diff --git a/Geometry.workspace b/Geometry.workspace index 23e6315..cd8d7cc 100644 --- a/Geometry.workspace +++ b/Geometry.workspace @@ -1,10 +1,10 @@ + - diff --git a/README-Eng.md b/README-Eng.md index e5849fb..375e382 100644 --- a/README-Eng.md +++ b/README-Eng.md @@ -8,7 +8,7 @@ Programming language: C (C99) -Version: 0.2.0-dev +Version: 0.3.0-dev License: Apache-2.0 diff --git a/README.md b/README.md index 440a2d8..919caa3 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,7 @@ Язык программирования: Си (C99) -Версия: 0.2.0-dev +Версия: 0.3.0-dev Лицензия: Apache-2.0 diff --git a/basic-geometry-dev/affine3.c b/basic-geometry-dev/affine3.c index 15232ef..a607e30 100644 --- a/basic-geometry-dev/affine3.c +++ b/basic-geometry-dev/affine3.c @@ -9,16 +9,16 @@ #include #endif // _WINDOWS_ -BgcAffine3FP32* _create_bgc_affine3_list(int affine_amount) +BGC_FP32_Affine3* _create_bgc_affine3_list(int affine_amount) { - BgcAffine3FP32* affines = malloc(affine_amount * sizeof(BgcAffine3FP32)); + BGC_FP32_Affine3* affines = malloc(affine_amount * sizeof(BGC_FP32_Affine3)); if (affines == 0) { return 0; } for (int i = 0; i < affine_amount; i++) { - bgc_affine3_reset_fp32(&affines[i]); + bgc_fp32_affine3_reset(&affines[i]); } return affines; @@ -29,43 +29,43 @@ float get_random_value_fp32() return rand() * (2.0f / RAND_MAX) - 1.0f; } -BgcAffine3FP32* _create_bgc_affine3_random_list(int affine_amount) +BGC_FP32_Affine3* _create_bgc_affine3_random_list(int affine_amount) { - BgcAffine3FP32* affines = malloc(affine_amount * sizeof(BgcAffine3FP32)); + BGC_FP32_Affine3* affines = malloc(affine_amount * sizeof(BGC_FP32_Affine3)); if (affines == 0) { return 0; } - BgcPosition3FP32 position; + BGC_FP32_Position3 position; for (int i = 0; i < affine_amount; i++) { - bgc_versor_set_values_fp32( + bgc_fp32_turn3_set_raw_values( + &position.turn, get_random_value_fp32(), get_random_value_fp32(), get_random_value_fp32(), - get_random_value_fp32(), - &position.turn + get_random_value_fp32() ); position.shift.x1 = get_random_value_fp32(); position.shift.x2 = get_random_value_fp32(); position.shift.x3 = get_random_value_fp32(); - bgc_position3_get_outward_affine_fp32(&position, &affines[i]); + bgc_fp32_position3_get_outward_affine(&affines[i], &position); } return affines; } -BgcVector3FP32* _create_bgc_vector3_list(int amount) +BGC_FP32_Vector3* _create_bgc_vector3_list(int amount) { - return malloc(amount * sizeof(BgcVector3FP32)); + return malloc(amount * sizeof(BGC_FP32_Vector3)); } -BgcVector3FP32* _create_bgc_vector3_random_list(int amount) +BGC_FP32_Vector3* _create_bgc_vector3_random_list(int amount) { - BgcVector3FP32* vectors = _create_bgc_vector3_list(amount); + BGC_FP32_Vector3* vectors = _create_bgc_vector3_list(amount); if (vectors == 0) { return 0; @@ -82,9 +82,9 @@ BgcVector3FP32* _create_bgc_vector3_random_list(int amount) float test_bgc_affine3_performance(int affine_amount, int vector_per_affine) { - BgcAffine3FP32* affines; - BgcVector3FP32* source_vectors; - BgcVector3FP32* result_vectors; + BGC_FP32_Affine3* affines; + BGC_FP32_Vector3* source_vectors; + BGC_FP32_Vector3* result_vectors; int vector_index = 0; float time = -1.0f; @@ -131,7 +131,7 @@ float test_bgc_affine3_performance(int affine_amount, int vector_per_affine) for (int i = 0; i < affine_amount; i++) { for (int j = 0; j < vector_per_affine; j++) { - bgc_affine3_transform_point_fp32(&affines[i], &source_vectors[vector_index], &result_vectors[vector_index]); + bgc_fp32_affine3_transform_point(&result_vectors[vector_index], &affines[i], &source_vectors[vector_index]); vector_index++; } } @@ -153,4 +153,4 @@ float test_bgc_affine3_performance(int affine_amount, int vector_per_affine) free(affines); return time; -} \ No newline at end of file +} diff --git a/basic-geometry-dev/main.c b/basic-geometry-dev/main.c index 04912ed..bef60f1 100644 --- a/basic-geometry-dev/main.c +++ b/basic-geometry-dev/main.c @@ -10,7 +10,7 @@ #endif // _WINDOWS_ typedef struct { - BgcVersorFP32 versor1, versor2, result; + BGC_FP32_Turn3 versor1, versor2, result; } structure_fp32_t; structure_fp32_t* allocate_structures(const unsigned int amount) @@ -29,57 +29,57 @@ structure_fp32_t* make_structures(const unsigned int amount) const float multiplier = 2.0f / RAND_MAX; for (unsigned int i = 0; i < amount; i++) { - bgc_versor_set_values_fp32( + bgc_fp32_turn3_set_raw_values( + &list[i].versor1, rand() * multiplier - 1.0f, rand() * multiplier - 1.0f, rand() * multiplier - 1.0f, - rand() * multiplier - 1.0f, - &list[i].versor1 + rand() * multiplier - 1.0f ); - bgc_versor_set_values_fp32( + bgc_fp32_turn3_set_raw_values( + &list[i].versor2, rand() * multiplier - 1.0f, rand() * multiplier - 1.0f, rand() * multiplier - 1.0f, - rand() * multiplier - 1.0f, - &list[i].versor2 + rand() * multiplier - 1.0f ); - bgc_versor_reset_fp32(&list[i].result); + bgc_fp32_turn3_reset(&list[i].result); } return list; } -void print_versor_fp32(const BgcVersorFP32* versor) +void print_quaternion_fp32(const BGC_FP32_Quaternion* quaternion) { - printf("Versor (s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3); + printf("Quaternion FP32(s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", quaternion->s0, quaternion->x1, quaternion->x2, quaternion->x3); } -void print_versor_fp64(const BgcVersorFP64* versor) +void print_quaternion_fp64(const BGC_FP64_Quaternion* quaternion) { - printf("Versor (s0 = %0.20f, x1 = %0.20f, x2 = %0.20f, x3 = %0.20f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3); + printf("Quaternion FP64(s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", quaternion->s0, quaternion->x1, quaternion->x2, quaternion->x3); } -void print_vector_fp32(const BgcVector3FP32* vector) +void print_vector_fp32(const BGC_FP32_Vector3* vector) { - printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, bgc_vector3_get_modulus_fp32(vector)); + printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, bgc_fp32_vector3_get_modulus(vector)); } -void print_vector_fp64(const BgcVector3FP64* vector) +void print_vector_fp64(const BGC_FP64_Vector3* vector) { - printf("(%lf, %lf, %lf) / %lf\n", vector->x1, vector->x2, vector->x3, bgc_vector3_get_modulus_fp64(vector)); + printf("(%lf, %lf, %lf) / %lf\n", vector->x1, vector->x2, vector->x3, bgc_fp64_vector3_get_modulus(vector)); } void list_work(const uint_fast32_t amount, structure_fp32_t* list) { for (uint_fast32_t j = 0; j < 1000; j++) { for (uint_fast32_t i = 0; i < amount; i++) { - bgc_versor_combine_fp32(&list[i].versor1, &list[i].versor1, &list[i].result); + bgc_fp32_turn3_combine(&list[i].result, &list[i].versor1, &list[i].versor2); } } } -/* + int main() { const unsigned int amount = 1000000; @@ -113,25 +113,25 @@ int main() printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001); #endif // _WIN64 - print_versor_fp32(&list[10].versor1); - print_versor_fp32(&list[10].versor2); - print_versor_fp32(&list[10].result); + print_quaternion_fp32(&list[10].versor1._versor); + print_quaternion_fp32(&list[10].versor2._versor); + print_quaternion_fp32(&list[10].result._versor); free(list); return 0; } -*/ + /* int main() { - BgcComplexFP32 complex, exponent, result; + BGC_FP32_Complex complex, exponent, result; - bgc_complex_set_values_fp32(0, 1, &complex); + bgc_fp32_complex_make(0, 1, &complex); - bgc_complex_set_values_fp32(4, 0, &exponent); + bgc_fp32_complex_make(4, 0, &exponent); - bgc_complex_get_exponation_fp32(&complex, exponent.real, exponent.imaginary, &result); + bgc_fp32_complex_get_exponation(&complex, exponent.real, exponent.imaginary, &result); printf("(%f, %f) ^ (%f, %f) = (%f, %f)\n", complex.real, complex.imaginary, exponent.real, exponent.imaginary, result.real, result.imaginary); @@ -140,10 +140,10 @@ int main() { */ /* int main() { - BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f }; - BgcVersorFP32 end = { 0.0f, 1.0f, 0.0f, 0.0f }; - BgcVersorFP32 result; - bgc_versor_spherical_interpolation_fp32(&start, &end, 0.5f, &result); + BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f }; + BGC_FP32_Turn3 end = { 0.0f, 1.0f, 0.0f, 0.0f }; + BGC_FP32_Turn3 result; + bgc_fp32_turn3_spherical_interpolation(&start, &end, 0.5f, &result); printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3); return 0; } @@ -152,346 +152,347 @@ int main() { void test_basis_difference_fp32() { - BgcVector3FP32 initial_primary, initial_auxiliary; - BgcVector3FP32 final_primary, final_auxiliary; - BgcVersorFP32 turn; + BGC_FP32_Vector3 initial_primary, initial_auxiliary; + BGC_FP32_Vector3 final_primary, final_auxiliary; + BGC_FP32_Turn3 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_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f); - bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary); - bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary); + bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f); - bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nNo turn:\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); // Turn around (1, 1, 0) axis on 180 degrees - bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary); - bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary); + bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f); - bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary); - bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_auxiliary); + bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f); - bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); // 180 degree turn - bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary); - bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary); + bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f); - bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_primary); - bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary); + bgc_fp32_vector3_make(&final_primary, -1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f); - bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\n180 degree turn around (0, 1, 0):\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); // 90 degree turn around x3 axis - bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary); - bgc_vector3_set_values_fp32(0.0f, 3.1f, 0.0f, &initial_auxiliary); + bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 3.1f, 0.0f); - bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary); - bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_auxiliary); + bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary,-1.0f, 0.0f, 0.0f); - bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\n90 degree turn around (0, 0, 1):\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); // Unorthogonal pairs turn at 90 degrees around x3 axis - bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary); - bgc_vector3_set_values_fp32(-2.0f, 3.1f, 0.0f, &initial_auxiliary); + bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, -2.0f, 3.1f, 0.0f); - bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary); - bgc_vector3_set_values_fp32(-1.0f, 5.0f, 0.0f, &final_auxiliary); + bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 5.0f, 0.0f); - bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); // Zero vectors - bgc_vector3_set_values_fp32(0.0f, 0.0f, 0.0f, &initial_primary); - bgc_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_fp32_vector3_make(&initial_primary, 0.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f); + bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f); int code; - code = bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); if (code >= 0) { printf("\nZero vectors: this cannot be!\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); } else { printf("\nZero vector validation works fine\n"); } // Parallel vectors - bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary); - bgc_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); + bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 2.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f); - code = bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); if (code >= 0) { printf("\nParallel vectors: this cannot be!\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); } else { printf("\nParallelism validation works fine\n"); } // Small angle turn (about 1 degree): - bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary); - bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary); + bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f); - bgc_vector3_set_values_fp32(0.999848f, 0.017452f, 0.0f, &final_primary); - bgc_vector3_set_values_fp32(-0.017452f, 0.999848f, 0.0f, &final_auxiliary); + bgc_fp32_vector3_make(&final_primary, 0.999848f, 0.017452f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, -0.017452f, 0.999848f, 0.0f); - bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp32_turn3_make_basis_difference(&turn , &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nSmall angle turn (about 1 degree):\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); // About 179 degrees turn - bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary); - bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary); + bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f); - bgc_vector3_set_values_fp32(-0.999848f, -0.017452f, 0.0f, &final_primary); - bgc_vector3_set_values_fp32(0.017452f, -0.999848f, 0.0f, &final_auxiliary); + bgc_fp32_vector3_make(&final_primary, -0.999848f, -0.017452f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, 0.017452f, -0.999848f, 0.0f); - bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nAbout 179 degrees turn:\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); // 120 degrees around (-1, -1, 1) - bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary); - bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary); + bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f); - bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary); - bgc_vector3_set_values_fp32(0.0f, 0.0f, -1.0f, &final_auxiliary); + bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 0.0f, -1.0f); - bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\n120 degees turn:\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); // About 1 degree turn difference between initial_primary and initial_auxiliary directions - bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary); - bgc_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_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 0.999848f, 0.017452f, 0.0f); + bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 0.0f, 0.0f); - bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); // About 0.01 degree turn difference between initial_primary and initial_auxiliary directions - bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary); - bgc_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_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); + bgc_fp32_vector3_make(&initial_auxiliary, 1.0f, 0.000001f, 0.0f); + bgc_fp32_vector3_make(&final_primary, 0.0f, -1.0f, 0.0f); + bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f); - bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n"); - print_versor_fp32(&turn); + print_quaternion_fp32(&turn._versor); } void