;
+} BGC_FP32_Matrix2x3;
+
+typedef struct {
+    double r1c1, r1c2;
+    double r2c1, r2c2;
+    double r3c1, r3c2;
+} BGC_FP64_Matrix2x3;
+
+// ================== Matrix3x2 ================= //
+
+typedef struct {
+    float r1c1, r1c2, r1c3;
+    float r2c1, r2c2, r2c3;
+} BGC_FP32_Matrix3x2;
+
+typedef struct {
+    double r1c1, r1c2, r1c3;
+    double r2c1, r2c2, r2c3;
+} BGC_FP64_Matrix3x2;
+
+// ================== Matrix3x3 ================= //
+
+typedef struct {
+    float r1c1, r1c2, r1c3;
+    float r2c1, r2c2, r2c3;
+    float r3c1, r3c2, r3c3;
+} BGC_FP32_Matrix3x3;
+
+typedef struct {
+    double r1c1, r1c2, r1c3;
+    double r2c1, r2c2, r2c3;
+    double r3c1, r3c2, r3c3;
+} BGC_FP64_Matrix3x3;
+
+// ========== Matrix Product 2x2 at 2x2 ========= //
+
+inline void bgc_fp32_multiply_matrix2x2_by_matrix2x2(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix2x2* matrix2)
+{
+    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
+    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
+
+    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
+    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+}
+
+inline void bgc_fp64_multiply_matrix2x2_by_matrix2x2(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix2x2* matrix2)
+{
+    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
+    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
+
+    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
+    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+}
+
+// ========== Matrix Product 2x2 at 3x2 ========= //
+
+inline void bgc_fp32_multiply_matrix2x2_by_matrix3x2(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix3x2* matrix2)
+{
+    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
+    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
+    const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
+
+    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
+    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
+    const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+    product->r1c3 = r1c3;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+    product->r2c3 = r2c3;
+}
+
+inline void bgc_fp64_multiply_matrix2x2_by_matrix3x2(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix3x2* matrix2)
+{
+    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
+    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
+    const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
+
+    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
+    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
+    const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+    product->r1c3 = r1c3;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+    product->r2c3 = r2c3;
+}
+
+// ========== Matrix Product 2x3 at 2x2 ========= //
+
+inline void bgc_fp32_multiply_matrix2x3_by_matrix2x2(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix2x2* matrix2)
+{
+    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
+    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
+
+    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
+    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
+
+    const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
+    const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+
+    product->r3c1 = r3c1;
+    product->r3c2 = r3c2;
+}
+
+inline void bgc_fp64_multiply_matrix2x3_by_matrix2x2(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix2x2* matrix2)
+{
+    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
+    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
+
+    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
+    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
+
+    const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
+    const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+
+    product->r3c1 = r3c1;
+    product->r3c2 = r3c2;
+}
+
+// ========== Matrix Product 2x3 at 3x2 ========= //
+
+inline void bgc_fp32_multiply_matrix2x3_by_matrix3x2(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix3x2* matrix2)
+{
+    product->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
+    product->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
+    product->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
+
+    product->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
+    product->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
+    product->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
+
+    product->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
+    product->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
+    product->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3;
+}
+
+inline void bgc_fp64_multiply_matrix2x3_by_matrix3x2(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix3x2* matrix2)
+{
+    product->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
+    product->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
+    product->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
+
+    product->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
+    product->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
+    product->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
+
+    product->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
+    product->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
+    product->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3;
+}
+
+// ========== Matrix Product 3x2 at 2x3 ========= //
+
+inline void bgc_fp32_multiply_matrix3x2_by_matrix2x3(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix2x3* matrix2)
+{
+    product->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
+    product->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
+
+    product->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
+    product->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
+}
+
+inline void bgc_fp64_multiply_matrix3x2_by_matrix2x3(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix2x3* matrix2)
+{
+    product->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
+    product->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
+
+    product->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
+    product->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
+}
+
+// ========== Matrix Product 3x2 at 3x3 ========= //
+
+inline void bgc_fp32_multiply_matrix3x2_by_matrix3x3(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix3x3* matrix2)
+{
+    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
+    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
+    const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
+
+    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
+    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
+    const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+    product->r1c3 = r1c3;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+    product->r2c3 = r2c3;
+}
+
+inline void bgc_fp64_multiply_matrix3x2_by_matrix3x3(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix3x3* matrix2)
+{
+    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
+    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
+    const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
+
+    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
+    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
+    const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+    product->r1c3 = r1c3;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+    product->r2c3 = r2c3;
+}
+
+// ========== Matrix Product 3x3 at 2x3 ========= //
+
+inline void bgc_fp32_multiply_matrix3x3_by_matrix2x3(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix2x3* matrix2)
+{
+    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
+    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
+
+    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
+    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
+
+    const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
+    const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+
+    product->r3c1 = r3c1;
+    product->r3c2 = r3c2;
+}
+
+inline void bgc_fp64_multiply_matrix3x3_by_matrix2x3(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix2x3* matrix2)
+{
+    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
+    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
+
+    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
+    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
+
+    const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
+    const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+
+    product->r3c1 = r3c1;
+    product->r3c2 = r3c2;
+}
+
+// ========== Matrix Product 3x3 at 3x3 ========= //
+
+inline void bgc_fp32_multiply_matrix3x3_by_matrix3x3(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix3x3* matrix2)
+{
+    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
+    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
+    const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
+
+    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
+    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
+    const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
+
+    const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
+    const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
+    const float r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+    product->r1c3 = r1c3;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+    product->r2c3 = r2c3;
+
+    product->r3c1 = r3c1;
+    product->r3c2 = r3c2;
+    product->r3c3 = r3c3;
+}
+
+inline void bgc_fp64_multiply_matrix3x3_by_matrix3x3(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix3x3* matrix2)
+{
+    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
+    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
+    const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
+
+    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
+    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
+    const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
+
+    const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
+    const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
+    const double r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3;
+
+    product->r1c1 = r1c1;
+    product->r1c2 = r1c2;
+    product->r1c3 = r1c3;
+
+    product->r2c1 = r2c1;
+    product->r2c2 = r2c2;
+    product->r2c3 = r2c3;
+
+    product->r3c1 = r3c1;
+    product->r3c2 = r3c2;
+    product->r3c3 = r3c3;
+}
+
+#endif // _BGC_MATRIX_TYPES_H_

basic-geometry/matrix2x2.c

@@ -1,73 +1,82 @@
 #include "matrix2x2.h"
 
-extern inline void bgc_matrix2x2_reset_fp32(BgcMatrix2x2FP32* matrix);
+extern inline void bgc_fp32_matrix2x2_reset(BGC_FP32_Matrix2x2* matrix);
-extern inline void bgc_matrix2x2_reset_fp64(BgcMatrix2x2FP64* matrix);
+extern inline void bgc_fp64_matrix2x2_reset(BGC_FP64_Matrix2x2* matrix);
 
-extern inline void bgc_matrix2x2_set_to_identity_fp32(BgcMatrix2x2FP32* matrix);
+extern inline void bgc_fp32_matrix2x2_make_identity(BGC_FP32_Matrix2x2* matrix);
-extern inline void bgc_matrix2x2_set_to_identity_fp64(BgcMatrix2x2FP64* matrix);
+extern inline void bgc_fp64_matrix2x2_make_identity(BGC_FP64_Matrix2x2* matrix);
 
-extern inline void bgc_matrix2x2_set_to_diagonal_fp32(const float d1, const float d2, BgcMatrix2x2FP32* matrix);
+extern inline void bgc_fp32_matrix2x2_make_diagonal(BGC_FP32_Matrix2x2* matrix, const float d1, const float d2);
-extern inline void bgc_matrix2x2_set_to_diagonal_fp64(const double d1, const double d2, BgcMatrix2x2FP64* matrix);
+extern inline void bgc_fp64_matrix2x2_make_diagonal(BGC_FP64_Matrix2x2* matrix, const double d1, const double d2);
 
-extern inline void bgc_matrix2x2_set_turn_fp32(const float angle, const BgcAngleUnitEnum unit, BgcMatrix2x2FP32* matrix);
+extern inline void bgc_fp32_matrix2x2_set_turn(BGC_FP32_Matrix2x2* matrix, const float angle, const int angle_unit);
-extern inline void bgc_matrix2x2_set_turn_fp64(const double angle, const BgcAngleUnitEnum unit, BgcMatrix2x2FP64* matrix);
+extern inline void bgc_fp64_matrix2x2_set_turn(BGC_FP64_Matrix2x2* matrix, const double angle, const int angle_unit);
 
-extern inline float bgc_matrix2x2_get_determinant_fp32(const BgcMatrix2x2FP32* matrix);
+extern inline float bgc_fp32_matrix2x2_get_determinant(const BGC_FP32_Matrix2x2* matrix);
-extern inline double bgc_matrix2x2_get_determinant_fp64(const BgcMatrix2x2FP64* matrix);
+extern inline double bgc_fp64_matrix2x2_get_determinant(const BGC_FP64_Matrix2x2* matrix);
 
-extern inline int bgc_matrix2x2_is_singular_fp32(const BgcMatrix2x2FP32* matrix);
+extern inline int bgc_fp32_matrix2x2_is_identity(const BGC_FP32_Matrix2x2* matrix);
-extern inline int bgc_matrix2x2_is_singular_fp64(const BgcMatrix2x2FP64* matrix);
+extern inline int bgc_fp64_matrix2x2_is_identity(const BGC_FP64_Matrix2x2* matrix);
 
-extern inline int bgc_matrix2x2_is_rotation_fp32(const BgcMatrix2x2FP32* matrix);
+extern inline int bgc_fp32_matrix2x2_is_singular(const BGC_FP32_Matrix2x2* matrix);
-extern inline int bgc_matrix2x2_is_rotation_fp64(const BgcMatrix2x2FP64* matrix);
+extern inline int bgc_fp64_matrix2x2_is_singular(const BGC_FP64_Matrix2x2* matrix);
 
-extern inline void bgc_matrix2x2_copy_fp32(const BgcMatrix2x2FP32* source, BgcMatrix2x2FP32* destination);
+extern inline int bgc_fp32_matrix2x2_is_rotation(const BGC_FP32_Matrix2x2* matrix);
-extern inline void bgc_matrix2x2_copy_fp64(const BgcMatrix2x2FP64* source, BgcMatrix2x2FP64* destination);
+extern inline int bgc_fp64_matrix2x2_is_rotation(const BGC_FP64_Matrix2x2* matrix);
 
-extern inline void bgc_matrix2x2_swap_fp32(BgcMatrix2x2FP32* matrix1, BgcMatrix2x2FP32* matrix2);
+extern inline void bgc_fp32_matrix2x2_copy(BGC_FP32_Matrix2x2* destination, const BGC_FP32_Matrix2x2* source);
-extern inline void bgc_matrix2x2_swap_fp64(BgcMatrix2x2FP64* matrix1, BgcMatrix2x2FP64* matrix2);
+extern inline void bgc_fp64_matrix2x2_copy(BGC_FP64_Matrix2x2* destination, const BGC_FP64_Matrix2x2* source);
 
-extern inline void bgc_matrix2x2_convert_fp64_to_fp32(const BgcMatrix2x2FP64* source, BgcMatrix2x2FP32* destination);
+extern inline void bgc_fp32_matrix2x2_swap(BGC_FP32_Matrix2x2* matrix1, BGC_FP32_Matrix2x2* matrix2);
-extern inline void bgc_matrix2x2_convert_fp32_to_fp64(const BgcMatrix2x2FP32* source, BgcMatrix2x2FP64* destination);
+extern inline void bgc_fp64_matrix2x2_swap(BGC_FP64_Matrix2x2* matrix1, BGC_FP64_Matrix2x2* matrix2);
 
-extern inline int bgc_matrix2x2_invert_fp32(const BgcMatrix2x2FP32* matrix, BgcMatrix2x2FP32* inverted);
+extern inline void bgc_fp64_matrix2x2_convert_to_fp32(BGC_FP32_Matrix2x2* destination, const BGC_FP64_Matrix2x2* source);
-extern inline int bgc_matrix2x2_invert_fp64(const BgcMatrix2x2FP64* matrix, BgcMatrix2x2FP64* inverted);
+extern inline void bgc_fp32_matrix2x2_convert_to_fp64(BGC_FP64_Matrix2x2* destination, const BGC_FP32_Matrix2x2* source);
 
-extern inline void bgc_matrix2x2_transpose_fp32(const BgcMatrix2x2FP32* matrix, BgcMatrix2x2FP32* transposed);
+extern inline int bgc_fp32_matrix2x2_get_inverse(BGC_FP32_Matrix2x2* inverse, const BGC_FP32_Matrix2x2* matrix);
-extern inline void bgc_matrix2x2_transpose_fp64(const BgcMatrix2x2FP64* matrix, BgcMatrix2x2FP64* transposed);
+extern inline int bgc_fp64_matrix2x2_get_inverse(BGC_FP64_Matrix2x2* inverse, const BGC_FP64_Matrix2x2* matrix);
 
-extern inline void bgc_matrix2x2_set_row1_fp32(const float c1, const float c2, BgcMatrix2x2FP32* matrix);
+extern inline int bgc_fp32_matrix2x2_invert(BGC_FP32_Matrix2x2* matrix);
-extern inline void bgc_matrix2x2_set_row1_fp64(const double c1, const double c2, BgcMatrix2x2FP64* matrix);
+extern inline int bgc_fp64_matrix2x2_invert(BGC_FP64_Matrix2x2* matrix);
 
-extern inline void bgc_matrix2x2_set_row2_fp32(const float c1, const float c2, BgcMatrix2x2FP32* matrix);
+extern inline void bgc_fp32_matrix2x2_transpose(BGC_FP32_Matrix2x2* matrix);
-extern inline void bgc_matrix2x2_set_row2_fp64(const double c1, const double c2, BgcMatrix2x2FP64* matrix);
+extern inline void bgc_fp64_matrix2x2_transpose(BGC_FP64_Matrix2x2* matrix);
 
-extern inline void bgc_matrix2x2_set_column1_fp32(const float r1, const float r2, BgcMatrix2x2FP32* matrix);
+extern inline void bgc_fp32_matrix2x2_get_transposed(BGC_FP32_Matrix2x2* transposed, const BGC_FP32_Matrix2x2* matrix);
-extern inline void bgc_matrix2x2_set_column1_fp64(const double r1, const double r2, BgcMatrix2x2FP64* matrix);
+extern inline void bgc_fp64_matrix2x2_get_transposed(BGC_FP64_Matrix2x2* transposed, const BGC_FP64_Matrix2x2* matrix);
 
-extern inline void bgc_matrix2x2_set_column2_fp32(const float r1, const float r2, BgcMatrix2x2FP32* matrix);
+extern inline void bgc_fp32_matrix2x2_get_row(BGC_FP32_Vector2* row, const BGC_FP32_Matrix2x2* matrix, const int row_number);
-extern inline void bgc_matrix2x2_set_column2_fp64(const double r1, const double r2, BgcMatrix2x2FP64* matrix);
+extern inline void bgc_fp64_matrix2x2_get_row(BGC_FP64_Vector2* row, const BGC_FP64_Matrix2x2* matrix, const int row_number);
 
-extern inline void bgc_matrix2x2_add_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x2FP32* sum);
+extern inline void bgc_fp32_matrix2x2_set_row(BGC_FP32_Matrix2x2* matrix, const int row_number, const BGC_FP32_Vector2* row);
-extern inline void bgc_matrix2x2_add_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x2FP64* sum);
+extern inline void bgc_fp64_matrix2x2_set_row(BGC_FP64_Matrix2x2* matrix, const int row_number, const BGC_FP64_Vector2* row);
 
-extern inline void bgc_matrix2x2_add_scaled_fp32(const BgcMatrix2x2FP32* basic_matrix, const BgcMatrix2x2FP32* scalable_matrix, const float scale, BgcMatrix2x2FP32* sum);
+extern inline void bgc_fp32_matrix2x2_get_column(BGC_FP32_Vector2* column, const BGC_FP32_Matrix2x2* matrix, const int column_number);
-extern inline void bgc_matrix2x2_add_scaled_fp64(const BgcMatrix2x2FP64* basic_matrix, const BgcMatrix2x2FP64* scalable_matrix, const double scale, BgcMatrix2x2FP64* sum);
+extern inline void bgc_fp64_matrix2x2_get_column(BGC_FP64_Vector2* column, const BGC_FP64_Matrix2x2* matrix, const int column_number);
 
-extern inline void bgc_matrix2x2_subtract_fp32(const BgcMatrix2x2FP32* minuend, const BgcMatrix2x2FP32* subtrahend, BgcMatrix2x2FP32* difference);
+extern inline void bgc_fp32_matrix2x2_set_column(BGC_FP32_Matrix2x2* matrix, const int column_number, const BGC_FP32_Vector2* column);
-extern inline void bgc_matrix2x2_subtract_fp64(const BgcMatrix2x2FP64* minuend, const BgcMatrix2x2FP64* subtrahend, BgcMatrix2x2FP64* difference);
+extern inline void bgc_fp64_matrix2x2_set_column(BGC_FP64_Matrix2x2* matrix, const int column_number, const BGC_FP64_Vector2* column);
 
-extern inline void bgc_matrix2x2_subtract_scaled_fp32(const BgcMatrix2x2FP32* basic_matrix, const BgcMatrix2x2FP32* scalable_matrix, const float scale, BgcMatrix2x2FP32* difference);
+extern inline void bgc_fp32_matrix2x2_add(BGC_FP32_Matrix2x2* sum, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix2x2* matrix2);
-extern inline void bgc_matrix2x2_subtract_scaled_fp64(const BgcMatrix2x2FP64* basic_matrix, const BgcMatrix2x2FP64* scalable_matrix, const double scale, BgcMatrix2x2FP64* difference);
+extern inline void bgc_fp64_matrix2x2_add(BGC_FP64_Matrix2x2* sum, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix2x2* matrix2);
 
-extern inline void bgc_matrix2x2_multiply_fp32(const BgcMatrix2x2FP32* multiplicand, const float multiplier, BgcMatrix2x2FP32* product);
+extern inline void bgc_fp32_matrix2x2_add_scaled(BGC_FP32_Matrix2x2* sum, const BGC_FP32_Matrix2x2* basic_matrix, const BGC_FP32_Matrix2x2* scalable_matrix, const float scale);
-extern inline void bgc_matrix2x2_multiply_fp64(const BgcMatrix2x2FP64* multiplicand, const double multiplier, BgcMatrix2x2FP64* product);
+extern inline void bgc_fp64_matrix2x2_add_scaled(BGC_FP64_Matrix2x2* sum, const BGC_FP64_Matrix2x2* basic_matrix, const BGC_FP64_Matrix2x2* scalable_matrix, const double scale);
 
-extern inline void bgc_matrix2x2_divide_fp32(const BgcMatrix2x2FP32* dividend, const float divisor, BgcMatrix2x2FP32* quotient);
+extern inline void bgc_fp32_matrix2x2_subtract(BGC_FP32_Matrix2x2* difference, const BGC_FP32_Matrix2x2* minuend, const BGC_FP32_Matrix2x2* subtrahend);
-extern inline void bgc_matrix2x2_divide_fp64(const BgcMatrix2x2FP64* dividend, const double divisor, BgcMatrix2x2FP64* quotient);
+extern inline void bgc_fp64_matrix2x2_subtract(BGC_FP64_Matrix2x2* difference, const BGC_FP64_Matrix2x2* minuend, const BGC_FP64_Matrix2x2* subtrahend);
 
-extern inline void bgc_matrix2x2_get_left_product_fp32(const BgcVector2FP32* vector, const BgcMatrix2x2FP32* matrix, BgcVector2FP32* product);
+extern inline void bgc_fp32_matrix2x2_multiply(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix2x2* multiplicand, const float multiplier);
-extern inline void bgc_matrix2x2_get_left_product_fp64(const BgcVector2FP64* vector, const BgcMatrix2x2FP64* matrix, BgcVector2FP64* product);
+extern inline void bgc_fp64_matrix2x2_multiply(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix2x2* multiplicand, const double multiplier);
 
-extern inline void bgc_matrix2x2_get_right_product_fp32(const BgcMatrix2x2FP32* matrix, const BgcVector2FP32* vector, BgcVector2FP32* product);
+extern inline void bgc_fp32_matrix2x2_divide(BGC_FP32_Matrix2x2* quotient, const BGC_FP32_Matrix2x2* dividend, const float divisor);
-extern inline void bgc_matrix2x2_get_right_product_fp64(const BgcMatrix2x2FP64* matrix, const BgcVector2FP64* vector, BgcVector2FP64* product);
+extern inline void bgc_fp64_matrix2x2_divide(BGC_FP64_Matrix2x2* quotient, const BGC_FP64_Matrix2x2* dividend, const double divisor);
+
+extern inline void bgc_fp32_matrix2x2_interpolate(BGC_FP32_Matrix2x2* interpolation, const BGC_FP32_Matrix2x2* first, const BGC_FP32_Matrix2x2* second, const float phase);
+extern inline void bgc_fp64_matrix2x2_interpolate(BGC_FP64_Matrix2x2* interpolation, const BGC_FP64_Matrix2x2* first, const BGC_FP64_Matrix2x2* second, const double phase);
+
+extern inline void bgc_fp32_multiply_matrix2x2_by_vector2(BGC_FP32_Vector2* product, const BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Vector2* vector);
+extern inline void bgc_fp64_multiply_matrix2x2_by_vector2(BGC_FP64_Vector2* product, const BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Vector2* vector);
+
+extern inline void bgc_fp32_multiply_vector2_by_matrix2x2(BGC_FP32_Vector2* product, const BGC_FP32_Vector2* vector, const BGC_FP32_Matrix2x2* matrix);
+extern inline void bgc_fp64_multiply_vector2_by_matrix2x2(BGC_FP64_Vector2* product, const BGC_FP64_Vector2* vector, const BGC_FP64_Matrix2x2* matrix);

basic-geometry/matrix2x2.h

@@ -1,13 +1,13 @@
-#ifndef _BGC_MATRIX2X2_H_
+#ifndef _BGC_MATRIX2X2_H_INCLUDED_
-#define _BGC_MATRIX2X2_H_
+#define _BGC_MATRIX2X2_H_INCLUDED_
 
 #include "angle.h"
 #include "vector2.h"
-#include "matrixes.h"
+#include "matrices.h"
 
 // =================== Reset ==================== //
 
-inline void bgc_matrix2x2_reset_fp32(BgcMatrix2x2FP32* matrix)
+inline void bgc_fp32_matrix2x2_reset(BGC_FP32_Matrix2x2* matrix)
 {
     matrix->r1c1 = 0.0f;
     matrix->r1c2 = 0.0f;
@@ -15,7 +15,7 @@ inline void bgc_matrix2x2_reset_fp32(BgcMatrix2x2FP32* matrix)
     matrix->r2c2 = 0.0f;
 }
 
-inline void bgc_matrix2x2_reset_fp64(BgcMatrix2x2FP64* matrix)
+inline void bgc_fp64_matrix2x2_reset(BGC_FP64_Matrix2x2* matrix)
 {
     matrix->r1c1 = 0.0;
     matrix->r1c2 = 0.0;
@@ -25,7 +25,7 @@ inline void bgc_matrix2x2_reset_fp64(BgcMatrix2x2FP64* matrix)
 
 // ================== Identity ================== //
 
-inline void bgc_matrix2x2_set_to_identity_fp32(BgcMatrix2x2FP32* matrix)
+inline void bgc_fp32_matrix2x2_make_identity(BGC_FP32_Matrix2x2* matrix)
 {
     matrix->r1c1 = 1.0f;
     matrix->r1c2 = 0.0f;
@@ -33,7 +33,7 @@ inline void bgc_matrix2x2_set_to_identity_fp32(BgcMatrix2x2FP32* matrix)
     matrix->r2c2 = 1.0f;
 }
 
-inline void bgc_matrix2x2_set_to_identity_fp64(BgcMatrix2x2FP64* matrix)
+inline void bgc_fp64_matrix2x2_make_identity(BGC_FP64_Matrix2x2* matrix)
 {
     matrix->r1c1 = 1.0;
     matrix->r1c2 = 0.0;
@@ -43,7 +43,7 @@ inline void bgc_matrix2x2_set_to_identity_fp64(BgcMatrix2x2FP64* matrix)
 
 // ================ Set Diagonal ================ //
 
-inline void bgc_matrix2x2_set_to_diagonal_fp32(const float d1, const float d2, BgcMatrix2x2FP32* matrix)
+inline void bgc_fp32_matrix2x2_make_diagonal(BGC_FP32_Matrix2x2* matrix, const float d1, const float d2)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0f;
@@ -51,7 +51,7 @@ inline void bgc_matrix2x2_set_to_diagonal_fp32(const float d1, const float d2, B
     matrix->r2c2 = d2;
 }
 
-inline void bgc_matrix2x2_set_to_diagonal_fp64(const double d1, const double d2, BgcMatrix2x2FP64* matrix)
+inline void bgc_fp64_matrix2x2_make_diagonal(BGC_FP64_Matrix2x2* matrix, const double d1, const double d2)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0;
@@ -61,9 +61,9 @@ inline void bgc_matrix2x2_set_to_diagonal_fp64(const double d1, const double d2,
 
 // ============== Rotation Matrix =============== //
 
-inline void bgc_matrix2x2_set_turn_fp32(const float angle, const BgcAngleUnitEnum unit, BgcMatrix2x2FP32* matrix)
+inline void bgc_fp32_matrix2x2_set_turn(BGC_FP32_Matrix2x2* matrix, const float angle, const int angle_unit)
 {
-    const float radians = bgc_angle_to_radians_fp32(angle, unit);
+    const float radians = bgc_fp32_angle_to_radians(angle, angle_unit);
     const float cosine = cosf(radians);
     const float sine = sinf(radians);
 
@@ -73,9 +73,9 @@ inline void bgc_matrix2x2_set_turn_fp32(const float angle, const BgcAngleUnitEnu
     matrix->r2c2 = cosine;
 }
 
-inline void bgc_matrix2x2_set_turn_fp64(const double angle, const BgcAngleUnitEnum unit, BgcMatrix2x2FP64* matrix)
+inline void bgc_fp64_matrix2x2_set_turn(BGC_FP64_Matrix2x2* matrix, const double angle, const int angle_unit)
 {
-    const double radians = bgc_angle_to_radians_fp64(angle, unit);
+    const double radians = bgc_fp64_angle_to_radians(angle, angle_unit);
     const double cosine = cos(radians);
     const double sine = sin(radians);
 
@@ -87,65 +87,73 @@ inline void bgc_matrix2x2_set_turn_fp64(const double angle, const BgcAngleUnitEn
 
 // ================ Determinant ================= //
 
-inline float bgc_matrix2x2_get_determinant_fp32(const BgcMatrix2x2FP32* matrix)
+inline float bgc_fp32_matrix2x2_get_determinant(const BGC_FP32_Matrix2x2* matrix)
 {
     return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
 }
 
-inline double bgc_matrix2x2_get_determinant_fp64(const BgcMatrix2x2FP64* matrix)
+inline double bgc_fp64_matrix2x2_get_determinant(const BGC_FP64_Matrix2x2* matrix)
 {
     return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
 }
 
-// ================== Singular ================== //
+// ================ Is Identity ================= //
 
-inline int bgc_matrix2x2_is_singular_fp32(const BgcMatrix2x2FP32* matrix)
+inline int bgc_fp32_matrix2x2_is_identity(const BGC_FP32_Matrix2x2* matrix)
 {
-    return bgc_is_zero_fp32(bgc_matrix2x2_get_determinant_fp32(matrix));
+    return bgc_fp32_is_unit(matrix->r1c1) && bgc_fp32_is_zero(matrix->r1c2)
+        && bgc_fp32_is_zero(matrix->r2c1) && bgc_fp32_is_unit(matrix->r2c2);
 }
 
-inline int bgc_matrix2x2_is_singular_fp64(const BgcMatrix2x2FP64* matrix)
+inline int bgc_fp64_matrix2x2_is_identity(const BGC_FP64_Matrix2x2* matrix)
 {
-    return bgc_is_zero_fp64(bgc_matrix2x2_get_determinant_fp64(matrix));
+    return bgc_fp64_is_unit(matrix->r1c1) && bgc_fp64_is_zero(matrix->r1c2)
+        && bgc_fp64_is_zero(matrix->r2c1) && bgc_fp64_is_unit(matrix->r2c2);
+}
+
+// ================ Is Singular ================= //
+
+inline int bgc_fp32_matrix2x2_is_singular(const BGC_FP32_Matrix2x2* matrix)
+{
+    return bgc_fp32_is_zero(bgc_fp32_matrix2x2_get_determinant(matrix));
+}
+
+inline int bgc_fp64_matrix2x2_is_singular(const BGC_FP64_Matrix2x2* matrix)
+{
+    return bgc_fp64_is_zero(bgc_fp64_matrix2x2_get_determinant(matrix));
 }
 
 // ================ Is Rotation ================= //
 
-inline int bgc_matrix2x2_is_rotation_fp32(const BgcMatrix2x2FP32* matrix)
+inline int bgc_fp32_matrix2x2_is_rotation(const BGC_FP32_Matrix2x2* matrix)
 {
-    if (!bgc_is_unit_fp32(bgc_matrix2x2_get_determinant_fp32(matrix))) {
+    BGC_FP32_Matrix2x2 product;
-        return 0;
-    }
 
-    const float product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1;
+    product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1;
-    const float product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2;
+    product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2;
 
-    const float product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1;
+    product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1;
-    const float product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2;
+    product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2;
 
-    return bgc_is_unit_fp32(product_r1c1) && bgc_is_zero_fp32(product_r1c2)
+    return bgc_fp32_matrix2x2_is_identity(&product);
-        && bgc_is_zero_fp32(product_r2c1) && bgc_is_unit_fp32(product_r2c2);
 }
 
-inline int bgc_matrix2x2_is_rotation_fp64(const BgcMatrix2x2FP64* matrix)
+inline int bgc_fp64_matrix2x2_is_rotation(const BGC_FP64_Matrix2x2* matrix)
 {
-    if (!bgc_is_unit_fp64(bgc_matrix2x2_get_determinant_fp64(matrix))) {
+    BGC_FP64_Matrix2x2 product;
-        return 0;
-    }
 
-    const double product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1;
+    product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1;
-    const double product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2;
+    product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2;
 
-    const double product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1;
+    product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1;
-    const double product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2;
+    product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2;
 
-    return bgc_is_unit_fp64(product_r1c1) && bgc_is_zero_fp64(product_r1c2)
+    return bgc_fp64_matrix2x2_is_identity(&product);
-        && bgc_is_zero_fp64(product_r2c1) && bgc_is_unit_fp64(product_r2c2);
 }
 
 // ==================== Copy ==================== //
 
-inline void bgc_matrix2x2_copy_fp32(const BgcMatrix2x2FP32* source, BgcMatrix2x2FP32* destination)
+inline void bgc_fp32_matrix2x2_copy(BGC_FP32_Matrix2x2* destination, const BGC_FP32_Matrix2x2* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -154,7 +162,7 @@ inline void bgc_matrix2x2_copy_fp32(const BgcMatrix2x2FP32* source, BgcMatrix2x2
     destination->r2c2 = source->r2c2;
 }
 
-inline void bgc_matrix2x2_copy_fp64(const BgcMatrix2x2FP64* source, BgcMatrix2x2FP64* destination)
+inline void bgc_fp64_matrix2x2_copy(BGC_FP64_Matrix2x2* destination, const BGC_FP64_Matrix2x2* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -165,7 +173,7 @@ inline void bgc_matrix2x2_copy_fp64(const BgcMatrix2x2FP64* source, BgcMatrix2x2
 
 // ==================== Swap ==================== //
 
-inline void bgc_matrix2x2_swap_fp32(BgcMatrix2x2FP32* matrix1, BgcMatrix2x2FP32* matrix2)
+inline void bgc_fp32_matrix2x2_swap(BGC_FP32_Matrix2x2* matrix1, BGC_FP32_Matrix2x2* matrix2)
 {
     const float r1c1 = matrix2->r1c1;
     const float r1c2 = matrix2->r1c2;
@@ -186,7 +194,7 @@ inline void bgc_matrix2x2_swap_fp32(BgcMatrix2x2FP32* matrix1, BgcMatrix2x2FP32*
     matrix1->r2c2 = r2c2;
 }
 
-inline void bgc_matrix2x2_swap_fp64(BgcMatrix2x2FP64* matrix1, BgcMatrix2x2FP64* matrix2)
+inline void bgc_fp64_matrix2x2_swap(BGC_FP64_Matrix2x2* matrix1, BGC_FP64_Matrix2x2* matrix2)
 {
     const double r1c1 = matrix2->r1c1;
     const double r1c2 = matrix2->r1c2;
@@ -209,7 +217,7 @@ inline void bgc_matrix2x2_swap_fp64(BgcMatrix2x2FP64* matrix1, BgcMatrix2x2FP64*
 
 // ================== Convert =================== //
 
-inline void bgc_matrix2x2_convert_fp64_to_fp32(const BgcMatrix2x2FP64* source, BgcMatrix2x2FP32* destination)
+inline void bgc_fp64_matrix2x2_convert_to_fp32(BGC_FP32_Matrix2x2* destination, const BGC_FP64_Matrix2x2* source)
 {
     destination->r1c1 = (float)source->r1c1;
     destination->r1c2 = (float)source->r1c2;
@@ -218,7 +226,7 @@ inline void bgc_matrix2x2_convert_fp64_to_fp32(const BgcMatrix2x2FP64* source, B
     destination->r2c2 = (float)source->r2c2;
 }
 
-inline void bgc_matrix2x2_convert_fp32_to_fp64(const BgcMatrix2x2FP32* source, BgcMatrix2x2FP64* destination)
+inline void bgc_fp32_matrix2x2_convert_to_fp64(BGC_FP64_Matrix2x2* destination, const BGC_FP32_Matrix2x2* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -227,13 +235,13 @@ inline void bgc_matrix2x2_convert_fp32_to_fp64(const BgcMatrix2x2FP32* source, B
     destination->r2c2 = source->r2c2;
 }
 
-// =================== Invert =================== //
+// ================ Get Inverse ================= //
 
-inline int bgc_matrix2x2_invert_fp32(const BgcMatrix2x2FP32* matrix, BgcMatrix2x2FP32* inverted)
+inline int bgc_fp32_matrix2x2_get_inverse(BGC_FP32_Matrix2x2* inverse, const BGC_FP32_Matrix2x2* matrix)
 {
-    const float determinant = bgc_matrix2x2_get_determinant_fp32(matrix);
+    const float determinant = bgc_fp32_matrix2x2_get_determinant(matrix);
 
-    if (bgc_is_zero_fp32(determinant)) {
+    if (bgc_fp32_is_zero(determinant)) {
         return 0;
     }
 
@@ -245,20 +253,20 @@ inline int bgc_matrix2x2_invert_fp32(const BgcMatrix2x2FP32* matrix, BgcMatrix2x
 
     const float multiplier = 1.0f / determinant;
 
-    inverted->r1c1 = r1c1 * multiplier;
+    inverse->r1c1 = r1c1 * multiplier;
-    inverted->r1c2 = r1c2 * multiplier;
+    inverse->r1c2 = r1c2 * multiplier;
 
-    inverted->r2c1 = r2c1 * multiplier;
+    inverse->r2c1 = r2c1 * multiplier;
-    inverted->r2c2 = r2c2 * multiplier;
+    inverse->r2c2 = r2c2 * multiplier;
 
     return 1;
 }
 
-inline int bgc_matrix2x2_invert_fp64(const BgcMatrix2x2FP64* matrix, BgcMatrix2x2FP64* inverted)
+inline int bgc_fp64_matrix2x2_get_inverse(BGC_FP64_Matrix2x2* inverse, const BGC_FP64_Matrix2x2* matrix)
 {
-    const double determinant = bgc_matrix2x2_get_determinant_fp64(matrix);
+    const double determinant = bgc_fp64_matrix2x2_get_determinant(matrix);
 
-    if (bgc_is_zero_fp64(determinant)) {
+    if (bgc_fp64_is_zero(determinant)) {
         return 0;
     }
 
@@ -270,18 +278,46 @@ inline int bgc_matrix2x2_invert_fp64(const BgcMatrix2x2FP64* matrix, BgcMatrix2x
 
     const double multiplier = 1.0 / determinant;
 
-    inverted->r1c1 = r1c1 * multiplier;
+    inverse->r1c1 = r1c1 * multiplier;
-    inverted->r1c2 = r1c2 * multiplier;
+    inverse->r1c2 = r1c2 * multiplier;
 
-    inverted->r2c1 = r2c1 * multiplier;
+    inverse->r2c1 = r2c1 * multiplier;
-    inverted->r2c2 = r2c2 * multiplier;
+    inverse->r2c2 = r2c2 * multiplier;
 
     return 1;
 }
 
+// =================== Invert =================== //
+
+inline int bgc_fp32_matrix2x2_invert(BGC_FP32_Matrix2x2* matrix)
+{
+    return bgc_fp32_matrix2x2_get_inverse(matrix, matrix);
+}
+
+inline int bgc_fp64_matrix2x2_invert(BGC_FP64_Matrix2x2* matrix)
+{
+    return bgc_fp64_matrix2x2_get_inverse(matrix, matrix);
+}
+
 // ================= Transpose ================== //
 
-inline void bgc_matrix2x2_transpose_fp32(const BgcMatrix2x2FP32* matrix, BgcMatrix2x2FP32* transposed)
+inline void bgc_fp32_matrix2x2_transpose(BGC_FP32_Matrix2x2* matrix)
+{
+    const float r1c2 = matrix->r1c2;
+    matrix->r1c2 = matrix->r2c1;
+    matrix->r2c1 = r1c2;
+}
+
+inline void bgc_fp64_matrix2x2_transpose(BGC_FP64_Matrix2x2* matrix)
+{
+    const double r1c2 = matrix->r1c2;
+    matrix->r1c2 = matrix->r2c1;
+    matrix->r2c1 = r1c2;
+}
+
+// =============== Get Transpose ================ //
+
+inline void bgc_fp32_matrix2x2_get_transposed(BGC_FP32_Matrix2x2* transposed, const BGC_FP32_Matrix2x2* matrix)
 {
     const float r1c2 = matrix->r1c2;
 
@@ -292,7 +328,7 @@ inline void bgc_matrix2x2_transpose_fp32(const BgcMatrix2x2FP32* matrix, BgcMatr
     transposed->r2c2 = matrix->r2c2;
 }
 
-inline void bgc_matrix2x2_transpose_fp64(const BgcMatrix2x2FP64* matrix, BgcMatrix2x2FP64* transposed)
+inline void bgc_fp64_matrix2x2_get_transposed(BGC_FP64_Matrix2x2* transposed, const BGC_FP64_Matrix2x2* matrix)
 {
     const double r1c2 = matrix->r1c2;
 
@@ -303,65 +339,145 @@ inline void bgc_matrix2x2_transpose_fp64(const BgcMatrix2x2FP64* matrix, BgcMatr
     transposed->r2c2 = matrix->r2c2;
 }
 
-// ================= Set Row 1 ================== //
+// ================== Get Row =================== //
 
-inline void bgc_matrix2x2_set_row1_fp32(const float c1, const float c2, BgcMatrix2x2FP32* matrix)
+inline void bgc_fp32_matrix2x2_get_row(BGC_FP32_Vector2* row, const BGC_FP32_Matrix2x2* matrix, const int row_number)
 {
-    matrix->r1c1 = c1;
+    if (row_number == 1) {
-    matrix->r1c2 = c2;
+        row->x1 = matrix->r1c1;
+        row->x2 = matrix->r1c2;
+        return;
+    }
+
+    if (row_number == 2) {
+        row->x1 = matrix->r2c1;
+        row->x2 = matrix->r2c2;
+        return;
+    }
+
+    row->x1 = 0.0f;
+    row->x2 = 0.0f;
 }
 
-inline void bgc_matrix2x2_set_row1_fp64(const double c1, const double c2, BgcMatrix2x2FP64* matrix)
+inline void bgc_fp64_matrix2x2_get_row(BGC_FP64_Vector2* row, const BGC_FP64_Matrix2x2* matrix, const int row_number)
 {
-    matrix->r1c1 = c1;
+    if (row_number == 1) {
-    matrix->r1c2 = c2;
+        row->x1 = matrix->r1c1;
+        row->x2 = matrix->r1c2;
+        return;
+    }
+
+    if (row_number == 2) {
+        row->x1 = matrix->r2c1;
+        row->x2 = matrix->r2c2;
+        return;
+    }
+
+    row->x1 = 0.0;
+    row->x2 = 0.0;
 }
 
-// ================= Set Row 2 ================== //
+// ================== Set Row =================== //
 
-inline void bgc_matrix2x2_set_row2_fp32(const float c1, const float c2, BgcMatrix2x2FP32* matrix)
+inline void bgc_fp32_matrix2x2_set_row(BGC_FP32_Matrix2x2* matrix, const int row_number, const BGC_FP32_Vector2* row)
 {
-    matrix->r2c1 = c1;
+    if (row_number == 1) {
-    matrix->r2c2 = c2;
+        matrix->r1c1 = row->x1;
+        matrix->r1c2 = row->x2;
+        return;
+    }
+
+    if (row_number == 2) {
+        matrix->r2c1 = row->x1;
+        matrix->r2c2 = row->x2;
+    }
 }
 
-inline void bgc_matrix2x2_set_row2_fp64(const double c1, const double c2, BgcMatrix2x2FP64* matrix)
+inline void bgc_fp64_matrix2x2_set_row(BGC_FP64_Matrix2x2* matrix, const int row_number, const BGC_FP64_Vector2* row)
 {
-    matrix->r2c1 = c1;
+    if (row_number == 1) {
-    matrix->r2c2 = c2;
+        matrix->r1c1 = row->x1;
+        matrix->r1c2 = row->x2;
+        return;
+    }
+
+    if (row_number == 2) {
+        matrix->r2c1 = row->x1;
+        matrix->r2c2 = row->x2;
+    }
 }
 
-// ================ Set Column 1 ================ //
+// ================= Get Column ================= //
 
-inline void bgc_matrix2x2_set_column1_fp32(const float r1, const float r2, BgcMatrix2x2FP32* matrix)
+inline void bgc_fp32_matrix2x2_get_column(BGC_FP32_Vector2* column, const BGC_FP32_Matrix2x2* matrix, const int column_number)
 {
-    matrix->r1c1 = r1;
+    if (column_number == 1) {
-    matrix->r2c1 = r2;
+        column->x1 = matrix->r1c1;
+        column->x2 = matrix->r2c1;
+        return;
+    }
+
+    if (column_number == 2) {
+        column->x1 = matrix->r1c2;
+        column->x2 = matrix->r2c2;
+        return;
+    }
+
+    column->x1 = 0.0f;
+    column->x2 = 0.0f;
 }
 
-inline void bgc_matrix2x2_set_column1_fp64(const double r1, const double r2, BgcMatrix2x2FP64* matrix)
+inline void bgc_fp64_matrix2x2_get_column(BGC_FP64_Vector2* column, const BGC_FP64_Matrix2x2* matrix, const int column_number)
 {
-    matrix->r1c1 = r1;
+    if (column_number == 1) {
-    matrix->r2c1 = r2;
+        column->x1 = matrix->r1c1;
+        column->x2 = matrix->r2c1;
+        return;
+    }
+
+    if (column_number == 2) {
+        column->x1 = matrix->r1c2;
+        column->x2 = matrix->r2c2;
+        return;
+    }
+
+    column->x1 = 0.0;
+    column->x2 = 0.0;
 }
 
-// ================ Set Column 2 ================ //
+// ================= Set Column ================= //
 
-inline void bgc_matrix2x2_set_column2_fp32(const float r1, const float r2, BgcMatrix2x2FP32* matrix)
+inline void bgc_fp32_matrix2x2_set_column(BGC_FP32_Matrix2x2* matrix, const int column_number, const BGC_FP32_Vector2* column)
 {
-    matrix->r1c2 = r1;
+    if (column_number == 1) {
-    matrix->r2c2 = r2;
+        matrix->r1c1 = column->x1;
+        matrix->r2c1 = column->x2;
+        return;
+    }
+
+    if (column_number == 2) {
+        matrix->r1c2 = column->x1;
+        matrix->r2c2 = column->x2;
+    }
 }
 
