Добавление функций определения поворотов (versor) между направлениями и базисами

basic-geometry-dev/main.c

@@ -53,12 +53,12 @@ structure_fp32_t* make_structures(const unsigned int amount)
 
 void print_versor_fp32(const BgcVersorFP32* versor)
 {
-    printf("Versor (%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
+    printf("Versor (s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
 }
 
 void print_versor_fp64(const BgcVersorFP64* versor)
 {
-    printf("Versor (%lf, %lf, %lf, %lf)\n", versor->s0, versor->x1, versor->x2, versor->x3);
+    printf("Versor (s0 = %0.20f, x1 = %0.20f, x2 = %0.20f, x3 = %0.20f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
 }
 
 void print_vector_fp32(const BgcVector3FP32* vector)
@@ -79,7 +79,7 @@ void list_work(const uint_fast32_t amount, structure_fp32_t* list)
         }
     }
 }
-
+/*
 int main()
 {
     const unsigned int amount = 1000000;
@@ -121,3 +121,369 @@ int main()
 
     return 0;
 }
+*/
+
+/*
+int main() {
+    BgcComplexFP32 complex, exponent, result;
+
+    bgc_complex_set_values_fp32(0, 1, &complex);
+
+    bgc_complex_set_values_fp32(4, 0, &exponent);
+
+    bgc_complex_get_exponation_fp32(&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);
+
+    return 0;
+}
+*/
+/*
+int main() {
+    BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
+    BgcVersorFP32 end = { 0.0f, 1.0f, 0.0f, 0.0f };
+    BgcVersorFP32 result;
+    bgc_versor_spherical_interpolation_fp32(&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;
+}
+*/
+
+void test_basis_difference_fp32()
+{
+
+    BgcVector3FP32 initial_primary, initial_auxiliary;
+    BgcVector3FP32 final_primary, final_auxiliary;
+    BgcVersorFP32 turn;
+
+    // No turn
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nNo turn:\n");
+    print_versor_fp32(&turn);
+
+    // Turn around (1, 1, 0) axis on 180 degrees
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
+    print_versor_fp32(&turn);
+
+    // 180 degree turn
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\n180 degree turn around (0, 1, 0):\n");
+    print_versor_fp32(&turn);
+
+    // 90 degree turn around x3 axis
+    bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 3.1f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\n90 degree turn around (0, 0, 1):\n");
+    print_versor_fp32(&turn);
+
+    // Unorthogonal pairs turn at 90 degrees around x3 axis
+    bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(-2.0f, 3.1f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(-1.0f, 5.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
+    print_versor_fp32(&turn);
+
+    // Zero vectors
+    bgc_vector3_set_values_fp32(0.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
+
+    int code;
+
+    code = bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    if (code >= 0) {
+        printf("\nZero vectors: this cannot be!\n");
+        print_versor_fp32(&turn);
+    }
+    else {
+        printf("\nZero vector validation works fine\n");
+    }
+
+    // Parallel vectors
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_auxiliary);
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
+
+    code = bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    if (code >= 0) {
+        printf("\nParallel vectors: this cannot be!\n");
+        print_versor_fp32(&turn);
+    }
+    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_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(0.999848f, 0.017452f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(-0.017452f, 0.999848f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nSmall angle turn (about 1 degree):\n");
+    print_versor_fp32(&turn);
+
+    // About 179 degrees turn
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(-0.999848f, -0.017452f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(0.017452f, -0.999848f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nAbout 179 degrees turn:\n");
+    print_versor_fp32(&turn);
+
+    // 120 degrees around (-1, -1, 1)
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(0.0f, 0.0f, -1.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\n120 degees turn:\n");
+    print_versor_fp32(&turn);
+
+
