diff --git a/basic-geometry/angle.h b/basic-geometry/angle.h index 81bc004..a50b599 100644 --- a/basic-geometry/angle.h +++ b/basic-geometry/angle.h @@ -1,5 +1,5 @@ -#ifndef _BGC_ANGLE_H_INCLUDED_ -#define _BGC_ANGLE_H_INCLUDED_ +#ifndef _BGC_ANGLE_H_ +#define _BGC_ANGLE_H_ #include #include "utilities.h" diff --git a/basic-geometry/basic-geometry.h b/basic-geometry/basic-geometry.h index e8c4598..2f9726f 100644 --- a/basic-geometry/basic-geometry.h +++ b/basic-geometry/basic-geometry.h @@ -1,5 +1,5 @@ -#ifndef _BGC_H_INCLUDED_ -#define _BGC_H_INCLUDED_ +#ifndef _BGC_H_ +#define _BGC_H_ #include "./utilities.h" @@ -18,14 +18,14 @@ #include "./affine3.h" #include "./complex.h" -#include "./quaternion.h" +#include "./quaternion.h" -#include "./turn2.h" -#include "./turn3.h" - -#include "./position2.h" -#include "./position3.h" +#include "./turn2.h" +#include "./turn3.h" +#include "./position2.h" +#include "./position3.h" + #include "./slerp.h" #endif diff --git a/basic-geometry/basic-geometry.vcxproj b/basic-geometry/basic-geometry.vcxproj index f392d21..8984b17 100644 --- a/basic-geometry/basic-geometry.vcxproj +++ b/basic-geometry/basic-geometry.vcxproj @@ -24,6 +24,7 @@ + @@ -37,10 +38,11 @@ - - + + + @@ -49,6 +51,7 @@ + @@ -56,8 +59,6 @@ - - @@ -65,7 +66,9 @@ + + diff --git a/basic-geometry/basic-geometry.vcxproj.filters b/basic-geometry/basic-geometry.vcxproj.filters index 1163028..b855491 100644 --- a/basic-geometry/basic-geometry.vcxproj.filters +++ b/basic-geometry/basic-geometry.vcxproj.filters @@ -21,6 +21,9 @@ Файлы заголовков + + Файлы заголовков + Файлы заголовков @@ -33,6 +36,12 @@ Файлы заголовков + + Файлы заголовков + + + Файлы заголовков + Файлы заголовков @@ -54,9 +63,15 @@ Исходные файлы + + Исходные файлы + Файлы заголовков + + Файлы заголовков + Файлы заголовков @@ -84,12 +99,6 @@ Файлы заголовков - - Файлы заголовков - - - Файлы заголовков - @@ -104,12 +113,18 @@ Исходные файлы + + Исходные файлы + Исходные файлы Исходные файлы + + Исходные файлы + Исходные файлы @@ -152,11 +167,5 @@ Исходные файлы - - Исходные файлы - - - Исходные файлы - \ No newline at end of file diff --git a/basic-geometry/complex.h b/basic-geometry/complex.h index 3209dcb..d1e3587 100644 --- a/basic-geometry/complex.h +++ b/basic-geometry/complex.h @@ -1,5 +1,5 @@ -#ifndef _BGC_COMPLEX_H_INCLUDED_ -#define _BGC_COMPLEX_H_INCLUDED_ +#ifndef _BGC_COMPLEX_H_ +#define _BGC_COMPLEX_H_ #include "utilities.h" #include "angle.h" diff --git a/basic-geometry/dual-number.c b/basic-geometry/dual-number.c index d8fd6bf..adc4a82 100644 --- a/basic-geometry/dual-number.c +++ b/basic-geometry/dual-number.c @@ -1,43 +1,34 @@ #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); +inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number); +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); +inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual); +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); +inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source); +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); +inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second); +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); +inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second); +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); +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); +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); +inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend); +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); +inline void bgc_fp32_dual_number_multiply(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier); +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); +inline