-inline void bgc_matrix2x2_set_column2_fp64(const double r1, const double r2, BgcMatrix2x2FP64* matrix)
+inline void bgc_fp64_matrix2x2_set_column(BGC_FP64_Matrix2x2* matrix, const int column_number, const BGC_FP64_Vector2* column)
 {
-    matrix->r1c2 = r1;
+    if (column_number == 1) {
-    matrix->r2c2 = r2;
+        matrix->r1c1 = column->x1;
+        matrix->r2c1 = column->x2;
+        return;
+    }
+
+    if (column_number == 2) {
+        matrix->r1c2 = column->x1;
+        matrix->r2c2 = column->x2;
+    }
 }
 
 // ==================== Add ===================== //
 
-inline void bgc_matrix2x2_add_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x2FP32* sum)
+inline void bgc_fp32_matrix2x2_add(BGC_FP32_Matrix2x2* sum, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix2x2* matrix2)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -370,7 +486,7 @@ inline void bgc_matrix2x2_add_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMat
     sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
 }
 
-inline void bgc_matrix2x2_add_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x2FP64* sum)
+inline void bgc_fp64_matrix2x2_add(BGC_FP64_Matrix2x2* sum, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix2x2* matrix2)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -381,7 +497,7 @@ inline void bgc_matrix2x2_add_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMat
 
 // ================= Add scaled ================= //
 
-inline void bgc_matrix2x2_add_scaled_fp32(const BgcMatrix2x2FP32* basic_matrix, const BgcMatrix2x2FP32* scalable_matrix, const float scale, BgcMatrix2x2FP32* sum)
+inline void bgc_fp32_matrix2x2_add_scaled(BGC_FP32_Matrix2x2* sum, const BGC_FP32_Matrix2x2* basic_matrix, const BGC_FP32_Matrix2x2* scalable_matrix, const float scale)
 {
     sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
     sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
@@ -390,7 +506,7 @@ inline void bgc_matrix2x2_add_scaled_fp32(const BgcMatrix2x2FP32* basic_matrix,
     sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
 }
 
-inline void bgc_matrix2x2_add_scaled_fp64(const BgcMatrix2x2FP64* basic_matrix, const BgcMatrix2x2FP64* scalable_matrix, const double scale, BgcMatrix2x2FP64* sum)
+inline void bgc_fp64_matrix2x2_add_scaled(BGC_FP64_Matrix2x2* sum, const BGC_FP64_Matrix2x2* basic_matrix, const BGC_FP64_Matrix2x2* scalable_matrix, const double scale)
 {
     sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
     sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
@@ -401,7 +517,7 @@ inline void bgc_matrix2x2_add_scaled_fp64(const BgcMatrix2x2FP64* basic_matrix,
 
 // ================== Subtract ================== //
 
-inline void bgc_matrix2x2_subtract_fp32(const BgcMatrix2x2FP32* minuend, const BgcMatrix2x2FP32* subtrahend, BgcMatrix2x2FP32* difference)
+inline void bgc_fp32_matrix2x2_subtract(BGC_FP32_Matrix2x2* difference, const BGC_FP32_Matrix2x2* minuend, const BGC_FP32_Matrix2x2* subtrahend)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -410,7 +526,7 @@ inline void bgc_matrix2x2_subtract_fp32(const BgcMatrix2x2FP32* minuend, const B
     difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
 }
 
-inline void bgc_matrix2x2_subtract_fp64(const BgcMatrix2x2FP64* minuend, const BgcMatrix2x2FP64* subtrahend, BgcMatrix2x2FP64* difference)
+inline void bgc_fp64_matrix2x2_subtract(BGC_FP64_Matrix2x2* difference, const BGC_FP64_Matrix2x2* minuend, const BGC_FP64_Matrix2x2* subtrahend)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -419,29 +535,9 @@ inline void bgc_matrix2x2_subtract_fp64(const BgcMatrix2x2FP64* minuend, const B
     difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
 }
 
-// ============== Subtract scaled =============== //
-
-inline void bgc_matrix2x2_subtract_scaled_fp32(const BgcMatrix2x2FP32* basic_matrix, const BgcMatrix2x2FP32* scalable_matrix, const float scale, BgcMatrix2x2FP32* difference)
-{
-    difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale;
-    difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale;
-
-    difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale;
-    difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale;
-}
-
-inline void bgc_matrix2x2_subtract_scaled_fp64(const BgcMatrix2x2FP64* basic_matrix, const BgcMatrix2x2FP64* scalable_matrix, const double scale, BgcMatrix2x2FP64* difference)
-{
-    difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale;
-    difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale;
-
-    difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale;
-    difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale;
-}
-
 // ================== Multiply ================== //
 
-inline void bgc_matrix2x2_multiply_fp32(const BgcMatrix2x2FP32* multiplicand, const float multiplier, BgcMatrix2x2FP32* product)
+inline void bgc_fp32_matrix2x2_multiply(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix2x2* multiplicand, const float multiplier)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -450,7 +546,7 @@ inline void bgc_matrix2x2_multiply_fp32(const BgcMatrix2x2FP32* multiplicand, co
     product->r2c2 = multiplicand->r2c2 * multiplier;
 }
 
-inline void bgc_matrix2x2_multiply_fp64(const BgcMatrix2x2FP64* multiplicand, const double multiplier, BgcMatrix2x2FP64* product)
+inline void bgc_fp64_matrix2x2_multiply(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix2x2* multiplicand, const double multiplier)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -461,39 +557,43 @@ inline void bgc_matrix2x2_multiply_fp64(const BgcMatrix2x2FP64* multiplicand, co
 
 // =================== Divide =================== //
 
-inline void bgc_matrix2x2_divide_fp32(const BgcMatrix2x2FP32* dividend, const float divisor, BgcMatrix2x2FP32* quotient)
+inline void bgc_fp32_matrix2x2_divide(BGC_FP32_Matrix2x2* quotient, const BGC_FP32_Matrix2x2* dividend, const float divisor)
 {
-    bgc_matrix2x2_multiply_fp32(dividend, 1.0f / divisor, quotient);
+    bgc_fp32_matrix2x2_multiply(quotient, dividend, 1.0f / divisor);
 }
 
-inline void bgc_matrix2x2_divide_fp64(const BgcMatrix2x2FP64* dividend, const double divisor, BgcMatrix2x2FP64* quotient)
+inline void bgc_fp64_matrix2x2_divide(BGC_FP64_Matrix2x2* quotient, const BGC_FP64_Matrix2x2* dividend, const double divisor)
 {
-    bgc_matrix2x2_multiply_fp64(dividend, 1.0 / divisor, quotient);
+    bgc_fp64_matrix2x2_multiply(quotient, dividend, 1.0 / divisor);
 }
 
-// ============ Left Vector Product ============= //
+// ================ Interpolate ================= //
 
-inline void bgc_matrix2x2_get_left_product_fp32(const BgcVector2FP32* vector, const BgcMatrix2x2FP32* matrix, BgcVector2FP32* product)
+inline void bgc_fp32_matrix2x2_interpolate(BGC_FP32_Matrix2x2* interpolation, const BGC_FP32_Matrix2x2* first, const BGC_FP32_Matrix2x2* second, const float phase)
 {
-    const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
+    const float counter_phase = 1.0f - phase;
-    const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
 
-    product->x1 = x1;
+    interpolation->r1c1 = first->r1c1 * counter_phase + second->r1c1 * phase;
-    product->x2 = x2;
+    interpolation->r1c2 = first->r1c2 * counter_phase + second->r1c2 * phase;
+
+    interpolation->r2c1 = first->r2c1 * counter_phase + second->r2c1 * phase;
+    interpolation->r2c2 = first->r2c2 * counter_phase + second->r2c2 * phase;
 }
 
-inline void bgc_matrix2x2_get_left_product_fp64(const BgcVector2FP64* vector, const BgcMatrix2x2FP64* matrix, BgcVector2FP64* product)
+inline void bgc_fp64_matrix2x2_interpolate(BGC_FP64_Matrix2x2* interpolation, const BGC_FP64_Matrix2x2* first, const BGC_FP64_Matrix2x2* second, const double phase)
 {
-    const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
+    const double counter_phase = 1.0 - phase;
-    const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
 
-    product->x1 = x1;
+    interpolation->r1c1 = first->r1c1 * counter_phase + second->r1c1 * phase;
-    product->x2 = x2;
+    interpolation->r1c2 = first->r1c2 * counter_phase + second->r1c2 * phase;
+
+    interpolation->r2c1 = first->r2c1 * counter_phase + second->r2c1 * phase;
+    interpolation->r2c2 = first->r2c2 * counter_phase + second->r2c2 * phase;
 }
 
 // ============ Right Vector Product ============ //
 
-inline void bgc_matrix2x2_get_right_product_fp32(const BgcMatrix2x2FP32* matrix, const BgcVector2FP32* vector, BgcVector2FP32* product)
+inline void bgc_fp32_multiply_matrix2x2_by_vector2(BGC_FP32_Vector2* product, const BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Vector2* vector)
 {
     const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
     const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
@@ -502,7 +602,7 @@ inline void bgc_matrix2x2_get_right_product_fp32(const BgcMatrix2x2FP32* matrix,
     product->x2 = x2;
 }
 
-inline void bgc_matrix2x2_get_right_product_fp64(const BgcMatrix2x2FP64* matrix, const BgcVector2FP64* vector, BgcVector2FP64* product)
+inline void bgc_fp64_multiply_matrix2x2_by_vector2(BGC_FP64_Vector2* product, const BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Vector2* vector)
 {
     const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
     const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
@@ -511,4 +611,24 @@ inline void bgc_matrix2x2_get_right_product_fp64(const BgcMatrix2x2FP64* matrix,
     product->x2 = x2;
 }
 
+// ============ Left Vector Product ============= //
+
+inline void bgc_fp32_multiply_vector2_by_matrix2x2(BGC_FP32_Vector2* product, const BGC_FP32_Vector2* vector, const BGC_FP32_Matrix2x2* matrix)
+{
+    const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
+    const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
+
+    product->x1 = x1;
+    product->x2 = x2;
+}
+
+inline void bgc_fp64_multiply_vector2_by_matrix2x2(BGC_FP64_Vector2* product, const BGC_FP64_Vector2* vector, const BGC_FP64_Matrix2x2* matrix)
+{
+    const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
+    const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
+
+    product->x1 = x1;
+    product->x2 = x2;
+}
+
 #endif

basic-geometry/matrix2x3.c

@@ -1,55 +1,52 @@
 #include "matrix2x3.h"
 
-extern inline void bgc_matrix2x3_reset_fp32(BgcMatrix2x3FP32* matrix);
+extern inline void bgc_fp32_matrix2x3_reset(BGC_FP32_Matrix2x3* matrix);
-extern inline void bgc_matrix2x3_reset_fp64(BgcMatrix2x3FP64* matrix);
+extern inline void bgc_fp64_matrix2x3_reset(BGC_FP64_Matrix2x3* matrix);
 
-extern inline void bgc_matrix2x3_copy_fp32(const BgcMatrix2x3FP32* source, BgcMatrix2x3FP32* destination);
+extern inline void bgc_fp32_matrix2x3_copy(BGC_FP32_Matrix2x3* destination, const BGC_FP32_Matrix2x3* source);
-extern inline void bgc_matrix2x3_copy_fp64(const BgcMatrix2x3FP64* source, BgcMatrix2x3FP64* destination);
+extern inline void bgc_fp64_matrix2x3_copy(BGC_FP64_Matrix2x3* destination, const BGC_FP64_Matrix2x3* source);
 
-extern inline void bgc_matrix2x3_swap_fp32(BgcMatrix2x3FP32* matrix1, BgcMatrix2x3FP32* matrix2);
+extern inline void bgc_fp32_matrix2x3_swap(BGC_FP32_Matrix2x3* matrix1, BGC_FP32_Matrix2x3* matrix2);
-extern inline void bgc_matrix2x3_swap_fp64(BgcMatrix2x3FP64* matrix1, BgcMatrix2x3FP64* matrix2);
+extern inline void bgc_fp64_matrix2x3_swap(BGC_FP64_Matrix2x3* matrix1, BGC_FP64_Matrix2x3* matrix2);
 
-extern inline void bgc_matrix2x3_convert_fp64_to_fp32(const BgcMatrix2x3FP64* source, BgcMatrix2x3FP32* destination);
+extern inline void bgc_fp32_matrix2x3_convert_to_fp64(BGC_FP64_Matrix2x3* destination, const BGC_FP32_Matrix2x3* source);
-extern inline void bgc_matrix2x3_convert_fp32_to_fp64(const BgcMatrix2x3FP32* source, BgcMatrix2x3FP64* destination);
+extern inline void bgc_fp64_matrix2x3_convert_to_fp32(BGC_FP32_Matrix2x3* destination, const BGC_FP64_Matrix2x3* source);
 
-extern inline void bgc_matrix2x3_transpose_fp32(const BgcMatrix3x2FP32* matrix, BgcMatrix2x3FP32* transposed);
+extern inline void bgc_fp32_matrix2x3_get_transposed(BGC_FP32_Matrix2x3* transposed, const BGC_FP32_Matrix3x2* matrix);
-extern inline void bgc_matrix2x3_transpose_fp64(const BgcMatrix3x2FP64* matrix, BgcMatrix2x3FP64* transposed);
+extern inline void bgc_fp64_matrix2x3_get_transposed(BGC_FP64_Matrix2x3* transposed, const BGC_FP64_Matrix3x2* matrix);
 
-extern inline void bgc_matrix2x3_set_row1_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix);
+extern inline void bgc_fp32_matrix2x3_get_row(BGC_FP32_Vector2* row, const BGC_FP32_Matrix2x3* matrix, const int row_number);
-extern inline void bgc_matrix2x3_set_row1_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix);
+extern inline void bgc_fp64_matrix2x3_get_row(BGC_FP64_Vector2* row, const BGC_FP64_Matrix2x3* matrix, const int row_number);
 
-extern inline void bgc_matrix2x3_set_row2_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix);
+extern inline void bgc_fp32_matrix2x3_set_row(BGC_FP32_Matrix2x3* matrix, const int row_number, const BGC_FP32_Vector2* row);
-extern inline void bgc_matrix2x3_set_row2_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix);
+extern inline void bgc_fp64_matrix2x3_set_row(BGC_FP64_Matrix2x3* matrix, const int row_number, const BGC_FP64_Vector2* row);
 
-extern inline void bgc_matrix2x3_set_row3_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix);
+extern inline void bgc_fp32_matrix2x3_get_column(BGC_FP32_Vector3* column, const BGC_FP32_Matrix2x3* matrix, const int column_number);
-extern inline void bgc_matrix2x3_set_row3_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix);
+extern inline void bgc_fp64_matrix2x3_get_column(BGC_FP64_Vector3* column, const BGC_FP64_Matrix2x3* matrix, const int column_number);
 
-extern inline void bgc_matrix2x3_set_column1_fp32(const float r1, const float r2, const float r3, BgcMatrix2x3FP32* matrix);
+extern inline void bgc_fp32_matrix2x3_set_column(BGC_FP32_Matrix2x3* matrix, const int number, const BGC_FP32_Vector3* column);
-extern inline void bgc_matrix2x3_set_column1_fp64(const double r1, const double r2, const double r3, BgcMatrix2x3FP64* matrix);
+extern inline void bgc_fp64_matrix2x3_set_column(BGC_FP64_Matrix2x3* matrix, const int number, const BGC_FP64_Vector3* column);
 
-extern inline void bgc_matrix2x3_set_column2_fp32(const float r1, const float r2, const float r3, BgcMatrix2x3FP32* matrix);
+extern inline void bgc_fp32_matrix2x3_add(BGC_FP32_Matrix2x3* sum, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix2x3* matrix2);
-extern inline void bgc_matrix2x3_set_column2_fp64(const double r1, const double r2, const double r3, BgcMatrix2x3FP64* matrix);
+extern inline void bgc_fp64_matrix2x3_add(BGC_FP64_Matrix2x3* sum, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix2x3* matrix2);
 
-extern inline void bgc_matrix2x3_add_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x3FP32* sum);
+extern inline void bgc_fp32_matrix2x3_add_scaled(BGC_FP32_Matrix2x3* sum, const BGC_FP32_Matrix2x3* basic_matrix, const BGC_FP32_Matrix2x3* scalable_matrix, const float scale);
-extern inline void bgc_matrix2x3_add_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x3FP64* sum);
+extern inline void bgc_fp64_matrix2x3_add_scaled(BGC_FP64_Matrix2x3* sum, const BGC_FP64_Matrix2x3* basic_matrix, const BGC_FP64_Matrix2x3* scalable_matrix, const double scale);
 
-extern inline void bgc_matrix2x3_add_scaled_fp32(const BgcMatrix2x3FP32* basic_matrix, const BgcMatrix2x3FP32* scalable_matrix, const float scale, BgcMatrix2x3FP32* sum);
+extern inline void bgc_fp32_matrix2x3_subtract(BGC_FP32_Matrix2x3* difference, const BGC_FP32_Matrix2x3* minuend, const BGC_FP32_Matrix2x3* subtrahend);
-extern inline void bgc_matrix2x3_add_scaled_fp64(const BgcMatrix2x3FP64* basic_matrix, const BgcMatrix2x3FP64* scalable_matrix, const double scale, BgcMatrix2x3FP64* sum);
+extern inline void bgc_fp64_matrix2x3_subtract(BGC_FP64_Matrix2x3* difference, const BGC_FP64_Matrix2x3* minuend, const BGC_FP64_Matrix2x3* subtrahend);
 
-extern inline void bgc_matrix2x3_subtract_fp32(const BgcMatrix2x3FP32* minuend, const BgcMatrix2x3FP32* subtrahend, BgcMatrix2x3FP32* difference);
+extern inline void bgc_fp32_matrix2x3_multiply(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix2x3* multiplicand, const float multiplier);
-extern inline void bgc_matrix2x3_subtract_fp64(const BgcMatrix2x3FP64* minuend, const BgcMatrix2x3FP64* subtrahend, BgcMatrix2x3FP64* difference);
+extern inline void bgc_fp64_matrix2x3_multiply(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix2x3* multiplicand, const double multiplier);
 
-extern inline void bgc_matrix2x3_subtract_scaled_fp32(const BgcMatrix2x3FP32* basic_matrix, const BgcMatrix2x3FP32* scalable_matrix, const float scale, BgcMatrix2x3FP32* difference);
+extern inline void bgc_fp32_matrix2x3_divide(BGC_FP32_Matrix2x3* quotient, const BGC_FP32_Matrix2x3* dividend, const float divisor);
-extern inline void bgc_matrix2x3_subtract_scaled_fp64(const BgcMatrix2x3FP64* basic_matrix, const BgcMatrix2x3FP64* scalable_matrix, const double scale, BgcMatrix2x3FP64* difference);
+extern inline void bgc_fp64_matrix2x3_divide(BGC_FP64_Matrix2x3* quotient, const BGC_FP64_Matrix2x3* dividend, const double divisor);
 
-extern inline void bgc_matrix2x3_multiply_fp32(const BgcMatrix2x3FP32* multiplicand, const float multiplier, BgcMatrix2x3FP32* product);
+extern inline void bgc_fp32_matrix2x3_interpolate(BGC_FP32_Matrix2x3* interpolation, const BGC_FP32_Matrix2x3* first, const BGC_FP32_Matrix2x3* second, const float phase);
-extern inline void bgc_matrix2x3_multiply_fp64(const BgcMatrix2x3FP64* multiplicand, const double multiplier, BgcMatrix2x3FP64* product);
+extern inline void bgc_fp64_matrix2x3_interpolate(BGC_FP64_Matrix2x3* interpolation, const BGC_FP64_Matrix2x3* first, const BGC_FP64_Matrix2x3* second, const double phase);
 
-extern inline void bgc_matrix2x3_divide_fp32(const BgcMatrix2x3FP32* dividend, const float divisor, BgcMatrix2x3FP32* quotient);
+extern inline void bgc_fp32_multiply_vector3_by_matrix2x3(BGC_FP32_Vector2* product, const BGC_FP32_Vector3* vector, const BGC_FP32_Matrix2x3* matrix);
-extern inline void bgc_matrix2x3_divide_fp64(const BgcMatrix2x3FP64* dividend, const double divisor, BgcMatrix2x3FP64* quotient);
+extern inline void bgc_fp64_multiply_vector3_by_matrix2x3(BGC_FP64_Vector2* product, const BGC_FP64_Vector3* vector, const BGC_FP64_Matrix2x3* matrix);
 
-extern inline void bgc_matrix2x3_get_left_product_fp32(const BgcVector3FP32* vector, const BgcMatrix2x3FP32* matrix, BgcVector2FP32* result);
+extern inline void bgc_fp32_multiply_matrix2x3_by_vector2(BGC_FP32_Vector3* product, const BGC_FP32_Matrix2x3* matrix, const BGC_FP32_Vector2* vector);
-extern inline void bgc_matrix2x3_get_left_product_fp64(const BgcVector3FP64* vector, const BgcMatrix2x3FP64* matrix, BgcVector2FP64* result);
+extern inline void bgc_fp64_multiply_matrix2x3_by_vector2(BGC_FP64_Vector3* product, const BGC_FP64_Matrix2x3* matrix, const BGC_FP64_Vector2* vector);
-
-extern inline void bgc_matrix2x3_get_right_product_fp32(const BgcMatrix2x3FP32* matrix, const BgcVector2FP32* vector, BgcVector3FP32* result);
-extern inline void bgc_matrix2x3_get_right_product_fp64(const BgcMatrix2x3FP64* matrix, const BgcVector2FP64* vector, BgcVector3FP64* result);

basic-geometry/matrix2x3.h

@@ -1,13 +1,13 @@
-#ifndef _BGC_MATRIX2X3_H_
+#ifndef _BGC_MATRIX2X3_H_INCLUDED_
-#define _BGC_MATRIX2X3_H_
+#define _BGC_MATRIX2X3_H_INCLUDED_
 
 #include "vector2.h"
 #include "vector3.h"
-#include "matrixes.h"
+#include "matrices.h"
 
 // =================== Reset ==================== //
 
-inline void bgc_matrix2x3_reset_fp32(BgcMatrix2x3FP32* matrix)
+inline void bgc_fp32_matrix2x3_reset(BGC_FP32_Matrix2x3* matrix)
 {
     matrix->r1c1 = 0.0f;
     matrix->r1c2 = 0.0f;
@@ -19,7 +19,7 @@ inline void bgc_matrix2x3_reset_fp32(BgcMatrix2x3FP32* matrix)
     matrix->r3c2 = 0.0f;
 }
 
-inline void bgc_matrix2x3_reset_fp64(BgcMatrix2x3FP64* matrix)
+inline void bgc_fp64_matrix2x3_reset(BGC_FP64_Matrix2x3* matrix)
 {
     matrix->r1c1 = 0.0;
     matrix->r1c2 = 0.0;
@@ -33,7 +33,7 @@ inline void bgc_matrix2x3_reset_fp64(BgcMatrix2x3FP64* matrix)
 
 // ==================== Copy ==================== //
 
-inline void bgc_matrix2x3_copy_fp32(const BgcMatrix2x3FP32* source, BgcMatrix2x3FP32* destination)
+inline void bgc_fp32_matrix2x3_copy(BGC_FP32_Matrix2x3* destination, const BGC_FP32_Matrix2x3* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -45,7 +45,7 @@ inline void bgc_matrix2x3_copy_fp32(const BgcMatrix2x3FP32* source, BgcMatrix2x3
     destination->r3c2 = source->r3c2;
 }
 
-inline void bgc_matrix2x3_copy_fp64(const BgcMatrix2x3FP64* source, BgcMatrix2x3FP64* destination)
+inline void bgc_fp64_matrix2x3_copy(BGC_FP64_Matrix2x3* destination, const BGC_FP64_Matrix2x3* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -59,7 +59,7 @@ inline void bgc_matrix2x3_copy_fp64(const BgcMatrix2x3FP64* source, BgcMatrix2x3
 
 // ==================== Swap ==================== //
 
-inline void bgc_matrix2x3_swap_fp32(BgcMatrix2x3FP32* matrix1, BgcMatrix2x3FP32* matrix2)
+inline void bgc_fp32_matrix2x3_swap(BGC_FP32_Matrix2x3* matrix1, BGC_FP32_Matrix2x3* matrix2)
 {
     const float r1c1 = matrix2->r1c1;
     const float r1c2 = matrix2->r1c2;
@@ -89,7 +89,7 @@ inline void bgc_matrix2x3_swap_fp32(BgcMatrix2x3FP32* matrix1, BgcMatrix2x3FP32*
     matrix1->r3c2 = r3c2;
 }
 
-inline void bgc_matrix2x3_swap_fp64(BgcMatrix2x3FP64* matrix1, BgcMatrix2x3FP64* matrix2)
+inline void bgc_fp64_matrix2x3_swap(BGC_FP64_Matrix2x3* matrix1, BGC_FP64_Matrix2x3* matrix2)
 {
     const double r1c1 = matrix2->r1c1;
     const double r1c2 = matrix2->r1c2;
@@ -121,7 +121,7 @@ inline void bgc_matrix2x3_swap_fp64(BgcMatrix2x3FP64* matrix1, BgcMatrix2x3FP64*
 
 // ================== Convert =================== //
 
-inline void bgc_matrix2x3_convert_fp64_to_fp32(const BgcMatrix2x3FP64* source, BgcMatrix2x3FP32* destination)
+inline void bgc_fp64_matrix2x3_convert_to_fp32(BGC_FP32_Matrix2x3* destination, const BGC_FP64_Matrix2x3* source)
 {
     destination->r1c1 = (float)source->r1c1;
     destination->r1c2 = (float)source->r1c2;
@@ -133,7 +133,7 @@ inline void bgc_matrix2x3_convert_fp64_to_fp32(const BgcMatrix2x3FP64* source, B
     destination->r3c2 = (float)source->r3c2;
 }
 
-inline void bgc_matrix2x3_convert_fp32_to_fp64(const BgcMatrix2x3FP32* source, BgcMatrix2x3FP64* destination)
+inline void bgc_fp32_matrix2x3_convert_to_fp64(BGC_FP64_Matrix2x3* destination, const BGC_FP32_Matrix2x3* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -147,7 +147,7 @@ inline void bgc_matrix2x3_convert_fp32_to_fp64(const BgcMatrix2x3FP32* source, B
 
 // ================= Transpose ================== //
 
-inline void bgc_matrix2x3_transpose_fp32(const BgcMatrix3x2FP32* matrix, BgcMatrix2x3FP32* transposed)
+inline void bgc_fp32_matrix2x3_get_transposed(BGC_FP32_Matrix2x3* transposed, const BGC_FP32_Matrix3x2* matrix)
 {
     transposed->r1c1 = matrix->r1c1;
     transposed->r1c2 = matrix->r2c1;
@@ -159,7 +159,7 @@ inline void bgc_matrix2x3_transpose_fp32(const BgcMatrix3x2FP32* matrix, BgcMatr
     transposed->r3c2 = matrix->r2c3;
 }
 
-inline void bgc_matrix2x3_transpose_fp64(const BgcMatrix3x2FP64* matrix, BgcMatrix2x3FP64* transposed)
+inline void bgc_fp64_matrix2x3_get_transposed(BGC_FP64_Matrix2x3* transposed, const BGC_FP64_Matrix3x2* matrix)
 {
     transposed->r1c1 = matrix->r1c1;
     transposed->r1c2 = matrix->r2c1;
@@ -171,83 +171,169 @@ inline void bgc_matrix2x3_transpose_fp64(const BgcMatrix3x2FP64* matrix, BgcMatr
     transposed->r3c2 = matrix->r2c3;
 }
 
-// ================= Set Row 1 ================== //
+// ================== Get Row =================== //
 
-inline void bgc_matrix2x3_set_row1_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix)
+inline void bgc_fp32_matrix2x3_get_row(BGC_FP32_Vector2* row, const BGC_FP32_Matrix2x3* matrix, const int row_number)
 {
-    matrix->r1c1 = c1;
+    if (row_number == 1) {
-    matrix->r1c2 = c2;
+        row->x1 = matrix->r1c1;
+        row->x2 = matrix->r1c2;
+        return;
+    }
+
+    if (row_number == 2) {
+        row->x1 = matrix->r2c1;
+        row->x2 = matrix->r2c2;
+        return;
+    }
+
+    if (row_number == 3) {
+        row->x1 = matrix->r3c1;
+        row->x2 = matrix->r3c2;
+        return;
+    }
+
+    row->x1 = 0.0f;
+    row->x2 = 0.0f;
 }
 
-inline void bgc_matrix2x3_set_row1_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix)
+inline void bgc_fp64_matrix2x3_get_row(BGC_FP64_Vector2* row, const BGC_FP64_Matrix2x3* matrix, const int row_number)
 {
-    matrix->r1c1 = c1;
+    if (row_number == 1) {
-    matrix->r1c2 = c2;
+        row->x1 = matrix->r1c1;
+        row->x2 = matrix->r1c2;
+        return;
+    }
+
+    if (row_number == 2) {
+        row->x1 = matrix->r2c1;
+        row->x2 = matrix->r2c2;
+        return;
+    }
+
+    if (row_number == 3) {
+        row->x1 = matrix->r3c1;
+        row->x2 = matrix->r3c2;
+        return;
+    }
+
+    row->x1 = 0.0f;
+    row->x2 = 0.0f;
 }
 
-// ================= Set Row 2 ================== //
+// ================== Set Row =================== //
 
-inline void bgc_matrix2x3_set_row2_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix)
+inline void bgc_fp32_matrix2x3_set_row(BGC_FP32_Matrix2x3* matrix, const int row_number, const BGC_FP32_Vector2* row)
 {
-    matrix->r2c1 = c1;
+    if (row_number == 1) {
-    matrix->r2c2 = c2;
+        matrix->r1c1 = row->x1;
+        matrix->r1c2 = row->x2;
+        return;
+    }
+
+    if (row_number == 2) {
+        matrix->r2c1 = row->x1;
+        matrix->r2c2 = row->x2;
+        return;
+    }
+
+    if (row_number == 3) {
+        matrix->r3c1 = row->x1;
+        matrix->r3c2 = row->x2;
+    }
 }
 
-inline void bgc_matrix2x3_set_row2_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix)
+inline void bgc_fp64_matrix2x3_set_row(BGC_FP64_Matrix2x3* matrix, const int row_number, const BGC_FP64_Vector2* row)
 {
-    matrix->r2c1 = c1;
+    if (row_number == 1) {
-    matrix->r2c2 = c2;
+        matrix->r1c1 = row->x1;
+        matrix->r1c2 = row->x2;
+        return;
+    }
+
+    if (row_number == 2) {
+        matrix->r2c1 = row->x1;
+        matrix->r2c2 = row->x2;
+        return;
+    }
+
+    if (row_number == 3) {
+        matrix->r3c1 = row->x1;
+        matrix->r3c2 = row->x2;
+    }
 }
 
-// ================= Set Row 3 ================== //
+// ================= Get Column ================= //
 
-inline void bgc_matrix2x3_set_row3_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix)
+inline void bgc_fp32_matrix2x3_get_column(BGC_FP32_Vector3* column, const BGC_FP32_Matrix2x3* matrix, const int column_number)
 {
-    matrix->r3c1 = c1;
+    if (column_number == 1) {
-    matrix->r3c2 = c2;
+        column->x1 = matrix->r1c1;
+        column->x2 = matrix->r2c1;
+        column->x3 = matrix->r3c1;
+        return;
+    }
+
+    if (column_number == 2) {
+        column->x1 = matrix->r1c2;
+        column->x2 = matrix->r2c2;
+        column->x3 = matrix->r3c2;
+    }
 }
 
-inline void bgc_matrix2x3_set_row3_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix)
+inline void bgc_fp64_matrix2x3_get_column(BGC_FP64_Vector3* column, const BGC_FP64_Matrix2x3* matrix, const int column_number)
 {
-    matrix->r3c1 = c1;
+    if (column_number == 1) {
-    matrix->r3c2 = c2;
+        column->x1 = matrix->r1c1;
+        column->x2 = matrix->r2c1;
+        column->x3 = matrix->r3c1;
+        return;
+    }
+
+    if (column_number == 2) {
+        column->x1 = matrix->r1c2;
+        column->x2 = matrix->r2c2;
+        column->x3 = matrix->r3c2;
+    }
 }
 
-// ================ Set Column 1 ================ //
+// ================= Set Column ================= //
 
-inline void bgc_matrix2x3_set_column1_fp32(const float r1, const float r2, const float r3, BgcMatrix2x3FP32* matrix)
+inline void bgc_fp32_matrix2x3_set_column(BGC_FP32_Matrix2x3* matrix, const int column_number, const BGC_FP32_Vector3* column)
 {
-    matrix->r1c1 = r1;
+    if (column_number == 1) {
-    matrix->r2c1 = r2;
+        matrix->r1c1 = column->x1;
-    matrix->r3c1 = r3;
+        matrix->r2c1 = column->x2;
+        matrix->r3c1 = column->x3;
+        return;
+    }
+
+    if (column_number == 2) {
+        matrix->r1c2 = column->x1;
+        matrix->r2c2 = column->x2;
+        matrix->r3c2 = column->x3;
+    }
 }
 
-inline void bgc_matrix2x3_set_column1_fp64(const double r1, const double r2, const double r3, BgcMatrix2x3FP64* matrix)
+inline void bgc_fp64_matrix2x3_set_column(BGC_FP64_Matrix2x3* matrix, const int column_number, const BGC_FP64_Vector3* column)
 {
-    matrix->r1c1 = r1;
+    if (column_number == 1) {
-    matrix->r2c1 = r2;
+        matrix->r1c1 = column->x1;
-    matrix->r3c1 = r3;
+        matrix->r2c1 = column->x2;
-}
+        matrix->r3c1 = column->x3;
+        return;
+    }
 
-// ================ Set Column 2 ================ //
+    if (column_number == 2) {
-
+        matrix->r1c2 = column->x1;
-inline void bgc_matrix2x3_set_column2_fp32(const float r1, const float r2, const float r3, BgcMatrix2x3FP32* matrix)
+        matrix->r2c2 = column->x2;
-{
+        matrix->r3c2 = column->x3;
-    matrix->r1c2 = r1;
+    }
-    matrix->r2c2 = r2;
-    matrix->r3c2 = r3;
-}
-
-inline void bgc_matrix2x3_set_column2_fp64(const double r1, const double r2, const double r3, BgcMatrix2x3FP64* matrix)
-{
-    matrix->r1c2 = r1;
-    matrix->r2c2 = r2;
-    matrix->r3c2 = r3;
 }
 
 // ==================== Add ===================== //
 
-inline void bgc_matrix2x3_add_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x3FP32* sum)
+inline void bgc_fp32_matrix2x3_add(BGC_FP32_Matrix2x3* sum, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix2x3* matrix2)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -259,7 +345,7 @@ inline void bgc_matrix2x3_add_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMat
     sum->r3c2 = matrix1->r3c2 + matrix2->r3c2;
 }
 
-inline void bgc_matrix2x3_add_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x3FP64* sum)
+inline void bgc_fp64_matrix2x3_add(BGC_FP64_Matrix2x3* sum, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix2x3* matrix2)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -273,7 +359,7 @@ inline void bgc_matrix2x3_add_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMat
 
 // ================= Add scaled ================= //
 
-inline void bgc_matrix2x3_add_scaled_fp32(const BgcMatrix2x3FP32* basic_matrix, const BgcMatrix2x3FP32* scalable_matrix, const float scale, BgcMatrix2x3FP32* sum)
+inline void bgc_fp32_matrix2x3_add_scaled(BGC_FP32_Matrix2x3* sum, const BGC_FP32_Matrix2x3* basic_matrix, const BGC_FP32_Matrix2x3* scalable_matrix, const float scale)
 {
     sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
     sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
@@ -285,7 +371,7 @@ inline void bgc_matrix2x3_add_scaled_fp32(const BgcMatrix2x3FP32* basic_matrix,
     sum->r3c2 = basic_matrix->r3c2 + scalable_matrix->r3c2 * scale;
 }
 
-inline void bgc_matrix2x3_add_scaled_fp64(const BgcMatrix2x3FP64* basic_matrix, const BgcMatrix2x3FP64* scalable_matrix, const double scale, BgcMatrix2x3FP64* sum)
+inline void bgc_fp64_matrix2x3_add_scaled(BGC_FP64_Matrix2x3* sum, const BGC_FP64_Matrix2x3* basic_matrix, const BGC_FP64_Matrix2x3* scalable_matrix, const double scale)
 {
     sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
     sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
@@ -299,7 +385,7 @@ inline void bgc_matrix2x3_add_scaled_fp64(const BgcMatrix2x3FP64* basic_matrix,
 
 // ================== Subtract ================== //
 
-inline void bgc_matrix2x3_subtract_fp32(const BgcMatrix2x3FP32* minuend, const BgcMatrix2x3FP32* subtrahend, BgcMatrix2x3FP32* difference)
+inline void bgc_fp32_matrix2x3_subtract(BGC_FP32_Matrix2x3* difference, const BGC_FP32_Matrix2x3* minuend, const BGC_FP32_Matrix2x3* subtrahend)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -311,7 +397,7 @@ inline void bgc_matrix2x3_subtract_fp32(const BgcMatrix2x3FP32* minuend, const B
     difference->r3c2 = minuend->r3c2 - subtrahend->r3c2;
 }
 
-inline void bgc_matrix2x3_subtract_fp64(const BgcMatrix2x3FP64* minuend, const BgcMatrix2x3FP64* subtrahend, BgcMatrix2x3FP64* difference)
+inline void bgc_fp64_matrix2x3_subtract(BGC_FP64_Matrix2x3* difference, const BGC_FP64_Matrix2x3* minuend, const BGC_FP64_Matrix2x3* subtrahend)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -323,35 +409,9 @@ inline void bgc_matrix2x3_subtract_fp64(const BgcMatrix2x3FP64* minuend, const B
     difference->r3c2 = minuend->r3c2 - subtrahend->r3c2;
 }
 
-// ============== Subtract scaled =============== //
-
-inline void bgc_matrix2x3_subtract_scaled_fp32(const BgcMatrix2x3FP32* basic_matrix, const BgcMatrix2x3FP32* scalable_matrix, const float scale, BgcMatrix2x3FP32* difference)
-{
-    difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale;
-    difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale;
-
-    difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale;
-    difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale;
-
-    difference->r3c1 = basic_matrix->r3c1 - scalable_matrix->r3c1 * scale;
-    difference->r3c2 = basic_matrix->r3c2 - scalable_matrix->r3c2 * scale;
-}
-
-inline void bgc_matrix2x3_subtract_scaled_fp64(const BgcMatrix2x3FP64* basic_matrix, const BgcMatrix2x3FP64* scalable_matrix, const double scale, BgcMatrix2x3FP64* difference)
-{
-    difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale;
-    difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale;
-
-    difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale;
-    difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale;
-
-    difference->r3c1 = basic_matrix->r3c1 - scalable_matrix->r3c1 * scale;
-    difference->r3c2 = basic_matrix->r3c2 - scalable_matrix->r3c2 * scale;
-}
-
 // ================== Multiply ================== //
 
-inline void bgc_matrix2x3_multiply_fp32(const BgcMatrix2x3FP32* multiplicand, const float multiplier, BgcMatrix2x3FP32* product)
+inline void bgc_fp32_matrix2x3_multiply(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix2x3* multiplicand, const float multiplier)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -363,7 +423,7 @@ inline void bgc_matrix2x3_multiply_fp32(const BgcMatrix2x3FP32* multiplicand, co
     product->r3c2 = multiplicand->r3c2 * multiplier;
 }
 
-inline void bgc_matrix2x3_multiply_fp64(const BgcMatrix2x3FP64* multiplicand, const double multiplier, BgcMatrix2x3FP64* product)
+inline void bgc_fp64_matrix2x3_multiply(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix2x3* multiplicand, const double multiplier)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -377,44 +437,74 @@ inline void bgc_matrix2x3_multiply_fp64(const BgcMatrix2x3FP64* multiplicand, co
 
 // =================== Divide =================== //
 
-inline void bgc_matrix2x3_divide_fp32(const BgcMatrix2x3FP32* dividend, const float divisor, BgcMatrix2x3FP32* quotient)
+inline void bgc_fp32_matrix2x3_divide(BGC_FP32_Matrix2x3* quotient, const BGC_FP32_Matrix2x3* dividend, const float divisor)
 {
-    bgc_matrix2x3_multiply_fp32(dividend, 1.0f / divisor, quotient);
+    bgc_fp32_matrix2x3_multiply(quotient, dividend, 1.0f / divisor);
 }
 
-inline void bgc_matrix2x3_divide_fp64(const BgcMatrix2x3FP64* dividend, const double divisor, BgcMatrix2x3FP64* quotient)
+inline void bgc_fp64_matrix2x3_divide(BGC_FP64_Matrix2x3* quotient, const BGC_FP64_Matrix2x3* dividend, const double divisor)
 {
-    bgc_matrix2x3_multiply_fp64(dividend, 1.0 / divisor, quotient);
+    bgc_fp64_matrix2x3_multiply(quotient, dividend, 1.0 / divisor);
+}
+
+// ================ Interpolate ================= //
+
+inline void bgc_fp32_matrix2x3_interpolate(BGC_FP32_Matrix2x3* interpolation, const BGC_FP32_Matrix2x3* first, const BGC_FP32_Matrix2x3* second, const float phase)
+{
+    const float couter_phase = 1.0f - phase;
+
+    interpolation->r1c1 = first->r1c1 * couter_phase + second->r1c1 * phase;
+    interpolation->r1c2 = first->r1c2 * couter_phase + second->r1c2 * phase;
+
+    interpolation->r2c1 = first->r2c1 * couter_phase + second->r2c1 * phase;
+    interpolation->r2c2 = first->r2c2 * couter_phase + second->r2c2 * phase;
+
+    interpolation->r3c1 = first->r3c1 * couter_phase + second->r3c1 * phase;
+    interpolation->r3c2 = first->r3c2 * couter_phase + second->r3c2 * phase;
+}
+
+inline void bgc_fp64_matrix2x3_interpolate(BGC_FP64_Matrix2x3* interpolation, const BGC_FP64_Matrix2x3* first, const BGC_FP64_Matrix2x3* second, const double phase)
+{
+    const double couter_phase = 1.0 - phase;
+
+    interpolation->r1c1 = first->r1c1 * couter_phase + second->r1c1 * phase;
+    interpolation->r1c2 = first->r1c2 * couter_phase + second->r1c2 * phase;
+
+    interpolation->r2c1 = first->r2c1 * couter_phase + second->r2c1 * phase;
+    interpolation->r2c2 = first->r2c2 * couter_phase + second->r2c2 * phase;
+
+    interpolation->r3c1 = first->r3c1 * couter_phase + second->r3c1 * phase;
+    interpolation->r3c2 = first->r3c2 * couter_phase + second->r3c2 * phase;
 }
 
 // ============ Left Vector Product ============= //
 
-inline void bgc_matrix2x3_get_left_product_fp32(const BgcVector3FP32* vector, const BgcMatrix2x3FP32* matrix, BgcVector2FP32* result)
+inline void bgc_fp32_multiply_vector3_by_matrix2x3(BGC_FP32_Vector2* product, const BGC_FP32_Vector3* vector, const BGC_FP32_Matrix2x3* matrix)
 {
-    result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
+    product->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
-    result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
+    product->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
 }
 
-inline void bgc_matrix2x3_get_left_product_fp64(const BgcVector3FP64* vector, const BgcMatrix2x3FP64* matrix, BgcVector2FP64* result)
+inline void bgc_fp64_multiply_vector3_by_matrix2x3(BGC_FP64_Vector2* product, const BGC_FP64_Vector3* vector, const BGC_FP64_Matrix2x3* matrix)
 {
-    result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
+    product->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
-    result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
+    product->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
 }
 
 // ============ Right Vector Product ============ //
 
-inline void bgc_matrix2x3_get_right_product_fp32(const BgcMatrix2x3FP32* matrix, const BgcVector2FP32* vector, BgcVector3FP32* result)
+inline void bgc_fp32_multiply_matrix2x3_by_vector2(BGC_FP32_Vector3* product, const BGC_FP32_Matrix2x3* matrix, const BGC_FP32_Vector2* vector)
 {
-    result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
+    product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
-    result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
+    product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
-    result->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2;
+    product->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2;
 }
 