+    // 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_vector3_set_values_fp32(0.999848f, 0.017452f, 0.0f, &initial_auxiliary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
+    print_versor_fp32(&turn);
+
+    // 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_vector3_set_values_fp32(1.0f, 0.000001f, 0.0f, &initial_auxiliary);
+    bgc_vector3_set_values_fp32(0.0f, -1.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
+    print_versor_fp32(&turn);
+}
+
+void test_basis_difference_fp64()
+{
+
+    BgcVector3FP64 initial_primary, initial_auxiliary;
+    BgcVector3FP64 final_primary, final_auxiliary;
+    BgcVersorFP64 turn;
+
+    // No turn
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nNo turn:\n");
+    print_versor_fp64(&turn);
+
+    // Turn around (1, 1, 0) axis on 180 degrees
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
+    print_versor_fp64(&turn);
+
+    // 180 degree turn
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\n180 degree turn around (0, 1, 0):\n");
+    print_versor_fp64(&turn);
+
+    // 90 degree turn around x3 axis
+    bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_primary);
+    bgc_vector3_set_values_fp64(0.0, 3.1, 0.0, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp64(0.0, 10.0, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\n90 degree turn around (0, 0, 1):\n");
+    print_versor_fp64(&turn);
+
+    // Unorthogonal pairs turn at 90 degrees around x3 axis
+    bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_primary);
+    bgc_vector3_set_values_fp64(-2.0, 3.1, 0.0, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp64(0.0, 10.0, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(-1.0, 5.0, 0.0, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
+    print_versor_fp64(&turn);
+
+    // Zero vectors
+    bgc_vector3_set_values_fp64(0.0, 0.0, 0.0, &initial_primary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
+
+    int code;
+
+    code = bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    if (code >= 0) {
+        printf("\nZero vectors: this cannot be!\n");
+        print_versor_fp64(&turn);
+    }
+    else {
+        printf("\nZero vector validation works fine\n");
+    }
+
+    // Parallel vectors
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_auxiliary);
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
+
+    code = bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    if (code >= 0) {
+        printf("\nParallel vectors: this cannot be!\n");
+        print_versor_fp64(&turn);
+    }
+    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_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp64(0.999848, 0.017452, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(-0.017452, 0.999848, 0.0, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nSmall angle turn (about 1 degree):\n");
+    print_versor_fp64(&turn);
+
+    // About 179 degrees turn
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp64(-0.999848, -0.017452, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(0.017452, -0.999848, 0.0, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nAbout 179 degrees turn:\n");
+    print_versor_fp64(&turn);
+
+    // 120 degrees around (-1, -1, 1)
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(0.0, 0.0, -1.0, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\n120 degees turn:\n");
+    print_versor_fp64(&turn);
+
+
+    // 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_vector3_set_values_fp64(0.999848, 0.017452, 0.0, &initial_auxiliary);
+    bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
+    print_versor_fp64(&turn);
+
+    // 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_vector3_set_values_fp64(1.0, 0.000001, 0.0, &initial_auxiliary);
+    bgc_vector3_set_values_fp64(0.0, -1.0, 0.0, &final_primary);
+    bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
+    print_versor_fp64(&turn);
+}
+
+int main()
+{
+    //BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
+    //BgcVersorFP32 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_fp32(&start, &end, &slerp);
+    bgc_slerp_get_turn_for_phase_fp32(&slerp, 0.5f, &result);
+    printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
+    */
+
+    test_basis_difference_fp64();
+
+    return 0;
+}

