diff --git a/basic-geometry/angle.h b/basic-geometry/angle.h index a50b599..81bc004 100644 --- a/basic-geometry/angle.h +++ b/basic-geometry/angle.h @@ -1,5 +1,5 @@ -#ifndef _BGC_ANGLE_H_ -#define _BGC_ANGLE_H_ +#ifndef _BGC_ANGLE_H_INCLUDED_ +#define _BGC_ANGLE_H_INCLUDED_ #include #include "utilities.h" diff --git a/basic-geometry/basic-geometry.h b/basic-geometry/basic-geometry.h index 2f9726f..e8c4598 100644 --- a/basic-geometry/basic-geometry.h +++ b/basic-geometry/basic-geometry.h @@ -1,5 +1,5 @@ -#ifndef _BGC_H_ -#define _BGC_H_ +#ifndef _BGC_H_INCLUDED_ +#define _BGC_H_INCLUDED_ #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 "./turn2.h" +#include "./turn3.h" + +#include "./position2.h" +#include "./position3.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 8984b17..f392d21 100644 --- a/basic-geometry/basic-geometry.vcxproj +++ b/basic-geometry/basic-geometry.vcxproj @@ -24,7 +24,6 @@ - @@ -38,11 +37,10 @@ - - + + - @@ -51,7 +49,6 @@ - @@ -59,6 +56,8 @@ + + @@ -66,9 +65,7 @@ - - diff --git a/basic-geometry/basic-geometry.vcxproj.filters b/basic-geometry/basic-geometry.vcxproj.filters index b855491..1163028 100644 --- a/basic-geometry/basic-geometry.vcxproj.filters +++ b/basic-geometry/basic-geometry.vcxproj.filters @@ -21,9 +21,6 @@ Файлы заголовков - - Файлы заголовков - Файлы заголовков @@ -36,12 +33,6 @@ Файлы заголовков - - Файлы заголовков - - - Файлы заголовков - Файлы заголовков @@ -63,15 +54,9 @@ Исходные файлы - - Исходные файлы - Файлы заголовков - - Файлы заголовков - Файлы заголовков @@ -99,6 +84,12 @@ Файлы заголовков + + Файлы заголовков + + + Файлы заголовков + @@ -113,18 +104,12 @@ Исходные файлы - - Исходные файлы - Исходные файлы Исходные файлы - - Исходные файлы - Исходные файлы @@ -167,5 +152,11 @@ 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 d1e3587..3209dcb 100644 --- a/basic-geometry/complex.h +++ b/basic-geometry/complex.h @@ -1,5 +1,5 @@ -#ifndef _BGC_COMPLEX_H_ -#define _BGC_COMPLEX_H_ +#ifndef _BGC_COMPLEX_H_INCLUDED_ +#define _BGC_COMPLEX_H_INCLUDED_ #include "utilities.h" #include "angle.h" diff --git a/basic-geometry/dual-number.c b/basic-geometry/dual-number.c index adc4a82..d8fd6bf 100644 --- a/basic-geometry/dual-number.c +++ b/basic-geometry/dual-number.c @@ -1,34 +1,43 @@ #include "dual-number.h" -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_reset(BGC_FP32_DualNumber* number); +extern inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number); -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_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_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_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_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_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_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(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_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_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_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_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_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_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_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_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_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_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_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); +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); diff --git a/basic-geometry/dual-number.h b/basic-geometry/dual-number.h index e33169e..f1a4e2a 100644 --- a/basic-geometry/dual-number.h +++ b/basic-geometry/dual-number.h @@ -1,5 +1,5 @@ -#ifndef _BGC_DUAL_NUMBER_H_ -#define _BGC_DUAL_NUMBER_H_ +#ifndef _BGC_DUAL_NUMBER_H_INCLUDED_ +#define _BGC_DUAL_NUMBER_H_INCLUDED_ #include "utilities.h" @@ -165,4 +165,50 @@ 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 e0362c3..4db7e44 100644 --- a/basic-geometry/dual-quaternion.c +++ b/basic-geometry/dual-quaternion.c @@ -20,3 +20,24 @@ 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 6fad794..e3f3357 100644 --- a/basic-geometry/dual-quaternion.h +++ b/basic-geometry/dual-quaternion.h @@ -1,5 +1,5 @@ -#ifndef _BGC_DUAL_QUATERNION_H_ -#define _BGC_DUAL_QUATERNION_H_ +#ifndef _BGC_DUAL_QUATERNION_H_INCLUDED_ +#define _BGC_DUAL_QUATERNION_H_INCLUDED_ #include "quaternion.h" @@ -111,4 +111,100 @@ 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 44c5ee3..8b2b8cf 100644 --- a/basic-geometry/dual-vector3.c +++ b/basic-geometry/dual-vector3.c @@ -32,3 +32,18 @@ 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 7f3d4bf..5125099 100644 --- a/basic-geometry/dual-vector3.h +++ b/basic-geometry/dual-vector3.h @@ -1,5 +1,5 @@ -#ifndef _BGC_DUAL_VECTOR3_H_INCLUDE_ -#define _BGC_DUAL_VECTOR3_H_INCLUDE_ +#ifndef _BGC_DUAL_VECTOR3_H_INCLUDED_ +#define _BGC_DUAL_VECTOR3_H_INCLUDED_ #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); } -// ================== Average2 ================== // +// ================ 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) { @@ -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); } -// ================== Average3 ================== // +// =============== 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) { @@ -197,4 +197,46 @@ 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 3f2180e..d500a33 100644 --- a/basic-geometry/matrices.h +++ b/basic-geometry/matrices.h @@ -1,5 +1,5 @@ -#ifndef _BGC_MATRICES_H_ -#define _BGC_MATRICES_H_ +#ifndef _BGC_MATRICES_H_INCLUDED_ +#define _BGC_MATRICES_H_INCLUDED_ // ================== Matrix2x2 ================= // diff --git a/basic-geometry/matrix2x2.h b/basic-geometry/matrix2x2.h index 5a92417..9d7d8e7 100644 --- a/basic-geometry/matrix2x2.h +++ b/basic-geometry/matrix2x2.h @@ -1,5 +1,5 @@ -#ifndef _BGC_MATRIX2X2_H_ -#define _BGC_MATRIX2X2_H_ +#ifndef _BGC_MATRIX2X2_H_INCLUDED_ +#define _BGC_MATRIX2X2_H_INCLUDED_ #include "angle.h" #include "vector2.h" diff --git a/basic-geometry/matrix2x3.h b/basic-geometry/matrix2x3.h index 7093a94..906dfe8 100644 --- a/basic-geometry/matrix2x3.h +++ b/basic-geometry/matrix2x3.h @@ -1,5 +1,5 @@ -#ifndef _BGC_MATRIX2X3_H_ -#define _BGC_MATRIX2X3_H_ +#ifndef _BGC_MATRIX2X3_H_INCLUDED_ +#define _BGC_MATRIX2X3_H_INCLUDED_ #include "vector2.h" #include "vector3.h" diff --git a/basic-geometry/matrix3x2.h b/basic-geometry/matrix3x2.h index b219ddd..693ccfd 100644 --- a/basic-geometry/matrix3x2.h +++ b/basic-geometry/matrix3x2.h @@ -1,5 +1,5 @@ -#ifndef _BGC_MATRIX3X2_H_ -#define _BGC_MATRIX3X2_H_ +#ifndef _BGC_MATRIX3X2_H_INCLUDED_ +#define _BGC_MATRIX3X2_H_INCLUDED_ #include "vector2.h" #include "vector3.h" diff --git a/basic-geometry/matrix3x3.h b/basic-geometry/matrix3x3.h index 18568bd..26450b2 100644 --- a/basic-geometry/matrix3x3.h +++ b/basic-geometry/matrix3x3.h @@ -1,5 +1,5 @@ -#ifndef _BGC_MATRIX3X3_H_ -#define _BGC_MATRIX3X3_H_ +#ifndef _BGC_MATRIX3X3_H_INCLUDED_ +#define _BGC_MATRIX3X3_H_INCLUDED_ #include "vector3.h" #include "matrices.h" diff --git a/basic-geometry/quaternion.h b/basic-geometry/quaternion.h index 87521f1..8de1ccc 100644 --- a/basic-geometry/quaternion.h +++ b/basic-geometry/quaternion.h @@ -1,5 +1,5 @@ -#ifndef _BGC_QUATERNION_H_ -#define _BGC_QUATERNION_H_ +#ifndef _BGC_QUATERNION_H_INCLUDED_ +#define _BGC_QUATERNION_H_INCLUDED_ #include diff --git a/basic-geometry/slerp.h b/basic-geometry/slerp.h index ba26246..91dae68 100644 --- a/basic-geometry/slerp.h +++ b/basic-geometry/slerp.h @@ -1,5 +1,5 @@ -#ifndef _BGC_VERSOR_SLERP_H_ -#define _BGC_VERSOR_SLERP_H_ +#ifndef _BGC_SLERP_H_INCLUDED_ +#define _BGC_SLERP_H_INCLUDED_ #include "./turn3.h" diff --git a/basic-geometry/turn2.h b/basic-geometry/turn2.h index fd1e1e6..667d2fc 100644 --- a/basic-geometry/turn2.h +++ b/basic-geometry/turn2.h @@ -1,5 +1,5 @@ -#ifndef _BGC_COTES_NUMBER_H_ -#define _BGC_COTES_NUMBER_H_ +#ifndef _BGC_TURN2_H_INCLUDED_ +#define _BGC_TURN2_H_INCLUDED_ #include diff --git a/basic-geometry/turn3.c b/basic-geometry/turn3.c index 64250c4..21570f1 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, cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier); + 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); @@ -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) +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; @@ -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_FP64_SQUARE_EPSILON) { + if (square_sine > BGC_FP32_SQUARE_EPSILON) { const float cosine = scalar_product / sqrtf(square_modulus_product); - const float angle = 0.5 * atan2f(sqrtf(square_sine), cosine); + const float angle = 0.5f * atan2f(sqrtf(square_sine), cosine); - const float multiplier = sin(angle) * sqrtf(1.0f / square_modulus); + const float multiplier = sinf(angle) * sqrtf(1.0f / square_modulus); - bgc_fp32_turn3_set_raw_values(versor, cosf(angle), orthogonal_axis.x1 * multiplier, orthogonal_axis.x2 * multiplier, orthogonal_axis.x3 * multiplier); + 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; } @@ -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(versor); + bgc_fp32_turn3_reset(turn); return BGC_ZERO_TURN; } @@ -273,15 +273,6 @@ 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 d354054..13d02fe 100644 --- a/basic-geometry/turn3.h +++ b/basic-geometry/turn3.h @@ -1,5 +1,5 @@ -#ifndef _BGC_VERSOR_H_ -#define _BGC_VERSOR_H_ +#ifndef _BGC_TURN3_H_INCLUDED_ +#define _BGC_TURN3_H_INCLUDED_ #include diff --git a/basic-geometry/types.h b/basic-geometry/types.h deleted file mode 100644 index 7ad6d7f..0000000 --- a/basic-geometry/types.h +++ /dev/null @@ -1,16 +0,0 @@ -#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 9e0a3a9..c315fa6 100644 --- a/basic-geometry/utilities.h +++ b/basic-geometry/utilities.h @@ -1,5 +1,5 @@ -#ifndef _BGC_UTILITIES_H_ -#define _BGC_UTILITIES_H_ +#ifndef _BGC_UTILITIES_H_INCLUDED_ +#define _BGC_UTILITIES_H_INCLUDED_ #define BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT 1.0f diff --git a/basic-geometry/vector2.c b/basic-geometry/vector2.c index bb854bb..a80308d 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* 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_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_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 7d7ad2f..0dc1096 100644 --- a/basic-geometry/vector2.h +++ b/basic-geometry/vector2.h @@ -1,5 +1,5 @@ -#ifndef _BGC_VECTOR2_H_ -#define _BGC_VECTOR2_H_ +#ifndef _BGC_VECTOR2_H_INCLUDED_ +#define _BGC_VECTOR2_H_INCLUDED_ #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* vector1, const BGC_FP32_Vector2* vector2, const float phase) +inline void bgc_fp32_vector2_interpolate(BGC_FP32_Vector2* interpolation, const BGC_FP32_Vector2* first, const BGC_FP32_Vector2* second, const float phase) { const float counter_phase = 1.0f - phase; - interpolation->x1 = vector1->x1 * counter_phase + vector2->x1 * phase; - interpolation->x2 = vector1->x2 * counter_phase + vector2->x2 * phase; + interpolation->x1 = first->x1 * counter_phase + second->x1 * phase; + interpolation->x2 = first->x2 * counter_phase + second->x2 * phase; } -inline void bgc_fp64_vector2_interpolate(BGC_FP64_Vector2* interpolation, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const double phase) +inline void bgc_fp64_vector2_interpolate(BGC_FP64_Vector2* interpolation, const BGC_FP64_Vector2* first, const BGC_FP64_Vector2* second, const double phase) { const double counter_phase = 1.0 - phase; - interpolation->x1 = vector1->x1 * counter_phase + vector2->x1 * phase; - interpolation->x2 = vector1->x2 * counter_phase + vector2->x2 * phase; + interpolation->x1 = first->x1 * counter_phase + second->x1 * phase; + interpolation->x2 = first->x2 * counter_phase + second->x2 * phase; } // ================== Negative ================== // diff --git a/basic-geometry/vector3.h b/basic-geometry/vector3.h index 4888d56..a9cdeb6 100644 --- a/basic-geometry/vector3.h +++ b/basic-geometry/vector3.h @@ -1,5 +1,5 @@ -#ifndef _BGC_VECTOR3_H_ -#define _BGC_VECTOR3_H_ +#ifndef _BGC_VECTOR3_H_INCLUDED_ +#define _BGC_VECTOR3_H_INCLUDED_ #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* vector1, const BGC_FP32_Vector3* vector2, const float phase) +inline void bgc_fp32_vector3_interpolate(BGC_FP32_Vector3* interpolation, const BGC_FP32_Vector3* first, const BGC_FP32_Vector3* second, const float phase) { const float counter_phase = 1.0f - 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; + 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; } -inline void bgc_fp64_vector3_interpolate(BGC_FP64_Vector3* interpolation, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double phase) +inline void bgc_fp64_vector3_interpolate(BGC_FP64_Vector3* interpolation, const BGC_FP64_Vector3* first, const BGC_FP64_Vector3* second, const double phase) { const double counter_phase = 1.0 - 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; + 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; } // ================== Negative ================== //