-inline void bgc_matrix2x3_get_right_product_fp64(const BgcMatrix2x3FP64* matrix, const BgcVector2FP64* vector, BgcVector3FP64* result)
+inline void bgc_fp64_multiply_matrix2x3_by_vector2(BGC_FP64_Vector3* product, const BGC_FP64_Matrix2x3* matrix, const BGC_FP64_Vector2* vector)
 {
-    result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
+    product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
-    result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
+    product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
-    result->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2;
+    product->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2;
 }
 
 #endif

basic-geometry/matrix3x2.c

@@ -1,55 +1,52 @@
 #include "matrix3x2.h"
 
-extern inline void bgc_matrix3x2_reset_fp32(BgcMatrix3x2FP32* matrix);
+extern inline void bgc_fp32_matrix3x2_reset(BGC_FP32_Matrix3x2* matrix);
-extern inline void bgc_matrix3x2_reset_fp64(BgcMatrix3x2FP64* matrix);
+extern inline void bgc_fp64_matrix3x2_reset(BGC_FP64_Matrix3x2* matrix);
 
-extern inline void bgc_matrix3x2_copy_fp32(const BgcMatrix3x2FP32* source, BgcMatrix3x2FP32* destination);
+extern inline void bgc_fp32_matrix3x2_copy(BGC_FP32_Matrix3x2* destination, const BGC_FP32_Matrix3x2* source);
-extern inline void bgc_matrix3x2_copy_fp64(const BgcMatrix3x2FP64* source, BgcMatrix3x2FP64* destination);
+extern inline void bgc_fp64_matrix3x2_copy(BGC_FP64_Matrix3x2* destination, const BGC_FP64_Matrix3x2* source);
 
-extern inline void bgc_matrix3x2_swap_fp32(BgcMatrix3x2FP32* matrix1, BgcMatrix3x2FP32* matrix2);
+extern inline void bgc_fp32_matrix3x2_swap(BGC_FP32_Matrix3x2* matrix1, BGC_FP32_Matrix3x2* matrix2);
-extern inline void bgc_matrix3x2_swap_fp64(BgcMatrix3x2FP64* matrix1, BgcMatrix3x2FP64* matrix2);
+extern inline void bgc_fp64_matrix3x2_swap(BGC_FP64_Matrix3x2* matrix1, BGC_FP64_Matrix3x2* matrix2);
 
-extern inline void bgc_matrix3x2_convert_fp64_to_fp32(const BgcMatrix3x2FP64* source, BgcMatrix3x2FP32* destination);
+extern inline void bgc_fp32_matrix3x2_convert_to_fp64(BGC_FP64_Matrix3x2* destination, const BGC_FP32_Matrix3x2* source);
-extern inline void bgc_matrix3x2_convert_fp32_to_fp64(const BgcMatrix3x2FP32* source, BgcMatrix3x2FP64* destination);
+extern inline void bgc_fp64_matrix3x2_convert_to_fp32(BGC_FP32_Matrix3x2* destination, const BGC_FP64_Matrix3x2* source);
 
-extern inline void bgc_matrix3x2_transpose_fp32(const BgcMatrix2x3FP32* matrix, BgcMatrix3x2FP32* transposed);
+extern inline void bgc_fp32_matrix3x2_get_transposed(BGC_FP32_Matrix3x2* transposed, const BGC_FP32_Matrix2x3* matrix);
-extern inline void bgc_matrix3x2_transpose_fp64(const BgcMatrix2x3FP64* matrix, BgcMatrix3x2FP64* transposed);
+extern inline void bgc_fp64_matrix3x2_get_transposed(BGC_FP64_Matrix3x2* transposed, const BGC_FP64_Matrix2x3* matrix);
 
-extern inline void bgc_matrix3x2_set_row1_fp32(const float c1, const float c2, const float c3, BgcMatrix3x2FP32* matrix);
+extern inline void bgc_fp32_matrix3x2_get_row(BGC_FP32_Vector3* row, const BGC_FP32_Matrix3x2* matrix, const int row_number);
-extern inline void bgc_matrix3x2_set_row1_fp64(const double c1, const double c2, const double c3, BgcMatrix3x2FP64* matrix);
+extern inline void bgc_fp64_matrix3x2_get_row(BGC_FP64_Vector3* row, const BGC_FP64_Matrix3x2* matrix, const int row_number);
 
-extern inline void bgc_matrix3x2_set_row2_fp32(const float c1, const float c2, const float c3, BgcMatrix3x2FP32* matrix);
+extern inline void bgc_fp32_matrix3x2_set_row(BGC_FP32_Matrix3x2* matrix, const int row_number, const BGC_FP32_Vector3* row);
-extern inline void bgc_matrix3x2_set_row2_fp64(const double c1, const double c2, const double c3, BgcMatrix3x2FP64* matrix);
+extern inline void bgc_fp64_matrix3x2_set_row(BGC_FP64_Matrix3x2* matrix, const int row_number, const BGC_FP64_Vector3* row);
 
-extern inline void bgc_matrix3x2_set_column1_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix);
+extern inline void bgc_fp32_matrix3x2_get_column(BGC_FP32_Vector2* column, const BGC_FP32_Matrix3x2* matrix, const int column_number);
-extern inline void bgc_matrix3x2_set_column1_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix);
+extern inline void bgc_fp64_matrix3x2_get_column(BGC_FP64_Vector2* column, const BGC_FP64_Matrix3x2* matrix, const int column_number);
 
-extern inline void bgc_matrix3x2_set_column2_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix);
+extern inline void bgc_fp32_matrix3x2_set_column(BGC_FP32_Matrix3x2* matrix, const int column_number, const BGC_FP32_Vector2* column);
-extern inline void bgc_matrix3x2_set_column2_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix);
+extern inline void bgc_fp64_matrix3x2_set_column(BGC_FP64_Matrix3x2* matrix, const int column_number, const BGC_FP64_Vector2* column);
 
-extern inline void bgc_matrix3x2_set_column3_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix);
+extern inline void bgc_fp32_matrix3x2_add(BGC_FP32_Matrix3x2* sum, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix3x2* matrix2);
-extern inline void bgc_matrix3x2_set_column3_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix);
+extern inline void bgc_fp64_matrix3x2_add(BGC_FP64_Matrix3x2* sum, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix3x2* matrix2);
 
-extern inline void bgc_matrix3x2_add_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x2FP32* sum);
+extern inline void bgc_fp32_matrix3x2_add_scaled(BGC_FP32_Matrix3x2* sum, const BGC_FP32_Matrix3x2* basic_matrix, const BGC_FP32_Matrix3x2* scalable_matrix, const float scale);
-extern inline void bgc_matrix3x2_add_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x2FP64* sum);
+extern inline void bgc_fp64_matrix3x2_add_scaled(BGC_FP64_Matrix3x2* sum, const BGC_FP64_Matrix3x2* basic_matrix, const BGC_FP64_Matrix3x2* scalable_matrix, const double scale);
 
-extern inline void bgc_matrix3x2_add_scaled_fp32(const BgcMatrix3x2FP32* basic_matrix, const BgcMatrix3x2FP32* scalable_matrix, const float scale, BgcMatrix3x2FP32* sum);
+extern inline void bgc_fp32_matrix3x2_subtract(BGC_FP32_Matrix3x2* difference, const BGC_FP32_Matrix3x2* minuend, const BGC_FP32_Matrix3x2* subtrahend);
-extern inline void bgc_matrix3x2_add_scaled_fp64(const BgcMatrix3x2FP64* basic_matrix, const BgcMatrix3x2FP64* scalable_matrix, const double scale, BgcMatrix3x2FP64* sum);
+extern inline void bgc_fp64_matrix3x2_subtract(BGC_FP64_Matrix3x2* difference, const BGC_FP64_Matrix3x2* minuend, const BGC_FP64_Matrix3x2* subtrahend);
 
-extern inline void bgc_matrix3x2_subtract_fp32(const BgcMatrix3x2FP32* minuend, const BgcMatrix3x2FP32* subtrahend, BgcMatrix3x2FP32* difference);
+extern inline void bgc_fp32_matrix3x2_multiply(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix3x2* multiplicand, const float multiplier);
-extern inline void bgc_matrix3x2_subtract_fp64(const BgcMatrix3x2FP64* minuend, const BgcMatrix3x2FP64* subtrahend, BgcMatrix3x2FP64* difference);
+extern inline void bgc_fp64_matrix3x2_multiply(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix3x2* multiplicand, const double multiplier);
 
-extern inline void bgc_matrix3x2_subtract_scaled_fp32(const BgcMatrix3x2FP32* basic_matrix, const BgcMatrix3x2FP32* scalable_matrix, const float scale, BgcMatrix3x2FP32* difference);
+extern inline void bgc_fp32_matrix3x2_divide(BGC_FP32_Matrix3x2* quotient, const BGC_FP32_Matrix3x2* dividend, const float divisor);
-extern inline void bgc_matrix3x2_subtract_scaled_fp64(const BgcMatrix3x2FP64* basic_matrix, const BgcMatrix3x2FP64* scalable_matrix, const double scale, BgcMatrix3x2FP64* difference);
+extern inline void bgc_fp64_matrix3x2_divide(BGC_FP64_Matrix3x2* quotient, const BGC_FP64_Matrix3x2* dividend, const double divisor);
 
-extern inline void bgc_matrix3x2_multiply_fp32(const BgcMatrix3x2FP32* multiplicand, const float multiplier, BgcMatrix3x2FP32* product);
+extern inline void bgc_fp32_matrix3x2_interpolate(BGC_FP32_Matrix3x2* interpolation, const BGC_FP32_Matrix3x2* first, const BGC_FP32_Matrix3x2* second, const float phase);
-extern inline void bgc_matrix3x2_multiply_fp64(const BgcMatrix3x2FP64* multiplicand, const double multiplier, BgcMatrix3x2FP64* product);
+extern inline void bgc_fp64_matrix3x2_interpolate(BGC_FP64_Matrix3x2* interpolation, const BGC_FP64_Matrix3x2* first, const BGC_FP64_Matrix3x2* second, const double phase);
 
-extern inline void bgc_matrix3x2_divide_fp32(const BgcMatrix3x2FP32* dividend, const float divisor, BgcMatrix3x2FP32* quotient);
+extern inline void bgc_fp32_multiply_vector2_by_matrix3x2(BGC_FP32_Vector3* product, const BGC_FP32_Vector2* vector, const BGC_FP32_Matrix3x2* matrix);
-extern inline void bgc_matrix3x2_divide_fp64(const BgcMatrix3x2FP64* dividend, const double divisor, BgcMatrix3x2FP64* quotient);
+extern inline void bgc_fp64_multiply_vector2_by_matrix3x2(BGC_FP64_Vector3* product, const BGC_FP64_Vector2* vector, const BGC_FP64_Matrix3x2* matrix);
 
-extern inline void bgc_matrix3x2_get_left_product_fp32(const BgcVector2FP32* vector, const BgcMatrix3x2FP32* matrix, BgcVector3FP32* result);
+extern inline void bgc_fp32_multiply_matrix3x2_by_vector3(BGC_FP32_Vector2* product, const BGC_FP32_Matrix3x2* matrix, const BGC_FP32_Vector3* vector);
-extern inline void bgc_matrix3x2_get_left_product_fp64(const BgcVector2FP64* vector, const BgcMatrix3x2FP64* matrix, BgcVector3FP64* result);
+extern inline void bgc_fp64_multiply_matrix3x2_by_vector3(BGC_FP64_Vector2* product, const BGC_FP64_Matrix3x2* matrix, const BGC_FP64_Vector3* vector);
-
-extern inline void bgc_matrix3x2_get_right_product_fp32(const BgcMatrix3x2FP32* matrix, const BgcVector3FP32* vector, BgcVector2FP32* result);
-extern inline void bgc_matrix3x2_get_right_product_fp64(const BgcMatrix3x2FP64* matrix, const BgcVector3FP64* vector, BgcVector2FP64* result);

basic-geometry/matrix3x2.h

@@ -1,13 +1,13 @@
-#ifndef _BGC_MATRIX3X2_H_
+#ifndef _BGC_MATRIX3X2_H_INCLUDED_
-#define _BGC_MATRIX3X2_H_
+#define _BGC_MATRIX3X2_H_INCLUDED_
 
 #include "vector2.h"
 #include "vector3.h"
-#include "matrixes.h"
+#include "matrices.h"
 
 // =================== Reset ==================== //
 
-inline void bgc_matrix3x2_reset_fp32(BgcMatrix3x2FP32* matrix)
+inline void bgc_fp32_matrix3x2_reset(BGC_FP32_Matrix3x2* matrix)
 {
     matrix->r1c1 = 0.0f;
     matrix->r1c2 = 0.0f;
@@ -18,7 +18,7 @@ inline void bgc_matrix3x2_reset_fp32(BgcMatrix3x2FP32* matrix)
     matrix->r2c3 = 0.0f;
 }
 
-inline void bgc_matrix3x2_reset_fp64(BgcMatrix3x2FP64* matrix)
+inline void bgc_fp64_matrix3x2_reset(BGC_FP64_Matrix3x2* matrix)
 {
     matrix->r1c1 = 0.0;
     matrix->r1c2 = 0.0;
@@ -31,7 +31,7 @@ inline void bgc_matrix3x2_reset_fp64(BgcMatrix3x2FP64* matrix)
 
 // ==================== Copy ==================== //
 
-inline void bgc_matrix3x2_copy_fp32(const BgcMatrix3x2FP32* source, BgcMatrix3x2FP32* destination)
+inline void bgc_fp32_matrix3x2_copy(BGC_FP32_Matrix3x2* destination, const BGC_FP32_Matrix3x2* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -42,7 +42,7 @@ inline void bgc_matrix3x2_copy_fp32(const BgcMatrix3x2FP32* source, BgcMatrix3x2
     destination->r2c3 = source->r2c3;
 }
 
-inline void bgc_matrix3x2_copy_fp64(const BgcMatrix3x2FP64* source, BgcMatrix3x2FP64* destination)
+inline void bgc_fp64_matrix3x2_copy(BGC_FP64_Matrix3x2* destination, const BGC_FP64_Matrix3x2* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -55,7 +55,7 @@ inline void bgc_matrix3x2_copy_fp64(const BgcMatrix3x2FP64* source, BgcMatrix3x2
 
 // ==================== Swap ==================== //
 
-inline void bgc_matrix3x2_swap_fp32(BgcMatrix3x2FP32* matrix1, BgcMatrix3x2FP32* matrix2)
+inline void bgc_fp32_matrix3x2_swap(BGC_FP32_Matrix3x2* matrix1, BGC_FP32_Matrix3x2* matrix2)
 {
     const float r1c1 = matrix2->r1c1;
     const float r1c2 = matrix2->r1c2;
@@ -82,7 +82,7 @@ inline void bgc_matrix3x2_swap_fp32(BgcMatrix3x2FP32* matrix1, BgcMatrix3x2FP32*
     matrix1->r2c3 = r2c3;
 }
 
-inline void bgc_matrix3x2_swap_fp64(BgcMatrix3x2FP64* matrix1, BgcMatrix3x2FP64* matrix2)
+inline void bgc_fp64_matrix3x2_swap(BGC_FP64_Matrix3x2* matrix1, BGC_FP64_Matrix3x2* matrix2)
 {
     const double r1c1 = matrix2->r1c1;
     const double r1c2 = matrix2->r1c2;
@@ -111,7 +111,7 @@ inline void bgc_matrix3x2_swap_fp64(BgcMatrix3x2FP64* matrix1, BgcMatrix3x2FP64*
 
 // ================== Convert =================== //
 
-inline void bgc_matrix3x2_convert_fp64_to_fp32(const BgcMatrix3x2FP64* source, BgcMatrix3x2FP32* destination)
+inline void bgc_fp64_matrix3x2_convert_to_fp32(BGC_FP32_Matrix3x2* destination, const BGC_FP64_Matrix3x2* source)
 {
     destination->r1c1 = (float)source->r1c1;
     destination->r1c2 = (float)source->r1c2;
@@ -122,7 +122,7 @@ inline void bgc_matrix3x2_convert_fp64_to_fp32(const BgcMatrix3x2FP64* source, B
     destination->r2c3 = (float)source->r2c3;
 }
 
-inline void bgc_matrix3x2_convert_fp32_to_fp64(const BgcMatrix3x2FP32* source, BgcMatrix3x2FP64* destination)
+inline void bgc_fp32_matrix3x2_convert_to_fp64(BGC_FP64_Matrix3x2* destination, const BGC_FP32_Matrix3x2* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -135,7 +135,7 @@ inline void bgc_matrix3x2_convert_fp32_to_fp64(const BgcMatrix3x2FP32* source, B
 
 // ================= Transpose ================== //
 
-inline void bgc_matrix3x2_transpose_fp32(const BgcMatrix2x3FP32* matrix, BgcMatrix3x2FP32* transposed)
+inline void bgc_fp32_matrix3x2_get_transposed(BGC_FP32_Matrix3x2* transposed, const BGC_FP32_Matrix2x3* matrix)
 {
     transposed->r1c1 = matrix->r1c1;
     transposed->r1c2 = matrix->r2c1;
@@ -146,7 +146,7 @@ inline void bgc_matrix3x2_transpose_fp32(const BgcMatrix2x3FP32* matrix, BgcMatr
     transposed->r2c3 = matrix->r3c2;
 }
 
-inline void bgc_matrix3x2_transpose_fp64(const BgcMatrix2x3FP64* matrix, BgcMatrix3x2FP64* transposed)
+inline void bgc_fp64_matrix3x2_get_transposed(BGC_FP64_Matrix3x2* transposed, const BGC_FP64_Matrix2x3* matrix)
 {
     transposed->r1c1 = matrix->r1c1;
     transposed->r1c2 = matrix->r2c1;
@@ -157,83 +157,199 @@ inline void bgc_matrix3x2_transpose_fp64(const BgcMatrix2x3FP64* matrix, BgcMatr
     transposed->r2c3 = matrix->r3c2;
 }
 
-// ================= Set Row 1 ================== //
+// ================== Get Row =================== //
 
-inline void bgc_matrix3x2_set_row1_fp32(const float c1, const float c2, const float c3, BgcMatrix3x2FP32* matrix)
+inline void bgc_fp32_matrix3x2_get_row(BGC_FP32_Vector3* row, const BGC_FP32_Matrix3x2* matrix, const int row_number)
 {
-    matrix->r1c1 = c1;
+    if (row_number == 1)
-    matrix->r1c2 = c2;
+    {
-    matrix->r1c3 = c3;
+        row->x1 = matrix->r1c1;
+        row->x2 = matrix->r1c2;
+        row->x3 = matrix->r1c3;
+        return;
+    }
+
+    if (row_number == 2)
+    {
+        row->x1 = matrix->r2c1;
+        row->x2 = matrix->r2c2;
+        row->x3 = matrix->r2c3;
+        return;
+    }
+
+    row->x1 = 0.0f;
+    row->x2 = 0.0f;
+    row->x3 = 0.0f;
 }
 
-inline void bgc_matrix3x2_set_row1_fp64(const double c1, const double c2, const double c3, BgcMatrix3x2FP64* matrix)
+inline void bgc_fp64_matrix3x2_get_row(BGC_FP64_Vector3* row, const BGC_FP64_Matrix3x2* matrix, const int row_number)
 {
-    matrix->r1c1 = c1;
+    if (row_number == 1)
-    matrix->r1c2 = c2;
+    {
-    matrix->r1c3 = c3;
+        row->x1 = matrix->r1c1;
+        row->x2 = matrix->r1c2;
+        row->x3 = matrix->r1c3;
+        return;
+    }
+
+    if (row_number == 2)
+    {
+        row->x1 = matrix->r2c1;
+        row->x2 = matrix->r2c2;
+        row->x3 = matrix->r2c3;
+        return;
+    }
+
+    row->x1 = 0.0f;
+    row->x2 = 0.0f;
+    row->x3 = 0.0f;
 }
 
-// ================= Set Row 2 ================== //
+// ================== Set Row =================== //
 
-inline void bgc_matrix3x2_set_row2_fp32(const float c1, const float c2, const float c3, BgcMatrix3x2FP32* matrix)
+inline void bgc_fp32_matrix3x2_set_row(BGC_FP32_Matrix3x2* matrix, const int row_number, const BGC_FP32_Vector3* row)
 {
-    matrix->r2c1 = c1;
+    if (row_number == 1)
-    matrix->r2c2 = c2;
+    {
-    matrix->r2c3 = c3;
+        matrix->r1c1 = row->x1;
+        matrix->r1c2 = row->x2;
+        matrix->r1c3 = row->x3;
+        return;
+    }
+
+    if (row_number == 2)
+    {
+        matrix->r2c1 = row->x1;
+        matrix->r2c2 = row->x2;
+        matrix->r2c3 = row->x3;
+    }
 }
 
-inline void bgc_matrix3x2_set_row2_fp64(const double c1, const double c2, const double c3, BgcMatrix3x2FP64* matrix)
+inline void bgc_fp64_matrix3x2_set_row(BGC_FP64_Matrix3x2* matrix, const int row_number, const BGC_FP64_Vector3* row)
 {
-    matrix->r2c1 = c1;
+    if (row_number == 1)
-    matrix->r2c2 = c2;
+    {
-    matrix->r2c3 = c3;
+        matrix->r1c1 = row->x1;
+        matrix->r1c2 = row->x2;
+        matrix->r1c3 = row->x3;
+        return;
+    }
+
+    if (row_number == 2)
+    {
+        matrix->r2c1 = row->x1;
+        matrix->r2c2 = row->x2;
+        matrix->r2c3 = row->x3;
+    }
 }
 
-// ================ Set Column 1 ================ //
+// ================= Get Column ================= //
 
-inline void bgc_matrix3x2_set_column1_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix)
+inline void bgc_fp32_matrix3x2_get_column(BGC_FP32_Vector2* column, const BGC_FP32_Matrix3x2* matrix, const int column_number)
 {
-    matrix->r1c1 = r1;
+    if (column_number == 1)
-    matrix->r2c1 = r2;
+    {
+        column->x1 = matrix->r1c1;
+        column->x2 = matrix->r2c1;
+        return;
+    }
+
+    if (column_number == 2)
+    {
+        column->x1 = matrix->r1c2;
+        column->x2 = matrix->r2c2;
+        return;
+    }
+
+    if (column_number == 3)
+    {
+        column->x1 = matrix->r1c3;
+        column->x2 = matrix->r2c3;
+        return;
+    }
+
+    column->x1 = 0.0f;
+    column->x2 = 0.0f;
 }
 
-inline void bgc_matrix3x2_set_column1_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix)
+inline void bgc_fp64_matrix3x2_get_column(BGC_FP64_Vector2* column, const BGC_FP64_Matrix3x2* matrix, const int column_number)
 {
-    matrix->r1c1 = r1;
+    if (column_number == 1)
-    matrix->r2c1 = r2;
+    {
+        column->x1 = matrix->r1c1;
+        column->x2 = matrix->r2c1;
+        return;
+    }
+
+    if (column_number == 2)
+    {
+        column->x1 = matrix->r1c2;
+        column->x2 = matrix->r2c2;
+        return;
+    }
+
+    if (column_number == 3)
+    {
+        column->x1 = matrix->r1c3;
+        column->x2 = matrix->r2c3;
+        return;
+    }
+
+    column->x1 = 0.0;
+    column->x2 = 0.0;
 }
 
-// ================ Set Column 2 ================ //
+// ================= Set Column ================= //
 
-inline void bgc_matrix3x2_set_column2_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix)
+inline void bgc_fp32_matrix3x2_set_column(BGC_FP32_Matrix3x2* matrix, const int column_number, const BGC_FP32_Vector2* column)
 {
-    matrix->r1c2 = r1;
+    if (column_number == 1)
-    matrix->r2c2 = r2;
+    {
+        matrix->r1c1 = column->x1;
+        matrix->r2c1 = column->x2;
+        return;
+    }
+
+    if (column_number == 2)
+    {
+        matrix->r1c2 = column->x1;
+        matrix->r2c2 = column->x2;
+        return;
+    }
+
+    if (column_number == 3)
+    {
+        matrix->r1c3 = column->x1;
+        matrix->r2c3 = column->x2;
+    }
 }
 
-inline void bgc_matrix3x2_set_column2_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix)
+inline void bgc_fp64_matrix3x2_set_column(BGC_FP64_Matrix3x2* matrix, const int column_number, const BGC_FP64_Vector2* column)
 {
-    matrix->r1c2 = r1;
+    if (column_number == 1)
-    matrix->r2c2 = r2;
+    {
-}
+        matrix->r1c1 = column->x1;
+        matrix->r2c1 = column->x2;
+        return;
+    }
 
-// ================ Set Column 3 ================ //
+    if (column_number == 2)
+    {
+        matrix->r1c2 = column->x1;
+        matrix->r2c2 = column->x2;
+        return;
+    }
 
-inline void bgc_matrix3x2_set_column3_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix)
+    if (column_number == 3)
-{
+    {
-    matrix->r1c3 = r1;
+        matrix->r1c3 = column->x1;
-    matrix->r2c3 = r2;
+        matrix->r2c3 = column->x2;
-}
+    }
-
-inline void bgc_matrix3x2_set_column3_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix)
-{
-    matrix->r1c3 = r1;
-    matrix->r2c3 = r2;
 }
 
 // ==================== Add ===================== //
 
-inline void bgc_matrix3x2_add_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x2FP32* sum)
+inline void bgc_fp32_matrix3x2_add(BGC_FP32_Matrix3x2* sum, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix3x2* matrix2)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -244,7 +360,7 @@ inline void bgc_matrix3x2_add_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMat
     sum->r2c3 = matrix1->r2c3 + matrix2->r2c3;
 }
 
-inline void bgc_matrix3x2_add_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x2FP64* sum)
+inline void bgc_fp64_matrix3x2_add(BGC_FP64_Matrix3x2* sum, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix3x2* matrix2)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -257,7 +373,7 @@ inline void bgc_matrix3x2_add_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMat
 
 // ================= Add scaled ================= //
 
-inline void bgc_matrix3x2_add_scaled_fp32(const BgcMatrix3x2FP32* basic_matrix, const BgcMatrix3x2FP32* scalable_matrix, const float scale, BgcMatrix3x2FP32* sum)
+inline void bgc_fp32_matrix3x2_add_scaled(BGC_FP32_Matrix3x2* sum, const BGC_FP32_Matrix3x2* basic_matrix, const BGC_FP32_Matrix3x2* scalable_matrix, const float scale)
 {
     sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
     sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
@@ -268,7 +384,7 @@ inline void bgc_matrix3x2_add_scaled_fp32(const BgcMatrix3x2FP32* basic_matrix,
     sum->r2c3 = basic_matrix->r2c3 + scalable_matrix->r2c3 * scale;
 }
 
-inline void bgc_matrix3x2_add_scaled_fp64(const BgcMatrix3x2FP64* basic_matrix, const BgcMatrix3x2FP64* scalable_matrix, const double scale, BgcMatrix3x2FP64* sum)
+inline void bgc_fp64_matrix3x2_add_scaled(BGC_FP64_Matrix3x2* sum, const BGC_FP64_Matrix3x2* basic_matrix, const BGC_FP64_Matrix3x2* scalable_matrix, const double scale)
 {
     sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
     sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
@@ -281,7 +397,7 @@ inline void bgc_matrix3x2_add_scaled_fp64(const BgcMatrix3x2FP64* basic_matrix,
 
 // ================== Subtract ================== //
 
-inline void bgc_matrix3x2_subtract_fp32(const BgcMatrix3x2FP32* minuend, const BgcMatrix3x2FP32* subtrahend, BgcMatrix3x2FP32* difference)
+inline void bgc_fp32_matrix3x2_subtract(BGC_FP32_Matrix3x2* difference, const BGC_FP32_Matrix3x2* minuend, const BGC_FP32_Matrix3x2* subtrahend)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -292,7 +408,7 @@ inline void bgc_matrix3x2_subtract_fp32(const BgcMatrix3x2FP32* minuend, const B
     difference->r2c3 = minuend->r2c3 - subtrahend->r2c3;
 }
 
-inline void bgc_matrix3x2_subtract_fp64(const BgcMatrix3x2FP64* minuend, const BgcMatrix3x2FP64* subtrahend, BgcMatrix3x2FP64* difference)
+inline void bgc_fp64_matrix3x2_subtract(BGC_FP64_Matrix3x2* difference, const BGC_FP64_Matrix3x2* minuend, const BGC_FP64_Matrix3x2* subtrahend)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -303,33 +419,9 @@ inline void bgc_matrix3x2_subtract_fp64(const BgcMatrix3x2FP64* minuend, const B
     difference->r2c3 = minuend->r2c3 - subtrahend->r2c3;
 }
 
-// ============== Subtract scaled =============== //
-
-inline void bgc_matrix3x2_subtract_scaled_fp32(const BgcMatrix3x2FP32* basic_matrix, const BgcMatrix3x2FP32* scalable_matrix, const float scale, BgcMatrix3x2FP32* difference)
-{
-    difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale;
-    difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale;
-    difference->r1c3 = basic_matrix->r1c3 - scalable_matrix->r1c3 * scale;
-
-    difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale;
-    difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale;
-    difference->r2c3 = basic_matrix->r2c3 - scalable_matrix->r2c3 * scale;
-}
-
-inline void bgc_matrix3x2_subtract_scaled_fp64(const BgcMatrix3x2FP64* basic_matrix, const BgcMatrix3x2FP64* scalable_matrix, const double scale, BgcMatrix3x2FP64* difference)
-{
-    difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale;
-    difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale;
-    difference->r1c3 = basic_matrix->r1c3 - scalable_matrix->r1c3 * scale;
-
-    difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale;
-    difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale;
-    difference->r2c3 = basic_matrix->r2c3 - scalable_matrix->r2c3 * scale;
-}
-
 // ================== Multiply ================== //
 
-inline void bgc_matrix3x2_multiply_fp32(const BgcMatrix3x2FP32* multiplicand, const float multiplier, BgcMatrix3x2FP32* product)
+inline void bgc_fp32_matrix3x2_multiply(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix3x2* multiplicand, const float multiplier)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -340,7 +432,7 @@ inline void bgc_matrix3x2_multiply_fp32(const BgcMatrix3x2FP32* multiplicand, co
     product->r2c3 = multiplicand->r2c3 * multiplier;
 }
 
-inline void bgc_matrix3x2_multiply_fp64(const BgcMatrix3x2FP64* multiplicand, const double multiplier, BgcMatrix3x2FP64* product)
+inline void bgc_fp64_matrix3x2_multiply(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix3x2* multiplicand, const double multiplier)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -353,44 +445,72 @@ inline void bgc_matrix3x2_multiply_fp64(const BgcMatrix3x2FP64* multiplicand, co
 
 // =================== Divide =================== //
 
-inline void bgc_matrix3x2_divide_fp32(const BgcMatrix3x2FP32* dividend, const float divisor, BgcMatrix3x2FP32* quotient)
+inline void bgc_fp32_matrix3x2_divide(BGC_FP32_Matrix3x2* quotient, const BGC_FP32_Matrix3x2* dividend, const float divisor)
 {
-    bgc_matrix3x2_multiply_fp32(dividend, 1.0f / divisor, quotient);
+    bgc_fp32_matrix3x2_multiply(quotient, dividend, 1.0f / divisor);
 }
 
-inline void bgc_matrix3x2_divide_fp64(const BgcMatrix3x2FP64* dividend, const double divisor, BgcMatrix3x2FP64* quotient)
+inline void bgc_fp64_matrix3x2_divide(BGC_FP64_Matrix3x2* quotient, const BGC_FP64_Matrix3x2* dividend, const double divisor)
 {
-    bgc_matrix3x2_multiply_fp64(dividend, 1.0 / divisor, quotient);
+    bgc_fp64_matrix3x2_multiply(quotient, dividend, 1.0 / divisor);
+}
+
+// ================ Interpolate ================= //
+
+inline void bgc_fp32_matrix3x2_interpolate(BGC_FP32_Matrix3x2* interpolation, const BGC_FP32_Matrix3x2* first, const BGC_FP32_Matrix3x2* second, const float phase)
+{
+    const float couter_phase = 1.0f - phase;
+
+    interpolation->r1c1 = first->r1c1 * couter_phase + second->r1c1 * phase;
+    interpolation->r1c2 = first->r1c2 * couter_phase + second->r1c2 * phase;
+    interpolation->r1c3 = first->r1c3 * couter_phase + second->r1c3 * phase;
+
+    interpolation->r2c1 = first->r2c1 * couter_phase + second->r2c1 * phase;
+    interpolation->r2c2 = first->r2c2 * couter_phase + second->r2c2 * phase;
+    interpolation->r2c3 = first->r2c3 * couter_phase + second->r2c3 * phase;
+}
+
+inline void bgc_fp64_matrix3x2_interpolate(BGC_FP64_Matrix3x2* interpolation, const BGC_FP64_Matrix3x2* first, const BGC_FP64_Matrix3x2* second, const double phase)
+{
+    const double couter_phase = 1.0 - phase;
+
+    interpolation->r1c1 = first->r1c1 * couter_phase + second->r1c1 * phase;
+    interpolation->r1c2 = first->r1c2 * couter_phase + second->r1c2 * phase;
+    interpolation->r1c3 = first->r1c3 * couter_phase + second->r1c3 * phase;
+
+    interpolation->r2c1 = first->r2c1 * couter_phase + second->r2c1 * phase;
+    interpolation->r2c2 = first->r2c2 * couter_phase + second->r2c2 * phase;
+    interpolation->r2c3 = first->r2c3 * couter_phase + second->r2c3 * phase;
 }
 
 // ============ Left Vector Product ============= //
 
-inline void bgc_matrix3x2_get_left_product_fp32(const BgcVector2FP32* vector, const BgcMatrix3x2FP32* matrix, BgcVector3FP32* result)
+inline void bgc_fp32_multiply_vector2_by_matrix3x2(BGC_FP32_Vector3* product, const BGC_FP32_Vector2* vector, const BGC_FP32_Matrix3x2* matrix)
 {
-    result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
+    product->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
-    result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
+    product->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
-    result->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3;
+    product->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3;
 }
 
-inline void bgc_matrix3x2_get_left_product_fp64(const BgcVector2FP64* vector, const BgcMatrix3x2FP64* matrix, BgcVector3FP64* result)
+inline void bgc_fp64_multiply_vector2_by_matrix3x2(BGC_FP64_Vector3* product, const BGC_FP64_Vector2* vector, const BGC_FP64_Matrix3x2* matrix)
 {
-    result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
+    product->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
-    result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
+    product->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
-    result->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3;
+    product->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3;
 }
 
 // ============ Right Vector Product ============ //
 
-inline void bgc_matrix3x2_get_right_product_fp32(const BgcMatrix3x2FP32* matrix, const BgcVector3FP32* vector, BgcVector2FP32* result)
+inline void bgc_fp32_multiply_matrix3x2_by_vector3(BGC_FP32_Vector2* product, const BGC_FP32_Matrix3x2* matrix, const BGC_FP32_Vector3* vector)
 {
-    result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
+    product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
-    result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
+    product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
 }
 
-inline void bgc_matrix3x2_get_right_product_fp64(const BgcMatrix3x2FP64* matrix, const BgcVector3FP64* vector, BgcVector2FP64* result)
+inline void bgc_fp64_multiply_matrix3x2_by_vector3(BGC_FP64_Vector2* product, const BGC_FP64_Matrix3x2* matrix, const BGC_FP64_Vector3* vector)
 {
-    result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
+    product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
-    result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
+    product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
 }
 
 #endif

basic-geometry/matrix3x3.c

@@ -1,84 +1,87 @@
 #include "matrix3x3.h"
 
-extern inline void bgc_matrix3x3_reset_fp32(BgcMatrix3x3FP32* matrix);
+extern inline void bgc_fp32_matrix3x3_reset(BGC_FP32_Matrix3x3* matrix);
-extern inline void bgc_matrix3x3_reset_fp64(BgcMatrix3x3FP64* matrix);
+extern inline void bgc_fp64_matrix3x3_reset(BGC_FP64_Matrix3x3* matrix);
 
-extern inline void bgc_matrix3x3_set_to_identity_fp32(BgcMatrix3x3FP32* matrix);
+extern inline void bgc_fp32_matrix3x3_make_identity(BGC_FP32_Matrix3x3* matrix);
-extern inline void bgc_matrix3x3_set_to_identity_fp64(BgcMatrix3x3FP64* matrix);
+extern inline void bgc_fp64_matrix3x3_make_identity(BGC_FP64_Matrix3x3* matrix);
 
-extern inline void bgc_matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, const float d3, BgcMatrix3x3FP32* matrix);
+extern inline void bgc_fp32_matrix3x3_make_diagonal(BGC_FP32_Matrix3x3* matrix, const float d1, const float d2, const float d3);
-extern inline void bgc_matrix3x3_set_to_diagonal_fp64(const double d1, const double d2, const double d3, BgcMatrix3x3FP64* matrix);
+extern inline void bgc_fp64_matrix3x3_make_diagonal(BGC_FP64_Matrix3x3* matrix, const double d1, const double d2, const double d3);
 
-extern inline void bgc_matrix3x3_copy_fp32(const BgcMatrix3x3FP32* source, BgcMatrix3x3FP32* destination);
+extern inline void bgc_fp32_matrix3x3_copy(BGC_FP32_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source);
-extern inline void bgc_matrix3x3_copy_fp64(const BgcMatrix3x3FP64* source, BgcMatrix3x3FP64* destination);
+extern inline void bgc_fp64_matrix3x3_copy(BGC_FP64_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source);
 
-extern inline void bgc_matrix3x3_swap_fp32(BgcMatrix3x3FP32* matrix1, BgcMatrix3x3FP32* matrix2);
+extern inline void bgc_fp32_matrix3x3_swap(BGC_FP32_Matrix3x3* matrix1, BGC_FP32_Matrix3x3* matrix2);
-extern inline void bgc_matrix3x3_swap_fp64(BgcMatrix3x3FP64* matrix1, BgcMatrix3x3FP64* matrix2);
+extern inline void bgc_fp64_matrix3x3_swap(BGC_FP64_Matrix3x3* matrix1, BGC_FP64_Matrix3x3* matrix2);
 
-extern inline void bgc_matrix3x3_convert_fp64_to_fp32(const BgcMatrix3x3FP64* source, BgcMatrix3x3FP32* destination);
+extern inline void bgc_fp64_matrix3x3_convert_to_fp32(BGC_FP32_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source);
-extern inline void bgc_matrix3x3_convert_fp32_to_fp64(const BgcMatrix3x3FP32* source, BgcMatrix3x3FP64* destination);
+extern inline void bgc_fp32_matrix3x3_convert_to_fp64(BGC_FP64_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source);
 
-extern inline float bgc_matrix3x3_get_determinant_fp32(const BgcMatrix3x3FP32* matrix);
+extern inline float bgc_fp32_matrix3x3_get_determinant(const BGC_FP32_Matrix3x3* matrix);
-extern inline double bgc_matrix3x3_get_determinant_fp64(const BgcMatrix3x3FP64* matrix);
+extern inline double bgc_fp64_matrix3x3_get_determinant(const BGC_FP64_Matrix3x3* matrix);
 
-extern inline int bgc_matrix3x3_is_singular_fp32(const BgcMatrix3x3FP32* matrix);
+extern inline int bgc_fp32_matrix3x3_is_identity(const BGC_FP32_Matrix3x3* matrix);
-extern inline int bgc_matrix3x3_is_singular_fp64(const BgcMatrix3x3FP64* matrix);
+extern inline int bgc_fp64_matrix3x3_is_identity(const BGC_FP64_Matrix3x3* matrix);
 
-extern inline int bgc_matrix3x3_is_rotation_fp32(const BgcMatrix3x3FP32* matrix);
+extern inline int bgc_fp32_matrix3x3_is_singular(const BGC_FP32_Matrix3x3* matrix);
-extern inline int bgc_matrix3x3_is_rotation_fp64(const BgcMatrix3x3FP64* matrix);
+extern inline int bgc_fp64_matrix3x3_is_singular(const BGC_FP64_Matrix3x3* matrix);
 
-extern inline void bgc_matrix3x3_transpose_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* transposed);
+extern inline int bgc_fp32_matrix3x3_is_rotation(const BGC_FP32_Matrix3x3* matrix);
-extern inline void bgc_matrix3x3_transpose_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64* transposed);
+extern inline int bgc_fp64_matrix3x3_is_rotation(const BGC_FP64_Matrix3x3* matrix);
 
-extern inline void bgc_matrix3x3_set_row1_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix);
+extern inline int bgc_fp32_matrix3x3_invert(BGC_FP32_Matrix3x3* matrix);
-extern inline void bgc_matrix3x3_set_row1_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix);
+extern inline int bgc_fp64_matrix3x3_invert(BGC_FP64_Matrix3x3* matrix);
 
-extern inline void bgc_matrix3x3_set_row2_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix);
+extern inline void bgc_fp32_matrix3x3_transpose(BGC_FP32_Matrix3x3* matrix);
-extern inline void bgc_matrix3x3_set_row2_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix);
+extern inline void bgc_fp64_matrix3x3_transpose(BGC_FP64_Matrix3x3* matrix);
 
-extern inline void bgc_matrix3x3_set_row3_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix);
+extern inline void bgc_fp32_matrix3x3_get_transposed(BGC_FP32_Matrix3x3* transposed, const BGC_FP32_Matrix3x3* matrix);
-extern inline void bgc_matrix3x3_set_row3_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix);
+extern inline void bgc_fp64_matrix3x3_get_transposed(BGC_FP64_Matrix3x3* transposed, const BGC_FP64_Matrix3x3* matrix);
 
-extern inline void bgc_matrix3x3_set_column1_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix);
+extern inline void bgc_fp32_matrix3x3_get_row(BGC_FP32_Vector3* row, const BGC_FP32_Matrix3x3* matrix, const int row_number);
-extern inline void bgc_matrix3x3_set_column1_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix);
+extern inline void bgc_fp64_matrix3x3_get_row(BGC_FP64_Vector3* row, const BGC_FP64_Matrix3x3* matrix, const int row_number);
 
-extern inline void bgc_matrix3x3_set_column2_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix);
+extern inline void bgc_fp32_matrix3x3_set_row(BGC_FP32_Matrix3x3* matrix, const int row_number, const BGC_FP32_Vector3* row);
-extern inline void bgc_matrix3x3_set_column2_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix);
+extern inline void bgc_fp64_matrix3x3_set_row(BGC_FP64_Matrix3x3* matrix, const int row_number, const BGC_FP64_Vector3* row);
 
-extern inline void bgc_matrix3x3_set_column3_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix);
+extern inline void bgc_fp32_matrix3x3_get_column(BGC_FP32_Vector3* column, const BGC_FP32_Matrix3x3* matrix, const int column_number);
-extern inline void bgc_matrix3x3_set_column3_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix);
+extern inline void bgc_fp64_matrix3x3_get_column(BGC_FP64_Vector3* column, const BGC_FP64_Matrix3x3* matrix, const int column_number);
 
-extern inline void bgc_matrix3x3_add_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x3FP32* sum);
+extern inline void bgc_fp32_matrix3x3_set_column(BGC_FP32_Matrix3x3* matrix, const int column_number, const BGC_FP32_Vector3* column);
-extern inline void bgc_matrix3x3_add_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x3FP64* sum);
+extern inline void bgc_fp64_matrix3x3_set_column(BGC_FP64_Matrix3x3* matrix, const int column_number, const BGC_FP64_Vector3* column);
 
-extern inline void bgc_matrix3x3_add_scaled_fp32(const BgcMatrix3x3FP32* basic_matrix, const BgcMatrix3x3FP32* scalable_matrix, const float scale, BgcMatrix3x3FP32* sum);
+extern inline void bgc_fp32_matrix3x3_add(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix3x3* matrix2);
-extern inline void bgc_matrix3x3_add_scaled_fp64(const BgcMatrix3x3FP64* basic_matrix, const BgcMatrix3x3FP64* scalable_matrix, const double scale, BgcMatrix3x3FP64* sum);
+extern inline void bgc_fp64_matrix3x3_add(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix3x3* matrix2);
 