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

@@ -49,6 +49,38 @@
 		<Unit filename="main.c">
 			<Option compilerVar="CC" />
 		</Unit>
+		<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>

basic-geometry-test/basic-geometry-test.vcxproj

@@ -150,6 +150,15 @@
   <ItemGroup>
     <ClCompile Include="helpers.c" />
     <ClCompile Include="main.c" />
+    <ClCompile Include="tests\complex.c" />
+    <ClCompile Include="tests\complex\complex_copy.c" />
+    <ClCompile Include="tests\complex\complex_is_unit.c" />
+    <ClCompile Include="tests\complex\complex_is_zero.c" />
+    <ClCompile Include="tests\complex\complex_modulus.c" />
+    <ClCompile Include="tests\complex\complex_reset.c" />
+    <ClCompile Include="tests\complex\complex_set_values.c" />
+    <ClCompile Include="tests\complex\complex_swap.c" />
+    <ClCompile Include="tests\complex\complex_arithmetics.c" />
     <ClCompile Include="tests\quaternion.c" />
     <ClCompile Include="tests\quaternion\quaternion_copy.c" />
     <ClCompile Include="tests\quaternion\quaternion_is_unit.c" />
@@ -164,6 +173,7 @@
     <ClCompile Include="tests\utilities\is_unit.c" />
     <ClCompile Include="tests\utilities\is_zero.c" />
     <ClCompile Include="tests\vector2.c" />
+    <ClCompile Include="tests\vector2\vector2_arithmetics.c" />
     <ClCompile Include="tests\vector2\vector2_is_unit.c" />
     <ClCompile Include="tests\vector2\vector2_is_zero.c" />
     <ClCompile Include="tests\vector2\vector2_copy.c" />
@@ -172,6 +182,7 @@
     <ClCompile Include="tests\vector2\vector2_set_values.c" />
     <ClCompile Include="tests\vector2\vector2_swap.c" />
     <ClCompile Include="tests\vector3.c" />
+    <ClCompile Include="tests\vector3\vector3_arithmetics.c" />
     <ClCompile Include="tests\vector3\vector3_is_unit.c" />
     <ClCompile Include="tests\vector3\vector3_is_zero.c" />
     <ClCompile Include="tests\vector3\vector3_copy.c" />
@@ -190,6 +201,15 @@
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="helpers.h" />
+    <ClInclude Include="tests\complex.h" />
+    <ClInclude Include="tests\complex\complex_copy.h" />
+    <ClInclude Include="tests\complex\complex_is_unit.h" />
+    <ClInclude Include="tests\complex\complex_is_zero.h" />
+    <ClInclude Include="tests\complex\complex_modulus.h" />
+    <ClInclude Include="tests\complex\complex_reset.h" />
+    <ClInclude Include="tests\complex\complex_set_values.h" />
+    <ClInclude Include="tests\complex\complex_swap.h" />
+    <ClInclude Include="tests\complex\complex_arithmetics.h" />
     <ClInclude Include="tests\quaternion.h" />
     <ClInclude Include="tests\quaternion\quaternion_copy.h" />
     <ClInclude Include="tests\quaternion\quaternion_is_unit.h" />
@@ -204,6 +224,7 @@
     <ClInclude Include="tests\utilities\is_unit.h" />
     <ClInclude Include="tests\utilities\is_zero.h" />
     <ClInclude Include="tests\vector2.h" />
+    <ClInclude Include="tests\vector2\vector2_arithmetics.h" />
     <ClInclude Include="tests\vector2\vector2_is_unit.h" />
     <ClInclude Include="tests\vector2\vector2_is_zero.h" />
     <ClInclude Include="tests\vector2\vector2_copy.h" />
@@ -212,6 +233,7 @@
     <ClInclude Include="tests\vector2\vector2_set_values.h" />
     <ClInclude Include="tests\vector2\vector2_swap.h" />
     <ClInclude Include="tests\vector3.h" />
+    <ClInclude Include="tests\vector3\vector3_arithmetics.h" />
     <ClInclude Include="tests\vector3\vector3_is_unit.h" />
     <ClInclude Include="tests\vector3\vector3_is_zero.h" />
     <ClInclude Include="tests\vector3\vector3_copy.h" />

basic-geometry-test/basic-geometry-test.vcxproj.filters

@@ -114,6 +114,39 @@
     <ClCompile Include="tests\quaternion\quaternion_modulus.c">
       <Filter>tests\quaternion</Filter>
     </ClCompile>
+    <ClCompile Include="tests\complex\complex_copy.c">
+      <Filter>tests\complex</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\complex\complex_is_unit.c">
+      <Filter>tests\complex</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\complex\complex_is_zero.c">
+      <Filter>tests\complex</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\complex\complex_modulus.c">
+      <Filter>tests\complex</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\complex\complex_reset.c">
+      <Filter>tests\complex</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\complex\complex_set_values.c">
+      <Filter>tests\complex</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\complex\complex_swap.c">
+      <Filter>tests\complex</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\complex.c">
+      <Filter>tests</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\vector2\vector2_arithmetics.c">
+      <Filter>tests\vector2</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\vector3\vector3_arithmetics.c">
+      <Filter>tests\vector3</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\complex\complex_arithmetics.c">
+      <Filter>tests\complex</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="helpers.h" />
@@ -228,6 +261,39 @@
     <ClInclude Include="tests\quaternion\quaternion_modulus.h">
       <Filter>tests\quaternion</Filter>
     </ClInclude>
+    <ClInclude Include="tests\complex\complex_copy.h">
+      <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">
@@ -248,5 +314,8 @@
     <Filter Include="tests\quaternion">
       <UniqueIdentifier>{e8bafdb8-66e5-4393-bc89-8bff83bcccd6}</UniqueIdentifier>
     </Filter>
+    <Filter Include="tests\complex">
+      <UniqueIdentifier>{e025e123-45aa-44f9-aab4-f1705844b211}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
 </Project>

basic-geometry-test/main.c

@@ -6,6 +6,7 @@
 #include "tests/utilities.h"
 #include "tests/vector2.h"
 #include "tests/vector3.h"
+#include "tests/complex.h"
 #include "tests/quaternion.h"
 #include "tests/versor.h"
 