test_basis_difference_fp64() { - BgcVector3FP64 initial_primary, initial_auxiliary; - BgcVector3FP64 final_primary, final_auxiliary; - BgcVersorFP64 turn; + BGC_FP64_Vector3 initial_primary, initial_auxiliary; + BGC_FP64_Vector3 final_primary, final_auxiliary; + BGC_FP64_Turn3 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_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); + bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0); - bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nNo turn:\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); // Turn around (1, 1, 0) axis on 180 degrees - bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary); - bgc_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_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); + bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, 1.0, 0.0, 0.0); - bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); // 180 degree turn - bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary); - bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary); + bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); - bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_primary); - bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary); + bgc_fp64_vector3_make(&initial_auxiliary, -1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0); - bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\n180 degree turn around (0, 1, 0):\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); // 90 degree turn around x3 axis - bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_primary); - bgc_vector3_set_values_fp64(0.0, 3.1, 0.0, &initial_auxiliary); + bgc_fp64_vector3_make(&initial_primary, 2.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 3.1, 0.0); - bgc_vector3_set_values_fp64(0.0, 10.0, 0.0, &final_primary); - bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_auxiliary); + bgc_fp64_vector3_make(&final_primary, 0.0, 10.0, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, -1.0, 0.0, 0.0); - bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\n90 degree turn around (0, 0, 1):\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); // Unorthogonal pairs turn at 90 degrees around x3 axis - bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_primary); - bgc_vector3_set_values_fp64(-2.0, 3.1, 0.0, &initial_auxiliary); + bgc_fp64_vector3_make(&initial_primary, 2.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, -2.0, 3.1, 0.0); - bgc_vector3_set_values_fp64(0.0, 10.0, 0.0, &final_primary); - bgc_vector3_set_values_fp64(-1.0, 5.0, 0.0, &final_auxiliary); + bgc_fp64_vector3_make(&final_primary, 0.0, 10.0, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, -1.0, 5.0, 0.0); - bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); // Zero vectors - bgc_vector3_set_values_fp64(0.0, 0.0, 0.0, &initial_primary); - bgc_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_fp64_vector3_make(&initial_primary, 0.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); + bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0); int code; - code = bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + code = bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); if (code >= 0) { printf("\nZero vectors: this cannot be!\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); } else { printf("\nZero vector validation works fine\n"); } // Parallel vectors - bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary); - bgc_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); + bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 2.0, 0.0, 0.0); + bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0); - code = bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + code = bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); if (code >= 0) { printf("\nParallel vectors: this cannot be!\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); } else { printf("\nParallelism validation works fine\n"); } // Small angle turn (about 1 degree): - bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary); - bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary); + bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); - bgc_vector3_set_values_fp64(0.999848, 0.017452, 0.0, &final_primary); - bgc_vector3_set_values_fp64(-0.017452, 0.999848, 0.0, &final_auxiliary); + bgc_fp64_vector3_make(&final_primary, 0.999848, 0.017452, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, -0.017452, 0.999848, 0.0); - bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nSmall angle turn (about 1 degree):\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); // About 179 degrees turn - bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary); - bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary); + bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); - bgc_vector3_set_values_fp64(-0.999848, -0.017452, 0.0, &final_primary); - bgc_vector3_set_values_fp64(0.017452, -0.999848, 0.0, &final_auxiliary); + bgc_fp64_vector3_make(&final_primary, -0.999848, -0.017452, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, 0.017452, -0.999848, 0.0); - bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nAbout 179 degrees turn:\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); // 120 degrees around (-1, -1, 1) - bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary); - bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary); + bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); - bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_primary); - bgc_vector3_set_values_fp64(0.0, 0.0, -1.0, &final_auxiliary); + bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, 0.0, 0.0, -1.0); - bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\n120 degees turn:\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); // About 1 degree turn difference between initial_primary and initial_auxiliary directions - bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary); - bgc_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_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 0.999848, 0.017452, 0.0); + bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, -1.0, 0.0, 0.0); - bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); // About 0.001 degree turn difference between initial_primary and initial_auxiliary directions - bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary); - bgc_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_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); + bgc_fp64_vector3_make(&initial_auxiliary, 1.0, 0.000001, 0.0); + bgc_fp64_vector3_make(&final_primary, 0.0, -1.0, 0.0); + bgc_fp64_vector3_make(&final_auxiliary, 1.0, 0.0, 0.0); - bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn); + bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n"); - print_versor_fp64(&turn); + print_quaternion_fp64(&turn._versor); } - +/* #include "affine3.h" int main() { - //BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f }; - //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_full_fp32(&start, &end, &slerp); - bgc_slerp_get_turn_for_phase_fp32(&slerp, 0.5f, &result); + //BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f }; + //BGC_FP32_Turn3 end = { 0.0f, 1.0f, 0.0f, 0.0f }; - print_versor_fp32(&result); - */ - //test_basis_difference_fp64(); + BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f }; + BGC_FP32_Turn3 end = { 0.9999f, 0.01414f, 0.0f, 0.0f }; + BGC_FP32_Slerp slerp; + BGC_FP32_Turn3 result; + bgc_fp32_slerp_make_full(&slerp, &start, &end); + bgc_fp32_slerp_get_phase_versor(&result, &slerp, 