-extern inline void bgc_matrix3x3_subtract_fp32(const BgcMatrix3x3FP32* minuend, const BgcMatrix3x3FP32* subtrahend, BgcMatrix3x3FP32* difference);
+extern inline void bgc_fp32_matrix3x3_add_scaled(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* basic_matrix, const BGC_FP32_Matrix3x3* scalable_matrix, const float scale);
-extern inline void bgc_matrix3x3_subtract_fp64(const BgcMatrix3x3FP64* minuend, const BgcMatrix3x3FP64* subtrahend, BgcMatrix3x3FP64* difference);
+extern inline void bgc_fp64_matrix3x3_add_scaled(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* basic_matrix, const BGC_FP64_Matrix3x3* scalable_matrix, const double scale);
 
-extern inline void bgc_matrix3x3_subtract_scaled_fp32(const BgcMatrix3x3FP32* basic_matrix, const BgcMatrix3x3FP32* scalable_matrix, const float scale, BgcMatrix3x3FP32* difference);
+extern inline void bgc_fp32_matrix3x3_subtract(BGC_FP32_Matrix3x3* difference, const BGC_FP32_Matrix3x3* minuend, const BGC_FP32_Matrix3x3* subtrahend);
-extern inline void bgc_matrix3x3_subtract_scaled_fp64(const BgcMatrix3x3FP64* basic_matrix, const BgcMatrix3x3FP64* scalable_matrix, const double scale, BgcMatrix3x3FP64* difference);
+extern inline void bgc_fp64_matrix3x3_subtract(BGC_FP64_Matrix3x3* difference, const BGC_FP64_Matrix3x3* minuend, const BGC_FP64_Matrix3x3* subtrahend);
 
-extern inline void bgc_matrix3x3_multiply_fp32(const BgcMatrix3x3FP32* multiplicand, const float multiplier, BgcMatrix3x3FP32* product);
+extern inline void bgc_fp32_matrix3x3_multiply(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix3x3* multiplicand, const float multiplier);
-extern inline void bgc_matrix3x3_multiply_fp64(const BgcMatrix3x3FP64* multiplicand, const double multiplier, BgcMatrix3x3FP64* product);
+extern inline void bgc_fp64_matrix3x3_multiply(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix3x3* multiplicand, const double multiplier);
 
-extern inline void bgc_matrix3x3_divide_fp32(const BgcMatrix3x3FP32* dividend, const float divisor, BgcMatrix3x3FP32* quotient);
+extern inline void bgc_fp32_matrix3x3_divide(BGC_FP32_Matrix3x3* quotient, const BGC_FP32_Matrix3x3* dividend, const float divisor);
-extern inline void bgc_matrix3x3_divide_fp64(const BgcMatrix3x3FP64* dividend, const double divisor, BgcMatrix3x3FP64* quotient);
+extern inline void bgc_fp64_matrix3x3_divide(BGC_FP64_Matrix3x3* quotient, const BGC_FP64_Matrix3x3* dividend, const double divisor);
 
-extern inline void bgc_matrix3x3_get_left_product_fp32(const BgcVector3FP32* vector, const BgcMatrix3x3FP32* matrix, BgcVector3FP32* result);
+extern inline void bgc_fp32_matrix3x3_interpolate(BGC_FP32_Matrix3x3* interpolation, const BGC_FP32_Matrix3x3* first, const BGC_FP32_Matrix3x3* second, const float phase);
-extern inline void bgc_matrix3x3_get_left_product_fp64(const BgcVector3FP64* vector, const BgcMatrix3x3FP64* matrix, BgcVector3FP64* result);
+extern inline void bgc_fp64_matrix3x3_interpolate(BGC_FP64_Matrix3x3* interpolation, const BGC_FP64_Matrix3x3* first, const BGC_FP64_Matrix3x3* second, const double phase);
 
-extern inline void bgc_matrix3x3_get_right_product_fp32(const BgcMatrix3x3FP32* matrix, const BgcVector3FP32* vector, BgcVector3FP32* result);
+extern inline void bgc_fp32_multiply_vector3_by_matrix3x3(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector, const BGC_FP32_Matrix3x3* matrix);
-extern inline void bgc_matrix3x3_get_right_product_fp64(const BgcMatrix3x3FP64* matrix, const BgcVector3FP64* vector, BgcVector3FP64* result);
+extern inline void bgc_fp64_multiply_vector3_by_matrix3x3(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector, const BGC_FP64_Matrix3x3* matrix);
 
-// =================== Invert =================== //
+extern inline void bgc_fp32_multiply_matrix3x3_by_vector3(BGC_FP32_Vector3* product, const BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Vector3* vector);
+extern inline void bgc_fp64_multiply_matrix3x3_by_vector3(BGC_FP64_Vector3* product, const BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Vector3* vector);
 
-int bgc_matrix3x3_invert_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* inverted)
+// ================ Get Inverse ================= //
+
+int bgc_fp32_matrix3x3_get_inverse(BGC_FP32_Matrix3x3* inverse, const BGC_FP32_Matrix3x3* matrix)
 {
-    const float determinant = bgc_matrix3x3_get_determinant_fp32(matrix);
+    const float determinant = bgc_fp32_matrix3x3_get_determinant(matrix);
 
-    if (bgc_is_zero_fp32(determinant)) {
+    if (bgc_fp32_is_zero(determinant)) {
         return 0;
     }
 
@@ -96,26 +99,26 @@ int bgc_matrix3x3_invert_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32*
 
     const float multiplier = 1.0f / determinant;
 
-    inverted->r1c1 = r1c1 * multiplier;
+    inverse->r1c1 = r1c1 * multiplier;
-    inverted->r1c2 = r1c2 * multiplier;
+    inverse->r1c2 = r1c2 * multiplier;
-    inverted->r1c3 = r1c3 * multiplier;
+    inverse->r1c3 = r1c3 * multiplier;
 
-    inverted->r2c1 = r2c1 * multiplier;
+    inverse->r2c1 = r2c1 * multiplier;
-    inverted->r2c2 = r2c2 * multiplier;
+    inverse->r2c2 = r2c2 * multiplier;
-    inverted->r2c3 = r2c3 * multiplier;
+    inverse->r2c3 = r2c3 * multiplier;
 
-    inverted->r3c1 = r3c1 * multiplier;
+    inverse->r3c1 = r3c1 * multiplier;
-    inverted->r3c2 = r3c2 * multiplier;
+    inverse->r3c2 = r3c2 * multiplier;
-    inverted->r3c3 = r3c3 * multiplier;
+    inverse->r3c3 = r3c3 * multiplier;
 
     return 1;
 }
 
-int bgc_matrix3x3_invert_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64* inverted)
+int bgc_fp64_matrix3x3_get_inverse(BGC_FP64_Matrix3x3* inverse, const BGC_FP64_Matrix3x3* matrix)
 {
-    const double determinant = bgc_matrix3x3_get_determinant_fp64(matrix);
+    const double determinant = bgc_fp64_matrix3x3_get_determinant(matrix);
 
-    if (bgc_is_zero_fp64(determinant)) {
+    if (bgc_fp64_is_zero(determinant)) {
         return 0;
     }
 
@@ -133,17 +136,17 @@ int bgc_matrix3x3_invert_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64*
 
     const double multiplier = 1.0 / determinant;
 
-    inverted->r1c1 = r1c1 * multiplier;
+    inverse->r1c1 = r1c1 * multiplier;
-    inverted->r1c2 = r1c2 * multiplier;
+    inverse->r1c2 = r1c2 * multiplier;
-    inverted->r1c3 = r1c3 * multiplier;
+    inverse->r1c3 = r1c3 * multiplier;
 
-    inverted->r2c1 = r2c1 * multiplier;
+    inverse->r2c1 = r2c1 * multiplier;
-    inverted->r2c2 = r2c2 * multiplier;
+    inverse->r2c2 = r2c2 * multiplier;
-    inverted->r2c3 = r2c3 * multiplier;
+    inverse->r2c3 = r2c3 * multiplier;
 
-    inverted->r3c1 = r3c1 * multiplier;
+    inverse->r3c1 = r3c1 * multiplier;
-    inverted->r3c2 = r3c2 * multiplier;
+    inverse->r3c2 = r3c2 * multiplier;
-    inverted->r3c3 = r3c3 * multiplier;
+    inverse->r3c3 = r3c3 * multiplier;
 
     return 1;
 }

basic-geometry/matrix3x3.h

@@ -1,12 +1,12 @@
-#ifndef _BGC_MATRIX3X3_H_
+#ifndef _BGC_MATRIX3X3_H_INCLUDED_
-#define _BGC_MATRIX3X3_H_
+#define _BGC_MATRIX3X3_H_INCLUDED_
 
 #include "vector3.h"
-#include "matrixes.h"
+#include "matrices.h"
 
 // =================== Reset ==================== //
 
-inline void bgc_matrix3x3_reset_fp32(BgcMatrix3x3FP32* matrix)
+inline void bgc_fp32_matrix3x3_reset(BGC_FP32_Matrix3x3* matrix)
 {
     matrix->r1c1 = 0.0f;
     matrix->r1c2 = 0.0f;
@@ -21,7 +21,7 @@ inline void bgc_matrix3x3_reset_fp32(BgcMatrix3x3FP32* matrix)
     matrix->r3c3 = 0.0f;
 }
 
-inline void bgc_matrix3x3_reset_fp64(BgcMatrix3x3FP64* matrix)
+inline void bgc_fp64_matrix3x3_reset(BGC_FP64_Matrix3x3* matrix)
 {
     matrix->r1c1 = 0.0;
     matrix->r1c2 = 0.0;
@@ -38,7 +38,7 @@ inline void bgc_matrix3x3_reset_fp64(BgcMatrix3x3FP64* matrix)
 
 // ================== Identity ================== //
 
-inline void bgc_matrix3x3_set_to_identity_fp32(BgcMatrix3x3FP32* matrix)
+inline void bgc_fp32_matrix3x3_make_identity(BGC_FP32_Matrix3x3* matrix)
 {
     matrix->r1c1 = 1.0f;
     matrix->r1c2 = 0.0f;
@@ -53,7 +53,7 @@ inline void bgc_matrix3x3_set_to_identity_fp32(BgcMatrix3x3FP32* matrix)
     matrix->r3c3 = 1.0f;
 }
 
-inline void bgc_matrix3x3_set_to_identity_fp64(BgcMatrix3x3FP64* matrix)
+inline void bgc_fp64_matrix3x3_make_identity(BGC_FP64_Matrix3x3* matrix)
 {
     matrix->r1c1 = 1.0;
     matrix->r1c2 = 0.0;
@@ -70,7 +70,7 @@ inline void bgc_matrix3x3_set_to_identity_fp64(BgcMatrix3x3FP64* matrix)
 
 // ================ Set Diagonal ================ //
 
-inline void bgc_matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, const float d3, BgcMatrix3x3FP32* matrix)
+inline void bgc_fp32_matrix3x3_make_diagonal(BGC_FP32_Matrix3x3* matrix, const float d1, const float d2, const float d3)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0f;
@@ -85,7 +85,7 @@ inline void bgc_matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, c
     matrix->r3c3 = d2;
 }
 
-inline void bgc_matrix3x3_set_to_diagonal_fp64(const double d1, const double d2, const double d3, BgcMatrix3x3FP64* matrix)
+inline void bgc_fp64_matrix3x3_make_diagonal(BGC_FP64_Matrix3x3* matrix, const double d1, const double d2, const double d3)
 {
     matrix->r1c1 = d1;
     matrix->r1c2 = 0.0;
@@ -102,7 +102,7 @@ inline void bgc_matrix3x3_set_to_diagonal_fp64(const double d1, const double d2,
 
 // ==================== Copy ==================== //
 
-inline void bgc_matrix3x3_copy_fp32(const BgcMatrix3x3FP32* source, BgcMatrix3x3FP32* destination)
+inline void bgc_fp32_matrix3x3_copy(BGC_FP32_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -117,7 +117,7 @@ inline void bgc_matrix3x3_copy_fp32(const BgcMatrix3x3FP32* source, BgcMatrix3x3
     destination->r3c3 = source->r3c3;
 }
 
-inline void bgc_matrix3x3_copy_fp64(const BgcMatrix3x3FP64* source, BgcMatrix3x3FP64* destination)
+inline void bgc_fp64_matrix3x3_copy(BGC_FP64_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -134,7 +134,7 @@ inline void bgc_matrix3x3_copy_fp64(const BgcMatrix3x3FP64* source, BgcMatrix3x3
 
 // ==================== Swap ==================== //
 
-inline void bgc_matrix3x3_swap_fp32(BgcMatrix3x3FP32* matrix1, BgcMatrix3x3FP32* matrix2)
+inline void bgc_fp32_matrix3x3_swap(BGC_FP32_Matrix3x3* matrix1, BGC_FP32_Matrix3x3* matrix2)
 {
     const float r1c1 = matrix2->r1c1;
     const float r1c2 = matrix2->r1c2;
@@ -173,7 +173,7 @@ inline void bgc_matrix3x3_swap_fp32(BgcMatrix3x3FP32* matrix1, BgcMatrix3x3FP32*
     matrix1->r3c3 = r3c3;
 }
 
-inline void bgc_matrix3x3_swap_fp64(BgcMatrix3x3FP64* matrix1, BgcMatrix3x3FP64* matrix2)
+inline void bgc_fp64_matrix3x3_swap(BGC_FP64_Matrix3x3* matrix1, BGC_FP64_Matrix3x3* matrix2)
 {
     const double r1c1 = matrix2->r1c1;
     const double r1c2 = matrix2->r1c2;
@@ -214,7 +214,7 @@ inline void bgc_matrix3x3_swap_fp64(BgcMatrix3x3FP64* matrix1, BgcMatrix3x3FP64*
 
 // ================== Convert =================== //
 
-inline void bgc_matrix3x3_convert_fp64_to_fp32(const BgcMatrix3x3FP64* source, BgcMatrix3x3FP32* destination)
+inline void bgc_fp64_matrix3x3_convert_to_fp32(BGC_FP32_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source)
 {
     destination->r1c1 = (float)source->r1c1;
     destination->r1c2 = (float)source->r1c2;
@@ -229,7 +229,7 @@ inline void bgc_matrix3x3_convert_fp64_to_fp32(const BgcMatrix3x3FP64* source, B
     destination->r3c3 = (float)source->r3c3;
 }
 
-inline void bgc_matrix3x3_convert_fp32_to_fp64(const BgcMatrix3x3FP32* source, BgcMatrix3x3FP64* destination)
+inline void bgc_fp32_matrix3x3_convert_to_fp64(BGC_FP64_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source)
 {
     destination->r1c1 = source->r1c1;
     destination->r1c2 = source->r1c2;
@@ -246,89 +246,141 @@ inline void bgc_matrix3x3_convert_fp32_to_fp64(const BgcMatrix3x3FP32* source, B
 
 // ================ Determinant ================= //
 
-inline float bgc_matrix3x3_get_determinant_fp32(const BgcMatrix3x3FP32* matrix)
+inline float bgc_fp32_matrix3x3_get_determinant(const BGC_FP32_Matrix3x3* matrix)
 {
     return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
          + matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
          + matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1);
 }
 
-inline double bgc_matrix3x3_get_determinant_fp64(const BgcMatrix3x3FP64* matrix)
+inline double bgc_fp64_matrix3x3_get_determinant(const BGC_FP64_Matrix3x3* matrix)
 {
     return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
          + matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
          + matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1);
 }
 
-// ================== Singular ================== //
+// ================ Is Identity ================= //
 
-inline int bgc_matrix3x3_is_singular_fp32(const BgcMatrix3x3FP32* matrix)
+inline int bgc_fp32_matrix3x3_is_identity(const BGC_FP32_Matrix3x3* matrix)
 {
-    return bgc_is_zero_fp32(bgc_matrix3x3_get_determinant_fp32(matrix));
+    return bgc_fp32_is_unit(matrix->r1c1) && bgc_fp32_is_zero(matrix->r1c2) && bgc_fp32_is_zero(matrix->r1c3)
+        && bgc_fp32_is_zero(matrix->r2c1) && bgc_fp32_is_unit(matrix->r2c2) && bgc_fp32_is_zero(matrix->r2c3)
+        && bgc_fp32_is_zero(matrix->r3c1) && bgc_fp32_is_zero(matrix->r3c2) && bgc_fp32_is_unit(matrix->r3c3);
 }
 
-inline int bgc_matrix3x3_is_singular_fp64(const BgcMatrix3x3FP64* matrix)
+inline int bgc_fp64_matrix3x3_is_identity(const BGC_FP64_Matrix3x3* matrix)
 {
-    return bgc_is_zero_fp64(bgc_matrix3x3_get_determinant_fp64(matrix));
+    return bgc_fp64_is_unit(matrix->r1c1) && bgc_fp64_is_zero(matrix->r1c2) && bgc_fp64_is_zero(matrix->r1c3)
+        && bgc_fp64_is_zero(matrix->r2c1) && bgc_fp64_is_unit(matrix->r2c2) && bgc_fp64_is_zero(matrix->r2c3)
+        && bgc_fp64_is_zero(matrix->r3c1) && bgc_fp64_is_zero(matrix->r3c2) && bgc_fp64_is_unit(matrix->r3c3);
+}
+
+// ================ Is Singular ================= //
+
+inline int bgc_fp32_matrix3x3_is_singular(const BGC_FP32_Matrix3x3* matrix)
+{
+    return bgc_fp32_is_zero(bgc_fp32_matrix3x3_get_determinant(matrix));
+}
+
+inline int bgc_fp64_matrix3x3_is_singular(const BGC_FP64_Matrix3x3* matrix)
+{
+    return bgc_fp64_is_zero(bgc_fp64_matrix3x3_get_determinant(matrix));
 }
 
 // ================ Is Rotation ================= //
 
-inline int bgc_matrix3x3_is_rotation_fp32(const BgcMatrix3x3FP32* matrix)
+inline int bgc_fp32_matrix3x3_is_rotation(const BGC_FP32_Matrix3x3* matrix)
 {
-    if (!bgc_is_unit_fp32(bgc_matrix3x3_get_determinant_fp32(matrix))) {
+    BGC_FP32_Matrix3x3 product;
-        return 0;
-    }
 
-    const float product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1;
+    product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1;
-    const float product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2;
+    product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2;
-    const float product_r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3;
+    product.r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3;
 
-    const float product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1;
+    product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1;
-    const float product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2;
+    product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2;
-    const float product_r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3;
+    product.r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3;
 
-    const float product_r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1;
+    product.r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1;
-    const float product_r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2;
+    product.r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2;
-    const float product_r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3;
+    product.r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3;
 
-    return bgc_is_unit_fp32(product_r1c1) && bgc_is_zero_fp32(product_r1c2) && bgc_is_zero_fp32(product_r1c3)
+    return bgc_fp32_matrix3x3_is_identity(&product);
-        && bgc_is_zero_fp32(product_r2c1) && bgc_is_unit_fp32(product_r2c2) && bgc_is_zero_fp32(product_r2c3)
-        && bgc_is_zero_fp32(product_r3c1) && bgc_is_zero_fp32(product_r3c2) && bgc_is_unit_fp32(product_r3c3);
 }
 
-inline int bgc_matrix3x3_is_rotation_fp64(const BgcMatrix3x3FP64* matrix)
+inline int bgc_fp64_matrix3x3_is_rotation(const BGC_FP64_Matrix3x3* matrix)
 {
-    if (!bgc_is_unit_fp64(bgc_matrix3x3_get_determinant_fp64(matrix))) {
+    BGC_FP64_Matrix3x3 product;
-        return 0;
-    }
 
-    const double product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1;
+    product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1;
-    const double product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2;
+    product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2;
-    const double product_r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3;
+    product.r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3;
 
-    const double product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1;
+    product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1;
-    const double product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2;
+    product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2;
-    const double product_r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3;
+    product.r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3;
 
-    const double product_r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1;
+    product.r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1;
-    const double product_r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2;
+    product.r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2;
-    const double product_r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3;
+    product.r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3;
 
-    return bgc_is_unit_fp64(product_r1c1) && bgc_is_zero_fp64(product_r1c2) && bgc_is_zero_fp64(product_r1c3)
+    return bgc_fp64_matrix3x3_is_identity(&product);
-        && bgc_is_zero_fp64(product_r2c1) && bgc_is_unit_fp64(product_r2c2) && bgc_is_zero_fp64(product_r2c3)
-        && bgc_is_zero_fp64(product_r3c1) && bgc_is_zero_fp64(product_r3c2) && bgc_is_unit_fp64(product_r3c3);
 }
 
+// ================ Get Inverse ================= //
+
+int bgc_fp32_matrix3x3_get_inverse(BGC_FP32_Matrix3x3* inverse, const BGC_FP32_Matrix3x3* matrix);
+
+int bgc_fp64_matrix3x3_get_inverse(BGC_FP64_Matrix3x3* inverse, const BGC_FP64_Matrix3x3* matrix);
+
 // =================== Invert =================== //
 
-int bgc_matrix3x3_invert_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* inverted);
+inline int bgc_fp32_matrix3x3_invert(BGC_FP32_Matrix3x3* matrix)
+{
+    return bgc_fp32_matrix3x3_get_inverse(matrix, matrix);
+}
 
-int bgc_matrix3x3_invert_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64* inverted);
+inline int bgc_fp64_matrix3x3_invert(BGC_FP64_Matrix3x3* matrix)
+{
+    return bgc_fp64_matrix3x3_get_inverse(matrix, matrix);
+}
 
 // ================= Transpose ================== //
 
-inline void bgc_matrix3x3_transpose_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* transposed)
+inline void bgc_fp32_matrix3x3_transpose(BGC_FP32_Matrix3x3* matrix)
+{
+    const float r1c2 = matrix->r1c2;
+    const float r1c3 = matrix->r1c3;
+    const float r2c3 = matrix->r2c3;
+
+    matrix->r1c2 = matrix->r2c1;
+    matrix->r1c3 = matrix->r3c1;
+    matrix->r2c3 = matrix->r3c2;
+
+    matrix->r2c1 = r1c2;
+    matrix->r3c1 = r1c3;
+    matrix->r3c2 = r2c3;
+}
+
+inline void bgc_fp64_matrix3x3_transpose(BGC_FP64_Matrix3x3* matrix)
+{
+    const double r1c2 = matrix->r1c2;
+    const double r1c3 = matrix->r1c3;
+    const double r2c3 = matrix->r2c3;
+
+    matrix->r1c2 = matrix->r2c1;
+    matrix->r1c3 = matrix->r3c1;
+    matrix->r2c3 = matrix->r3c2;
+
+    matrix->r2c1 = r1c2;
+    matrix->r3c1 = r1c3;
+    matrix->r3c2 = r2c3;
+}
+
+// =============== Get Transpose ================ //
+
+inline void bgc_fp32_matrix3x3_get_transposed(BGC_FP32_Matrix3x3* transposed, const BGC_FP32_Matrix3x3* matrix)
 {
     transposed->r1c1 = matrix->r1c1;
     transposed->r2c2 = matrix->r2c2;
@@ -347,7 +399,7 @@ inline void bgc_matrix3x3_transpose_fp32(const BgcMatrix3x3FP32* matrix, BgcMatr
     transposed->r3c2 = r2c3;
 }
 
-inline void bgc_matrix3x3_transpose_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64* transposed)
+inline void bgc_fp64_matrix3x3_get_transposed(BGC_FP64_Matrix3x3* transposed, const BGC_FP64_Matrix3x3* matrix)
 {
     transposed->r1c1 = matrix->r1c1;
     transposed->r2c2 = matrix->r2c2;
@@ -366,105 +418,245 @@ inline void bgc_matrix3x3_transpose_fp64(const BgcMatrix3x3FP64* matrix, BgcMatr
     transposed->r3c2 = r2c3;
 }
 
-// ================= Set Row 1 ================== //
+// ================== Get Row -================== //
 
-inline void bgc_matrix3x3_set_row1_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix)
+inline void bgc_fp32_matrix3x3_get_row(BGC_FP32_Vector3* row, const BGC_FP32_Matrix3x3* matrix, const int row_number)
 {
-    matrix->r1c1 = c1;
+    if (row_number == 1)
-    matrix->r1c2 = c2;
+    {
-    matrix->r1c3 = c3;
+        row->x1 = matrix->r1c1;
+        row->x2 = matrix->r1c2;
+        row->x3 = matrix->r1c3;
+        return;
+    }
+
+    if (row_number == 2)
+    {
+        row->x1 = matrix->r2c1;
+        row->x2 = matrix->r2c2;
+        row->x3 = matrix->r2c3;
+        return;
+    }
+
+    if (row_number == 3)
+    {
+        row->x1 = matrix->r3c1;
+        row->x2 = matrix->r3c2;
+        row->x3 = matrix->r3c3;
+        return;
+    }
+
+    row->x1 = 0.0f;
+    row->x2 = 0.0f;
+    row->x3 = 0.0f;
 }
 
-inline void bgc_matrix3x3_set_row1_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix)
+inline void bgc_fp64_matrix3x3_get_row(BGC_FP64_Vector3* row, const BGC_FP64_Matrix3x3* matrix, const int row_number)
 {
-    matrix->r1c1 = c1;
+    if (row_number == 1)
-    matrix->r1c2 = c2;
+    {
-    matrix->r1c3 = c3;
+        row->x1 = matrix->r1c1;
+        row->x2 = matrix->r1c2;
+        row->x3 = matrix->r1c3;
+        return;
+    }
+
+    if (row_number == 2)
+    {
+        row->x1 = matrix->r2c1;
+        row->x2 = matrix->r2c2;
+        row->x3 = matrix->r2c3;
+        return;
+    }
+
+    if (row_number == 3)
+    {
+        row->x1 = matrix->r3c1;
+        row->x2 = matrix->r3c2;
+        row->x3 = matrix->r3c3;
+        return;
+    }
+
+    row->x1 = 0.0;
+    row->x2 = 0.0;
+    row->x3 = 0.0;
 }
 
-// ================= Set Row 2 ================== //
+// ================== Set Row =================== //
 
-inline void bgc_matrix3x3_set_row2_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix)
+inline void bgc_fp32_matrix3x3_set_row(BGC_FP32_Matrix3x3* matrix, const int row_number, const BGC_FP32_Vector3* row)
 {
-    matrix->r2c1 = c1;
+    if (row_number == 1)
-    matrix->r2c2 = c2;
+    {
-    matrix->r2c3 = c3;
+        matrix->r1c1 = row->x1;
+        matrix->r1c2 = row->x2;
+        matrix->r1c3 = row->x3;
+        return;
+    }
+
+    if (row_number == 2)
+    {
+        matrix->r2c1 = row->x1;
+        matrix->r2c2 = row->x2;
+        matrix->r2c3 = row->x3;
+        return;
+    }
+
+    if (row_number == 3)
+    {
+        matrix->r3c1 = row->x1;
+        matrix->r3c2 = row->x2;
+        matrix->r3c3 = row->x3;
+    }
 }
 
-inline void bgc_matrix3x3_set_row2_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix)
+inline void bgc_fp64_matrix3x3_set_row(BGC_FP64_Matrix3x3* matrix, const int row_number, const BGC_FP64_Vector3* row)
 {
-    matrix->r2c1 = c1;
+    if (row_number == 1)
-    matrix->r2c2 = c2;
+    {
-    matrix->r2c3 = c3;
+        matrix->r1c1 = row->x1;
+        matrix->r1c2 = row->x2;
+        matrix->r1c3 = row->x3;
+        return;
+    }
+
+    if (row_number == 2)
+    {
+        matrix->r2c1 = row->x1;
+        matrix->r2c2 = row->x2;
+        matrix->r2c3 = row->x3;
+        return;
+    }
+
+    if (row_number == 3)
+    {
+        matrix->r3c1 = row->x1;
+        matrix->r3c2 = row->x2;
+        matrix->r3c3 = row->x3;
+    }
 }
 
-// ================= Set Row 3 ================== //
+// ================= Get Column ================= //
 
-inline void bgc_matrix3x3_set_row3_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix)
+inline void bgc_fp32_matrix3x3_get_column(BGC_FP32_Vector3* column, const BGC_FP32_Matrix3x3* matrix, const int column_number)
 {
-    matrix->r3c1 = c1;
+    if (column_number == 1)
-    matrix->r3c2 = c2;
+    {
-    matrix->r3c3 = c3;
+        column->x1 = matrix->r1c1;
+        column->x2 = matrix->r2c1;
+        column->x3 = matrix->r3c1;
+        return;
+    }
+
+    if (column_number == 2)
+    {
+        column->x1 = matrix->r1c2;
+        column->x2 = matrix->r2c2;
+        column->x3 = matrix->r3c2;
+        return;
+    }
+
+    if (column_number == 3)
+    {
+        column->x1 = matrix->r1c3;
+        column->x2 = matrix->r2c3;
+        column->x3 = matrix->r3c3;
+        return;
+    }
+
+    column->x1 = 0.0f;
+    column->x2 = 0.0f;
+    column->x3 = 0.0f;
 }
 
-inline void bgc_matrix3x3_set_row3_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix)
+inline void bgc_fp64_matrix3x3_get_column(BGC_FP64_Vector3* column, const BGC_FP64_Matrix3x3* matrix, const int column_number)
 {
-    matrix->r3c1 = c1;
+    if (column_number == 1)
-    matrix->r3c2 = c2;
+    {
-    matrix->r3c3 = c3;
+        column->x1 = matrix->r1c1;
+        column->x2 = matrix->r2c1;
+        column->x3 = matrix->r3c1;
+        return;
+    }
+
+    if (column_number == 2)
+    {
+        column->x1 = matrix->r1c2;
+        column->x2 = matrix->r2c2;
+        column->x3 = matrix->r3c2;
+        return;
+    }
+
+    if (column_number == 3)
+    {
+        column->x1 = matrix->r1c3;
+        column->x2 = matrix->r2c3;
+        column->x3 = matrix->r3c3;
+        return;
+    }
+
+    column->x1 = 0.0;
+    column->x2 = 0.0;
+    column->x3 = 0.0;
 }
 
-// ================ Set Column 1 ================ //
+// ================= Set Column ================= //
 
-inline void bgc_matrix3x3_set_column1_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix)
+inline void bgc_fp32_matrix3x3_set_column(BGC_FP32_Matrix3x3* matrix, const int column_number, const BGC_FP32_Vector3* column)
 {
-    matrix->r1c1 = r1;
+    if (column_number == 1)
-    matrix->r2c1 = r2;
+    {
-    matrix->r3c1 = r3;
+        matrix->r1c1 = column->x1;
+        matrix->r2c1 = column->x2;
+        matrix->r3c1 = column->x3;
+        return;
+    }
+
+    if (column_number == 2)
+    {
+        matrix->r1c2 = column->x1;
+        matrix->r2c2 = column->x2;
+        matrix->r3c2 = column->x3;
+        return;
+    }
+
+    if (column_number == 3)
+    {
+        matrix->r1c3 = column->x1;
+        matrix->r2c3 = column->x2;
+        matrix->r3c3 = column->x3;
+    }
 }
 
-inline void bgc_matrix3x3_set_column1_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix)
+inline void bgc_fp64_matrix3x3_set_column(BGC_FP64_Matrix3x3* matrix, const int column_number, const BGC_FP64_Vector3* column)
 {
-    matrix->r1c1 = r1;
+    if (column_number == 1)
-    matrix->r2c1 = r2;
+    {
-    matrix->r3c1 = r3;
+        matrix->r1c1 = column->x1;
-}
+        matrix->r2c1 = column->x2;
+        matrix->r3c1 = column->x3;
+        return;
+    }
 
-// ================ Set Column 2 ================ //
+    if (column_number == 2)
+    {
+        matrix->r1c2 = column->x1;
+        matrix->r2c2 = column->x2;
+        matrix->r3c2 = column->x3;
+        return;
+    }
 
-inline void bgc_matrix3x3_set_column2_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix)
+    if (column_number == 3)
-{
+    {
-    matrix->r1c2 = r1;
+        matrix->r1c3 = column->x1;
-    matrix->r2c2 = r2;
+        matrix->r2c3 = column->x2;
-    matrix->r3c2 = r3;
+        matrix->r3c3 = column->x3;
-}
+    }
-
-inline void bgc_matrix3x3_set_column2_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix)
-{
-    matrix->r1c2 = r1;
-    matrix->r2c2 = r2;
-    matrix->r3c2 = r3;
-}
-
-// ================ Set Column 3 ================ //
-
-inline void bgc_matrix3x3_set_column3_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix)
-{
-    matrix->r1c3 = r1;
-    matrix->r2c3 = r2;
-    matrix->r3c3 = r3;
-}
-
-inline void bgc_matrix3x3_set_column3_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix)
-{
-    matrix->r1c3 = r1;
-    matrix->r2c3 = r2;
-    matrix->r3c3 = r3;
 }
 
 // ==================== Add ===================== //
 
-inline void bgc_matrix3x3_add_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x3FP32* sum)
+inline void bgc_fp32_matrix3x3_add(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix3x3* matrix2)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -479,7 +671,7 @@ inline void bgc_matrix3x3_add_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMat
     sum->r3c3 = matrix1->r3c3 + matrix2->r3c3;
 }
 
-inline void bgc_matrix3x3_add_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x3FP64* sum)
+inline void bgc_fp64_matrix3x3_add(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix3x3* matrix2)
 {
     sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
     sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
@@ -496,7 +688,7 @@ inline void bgc_matrix3x3_add_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMat
 
 // ================= Add scaled ================= //
 
-inline void bgc_matrix3x3_add_scaled_fp32(const BgcMatrix3x3FP32* basic_matrix, const BgcMatrix3x3FP32* scalable_matrix, const float scale, BgcMatrix3x3FP32* sum)
+inline void bgc_fp32_matrix3x3_add_scaled(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* basic_matrix, const BGC_FP32_Matrix3x3* scalable_matrix, const float scale)
 {
     sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
     sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
@@ -511,7 +703,7 @@ inline void bgc_matrix3x3_add_scaled_fp32(const BgcMatrix3x3FP32* basic_matrix,
     sum->r3c3 = basic_matrix->r3c3 + scalable_matrix->r3c3 * scale;
 }
 
-inline void bgc_matrix3x3_add_scaled_fp64(const BgcMatrix3x3FP64* basic_matrix, const BgcMatrix3x3FP64* scalable_matrix, const double scale, BgcMatrix3x3FP64* sum)
+inline void bgc_fp64_matrix3x3_add_scaled(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* basic_matrix, const BGC_FP64_Matrix3x3* scalable_matrix, const double scale)
 {
     sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
     sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
@@ -528,7 +720,7 @@ inline void bgc_matrix3x3_add_scaled_fp64(const BgcMatrix3x3FP64* basic_matrix,
 
 // ================== Subtract ================== //
 
-inline void bgc_matrix3x3_subtract_fp32(const BgcMatrix3x3FP32* minuend, const BgcMatrix3x3FP32* subtrahend, BgcMatrix3x3FP32* difference)
+inline void bgc_fp32_matrix3x3_subtract(BGC_FP32_Matrix3x3* difference, const BGC_FP32_Matrix3x3* minuend, const BGC_FP32_Matrix3x3* subtrahend)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -543,7 +735,7 @@ inline void bgc_matrix3x3_subtract_fp32(const BgcMatrix3x3FP32* minuend, const B
     difference->r3c3 = minuend->r3c3 - subtrahend->r3c3;
 }
 
-inline void bgc_matrix3x3_subtract_fp64(const BgcMatrix3x3FP64* minuend, const BgcMatrix3x3FP64* subtrahend, BgcMatrix3x3FP64* difference)
+inline void bgc_fp64_matrix3x3_subtract(BGC_FP64_Matrix3x3* difference, const BGC_FP64_Matrix3x3* minuend, const BGC_FP64_Matrix3x3* subtrahend)
 {
     difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
     difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
@@ -558,41 +750,9 @@ inline void bgc_matrix3x3_subtract_fp64(const BgcMatrix3x3FP64* minuend, const B
     difference->r3c3 = minuend->r3c3 - subtrahend->r3c3;
 }
 
-// ================= Add scaled ================= //
-
-inline void bgc_matrix3x3_subtract_scaled_fp32(const BgcMatrix3x3FP32* basic_matrix, const BgcMatrix3x3FP32* scalable_matrix, const float scale, BgcMatrix3x3FP32* difference)
-{
-    difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale;
-    difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale;
-    difference->r1c3 = basic_matrix->r1c3 - scalable_matrix->r1c3 * scale;
-
-    difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale;
-    difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale;
-    difference->r2c3 = basic_matrix->r2c3 - scalable_matrix->r2c3 * scale;
-
-    difference->r3c1 = basic_matrix->r3c1 - scalable_matrix->r3c1 * scale;
-    difference->r3c2 = basic_matrix->r3c2 - scalable_matrix->r3c2 * scale;
-    difference->r3c3 = basic_matrix->r3c3 - scalable_matrix->r3c3 * scale;
-}
-
-inline void bgc_matrix3x3_subtract_scaled_fp64(const BgcMatrix3x3FP64* basic_matrix, const BgcMatrix3x3FP64* scalable_matrix, const double scale, BgcMatrix3x3FP64* difference)
-{
-    difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale;
-    difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale;
-    difference->r1c3 = basic_matrix->r1c3 - scalable_matrix->r1c3 * scale;
-
-    difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale;
-    difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale;
-    difference->r2c3 = basic_matrix->r2c3 - scalable_matrix->r2c3 * scale;
-
-    difference->r3c1 = basic_matrix->r3c1 - scalable_matrix->r3c1 * scale;
-    difference->r3c2 = basic_matrix->r3c2 - scalable_matrix->r3c2 * scale;
-    difference->r3c3 = basic_matrix->r3c3 - scalable_matrix->r3c3 * scale;
-}
-
 // ================== Multiply ================== //
 
-inline void bgc_matrix3x3_multiply_fp32(const BgcMatrix3x3FP32* multiplicand, const float multiplier, BgcMatrix3x3FP32* product)
+inline void bgc_fp32_matrix3x3_multiply(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix3x3* multiplicand, const float multiplier)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -607,7 +767,7 @@ inline void bgc_matrix3x3_multiply_fp32(const BgcMatrix3x3FP32* multiplicand, co
     product->r3c3 = multiplicand->r3c3 * multiplier;
 }
 
-inline void bgc_matrix3x3_multiply_fp64(const BgcMatrix3x3FP64* multiplicand, const double multiplier, BgcMatrix3x3FP64* product)
+inline void bgc_fp64_matrix3x3_multiply(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix3x3* multiplicand, const double multiplier)
 {
     product->r1c1 = multiplicand->r1c1 * multiplier;
     product->r1c2 = multiplicand->r1c2 * multiplier;
@@ -624,62 +784,98 @@ inline void bgc_matrix3x3_multiply_fp64(const BgcMatrix3x3FP64* multiplicand, co
 
 // =================== Divide =================== //
 
-inline void bgc_matrix3x3_divide_fp32(const BgcMatrix3x3FP32* dividend, const float divisor, BgcMatrix3x3FP32* quotient)
+inline void bgc_fp32_matrix3x3_divide(BGC_FP32_Matrix3x3* quotient, const BGC_FP32_Matrix3x3* dividend, const float divisor)
 {
-    bgc_matrix3x3_multiply_fp32(dividend, 1.0f / divisor, quotient);
+    bgc_fp32_matrix3x3_multiply(quotient, dividend, 1.0f / divisor);
 }
 
-inline void bgc_matrix3x3_divide_fp64(const BgcMatrix3x3FP64* dividend, const double divisor, BgcMatrix3x3FP64* quotient)
+inline void bgc_fp64_matrix3x3_divide(BGC_FP64_Matrix3x3* quotient, const BGC_FP64_Matrix3x3* dividend, const double divisor)
 {
-    bgc_matrix3x3_multiply_fp64(dividend, 1.0 / divisor, quotient);
+    bgc_fp64_matrix3x3_multiply(quotient, dividend, 1.0 / divisor);
+}
+
+// ================ Interpolate ================= //
+
+inline void bgc_fp32_matrix3x3_interpolate(BGC_FP32_Matrix3x3* interpolation, const BGC_FP32_Matrix3x3* first, const BGC_FP32_Matrix3x3* second, const float phase)
+{
+    const float counter_phase = 1.0f - phase;
+
+    interpolation->r1c1 = first->r1c1 * counter_phase + second->r1c1 * phase;
+    interpolation->r1c2 = first->r1c2 * counter_phase + second->r1c2 * phase;
+    interpolation->r1c3 = first->r1c3 * counter_phase + second->r1c3 * phase;
+
+    interpolation->r2c1 = first->r2c1 * counter_phase + second->r2c1 * phase;
+    interpolation->r2c2 = first->r2c2 * counter_phase + second->r2c2 * phase;
+    interpolation->r2c3 = first->r2c3 * counter_phase + second->r2c3 * phase;
+
+    interpolation->r3c1 = first->r3c1 * counter_phase + second->r3c1 * phase;
+    interpolation->r3c2 = first->r3c2 * counter_phase + second->r3c2 * phase;
+    interpolation->r3c3 = first->r3c3 * counter_phase + second->r3c3 * phase;
+}
+
+inline void bgc_fp64_matrix3x3_interpolate(BGC_FP64_Matrix3x3* interpolation, const BGC_FP64_Matrix3x3* first, const BGC_FP64_Matrix3x3* second, const double phase)
+{
+    const double counter_phase = 1.0 - phase;
+
+    interpolation->r1c1 = first->r1c1 * counter_phase + second->r1c1 * phase;
+    interpolation->r1c2 = first->r1c2 * counter_phase + second->r1c2 * phase;
+    interpolation->r1c3 = first->r1c3 * counter_phase + second->r1c3 * phase;
+
+    interpolation->r2c1 = first->r2c1 * counter_phase + second->r2c1 * phase;
+    interpolation->r2c2 = first->r2c2 * counter_phase + second->r2c2 * phase;
+    interpolation->r2c3 = first->r2c3 * counter_phase + second->r2c3 * phase;
+
+    interpolation->r3c1 = first->r3c1 * counter_phase + second->r3c1 * phase;
+    interpolation->r3c2 = first->r3c2 * counter_phase + second->r3c2 * phase;
+    interpolation->r3c3 = first->r3c3 * counter_phase + second->r3c3 * phase;
 }
 
 // ============ Left Vector Product ============= //
 
-inline void bgc_matrix3x3_get_left_product_fp32(const BgcVector3FP32* vector, const BgcMatrix3x3FP32* matrix, BgcVector3FP32* result)
+inline void bgc_fp32_multiply_vector3_by_matrix3x3(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector, const BGC_FP32_Matrix3x3* matrix)
 {
     const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
     const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
     const float x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3;
 
-    result->x1 = x1;
+    product->x1 = x1;
-    result->x2 = x2;
+    product->x2 = x2;
-    result->x3 = x3;
+    product->x3 = x3;
 }
 
-inline void bgc_matrix3x3_get_left_product_fp64(const BgcVector3FP64* vector, const BgcMatrix3x3FP64* matrix, BgcVector3FP64* result)
+inline void bgc_fp64_multiply_vector3_by_matrix3x3(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector, const BGC_FP64_Matrix3x3* matrix)
 {
     const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
     const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
     const double x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3;
 
-    result->x1 = x1;
+    product->x1 = x1;
-    result->x2 = x2;
+    product->x2 = x2;
-    result->x3 = x3;
+    product->x3 = x3;
 }
 
 // ============ Right Vector Product ============ //
 
-inline void bgc_matrix3x3_get_right_product_fp32(const BgcMatrix3x3FP32* matrix, const BgcVector3FP32* vector, BgcVector3FP32* result)
+inline void bgc_fp32_multiply_matrix3x3_by_vector3(BGC_FP32_Vector3* product, const BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Vector3* vector)
 {
     const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
     const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
     const float x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
 
-    result->x1 = x1;
+    product->x1 = x1;
-    result->x2 = x2;
+    product->x2 = x2;
-    result->x3 = x3;
+    product->x3 = x3;
 }
 
-inline void bgc_matrix3x3_get_right_product_fp64(const BgcMatrix3x3FP64* matrix, const BgcVector3FP64* vector, BgcVector3FP64* result)
+inline void bgc_fp64_multiply_matrix3x3_by_vector3(BGC_FP64_Vector3* product, const BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Vector3* vector)
 {
     const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
     const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
     const double x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
 
-    result->x1 = x1;
+    product->x1 = x1;
-    result->x2 = x2;
+    product->x2 = x2;
-    result->x3 = x3;
+    product->x3 = x3;
 }
 