void bgc_fp32_dual_number_divide(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor); +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); +inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second); +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); +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); +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); diff --git a/basic-geometry/dual-number.h b/basic-geometry/dual-number.h index f1a4e2a..e33169e 100644 --- a/basic-geometry/dual-number.h +++ b/basic-geometry/dual-number.h @@ -1,5 +1,5 @@ -#ifndef _BGC_DUAL_NUMBER_H_INCLUDED_ -#define _BGC_DUAL_NUMBER_H_INCLUDED_ +#ifndef _BGC_DUAL_NUMBER_H_ +#define _BGC_DUAL_NUMBER_H_ #include "utilities.h" @@ -165,50 +165,4 @@ inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_ 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 diff --git a/basic-geometry/dual-quaternion.c b/basic-geometry/dual-quaternion.c index 4db7e44..e0362c3 100644 --- a/basic-geometry/dual-quaternion.c +++ b/basic-geometry/dual-quaternion.c @@ -20,24 +20,3 @@ extern inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* 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); diff --git a/basic-geometry/dual-quaternion.h b/basic-geometry/dual-quaternion.h index e3f3357..6fad794 100644 --- a/basic-geometry/dual-quaternion.h +++ b/basic-geometry/dual-quaternion.h @@ -1,5 +1,5 @@ -#ifndef _BGC_DUAL_QUATERNION_H_INCLUDED_ -#define _BGC_DUAL_QUATERNION_H_INCLUDED_ +#ifndef _BGC_DUAL_QUATERNION_H_ +#define _BGC_DUAL_QUATERNION_H_ #include "quaternion.h" @@ -111,100 +111,4 @@ inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* differenc 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 diff --git a/basic-geometry/dual-vector3.c b/basic-geometry/dual-vector3.c index 8b2b8cf..44c5ee3 100644 --- a/basic-geometry/dual-vector3.c +++ b/basic-geometry/dual-vector3.c @@ -32,18 +32,3 @@ extern inline void bgc_fp64_dual_vector3_multiply(BGC_FP64_DualVector3* product, 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); diff --git a/basic-geometry/dual-vector3.h b/basic-geometry/dual-vector3.h index 5125099..7f3d4bf 100644 --- a/basic-geometry/dual-vector3.h +++ b/basic-geometry/dual-vector3.h @@ -1,5 +1,5 @@ -#ifndef _BGC_DUAL_VECTOR3_H_INCLUDED_ -#define _BGC_DUAL_VECTOR3_H_INCLUDED_ +#ifndef _BGC_DUAL_VECTOR3_H_INCLUDE_ +#define _BGC_DUAL_VECTOR3_H_INCLUDE_ #include "./vector3.h" @@ -169,7 +169,7 @@ inline void bgc_fp64_dual_vector3_divide(BGC_FP64_DualVector3* quotient, const B bgc_fp64_dual_vector3_multiply(quotient, dividend, 1.0 / divisor); } -// ================ Mean of Two ================= // +// ================== Average2 ================== // inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2) { @@ -183,7 +183,7 @@ inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* mean, const BG bgc_fp64_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual); } -// =============== Mean of Three ================ // +// ================== Average3 ================== // 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) { @@ -197,46 +197,4 @@ inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* mean, const BG 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 diff --git a/basic-geometry/matrices.h b/basic-geometry/matrices.h index d500a33..3f2180e 100644 --- a/basic-geometry/matrices.h +++ b/basic-geometry/matrices.h @@ -1,5 +1,5 @@ -#ifndef _BGC_MATRICES_H_INCLUDED_ -#define _BGC_MATRICES_H_INCLUDED_ +#ifndef _BGC_MATRICES_H_ +#define _BGC_MATRICES_H_ // ================== Matrix2x2 ================= // diff --git a/basic-geometry/matrix2x2.h b/basic-geometry/matrix2x2.h index 9d7d8e7..5a92417 100644 --- a/basic-geometry/matrix2x2.h +++ b/basic-geometry/matrix2x2.h @@ -1,5 +1,5 @@ -#ifndef _BGC_MATRIX2X2_H_INCLUDED_ -#define _BGC_MATRIX2X2_H_INCLUDED_ +#ifndef _BGC_MATRIX2X2_H_ +#define _BGC_MATRIX2X2_H_ #include "angle.h" #include "vector2.h" diff --git a/basic-geometry/matrix2x3.h b/basic-geometry/matrix2x3.h index 906dfe8..7093a94 100644 --- a/basic-geometry/matrix2x3.h +++ b/basic-geometry/matrix2x3.h @@ -1,5 +1,5 @@ -#ifndef _BGC_MATRIX2X3_H_INCLUDED_ -#define _BGC_MATRIX2X3_H_INCLUDED_ +#ifndef _BGC_MATRIX2X3_H_ +#define _BGC_MATRIX2X3_H_ #include "vector2.h" #include "vector3.h" diff --git a/basic-geometry/matrix3x2.h b/basic-geometry/matrix3x2.h index 693ccfd..b219ddd 100644 --- a/basic-geometry/matrix3x2.h +++ b/basic-geometry/matrix3x2.h @@ -1,5 +1,5 @@ -#ifndef _BGC_MATRIX3X2_H_INCLUDED_ -#define _BGC_MATRIX3X2_H_INCLUDED_ +#ifndef _BGC_MATRIX3X2_H_ +#define _BGC_MATRIX3X2_H_ #include "vector2.h" #include "vector3.h" diff --git a/basic-geometry/matrix3x3.h b/basic-geometry/matrix3x3.h index 26450b2..18568bd 100644 --- a/basic-geometry/matrix3x3.h +++ b/basic-geometry/matrix3x3.h @@ -1,5 +1,5 @@ -#ifndef _BGC_MATRIX3X3_H_INCLUDED_ -#define _BGC_MATRIX3X3_H_INCLUDED_ +#ifndef _BGC_MATRIX3X3_H_ +#define _BGC_MATRIX3X3_H_ #include "vector3.h" #include "matrices.h" diff --git a/basic-geometry/quaternion.h b/basic-geometry/quaternion.h index 8de1ccc..87521f1 100644 --- a/basic-geometry/quaternion.h +++ b/basic-geometry/quaternion.h @@ -1,5 +1,5 @@ -#ifndef _BGC_QUATERNION_H_INCLUDED_ -#define _BGC_QUATERNION_H_INCLUDED_ +#ifndef _BGC_QUATERNION_H_ +#define _BGC_QUATERNION_H_ #include diff --git a/basic-geometry/slerp.h b/basic-geometry/slerp.h index 91dae68..ba26246 100644 --- a/basic-geometry/slerp.h +++ b/basic-geometry/slerp.h @@ -1,5 +1,5 @@ -#ifndef _BGC_SLERP_H_INCLUDED_ -#define _BGC_SLERP_H_INCLUDED_ +#ifndef _BGC_VERSOR_SLERP_H_ +#define _BGC_VERSOR_SLERP_H_ #include "./turn3.h" diff --git a/basic-geometry/turn2.h b/basic-geometry/turn2.h index 667d2fc..fd1e1e6 100644 --- a/basic-geometry/turn2.h +++ b/basic-geometry/turn2.h @@ -1,5 +1,5 @@ -#ifndef _BGC_TURN2_H_INCLUDED_ -#define _BGC_TURN2_H_INCLUDED_ +#ifndef _BGC_COTES_NUMBER_H_ +#define _BGC_COTES_NUMBER_H_ #include diff --git a/basic-geometry/turn3.c b/basic-geometry/turn3.c index 21570f1..64250c4 100644 --- a/basic-geometry/turn3.c +++ b/basic-geometry/turn3.c @@ -192,7 +192,7 @@ void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* turn, const double x1, const do const double multiplier = sine / sqrt(square_vector); - bgc_fp64_quaternion_make(&turn->_versor, cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier); + bgc_fp64_quaternion_make(&turn->_versor, cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier); const double square_modulus = bgc_fp64_quaternion_get_square_modulus(&turn->_versor); @@ -203,7 +203,7 @@ void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* turn, const double x1, const do // ========= 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) +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) { BGC_FP32_Vector3 orthogonal_axis; @@ -213,13 +213,13 @@ static int _bgc_fp32_turn3_make_direction_turn(BGC_FP32_Turn3* turn, const BGC_F 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) { + if (square_sine > BGC_FP64_SQUARE_EPSILON) { const float cosine = scalar_product / sqrtf(square_modulus_product); - const float angle = 0.5f * atan2f(sqrtf(square_sine), cosine); + const float angle = 0.5 * atan2f(sqrtf(square_sine), cosine); - const float multiplier = sinf(angle) * sqrtf(1.0f / square_modulus); + const float multiplier = sin(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); + bgc_fp32_turn3_set_raw_values(versor, cosf(angle), orthogonal_axis.x1 * multiplier, orthogonal_axis.x2 * multiplier, orthogonal_axis.x3 * multiplier); return BGC_SOME_TURN; } @@ -227,7 +227,7 @@ static int _bgc_fp32_turn3_make_direction_turn(BGC_FP32_Turn3* turn, const BGC_F return BGC_OPPOSITE; } - bgc_fp32_turn3_reset(turn); + bgc_fp32_turn3_reset(versor); return BGC_ZERO_TURN; } @@ -273,6 +273,15 @@ int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* difference, const B return BGC_ZERO_TURN; } + const double scalar_product = bgc_fp64_vector3_get_dot_product(start, end); + + if () { + } + + BGC_FP64_Vector3 orthogonal_axis; + + bgc_fp64_vector3_get_cross_product(&orthogonal_axis, start, end); + return _bgc_fp32_turn3_make_direction_turn(difference, start, end, start_square_modulus * end_square_modulus); } diff --git a/basic-geometry/turn3.h b/basic-geometry/turn3.h index 13d02fe..d354054 100644 --- a/basic-geometry/turn3.h +++ b/basic-geometry/turn3.h @@ -1,5 +1,5 @@ -#ifndef _BGC_TURN3_H_INCLUDED_ -#define _BGC_TURN3_H_INCLUDED_ +#ifndef _BGC_VERSOR_H_ +#define _BGC_VERSOR_H_ #include diff --git a/basic-geometry/types.h b/basic-geometry/types.h new file mode 100644 index 0000000..7ad6d7f --- /dev/null +++ b/basic-geometry/types.h @@ -0,0 +1,16 @@ +#ifndef _BGC_TYPES_H_ +#define _BGC_TYPES_H_ + +// ================== Complex =================== // + +typedef struct +{ + float real, imaginary; +} BgcComplexFP32; + +typedef struct +{ + double real, imaginary; +} BgcComplexFP64; + +#endif diff --git a/basic-geometry/utilities.h b/basic-geometry/utilities.h index c315fa6..9e0a3a9 100644 --- a/basic-geometry/utilities.h +++ b/basic-geometry/utilities.h @@ -1,5 +1,5 @@ -#ifndef _BGC_UTILITIES_H_INCLUDED_ -#define _BGC_UTILITIES_H_INCLUDED_ +#ifndef _BGC_UTILITIES_H_ +#define _BGC_UTILITIES_H_ #define BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT 1.0f diff --git a/basic-geometry/vector2.c b/basic-geometry/vector2.c index a80308d..bb854bb 100644 --- a/basic-geometry/vector2.c +++ b/basic-geometry/vector2.c @@ -48,8 +48,8 @@ extern inline void bgc_fp64_vector2_get_mean2(BGC_FP64_Vector2* mean, const BGC_ extern inline void bgc_fp32_vector2_get_mean3(BGC_FP32_Vector2* mean, const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2, const BGC_FP32_Vector2* vector3); extern inline void bgc_fp64_vector2_get_mean3(BGC_FP64_Vector2* mean, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const BGC_FP64_Vector2* vector3); -extern inline void bgc_fp32_vector2_interpolate(BGC_FP32_Vector2* interpolation, const BGC_FP32_Vector2* first, const BGC_FP32_Vector2* second, const float phase); -extern inline void bgc_fp64_vector2_interpolate(BGC_FP64_Vector2* interpolation, const BGC_FP64_Vector2* first, const BGC_FP64_Vector2* second, const double phase); +extern inline void bgc_fp32_vector2_interpolate(BGC_FP32_Vector2* interpolation, const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2, const float phase); +extern inline void bgc_fp64_vector2_interpolate(BGC_FP64_Vector2* interpolation, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const double phase); extern inline void bgc_fp32_vector2_revert(BGC_FP32_Vector2* vector); extern inline void bgc_fp64_vector2_revert(BGC_FP64_Vector2* vector); diff --git a/basic-geometry/vector2.h b/basic-geometry/vector2.h index 0dc1096..7d7ad2f 100644 --- a/basic-geometry/vector2.h +++ b/basic-geometry/vector2.h @@ -1,5 +1,5 @@ -#ifndef _BGC_VECTOR2_H_INCLUDED_ -#define _BGC_VECTOR2_H_INCLUDED_ +#ifndef _BGC_VECTOR2_H_ +#define _BGC_VECTOR2_H_ #include "utilities.h" #include "angle.h" @@ -240,20 +240,20 @@ inline void bgc_fp64_vector2_get_mean3(BGC_FP64_Vector2* mean, const BGC_FP64_Ve // =================== Linear =================== // -inline void bgc_fp32_vector2_interpolate(BGC_FP32_Vector2* interpolation, const BGC_FP32_Vector2* first, const BGC_FP32_Vector2* second, const float phase) +inline void bgc_fp32_vector2_interpolate(BGC_FP32_Vector2* interpolation, const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2, const float phase) { const float counter_phase = 1.0f - phase; - interpolation->x1 = first->x1 * counter_phase + second->x1 * phase; - interpolation->x2 = first->x2 * counter_phase + second->x2 * phase; + interpolation->x1 = vector1->x1 * counter_phase + vector2->x1 * phase; + interpolation->x2 = vector1->x2 * counter_phase + vector2->x2 * phase; } -inline void bgc_fp64_vector2_interpolate(BGC_FP64_Vector2* interpolation, const BGC_FP64_Vector2* first, const BGC_FP64_Vector2* second, const double phase) +inline void bgc_fp64_vector2_interpolate(BGC_FP64_Vector2* interpolation, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const double phase) { const double counter_phase = 1.0 - phase; - interpolation->x1 = first->x1 * counter_phase + second->x1 * phase; - interpolation->x2 = first->x2 * counter_phase + second->x2 * phase; + interpolation->x1 = vector1->x1 * counter_phase + vector2->x1 * phase; + interpolation->x2 = vector1->x2 * counter_phase + vector2->x2 * phase; } // ================== Negative ================== // diff --git a/basic-geometry/vector3.h b/basic-geometry/vector3.h index a9cdeb6..4888d56 100644 --- a/basic-geometry/vector3.h +++ b/basic-geometry/vector3.h @@ -1,5 +1,5 @@ -#ifndef _BGC_VECTOR3_H_INCLUDED_ -#define _BGC_VECTOR3_H_INCLUDED_ +#ifndef _BGC_VECTOR3_H_ +#define _BGC_VECTOR3_H_ #include "utilities.h" #include "angle.h" @@ -268,22 +268,22 @@ inline void bgc_fp64_vector3_get_mean3(BGC_FP64_Vector3* mean, const BGC_FP64_Ve // =================== Linear =================== // -inline void bgc_fp32_vector3_interpolate(BGC_FP32_Vector3* interpolation, const BGC_FP32_Vector3* first, const BGC_FP32_Vector3* second, const float phase) +inline void bgc_fp32_vector3_interpolate(BGC_FP32_Vector3* interpolation, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const float phase) { const float counter_phase = 1.0f - phase; - interpolation->x1 = first->x1 * counter_phase + second->x1 * phase; - interpolation->x2 = first->x2 * counter_phase + second->x2 * phase; - interpolation->x3 = first->x3 * counter_phase + second->x3 * phase; + interpolation->x1 = vector1->x1 * counter_phase + vector2->x1 * phase; + interpolation->x2 = vector1->x2 * counter_phase + vector2->x2 * phase; + interpolation->x3 = vector1->x3 * counter_phase + vector2->x3 * phase; } -inline void bgc_fp64_vector3_interpolate(BGC_FP64_Vector3* interpolation, const BGC_FP64_Vector3* first, const BGC_FP64_Vector3* second, const double phase) +inline void bgc_fp64_vector3_interpolate(BGC_FP64_Vector3* interpolation, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double phase) { const double counter_phase = 1.0 - phase; - interpolation->x1 = first->x1 * counter_phase + second->x1 * phase; - interpolation->x2 = first->x2 * counter_phase + second->x2 * phase; - interpolation->x3 = first->x3 * counter_phase + second->x3 * phase; + interpolation->x1 = vector1->x1 * counter_phase + vector2->x1 * phase; + interpolation->x2 = vector1->x2 * counter_phase + vector2->x2 * phase; + interpolation->x3 = vector1->x3 * counter_phase + vector2->x3 * phase; } // ================== Negative ================== //