0.5f); - printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10)); + //print_quaternion_fp32(&result); - printf("sizeof(BgcAffine3FP32) = %zu\n", sizeof(BgcAffine3FP32)); - //printf("offsetof(shift) = %zu\n", offsetof(BgcAffine3FP32, shift)); - printf("sizeof(BgcMatrix3x3FP32) = %zu\n", sizeof(BgcMatrix3x3FP32)); + test_basis_difference_fp64(); + + //printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10)); + + //printf("sizeof(BGC_FP32_Affine3) = %zu\n", sizeof(BGC_FP32_Affine3)); + //printf("offsetof(shift) = %zu\n", offsetof(BGC_FP32_Affine3, shift)); + //printf("sizeof(BGC_FP32_Matrix3x3) = %zu\n", sizeof(BGC_FP32_Matrix3x3)); return 0; } +*/ diff --git a/basic-geometry-test/basic-geometry-test.cbp b/basic-geometry-test/basic-geometry-test.cbp index 77109a6..74356e5 100644 --- a/basic-geometry-test/basic-geometry-test.cbp +++ b/basic-geometry-test/basic-geometry-test.cbp @@ -51,186 +51,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/basic-geometry-test/basic-geometry-test.vcxproj b/basic-geometry-test/basic-geometry-test.vcxproj index 4ffaa0d..b5b151c 100644 --- a/basic-geometry-test/basic-geometry-test.vcxproj +++ b/basic-geometry-test/basic-geometry-test.vcxproj @@ -150,105 +150,9 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/basic-geometry-test/basic-geometry-test.vcxproj.filters b/basic-geometry-test/basic-geometry-test.vcxproj.filters index 5a7630d..ee94755 100644 --- a/basic-geometry-test/basic-geometry-test.vcxproj.filters +++ b/basic-geometry-test/basic-geometry-test.vcxproj.filters @@ -3,319 +3,8 @@ - - tests - - - tests - - - tests - - - tests - - - tests\utilities - - - tests\utilities - - - tests\utilities - - - tests\versor - - - tests\versor - - - tests\versor - - - tests\versor - - - tests\vector2 - - - tests\vector2 - - - tests\vector3 - - - tests\vector3 - - - tests\vector2 - - - tests\vector2 - - - tests\vector3 - - - tests\vector3 - - - tests\versor - - - tests\versor - - - tests\quaternion - - - tests\quaternion - - - tests\quaternion - - - tests\quaternion - - - tests - - - tests\quaternion - - - tests\vector3 - - - tests\vector2 - - - tests\quaternion - - - tests\quaternion - - - tests\vector3 - - - tests\vector2 - - - tests\versor - - - tests\vector2 - - - tests\vector3 - - - tests\quaternion - - - tests\complex - - - tests\complex - - - tests\complex - - - tests\complex - - - tests\complex - - - tests\complex - - - tests\complex - - - tests - - - tests\vector2 - - - tests\vector3 - - - tests\complex - - - tests - - - tests - - - tests - - - tests - - - tests\utilities - - - tests\utilities - - - tests\utilities - - - tests\versor - - - tests\versor - - - tests\versor - - - tests\versor - - - tests\vector2 - - - tests\vector2 - - - tests\vector3 - - - tests\vector3 - - - tests\vector2 - - - tests\vector2 - - - tests\vector3 - - - tests\vector3 - - - tests\versor - - - tests\versor - - - tests\quaternion - - - tests\quaternion - - - tests\quaternion - - - tests\quaternion - - - tests - - - tests\quaternion - - - tests\vector3 - - - tests\vector2 - - - tests\quaternion - - - tests\quaternion - - - tests\vector3 - - - tests\vector2 - - - tests\versor - - - tests\vector2 - - - tests\vector3 - - - tests\quaternion - - - tests\complex - - - tests\complex - - - tests\complex - - - tests\complex - - - tests\complex - - - tests\complex - - - tests\complex - - - tests - - - tests\vector2 - - - tests\vector3 - - - tests\complex - - - - - {10db9024-67b8-4555-80a9-48b54ae0dec9} - - - {392bc542-f334-4132-a22b-b5b440c77897} - - - {d9f520e0-1b2d-4379-8887-1b5728763129} - - - {dbf2eefa-8f1f-4447-b3d4-d17dee049580} - - - {d6f82407-8310-4b32-b153-aa67e766c72a} - - - {e8bafdb8-66e5-4393-bc89-8bff83bcccd6} - - - {e025e123-45aa-44f9-aab4-f1705844b211} - \ No newline at end of file diff --git a/basic-geometry-test/helpers.h b/basic-geometry-test/helpers.h index eeddfe0..2044198 100644 --- a/basic-geometry-test/helpers.h +++ b/basic-geometry-test/helpers.h @@ -25,19 +25,19 @@ typedef struct { // =================== Versor =================== // typedef struct { - BgcVersorFP32 first, second; + BGC_FP32_Turn3 first, second; } TestVersorPairFP32; typedef struct { - BgcVersorFP64 first, second; + BGC_FP64_Turn3 first, second; } TestVersorPairFP64; typedef struct { - BgcVersorFP32 first, second, result; + BGC_FP32_Turn3 first, second, result; } TestVersorTripletFP32; typedef struct { - BgcVersorFP64 first, second, result; + BGC_FP64_Turn3 first, second, result; } TestVersorTripletFP64; // ================= Functions ================== // diff --git a/basic-geometry-test/tests/complex/complex_copy.c b/basic-geometry-test/tests/complex/complex_copy.c index 84ed825..631b4a8 100644 --- a/basic-geometry-test/tests/complex/complex_copy.c +++ b/basic-geometry-test/tests/complex/complex_copy.c @@ -7,7 +7,7 @@ // ==================== FP32 ==================== // static const int _TEST_FP32_COMPLEX_AMOUNT = 4; -static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST[] = { +static const BGC_FP32_Complex _TEST_FP32_COMPLEX_LIST[] = { { 1.0f, 2.0f }, { -4.0f, -3.0f }, { -0.001f, 100.0f }, @@ -16,13 +16,13 @@ static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST[] = { void test_complex_copy_fp32() { - BgcComplexFP32 vector; + BGC_FP32_Complex vector; - print_testing_name("bgc_complex_copy_fp32"); + print_testing_name("bgc_fp32_complex_copy"); for (int i = 0; i < _TEST_FP32_COMPLEX_AMOUNT; i++) { - bgc_complex_copy_fp32(&_TEST_FP32_COMPLEX_LIST[i], &vector); + bgc_fp32_complex_copy(&_TEST_FP32_COMPLEX_LIST[i], &vector); if (vector.real != _TEST_FP32_COMPLEX_LIST[i].real || vector.imaginary != _TEST_FP32_COMPLEX_LIST[i].imaginary) { @@ -37,7 +37,7 @@ void test_complex_copy_fp32() // ==================== FP64 ==================== // static const int _TEST_FP64_COMPLEX_AMOUNT = 4; -static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST[] = { +static const BGC_FP64_Complex _TEST_FP64_COMPLEX_LIST[] = { { 1.0, 2.0 }, { -4.0, -3.0 }, { -0.001, 100.0 }, @@ -46,13 +46,13 @@ static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST[] = { void test_complex_copy_fp64() { - BgcComplexFP64 vector; + BGC_FP64_Complex vector; - print_testing_name("bgc_complex_copy_fp64"); + print_testing_name("bgc_fp64_complex_copy"); for (int i = 0; i < _TEST_FP64_COMPLEX_AMOUNT; i++) { - bgc_complex_copy_fp64(&_TEST_FP64_COMPLEX_LIST[i], &vector); + bgc_fp64_complex_copy(&_TEST_FP64_COMPLEX_LIST[i], &vector); if (vector.real != _TEST_FP64_COMPLEX_LIST[i].real || vector.imaginary != _TEST_FP64_COMPLEX_LIST[i].imaginary) { diff --git a/basic-geometry-test/tests/complex/complex_is_unit.c b/basic-geometry-test/tests/complex/complex_is_unit.c index f06ca66..a95e7c6 100644 --- a/basic-geometry-test/tests/complex/complex_is_unit.c +++ b/basic-geometry-test/tests/complex/complex_is_unit.c @@ -7,35 +7,35 @@ static const int _TEST_FP32_UNIT_COMPLEX_AMOUNT = 10; static const int _TEST_FP32_NONUNIT_COMPLEX_AMOUNT = 6; -static const BgcComplexFP32 _TEST_FP32_UNIT_COMPLEX_LIST[] = { +static const BGC_FP32_Complex _TEST_FP32_UNIT_COMPLEX_LIST[] = { { 1.0f, 0.0f }, { -1.0f, 0.0f }, { 0.6f, -0.8f }, - { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 }, - { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 }, + { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON }, + { 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON }, { 0.7071067812f, 0.7071067812f }, - { 0.7071067812f + 0.75f * BGC_EPSYLON_FP32, 0.7071067812f }, - { 0.7071067812f, 0.7071067812f - 0.75f * BGC_EPSYLON_FP32 } + { 