 #endif

basic-geometry/matrixes.c

@@ -1,280 +0,0 @@
-#include "matrixes.h"
-
-extern inline void bgc_matrix_product_2x2_at_2x2_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x2FP32* result);
-extern inline void bgc_matrix_product_2x2_at_2x2_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x2FP64* result);
-
-// ========== Matrix Product 2x2 at 3x2 ========= //
-
-void bgc_matrix_product_2x2_at_3x2_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x2FP32* result)
-{
-    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
-    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
-    const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
-
-    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
-    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
-    const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-    result->r1c3 = r1c3;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-    result->r2c3 = r2c3;
-}
-
-void bgc_matrix_product_2x2_at_3x2_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x2FP64* result)
-{
-    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
-    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
-    const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
-
-    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
-    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
-    const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-    result->r1c3 = r1c3;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-    result->r2c3 = r2c3;
-}
-
-// ========== Matrix Product 2x3 at 2x2 ========= //
-
-void bgc_matrix_product_2x3_at_2x2_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x3FP32* result)
-{
-    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
-    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
-
-    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
-    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
-
-    const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
-    const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-
-    result->r3c1 = r3c1;
-    result->r3c2 = r3c2;
-}
-
-void bgc_matrix_product_2x3_at_2x2_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x3FP64* result)
-{
-    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
-    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
-
-    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
-    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
-
-    const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
-    const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-
-    result->r3c1 = r3c1;
-    result->r3c2 = r3c2;
-}
-
-// ========== Matrix Product 2x3 at 3x2 ========= //
-
-void bgc_matrix_product_2x3_at_3x2_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x3FP32* result)
-{
-    result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
-    result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
-    result->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
-
-    result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
-    result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
-    result->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
-
-    result->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
-    result->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
-    result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3;
-}
-
-void bgc_matrix_product_2x3_at_3x2_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x3FP64* result)
-{
-    result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
-    result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
-    result->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
-
-    result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
-    result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
-    result->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
-
-    result->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
-    result->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
-    result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3;
-}
-
-// ========== Matrix Product 3x2 at 2x3 ========= //
-
-void bgc_matrix_product_3x2_at_2x3_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x2FP32* result)
-{
-    result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
-    result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
-
-    result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
-    result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
-}
-
-void bgc_matrix_product_3x2_at_2x3_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x2FP64* result)
-{
-    result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
-    result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
-
-    result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
-    result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
-}
-
-// ========== Matrix Product 3x2 at 3x3 ========= //
-
-void bgc_matrix_product_3x2_at_3x3_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x2FP32* result)
-{
-    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
-    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
-    const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
-
-    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
-    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
-    const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-    result->r1c3 = r1c3;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-    result->r2c3 = r2c3;
-}
-
-void bgc_matrix_product_3x2_at_3x3_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x2FP64* result)
-{
-    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
-    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
-    const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
-
-    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
-    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
-    const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-    result->r1c3 = r1c3;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-    result->r2c3 = r2c3;
-}
-
-// ========== Matrix Product 3x3 at 2x3 ========= //
-
-void bgc_matrix_product_3x3_at_2x3_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x3FP32* result)
-{
-    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
-    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
-
-    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
-    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
-
-    const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
-    const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-
-    result->r3c1 = r3c1;
-    result->r3c2 = r3c2;
-}
-
-void bgc_matrix_product_3x3_at_2x3_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x3FP64* result)
-{
-    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
-    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
-
-    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
-    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
-
-    const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
-    const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-
-    result->r3c1 = r3c1;
-    result->r3c2 = r3c2;
-}
-
-// ========== Matrix Product 3x3 at 3x3 ========= //
-
-void bgc_matrix_product_3x3_at_3x3_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x3FP32* result)
-{
-    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
-    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
-    const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
-
-    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
-    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
-    const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
-
-    const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
-    const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
-    const float r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-    result->r1c3 = r1c3;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-    result->r2c3 = r2c3;
-
-    result->r3c1 = r3c1;
-    result->r3c2 = r3c2;
-    result->r3c3 = r3c3;
-}
-
-void bgc_matrix_product_3x3_at_3x3_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x3FP64* result)
-{
-    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
-    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
-    const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
-
-    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
-    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
-    const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
-
-    const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
-    const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
-    const double r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-    result->r1c3 = r1c3;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-    result->r2c3 = r2c3;
-
-    result->r3c1 = r3c1;
-    result->r3c2 = r3c2;
-    result->r3c3 = r3c3;
-}

basic-geometry/matrixes.h

@@ -1,130 +0,0 @@
-#ifndef _BGC_MATRIX_TYPES_H_
-#define _BGC_MATRIX_TYPES_H_
-
-// ================== Matrix2x2 ================= //
-
-typedef struct {
-    float r1c1, r1c2;
-    float r2c1, r2c2;
-} BgcMatrix2x2FP32;
-
-typedef struct {
-    double r1c1, r1c2;
-    double r2c1, r2c2;
-} BgcMatrix2x2FP64;
-
-// ================== Matrix2x3 ================= //
-
-typedef struct {
-    float r1c1, r1c2;
-    float r2c1, r2c2;
-    float r3c1, r3c2;
-} BgcMatrix2x3FP32;
-
-typedef struct {
-    double r1c1, r1c2;
-    double r2c1, r2c2;
-    double r3c1, r3c2;
-} BgcMatrix2x3FP64;
-
-// ================== Matrix3x2 ================= //
-
-typedef struct {
-    float r1c1, r1c2, r1c3;
-    float r2c1, r2c2, r2c3;
-} BgcMatrix3x2FP32;
-
-typedef struct {
-    double r1c1, r1c2, r1c3;
-    double r2c1, r2c2, r2c3;
-} BgcMatrix3x2FP64;
-
-// ================== Matrix3x3 ================= //
-
-typedef struct {
-    float r1c1, r1c2, r1c3;
-    float r2c1, r2c2, r2c3;
-    float r3c1, r3c2, r3c3;
-} BgcMatrix3x3FP32;
-
-typedef struct {
-    double r1c1, r1c2, r1c3;
-    double r2c1, r2c2, r2c3;
-    double r3c1, r3c2, r3c3;
-} BgcMatrix3x3FP64;
-
-// ========== Matrix Product 2x2 at 2x2 ========= //
-
-inline void bgc_matrix_product_2x2_at_2x2_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x2FP32* result)
-{
-    const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
-    const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
-
-    const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
-    const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-}
-
-inline void bgc_matrix_product_2x2_at_2x2_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x2FP64* result)
-{
-    const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
-    const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
-
-    const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
-    const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
-
-    result->r1c1 = r1c1;
-    result->r1c2 = r1c2;
-
-    result->r2c1 = r2c1;
-    result->r2c2 = r2c2;
-}
-
-// ========== Matrix Product 2x2 at 3x2 ========= //
-
-void bgc_matrix_product_2x2_at_3x2_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x2FP32* result);
-
-void bgc_matrix_product_2x2_at_3x2_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x2FP64* result);
-
-// ========== Matrix Product 2x3 at 2x2 ========= //
-
-void bgc_matrix_product_2x3_at_2x2_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x3FP32* result);
-
-void bgc_matrix_product_2x3_at_2x2_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x3FP64* result);
-
-// ========== Matrix Product 2x3 at 3x2 ========= //
-
-void bgc_matrix_product_2x3_at_3x2_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x3FP32* result);
-
-void bgc_matrix_product_2x3_at_3x2_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x3FP64* result);
-
-// ========== Matrix Product 3x2 at 2x3 ========= //
-
-void bgc_matrix_product_3x2_at_2x3_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x2FP32* result);
-
-void bgc_matrix_product_3x2_at_2x3_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x2FP64* result);
-
-// ========== Matrix Product 3x2 at 3x3 ========= //
-
-void bgc_matrix_product_3x2_at_3x3_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x2FP32* result);
-
-void bgc_matrix_product_3x2_at_3x3_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x2FP64* result);
-
-// ========== Matrix Product 3x3 at 2x3 ========= //
-
-void bgc_matrix_product_3x3_at_2x3_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x3FP32* result);
-
-void bgc_matrix_product_3x3_at_2x3_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x3FP64* result);
-
-// ========== Matrix Product 3x3 at 3x3 ========= //
-
-void bgc_matrix_product_3x3_at_3x3_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x3FP32* result);
-
-void bgc_matrix_product_3x3_at_3x3_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x3FP64* result);
-
-#endif // _BGC_MATRIX_TYPES_H_

basic-geometry/position2.c

@@ -1,43 +1,49 @@
 #include "position2.h"
 
-extern inline void bgc_position2_reset_fp32(BgcPosition2FP32 * node);
+extern inline void bgc_fp32_position2_reset(BGC_FP32_Position2* node);
-extern inline void bgc_position2_reset_fp64(BgcPosition2FP64 * node);
+extern inline void bgc_fp64_position2_reset(BGC_FP64_Position2* node);
 
-extern inline void bgc_position2_make_fp32(const BgcCotesNumberFP32 * turn, const BgcVector2FP32 * shift, BgcPosition2FP32 * position);
+extern inline void bgc_fp32_position2_make(BGC_FP32_Position2* position, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* shift);
-extern inline void bgc_position2_make_fp64(const BgcCotesNumberFP64 * turn, const BgcVector2FP64 * shift, BgcPosition2FP64 * position);
+extern inline void bgc_fp64_position2_make(BGC_FP64_Position2* position, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* shift);
 
-extern inline void bgc_position2_copy_fp32(const BgcPosition2FP32 * source, BgcPosition2FP32 * destination);
+extern inline void bgc_fp32_position2_copy(BGC_FP32_Position2* destination, const BGC_FP32_Position2* source);
-extern inline void bgc_position2_copy_fp64(const BgcPosition2FP64 * source, BgcPosition2FP64 * destination);
+extern inline void bgc_fp64_position2_copy(BGC_FP64_Position2* destination, const BGC_FP64_Position2* source);
 
-extern inline void bgc_position2_convert_fp64_to_fp32(const BgcPosition2FP64 * source, BgcPosition2FP32 * destination);
+extern inline void bgc_fp32_position2_swap(BGC_FP32_Position2* first, BGC_FP32_Position2* second);
-extern inline void bgc_position2_convert_fp32_to_fp64(const BgcPosition2FP32 * source, BgcPosition2FP64 * destination);
+extern inline void bgc_fp64_position2_swap(BGC_FP64_Position2* first, BGC_FP64_Position2* second);
 
-extern inline void bgc_position2_invert_fp32(BgcPosition2FP32 * position);
+extern inline void bgc_fp64_position2_convert_to_fp32(BGC_FP32_Position2* destination, const BGC_FP64_Position2* source);
-extern inline void bgc_position2_invert_fp64(BgcPosition2FP64 * position);
+extern inline void bgc_fp32_position2_convert_to_fp64(BGC_FP64_Position2* destination, const BGC_FP32_Position2* source);
 
-extern inline void bgc_position2_get_inverse_fp32(const BgcPosition2FP32 * position, BgcPosition2FP32 * inverted);
+extern inline int bgc_fp32_position2_is_idle(const BGC_FP32_Position2* position);
-extern inline void bgc_position2_get_inverse_fp64(const BgcPosition2FP64 * position, BgcPosition2FP64 * inverted);
+extern inline int bgc_fp64_position2_is_idle(const BGC_FP64_Position2* position);
 
-extern inline void bgc_position2_combine_fp32(const BgcPosition2FP32 * first, const BgcPosition2FP32 * second, BgcPosition2FP32 * combination);
+extern inline void bgc_fp32_position2_invert(BGC_FP32_Position2* position);
-extern inline void bgc_position2_combine_fp64(const BgcPosition2FP64 * first, const BgcPosition2FP64 * second, BgcPosition2FP64 * combination);
+extern inline void bgc_fp64_position2_invert(BGC_FP64_Position2* position);
 
-extern inline void bgc_position2_exclude_fp32(const BgcPosition2FP32 * base, const BgcPosition2FP32 * excludand, BgcPosition2FP32 * difference);
+extern inline void bgc_fp32_position2_get_inverse(BGC_FP32_Position2* inverted, const BGC_FP32_Position2* position);
-extern inline void bgc_position2_exclude_fp64(const BgcPosition2FP64 * base, const BgcPosition2FP64 * excludand, BgcPosition2FP64 * difference);
+extern inline void bgc_fp64_position2_get_inverse(BGC_FP64_Position2* inverted, const BGC_FP64_Position2* position);
 
-extern inline void bgc_position2_get_outward_affine_fp32(const BgcPosition2FP32 * position, BgcAffine2FP32 * outward_affine_map);
+extern inline void bgc_fp32_position2_combine(BGC_FP32_Position2* combination, const BGC_FP32_Position2* first, const BGC_FP32_Position2* second);
-extern inline void bgc_position2_get_outward_affine_fp64(const BgcPosition2FP64 * position, BgcAffine2FP64 * outward_affine_map);
+extern inline void bgc_fp64_position2_combine(BGC_FP64_Position2* combination, const BGC_FP64_Position2* first, const BGC_FP64_Position2* second);
 
-extern inline void bgc_position2_get_inward_affine_fp32(const BgcPosition2FP32 * position, BgcAffine2FP32 * inward_affine_map);
+extern inline void bgc_fp32_position2_exclude(BGC_FP32_Position2* difference, const BGC_FP32_Position2* base, const BGC_FP32_Position2* excludand);
-extern inline void bgc_position2_get_inward_affine_fp64(const BgcPosition2FP64 * position, BgcAffine2FP64 * inward_affine_map);
+extern inline void bgc_fp64_position2_exclude(BGC_FP64_Position2* difference, const BGC_FP64_Position2* base, const BGC_FP64_Position2* excludand);
 
-extern inline void bgc_position2_transform_point_outwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * inner_point, BgcVector2FP32 * outer_point);
+extern inline void bgc_fp32_position2_get_outward_affine(BGC_FP32_Affine2* outward_affine_map, const BGC_FP32_Position2* position);
-extern inline void bgc_position2_transform_point_outwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * inner_point, BgcVector2FP64 * outer_point);
+extern inline void bgc_fp64_position2_get_outward_affine(BGC_FP64_Affine2* outward_affine_map, const BGC_FP64_Position2* position);
 
-extern inline void bgc_position2_transform_point_inwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * outer_point, BgcVector2FP32 * inner_point);
+extern inline void bgc_fp32_position2_get_inward_affine(BGC_FP32_Affine2* inward_affine_map, const BGC_FP32_Position2* position);
-extern inline void bgc_position2_transform_point_inwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * outer_point, BgcVector2FP64 * inner_point);
+extern inline void bgc_fp64_position2_get_inward_affine(BGC_FP64_Affine2* inward_affine_map, const BGC_FP64_Position2* position);
 
-extern inline void bgc_position2_transform_vector_outwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * inner_vector, BgcVector2FP32 * outer_vector);
+extern inline void bgc_fp32_position2_transform_point_outwards(BGC_FP32_Vector2* outer_point, const BGC_FP32_Position2* position, const BGC_FP32_Vector2* inner_point);
-extern inline void bgc_position2_transform_vector_outwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * inner_vector, BgcVector2FP64 * outer_vector);
+extern inline void bgc_fp64_position2_transform_point_outwards(BGC_FP64_Vector2* outer_point, const BGC_FP64_Position2* position, const BGC_FP64_Vector2* inner_point);
 
-extern inline void bgc_position2_transform_vector_inwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * outer_vector, BgcVector2FP32 * inner_vector);
+extern inline void bgc_fp32_position2_transform_point_inwards(BGC_FP32_Vector2* inner_point, const BGC_FP32_Position2* position, const BGC_FP32_Vector2* outer_point);
-extern inline void bgc_position2_transform_vector_inwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * outer_vector, BgcVector2FP64 * inner_vector);
+extern inline void bgc_fp64_position2_transform_point_inwards(BGC_FP64_Vector2* inner_point, const BGC_FP64_Position2* position, const BGC_FP64_Vector2* outer_point);
+
+extern inline void bgc_fp32_position2_transform_vector_outwards(BGC_FP32_Vector2* outer_vector, const BGC_FP32_Position2* position, const BGC_FP32_Vector2* inner_vector);
+extern inline void bgc_fp64_position2_transform_vector_outwards(BGC_FP64_Vector2* outer_vector, const BGC_FP64_Position2* position, const BGC_FP64_Vector2* inner_vector);
+
+extern inline void bgc_fp32_position2_transform_vector_inwards(BGC_FP32_Vector2* inner_vector, const BGC_FP32_Position2* position, const BGC_FP32_Vector2* outer_vector);
+extern inline void bgc_fp64_position2_transform_vector_inwards(BGC_FP64_Vector2* inner_vector, const BGC_FP64_Position2* position, const BGC_FP64_Vector2* outer_vector);

basic-geometry/position2.h

@@ -3,231 +3,257 @@
 
 #include "vector2.h"
 #include "affine2.h"
-#include "cotes-number.h"
+#include "turn2.h"
 
 // ==================== Types ==================== //
 
 typedef struct {
-    BgcCotesNumberFP32 turn;
+    BGC_FP32_Turn2 turn;
-    BgcVector2FP32 shift;
+    BGC_FP32_Vector2 shift;
-} BgcPosition2FP32;
+} BGC_FP32_Position2;
 
 typedef struct {
-    BgcCotesNumberFP64 turn;
+    BGC_FP64_Turn2 turn;
-    BgcVector2FP64 shift;
+    BGC_FP64_Vector2 shift;
-} BgcPosition2FP64;
+} BGC_FP64_Position2;
 
 // ==================== Reset ==================== //
 
-inline void bgc_position2_reset_fp32(BgcPosition2FP32 * position)
+inline void bgc_fp32_position2_reset(BGC_FP32_Position2* position)
 {
-    bgc_cotes_number_reset_fp32(&position->turn);
+    bgc_fp32_turn2_reset(&position->turn);
-    bgc_vector2_reset_fp32(&position->shift);
+    bgc_fp32_vector2_reset(&position->shift);
 }
 
-inline void bgc_position2_reset_fp64(BgcPosition2FP64 * position)
+inline void bgc_fp64_position2_reset(BGC_FP64_Position2* position)
 {
-    bgc_cotes_number_reset_fp64(&position->turn);
+    bgc_fp64_turn2_reset(&position->turn);
-    bgc_vector2_reset_fp64(&position->shift);
+    bgc_fp64_vector2_reset(&position->shift);
 }
 
 // ==================== Make ===================== //
 
-inline void bgc_position2_make_fp32(const BgcCotesNumberFP32 * turn, const BgcVector2FP32 * shift, BgcPosition2FP32 * position)
+inline void bgc_fp32_position2_make(BGC_FP32_Position2* position, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* shift)
 {
-    bgc_cotes_number_copy_fp32(turn, &position->turn);
+    bgc_fp32_turn2_copy(&position->turn, turn);
-    bgc_vector2_copy_fp32(shift, &position->shift);
+    bgc_fp32_vector2_copy(&position->shift, shift);
 }
 
-inline void bgc_position2_make_fp64(const BgcCotesNumberFP64 * turn, const BgcVector2FP64 * shift, BgcPosition2FP64 * position)
+inline void bgc_fp64_position2_make(BGC_FP64_Position2* position, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* shift)
 {
-    bgc_cotes_number_copy_fp64(turn, &position->turn);
+    bgc_fp64_turn2_copy(&position->turn, turn);
-    bgc_vector2_copy_fp64(shift, &position->shift);
+    bgc_fp64_vector2_copy(&position->shift, shift);
 }
 
 
 // ==================== Copy ===================== //
 
-inline void bgc_position2_copy_fp32(const BgcPosition2FP32 * source, BgcPosition2FP32 * destination)
+inline void bgc_fp32_position2_copy(BGC_FP32_Position2* destination, const BGC_FP32_Position2* source)
 {
-    bgc_cotes_number_copy_fp32(&source->turn, &destination->turn);
+    bgc_fp32_turn2_copy(&destination->turn, &source->turn);
-    bgc_vector2_copy_fp32(&source->shift, &destination->shift);
+    bgc_fp32_vector2_copy(&destination->shift, &source->shift);
 }
 
-inline void bgc_position2_copy_fp64(const BgcPosition2FP64 * source, BgcPosition2FP64 * destination)
+inline void bgc_fp64_position2_copy(BGC_FP64_Position2* destination, const BGC_FP64_Position2* source)
 {
-    bgc_cotes_number_copy_fp64(&source->turn, &destination->turn);
+    bgc_fp64_turn2_copy(&destination->turn, &source->turn);
-    bgc_vector2_copy_fp64(&source->shift, &destination->shift);
+    bgc_fp64_vector2_copy(&destination->shift, &source->shift);
+}
+
+// ==================== Swap ===================== //
+
+inline void bgc_fp32_position2_swap(BGC_FP32_Position2 * first, BGC_FP32_Position2 * second)
+{
+    bgc_fp32_turn2_swap(&first->turn, &second->turn);
+    bgc_fp32_vector2_swap(&first->shift, &second->shift);
+}
+
+inline void bgc_fp64_position2_swap(BGC_FP64_Position2 * first, BGC_FP64_Position2 * second)
+{
+    bgc_fp64_turn2_swap(&first->turn, &second->turn);
+    bgc_fp64_vector2_swap(&first->shift, &second->shift);
 }
 
 // =================== Convert =================== //
 
-inline void bgc_position2_convert_fp64_to_fp32(const BgcPosition2FP64 * source, BgcPosition2FP32 * destination)
+inline void bgc_fp64_position2_convert_to_fp32(BGC_FP32_Position2* destination, const BGC_FP64_Position2 * source)
 {
-    bgc_cotes_number_convert_fp64_to_fp32(&source->turn, &destination->turn);
+    bgc_fp64_turn2_convert_to_fp32(&destination->turn, &source->turn);
-    bgc_vector2_convert_fp64_to_fp32(&source->shift, &destination->shift);
+    bgc_fp64_vector2_convert_to_fp32(&destination->shift, &source->shift);
 }
 
-inline void bgc_position2_convert_fp32_to_fp64(const BgcPosition2FP32 * source, BgcPosition2FP64 * destination)
+inline void bgc_fp32_position2_convert_to_fp64(BGC_FP64_Position2* destination, const BGC_FP32_Position2 * source)
 {
-    bgc_cotes_number_convert_fp32_to_fp64(&source->turn, &destination->turn);
+    bgc_fp32_turn2_convert_to_fp64(&destination->turn, &source->turn);
-    bgc_vector2_convert_fp32_to_fp64(&source->shift, &destination->shift);
+    bgc_fp32_vector2_convert_to_fp64(&destination->shift, &source->shift);
+}
+
+// =================== Is Idle =================== //
+
+inline int bgc_fp32_position2_is_idle(const BGC_FP32_Position2 * position)
+{
+    return bgc_fp32_vector2_is_zero(&position->shift) && bgc_fp32_turn2_is_idle(&position->turn);
+}
+
+inline int bgc_fp64_position2_is_idle(const BGC_FP64_Position2 * position)
+{
+    return bgc_fp64_vector2_is_zero(&position->shift) && bgc_fp64_turn2_is_idle(&position->turn);
 }
 
 // =================== Invert ==================== //
 
-inline void bgc_position2_invert_fp32(BgcPosition2FP32 * position)
+inline void bgc_fp32_position2_invert(BGC_FP32_Position2 * position)
 {
-    bgc_cotes_number_turn_vector_back_fp32(&position->turn, &position->shift, &position->shift);
+    bgc_fp32_turn2_vector_back(&position->shift, &position->turn, &position->shift);
-    bgc_cotes_number_invert_fp32(&position->turn);
+    bgc_fp32_turn2_revert(&position->turn);
-    bgc_vector2_make_opposite_fp32(&position->shift);
+    bgc_fp32_vector2_revert(&position->shift);
 }
 
-inline void bgc_position2_invert_fp64(BgcPosition2FP64 * position)
+inline void bgc_fp64_position2_invert(BGC_FP64_Position2 * position)
 {
-    bgc_cotes_number_turn_vector_back_fp64(&position->turn, &position->shift, &position->shift);
+    bgc_fp64_turn2_vector_back(&position->shift, &position->turn, &position->shift);
-    bgc_cotes_number_invert_fp64(&position->turn);
+    bgc_fp64_turn2_revert(&position->turn);
-    bgc_vector2_make_opposite_fp64(&position->shift);
+    bgc_fp64_vector2_revert(&position->shift);
 }
 
 // ================= Get Inverse ================= //
 
-inline void bgc_position2_get_inverse_fp32(const BgcPosition2FP32 * position, BgcPosition2FP32 * inverted)
+inline void bgc_fp32_position2_get_inverse(BGC_FP32_Position2* inverted, const BGC_FP32_Position2 * position)
 {
-    bgc_cotes_number_turn_vector_back_fp32(&position->turn, &position->shift, &inverted->shift);
+    bgc_fp32_turn2_vector_back(&inverted->shift, &position->turn, &position->shift);
-    bgc_cotes_number_get_inverse_fp32(&position->turn, &inverted->turn);
+    bgc_fp32_turn2_get_reverse(&inverted->turn, &position->turn);
-    bgc_vector2_make_opposite_fp32(&inverted->shift);
+    bgc_fp32_vector2_revert(&inverted->shift);
 }
 
-inline void bgc_position2_get_inverse_fp64(const BgcPosition2FP64 * position, BgcPosition2FP64 * inverted)
+inline void bgc_fp64_position2_get_inverse(BGC_FP64_Position2* inverted, const BGC_FP64_Position2 * position)
 {
-    bgc_cotes_number_turn_vector_back_fp64(&position->turn, &position->shift, &inverted->shift);
+    bgc_fp64_turn2_vector_back(&inverted->shift, &position->turn, &position->shift);
-    bgc_cotes_number_get_inverse_fp64(&position->turn, &inverted->turn);
+    bgc_fp64_turn2_get_reverse(&inverted->turn, &position->turn);
-    bgc_vector2_make_opposite_fp64(&inverted->shift);
+    bgc_fp64_vector2_revert(&inverted->shift);
 }
 
 // =================== Combine =================== //
 
-inline void bgc_position2_combine_fp32(const BgcPosition2FP32 * first, const BgcPosition2FP32 * second, BgcPosition2FP32 * combination)
+inline void bgc_fp32_position2_combine(BGC_FP32_Position2* combination, const BGC_FP32_Position2 * first, const BGC_FP32_Position2 * second)
 {
-    BgcVector2FP32 relative_shift;
+    BGC_FP32_Vector2 relative_shift;
-    bgc_cotes_number_turn_vector_fp32(&second->turn, &first->shift, &relative_shift);
+    bgc_fp32_turn2_vector(&relative_shift, &second->turn, &first->shift);
-    bgc_cotes_number_combine_fp32(&first->turn, &second->turn, &combination->turn);
+    bgc_fp32_turn2_combine(&combination->turn, &first->turn, &second->turn);
-    bgc_vector2_add_fp32(&relative_shift, &second->shift, &combination->shift);
+    bgc_fp32_vector2_add(&combination->shift, &second->shift, &relative_shift);
 }
 
-inline void bgc_position2_combine_fp64(const BgcPosition2FP64 * first, const BgcPosition2FP64 * second, BgcPosition2FP64 * combination)
+inline void bgc_fp64_position2_combine(BGC_FP64_Position2* combination, const BGC_FP64_Position2 * first, const BGC_FP64_Position2 * second)
 {
-    BgcVector2FP64 relative_shift;
+    BGC_FP64_Vector2 relative_shift;
-    bgc_cotes_number_turn_vector_fp64(&second->turn, &first->shift, &relative_shift);
+    bgc_fp64_turn2_vector(&relative_shift, &second->turn, &first->shift);
-    bgc_cotes_number_combine_fp64(&first->turn, &second->turn, &combination->turn);
+    bgc_fp64_turn2_combine(&combination->turn, &first->turn, &second->turn);
-    bgc_vector2_add_fp64(&relative_shift, &second->shift, &combination->shift);
+    bgc_fp64_vector2_add(&combination->shift, &second->shift, &relative_shift);
 }
 
 // =================== Exclude =================== //
 
-inline void bgc_position2_exclude_fp32(const BgcPosition2FP32 * base, const BgcPosition2FP32 * excludand, BgcPosition2FP32 * difference)
+inline void bgc_fp32_position2_exclude(BGC_FP32_Position2* difference, const BGC_FP32_Position2 * base, const BGC_FP32_Position2 * excludand)
 {
-    BgcVector2FP32 relative_shift;
+    BGC_FP32_Vector2 relative_shift;
-    bgc_vector2_subtract_fp32(&base->shift, &excludand->shift, &relative_shift);
+    bgc_fp32_vector2_subtract(&relative_shift, &base->shift, &excludand->shift);
-    bgc_cotes_number_turn_vector_back_fp32(&excludand->turn, &relative_shift, &difference->shift);
+    bgc_fp32_turn2_vector_back(&difference->shift, &excludand->turn, &relative_shift);
-    bgc_cotes_number_exclude_fp32(&base->turn, &excludand->turn, &difference->turn);
+    bgc_fp32_turn2_exclude(&difference->turn, &base->turn, &excludand->turn);
 }
 
-inline void bgc_position2_exclude_fp64(const BgcPosition2FP64 * base, const BgcPosition2FP64 * excludand, BgcPosition2FP64 * difference)
+inline void bgc_fp64_position2_exclude(BGC_FP64_Position2* difference, const BGC_FP64_Position2 * base, const BGC_FP64_Position2 * excludand)
 {
-    BgcVector2FP64 relative_shift;
+    BGC_FP64_Vector2 relative_shift;
-    bgc_vector2_subtract_fp64(&base->shift, &excludand->shift, &relative_shift);
+    bgc_fp64_vector2_subtract(&relative_shift, &base->shift, &excludand->shift);
-    bgc_cotes_number_turn_vector_back_fp64(&excludand->turn, &relative_shift, &difference->shift);
+    bgc_fp64_turn2_vector_back(&difference->shift, &excludand->turn, &relative_shift);
-    bgc_cotes_number_exclude_fp64(&base->turn, &excludand->turn, &difference->turn);
+    bgc_fp64_turn2_exclude(&difference->turn, &base->turn, &excludand->turn);
 }
 
 // ============= Get Outward Affine ============== //
 
-inline void bgc_position2_get_outward_affine_fp32(const BgcPosition2FP32 * position, BgcAffine2FP32 * outward_affine_map)
+inline void bgc_fp32_position2_get_outward_affine(BGC_FP32_Affine2* outward_affine_map, const BGC_FP32_Position2 * position)
 {
-    bgc_cotes_number_get_rotation_matrix_fp32(&position->turn, &outward_affine_map->distortion);
+    bgc_fp32_turn2_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
-    bgc_vector2_copy_fp32(&position->shift, &outward_affine_map->shift);
+    bgc_fp32_vector2_copy(&outward_affine_map->shift, &position->shift);
 }
 
-inline void bgc_position2_get_outward_affine_fp64(const BgcPosition2FP64 * position, BgcAffine2FP64 * outward_affine_map)
+inline void bgc_fp64_position2_get_outward_affine(BGC_FP64_Affine2* outward_affine_map, const BGC_FP64_Position2 * position)
 {
-    bgc_cotes_number_get_rotation_matrix_fp64(&position->turn, &outward_affine_map->distortion);
+    bgc_fp64_turn2_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
-    bgc_vector2_copy_fp64(&position->shift, &outward_affine_map->shift);
+    bgc_fp64_vector2_copy(&outward_affine_map->shift, &position->shift);
 }
 
 // ============== Get Inward Affine ============== //
 
-inline void bgc_position2_get_inward_affine_fp32(const BgcPosition2FP32 * position, BgcAffine2FP32 * inward_affine_map)
+inline void bgc_fp32_position2_get_inward_affine(BGC_FP32_Affine2* inward_affine_map, const BGC_FP32_Position2 * position)
 {
-    bgc_cotes_number_get_reverse_matrix_fp32(&position->turn, &inward_affine_map->distortion);
+    bgc_fp32_turn2_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
-    bgc_matrix2x2_get_right_product_fp32(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
+    bgc_fp32_multiply_matrix2x2_by_vector2(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
-    bgc_vector2_make_opposite_fp32(&inward_affine_map->shift);
+    bgc_fp32_vector2_revert(&inward_affine_map->shift);
 }
 
-inline void bgc_position2_get_inward_affine_fp64(const BgcPosition2FP64 * position, BgcAffine2FP64 * inward_affine_map)
+inline void bgc_fp64_position2_get_inward_affine(BGC_FP64_Affine2* inward_affine_map, const BGC_FP64_Position2 * position)
 {
-    bgc_cotes_number_get_reverse_matrix_fp64(&position->turn, &inward_affine_map->distortion);
+    bgc_fp64_turn2_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
-    bgc_matrix2x2_get_right_product_fp64(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
+    bgc_fp64_multiply_matrix2x2_by_vector2(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
-    bgc_vector2_make_opposite_fp64(&inward_affine_map->shift);
+    bgc_fp64_vector2_revert(&inward_affine_map->shift);
 }
 
 // ========== Transform Point Outwards =========== //
 
-inline void bgc_position2_transform_point_outwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * inner_point, BgcVector2FP32 * outer_point)
+inline void bgc_fp32_position2_transform_point_outwards(BGC_FP32_Vector2* outer_point, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * inner_point)
 {
-    BgcVector2FP32 turned_point;
+    BGC_FP32_Vector2 turned_point;
-    bgc_cotes_number_turn_vector_fp32(&position->turn, inner_point, &turned_point);
+    bgc_fp32_turn2_vector(&turned_point, &position->turn, inner_point);
-    bgc_vector2_add_fp32(&position->shift, &turned_point, outer_point);
+    bgc_fp32_vector2_add(outer_point, &position->shift, &turned_point);
 }
 
-inline void bgc_position2_transform_point_outwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * inner_point, BgcVector2FP64 * outer_point)
+inline void bgc_fp64_position2_transform_point_outwards(BGC_FP64_Vector2* outer_point, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * inner_point)
 {
-    BgcVector2FP64 turned_point;
+    BGC_FP64_Vector2 turned_point;
-    bgc_cotes_number_turn_vector_fp64(&position->turn, inner_point, &turned_point);
+    bgc_fp64_turn2_vector(&turned_point, &position->turn, inner_point);
-    bgc_vector2_add_fp64(&position->shift, &turned_point, outer_point);
+    bgc_fp64_vector2_add(outer_point, &position->shift, &turned_point);
 }
 
 // =========== Transform Point Inwards =========== //
 
-inline void bgc_position2_transform_point_inwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * outer_point, BgcVector2FP32 * inner_point)
+inline void bgc_fp32_position2_transform_point_inwards(BGC_FP32_Vector2* inner_point, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * outer_point)
 {
-    BgcVector2FP32 relative_point;
+    BGC_FP32_Vector2 relative_point;
-    bgc_vector2_subtract_fp32(outer_point, &position->shift, &relative_point);
+    bgc_fp32_vector2_subtract(&relative_point, outer_point, &position->shift);
-    bgc_cotes_number_turn_vector_back_fp32(&position->turn, &relative_point, inner_point);
+    bgc_fp32_turn2_vector_back(inner_point, &position->turn, &relative_point);
 
 }
 
-inline void bgc_position2_transform_point_inwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * outer_point, BgcVector2FP64 * inner_point)
+inline void bgc_fp64_position2_transform_point_inwards(BGC_FP64_Vector2* inner_point, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * outer_point)
 {
-    BgcVector2FP64 relative_point;
+    BGC_FP64_Vector2 relative_point;
-    bgc_vector2_subtract_fp64(outer_point, &position->shift, &relative_point);
+    bgc_fp64_vector2_subtract(&relative_point, outer_point, &position->shift);
-    bgc_cotes_number_turn_vector_back_fp64(&position->turn, &relative_point, inner_point);
+    bgc_fp64_turn2_vector_back(inner_point, &position->turn, &relative_point);
 
 }
 
 // ========== Transform Vector Outwards ========== //
 
-inline void bgc_position2_transform_vector_outwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * inner_vector, BgcVector2FP32 * outer_vector)
+inline void bgc_fp32_position2_transform_vector_outwards(BGC_FP32_Vector2* outer_vector, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * inner_vector)
 {
-    bgc_cotes_number_turn_vector_fp32(&position->turn, inner_vector, outer_vector);
+    bgc_fp32_turn2_vector(outer_vector, &position->turn, inner_vector);
 }
 
-inline void bgc_position2_transform_vector_outwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * inner_vector, BgcVector2FP64 * outer_vector)
+inline void bgc_fp64_position2_transform_vector_outwards(BGC_FP64_Vector2* outer_vector, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * inner_vector)
 {
-    bgc_cotes_number_turn_vector_fp64(&position->turn, inner_vector, outer_vector);
+    bgc_fp64_turn2_vector(outer_vector, &position->turn, inner_vector);
 }
 
 // ========== Transform Vector Inwards =========== //
 
-inline void bgc_position2_transform_vector_inwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * outer_vector, BgcVector2FP32 * inner_vector)
+inline void bgc_fp32_position2_transform_vector_inwards(BGC_FP32_Vector2* inner_vector, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * outer_vector)
 {
-    bgc_cotes_number_turn_vector_back_fp32(&position->turn, outer_vector, inner_vector);
+    bgc_fp32_turn2_vector_back(inner_vector, &position->turn, outer_vector);
 }
 
-inline void bgc_position2_transform_vector_inwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * outer_vector, BgcVector2FP64 * inner_vector)
+inline void bgc_fp64_position2_transform_vector_inwards(BGC_FP64_Vector2* inner_vector, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * outer_vector)
 {
-    bgc_cotes_number_turn_vector_back_fp64(&position->turn, outer_vector, inner_vector);
+    bgc_fp64_turn2_vector_back(inner_vector, &position->turn, outer_vector);
 }
 
 #endif

basic-geometry/position3.c

@@ -1,43 +1,49 @@
 #include "position3.h"
 
-extern inline void bgc_position3_reset_fp32(BgcPosition3FP32 * node);
+extern inline void bgc_fp32_position3_reset(BGC_FP32_Position3 * node);
-extern inline void bgc_position3_reset_fp64(BgcPosition3FP64 * node);
+extern inline void bgc_fp64_position3_reset(BGC_FP64_Position3 * node);
 
-extern inline void bgc_position3_make_fp32(const BgcVersorFP32 * turn, const BgcVector3FP32 * shift, BgcPosition3FP32 * position);
+extern inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* shift);
-extern inline void bgc_position3_make_fp64(const BgcVersorFP64 * turn, const BgcVector3FP64 * shift, BgcPosition3FP64 * position);
+extern inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Turn3 * turn, const BGC_FP64_Vector3 * shift);
 
-extern inline void bgc_position3_copy_fp32(const BgcPosition3FP32 * source, BgcPosition3FP32 * destination);
+extern inline void bgc_fp32_position3_copy(BGC_FP32_Position3* destination, const BGC_FP32_Position3* source);
-extern inline void bgc_position3_copy_fp64(const BgcPosition3FP64 * source, BgcPosition3FP64 * destination);
+extern inline void bgc_fp64_position3_copy(BGC_FP64_Position3* destination, const BGC_FP64_Position3 * source);
 
-extern inline void bgc_position3_convert_fp64_to_fp32(const BgcPosition3FP64 * source, BgcPosition3FP32 * destination);
+extern inline void bgc_fp32_position3_swap(BGC_FP32_Position3 * first, BGC_FP32_Position3 * second);
-extern inline void bgc_position3_convert_fp32_to_fp64(const BgcPosition3FP32 * source, BgcPosition3FP64 * destination);
+extern inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Position3 * second);
 
-extern inline void bgc_position3_invert_fp32(BgcPosition3FP32 * position);
+extern inline void bgc_fp32_position3_convert_to_fp64(BGC_FP64_Position3* destination,const BGC_FP32_Position3 * source);
-extern inline void bgc_position3_invert_fp64(BgcPosition3FP64 * position);
+extern inline void bgc_fp64_position3_convert_to_fp32(BGC_FP32_Position3* destination, const BGC_FP64_Position3* source);
 
-extern inline void bgc_position3_get_inverse_fp32(const BgcPosition3FP32 * position, BgcPosition3FP32 * inverted);
+extern inline int bgc_fp32_position3_is_idle(const BGC_FP32_Position3 * position);
-extern inline void bgc_position3_get_inverse_fp64(const BgcPosition3FP64 * position, BgcPosition3FP64 * inverted);
+extern inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3 * position);
 
-extern inline void bgc_position3_combine_fp32(const BgcPosition3FP32 * first, const BgcPosition3FP32 * second, BgcPosition3FP32 * combination);
+extern inline void bgc_fp32_position3_invert(BGC_FP32_Position3 * position);
-extern inline void bgc_position3_combine_fp64(const BgcPosition3FP64 * first, const BgcPosition3FP64 * second, BgcPosition3FP64 * combination);
+extern inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position);
 
-extern inline void bgc_position3_exclude_fp32(const BgcPosition3FP32 * base, const BgcPosition3FP32 * excludant, BgcPosition3FP32 * difference);
+extern inline void bgc_fp32_position3_get_inverse(BGC_FP32_Position3* inverse, const BGC_FP32_Position3* position);
-extern inline void bgc_position3_exclude_fp64(const BgcPosition3FP64 * base, const BgcPosition3FP64 * excludant, BgcPosition3FP64 * difference);
+extern inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* inverse, const BGC_FP64_Position3 * position);
 
-extern inline void bgc_position3_get_outward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * outward_affine_map);
+extern inline void bgc_fp32_position3_combine(BGC_FP32_Position3* combination, const BGC_FP32_Position3* first, const BGC_FP32_Position3* second);
-extern inline void bgc_position3_get_outward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * outward_affine_map);
+extern inline void bgc_fp64_position3_combine(BGC_FP64_Position3* combination, const BGC_FP64_Position3 * first, const BGC_FP64_Position3 * second);
 
-extern inline void bgc_position3_get_inward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * inward_affine_map);
+extern inline void bgc_fp32_position3_exclude(BGC_FP32_Position3* difference, const BGC_FP32_Position3* base, const BGC_FP32_Position3* excludant);
-extern inline void bgc_position3_get_inward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * inward_affine_map);
+extern inline void bgc_fp64_position3_exclude(BGC_FP64_Position3* difference, const BGC_FP64_Position3 * base, const BGC_FP64_Position3 * excludant);
 
-extern inline void bgc_position3_transform_point_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_point, BgcVector3FP32 * outer_point);
+extern inline void bgc_fp32_position3_get_outward_affine(BGC_FP32_Affine3* outward_affine_map, const BGC_FP32_Position3* position);
-extern inline void bgc_position3_transform_point_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_point, BgcVector3FP64 * outer_point);
+extern inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* outward_affine_map, const BGC_FP64_Position3 * position);
 
-extern inline void bgc_position3_transform_point_inwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_point, BgcVector3FP32 * inner_point);
+extern inline void bgc_fp32_position3_get_inward_affine(BGC_FP32_Affine3* inward_affine_map, const BGC_FP32_Position3* position);
-extern inline void bgc_position3_transform_point_inwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_point, BgcVector3FP64 * inner_point);
+extern inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* inward_affine_map, const BGC_FP64_Position3 * position);
 
-extern inline void bgc_position3_transform_vector_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_vector, BgcVector3FP32 * outer_vector);
+extern inline void bgc_fp32_position3_transform_point_outwards(BGC_FP32_Vector3* outer_point, const BGC_FP32_Position3* position, const BGC_FP32_Vector3* inner_point);
-extern inline void bgc_position3_transform_vector_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_vector, BgcVector3FP64 * outer_vector);
+extern inline void bgc_fp64_position3_transform_point_outwards(BGC_FP64_Vector3* outer_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_point);
 
-extern inline void bgc_position3_transform_vector_inwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_vector, BgcVector3FP32 * inner_vector);
+extern inline void bgc_fp32_position3_transform_point_inwards(BGC_FP32_Vector3* inner_point, const BGC_FP32_Position3* position, const BGC_FP32_Vector3* outer_point);
-extern inline void bgc_position3_transform_vector_inwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_vector, BgcVector3FP64 * inner_vector);
+extern inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* inner_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_point);
+
+extern inline void bgc_fp32_position3_transform_vector_outwards(BGC_FP32_Vector3* outer_vector, const BGC_FP32_Position3* position, const BGC_FP32_Vector3* inner_vector);
+extern inline void bgc_fp64_position3_transform_vector_outwards(BGC_FP64_Vector3* outer_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_vector);
+
+extern inline void bgc_fp32_position3_transform_vector_inwards(BGC_FP32_Vector3* inner_vector, const BGC_FP32_Position3* position, const BGC_FP32_Vector3* outer_vector);
+extern inline void bgc_fp64_position3_transform_vector_inwards(BGC_FP64_Vector3* inner_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_vector);

basic-geometry/position3.h

@@ -3,230 +3,256 @@
 
 #include "vector3.h"
 #include "affine3.h"
-#include "versor.h"
+#include "turn3.h"
 