@@ -17,6 +18,8 @@ int main()
 
     test_vector3();
 
+    test_complex();
+
     test_quaternion();
 
     test_versor();

basic-geometry-test/tests/complex.c

@@ -0,0 +1,19 @@
+#include "./complex.h"
+
+void test_complex()
+{
+    print_testing_section("BGC Complex");
+
+    test_complex_reset();
+    test_complex_set_values();
+    test_complex_copy();
+    test_complex_swap();
+    test_complex_is_zero();
+    test_complex_is_unit();
+    test_complex_modulus();
+
+    test_complex_add();
+    test_complex_subtract();
+    test_complex_multiply();
+    test_complex_divide();
+}

basic-geometry-test/tests/complex.h

@@ -0,0 +1,16 @@
+#ifndef _TEST_COMPLEX_H_
+#define _TEST_COMPLEX_H_
+
+#include "./../helpers.h"
+#include "./complex/complex_reset.h"
+#include "./complex/complex_set_values.h"
+#include "./complex/complex_copy.h"
+#include "./complex/complex_swap.h"
+#include "./complex/complex_is_zero.h"
+#include "./complex/complex_is_unit.h"
+#include "./complex/complex_modulus.h"
+#include "./complex/complex_arithmetics.h"
+
+void test_complex();
+
+#endif

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

@@ -0,0 +1,380 @@
+#include "./complex_arithmetics.h"
+#include "./../../helpers.h"
+
+// ==================== Add ===================== //
+
+void test_complex_add_fp32()
+{
+    BgcComplexFP32 vector1, vector2, result;
+
+    print_testing_name("bgc_complex_add_fp32");
+
+    bgc_complex_set_values_fp32(10.0f, -20.0f, &vector1);
+    bgc_complex_set_values_fp32(4.0f, 5.0f, &vector2);
+
+    bgc_complex_add_fp32(&vector1, &vector2, &result);
+
+    if (!bgc_are_close_fp32(result.real, 14.0f) || !bgc_are_close_fp32(result.imaginary, -15.0f)) {
+        print_testing_error("first test failed");
+        return;
+    }
+
+    bgc_complex_set_values_fp32(-0.28f, 100.1f, &vector1);
+    bgc_complex_set_values_fp32(1.78f, -0.1f, &vector2);
+
+    bgc_complex_add_fp32(&vector1, &vector2, &result);
+
+    if (!bgc_are_close_fp32(result.real, 1.5f) || !bgc_are_close_fp32(result.imaginary, 100.0f)) {
+        print_testing_error("second test failed");
+        return;
+    }
+
+    print_testing_success();
+}
+
+void test_complex_add_scaled_fp32()
+{
+    BgcComplexFP32 vector1, vector2, result;
+
+    print_testing_name("bgc_complex_add_scaled_fp32");
+
+    bgc_complex_set_values_fp32(10.0f, -20.0f, &vector1);
+    bgc_complex_set_values_fp32(4.0f, 5.0f, &vector2);
+
+    bgc_complex_add_scaled_fp32(&vector1, & vector2, -2.0f, &result);
+
+    if (!bgc_are_close_fp32(result.real, 2.0f) || !bgc_are_close_fp32(result.imaginary, -30.0f)) {
+        print_testing_error("first test failed");
+        return;
+    }
+
+    bgc_complex_set_values_fp32(-0.27f, 100.3f, &vector1);
+    bgc_complex_set_values_fp32(1.59f, -0.1f, &vector2);
+
+    bgc_complex_add_scaled_fp32(&vector1, &vector2, 3.0f, &result);
+
+    if (!bgc_are_close_fp32(result.real, 4.5f) || !bgc_are_close_fp32(result.imaginary, 100.0f)) {
+        print_testing_error("second test failed");