 // ==================== Types ==================== //
 
 typedef struct {
-    BgcVersorFP32 turn;
+    BGC_FP32_Turn3 turn;
-    BgcVector3FP32 shift;
+    BGC_FP32_Vector3 shift;
-} BgcPosition3FP32;
+} BGC_FP32_Position3;
 
 typedef struct {
-    BgcVersorFP64 turn;
+    BGC_FP64_Turn3 turn;
-    BgcVector3FP64 shift;
+    BGC_FP64_Vector3 shift;
-} BgcPosition3FP64;
+} BGC_FP64_Position3;
 
 // ==================== Reset ==================== //
 
-inline void bgc_position3_reset_fp32(BgcPosition3FP32 * position)
+inline void bgc_fp32_position3_reset(BGC_FP32_Position3 * position)
 {
-    bgc_versor_reset_fp32(&position->turn);
+    bgc_fp32_turn3_reset(&position->turn);
-    bgc_vector3_reset_fp32(&position->shift);
+    bgc_fp32_vector3_reset(&position->shift);
 }
 
-inline void bgc_position3_reset_fp64(BgcPosition3FP64 * position)
+inline void bgc_fp64_position3_reset(BGC_FP64_Position3 * position)
 {
-    bgc_versor_reset_fp64(&position->turn);
+    bgc_fp64_turn3_reset(&position->turn);
-    bgc_vector3_reset_fp64(&position->shift);
+    bgc_fp64_vector3_reset(&position->shift);
 }
 
 // ==================== Make ===================== //
 
-inline void bgc_position3_make_fp32(const BgcVersorFP32 * turn, const BgcVector3FP32 * shift, BgcPosition3FP32 * position)
+inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Turn3 * turn, const BGC_FP32_Vector3 * shift)
 {
-    bgc_versor_copy_fp32(turn, &position->turn);
+    bgc_fp32_turn3_copy(&position->turn, turn);
-    bgc_vector3_copy_fp32(shift, &position->shift);
+    bgc_fp32_vector3_copy(&position->shift, shift);
 }
 
-inline void bgc_position3_make_fp64(const BgcVersorFP64 * turn, const BgcVector3FP64 * shift, BgcPosition3FP64 * position)
+inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Turn3 * turn, const BGC_FP64_Vector3 * shift)
 {
-    bgc_versor_copy_fp64(turn, &position->turn);
+    bgc_fp64_turn3_copy(&position->turn, turn);
-    bgc_vector3_copy_fp64(shift, &position->shift);
+    bgc_fp64_vector3_copy(&position->shift, shift);
 }
 
 // ==================== Copy ===================== //
 
-inline void bgc_position3_copy_fp32(const BgcPosition3FP32 * source, BgcPosition3FP32 * destination)
+inline void bgc_fp32_position3_copy(BGC_FP32_Position3* destination, const BGC_FP32_Position3 * source)
 {
-    bgc_versor_copy_fp32(&source->turn, &destination->turn);
+    bgc_fp32_turn3_copy(&destination->turn, &source->turn);
-    bgc_vector3_copy_fp32(&source->shift, &destination->shift);
+    bgc_fp32_vector3_copy(&destination->shift, &source->shift);
 }
 
-inline void bgc_position3_copy_fp64(const BgcPosition3FP64 * source, BgcPosition3FP64 * destination)
+inline void bgc_fp64_position3_copy(BGC_FP64_Position3* destination, const BGC_FP64_Position3 * source)
 {
-    bgc_versor_copy_fp64(&source->turn, &destination->turn);
+    bgc_fp64_turn3_copy(&destination->turn, &source->turn);
-    bgc_vector3_copy_fp64(&source->shift, &destination->shift);
+    bgc_fp64_vector3_copy(&destination->shift, &source->shift);
+}
+
+// ==================== Swap ===================== //
+
+inline void bgc_fp32_position3_swap(BGC_FP32_Position3 * first, BGC_FP32_Position3 * second)
+{
+    bgc_fp32_turn3_swap(&first->turn, &second->turn);
+    bgc_fp32_vector3_swap(&first->shift, &second->shift);
+}
+
+inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Position3 * second)
+{
+    bgc_fp64_turn3_swap(&first->turn, &second->turn);
+    bgc_fp64_vector3_swap(&first->shift, &second->shift);
 }
 
 // =================== Convert =================== //
 
-inline void bgc_position3_convert_fp64_to_fp32(const BgcPosition3FP64 * source, BgcPosition3FP32 * destination)
+inline void bgc_fp32_position3_convert_to_fp64(BGC_FP64_Position3* destination, const BGC_FP32_Position3 * source)
 {
-    bgc_versor_convert_fp64_to_fp32(&source->turn, &destination->turn);
+    bgc_fp32_turn3_convert_to_fp64(&destination->turn, &source->turn);
-    bgc_vector3_convert_fp64_to_fp32(&source->shift, &destination->shift);
+    bgc_fp32_vector3_convert_to_fp64(&destination->shift, &source->shift);
 }
 
-inline void bgc_position3_convert_fp32_to_fp64(const BgcPosition3FP32 * source, BgcPosition3FP64 * destination)
+inline void bgc_fp64_position3_convert_to_fp32(BGC_FP32_Position3* destination, const BGC_FP64_Position3* source)
 {
-    bgc_versor_convert_fp32_to_fp64(&source->turn, &destination->turn);
+    bgc_fp64_turn3_convert_to_fp32(&destination->turn, &source->turn);
-    bgc_vector3_convert_fp32_to_fp64(&source->shift, &destination->shift);
+    bgc_fp64_vector3_convert_to_fp32(&destination->shift, &source->shift);
+}
+
+// =================== Is Idle =================== //
+
+inline int bgc_fp32_position3_is_idle(const BGC_FP32_Position3 * position)
+{
+    return bgc_fp32_vector3_is_zero(&position->shift) && bgc_fp32_turn3_is_idle(&position->turn);
+}
+
+inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3 * position)
+{
+    return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_turn3_is_idle(&position->turn);
 }
 
 // =================== Invert ==================== //
 
-inline void bgc_position3_invert_fp32(BgcPosition3FP32 * position)
+inline void bgc_fp32_position3_invert(BGC_FP32_Position3 * position)
 {
-    bgc_versor_turn_vector_back_fp32(&position->turn, &position->shift, &position->shift);
+    bgc_fp32_turn3_vector_back(&position->shift, &position->turn, &position->shift);
-    bgc_versor_invert_fp32(&position->turn);
+    bgc_fp32_turn3_revert(&position->turn);
-    bgc_vector3_make_opposite_fp32(&position->shift);
+    bgc_fp32_vector3_revert(&position->shift);
 }
 
-inline void bgc_position3_invert_fp64(BgcPosition3FP64 * position)
+inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position)
 {
-    bgc_versor_turn_vector_back_fp64(&position->turn, &position->shift, &position->shift);
+    bgc_fp64_turn3_vector_back(&position->shift, &position->turn, &position->shift);
-    bgc_versor_invert_fp64(&position->turn);
+    bgc_fp64_turn3_revert(&position->turn);
-    bgc_vector3_make_opposite_fp64(&position->shift);
+    bgc_fp64_vector3_revert(&position->shift);
 }
 
 // ================= Get Inverse ================= //
 
-inline void bgc_position3_get_inverse_fp32(const BgcPosition3FP32 * position, BgcPosition3FP32 * inverted)
+inline void bgc_fp32_position3_get_inverse(BGC_FP32_Position3* inverse, const BGC_FP32_Position3 * position)
 {
-    bgc_versor_turn_vector_back_fp32(&position->turn, &position->shift, &inverted->shift);
+    bgc_fp32_turn3_vector_back(&inverse->shift, &position->turn, &position->shift);
-    bgc_versor_get_inverse_fp32(&position->turn, &inverted->turn);
+    bgc_fp32_turn3_get_reverse(&inverse->turn, &position->turn);
-    bgc_vector3_make_opposite_fp32(&inverted->shift);
+    bgc_fp32_vector3_revert(&inverse->shift);
 }
 
-inline void bgc_position3_get_inverse_fp64(const BgcPosition3FP64 * position, BgcPosition3FP64 * inverted)
+inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* inverse, const BGC_FP64_Position3 * position)
 {
-    bgc_versor_turn_vector_back_fp64(&position->turn, &position->shift, &inverted->shift);
+    bgc_fp64_turn3_vector_back(&inverse->shift, &position->turn, &position->shift);
-    bgc_versor_get_inverse_fp64(&position->turn, &inverted->turn);
+    bgc_fp64_turn3_get_reverse(&inverse->turn, &position->turn);
-    bgc_vector3_make_opposite_fp64(&inverted->shift);
+    bgc_fp64_vector3_revert(&inverse->shift);
 }
 
 // =================== Combine =================== //
 
-inline void bgc_position3_combine_fp32(const BgcPosition3FP32 * first, const BgcPosition3FP32 * second, BgcPosition3FP32 * combination)
+inline void bgc_fp32_position3_combine(BGC_FP32_Position3* combination, const BGC_FP32_Position3 * first, const BGC_FP32_Position3 * second)
 {
-    BgcVector3FP32 relative_shift;
+    BGC_FP32_Vector3 relative_shift;
-    bgc_versor_turn_vector_fp32(&second->turn, &first->shift, &relative_shift);
+    bgc_fp32_turn3_vector(&relative_shift, &second->turn, &first->shift);
-    bgc_versor_combine_fp32(&first->turn, &second->turn, &combination->turn);
+    bgc_fp32_turn3_combine(&combination->turn, &first->turn, &second->turn);
-    bgc_vector3_add_fp32(&relative_shift, &second->shift, &combination->shift);
+    bgc_fp32_vector3_add(&combination->shift, &relative_shift, &second->shift);
 }
 
-inline void bgc_position3_combine_fp64(const BgcPosition3FP64 * first, const BgcPosition3FP64 * second, BgcPosition3FP64 * combination)
+inline void bgc_fp64_position3_combine(BGC_FP64_Position3* combination, const BGC_FP64_Position3 * first, const BGC_FP64_Position3 * second)
 {
-    BgcVector3FP64 relative_shift;
+    BGC_FP64_Vector3 relative_shift;
-    bgc_versor_turn_vector_fp64(&second->turn, &first->shift, &relative_shift);
+    bgc_fp64_turn3_vector(&relative_shift, &second->turn, &first->shift);
-    bgc_versor_combine_fp64(&first->turn, &second->turn, &combination->turn);
+    bgc_fp64_turn3_combine(&combination->turn, &first->turn, &second->turn);
-    bgc_vector3_add_fp64(&relative_shift, &second->shift, &combination->shift);
+    bgc_fp64_vector3_add(&combination->shift, &relative_shift, &second->shift);
 }
 
 // =================== Exclude =================== //
 
-inline void bgc_position3_exclude_fp32(const BgcPosition3FP32 * base, const BgcPosition3FP32 * excludant, BgcPosition3FP32 * difference)
+inline void bgc_fp32_position3_exclude(BGC_FP32_Position3* difference, const BGC_FP32_Position3 * base, const BGC_FP32_Position3 * excludant)
 {
-    BgcVector3FP32 relative_shift;
+    BGC_FP32_Vector3 relative_shift;
-    bgc_vector3_subtract_fp32(&base->shift, &excludant->shift, &relative_shift);
+    bgc_fp32_vector3_subtract(&relative_shift, &base->shift, &excludant->shift);
-    bgc_versor_turn_vector_back_fp32(&excludant->turn, &relative_shift, &difference->shift);
+    bgc_fp32_turn3_vector_back(&difference->shift, &excludant->turn, &relative_shift);
-    bgc_versor_exclude_fp32(&base->turn, &excludant->turn, &difference->turn);
+    bgc_fp32_turn3_exclude(&difference->turn, &base->turn, &excludant->turn);
 }
 
-inline void bgc_position3_exclude_fp64(const BgcPosition3FP64 * base, const BgcPosition3FP64 * excludant, BgcPosition3FP64 * difference)
+inline void bgc_fp64_position3_exclude(BGC_FP64_Position3* difference, const BGC_FP64_Position3 * base, const BGC_FP64_Position3 * excludant)
 {
-    BgcVector3FP64 relative_shift;
+    BGC_FP64_Vector3 relative_shift;
-    bgc_vector3_subtract_fp64(&base->shift, &excludant->shift, &relative_shift);
+    bgc_fp64_vector3_subtract(&relative_shift, &base->shift, &excludant->shift);
-    bgc_versor_turn_vector_back_fp64(&excludant->turn, &relative_shift, &difference->shift);
+    bgc_fp64_turn3_vector_back(&difference->shift, &excludant->turn, &relative_shift);
-    bgc_versor_exclude_fp64(&base->turn, &excludant->turn, &difference->turn);
+    bgc_fp64_turn3_exclude(&difference->turn, &base->turn, &excludant->turn);
 }
 
 // ============= Get Outward Affine ============== //
 
-inline void bgc_position3_get_outward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * outward_affine_map)
+inline void bgc_fp32_position3_get_outward_affine(BGC_FP32_Affine3* outward_affine_map, const BGC_FP32_Position3 * position)
 {
-    bgc_versor_get_rotation_matrix_fp32(&position->turn, &outward_affine_map->distortion);
+    bgc_fp32_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
-    bgc_vector3_copy_fp32(&position->shift, &outward_affine_map->shift);
+    bgc_fp32_vector3_copy(&outward_affine_map->shift, &position->shift);
 }
 
-inline void bgc_position3_get_outward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * outward_affine_map)
+inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* outward_affine_map, const BGC_FP64_Position3 * position)
 {
-    bgc_versor_get_rotation_matrix_fp64(&position->turn, &outward_affine_map->distortion);
+    bgc_fp64_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
-    bgc_vector3_copy_fp64(&position->shift, &outward_affine_map->shift);
+    bgc_fp64_vector3_copy(&outward_affine_map->shift, &position->shift);
 }
 
 // ============== Get Inward Affine ============== //
 
-inline void bgc_position3_get_inward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * inward_affine_map)
+inline void bgc_fp32_position3_get_inward_affine(BGC_FP32_Affine3* inward_affine_map, const BGC_FP32_Position3 * position)
 {
-    bgc_versor_get_reverse_matrix_fp32(&position->turn, &inward_affine_map->distortion);
+    bgc_fp32_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
-    bgc_matrix3x3_get_right_product_fp32(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
+    bgc_fp32_multiply_matrix3x3_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
-    bgc_vector3_make_opposite_fp32(&inward_affine_map->shift);
+    bgc_fp32_vector3_revert(&inward_affine_map->shift);
 }
 
-inline void bgc_position3_get_inward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * inward_affine_map)
+inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* inward_affine_map, const BGC_FP64_Position3 * position)
 {
-    bgc_versor_get_reverse_matrix_fp64(&position->turn, &inward_affine_map->distortion);
+    bgc_fp64_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
-    bgc_matrix3x3_get_right_product_fp64(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
+    bgc_fp64_multiply_matrix3x3_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
-    bgc_vector3_make_opposite_fp64(&inward_affine_map->shift);
+    bgc_fp64_vector3_revert(&inward_affine_map->shift);
 }
 
 // ========== Transform Point Outwards =========== //
 
-inline void bgc_position3_transform_point_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_point, BgcVector3FP32 * outer_point)
+inline void bgc_fp32_position3_transform_point_outwards(BGC_FP32_Vector3* outer_point, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_point)
 {
-    BgcVector3FP32 turned_point;
+    BGC_FP32_Vector3 turned_point;
-    bgc_versor_turn_vector_fp32(&position->turn, inner_point, &turned_point);
+    bgc_fp32_turn3_vector(&turned_point, &position->turn, inner_point);
-    bgc_vector3_add_fp32(&position->shift, &turned_point, outer_point);
+    bgc_fp32_vector3_add(outer_point, &position->shift, &turned_point);
 }
 
-inline void bgc_position3_transform_point_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_point, BgcVector3FP64 * outer_point)
+inline void bgc_fp64_position3_transform_point_outwards(BGC_FP64_Vector3* outer_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_point)
 {
-    BgcVector3FP64 turned_point;
+    BGC_FP64_Vector3 turned_point;
-    bgc_versor_turn_vector_fp64(&position->turn, inner_point, &turned_point);
+    bgc_fp64_turn3_vector(&turned_point, &position->turn, inner_point);
-    bgc_vector3_add_fp64(&position->shift, &turned_point, outer_point);
+    bgc_fp64_vector3_add(outer_point, &position->shift, &turned_point);
 }
 
 // =========== Transform Point Inwards =========== //
 
-inline void bgc_position3_transform_point_inwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_point, BgcVector3FP32 * inner_point)
+inline void bgc_fp32_position3_transform_point_inwards(BGC_FP32_Vector3* inner_point, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_point)
 {
-    BgcVector3FP32 relative_point;
+    BGC_FP32_Vector3 relative_point;
-    bgc_vector3_subtract_fp32(outer_point, &position->shift, &relative_point);
+    bgc_fp32_vector3_subtract(&relative_point, outer_point, &position->shift);
-    bgc_versor_turn_vector_back_fp32(&position->turn, &relative_point, inner_point);
+    bgc_fp32_turn3_vector_back(inner_point, &position->turn, &relative_point);
 
 }
 
-inline void bgc_position3_transform_point_inwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_point, BgcVector3FP64 * inner_point)
+inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* inner_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_point)
 {
-    BgcVector3FP64 relative_point;
+    BGC_FP64_Vector3 relative_point;
-    bgc_vector3_subtract_fp64(outer_point, &position->shift, &relative_point);
+    bgc_fp64_vector3_subtract(&relative_point, outer_point, &position->shift);
-    bgc_versor_turn_vector_back_fp64(&position->turn, &relative_point, inner_point);
+    bgc_fp64_turn3_vector_back(inner_point, &position->turn, &relative_point);
 
 }
 
 // ========== Transform Vector Outwards ========== //
 
-inline void bgc_position3_transform_vector_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_vector, BgcVector3FP32 * outer_vector)
+inline void bgc_fp32_position3_transform_vector_outwards(BGC_FP32_Vector3* outer_vector, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_vector)
 {
-    bgc_versor_turn_vector_fp32(&position->turn, inner_vector, outer_vector);
+    bgc_fp32_turn3_vector(outer_vector, &position->turn, inner_vector);
 }
 
-inline void bgc_position3_transform_vector_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_vector, BgcVector3FP64 * outer_vector)
+inline void bgc_fp64_position3_transform_vector_outwards(BGC_FP64_Vector3* outer_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_vector)
 {
-    bgc_versor_turn_vector_fp64(&position->turn, inner_vector, outer_vector);
+    bgc_fp64_turn3_vector(outer_vector, &position->turn, inner_vector);
 }
 
 // ========== Transform Vector Inwards =========== //
 
-inline void bgc_position3_transform_vector_inwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_vector, BgcVector3FP32 * inner_vector)
+inline void bgc_fp32_position3_transform_vector_inwards(BGC_FP32_Vector3* inner_vector, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_vector)
 {
-    bgc_versor_turn_vector_back_fp32(&position->turn, outer_vector, inner_vector);
+    bgc_fp32_turn3_vector_back(inner_vector, &position->turn, outer_vector);
 }
 
-inline void bgc_position3_transform_vector_inwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_vector, BgcVector3FP64 * inner_vector)
+inline void bgc_fp64_position3_transform_vector_inwards(BGC_FP64_Vector3* inner_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_vector)
 {
-    bgc_versor_turn_vector_back_fp64(&position->turn, outer_vector, inner_vector);
+    bgc_fp64_turn3_vector_back(inner_vector, &position->turn, outer_vector);
 }
 
 #endif // _BGC_POSITION_H_INCLUDED_

basic-geometry/quaternion.c

@@ -1,105 +1,108 @@
 #include <math.h>
 #include "quaternion.h"
 
-extern inline void bgc_quaternion_reset_fp32(BgcQuaternionFP32* quaternion);
+extern inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* quaternion);
-extern inline void bgc_quaternion_reset_fp64(BgcQuaternionFP64* quaternion);
+extern inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* quaternion);
 
-extern inline void bgc_quaternion_make_unit_fp32(BgcQuaternionFP32* quaternion);
+extern inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* quaternion);
-extern inline void bgc_quaternion_make_unit_fp64(BgcQuaternionFP64* quaternion);
+extern inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* quaternion);
 
-extern inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcQuaternionFP32* quaternion);
+extern inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* quaternion, const float s0, const float x1, const float x2, const float x3);
-extern inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcQuaternionFP64* quaternion);
+extern inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* quaternion, const double s0, const double x1, const double x2, const double x3);
 
-extern inline float bgc_quaternion_get_square_modulus_fp32(const BgcQuaternionFP32* quaternion);
+extern inline float bgc_fp32_quaternion_get_square_modulus(const BGC_FP32_Quaternion* quaternion);
-extern inline double bgc_quaternion_get_square_modulus_fp64(const BgcQuaternionFP64* quaternion);
+extern inline double bgc_fp64_quaternion_get_square_modulus(const BGC_FP64_Quaternion* quaternion);
 
-extern inline float bgc_quaternion_get_modulus_fp32(const BgcQuaternionFP32* quaternion);
+extern inline float bgc_fp32_quaternion_get_modulus(const BGC_FP32_Quaternion* quaternion);
-extern inline double bgc_quaternion_get_modulus_fp64(const BgcQuaternionFP64* quaternion);
+extern inline double bgc_fp64_quaternion_get_modulus(const BGC_FP64_Quaternion* quaternion);
 
-extern inline int bgc_quaternion_is_zero_fp32(const BgcQuaternionFP32* quaternion);
+extern inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* quaternion);
-extern inline int bgc_quaternion_is_zero_fp64(const BgcQuaternionFP64* quaternion);
+extern inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* quaternion);
 
-extern inline int bgc_quaternion_is_unit_fp32(const BgcQuaternionFP32* quaternion);
+extern inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* quaternion);
-extern inline int bgc_quaternion_is_unit_fp64(const BgcQuaternionFP64* quaternion);
+extern inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* quaternion);
 
-extern inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* source, BgcQuaternionFP32* destination);
+extern inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* destination, const BGC_FP32_Quaternion* source);
-extern inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* source, BgcQuaternionFP64* destination);
+extern inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* destination, const BGC_FP64_Quaternion* source);
 
-extern inline void bgc_quaternion_swap_fp32(BgcQuaternionFP32* quarternion1, BgcQuaternionFP32* quarternion2);
+extern inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* quarternion1, BGC_FP32_Quaternion* quarternion2);
-extern inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuaternionFP64* quarternion2);
+extern inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64_Quaternion* quarternion2);
 
-extern inline void bgc_quaternion_convert_fp64_to_fp32(const BgcQuaternionFP64* source, BgcQuaternionFP32* destination);
+extern inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* destination, const BGC_FP32_Quaternion* source);
-extern inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* source, BgcQuaternionFP64* destination);
+extern inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* destination, const BGC_FP64_Quaternion* source);
 
-extern inline void bgc_quaternion_add_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2, BgcQuaternionFP32* sum);
+extern inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
-extern inline void bgc_quaternion_add_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2, BgcQuaternionFP64* sum);
+extern inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
 
-extern inline void bgc_quaternion_add_scaled_fp32(const BgcQuaternionFP32* basic_quaternion, const BgcQuaternionFP32* scalable_quaternion, const float scale, BgcQuaternionFP32* sum);
+extern inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* basic_quaternion, const BGC_FP32_Quaternion* scalable_quaternion, const float scale);
-extern inline void bgc_quaternion_add_scaled_fp64(const BgcQuaternionFP64* basic_quaternion, const BgcQuaternionFP64* scalable_quaternion, const double scale, BgcQuaternionFP64* sum);
+extern inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* basic_quaternion, const BGC_FP64_Quaternion* scalable_quaternion, const double scale);
 
-extern inline void bgc_quaternion_subtract_fp32(const BgcQuaternionFP32* minuend, const BgcQuaternionFP32* subtrahend, BgcQuaternionFP32* difference);
+extern inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* minuend, const BGC_FP32_Quaternion* subtrahend);
-extern inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64* minuend, const BgcQuaternionFP64* subtrahend, BgcQuaternionFP64* difference);
+extern inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* minuend, const BGC_FP64_Quaternion* subtrahend);
 
-extern inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product);
+extern inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
-extern inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* product);
+extern inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
 
-extern inline void bgc_quaternion_multiply_by_number_fp32(const BgcQuaternionFP32* multiplicand, const float multipier, BgcQuaternionFP32* product);
+extern inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
-extern inline void bgc_quaternion_multiply_by_number_fp64(const BgcQuaternionFP64* multiplicand, const double multipier, BgcQuaternionFP64* product);
+extern inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
 
-extern inline int bgc_quaternion_divide_fp32(const BgcQuaternionFP32* divident, const BgcQuaternionFP32* divisor, BgcQuaternionFP32* quotient);
+extern inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier);
-extern inline int bgc_quaternion_divide_fp64(const BgcQuaternionFP64* divident, const BgcQuaternionFP64* divisor, BgcQuaternionFP64* quotient);
+extern inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier);
 
-extern inline void bgc_quaternion_divide_by_number_fp32(const BgcQuaternionFP32* dividend, const float divisor, BgcQuaternionFP32* quotient);
+extern inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor);
-extern inline void bgc_quaternion_divide_by_number_fp64(const BgcQuaternionFP64* dividend, const double divisor, BgcQuaternionFP64* quotient);
+extern inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor);
 
-extern inline void bgc_quaternion_get_mean_of_two_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, BgcQuaternionFP32* mean);
+extern inline void bgc_fp32_quaternion_divide(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor);
-extern inline void bgc_quaternion_get_mean_of_two_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, BgcQuaternionFP64* mean);
+extern inline void bgc_fp64_quaternion_divide(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor);
 
-extern inline void bgc_quaternion_get_mean_of_three_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, const BgcQuaternionFP32* vector3, BgcQuaternionFP32* mean);
+extern inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
-extern inline void bgc_quaternion_get_mean_of_three_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, const BgcQuaternionFP64* vector3, BgcQuaternionFP64* mean);
+extern inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
 
-extern inline void bgc_quaternion_interpolate_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, const float phase, BgcQuaternionFP32* interpolation);
+extern inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const BGC_FP32_Quaternion* quaternion3);
-extern inline void bgc_quaternion_interpolate_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, const double phase, BgcQuaternionFP64* interpolation);
+extern inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const BGC_FP64_Quaternion* quaternion3);
 
-extern inline void bgc_quaternion_conjugate_fp32(BgcQuaternionFP32* quaternion);
+extern inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase);
-extern inline void bgc_quaternion_conjugate_fp64(BgcQuaternionFP64* quaternion);
+extern inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase);
 
-extern inline void bgc_quaternion_get_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* conjugate);
+extern inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion);
-extern inline void bgc_quaternion_get_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* conjugate);
+extern inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion);
 
-extern inline void bgc_quaternion_make_opposite_fp32(BgcQuaternionFP32* quaternion);
+extern inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* conjugate, const BGC_FP32_Quaternion* quaternion);
-extern inline void bgc_quaternion_make_opposite_fp64(BgcQuaternionFP64* quaternion);
+extern inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* conjugate, const BGC_FP64_Quaternion* quaternion);
 
-extern inline void bgc_quaternion_get_opposite_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* opposite);
+extern inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* quaternion);
-extern inline void bgc_quaternion_get_opposite_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* opposite);
+extern inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* quaternion);
 
-extern inline int bgc_quaternion_invert_fp32(BgcQuaternionFP32* quaternion);
+extern inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* reverse, const BGC_FP32_Quaternion* quaternion);
-extern inline int bgc_quaternion_invert_fp64(BgcQuaternionFP64* quaternion);
+extern inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* reverse, const BGC_FP64_Quaternion* quaternion);
 
-extern inline int bgc_quaternion_get_inverse_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* inverse);
+extern inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* quaternion);
-extern inline int bgc_quaternion_get_inverse_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* inverse);
+extern inline int bgc_fp64_quaternion_invert(BGC_FP64_Quaternion* quaternion);
 
-extern inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion);
+extern inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const BGC_FP32_Quaternion* quaternion);
-extern inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion);
+extern inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const BGC_FP64_Quaternion* quaternion);
 
-extern inline int bgc_quaternion_get_normalized_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* normalized);
+extern inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion);
-extern inline int bgc_quaternion_get_normalized_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* normalized);
+extern inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion);
 
-extern inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation);
+extern inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion);
-extern inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation);
+extern inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion);
 
-extern inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* reverse);
+extern inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion);
-extern inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* reverse);
+extern inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion);
 
-extern inline int bgc_quaternion_get_both_matrices_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse);
+extern inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion);
-extern inline int bgc_quaternion_get_both_matrices_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse);
+extern inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion);
 
-extern inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2);
+extern inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion);
-extern inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2);
+extern inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion);
+
+extern inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
+extern inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
 
 // =============== Get Exponation =============== //
 
-int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const float exponent, BgcQuaternionFP32* power)
+int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP32_Quaternion* base, const float exponent)
 {
     const float s0s0 = base->s0 * base->s0;
     const float x1x1 = base->x1 * base->x1;
@@ -109,12 +112,12 @@ int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const floa
     const float square_vector = x1x1 + (x2x2 + x3x3);
     const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
 
-    // square_modulus != square_modulus means checking for NaN value at square_modulus
+    // isnan(square_modulus) means checking for NaN value at square_modulus
-    if (square_modulus != square_modulus) {
+    if (isnan(square_modulus)) {
         return 0;
     }
 
-    if (square_vector <= BGC_SQUARE_EPSYLON_FP32) {
+    if (square_vector <= BGC_FP32_SQUARE_EPSILON) {
         if (base->s0 < 0.0f) {
             return 0;
         }
@@ -140,7 +143,7 @@ int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const floa
     return 1;
 }
 
-int bgc_quaternion_get_exponation_fp64(const BgcQuaternionFP64* base, const double exponent, BgcQuaternionFP64* power)
+int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent)
 {
     const double s0s0 = base->s0 * base->s0;
     const double x1x1 = base->x1 * base->x1;
@@ -150,12 +153,12 @@ int bgc_quaternion_get_exponation_fp64(const BgcQuaternionFP64* base, const doub
     const double square_vector = x1x1 + (x2x2 + x3x3);
     const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
 
-    // square_modulus != square_modulus means checking for NaN value at square_modulus
+    // isnan(square_modulus) means checking for NaN value at square_modulus
-    if (square_modulus != square_modulus) {
+    if (isnan(square_modulus)) {
         return 0;
     }
 
-    if (square_vector <= BGC_SQUARE_EPSYLON_FP64) {
+    if (square_vector <= BGC_FP64_SQUARE_EPSILON) {
         if (base->s0 < 0.0) {
             return 0;
         }

basic-geometry/quaternion.h

@@ -1,5 +1,5 @@
-#ifndef _BGC_QUATERNION_H_
+#ifndef _BGC_QUATERNION_H_INCLUDED_
-#define _BGC_QUATERNION_H_
+#define _BGC_QUATERNION_H_INCLUDED_
 
 #include <math.h>
 
@@ -9,15 +9,15 @@
 
 typedef struct {
     float s0, x1, x2, x3;
-} BgcQuaternionFP32;
+} BGC_FP32_Quaternion;
 
 typedef struct {
     double s0, x1, x2, x3;
-} BgcQuaternionFP64;
+} BGC_FP64_Quaternion;
 
 // ==================== Reset =================== //
 
-inline void bgc_quaternion_reset_fp32(BgcQuaternionFP32 * quaternion)
+inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* quaternion)
 {
     quaternion->s0 = 0.0f;
     quaternion->x1 = 0.0f;
@@ -25,7 +25,7 @@ inline void bgc_quaternion_reset_fp32(BgcQuaternionFP32 * quaternion)
     quaternion->x3 = 0.0f;
 }
 
-inline void bgc_quaternion_reset_fp64(BgcQuaternionFP64 * quaternion)
+inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* quaternion)
 {
     quaternion->s0 = 0.0;
     quaternion->x1 = 0.0;
@@ -35,7 +35,7 @@ inline void bgc_quaternion_reset_fp64(BgcQuaternionFP64 * quaternion)
 
 // ================= Make Unit ================== //
 
-inline void bgc_quaternion_make_unit_fp32(BgcQuaternionFP32 * quaternion)
+inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* quaternion)
 {
     quaternion->s0 = 1.0f;
     quaternion->x1 = 0.0f;
@@ -43,7 +43,7 @@ inline void bgc_quaternion_make_unit_fp32(BgcQuaternionFP32 * quaternion)
     quaternion->x3 = 0.0f;
 }
 
-inline void bgc_quaternion_make_unit_fp64(BgcQuaternionFP64 * quaternion)
+inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* quaternion)
 {
     quaternion->s0 = 1.0;
     quaternion->x1 = 0.0;
@@ -53,7 +53,7 @@ inline void bgc_quaternion_make_unit_fp64(BgcQuaternionFP64 * quaternion)
 
 // ==================== Set ===================== //
 
-inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcQuaternionFP32 * quaternion)
+inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* quaternion, const float s0, const float x1, const float x2, const float x3)
 {
     quaternion->s0 = s0;
     quaternion->x1 = x1;
@@ -61,7 +61,7 @@ inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const
     quaternion->x3 = x3;
 }
 
-inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcQuaternionFP64 * quaternion)
+inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* quaternion, const double s0, const double x1, const double x2, const double x3)
 {
     quaternion->s0 = s0;
     quaternion->x1 = x1;
@@ -71,55 +71,55 @@ inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, con
 
 // ============= Get Square Modulus ============= //
 
-inline float bgc_quaternion_get_square_modulus_fp32(const BgcQuaternionFP32* quaternion)
+inline float bgc_fp32_quaternion_get_square_modulus(const BGC_FP32_Quaternion* quaternion)
 {
     return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
 }
 
-inline double bgc_quaternion_get_square_modulus_fp64(const BgcQuaternionFP64* quaternion)
+inline double bgc_fp64_quaternion_get_square_modulus(const BGC_FP64_Quaternion* quaternion)
 {
     return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
 }
 
 // ================ Get Modulus ================= //
 
-inline float bgc_quaternion_get_modulus_fp32(const BgcQuaternionFP32* quaternion)
+inline float bgc_fp32_quaternion_get_modulus(const BGC_FP32_Quaternion* quaternion)
 {
-    return sqrtf(bgc_quaternion_get_square_modulus_fp32(quaternion));
+    return sqrtf(bgc_fp32_quaternion_get_square_modulus(quaternion));
 }
 
-inline double bgc_quaternion_get_modulus_fp64(const BgcQuaternionFP64* quaternion)
+inline double bgc_fp64_quaternion_get_modulus(const BGC_FP64_Quaternion* quaternion)
 {
-    return sqrt(bgc_quaternion_get_square_modulus_fp64(quaternion));
+    return sqrt(bgc_fp64_quaternion_get_square_modulus(quaternion));
 }
 
 // ================== Is Zero =================== //
 
-inline int bgc_quaternion_is_zero_fp32(const BgcQuaternionFP32* quaternion)
+inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* quaternion)
 {
-    return bgc_quaternion_get_square_modulus_fp32(quaternion) <= BGC_SQUARE_EPSYLON_FP32;
+    return bgc_fp32_quaternion_get_square_modulus(quaternion) <= BGC_FP32_SQUARE_EPSILON;
 }
 
-inline int bgc_quaternion_is_zero_fp64(const BgcQuaternionFP64* quaternion)
+inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* quaternion)
 {
-    return bgc_quaternion_get_square_modulus_fp64(quaternion) <= BGC_SQUARE_EPSYLON_FP64;
+    return bgc_fp64_quaternion_get_square_modulus(quaternion) <= BGC_FP64_SQUARE_EPSILON;
 }
 
 // ================== Is Unit =================== //
 
-inline int bgc_quaternion_is_unit_fp32(const BgcQuaternionFP32* quaternion)
+inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* quaternion)
 {
-    return bgc_is_sqare_unit_fp32(bgc_quaternion_get_square_modulus_fp32(quaternion));
+    return bgc_fp32_is_square_unit(bgc_fp32_quaternion_get_square_modulus(quaternion));
 }
 
-inline int bgc_quaternion_is_unit_fp64(const BgcQuaternionFP64* quaternion)
+inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* quaternion)
 {
-    return bgc_is_sqare_unit_fp64(bgc_quaternion_get_square_modulus_fp64(quaternion));
+    return bgc_fp64_is_square_unit(bgc_fp64_quaternion_get_square_modulus(quaternion));
 }
 
 // ==================== Copy ==================== //
 
-inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* source, BgcQuaternionFP32* destination)
+inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* destination, const BGC_FP32_Quaternion* source)
 {
     destination->s0 = source->s0;
     destination->x1 = source->x1;
@@ -127,7 +127,7 @@ inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* source, BgcQuatern
     destination->x3 = source->x3;
 }
 
-inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* source, BgcQuaternionFP64* destination)
+inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* destination, const BGC_FP64_Quaternion* source)
 {
     destination->s0 = source->s0;
     destination->x1 = source->x1;
@@ -137,7 +137,7 @@ inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* source, BgcQuatern
 
 // ==================== Swap ==================== //
 
-inline void bgc_quaternion_swap_fp32(BgcQuaternionFP32* quarternion1, BgcQuaternionFP32* quarternion2)
+inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* quarternion1, BGC_FP32_Quaternion* quarternion2)
 {
     const float s0 = quarternion2->s0;
     const float x1 = quarternion2->x1;
@@ -155,7 +155,7 @@ inline void bgc_quaternion_swap_fp32(BgcQuaternionFP32* quarternion1, BgcQuatern
     quarternion1->x3 = x3;
 }
 
-inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuaternionFP64* quarternion2)
+inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64_Quaternion* quarternion2)
 {
     const double s0 = quarternion2->s0;
     const double x1 = quarternion2->x1;
@@ -175,15 +175,7 @@ inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuatern
 
 // ================== Convert =================== //
 
-inline void bgc_quaternion_convert_fp64_to_fp32(const BgcQuaternionFP64* source, BgcQuaternionFP32* destination)
+inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* destination, const BGC_FP32_Quaternion* source)
-{
-    destination->s0 = (float)source->s0;
-    destination->x1 = (float)source->x1;
-    destination->x2 = (float)source->x2;
-    destination->x3 = (float)source->x3;
-}
-
-inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* source, BgcQuaternionFP64* destination)
 {
     destination->s0 = source->s0;
     destination->x1 = source->x1;
@@ -191,9 +183,17 @@ inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* source,
     destination->x3 = source->x3;
 }
 
+inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* destination, const BGC_FP64_Quaternion* source)
+{
+    destination->s0 = (float)source->s0;
+    destination->x1 = (float)source->x1;
+    destination->x2 = (float)source->x2;
+    destination->x3 = (float)source->x3;
+}
+
 // ==================== Add ===================== //
 
-inline void bgc_quaternion_add_fp32(const BgcQuaternionFP32 * quaternion1, const BgcQuaternionFP32 * quaternion2, BgcQuaternionFP32 * sum)
+inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
 {
     sum->s0 = quaternion1->s0 + quaternion2->s0;
     sum->x1 = quaternion1->x1 + quaternion2->x1;
@@ -201,7 +201,7 @@ inline void bgc_quaternion_add_fp32(const BgcQuaternionFP32 * quaternion1, const
     sum->x3 = quaternion1->x3 + quaternion2->x3;
 }
 
-inline void bgc_quaternion_add_fp64(const BgcQuaternionFP64 * quaternion1, const BgcQuaternionFP64 * quaternion2, BgcQuaternionFP64 * sum)
+inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
 {
     sum->s0 = quaternion1->s0 + quaternion2->s0;
     sum->x1 = quaternion1->x1 + quaternion2->x1;
@@ -211,7 +211,7 @@ inline void bgc_quaternion_add_fp64(const BgcQuaternionFP64 * quaternion1, const
 
 // ================= Add Scaled ================= //
 
-inline void bgc_quaternion_add_scaled_fp32(const BgcQuaternionFP32 * basic_quaternion, const BgcQuaternionFP32 * scalable_quaternion, const float scale, BgcQuaternionFP32 * sum)
+inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* basic_quaternion, const BGC_FP32_Quaternion* scalable_quaternion, const float scale)
 {
     sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
     sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
@@ -219,7 +219,7 @@ inline void bgc_quaternion_add_scaled_fp32(const BgcQuaternionFP32 * basic_quate
     sum->x3 = basic_quaternion->x3 + scalable_quaternion->x3 * scale;
 }
 
-inline void bgc_quaternion_add_scaled_fp64(const BgcQuaternionFP64 * basic_quaternion, const BgcQuaternionFP64 * scalable_quaternion, const double scale, BgcQuaternionFP64 * sum)
+inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* basic_quaternion, const BGC_FP64_Quaternion* scalable_quaternion, const double scale)
 {
     sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
     sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
@@ -229,7 +229,7 @@ inline void bgc_quaternion_add_scaled_fp64(const BgcQuaternionFP64 * basic_quate
 
 // ================== Subtract ================== //
 
-inline void bgc_quaternion_subtract_fp32(const BgcQuaternionFP32 * minuend, const BgcQuaternionFP32 * subtrahend, BgcQuaternionFP32 * difference)
+inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* minuend, const BGC_FP32_Quaternion* subtrahend)
 {
     difference->s0 = minuend->s0 - subtrahend->s0;
     difference->x1 = minuend->x1 - subtrahend->x1;
@@ -237,7 +237,7 @@ inline void bgc_quaternion_subtract_fp32(const BgcQuaternionFP32 * minuend, cons
     difference->x3 = minuend->x3 - subtrahend->x3;
 }
 
-inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64 * minuend, const BgcQuaternionFP64 * subtrahend, BgcQuaternionFP64 * difference)
+inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* minuend, const BGC_FP64_Quaternion* subtrahend)
 {
     difference->s0 = minuend->s0 - subtrahend->s0;
     difference->x1 = minuend->x1 - subtrahend->x1;
@@ -247,7 +247,7 @@ inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64 * minuend, cons
 
 // ================== Multiply ================== //
 
-inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product)
+inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
 {
     const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
     const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@@ -260,7 +260,7 @@ inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* left, const Bg
     product->x3 = x3;
 }
 
-inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* product)
+inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
 {
     const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
     const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@@ -273,7 +273,33 @@ inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* left, const Bg
     product->x3 = x3;
 }
 
-inline void bgc_quaternion_multiply_by_number_fp32(const BgcQuaternionFP32* multiplicand, const float multipier, BgcQuaternionFP32* product)
+inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
+{
+    const float s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3);
+    const float x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
+    const float x2 = (left->x2 * right->s0 + left->x1 * right->x3) - (left->s0 * right->x2 + left->x3 * right->x1);
+    const float x3 = (left->x3 * right->s0 + left->x2 * right->x1) - (left->s0 * right->x3 + left->x1 * right->x2);
+
+    product->s0 = s0;
+    product->x1 = x1;
+    product->x2 = x2;
+    product->x3 = x3;
+}
+
+inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
+{
+    const double s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3);
+    const double x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
+    const double x2 = (left->x2 * right->s0 + left->x1 * right->x3) - (left->s0 * right->x2 + left->x3 * right->x1);
+    const double x3 = (left->x3 * right->s0 + left->x2 * right->x1) - (left->s0 * right->x3 + left->x1 * right->x2);
+
+    product->s0 = s0;
+    product->x1 = x1;
+    product->x2 = x2;
+    product->x3 = x3;
+}
+
+inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier)
 {
     product->s0 = multiplicand->s0 * multipier;
     product->x1 = multiplicand->x1 * multipier;
@@ -281,7 +307,7 @@ inline void bgc_quaternion_multiply_by_number_fp32(const BgcQuaternionFP32* mult
     product->x3 = multiplicand->x3 * multipier;
 }
 
-inline void bgc_quaternion_multiply_by_number_fp64(const BgcQuaternionFP64* multiplicand, const double multipier, BgcQuaternionFP64* product)
+inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier)
 {
     product->s0 = multiplicand->s0 * multipier;
     product->x1 = multiplicand->x1 * multipier;
@@ -291,11 +317,11 @@ inline void bgc_quaternion_multiply_by_number_fp64(const BgcQuaternionFP64* mult
 
 // =================== Divide =================== //
 
-inline int bgc_quaternion_divide_fp32(const BgcQuaternionFP32* divident, const BgcQuaternionFP32* divisor, BgcQuaternionFP32* quotient)
+inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor)
 {
-    const float square_modulus = bgc_quaternion_get_square_modulus_fp32(divisor);
+    const float square_modulus = bgc_fp32_quaternion_get_square_modulus(divisor);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
         return 0;
     }
 
@@ -314,11 +340,11 @@ inline int bgc_quaternion_divide_fp32(const BgcQuaternionFP32* divident, const B
     return 1;
 }
 
-inline int bgc_quaternion_divide_fp64(const BgcQuaternionFP64* divident, const BgcQuaternionFP64* divisor, BgcQuaternionFP64* quotient)
+inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor)
 {
-    const double square_modulus = bgc_quaternion_get_square_modulus_fp64(divisor);
+    const double square_modulus = bgc_fp64_quaternion_get_square_modulus(divisor);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
         return 0;
     }
 
@@ -337,91 +363,91 @@ inline int bgc_quaternion_divide_fp64(const BgcQuaternionFP64* divident, const B
     return 1;
 }
 
-inline void bgc_quaternion_divide_by_number_fp32(const BgcQuaternionFP32* dividend, const float divisor, BgcQuaternionFP32* quotient)
+inline void bgc_fp32_quaternion_divide(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor)
 {
-    bgc_quaternion_multiply_by_number_fp32(dividend, 1.0f / divisor, quotient);
+    bgc_fp32_quaternion_multiply(quotient, dividend, 1.0f / divisor);
 }
 
-inline void bgc_quaternion_divide_by_number_fp64(const BgcQuaternionFP64* dividend, const double divisor, BgcQuaternionFP64* quotient)
+inline void bgc_fp64_quaternion_divide(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor)
 {
-    bgc_quaternion_multiply_by_number_fp64(dividend, 1.0 / divisor, quotient);
+    bgc_fp64_quaternion_multiply(quotient, dividend, 1.0 / divisor);
 }
 
 // ================ Mean of Two ================= //
 
-inline void bgc_quaternion_get_mean_of_two_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, BgcQuaternionFP32* mean)
+inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
 {
-    mean->s0 = (vector1->s0 + vector2->s0) * 0.5f;
+    mean->s0 = (quaternion1->s0 + quaternion2->s0) * 0.5f;
-    mean->x1 = (vector1->x1 + vector2->x1) * 0.5f;
+    mean->x1 = (quaternion1->x1 + quaternion2->x1) * 0.5f;
-    mean->x2 = (vector1->x2 + vector2->x2) * 0.5f;
+    mean->x2 = (quaternion1->x2 + quaternion2->x2) * 0.5f;
-    mean->x3 = (vector1->x3 + vector2->x3) * 0.5f;
+    mean->x3 = (quaternion1->x3 + quaternion2->x3) * 0.5f;
 }
 
-inline void bgc_quaternion_get_mean_of_two_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, BgcQuaternionFP64* mean)
+inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
 {
-    mean->s0 = (vector1->s0 + vector2->s0) * 0.5f;
+    mean->s0 = (quaternion1->s0 + quaternion2->s0) * 0.5f;
-    mean->x1 = (vector1->x1 + vector2->x1) * 0.5f;
+    mean->x1 = (quaternion1->x1 + quaternion2->x1) * 0.5f;
-    mean->x2 = (vector1->x2 + vector2->x2) * 0.5f;
+    mean->x2 = (quaternion1->x2 + quaternion2->x2) * 0.5f;
-    mean->x3 = (vector1->x3 + vector2->x3) * 0.5f;
+    mean->x3 = (quaternion1->x3 + quaternion2->x3) * 0.5f;
 }
 
 // =============== Mean of Three ================ //
 
-inline void bgc_quaternion_get_mean_of_three_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, const BgcQuaternionFP32* vector3, BgcQuaternionFP32* mean)
+inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const BGC_FP32_Quaternion* quaternion3)
 {
-    mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_ONE_THIRD_FP32;
+    mean->s0 = (quaternion1->s0 + quaternion2->s0 + quaternion3->s0) * BGC_FP32_ONE_THIRD;
-    mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP32;
+    mean->x1 = (quaternion1->x1 + quaternion2->x1 + quaternion3->x1) * BGC_FP32_ONE_THIRD;
-    mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP32;
+    mean->x2 = (quaternion1->x2 + quaternion2->x2 + quaternion3->x2) * BGC_FP32_ONE_THIRD;
-    mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP32;
+    mean->x3 = (quaternion1->x3 + quaternion2->x3 + quaternion3->x3) * BGC_FP32_ONE_THIRD;
 }
 
-inline void bgc_quaternion_get_mean_of_three_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, const BgcQuaternionFP64* vector3, BgcQuaternionFP64* mean)
+inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const BGC_FP64_Quaternion* quaternion3)
 {
-    mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_ONE_THIRD_FP64;
+    mean->s0 = (quaternion1->s0 + quaternion2->s0 + quaternion3->s0) * BGC_FP64_ONE_THIRD;
-    mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP64;
+    mean->x1 = (quaternion1->x1 + quaternion2->x1 + quaternion3->x1) * BGC_FP64_ONE_THIRD;
-    mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP64;
+    mean->x2 = (quaternion1->x2 + quaternion2->x2 + quaternion3->x2) * BGC_FP64_ONE_THIRD;
-    mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP64;
+    mean->x3 = (quaternion1->x3 + quaternion2->x3 + quaternion3->x3) * BGC_FP64_ONE_THIRD;
 }
 
 // ============ Linear Interpolation ============ //
 
-inline void bgc_quaternion_interpolate_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2, const float phase, BgcQuaternionFP32* interpolation)
+inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase)
 {
-    const float counterphase = 1.0f - phase;
+    const float counter_phase = 1.0f - phase;
 
-    interpolation->s0 = quaternion1->s0 * counterphase + quaternion2->s0 * phase;
+    interpolation->s0 = quaternion1->s0 * counter_phase + quaternion2->s0 * phase;
-    interpolation->x1 = quaternion1->x1 * counterphase + quaternion2->x1 * phase;
+    interpolation->x1 = quaternion1->x1 * counter_phase + quaternion2->x1 * phase;
-    interpolation->x2 = quaternion1->x2 * counterphase + quaternion2->x2 * phase;
+    interpolation->x2 = quaternion1->x2 * counter_phase + quaternion2->x2 * phase;
-    interpolation->x3 = quaternion1->x3 * counterphase + quaternion2->x3 * phase;
+    interpolation->x3 = quaternion1->x3 * counter_phase + quaternion2->x3 * phase;
 }
 
-inline void bgc_quaternion_interpolate_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2, const double phase, BgcQuaternionFP64* interpolation)
+inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase)
 {
-    const double counterphase = 1.0 - phase;
+    const double counter_phase = 1.0 - phase;
 
-    interpolation->s0 = quaternion1->s0 * counterphase + quaternion2->s0 * phase;
+    interpolation->s0 = quaternion1->s0 * counter_phase + quaternion2->s0 * phase;
-    interpolation->x1 = quaternion1->x1 * counterphase + quaternion2->x1 * phase;
+    interpolation->x1 = quaternion1->x1 * counter_phase + quaternion2->x1 * phase;
-    interpolation->x2 = quaternion1->x2 * counterphase + quaternion2->x2 * phase;
+    interpolation->x2 = quaternion1->x2 * counter_phase + quaternion2->x2 * phase;
-    interpolation->x3 = quaternion1->x3 * counterphase + quaternion2->x3 * phase;
+    interpolation->x3 = quaternion1->x3 * counter_phase + quaternion2->x3 * phase;
 }
 
 // ================= Conjugate ================== //
 
-inline void bgc_quaternion_conjugate_fp32(BgcQuaternionFP32* quaternion)
+inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion)
 {
     quaternion->x1 = -quaternion->x1;
     quaternion->x2 = -quaternion->x2;
     quaternion->x3 = -quaternion->x3;
 }
 
-inline void bgc_quaternion_conjugate_fp64(BgcQuaternionFP64* quaternion)
+inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion)
 {
     quaternion->x1 = -quaternion->x1;
     quaternion->x2 = -quaternion->x2;
     quaternion->x3 = -quaternion->x3;
 }
 
-inline void bgc_quaternion_get_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* conjugate)
+inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* conjugate, const BGC_FP32_Quaternion* quaternion)
 {
     conjugate->s0 = quaternion->s0;
     conjugate->x1 = -quaternion->x1;
@@ -429,7 +455,7 @@ inline void bgc_quaternion_get_conjugate_fp32(const BgcQuaternionFP32* quaternio
     conjugate->x3 = -quaternion->x3;
 }
 
-inline void bgc_quaternion_get_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* conjugate)
+inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* conjugate, const BGC_FP64_Quaternion* quaternion)
 {
     conjugate->s0 = quaternion->s0;
     conjugate->x1 = -quaternion->x1;
@@ -439,7 +465,7 @@ inline void bgc_quaternion_get_conjugate_fp64(const BgcQuaternionFP64* quaternio
 
 // ================== Negative ================== //
 
-inline void bgc_quaternion_make_opposite_fp32(BgcQuaternionFP32* quaternion)
+inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* quaternion)
 {
     quaternion->s0 = -quaternion->s0;
     quaternion->x1 = -quaternion->x1;
@@ -447,7 +473,7 @@ inline void bgc_quaternion_make_opposite_fp32(BgcQuaternionFP32* quaternion)
     quaternion->x3 = -quaternion->x3;
 }
 
-inline void bgc_quaternion_make_opposite_fp64(BgcQuaternionFP64* quaternion)
+inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* quaternion)
 {
     quaternion->s0 = -quaternion->s0;
     quaternion->x1 = -quaternion->x1;
@@ -455,29 +481,29 @@ inline void bgc_quaternion_make_opposite_fp64(BgcQuaternionFP64* quaternion)
     quaternion->x3 = -quaternion->x3;
 }
 
-inline void bgc_quaternion_get_opposite_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* opposite)
+inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* reverse, const BGC_FP32_Quaternion* quaternion)
 {
-    opposite->s0 = -quaternion->s0;
+    reverse->s0 = -quaternion->s0;
-    opposite->x1 = -quaternion->x1;
+    reverse->x1 = -quaternion->x1;
-    opposite->x2 = -quaternion->x2;
+    reverse->x2 = -quaternion->x2;
-    opposite->x3 = -quaternion->x3;
+    reverse->x3 = -quaternion->x3;
 }
 
-inline void bgc_quaternion_get_opposite_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* opposite)
+inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* reverse, const BGC_FP64_Quaternion* quaternion)
 {
-    opposite->s0 = -quaternion->s0;
+    reverse->s0 = -quaternion->s0;
-    opposite->x1 = -quaternion->x1;
+    reverse->x1 = -quaternion->x1;
-    opposite->x2 = -quaternion->x2;
+    reverse->x2 = -quaternion->x2;
-    opposite->x3 = -quaternion->x3;
+    reverse->x3 = -quaternion->x3;
 }
 
 // =================== Invert =================== //
 
-inline int bgc_quaternion_get_inverse_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* inverse)
+inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const BGC_FP32_Quaternion* quaternion)
 {
-    const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion);
+    const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
         return 0;
     }
 
@@ -491,11 +517,11 @@ inline int bgc_quaternion_get_inverse_fp32(const BgcQuaternionFP32* quaternion,
     return 1;
 }
 
-inline int bgc_quaternion_get_inverse_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* inverse)
+inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const BGC_FP64_Quaternion* quaternion)
 {
-    const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion);
+    const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
         return 0;
     }
 
@@ -509,27 +535,27 @@ inline int bgc_quaternion_get_inverse_fp64(const BgcQuaternionFP64* quaternion,
     return 1;
 }
 
-inline int bgc_quaternion_invert_fp32(BgcQuaternionFP32* quaternion)
+inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* quaternion)
 {
-    return bgc_quaternion_get_inverse_fp32(quaternion, quaternion);
+    return bgc_fp32_quaternion_get_inverse(quaternion, quaternion);
 }
 
-inline int bgc_quaternion_invert_fp64(BgcQuaternionFP64* quaternion)
+inline int bgc_fp64_quaternion_invert(BGC_FP64_Quaternion* quaternion)
 {
-    return bgc_quaternion_get_inverse_fp64(quaternion, quaternion);
+    return bgc_fp64_quaternion_get_inverse(quaternion, quaternion);
 }
 
 // ================= Normalize ================== //
 
-inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion)
+inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion)
 {
-    const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion);
+    const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
 
-    if (bgc_is_sqare_unit_fp32(square_modulus)) {
+    if (bgc_fp32_is_square_unit(square_modulus)) {
         return 1;
     }
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
         return 0;
     }
 
@@ -543,15 +569,15 @@ inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion)
     return 1;
 }
 
-inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion)
+inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
 {
-    const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion);
+    const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
 
-    if (bgc_is_sqare_unit_fp64(square_modulus)) {
+    if (bgc_fp64_is_square_unit(square_modulus)) {
         return 1;
     }
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
         return 0;
     }
 
@@ -565,51 +591,51 @@ inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion)
     return 1;
 }
 
-inline int bgc_quaternion_get_normalized_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* normalized)
+inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion)
 {
-    const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion);
+    const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
 
-    if (bgc_is_sqare_unit_fp32(square_modulus)) {
+    if (bgc_fp32_is_square_unit(square_modulus)) {
-        bgc_quaternion_copy_fp32(quaternion, normalized);
+        bgc_fp32_quaternion_copy(normalized, quaternion);
         return 1;
     }
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
-        bgc_quaternion_reset_fp32(normalized);
+        bgc_fp32_quaternion_reset(normalized);
         return 0;
     }
 
-    bgc_quaternion_multiply_by_number_fp32(quaternion, sqrtf(1.0f / square_modulus), normalized);
+    bgc_fp32_quaternion_multiply(normalized, quaternion, sqrtf(1.0f / square_modulus));
     return 1;
 }
 
-inline int bgc_quaternion_get_normalized_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* normalized)
+inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion)
 {
-    const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion);
+    const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
 
-    if (bgc_is_sqare_unit_fp64(square_modulus)) {
+    if (bgc_fp64_is_square_unit(square_modulus)) {
-        bgc_quaternion_copy_fp64(quaternion, normalized);
+        bgc_fp64_quaternion_copy(normalized, quaternion);
         return 1;
     }
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
-        bgc_quaternion_reset_fp64(normalized);
+        bgc_fp64_quaternion_reset(normalized);
         return 0;
     }
 
-    bgc_quaternion_multiply_by_number_fp64(quaternion, sqrt(1.0 / square_modulus), normalized);
+    bgc_fp64_quaternion_multiply(normalized, quaternion, sqrt(1.0 / square_modulus));
     return 1;
 }
 
 // =============== Get Exponation =============== //
 
-int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const float exponent, BgcQuaternionFP32* power);
+int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP32_Quaternion* base, const float exponent);
 
-int bgc_quaternion_get_exponation_fp64(const BgcQuaternionFP64* base, const double exponent, BgcQuaternionFP64* power);
+int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent);
 
 // ============ Get Rotation Matrix ============= //
 
-inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation)
+inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion)
 {
     const float s0s0 = quaternion->s0 * quaternion->s0;
     const float x1x1 = quaternion->x1 * quaternion->x1;
@@ -618,9 +644,9 @@ inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quat
 
     const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus)
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus))
     {
-        bgc_matrix3x3_set_to_identity_fp32(rotation);
+        bgc_fp32_matrix3x3_make_identity(rotation);
         return 0;
     }
 
@@ -650,7 +676,7 @@ inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quat
     return 1;
 }
 
-inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation)
+inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion)
 {
     const double s0s0 = quaternion->s0 * quaternion->s0;
     const double x1x1 = quaternion->x1 * quaternion->x1;
@@ -659,9 +685,9 @@ inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quat
 
     const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus)
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus))
     {
-        bgc_matrix3x3_set_to_identity_fp64(rotation);
+        bgc_fp64_matrix3x3_make_identity(rotation);
         return 0;
     }
 
@@ -693,7 +719,7 @@ inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quat
 
 // ============= Get Reverse Matrix ============= //
 
-inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* reverse)
+inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion)
 {
     const float s0s0 = quaternion->s0 * quaternion->s0;
     const float x1x1 = quaternion->x1 * quaternion->x1;
@@ -702,9 +728,9 @@ inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quate
 
     const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus)
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus))
     {
-        bgc_matrix3x3_set_to_identity_fp32(reverse);
+        bgc_fp32_matrix3x3_make_identity(reverse);
         return 0;
     }
 
@@ -734,7 +760,7 @@ inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quate
     return 1;
 }
 
-inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* reverse)
+inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion)
 {
     const double s0s0 = quaternion->s0 * quaternion->s0;
     const double x1x1 = quaternion->x1 * quaternion->x1;
@@ -743,9 +769,9 @@ inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quate
 
     const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
 
-    if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus)
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus))
     {
-        bgc_matrix3x3_set_to_identity_fp64(reverse);
+        bgc_fp64_matrix3x3_make_identity(reverse);
         return 0;
     }
 
@@ -777,20 +803,20 @@ inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quate
 
 // ============= Get Both Matrixes ============== //
 
-inline int bgc_quaternion_get_both_matrices_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse)
+inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion)
 {
-    if (bgc_quaternion_get_reverse_matrix_fp32(quaternion, reverse)) {
+    if (bgc_fp32_quaternion_get_reverse_matrix(reverse, quaternion)) {
-        bgc_matrix3x3_transpose_fp32(reverse, rotation);
+        bgc_fp32_matrix3x3_get_transposed(rotation, reverse);
         return 1;
     }
 
     return 0;
 }
 
-inline int bgc_quaternion_get_both_matrices_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse)
+inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion)
 {
-    if (bgc_quaternion_get_reverse_matrix_fp64(quaternion, reverse)) {
+    if (bgc_fp64_quaternion_get_reverse_matrix(reverse, quaternion)) {
-        bgc_matrix3x3_transpose_fp64(reverse, rotation);
+        bgc_fp64_matrix3x3_get_transposed(rotation, reverse);
         return 1;
     }
 
@@ -799,40 +825,40 @@ inline int bgc_quaternion_get_both_matrices_fp64(const BgcQuaternionFP64* quater
 
 // ================== Are Close ================= //
 
-inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2)
+inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
 {
     const float ds0 = quaternion1->s0 - quaternion2->s0;
     const float dx1 = quaternion1->x1 - quaternion2->x1;
     const float dx2 = quaternion1->x2 - quaternion2->x2;
     const float dx3 = quaternion1->x3 - quaternion2->x3;
 
-    const float square_modulus1 = bgc_quaternion_get_square_modulus_fp32(quaternion1);
+    const float square_modulus1 = bgc_fp32_quaternion_get_square_modulus(quaternion1);
-    const float square_modulus2 = bgc_quaternion_get_square_modulus_fp32(quaternion2);
+    const float square_modulus2 = bgc_fp32_quaternion_get_square_modulus(quaternion2);
     const float square_distance = (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3);
 
-    if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) {
+    if (square_modulus1 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT) {
-        return square_distance <= BGC_SQUARE_EPSYLON_FP32;
+        return square_distance <= BGC_FP32_SQUARE_EPSILON;
     }
 
-    return square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus2;
+    return square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus2;
 }
 
-inline int bgc_quaternion_are_close_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2)
+inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
 {
     const double ds0 = quaternion1->s0 - quaternion2->s0;
     const double dx1 = quaternion1->x1 - quaternion2->x1;
     const double dx2 = quaternion1->x2 - quaternion2->x2;
     const double dx3 = quaternion1->x3 - quaternion2->x3;
 
-    const double square_modulus1 = bgc_quaternion_get_square_modulus_fp64(quaternion1);
+    const double square_modulus1 = bgc_fp64_quaternion_get_square_modulus(quaternion1);
-    const double square_modulus2 = bgc_quaternion_get_square_modulus_fp64(quaternion2);
+    const double square_modulus2 = bgc_fp64_quaternion_get_square_modulus(quaternion2);
     const double square_distance = (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3);
 
-    if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) {
+    if (square_modulus1 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT) {
-        return square_distance <= BGC_SQUARE_EPSYLON_FP64;
+        return square_distance <= BGC_FP64_SQUARE_EPSILON;
     }
 
-    return square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus2;
+    return square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus2;
 }
 
 #endif

basic-geometry/rotation3.c

@@ -1,14 +0,0 @@
-#include "rotation3.h"
-
-const BgcRotation3FP32 BGC_IDLE_ROTATION3_FP32 = { {0.0f, 0.0f, 0.0f}, 0.0f};
-
-const BgcRotation3FP64 BGC_IDLE_ROTATION3_FP64 = { {0.0, 0.0, 0.0}, 0.0};
-
-extern inline void bgc_rotation3_reset_fp32(BgcRotation3FP32* rotation);
-extern inline void bgc_rotation3_reset_fp64(BgcRotation3FP64* rotation);
-
-extern inline void bgc_rotation3_set_values_fp32(const float x1, const float x2, const float x3, const float angle, const BgcAngleUnitEnum unit, BgcRotation3FP32* rotation);
-extern inline void bgc_rotation3_set_values_fp64(const double x1, const double x2, const double x3, const double angle, const BgcAngleUnitEnum unit, BgcRotation3FP64* rotation);
-
-extern inline void bgc_rotation3_set_with_axis_fp32(const BgcVector3FP32* axis, const float angle, const BgcAngleUnitEnum unit, BgcRotation3FP32* rotation);
-extern inline void bgc_rotation3_set_with_axis_fp64(const BgcVector3FP64* axis, const double angle, const BgcAngleUnitEnum unit, BgcRotation3FP64* rotation);

basic-geometry/rotation3.h

@@ -1,93 +0,0 @@
-#ifndef _BGC_ROTATION3_H_
-#define _BGC_ROTATION3_H_
-
-#include "utilities.h"
-#include "angle.h"
-#include "vector3.h"
-
-typedef struct {
-    BgcVector3FP32 axis;
-    float radians;
-} BgcRotation3FP32;
-
-typedef struct {
-    BgcVector3FP64 axis;
-    double radians;
-} BgcRotation3FP64;
-
-extern const BgcRotation3FP32 BGC_IDLE_ROTATION3_FP32;
-
-extern const BgcRotation3FP64 BGC_IDLE_ROTATION3_FP64;
-
-// =================== Reset ==================== //
-
-inline void bgc_rotation3_reset_fp32(BgcRotation3FP32* rotation)
-{
-    rotation->axis.x1 = 0.0f;
-    rotation->axis.x2 = 0.0f;
-    rotation->axis.x3 = 0.0f;
-
-    rotation->radians = 0.0f;
-}
-
-inline void bgc_rotation3_reset_fp64(BgcRotation3FP64* rotation)
-{
-    rotation->axis.x1 = 0.0;
-    rotation->axis.x2 = 0.0;
-    rotation->axis.x3 = 0.0;
-
-    rotation->radians = 0.0;
-}
-
-// ================= Set Values ================= //
-
-inline void bgc_rotation3_set_values_fp32(const float x1, const float x2, const float x3, const float angle, const BgcAngleUnitEnum unit, BgcRotation3FP32* rotation)
-{
-    rotation->axis.x1 = x1;
-    rotation->axis.x2 = x2;
-    rotation->axis.x3 = x3;
-
-    if (bgc_vector3_normalize_fp32(&rotation->axis)) {
-        rotation->radians = bgc_angle_to_radians_fp32(angle, unit);
-    }
-    else {
-        rotation->radians = 0.0f;
-    }
-}
-
-
-inline void bgc_rotation3_set_values_fp64(const double x1, const double x2, const double x3, const double angle, const BgcAngleUnitEnum unit, BgcRotation3FP64* rotation)
-{
-    rotation->axis.x1 = x1;
-    rotation->axis.x2 = x2;
-    rotation->axis.x3 = x3;
-
-    if (bgc_vector3_normalize_fp64(&rotation->axis)) {
-        rotation->radians = bgc_angle_to_radians_fp64(angle, unit);
-    }
-    else {
-        rotation->radians = 0.0;
-    }
-}
-
-inline void bgc_rotation3_set_with_axis_fp32(const BgcVector3FP32* axis, const float angle, const BgcAngleUnitEnum unit, BgcRotation3FP32* rotation)
-{
-    if (bgc_vector3_get_normalized_fp32(axis, &rotation->axis)) {
-        rotation->radians = bgc_angle_to_radians_fp32(angle, unit);
-    }
-    else {
-        rotation->radians = 0.0f;
-    }
-}
-
-inline void bgc_rotation3_set_with_axis_fp64(const BgcVector3FP64* axis, const double angle, const BgcAngleUnitEnum unit, BgcRotation3FP64* rotation)
-{
-    if (bgc_vector3_get_normalized_fp64(axis, &rotation->axis)) {
-        rotation->radians = bgc_angle_to_radians_fp64(angle, unit);
-    }
-    else {
-        rotation->radians = 0.0;
-    }
-}
-
-#endif

basic-geometry/slerp.c

@@ -1,31 +1,31 @@
 #include "./slerp.h"
 
-extern inline void bgc_slerp_reset_fp32(BgcSlerpFP32* slerp);
+extern inline void bgc_fp32_slerp_reset(BGC_FP32_Slerp* slerp);
-extern inline void bgc_slerp_reset_fp64(BgcSlerpFP64* slerp);
+extern inline void bgc_fp64_slerp_reset(BGC_FP64_Slerp* slerp);
 
-extern inline void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp);
+extern inline void bgc_fp32_slerp_make_full(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end);
-extern inline void bgc_slerp_make_full_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp);
+extern inline void bgc_fp64_slerp_make_full(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end);
 
-extern inline void bgc_slerp_make_shortened_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp);
+extern inline void bgc_fp32_slerp_make_shortened(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end);
-extern inline void bgc_slerp_make_shortened_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp);
+extern inline void bgc_fp64_slerp_make_shortened(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end);
 
-extern inline void bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result);
+extern inline void bgc_fp32_slerp_get_phase_versor(BGC_FP32_Turn3* versor, const BGC_FP32_Slerp* slerp, const float phase);
-extern inline void bgc_slerp_get_turn_for_phase_fp64(const BgcSlerpFP64* slerp, const double phase, BgcVersorFP64* result);
+extern inline void bgc_fp64_slerp_get_phase_versor(BGC_FP64_Turn3* versor, const BGC_FP64_Slerp* slerp, const double phase);
 
-void bgc_slerp_make_fp32(const BgcVersorFP32* start, const BgcVersorFP32* augment, BgcSlerpFP32* slerp)
+void bgc_fp32_slerp_make(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* augment)
 {
-    const float square_vector = augment->_x1 * augment->_x1 + augment->_x2 * augment->_x2 + augment->_x3 * augment->_x3;
+    const float square_vector = augment->_versor.x1 * augment->_versor.x1 + augment->_versor.x2 * augment->_versor.x2 + augment->_versor.x3 * augment->_versor.x3;
 
     if (square_vector != square_vector) {
-        bgc_slerp_reset_fp32(slerp);
+        bgc_fp32_slerp_reset(slerp);
         return;
     }
 
-    if (square_vector <= BGC_SQUARE_EPSYLON_FP32) {
+    if (square_vector <= BGC_FP32_SQUARE_EPSILON) {
-        slerp->s0_cos_weight = start->_s0;
+        slerp->s0_cos_weight = start->_versor.s0;
-        slerp->x1_cos_weight = start->_x1;
+        slerp->x1_cos_weight = start->_versor.x1;
-        slerp->x2_cos_weight = start->_x2;
+        slerp->x2_cos_weight = start->_versor.x2;
-        slerp->x3_cos_weight = start->_x3;
+        slerp->x3_cos_weight = start->_versor.x3;
 
         slerp->s0_sin_weight = 0.0f;
         slerp->x1_sin_weight = 0.0f;
@@ -38,35 +38,35 @@ void bgc_slerp_make_fp32(const BgcVersorFP32* start, const BgcVersorFP32* augmen
 
     const float vector_modulus = sqrtf(square_vector);
 
-    slerp->radians = atan2f(vector_modulus, augment->_s0);
+    slerp->radians = atan2f(vector_modulus, augment->_versor.s0);
 
     const float multiplier = 1.0f / vector_modulus;
 
-    slerp->s0_cos_weight = start->_s0;
+    slerp->s0_cos_weight = start->_versor.s0;
-    slerp->x1_cos_weight = start->_x1;
+    slerp->x1_cos_weight = start->_versor.x1;
-    slerp->x2_cos_weight = start->_x2;
+    slerp->x2_cos_weight = start->_versor.x2;
-    slerp->x3_cos_weight = start->_x3;
+    slerp->x3_cos_weight = start->_versor.x3;
 
-    slerp->s0_sin_weight = -multiplier * (augment->_x1 * start->_x1 + augment->_x2 * start->_x2 + augment->_x3 * start->_x3);
+    slerp->s0_sin_weight = -multiplier * (augment->_versor.x1 * start->_versor.x1 + augment->_versor.x2 * start->_versor.x2 + augment->_versor.x3 * start->_versor.x3);
-    slerp->x1_sin_weight =  multiplier * (augment->_x1 * start->_s0 + augment->_x2 * start->_x3 - augment->_x3 * start->_x2);
+    slerp->x1_sin_weight =  multiplier * (augment->_versor.x1 * start->_versor.s0 + augment->_versor.x2 * start->_versor.x3 - augment->_versor.x3 * start->_versor.x2);
-    slerp->x2_sin_weight =  multiplier * (augment->_x2 * start->_s0 - augment->_x1 * start->_x3 + augment->_x3 * start->_x1);
+    slerp->x2_sin_weight =  multiplier * (augment->_versor.x2 * start->_versor.s0 - augment->_versor.x1 * start->_versor.x3 + augment->_versor.x3 * start->_versor.x1);
-    slerp->x3_sin_weight =  multiplier * (augment->_x3 * start->_s0 - augment->_x2 * start->_x1 + augment->_x1 * start->_x2);
+    slerp->x3_sin_weight =  multiplier * (augment->_versor.x3 * start->_versor.s0 - augment->_versor.x2 * start->_versor.x1 + augment->_versor.x1 * start->_versor.x2);
 }
 
-void bgc_slerp_make_fp64(const BgcVersorFP64* start, const BgcVersorFP64* augment, BgcSlerpFP64* slerp)
+void bgc_fp64_slerp_make(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* augment)
 {
-    const double square_vector = augment->_x1 * augment->_x1 + augment->_x2 * augment->_x2 + augment->_x3 * augment->_x3;
+    const double square_vector = augment->_versor.x1 * augment->_versor.x1 + augment->_versor.x2 * augment->_versor.x2 + augment->_versor.x3 * augment->_versor.x3;
 
     if (square_vector != square_vector) {
-        bgc_slerp_reset_fp64(slerp);
+        bgc_fp64_slerp_reset(slerp);
         return;
     }
 
-    if (square_vector <= BGC_SQUARE_EPSYLON_FP64) {
+    if (square_vector <= BGC_FP64_SQUARE_EPSILON) {
-        slerp->s0_cos_weight = start->_s0;
+        slerp->s0_cos_weight = start->_versor.s0;
-        slerp->x1_cos_weight = start->_x1;
+        slerp->x1_cos_weight = start->_versor.x1;
-        slerp->x2_cos_weight = start->_x2;
+        slerp->x2_cos_weight = start->_versor.x2;
-        slerp->x3_cos_weight = start->_x3;
+        slerp->x3_cos_weight = start->_versor.x3;
 
         slerp->s0_sin_weight = 0.0;
         slerp->x1_sin_weight = 0.0;
@@ -79,17 +79,17 @@ void bgc_slerp_make_fp64(const BgcVersorFP64* start, const BgcVersorFP64* augmen
 
     const double vector_modulus = sqrt(square_vector);
 
-    slerp->radians = atan2(vector_modulus, augment->_s0);
+    slerp->radians = atan2(vector_modulus, augment->_versor.s0);
 
     const double multiplier = 1.0 / vector_modulus;
 
-    slerp->s0_cos_weight = start->_s0;
+    slerp->s0_cos_weight = start->_versor.s0;
-    slerp->x1_cos_weight = start->_x1;
+    slerp->x1_cos_weight = start->_versor.x1;
-    slerp->x2_cos_weight = start->_x2;
+    slerp->x2_cos_weight = start->_versor.x2;
-    slerp->x3_cos_weight = start->_x3;
+    slerp->x3_cos_weight = start->_versor.x3;
 
-    slerp->s0_sin_weight = -multiplier * (augment->_x1 * start->_x1 + augment->_x2 * start->_x2 + augment->_x3 * start->_x3);
+    slerp->s0_sin_weight = -multiplier * (augment->_versor.x1 * start->_versor.x1 + augment->_versor.x2 * start->_versor.x2 + augment->_versor.x3 * start->_versor.x3);
-    slerp->x1_sin_weight =  multiplier * (augment->_x1 * start->_s0 + augment->_x2 * start->_x3 - augment->_x3 * start->_x2);
+    slerp->x1_sin_weight =  multiplier * (augment->_versor.x1 * start->_versor.s0 + augment->_versor.x2 * start->_versor.x3 - augment->_versor.x3 * start->_versor.x2);
-    slerp->x2_sin_weight =  multiplier * (augment->_x2 * start->_s0 - augment->_x1 * start->_x3 + augment->_x3 * start->_x1);
+    slerp->x2_sin_weight =  multiplier * (augment->_versor.x2 * start->_versor.s0 - augment->_versor.x1 * start->_versor.x3 + augment->_versor.x3 * start->_versor.x1);
-    slerp->x3_sin_weight =  multiplier * (augment->_x3 * start->_s0 - augment->_x2 * start->_x1 + augment->_x1 * start->_x2);
+    slerp->x3_sin_weight =  multiplier * (augment->_versor.x3 * start->_versor.s0 - augment->_versor.x2 * start->_versor.x1 + augment->_versor.x1 * start->_versor.x2);
 }

basic-geometry/slerp.h

@@ -1,7 +1,7 @@
-#ifndef _BGC_VERSOR_SLERP_H_
+#ifndef _BGC_SLERP_H_INCLUDED_
-#define _BGC_VERSOR_SLERP_H_
+#define _BGC_SLERP_H_INCLUDED_
 
-#include "./versor.h"
+#include "./turn3.h"
 
 typedef struct {
     float s0_cos_weight, s0_sin_weight;
@@ -9,7 +9,7 @@ typedef struct {
     float x2_cos_weight, x2_sin_weight;
     float x3_cos_weight, x3_sin_weight;
     float radians;
-} BgcSlerpFP32;
+} BGC_FP32_Slerp;
 
 typedef struct {
     double s0_cos_weight, s0_sin_weight;
@@ -17,9 +17,9 @@ typedef struct {
     double x2_cos_weight, x2_sin_weight;
     double x3_cos_weight, x3_sin_weight;
     double radians;
-} BgcSlerpFP64;
+} BGC_FP64_Slerp;
 
-inline void bgc_slerp_reset_fp32(BgcSlerpFP32* slerp)
+inline void bgc_fp32_slerp_reset(BGC_FP32_Slerp* slerp)
 {
     slerp->s0_cos_weight = 1.0f;
     slerp->s0_sin_weight = 0.0f;
@@ -36,7 +36,7 @@ inline void bgc_slerp_reset_fp32(BgcSlerpFP32* slerp)
     slerp->radians = 0.0f;
 }
 
-inline void bgc_slerp_reset_fp64(BgcSlerpFP64* slerp)
+inline void bgc_fp64_slerp_reset(BGC_FP64_Slerp* slerp)
 {
     slerp->s0_cos_weight = 1.0;
     slerp->s0_sin_weight = 0.0;
@@ -53,75 +53,74 @@ inline void bgc_slerp_reset_fp64(BgcSlerpFP64* slerp)
     slerp->radians = 0.0;
 }
 
-void bgc_slerp_make_fp32(const BgcVersorFP32* start, const BgcVersorFP32* augment, BgcSlerpFP32* slerp);
+void bgc_fp32_slerp_make(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* augment);
+void bgc_fp64_slerp_make(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* augment);
 
-void bgc_slerp_make_fp64(const BgcVersorFP64* start, const BgcVersorFP64* augment, BgcSlerpFP64* slerp);
+inline void bgc_fp32_slerp_make_full(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end)
-
-inline void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp)
 {
-    BgcVersorFP32 augment;
+    BGC_FP32_Turn3 augment;
 
-    bgc_versor_exclude_fp32(end, start, &augment);
+    bgc_fp32_turn3_exclude(&augment, end, start);
 
-    bgc_slerp_make_fp32(start, &augment, slerp);
+    bgc_fp32_slerp_make(slerp, start, &augment);
 }
 
-inline void bgc_slerp_make_full_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp)
+inline void bgc_fp64_slerp_make_full(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end)
 {
-    BgcVersorFP64 augment;
+    BGC_FP64_Turn3 augment;
 
-    bgc_versor_exclude_fp64(end, start, &augment);
+    bgc_fp64_turn3_exclude(&augment, end, start);
 
-    bgc_slerp_make_fp64(start, &augment, slerp);
+    bgc_fp64_slerp_make(slerp, start, &augment);
 }
 
-inline void bgc_slerp_make_shortened_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp)
+inline void bgc_fp32_slerp_make_shortened(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end)
 {
-    BgcVersorFP32 augment;
+    BGC_FP32_Turn3 augment;
 
-    bgc_versor_exclude_fp32(end, start, &augment);
+    bgc_fp32_turn3_exclude(&augment, end, start);
-    bgc_versor_shorten_fp32(&augment);
+    bgc_fp32_turn3_shorten(&augment);
 
-    bgc_slerp_make_fp32(start, &augment, slerp);
+    bgc_fp32_slerp_make(slerp, start, &augment);
 }
 
-inline void bgc_slerp_make_shortened_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp)
+inline void bgc_fp64_slerp_make_shortened(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end)
 {
-    BgcVersorFP64 augment;
+    BGC_FP64_Turn3 augment;
 
-    bgc_versor_exclude_fp64(end, start, &augment);
+    bgc_fp64_turn3_exclude(&augment, end, start);
-    bgc_versor_shorten_fp64(&augment);
+    bgc_fp64_turn3_shorten(&augment);
 
-    bgc_slerp_make_fp64(start, &augment, slerp);
+    bgc_fp64_slerp_make(slerp, start, &augment);
 }
 
-inline void bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result)
+inline void bgc_fp32_slerp_get_phase_versor(BGC_FP32_Turn3* versor, const BGC_FP32_Slerp* slerp, const float phase)
 {
     const float angle = slerp->radians * phase;
     const float cosine = cosf(angle);
     const float sine = sinf(angle);
 
-    bgc_versor_set_values_fp32(
+    bgc_fp32_turn3_set_raw_values(
+        versor,
         slerp->s0_cos_weight * cosine + slerp->s0_sin_weight * sine,
         slerp->x1_cos_weight * cosine + slerp->x1_sin_weight * sine,
         slerp->x2_cos_weight * cosine + slerp->x2_sin_weight * sine,
-        slerp->x3_cos_weight * cosine + slerp->x3_sin_weight * sine,
+        slerp->x3_cos_weight * cosine + slerp->x3_sin_weight * sine
-        result
     );
 }
 
-inline void bgc_slerp_get_turn_for_phase_fp64(const BgcSlerpFP64* slerp, const double phase, BgcVersorFP64* result)
+inline void bgc_fp64_slerp_get_phase_versor(BGC_FP64_Turn3* versor, const BGC_FP64_Slerp* slerp, const double phase)
 {
     const double angle = slerp->radians * phase;
     const double cosine = cos(angle);
     const double sine = sin(angle);
 
-    bgc_versor_set_values_fp64(
+    bgc_fp64_turn3_set_raw_values(
+        versor,
         slerp->s0_cos_weight * cosine + slerp->s0_sin_weight * sine,
         slerp->x1_cos_weight * cosine + slerp->x1_sin_weight * sine,
         slerp->x2_cos_weight * cosine + slerp->x2_sin_weight * sine,
-        slerp->x3_cos_weight * cosine + slerp->x3_sin_weight * sine,
+        slerp->x3_cos_weight * cosine + slerp->x3_sin_weight * sine
-        result
     );
 }
 

basic-geometry/turn2.c

@@ -0,0 +1,91 @@
+#include "./turn2.h"
+
+const BGC_FP32_Turn2 BGC_FP32_IDLE_TURN2 = { 1.0f, 0.0f };
+
+const BGC_FP64_Turn2 BGC_FP64_IDLE_TURN2 = { 1.0, 0.0 };
+
+extern inline void bgc_fp32_turn2_reset(BGC_FP32_Turn2* turn);
+extern inline void bgc_fp64_turn2_reset(BGC_FP64_Turn2* turn);
+
+extern inline void bgc_fp32_turn2_make(BGC_FP32_Turn2* turn, const float x1, const float x2);
+extern inline void bgc_fp64_turn2_make(BGC_FP64_Turn2* turn, const double x1, const double x2);
+
+extern inline void bgc_fp32_turn2_make_for_angle(BGC_FP32_Turn2* turn, const float angle, const int angle_unit);
+extern inline void bgc_fp64_turn2_make_for_angle(BGC_FP64_Turn2* turn, const double angle, const int angle_unit);
+
+extern inline int bgc_fp32_turn2_is_idle(const BGC_FP32_Turn2* turn);
+extern inline int bgc_fp64_turn2_is_idle(const BGC_FP64_Turn2* turn);
+
+extern inline float bgc_fp32_turn2_get_angle(const BGC_FP32_Turn2* turn, const int angle_unit);
+extern inline double bgc_fp64_turn2_get_angle(const BGC_FP64_Turn2* turn, const int angle_unit);
+
+extern inline void bgc_fp32_turn2_copy(BGC_FP32_Turn2* destination, const BGC_FP32_Turn2* source);
+extern inline void bgc_fp64_turn2_copy(BGC_FP64_Turn2* destination, const BGC_FP64_Turn2* source);
+
+extern inline void bgc_fp32_turn2_swap(BGC_FP32_Turn2* turn1, BGC_FP32_Turn2* turn2);
+extern inline void bgc_fp64_turn2_swap(BGC_FP64_Turn2* turn1, BGC_FP64_Turn2* turn2);
+
+extern inline void bgc_fp64_turn2_convert_to_fp32(BGC_FP32_Turn2* destination, const BGC_FP64_Turn2* source);
+extern inline void bgc_fp32_turn2_convert_to_fp64(BGC_FP64_Turn2* destination, const BGC_FP32_Turn2* source);
+
+extern inline void bgc_fp32_turn2_revert(BGC_FP32_Turn2* turn);
+extern inline void bgc_fp64_turn2_revert(BGC_FP64_Turn2* turn);
+
+extern inline void bgc_fp32_turn2_get_reverse(BGC_FP32_Turn2* reverse, const BGC_FP32_Turn2* turn);
+extern inline void bgc_fp64_turn2_get_reverse(BGC_FP64_Turn2* reverse, const BGC_FP64_Turn2* turn);
+
+extern inline void bgc_fp32_turn2_get_exponation(BGC_FP32_Turn2* power, const BGC_FP32_Turn2* base, const float exponent);
+extern inline void bgc_fp64_turn2_get_exponation(BGC_FP64_Turn2* power, const BGC_FP64_Turn2* base, const double exponent);
+
+extern inline void bgc_fp32_turn2_combine(BGC_FP32_Turn2* combination, const BGC_FP32_Turn2* turn1, const BGC_FP32_Turn2* turn2);
+extern inline void bgc_fp64_turn2_combine(BGC_FP64_Turn2* combination, const BGC_FP64_Turn2* turn1, const BGC_FP64_Turn2* turn2);
+
+extern inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* difference, const BGC_FP32_Turn2* base, const BGC_FP32_Turn2* excludant);
+extern inline void bgc_fp64_turn2_exclude(BGC_FP64_Turn2* difference, const BGC_FP64_Turn2* base, const BGC_FP64_Turn2* excludant);
+
+extern inline void bgc_fp32_turn2_get_rotation_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Turn2* turn);
+extern inline void bgc_fp64_turn2_get_rotation_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Turn2* turn);
+
+extern inline void bgc_fp32_turn2_get_reverse_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Turn2* turn);
+extern inline void bgc_fp64_turn2_get_reverse_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Turn2* turn);
+
+extern inline void bgc_fp32_turn2_vector(BGC_FP32_Vector2* turned_vector, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* vector);
+extern inline void bgc_fp64_turn2_vector(BGC_FP64_Vector2* turned_vector, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* vector);
+
+extern inline void bgc_fp32_turn2_vector_back(BGC_FP32_Vector2* turned_vector, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* vector);
+extern inline void bgc_fp64_turn2_vector_back(BGC_FP64_Vector2* turned_vector, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* vector);
+
+extern inline int bgc_fp32_turn2_are_close(const BGC_FP32_Turn2* turn1, const BGC_FP32_Turn2* turn2);
+extern inline int bgc_fp64_turn2_are_close(const BGC_FP64_Turn2* turn1, const BGC_FP64_Turn2* turn2);
+
+void _bgc_fp32_turn2_normalize(BGC_FP32_Turn2* turn)
+{
+    const float square_modulus = turn->_cos * turn->_cos + turn->_sin * turn->_sin;
+
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
+        turn->_cos = 1.0f;
+        turn->_sin = 0.0f;
+        return;
+    }
+
+    const float multiplier = sqrtf(1.0f / square_modulus);
+
+    turn->_cos *= multiplier;
+    turn->_sin *= multiplier;
+}
+
+void _bgc_fp64_turn2_normalize(BGC_FP64_Turn2* turn)
+{
+    const double square_modulus = turn->_cos * turn->_cos + turn->_sin * turn->_sin;
+
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
+        turn->_cos = 1.0;
+        turn->_sin = 0.0;
+        return;
+    }
+
+    const double multiplier = sqrt(1.0 / square_modulus);
+
+    turn->_cos *= multiplier;
+    turn->_sin *= multiplier;
+}

basic-geometry/turn2.h

@@ -0,0 +1,343 @@
+#ifndef _BGC_TURN2_H_INCLUDED_
+#define _BGC_TURN2_H_INCLUDED_
+
+#include <math.h>
+
+#include "utilities.h"
+#include "angle.h"
+#include "vector2.h"
+#include "matrix2x2.h"
+
+// =================== Types ==================== //
+
+typedef struct
+{
+    float _cos, _sin;
+} BGC_FP32_Turn2;
+
+typedef struct
+{
+    double _cos, _sin;
+} BGC_FP64_Turn2;
+
+// ================= Constants ================== //
+
+extern const BGC_FP32_Turn2 BGC_FP32_IDLE_TURN2;
+extern const BGC_FP64_Turn2 BGC_FP64_IDLE_TURN2;
+
+// =================== Reset ==================== //
+
+inline void bgc_fp32_turn2_reset(BGC_FP32_Turn2* turn)
+{
+    turn->_cos = 1.0f;
+    turn->_sin = 0.0f;
+}
+
+inline void bgc_fp64_turn2_reset(BGC_FP64_Turn2* turn)
+{
+    turn->_cos = 1.0;
+    turn->_sin = 0.0;
+}
+
+// ================== Set Turn ================== //
+
+inline void bgc_fp32_turn2_make_for_angle(BGC_FP32_Turn2* turn, const float angle, const int angle_unit)
+{
+    const float radians = bgc_fp32_angle_to_radians(angle, angle_unit);
+
+    turn->_cos = cosf(radians);
+    turn->_sin = sinf(radians);
+}
+
+inline void bgc_fp64_turn2_make_for_angle(BGC_FP64_Turn2* turn, const double angle, const int angle_unit)
+{
+    const double radians = bgc_fp64_angle_to_radians(angle, angle_unit);
+
+    turn->_cos = cos(radians);
+    turn->_sin = sin(radians);
+}
+
+
+// ================== Set Turn ================== //
+
+inline int bgc_fp32_turn2_is_idle(const BGC_FP32_Turn2* turn)
+{
+    return bgc_fp32_is_unit(turn->_cos) && bgc_fp32_is_zero(turn->_sin);
+}
+
+inline int bgc_fp64_turn2_is_idle(const BGC_FP64_Turn2* turn)
+{
+    return bgc_fp64_is_unit(turn->_cos) && bgc_fp64_is_zero(turn->_sin);
+}
+
+// ==================== Set ===================== //
+
+void _bgc_fp32_turn2_normalize(BGC_FP32_Turn2* twin);
+
+void _bgc_fp64_turn2_normalize(BGC_FP64_Turn2* twin);
+
+inline void bgc_fp32_turn2_make(BGC_FP32_Turn2* turn, const float x1, const float x2)
+{
+    const float square_modulus = x1 * x1 + x2 * x2;
+
+    turn->_cos = x1;
+    turn->_sin = x2;
+
+    if (!bgc_fp32_is_square_unit(square_modulus)) {
+        _bgc_fp32_turn2_normalize(turn);
+    }
+}
+
+inline void bgc_fp64_turn2_make(BGC_FP64_Turn2* turn, const double x1, const double x2)
+{
+    const double square_modulus = x1 * x1 + x2 * x2;
+
+    turn->_cos = x1;
+    turn->_sin = x2;
+
+    if (!bgc_fp64_is_square_unit(square_modulus)) {
+        _bgc_fp64_turn2_normalize(turn);
+    }
+}
+
+// =================== Angle =================== //
+
+inline float bgc_fp32_turn2_get_angle(const BGC_FP32_Turn2* turn, const int angle_unit)
+{
+    return bgc_fp32_radians_to_units(atan2f(turn->_sin, turn->_cos), angle_unit);
+}
+
+inline double bgc_fp64_turn2_get_angle(const BGC_FP64_Turn2* turn, const int angle_unit)
+{
+    return bgc_fp64_radians_to_units(atan2(turn->_sin, turn->_cos), angle_unit);
+}
+
+// ==================== Copy ==================== //
+
+inline void bgc_fp32_turn2_copy(BGC_FP32_Turn2* destination, const BGC_FP32_Turn2* source)
+{
+    destination->_cos = source->_cos;
+    destination->_sin = source->_sin;
+}
+
+inline void bgc_fp64_turn2_copy(BGC_FP64_Turn2* destination, const BGC_FP64_Turn2* source)
+{
+    destination->_cos = source->_cos;
+    destination->_sin = source->_sin;
+}
+
+// ==================== Swap ==================== //
+
+inline void bgc_fp32_turn2_swap(BGC_FP32_Turn2* turn1, BGC_FP32_Turn2* turn2)
+{
+    const float cos = turn1->_cos;
+    const float sin = turn1->_sin;
+
+    turn1->_cos = turn2->_cos;
+    turn1->_sin = turn2->_sin;
+
+    turn2->_cos = cos;
+    turn2->_sin = sin;
+}
+
+inline void bgc_fp64_turn2_swap(BGC_FP64_Turn2* turn1, BGC_FP64_Turn2* turn2)
+{
+    const double cos = turn1->_cos;
+    const double sin = turn1->_sin;
+
+    turn1->_cos = turn2->_cos;
+    turn1->_sin = turn2->_sin;
+
+    turn2->_cos = cos;
+    turn2->_sin = sin;
+}
+
+// ================== Convert =================== //
+
+inline void bgc_fp64_turn2_convert_to_fp32(BGC_FP32_Turn2* destination, const BGC_FP64_Turn2* source)
+{
+    bgc_fp32_turn2_make(destination, (float)source->_cos, (float)source->_sin);
+}
+
+inline void bgc_fp32_turn2_convert_to_fp64(BGC_FP64_Turn2* destination, const BGC_FP32_Turn2* source)
+{
+    bgc_fp64_turn2_make(destination, (double)source->_cos, (double)source->_sin);
+}
+
+// =================== Revert =================== //
+
+inline void bgc_fp32_turn2_revert(BGC_FP32_Turn2* turn)
+{
+    turn->_sin = -turn->_sin;
+}
+
+inline void bgc_fp64_turn2_revert(BGC_FP64_Turn2* turn)
+{
+    turn->_sin = -turn->_sin;
+}
+
+inline void bgc_fp32_turn2_get_reverse(BGC_FP32_Turn2* reverse, const BGC_FP32_Turn2* turn)
+{
+    reverse->_cos = turn->_cos;
+    reverse->_sin = -turn->_sin;
+}
+
+inline void bgc_fp64_turn2_get_reverse(BGC_FP64_Turn2* reverse, const BGC_FP64_Turn2* turn)
+{
+    reverse->_cos = turn->_cos;
+    reverse->_sin = -turn->_sin;
+}
+
+// ================= Exponation ================= //
+
+inline void bgc_fp32_turn2_get_exponation(BGC_FP32_Turn2* power, const BGC_FP32_Turn2* base, const float exponent)
+{
+    const float power_angle = exponent * atan2f(base->_sin, base->_cos);
+
+    power->_cos = cosf(power_angle);
+    power->_sin = sinf(power_angle);
+}
+
+inline void bgc_fp64_turn2_get_exponation(BGC_FP64_Turn2* power, const BGC_FP64_Turn2* base, const double exponent)
+{
+    const double power_angle = exponent * atan2(base->_sin, base->_cos);
+
+    power->_cos = cos(power_angle);
+    power->_sin = sin(power_angle);
+}
+
+// ================ Combination ================= //
+
+inline void bgc_fp32_turn2_combine(BGC_FP32_Turn2* combination, const BGC_FP32_Turn2* turn1, const BGC_FP32_Turn2* turn2)
+{
+    bgc_fp32_turn2_make(
+        combination,
+        turn1->_cos * turn2->_cos - turn1->_sin * turn2->_sin,
+        turn1->_cos * turn2->_sin + turn1->_sin * turn2->_cos
+    );
+}
+
+inline void bgc_fp64_turn2_combine(BGC_FP64_Turn2* combination, const BGC_FP64_Turn2* turn1, const BGC_FP64_Turn2* turn2)
+{
+    bgc_fp64_turn2_make(
+        combination,
+        turn1->_cos * turn2->_cos - turn1->_sin * turn2->_sin,
+        turn1->_cos * turn2->_sin + turn1->_sin * turn2->_cos
+    );
+}
+
+// ================= Exclusion ================== //
+
+inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* difference, const BGC_FP32_Turn2* base, const BGC_FP32_Turn2* excludant)
+{
+    bgc_fp32_turn2_make(
+        difference,
+        base->_cos * excludant->_cos + base->_sin * excludant->_sin,
+        base->_sin * excludant->_cos - base->_cos * excludant->_sin
+    );
+}
+
+inline void bgc_fp64_turn2_exclude(BGC_FP64_Turn2* difference, const BGC_FP64_Turn2* base, const BGC_FP64_Turn2* excludant)
+{
+    bgc_fp64_turn2_make(
+        difference,
+        base->_cos * excludant->_cos + base->_sin * excludant->_sin,
+        base->_sin * excludant->_cos - base->_cos * excludant->_sin
+    );
+}
+
+// ============== Rotation Matrix =============== //
+
+inline void bgc_fp32_turn2_get_rotation_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Turn2* turn)
+{
+    matrix->r1c1 = turn->_cos;
+    matrix->r1c2 = -turn->_sin;
+    matrix->r2c1 = turn->_sin;
+    matrix->r2c2 = turn->_cos;
+}
+
+inline void bgc_fp64_turn2_get_rotation_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Turn2* turn)
+{
+    matrix->r1c1 = turn->_cos;
+    matrix->r1c2 = -turn->_sin;
+    matrix->r2c1 = turn->_sin;
+    matrix->r2c2 = turn->_cos;
+}
+
+// ============== Reverse Matrix ================ //
+
+inline void bgc_fp32_turn2_get_reverse_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Turn2* turn)
+{
+    matrix->r1c1 = turn->_cos;
+    matrix->r1c2 = turn->_sin;
+    matrix->r2c1 = -turn->_sin;
+    matrix->r2c2 = turn->_cos;
+}
+
+inline void bgc_fp64_turn2_get_reverse_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Turn2* turn)
+{
+    matrix->r1c1 = turn->_cos;
+    matrix->r1c2 = turn->_sin;
+    matrix->r2c1 = -turn->_sin;
+    matrix->r2c2 = turn->_cos;
+}
+
+// ================ Turn Vector ================= //
+
+inline void bgc_fp32_turn2_vector(BGC_FP32_Vector2* turned_vector, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* vector)
+{
+    const float x1 = turn->_cos * vector->x1 - turn->_sin * vector->x2;
+    const float x2 = turn->_sin * vector->x1 + turn->_cos * vector->x2;
+
+    turned_vector->x1 = x1;
+    turned_vector->x2 = x2;
+}
+
+inline void bgc_fp64_turn2_vector(BGC_FP64_Vector2* turned_vector, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* vector)
+{
+    const double x1 = turn->_cos * vector->x1 - turn->_sin * vector->x2;
+    const double x2 = turn->_sin * vector->x1 + turn->_cos * vector->x2;
+
+    turned_vector->x1 = x1;
+    turned_vector->x2 = x2;
+}
+
+// ============ Turn Vector Backward ============ //
+
+inline void bgc_fp32_turn2_vector_back(BGC_FP32_Vector2* turned_vector, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* vector)
+{
+    const float x1 = turn->_sin * vector->x2 + turn->_cos * vector->x1;
+    const float x2 = turn->_cos * vector->x2 - turn->_sin * vector->x1;
+
+    turned_vector->x1 = x1;
+    turned_vector->x2 = x2;
+}
+
+inline void bgc_fp64_turn2_vector_back(BGC_FP64_Vector2* turned_vector, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* vector)
+{
+    const double x1 = turn->_sin * vector->x2 + turn->_cos * vector->x1;
+    const double x2 = turn->_cos * vector->x2 - turn->_sin * vector->x1;
+
+    turned_vector->x1 = x1;
+    turned_vector->x2 = x2;
+}
+
+// ================== Are Close ================= //
+
+inline int bgc_fp32_turn2_are_close(const BGC_FP32_Turn2* turn1, const BGC_FP32_Turn2* turn2)
+{
+    const float d_cos = turn1->_cos - turn2->_cos;
+    const float d_sin = turn1->_sin - turn2->_sin;
+
+    return d_cos * d_cos + d_sin * d_sin <= BGC_FP32_SQUARE_EPSILON;
+}
+
+inline int bgc_fp64_turn2_are_close(const BGC_FP64_Turn2* turn1, const BGC_FP64_Turn2* turn2)
+{
+    const double d_cos = turn1->_cos - turn2->_cos;
+    const double d_sin = turn1->_sin - turn2->_sin;
+
+    return d_cos * d_cos + d_sin * d_sin <= BGC_FP64_SQUARE_EPSILON;
+}
+
+#endif

basic-geometry/turn3.c

@@ -0,0 +1,584 @@
+#include <math.h>
+
+#include "angle.h"
+#include "turn3.h"
+
+const BGC_FP32_Turn3 BGC_FP32_IDLE_TURN3 = {{ 1.0f, 0.0f, 0.0f, 0.0f }};
+
+const BGC_FP64_Turn3 BGC_FP64_IDLE_TURN3 = {{ 1.0, 0.0, 0.0, 0.0 }};
+
+extern inline void bgc_fp32_turn3_reset(BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_reset(BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_set_raw_values(BGC_FP32_Turn3* turn, const float s0, const float x1, const float x2, const float x3);
+extern inline void bgc_fp64_turn3_set_raw_values(BGC_FP64_Turn3* turn, const double s0, const double x1, const double x2, const double x3);
+
+extern inline void bgc_fp32_turn3_get_quaternion(BGC_FP32_Quaternion* quaternion, const BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_get_quaternion(BGC_FP64_Quaternion* quaternion, const BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_set_quaternion(BGC_FP32_Turn3* turn, const BGC_FP32_Quaternion* quaternion);
+extern inline void bgc_fp64_turn3_set_quaternion(BGC_FP64_Turn3* turn, const BGC_FP64_Quaternion* quaternion);
+
+extern inline void bgc_fp32_turn3_copy(BGC_FP32_Turn3* destination, const BGC_FP32_Turn3* source);
+extern inline void bgc_fp64_turn3_copy(BGC_FP64_Turn3* destination, const BGC_FP64_Turn3* source);
+
+extern inline void bgc_fp32_turn3_swap(BGC_FP32_Turn3* turn1, BGC_FP32_Turn3* turn2);
+extern inline void bgc_fp64_turn3_swap(BGC_FP64_Turn3* turn1, BGC_FP64_Turn3* turn2);
+
+extern inline int bgc_fp32_turn3_is_idle(const BGC_FP32_Turn3* turn);
+extern inline int bgc_fp64_turn3_is_idle(const BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_convert_to_fp64(BGC_FP64_Turn3* destination, const BGC_FP32_Turn3* source);
+extern inline void bgc_fp64_turn3_convert_to_fp32(BGC_FP32_Turn3* destination, const BGC_FP64_Turn3* source);
+
+extern inline void bgc_fp32_turn3_shorten(BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_shorten(BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_get_shortened(BGC_FP32_Turn3* shortened, const BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_get_shortened(BGC_FP64_Turn3* shortened, const BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_alternate(BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_alternate(BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_get_alternative(BGC_FP32_Turn3* alternative, const BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_get_alternative(BGC_FP64_Turn3* alternative, const BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_revert(BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_revert(BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_get_reverse(BGC_FP32_Turn3* inverse, const BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_get_reverse(BGC_FP64_Turn3* inverse, const BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_combine(BGC_FP32_Turn3* combination, const BGC_FP32_Turn3* first, const BGC_FP32_Turn3* second);
+extern inline void bgc_fp64_turn3_combine(BGC_FP64_Turn3* combination, const BGC_FP64_Turn3* first, const BGC_FP64_Turn3* second);
+
+extern inline void bgc_fp32_turn3_combine3(BGC_FP32_Turn3* combination, const BGC_FP32_Turn3* first, const BGC_FP32_Turn3* second, const BGC_FP32_Turn3* third);
+extern inline void bgc_fp64_turn3_combine3(BGC_FP64_Turn3* combination, const BGC_FP64_Turn3* first, const BGC_FP64_Turn3* second, const BGC_FP64_Turn3* third);
+
+extern inline void bgc_fp32_turn3_exclude(BGC_FP32_Turn3* difference, const BGC_FP32_Turn3* base, const BGC_FP32_Turn3* excludant);
+extern inline void bgc_fp64_turn3_exclude(BGC_FP64_Turn3* difference, const BGC_FP64_Turn3* base, const BGC_FP64_Turn3* excludant);
+
+extern inline void bgc_fp32_turn3_get_rotation_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_get_rotation_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_get_reverse_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_get_reverse_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Turn3* turn);
+extern inline void bgc_fp64_turn3_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Turn3* turn);
+
+extern inline void bgc_fp32_turn3_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* vector);
+extern inline void bgc_fp64_turn3_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Turn3* turn, const BGC_FP64_Vector3* vector);
+
+extern inline void bgc_fp32_turn3_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* vector);
+extern inline void bgc_fp64_turn3_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Turn3* turn, const BGC_FP64_Vector3* vector);
+
+extern inline int bgc_fp32_turn3_are_close(const BGC_FP32_Turn3* turn1, const BGC_FP32_Turn3* turn2);
+extern inline int bgc_fp64_turn3_are_close(const BGC_FP64_Turn3* turn1, const BGC_FP64_Turn3* turn2);
+
+// ================= Normalize ================== //
+
+void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* turn, const float square_modulus)
+{
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
+        bgc_fp32_turn3_reset(turn);
+        return;
+    }
+
+    bgc_fp32_quaternion_multiply(&turn->_versor, &turn->_versor, sqrtf(1.0f / square_modulus));
+}
+
+void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* turn, const double square_modulus)
+{
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
+        bgc_fp64_turn3_reset(turn);
+        return;
+    }
+
+    bgc_fp64_quaternion_multiply(&turn->_versor, &turn->_versor, sqrt(1.0 / square_modulus));
+}
+
+
+// ================ Get Rotation ================ //
+
+float bgc_fp32_turn3_get_rotation(BGC_FP32_Vector3* axis, const BGC_FP32_Turn3* turn, const int angle_unit)
+{
+    const float square_vector_modulus = turn->_versor.x1 * turn->_versor.x1 + turn->_versor.x2 * turn->_versor.x2 + turn->_versor.x3 * turn->_versor.x3;
+
+    if (square_vector_modulus <= BGC_FP32_SQUARE_EPSILON) {
+        bgc_fp32_vector3_reset(axis);
+        return 0.0f;
+    }
+
+    const float vector_modulus = sqrtf(square_vector_modulus);
+
+    const float multiplier = 1.0f / vector_modulus;
+
+    axis->x1 = turn->_versor.x1 * multiplier;
+    axis->x2 = turn->_versor.x2 * multiplier;
+    axis->x3 = turn->_versor.x3 * multiplier;
+
+    return 2.0f * atan2f(vector_modulus, turn->_versor.s0);
+}
+
+double bgc_fp64_turn3_get_rotation(BGC_FP64_Vector3* axis, const BGC_FP64_Turn3* turn, const int angle_unit)
+{
+    const double square_vector_modulus = turn->_versor.x1 * turn->_versor.x1 + turn->_versor.x2 * turn->_versor.x2 + turn->_versor.x3 * turn->_versor.x3;
+
+    if (square_vector_modulus <= BGC_FP64_SQUARE_EPSILON) {
+        bgc_fp64_vector3_reset(axis);
+        return 0.0;
+    }
+
+    const double vector_modulus = sqrt(square_vector_modulus);
+
+    const double multiplier = 1.0 / vector_modulus;
+
+    axis->x1 = turn->_versor.x1 * multiplier;
+    axis->x2 = turn->_versor.x2 * multiplier;
+    axis->x3 = turn->_versor.x3 * multiplier;
+
+    return 2.0 * atan2(vector_modulus, turn->_versor.s0);
+}
+
+// ================ Set Rotation ================ //
+
+void bgc_fp32_turn3_set_rotation(BGC_FP32_Turn3* turn, const float x1, const float x2, const float x3, const float angle, const int angle_unit)
+{
+    const float square_vector = x1 * x1 + x2 * x2 + x3 * x3;
+
+    if (square_vector <= BGC_FP32_SQUARE_EPSILON) {
+        bgc_fp32_turn3_reset(turn);
+        return;
+    }
+
+    const float half_angle = bgc_fp32_angle_to_radians(0.5f * angle, angle_unit);
+
+    const float sine = sinf(half_angle);
+
+    if (bgc_fp32_is_zero(sine)) {
+        bgc_fp32_turn3_reset(turn);
+        return;
+    }
+
+    const float multiplier = sine / sqrtf(square_vector);
+
+    bgc_fp32_quaternion_make(&turn->_versor, cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier);
+
+    const float square_modulus = bgc_fp32_quaternion_get_square_modulus(&turn->_versor);
+
+    if (!bgc_fp32_is_square_unit(square_modulus)) {
+        _bgc_fp32_turn3_normalize(turn, square_modulus);
+    }
+}
+
+void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* turn, const double x1, const double x2, const double x3, const double angle, const int angle_unit)
+{
+    const double square_vector = x1 * x1 + x2 * x2 + x3 * x3;
+
+    if (square_vector <= BGC_FP64_SQUARE_EPSILON) {
+        bgc_fp64_turn3_reset(turn);
+        return;
+    }
+
+    const double half_angle = bgc_fp64_angle_to_radians(0.5 * angle, angle_unit);
+
+    const double sine = sin(half_angle);
+
+    if (bgc_fp64_is_zero(sine)) {
+        bgc_fp64_turn3_reset(turn);
+        return;
+    }
+
+    const double multiplier = sine / sqrt(square_vector);
+
+    bgc_fp64_quaternion_make(&turn->_versor, cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier);
+
+    const double square_modulus = bgc_fp64_quaternion_get_square_modulus(&turn->_versor);
+
+    if (!bgc_fp64_is_square_unit(square_modulus)) {
+        _bgc_fp64_turn3_normalize(turn, square_modulus);
+    }
+}
+
+// ========= Make Direction Difference ========== //
+
+static int _bgc_fp32_turn3_make_direction_turn(BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* start, const BGC_FP32_Vector3* end, const float square_modulus_product)
+{
+    BGC_FP32_Vector3 orthogonal_axis;
+
+    bgc_fp32_vector3_get_cross_product(&orthogonal_axis, start, end);
+
+    const float scalar_product = bgc_fp32_vector3_get_dot_product(start, end);
+    const float square_modulus = bgc_fp32_vector3_get_square_modulus(&orthogonal_axis);
+    const float square_sine = square_modulus / square_modulus_product;
+
+    if (square_sine > BGC_FP32_SQUARE_EPSILON) {
+        const float cosine = scalar_product / sqrtf(square_modulus_product);
+        const float angle = 0.5f * atan2f(sqrtf(square_sine), cosine);
+
+        const float multiplier = sinf(angle) * sqrtf(1.0f / square_modulus);
+
+        bgc_fp32_turn3_set_raw_values(turn, cosf(angle), orthogonal_axis.x1 * multiplier, orthogonal_axis.x2 * multiplier, orthogonal_axis.x3 * multiplier);
+        return BGC_SOME_TURN;
+    }
+
+    if (scalar_product < 0.0f) {
+        return BGC_OPPOSITE;
+    }
+
+    bgc_fp32_turn3_reset(turn);
+
+    return BGC_ZERO_TURN;
+}
+
+static int _bgc_fp64_turn3_make_direction_turn(BGC_FP64_Turn3* versor, const BGC_FP64_Vector3* start, const BGC_FP64_Vector3* end, const double square_modulus_product)
+{
+    BGC_FP64_Vector3 orthogonal_axis;
+
+    bgc_fp64_vector3_get_cross_product(&orthogonal_axis, start, end);
+
+    const double scalar_product = bgc_fp64_vector3_get_dot_product(start, end);
+    const double square_modulus = bgc_fp64_vector3_get_square_modulus(&orthogonal_axis);
+    const double square_sine = square_modulus / square_modulus_product;
+
+    if (square_sine > BGC_FP64_SQUARE_EPSILON) {
+        const double cosine = scalar_product / sqrt(square_modulus_product);
+        const double angle = 0.5 * atan2(sqrt(square_sine), cosine);
+
+        const double multiplier = sin(angle) * sqrt(1.0f / square_modulus);
+
+        bgc_fp64_turn3_set_raw_values(versor, cos(angle), orthogonal_axis.x1 * multiplier, orthogonal_axis.x2 * multiplier, orthogonal_axis.x3 * multiplier);
+        return BGC_SOME_TURN;
+    }
+
+    if (scalar_product < 0.0) {
+        return BGC_OPPOSITE;
+    }
+
+    bgc_fp64_turn3_reset(versor);
+
+    return BGC_ZERO_TURN;
+}
+
+// ========= Find Direction Difference ========== //
+
+int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* difference, const BGC_FP32_Vector3* start, const BGC_FP32_Vector3* end)
+{
+    const float start_square_modulus = bgc_fp32_vector3_get_square_modulus(start);
+    const float end_square_modulus = bgc_fp32_vector3_get_square_modulus(end);
+
+    if (start_square_modulus <= BGC_FP32_SQUARE_EPSILON || end_square_modulus <= BGC_FP32_SQUARE_EPSILON) {
+        bgc_fp32_turn3_reset(difference);
+        return BGC_ZERO_TURN;
+    }
+
+    return _bgc_fp32_turn3_make_direction_turn(difference, start, end, start_square_modulus * end_square_modulus);
+}
+
+int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* difference, const BGC_FP64_Vector3* start, const BGC_FP64_Vector3* end)
+{
+    const double start_square_modulus = bgc_fp64_vector3_get_square_modulus(start);
+    const double end_square_modulus = bgc_fp64_vector3_get_square_modulus(end);
+
+    if (start_square_modulus <= BGC_FP64_SQUARE_EPSILON || end_square_modulus <= BGC_FP64_SQUARE_EPSILON) {
+        bgc_fp64_turn3_reset(difference);
+        return BGC_ZERO_TURN;
+    }
+
+    return _bgc_fp64_turn3_make_direction_turn(difference, start, end, start_square_modulus * end_square_modulus);
+}
+
+// =============== Set Directions =============== //
+
+static int _bgc_fp32_turn3_validate_basis(const float primary_square_modulus, const float auxiliary_square_modulus, const float orthogonal_square_modulus)
+{
+    if (primary_square_modulus <= BGC_FP32_SQUARE_EPSILON) {
+        //TODO: add error code for: primary_vector is zero
+        return BGC_FAILED;
+    }
+
+    if (auxiliary_square_modulus <= BGC_FP32_SQUARE_EPSILON) {
+        //TODO: add error code for: auxiliary_vector is zero
+        return BGC_FAILED;
+    }
+
+    if (orthogonal_square_modulus <= BGC_FP32_SQUARE_EPSILON * primary_square_modulus * auxiliary_square_modulus) {
+        //TODO: add error code for: primary_vector and auxiliary_vector are parallel
+        return BGC_FAILED;
+    }
+
+    return BGC_SUCCESS;
+}
+
+static int _bgc_fp64_turn3_validate_basis(const double primary_square_modulus, const double auxiliary_square_modulus, const double orthogonal_square_modulus)
+{
+    if (primary_square_modulus <= BGC_FP64_SQUARE_EPSILON) {
+        //TODO: add error code for: primary_vector is zero
+        return BGC_FAILED;
+    }
+
+    if (auxiliary_square_modulus <= BGC_FP64_SQUARE_EPSILON) {
+        //TODO: add error code for: auxiliary_vector is zero
+        return BGC_FAILED;
+    }
+
+    if (orthogonal_square_modulus <= BGC_FP64_SQUARE_EPSILON * primary_square_modulus * auxiliary_square_modulus) {
+        //TODO: add error code for: primary_vector and auxiliary_vector are parallel
+        return BGC_FAILED;
+    }
+
+    return BGC_SUCCESS;
+}
+
+int bgc_fp32_turn3_make_basis_difference(
+    BGC_FP32_Turn3* versor,
+    const BGC_FP32_Vector3* initial_primary_direction,
+    const BGC_FP32_Vector3* initial_auxiliary_direction,
+    const BGC_FP32_Vector3* final_primary_direction,
+    const BGC_FP32_Vector3* final_auxiliary_direction
+)
+{
+    BGC_FP32_Vector3 initial_orthogonal_direction, turned_orthogonal_direction, final_orthogonal_direction;
+
+    // Step 1: Validate initial basis:
+    bgc_fp32_vector3_get_cross_product(&initial_orthogonal_direction, initial_primary_direction, initial_auxiliary_direction);
+
+    const float initial_primary_square_modulus = bgc_fp32_vector3_get_square_modulus(initial_primary_direction);
+    const float initial_auxiliary_square_modulus = bgc_fp32_vector3_get_square_modulus(initial_auxiliary_direction);
+    const float initial_orthogonal_square_modulus = bgc_fp32_vector3_get_square_modulus(&initial_orthogonal_direction);
+
+    const int initial_basis_valudation = _bgc_fp32_turn3_validate_basis(initial_primary_square_modulus, initial_auxiliary_square_modulus, initial_orthogonal_square_modulus);
+
+    if (initial_basis_valudation != BGC_SUCCESS) {
+        return initial_basis_valudation;
+    }
+
+    // Step 1: Validate final basis:
+    bgc_fp32_vector3_get_cross_product(&final_orthogonal_direction, final_primary_direction, final_auxiliary_direction);
+
+    const float final_primary_square_modulus = bgc_fp32_vector3_get_square_modulus(final_primary_direction);
+    const float final_auxiliary_square_modulus = bgc_fp32_vector3_get_square_modulus(final_auxiliary_direction);
+    const float final_orthogonal_square_modulus = bgc_fp32_vector3_get_square_modulus(&final_orthogonal_direction);
+
+    const int final_basis_valudation = _bgc_fp32_turn3_validate_basis(final_primary_square_modulus, final_auxiliary_square_modulus, final_orthogonal_square_modulus);
+
+    if (final_basis_valudation != BGC_SUCCESS) {
+        return final_basis_valudation;
+    }
+
+    // Step 3: Validate normalize orthogonal vectors:
+    bgc_fp32_vector3_divide(&initial_orthogonal_direction, &initial_orthogonal_direction, sqrtf(initial_orthogonal_square_modulus));
+    bgc_fp32_vector3_divide(&final_orthogonal_direction, &final_orthogonal_direction, sqrtf(final_orthogonal_square_modulus));
+
+    BGC_FP32_Turn3 turn1, turn2;
+
+    // Step 4: Find turn1
+    int turn1_code = _bgc_fp32_turn3_make_direction_turn(&turn1, initial_primary_direction, final_primary_direction, initial_primary_square_modulus * final_primary_square_modulus);
+
+    if (turn1_code == BGC_OPPOSITE) {
+        bgc_fp32_turn3_set_raw_values(&turn1, 0.0f, initial_orthogonal_direction.x1, initial_orthogonal_direction.x2, initial_orthogonal_direction.x3);
+    }
+
+    bgc_fp32_turn3_vector(&turned_orthogonal_direction, &turn1, &initial_orthogonal_direction);
+
+    // Step 5: Find turn2:
+    int turn2_code = _bgc_fp32_turn3_make_direction_turn(&turn2, &turned_orthogonal_direction, &final_orthogonal_direction, 1.0f);
+
+    if (turn2_code == BGC_OPPOSITE) {
+        const float turn2_multiplier = sqrtf(1.0f / final_primary_square_modulus);
+
+        bgc_fp32_turn3_set_raw_values(&turn2,
+            0.0f,
+            final_primary_direction->x1 * turn2_multiplier,
+            final_primary_direction->x2 * turn2_multiplier,
+            final_primary_direction->x3 * turn2_multiplier
+        );
+    }
+
+    // Step 6: Combine turn1 and turn2:
+    bgc_fp32_turn3_combine(versor, &turn1, &turn2);
+
+    return BGC_SUCCESS;
+}
+
+int bgc_fp64_turn3_make_basis_difference(
+    BGC_FP64_Turn3* versor,
+    const BGC_FP64_Vector3* initial_primary_direction,
+    const BGC_FP64_Vector3* initial_auxiliary_direction,
+    const BGC_FP64_Vector3* final_primary_direction,
+    const BGC_FP64_Vector3* final_auxiliary_direction
+)
+{
+    BGC_FP64_Vector3 initial_orthogonal_direction, turned_orthogonal_direction, final_orthogonal_direction;
+
+    // Step 1: Validate initial basis:
+    bgc_fp64_vector3_get_cross_product(&initial_orthogonal_direction, initial_primary_direction, initial_auxiliary_direction);
+
+    const double initial_primary_square_modulus = bgc_fp64_vector3_get_square_modulus(initial_primary_direction);
+    const double initial_auxiliary_square_modulus = bgc_fp64_vector3_get_square_modulus(initial_auxiliary_direction);
+    const double initial_orthogonal_square_modulus = bgc_fp64_vector3_get_square_modulus(&initial_orthogonal_direction);
+
+    const int initial_basis_valudation = _bgc_fp64_turn3_validate_basis(initial_primary_square_modulus, initial_auxiliary_square_modulus, initial_orthogonal_square_modulus);
+
+    if (initial_basis_valudation != BGC_SUCCESS) {
+        return initial_basis_valudation;
+    }
+
+    // Step 1: Validate final basis:
+    bgc_fp64_vector3_get_cross_product(&final_orthogonal_direction, final_primary_direction, final_auxiliary_direction);
+
+    const double final_primary_square_modulus = bgc_fp64_vector3_get_square_modulus(final_primary_direction);
+    const double final_auxiliary_square_modulus = bgc_fp64_vector3_get_square_modulus(final_auxiliary_direction);
+    const double final_orthogonal_square_modulus = bgc_fp64_vector3_get_square_modulus(&final_orthogonal_direction);
+
+    const int final_basis_valudation = _bgc_fp64_turn3_validate_basis(final_primary_square_modulus, final_auxiliary_square_modulus, final_orthogonal_square_modulus);
+
+    if (final_basis_valudation != BGC_SUCCESS) {
+        return final_basis_valudation;
+    }
+
+    // Step 3: Validate normalize orthogonal vectors:
+    bgc_fp64_vector3_divide(&initial_orthogonal_direction, &initial_orthogonal_direction, sqrt(initial_orthogonal_square_modulus));
+    bgc_fp64_vector3_divide(&final_orthogonal_direction, &final_orthogonal_direction, sqrt(final_orthogonal_square_modulus));
+
+    BGC_FP64_Turn3 turn1, turn2;
+
+    // Step 4: Find turn1
+    int turn1_code = _bgc_fp64_turn3_make_direction_turn(&turn1, initial_primary_direction, final_primary_direction, initial_primary_square_modulus * final_primary_square_modulus);
+
+    if (turn1_code == BGC_OPPOSITE) {
+        bgc_fp64_turn3_set_raw_values(&turn1, 0.0, initial_orthogonal_direction.x1, initial_orthogonal_direction.x2, initial_orthogonal_direction.x3);
+    }
+
+    bgc_fp64_turn3_vector(&turned_orthogonal_direction, &turn1, &initial_orthogonal_direction);
+
+    // Step 5: Find turn2:
+    int turn2_code = _bgc_fp64_turn3_make_direction_turn(&turn2, &turned_orthogonal_direction, &final_orthogonal_direction, 1.0f);
+
+    if (turn2_code == BGC_OPPOSITE) {
+        const double turn2_multiplier = sqrt(1.0 / final_primary_square_modulus);
+
+        bgc_fp64_turn3_set_raw_values(&turn2,
+            0.0,
+            final_primary_direction->x1 * turn2_multiplier,
+            final_primary_direction->x2 * turn2_multiplier,
+            final_primary_direction->x3 * turn2_multiplier
+        );
+    }
+
+    // Step 6: Combine turn1 and turn2:
+    bgc_fp64_turn3_combine(versor, &turn1, &turn2);
+
+    return BGC_SUCCESS;
+}
+
+// =============== Get Exponation =============== //
+
+void bgc_fp32_turn3_get_exponation(BGC_FP32_Turn3* power, const BGC_FP32_Turn3* base, const float exponent)
+{
+    const float square_vector = base->_versor.x1 * base->_versor.x1 + base->_versor.x2 * base->_versor.x2 + base->_versor.x3 * base->_versor.x3;
+
+    if (square_vector <= BGC_FP32_SQUARE_EPSILON || square_vector != square_vector) {
+        bgc_fp32_turn3_reset(power);
+        return;
+    }
+
+    const float vector_modulus = sqrtf(square_vector);
+
+    const float angle = atan2f(vector_modulus, base->_versor.s0) * exponent;
+
+    const float multiplier = sinf(angle) / vector_modulus;
+
+    bgc_fp32_turn3_set_raw_values(power, cosf(angle), base->_versor.x1 * multiplier, base->_versor.x2 * multiplier, base->_versor.x3 * multiplier);
+}
+
+void bgc_fp64_turn3_get_exponation(BGC_FP64_Turn3* power, const BGC_FP64_Turn3* base, const double exponent)
+{
+    const double square_vector = base->_versor.x1 * base->_versor.x1 + base->_versor.x2 * base->_versor.x2 + base->_versor.x3 * base->_versor.x3;
+
+    if (square_vector <= BGC_FP64_SQUARE_EPSILON || square_vector != square_vector) {
+        bgc_fp64_turn3_reset(power);
+        return;
+    }
+
+    const double vector_modulus = sqrt(square_vector);
+
+    const double angle = atan2(vector_modulus, base->_versor.s0) * exponent;
+
+    const double multiplier = sin(angle) / vector_modulus;
+
+    bgc_fp64_turn3_set_raw_values(power, cos(angle), base->_versor.x1 * multiplier, base->_versor.x2 * multiplier, base->_versor.x3 * multiplier);
+}
+
+// ============ Sphere Interpolation ============ //
+
+void bgc_fp32_turn3_spherically_interpolate(BGC_FP32_Turn3* interpolation, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end, const float phase)
+{
+    const float delta_s0 = (end->_versor.s0 * start->_versor.s0 + end->_versor.x1 * start->_versor.x1) + (end->_versor.x2 * start->_versor.x2 + end->_versor.x3 * start->_versor.x3);
+    const float delta_x1 = (end->_versor.x1 * start->_versor.s0 + end->_versor.x3 * start->_versor.x2) - (end->_versor.s0 * start->_versor.x1 + end->_versor.x2 * start->_versor.x3);
+    const float delta_x2 = (end->_versor.x2 * start->_versor.s0 + end->_versor.x1 * start->_versor.x3) - (end->_versor.s0 * start->_versor.x2 + end->_versor.x3 * start->_versor.x1);
+    const float delta_x3 = (end->_versor.x3 * start->_versor.s0 + end->_versor.x2 * start->_versor.x1) - (end->_versor.s0 * start->_versor.x3 + end->_versor.x1 * start->_versor.x2);
+
+    const float square_vector = delta_x1 * delta_x1 + delta_x2 * delta_x2 + delta_x3 * delta_x3;
+
+    // square_vector != square_vector means checking for NaN value at square_vector
+    if (square_vector <= BGC_FP32_SQUARE_EPSILON || isnan(square_vector)) {
+        bgc_fp32_turn3_copy(interpolation, end);
+        return;
+    }
+
+    // Calculating of the turning which fits the phase:
+    const float vector_modulus = sqrtf(square_vector);
+    const float angle = atan2f(vector_modulus, delta_s0) * phase;
+    const float multiplier = sinf(angle) / vector_modulus;
+
+    const float turn_s0 = cosf(angle);
+    const float turn_x1 = delta_x1 * multiplier;
+    const float turn_x2 = delta_x2 * multiplier;
+    const float turn_x3 = delta_x3 * multiplier;
+
+    // Combining of starting orientation with the turning
+    bgc_fp32_turn3_set_raw_values(
+        interpolation,
+        (turn_s0 * start->_versor.s0 - turn_x1 * start->_versor.x1) - (turn_x2 * start->_versor.x2 + turn_x3 * start->_versor.x3),
+        (turn_x1 * start->_versor.s0 + turn_s0 * start->_versor.x1) - (turn_x3 * start->_versor.x2 - turn_x2 * start->_versor.x3),
+        (turn_x2 * start->_versor.s0 + turn_s0 * start->_versor.x2) - (turn_x1 * start->_versor.x3 - turn_x3 * start->_versor.x1),
+        (turn_x3 * start->_versor.s0 + turn_s0 * start->_versor.x3) - (turn_x2 * start->_versor.x1 - turn_x1 * start->_versor.x2)
+    );
+}
+
+void bgc_fp64_turn3_spherically_interpolate(BGC_FP64_Turn3* interpolation, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end, const double phase)
+{
+    const double delta_s0 = (end->_versor.s0 * start->_versor.s0 + end->_versor.x1 * start->_versor.x1) + (end->_versor.x2 * start->_versor.x2 + end->_versor.x3 * start->_versor.x3);
+    const double delta_x1 = (end->_versor.x1 * start->_versor.s0 + end->_versor.x3 * start->_versor.x2) - (end->_versor.s0 * start->_versor.x1 + end->_versor.x2 * start->_versor.x3);
+    const double delta_x2 = (end->_versor.x2 * start->_versor.s0 + end->_versor.x1 * start->_versor.x3) - (end->_versor.s0 * start->_versor.x2 + end->_versor.x3 * start->_versor.x1);
+    const double delta_x3 = (end->_versor.x3 * start->_versor.s0 + end->_versor.x2 * start->_versor.x1) - (end->_versor.s0 * start->_versor.x3 + end->_versor.x1 * start->_versor.x2);
+
+    const double square_vector = delta_x1 * delta_x1 + delta_x2 * delta_x2 + delta_x3 * delta_x3;
+
+    // square_vector != square_vector means checking for NaN value at square_vector
+    if (square_vector <= BGC_FP64_SQUARE_EPSILON || isnan(square_vector)) {
+        bgc_fp64_turn3_copy(interpolation, end);
+        return;
+    }
+
+    // Calculating of the turning which fits the phase:
+    const double vector_modulus = sqrt(square_vector);
+    const double angle = atan2(vector_modulus, delta_s0) * phase;
+    const double multiplier = sin(angle) / vector_modulus;
+
+    const double turn_s0 = cos(angle);
+    const double turn_x1 = delta_x1 * multiplier;
+    const double turn_x2 = delta_x2 * multiplier;
+    const double turn_x3 = delta_x3 * multiplier;
+
+    // Combining of starting orientation with the turning
+    bgc_fp64_turn3_set_raw_values(
+        interpolation,
+        (turn_s0 * start->_versor.s0 - turn_x1 * start->_versor.x1) - (turn_x2 * start->_versor.x2 + turn_x3 * start->_versor.x3),
+        (turn_x1 * start->_versor.s0 + turn_s0 * start->_versor.x1) - (turn_x3 * start->_versor.x2 - turn_x2 * start->_versor.x3),
+        (turn_x2 * start->_versor.s0 + turn_s0 * start->_versor.x2) - (turn_x1 * start->_versor.x3 - turn_x3 * start->_versor.x1),
+        (turn_x3 * start->_versor.s0 + turn_s0 * start->_versor.x3) - (turn_x2 * start->_versor.x1 - turn_x1 * start->_versor.x2)
+    );
+}