0.7071067812f + 0.75f * BGC_FP32_EPSYLON, 0.7071067812f }, + { 0.7071067812f, 0.7071067812f - 0.75f * BGC_FP32_EPSYLON } }; -static const BgcComplexFP32 _TEST_FP32_NONUNIT_QUATERION_LIST[] = { - { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 }, - { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 }, - { 0.7071067812f + 1.25f * BGC_EPSYLON_FP32, 0.7071067812f + 1.25f * BGC_EPSYLON_FP32 }, - { 0.7071067812f - 1.25f * BGC_EPSYLON_FP32, 0.7071067812f - 1.25f * BGC_EPSYLON_FP32 } +static const BGC_FP32_Complex _TEST_FP32_NONUNIT_QUATERION_LIST[] = { + { 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON }, + { 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON }, + { 0.7071067812f + 1.25f * BGC_FP32_EPSYLON, 0.7071067812f + 1.25f * BGC_FP32_EPSYLON }, + { 0.7071067812f - 1.25f * BGC_FP32_EPSYLON, 0.7071067812f - 1.25f * BGC_FP32_EPSYLON } }; void test_complex_is_unit_fp32() { - print_testing_name("bgc_complex_is_unit_fp32"); + print_testing_name("bgc_fp32_complex_is_unit"); // Testing zero values: for (int i = 0; i < _TEST_FP32_UNIT_COMPLEX_AMOUNT; i++) { - if (!bgc_complex_is_unit_fp32(&_TEST_FP32_UNIT_COMPLEX_LIST[i])) { + if (!bgc_fp32_complex_is_unit(&_TEST_FP32_UNIT_COMPLEX_LIST[i])) { print_testing_error("A unit complex number was not recognized"); return; } @@ -43,7 +43,7 @@ void test_complex_is_unit_fp32() // Testing non-zero values: for (int i = 0; i < _TEST_FP32_NONUNIT_COMPLEX_AMOUNT; i++) { - if (bgc_complex_is_unit_fp32(&_TEST_FP32_NONUNIT_QUATERION_LIST[i])) { + if (bgc_fp32_complex_is_unit(&_TEST_FP32_NONUNIT_QUATERION_LIST[i])) { print_testing_error("A non-unit complex number was recognized a unit complex number"); return; } @@ -57,35 +57,35 @@ void test_complex_is_unit_fp32() static const int _TEST_FP64_UNIT_COMPLEX_AMOUNT = 10; static const int _TEST_FP64_NONUNIT_COMPLEX_AMOUNT = 6; -static const BgcComplexFP64 _TEST_FP64_UNIT_COMPLEX_LIST[] = { +static const BGC_FP64_Complex _TEST_FP64_UNIT_COMPLEX_LIST[] = { { 1.0, 0.0 }, { -1.0, 0.0 }, { -0.6, 0.8 }, - { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 }, - { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 }, + { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON }, + { 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON }, { 0.7071067811865475244, 0.7071067811865475244 }, - { 0.7071067811865475244 + 0.75 * BGC_EPSYLON_FP64, 0.7071067811865475244 }, - { 0.7071067811865475244, 0.7071067811865475244 - 0.75 * BGC_EPSYLON_FP64 } + { 0.7071067811865475244 + 0.75 * BGC_FP64_EPSYLON, 0.7071067811865475244 }, + { 0.7071067811865475244, 0.7071067811865475244 - 0.75 * BGC_FP64_EPSYLON } }; -static const BgcComplexFP64 _TEST_FP64_NONUNIT_QUATERION_LIST[] = { - { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 }, - { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 }, - { 0.7071067811865475244 + 1.25 * BGC_EPSYLON_FP64, 0.7071067811865475244 + 1.25 * BGC_EPSYLON_FP64 }, - { 0.7071067811865475244 - 1.25 * BGC_EPSYLON_FP64, 0.7071067811865475244 - 1.25 * BGC_EPSYLON_FP64 } +static const BGC_FP64_Complex _TEST_FP64_NONUNIT_QUATERION_LIST[] = { + { 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON }, + { 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON }, + { 0.7071067811865475244 + 1.25 * BGC_FP64_EPSYLON, 0.7071067811865475244 + 1.25 * BGC_FP64_EPSYLON }, + { 0.7071067811865475244 - 1.25 * BGC_FP64_EPSYLON, 0.7071067811865475244 - 1.25 * BGC_FP64_EPSYLON } }; void test_complex_is_unit_fp64() { - print_testing_name("bgc_complex_is_unit_fp64"); + print_testing_name("bgc_fp64_complex_is_unit"); // Testing zero values: for (int i = 0; i < _TEST_FP64_UNIT_COMPLEX_AMOUNT; i++) { - if (!bgc_complex_is_unit_fp64(&_TEST_FP64_UNIT_COMPLEX_LIST[i])) { + if (!bgc_fp64_complex_is_unit(&_TEST_FP64_UNIT_COMPLEX_LIST[i])) { print_testing_error("A unit complex number was not recognized"); return; } @@ -93,7 +93,7 @@ void test_complex_is_unit_fp64() // Testing non-zero values: for (int i = 0; i < _TEST_FP64_NONUNIT_COMPLEX_AMOUNT; i++) { - if (bgc_complex_is_unit_fp64(&_TEST_FP64_NONUNIT_QUATERION_LIST[i])) { + if (bgc_fp64_complex_is_unit(&_TEST_FP64_NONUNIT_QUATERION_LIST[i])) { print_testing_error("A non-unit complex number was recognized a unit complex number"); return; } diff --git a/basic-geometry-test/tests/complex/complex_is_zero.c b/basic-geometry-test/tests/complex/complex_is_zero.c index 1f658e3..a10816a 100644 --- a/basic-geometry-test/tests/complex/complex_is_zero.c +++ b/basic-geometry-test/tests/complex/complex_is_zero.c @@ -7,31 +7,31 @@ static const int _TEST_FP32_ZERO_COMPLEX_AMOUNT = 4; static const int _TEST_FP32_NONZERO_COMPLEX_AMOUNT = 7; -static const BgcComplexFP32 _TEST_FP32_ZERO_COMPLEX_LIST[] = { +static const BGC_FP32_Complex _TEST_FP32_ZERO_COMPLEX_LIST[] = { { 0.0f, 0.0f }, - { 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { -0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.75f * BGC_EPSYLON_FP32 }, - { 0.0f, -0.75f * BGC_EPSYLON_FP32 } + { 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { -0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.75f * BGC_FP32_EPSYLON }, + { 0.0f, -0.75f * BGC_FP32_EPSYLON } }; -static const BgcComplexFP32 _TEST_FP32_NONZERO_QUATERION_LIST[] = { +static const BGC_FP32_Complex _TEST_FP32_NONZERO_QUATERION_LIST[] = { { 0.0f, 1.0f }, - { 1.25f * BGC_EPSYLON_FP32 }, - { -1.25f * BGC_EPSYLON_FP32 }, - { 0.0f, 1.25f * BGC_EPSYLON_FP32 }, - { 0.0f, -1.25f * BGC_EPSYLON_FP32 }, - { 1.25f * BGC_EPSYLON_FP32, 1.25f * BGC_EPSYLON_FP32 }, - { -1.25f * BGC_EPSYLON_FP32, -1.25f * BGC_EPSYLON_FP32 } + { 1.25f * BGC_FP32_EPSYLON }, + { -1.25f * BGC_FP32_EPSYLON }, + { 0.0f, 1.25f * BGC_FP32_EPSYLON }, + { 0.0f, -1.25f * BGC_FP32_EPSYLON }, + { 1.25f * BGC_FP32_EPSYLON, 1.25f * BGC_FP32_EPSYLON }, + { -1.25f * BGC_FP32_EPSYLON, -1.25f * BGC_FP32_EPSYLON } }; void test_complex_is_zero_fp32() { - print_testing_name("bgc_complex_is_zero_fp32"); + print_testing_name("bgc_fp32_complex_is_zero"); // Testing zero values: for (int i = 0; i < _TEST_FP32_ZERO_COMPLEX_AMOUNT; i++) { - if (!bgc_complex_is_zero_fp32(&_TEST_FP32_ZERO_COMPLEX_LIST[i])) { + if (!bgc_fp32_complex_is_zero(&_TEST_FP32_ZERO_COMPLEX_LIST[i])) { print_testing_error("A zero complex number was not recognized"); return; } @@ -39,7 +39,7 @@ void test_complex_is_zero_fp32() // Testing non-zero values: for (int i = 0; i < _TEST_FP32_NONZERO_COMPLEX_AMOUNT; i++) { - if (bgc_complex_is_zero_fp32(&_TEST_FP32_NONZERO_QUATERION_LIST[i])) { + if (bgc_fp32_complex_is_zero(&_TEST_FP32_NONZERO_QUATERION_LIST[i])) { print_testing_error("A non-zero complex number was recognized as a zero complex number"); return; } @@ -53,31 +53,31 @@ void test_complex_is_zero_fp32() static const int _TEST_FP64_ZERO_COMPLEX_AMOUNT = 4; static const int _TEST_FP64_NONZERO_COMPLEX_AMOUNT = 7; -static const BgcComplexFP64 _TEST_FP64_ZERO_COMPLEX_LIST[] = { +static const BGC_FP64_Complex _TEST_FP64_ZERO_COMPLEX_LIST[] = { { 0.0, 0.0 }, - { 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { -0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.75 * BGC_EPSYLON_FP64 }, - { 0.0, -0.75 * BGC_EPSYLON_FP64 } + { 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { -0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.75 * BGC_FP64_EPSYLON }, + { 0.0, -0.75 * BGC_FP64_EPSYLON } }; -static const BgcComplexFP64 _TEST_FP64_NONZERO_QUATERION_LIST[] = { +static const BGC_FP64_Complex _TEST_FP64_NONZERO_QUATERION_LIST[] = { { 0.0, 1.0 }, - { 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { -1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 1.25 * BGC_EPSYLON_FP64 }, - { 0.0, -1.25 * BGC_EPSYLON_FP64 }, - { 1.25 * BGC_EPSYLON_FP64, 1.25 * BGC_EPSYLON_FP64 }, - { -1.25 * BGC_EPSYLON_FP64, -1.25 * BGC_EPSYLON_FP64 } + { 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { -1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 1.25 * BGC_FP64_EPSYLON }, + { 0.0, -1.25 * BGC_FP64_EPSYLON }, + { 1.25 * BGC_FP64_EPSYLON, 1.25 * BGC_FP64_EPSYLON }, + { -1.25 * BGC_FP64_EPSYLON, -1.25 * BGC_FP64_EPSYLON } }; void test_complex_is_zero_fp64() { - print_testing_name("bgc_complex_is_zero_fp64"); + print_testing_name("bgc_fp64_complex_is_zero"); // Testing zero values: for (int i = 0; i < _TEST_FP64_ZERO_COMPLEX_AMOUNT; i++) { - if (!bgc_complex_is_zero_fp64(&_TEST_FP64_ZERO_COMPLEX_LIST[i])) { + if (!bgc_fp64_complex_is_zero(&_TEST_FP64_ZERO_COMPLEX_LIST[i])) { print_testing_error("A zero complex number was not recognized"); return; } @@ -85,7 +85,7 @@ void test_complex_is_zero_fp64() // Testing non-zero values: for (int i = 0; i < _TEST_FP64_NONZERO_COMPLEX_AMOUNT; i++) { - if (bgc_complex_is_zero_fp64(&_TEST_FP64_NONZERO_QUATERION_LIST[i])) { + if (bgc_fp64_complex_is_zero(&_TEST_FP64_NONZERO_QUATERION_LIST[i])) { print_testing_error("A non-zero complex number was recognized as a zero complex number"); return; } diff --git a/basic-geometry-test/tests/complex/complex_modulus.c b/basic-geometry-test/tests/complex/complex_modulus.c index 20c0495..7ed97d0 100644 --- a/basic-geometry-test/tests/complex/complex_modulus.c +++ b/basic-geometry-test/tests/complex/complex_modulus.c @@ -6,7 +6,7 @@ static const int _TEST_FP32_COMPLEX_AMOUNT = 4; -static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST[] = { +static const BGC_FP32_Complex _TEST_FP32_COMPLEX_LIST[] = { { 4.0f, 3.0f }, { -1.0f, 1.0f }, { 100.0f, -100.0f }, @@ -29,10 +29,10 @@ static const float _TEST_FP32_MODULUS_LIST[] = { void test_complex_square_modulus_fp32() { - print_testing_name("bgc_complex_get_square_modulus_fp32"); + print_testing_name("bgc_fp32_complex_get_square_modulus"); for (int i = 0; i < _TEST_FP32_COMPLEX_AMOUNT; i++) { - if (!bgc_are_close_fp32(bgc_complex_get_square_modulus_fp32(&_TEST_FP32_COMPLEX_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) { + if (!bgc_fp32_are_close(bgc_fp32_complex_get_square_modulus(&_TEST_FP32_COMPLEX_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -43,10 +43,10 @@ void test_complex_square_modulus_fp32() void test_complex_modulus_fp32() { - print_testing_name("bgc_complex_get_modulus_fp32"); + print_testing_name("bgc_fp32_complex_get_modulus"); for (int i = 0; i < _TEST_FP32_COMPLEX_AMOUNT; i++) { - if (!bgc_are_close_fp32(bgc_complex_get_modulus_fp32(&_TEST_FP32_COMPLEX_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) { + if (!bgc_fp32_are_close(bgc_fp32_complex_get_modulus(&_TEST_FP32_COMPLEX_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -59,7 +59,7 @@ void test_complex_modulus_fp32() static const int _TEST_FP64_COMPLEX_AMOUNT = 4; -static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST[] = { +static const BGC_FP64_Complex _TEST_FP64_COMPLEX_LIST[] = { { 4.0, 3.0 }, { -1.0, -1.0 }, { -100.0, 100.0 }, @@ -82,10 +82,10 @@ static const double _TEST_FP64_MODULUS_LIST[] = { void test_complex_square_modulus_fp64() { - print_testing_name("bgc_complex_get_square_modulus_fp64"); + print_testing_name("bgc_fp64_complex_get_square_modulus"); for (int i = 0; i < _TEST_FP64_COMPLEX_AMOUNT; i++) { - if (!bgc_are_close_fp64(bgc_complex_get_square_modulus_fp64(&_TEST_FP64_COMPLEX_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) { + if (!bgc_fp64_are_close(bgc_fp64_complex_get_square_modulus(&_TEST_FP64_COMPLEX_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -96,10 +96,10 @@ void test_complex_square_modulus_fp64() void test_complex_modulus_fp64() { - print_testing_name("bgc_complex_get_modulus_fp64"); + print_testing_name("bgc_fp64_complex_get_modulus"); for (int i = 0; i < _TEST_FP64_COMPLEX_AMOUNT; i++) { - if (!bgc_are_close_fp64(bgc_complex_get_modulus_fp64(&_TEST_FP64_COMPLEX_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) { + if (!bgc_fp64_are_close(bgc_fp64_complex_get_modulus(&_TEST_FP64_COMPLEX_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) { print_testing_failed(); return; } diff --git a/basic-geometry-test/tests/complex/complex_reset.c b/basic-geometry-test/tests/complex/complex_reset.c index 6c8b11f..66cb2d7 100644 --- a/basic-geometry-test/tests/complex/complex_reset.c +++ b/basic-geometry-test/tests/complex/complex_reset.c @@ -4,11 +4,11 @@ void test_complex_reset_fp32() { - BgcComplexFP32 vector; + BGC_FP32_Complex vector; - print_testing_name("bgc_complex_reset_fp32"); + print_testing_name("bgc_fp32_complex_reset"); - bgc_complex_reset_fp32(&vector); + bgc_fp32_complex_reset(&vector); if (vector.real != 0.0f || vector.imaginary != 0.0f) { print_testing_failed(); @@ -20,11 +20,11 @@ void test_complex_reset_fp32() void test_complex_reset_fp64() { - BgcComplexFP64 vector; + BGC_FP64_Complex vector; - print_testing_name("bgc_complex_reset_fp64"); + print_testing_name("bgc_fp64_complex_reset"); - bgc_complex_reset_fp64(&vector); + bgc_fp64_complex_reset(&vector); if (vector.real != 0.0 || vector.imaginary != 0.0) { print_testing_failed(); diff --git a/basic-geometry-test/tests/complex/complex_set_values.c b/basic-geometry-test/tests/complex/complex_set_values.c index 9f20beb..57d129e 100644 --- a/basic-geometry-test/tests/complex/complex_set_values.c +++ b/basic-geometry-test/tests/complex/complex_set_values.c @@ -8,25 +8,25 @@ void test_complex_set_values_fp32() { - BgcComplexFP32 vector; + BGC_FP32_Complex vector; - print_testing_name("bgc_complex_set_values_fp32"); + print_testing_name("bgc_fp32_complex_make"); - bgc_complex_set_values_fp32(1.0f, 2.0f, &vector); + bgc_fp32_complex_make(1.0f, 2.0f, &vector); if (vector.real != 1.0f || vector.imaginary != 2.0f) { print_testing_error("First step failed"); return; } - bgc_complex_set_values_fp32(-1.0f, -3.0f, &vector); + bgc_fp32_complex_make(-1.0f, -3.0f, &vector); if (vector.real != -1.0f || vector.imaginary != -3.0f) { print_testing_error("Second step failed"); return; } - bgc_complex_set_values_fp32(-8.0f, -2.0f, &vector); + bgc_fp32_complex_make(-8.0f, -2.0f, &vector); if (vector.real != -8.0f || vector.imaginary != -2.0f) { print_testing_error("Third step failed"); @@ -40,25 +40,25 @@ void test_complex_set_values_fp32() void test_complex_set_values_fp64() { - BgcComplexFP64 vector; + BGC_FP64_Complex vector; - print_testing_name("bgc_complex_set_values_fp64"); + print_testing_name("bgc_fp64_complex_make"); - bgc_complex_set_values_fp64(1.0, 2.0, &vector); + bgc_fp64_complex_make(1.0, 2.0, &vector); if (vector.real != 1.0 || vector.imaginary != 2.0) { print_testing_error("First step failed"); return; } - bgc_complex_set_values_fp64(-1.0, -3.0, &vector); + bgc_fp64_complex_make(-1.0, -3.0, &vector); if (vector.real != -1.0 || vector.imaginary != -3.0) { print_testing_error("Second step failed"); return; } - bgc_complex_set_values_fp64(-8.0, -2.0, &vector); + bgc_fp64_complex_make(-8.0, -2.0, &vector); if (vector.real != -8.0 || vector.imaginary != -2.0) { print_testing_error("Third step failed"); diff --git a/basic-geometry-test/tests/complex/complex_swap.c b/basic-geometry-test/tests/complex/complex_swap.c index bec0546..54d4732 100644 --- a/basic-geometry-test/tests/complex/complex_swap.c +++ b/basic-geometry-test/tests/complex/complex_swap.c @@ -8,14 +8,14 @@ static const int _TEST_FP32_COMPLEX_AMOUNT = 4; -static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST1[] = { +static const BGC_FP32_Complex _TEST_FP32_COMPLEX_LIST1[] = { { 3.0f, 4.0f }, { -2.0f, -1.0f }, { -244.8f, 100.0f }, { 1000.32f, -100.1f } }; -static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST2[] = { +static const BGC_FP32_Complex _TEST_FP32_COMPLEX_LIST2[] = { { 5.3f, 1003.28f }, { -0.0032f, 891.3f }, { 5.322f, 0.9275f }, @@ -24,15 +24,15 @@ static const BgcComplexFP32 _TEST_FP32_COMPLEX_LIST2[] = { void test_complex_swap_fp32() { - BgcComplexFP32 compleimaginary, complex2; + BGC_FP32_Complex compleimaginary, complex2; - print_testing_name("bgc_complex_swap_fp32"); + print_testing_name("bgc_fp32_complex_swap"); for (int i = 0; i < _TEST_FP32_COMPLEX_AMOUNT; i++) { - bgc_complex_copy_fp32(&_TEST_FP32_COMPLEX_LIST1[i], &compleimaginary); - bgc_complex_copy_fp32(&_TEST_FP32_COMPLEX_LIST2[i], &complex2); + bgc_fp32_complex_copy(&_TEST_FP32_COMPLEX_LIST1[i], &compleimaginary); + bgc_fp32_complex_copy(&_TEST_FP32_COMPLEX_LIST2[i], &complex2); - bgc_complex_swap_fp32(&compleimaginary, &complex2); + bgc_fp32_complex_swap(&compleimaginary, &complex2); if (compleimaginary.real != _TEST_FP32_COMPLEX_LIST2[i].real || compleimaginary.imaginary != _TEST_FP32_COMPLEX_LIST2[i].imaginary || @@ -50,14 +50,14 @@ void test_complex_swap_fp32() static const int _TEST_FP64_COMPLEX_AMOUNT = 4; -static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST1[] = { +static const BGC_FP64_Complex _TEST_FP64_COMPLEX_LIST1[] = { { 1.0, 4.0 }, { -4.0, -3.0 }, { -244.8, 344.7 }, { 1000.32, -271.3 } }; -static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST2[] = { +static const BGC_FP64_Complex _TEST_FP64_COMPLEX_LIST2[] = { { -0.123, 1003.28 }, { 204.07, -781.89 }, { 5.322, 0.9275 }, @@ -66,15 +66,15 @@ static const BgcComplexFP64 _TEST_FP64_COMPLEX_LIST2[] = { void test_complex_swap_fp64() { - BgcComplexFP64 compleimaginary, complex2; + BGC_FP64_Complex compleimaginary, complex2; - print_testing_name("bgc_complex_swap_fp64"); + print_testing_name("bgc_fp64_complex_swap"); for (int i = 0; i < _TEST_FP64_COMPLEX_AMOUNT; i++) { - bgc_complex_copy_fp64(&_TEST_FP64_COMPLEX_LIST1[i], &compleimaginary); - bgc_complex_copy_fp64(&_TEST_FP64_COMPLEX_LIST2[i], &complex2); + bgc_fp64_complex_copy(&_TEST_FP64_COMPLEX_LIST1[i], &compleimaginary); + bgc_fp64_complex_copy(&_TEST_FP64_COMPLEX_LIST2[i], &complex2); - bgc_complex_swap_fp64(&compleimaginary, &complex2); + bgc_fp64_complex_swap(&compleimaginary, &complex2); if (compleimaginary.real != _TEST_FP64_COMPLEX_LIST2[i].real || compleimaginary.imaginary != _TEST_FP64_COMPLEX_LIST2[i].imaginary || diff --git a/basic-geometry-test/tests/quaternion/quaternion_copy.c b/basic-geometry-test/tests/quaternion/quaternion_copy.c index ee377f5..72ead24 100644 --- a/basic-geometry-test/tests/quaternion/quaternion_copy.c +++ b/basic-geometry-test/tests/quaternion/quaternion_copy.c @@ -7,7 +7,7 @@ // ==================== FP32 ==================== // static const int _TEST_FP32_QUATERNION_AMOUNT = 4; -static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST[] = { +static const BGC_FP32_Quaternion _TEST_FP32_QUATERNION_LIST[] = { { 1.0f, 2.0f, 3.0f, 4.0f }, { -4.0f, -3.0f, -2.0f, -1.0f }, { -0.001f, 100.0f, -100.0f, 0.001f }, @@ -16,13 +16,13 @@ static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST[] = { void test_quaternion_copy_fp32() { - BgcQuaternionFP32 vector; + BGC_FP32_Quaternion vector; - print_testing_name("bgc_quaternion_copy_fp32"); + print_testing_name("bgc_fp32_quaternion_copy"); for (int i = 0; i < _TEST_FP32_QUATERNION_AMOUNT; i++) { - bgc_quaternion_copy_fp32(&_TEST_FP32_QUATERNION_LIST[i], &vector); + bgc_fp32_quaternion_copy(&_TEST_FP32_QUATERNION_LIST[i], &vector); if (vector.s0 != _TEST_FP32_QUATERNION_LIST[i].s0 || vector.x1 != _TEST_FP32_QUATERNION_LIST[i].x1 || @@ -39,7 +39,7 @@ void test_quaternion_copy_fp32() // ==================== FP64 ==================== // static const int _TEST_FP64_QUATERNION_AMOUNT = 4; -static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST[] = { +static const BGC_FP64_Quaternion _TEST_FP64_QUATERNION_LIST[] = { { 1.0, 2.0, 3.0, 4.0 }, { -4.0, -3.0, -2.0, -1.0 }, { -0.001, 100.0, -100.0, 0.001 }, @@ -48,13 +48,13 @@ static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST[] = { void test_quaternion_copy_fp64() { - BgcQuaternionFP64 vector; + BGC_FP64_Quaternion vector; - print_testing_name("bgc_quaternion_copy_fp64"); + print_testing_name("bgc_fp64_quaternion_copy"); for (int i = 0; i < _TEST_FP64_QUATERNION_AMOUNT; i++) { - bgc_quaternion_copy_fp64(&_TEST_FP64_QUATERNION_LIST[i], &vector); + bgc_fp64_quaternion_copy(&_TEST_FP64_QUATERNION_LIST[i], &vector); if (vector.s0 != _TEST_FP64_QUATERNION_LIST[i].s0 || vector.x1 != _TEST_FP64_QUATERNION_LIST[i].x1 || diff --git a/basic-geometry-test/tests/quaternion/quaternion_is_unit.c b/basic-geometry-test/tests/quaternion/quaternion_is_unit.c index 594ce1e..8b37f97 100644 --- a/basic-geometry-test/tests/quaternion/quaternion_is_unit.c +++ b/basic-geometry-test/tests/quaternion/quaternion_is_unit.c @@ -7,45 +7,45 @@ static const int _TEST_FP32_UNIT_QUATERNION_AMOUNT = 16; static const int _TEST_FP32_NONUNIT_QUATERNION_AMOUNT = 10; -static const BgcQuaternionFP32 _TEST_FP32_UNIT_QUATERNION_LIST[] = { +static const BGC_FP32_Quaternion _TEST_FP32_UNIT_QUATERNION_LIST[] = { { 1.0f, 0.0f, 0.0f, 0.0f }, { -1.0f, 0.0f, 0.0f, 0.0f }, { 0.0f, -0.8f, 0.6f, 0.0f }, - { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }, - { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }, - { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 }, - { 0.0f, 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 }, + { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }, + { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }, + { 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON }, + { 0.0f, 0.0f, 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON }, { 0.5f, 0.5f, 0.5f, 0.5f }, - { 0.5f + 0.75f * BGC_EPSYLON_FP32, 0.5f, 0.5f, 0.5f }, - { 0.5f, 0.5f - 0.75f * BGC_EPSYLON_FP32, 0.5f, 0.5f }, - { 0.5f, 0.5f, 0.5f + 0.75f * BGC_EPSYLON_FP32, 0.5f }, - { 0.5f, 0.5f, 0.5f, 0.5f - 0.75f * BGC_EPSYLON_FP32 } + { 0.5f + 0.75f * BGC_FP32_EPSYLON, 0.5f, 0.5f, 0.5f }, + { 0.5f, 0.5f - 0.75f * BGC_FP32_EPSYLON, 0.5f, 0.5f }, + { 0.5f, 0.5f, 0.5f + 0.75f * BGC_FP32_EPSYLON, 0.5f }, + { 0.5f, 0.5f, 0.5f, 0.5f - 0.75f * BGC_FP32_EPSYLON } }; -static const BgcQuaternionFP32 _TEST_FP32_NONUNIT_QUATERION_LIST[] = { - { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }, - { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }, - { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 }, - { 0.0f, 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 }, - { 0.5f + 1.25f * BGC_EPSYLON_FP32, 0.5f + 1.25f * BGC_EPSYLON_FP32, 0.5f, 0.5f }, - { 0.5f - 1.25f * BGC_EPSYLON_FP32, 0.5f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.5f } +static const BGC_FP32_Quaternion _TEST_FP32_NONUNIT_QUATERION_LIST[] = { + { 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }, + { 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }, + { 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON }, + { 0.0f, 0.0f, 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON }, + { 0.5f + 1.25f * BGC_FP32_EPSYLON, 0.5f + 1.25f * BGC_FP32_EPSYLON, 0.5f, 0.5f }, + { 0.5f - 1.25f * BGC_FP32_EPSYLON, 0.5f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.5f } }; void test_quaternion_is_unit_fp32() { - print_testing_name("bgc_quaternion_is_unit_fp32"); + print_testing_name("bgc_fp32_quaternion_is_unit"); // Testing zero values: for (int i = 0; i < _TEST_FP32_UNIT_QUATERNION_AMOUNT; i++) { - if (!bgc_quaternion_is_unit_fp32(&_TEST_FP32_UNIT_QUATERNION_LIST[i])) { + if (!bgc_fp32_quaternion_is_unit(&_TEST_FP32_UNIT_QUATERNION_LIST[i])) { print_testing_error("A unit quaternion was not recognized"); return; } @@ -53,7 +53,7 @@ void test_quaternion_is_unit_fp32() // Testing non-zero values: for (int i = 0; i < _TEST_FP32_NONUNIT_QUATERNION_AMOUNT; i++) { - if (bgc_quaternion_is_unit_fp32(&_TEST_FP32_NONUNIT_QUATERION_LIST[i])) { + if (bgc_fp32_quaternion_is_unit(&_TEST_FP32_NONUNIT_QUATERION_LIST[i])) { print_testing_error("A non-unit quaternion was recognized a unit quaternion"); return; } @@ -67,45 +67,45 @@ void test_quaternion_is_unit_fp32() static const int _TEST_FP64_UNIT_QUATERNION_AMOUNT = 16; static const int _TEST_FP64_NONUNIT_QUATERNION_AMOUNT = 10; -static const BgcQuaternionFP64 _TEST_FP64_UNIT_QUATERNION_LIST[] = { +static const BGC_FP64_Quaternion _TEST_FP64_UNIT_QUATERNION_LIST[] = { { 1.0, 0.0, 0.0, 0.0 }, { -1.0, 0.0, 0.0, 0.0 }, { 0.0, -0.6, 0.8, 0.0 }, - { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }, - { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }, - { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 }, - { 0.0, 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 }, + { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }, + { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }, + { 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON }, + { 0.0, 0.0, 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON }, { 0.5, 0.5, 0.5, 0.5 }, - { 0.5 + 0.75 * BGC_EPSYLON_FP64, 0.5, 0.5, 0.5 }, - { 0.5, 0.5 - 0.75 * BGC_EPSYLON_FP64, 0.5, 0.5 }, - { 0.5, 0.5, 0.5 + 0.75 * BGC_EPSYLON_FP64, 0.5 }, - { 0.5, 0.5, 0.5, 0.5 - 0.75 * BGC_EPSYLON_FP64 } + { 0.5 + 0.75 * BGC_FP64_EPSYLON, 0.5, 0.5, 0.5 }, + { 0.5, 0.5 - 0.75 * BGC_FP64_EPSYLON, 0.5, 0.5 }, + { 0.5, 0.5, 0.5 + 0.75 * BGC_FP64_EPSYLON, 0.5 }, + { 0.5, 0.5, 0.5, 0.5 - 0.75 * BGC_FP64_EPSYLON } }; -static const BgcQuaternionFP64 _TEST_FP64_NONUNIT_QUATERION_LIST[] = { - { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }, - { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }, - { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 }, - { 0.0, 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 }, - { 0.5 + 1.25 * BGC_EPSYLON_FP64, 0.5 + 1.25 * BGC_EPSYLON_FP64, 0.5, 0.5 }, - { 0.5 - 1.25 * BGC_EPSYLON_FP64, 0.5 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.5 } +static const BGC_FP64_Quaternion _TEST_FP64_NONUNIT_QUATERION_LIST[] = { + { 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }, + { 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }, + { 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON }, + { 0.0, 0.0, 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON }, + { 0.5 + 1.25 * BGC_FP64_EPSYLON, 0.5 + 1.25 * BGC_FP64_EPSYLON, 0.5, 0.5 }, + { 0.5 - 1.25 * BGC_FP64_EPSYLON, 0.5 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.5 } }; void test_quaternion_is_unit_fp64() { - print_testing_name("bgc_quaternion_is_unit_fp64"); + print_testing_name("bgc_fp64_quaternion_is_unit"); // Testing zero values: for (int i = 0; i < _TEST_FP64_UNIT_QUATERNION_AMOUNT; i++) { - if (!bgc_quaternion_is_unit_fp64(&_TEST_FP64_UNIT_QUATERNION_LIST[i])) { + if (!bgc_fp64_quaternion_is_unit(&_TEST_FP64_UNIT_QUATERNION_LIST[i])) { print_testing_error("A unit quaternion was not recognized"); return; } @@ -113,7 +113,7 @@ void test_quaternion_is_unit_fp64() // Testing non-zero values: for (int i = 0; i < _TEST_FP64_NONUNIT_QUATERNION_AMOUNT; i++) { - if (bgc_quaternion_is_unit_fp64(&_TEST_FP64_NONUNIT_QUATERION_LIST[i])) { + if (bgc_fp64_quaternion_is_unit(&_TEST_FP64_NONUNIT_QUATERION_LIST[i])) { print_testing_error("A non-unit quaternion was recognized a unit quaternion"); return; } diff --git a/basic-geometry-test/tests/quaternion/quaternion_is_zero.c b/basic-geometry-test/tests/quaternion/quaternion_is_zero.c index 416802a..ca02131 100644 --- a/basic-geometry-test/tests/quaternion/quaternion_is_zero.c +++ b/basic-geometry-test/tests/quaternion/quaternion_is_zero.c @@ -7,39 +7,39 @@ static const int _TEST_FP32_ZERO_QUATERNION_AMOUNT = 9; static const int _TEST_FP32_NONZERO_QUATERNION_AMOUNT = 11; -static const BgcQuaternionFP32 _TEST_FP32_ZERO_QUATERNION_LIST[] = { +static const BGC_FP32_Quaternion _TEST_FP32_ZERO_QUATERNION_LIST[] = { { 0.0f, 0.0f, 0.0f, 0.0f }, - { 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }, - { -0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }, - { 0.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32 }, - { 0.0f, 0.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32 } + { 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }, + { -0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }, + { 0.0f, 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, -0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, 0.0f, 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, -0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, 0.0f, 0.75f * BGC_FP32_EPSYLON }, + { 0.0f, 0.0f, 0.0f, -0.75f * BGC_FP32_EPSYLON } }; -static const BgcQuaternionFP32 _TEST_FP32_NONZERO_QUATERION_LIST[] = { +static const BGC_FP32_Quaternion _TEST_FP32_NONZERO_QUATERION_LIST[] = { { 0.0f, 1.0f, 0.0f, 0.0f }, - { 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }, - { -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }, - { 0.0f, 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, 0.0f, 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, -1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, 0.0f, 1.25f * BGC_EPSYLON_FP32 }, - { 0.0f, 0.0f, 0.0f, -1.25f * BGC_EPSYLON_FP32 }, - { 1.25f * BGC_EPSYLON_FP32, 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { -1.25f * BGC_EPSYLON_FP32, -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f } + { 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }, + { -1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }, + { 0.0f, 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, -1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, 0.0f, 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, -1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, 0.0f, 1.25f * BGC_FP32_EPSYLON }, + { 0.0f, 0.0f, 0.0f, -1.25f * BGC_FP32_EPSYLON }, + { 1.25f * BGC_FP32_EPSYLON, 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { -1.25f * BGC_FP32_EPSYLON, -1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f } }; void test_quaternion_is_zero_fp32() { - print_testing_name("bgc_quaternion_is_zero_fp32"); + print_testing_name("bgc_fp32_quaternion_is_zero"); // Testing zero values: for (int i = 0; i < _TEST_FP32_ZERO_QUATERNION_AMOUNT; i++) { - if (!bgc_quaternion_is_zero_fp32(&_TEST_FP32_ZERO_QUATERNION_LIST[i])) { + if (!bgc_fp32_quaternion_is_zero(&_TEST_FP32_ZERO_QUATERNION_LIST[i])) { print_testing_error("A zero quaternion was not recognized"); return; } @@ -47,7 +47,7 @@ void test_quaternion_is_zero_fp32() // Testing non-zero values: for (int i = 0; i < _TEST_FP32_NONZERO_QUATERNION_AMOUNT; i++) { - if (bgc_quaternion_is_zero_fp32(&_TEST_FP32_NONZERO_QUATERION_LIST[i])) { + if (bgc_fp32_quaternion_is_zero(&_TEST_FP32_NONZERO_QUATERION_LIST[i])) { print_testing_error("A non-zero quaternion was recognized as a zero quaternion"); return; } @@ -61,39 +61,39 @@ void test_quaternion_is_zero_fp32() static const int _TEST_FP64_ZERO_QUATERNION_AMOUNT = 9; static const int _TEST_FP64_NONZERO_QUATERNION_AMOUNT = 11; -static const BgcQuaternionFP64 _TEST_FP64_ZERO_QUATERNION_LIST[] = { +static const BGC_FP64_Quaternion _TEST_FP64_ZERO_QUATERNION_LIST[] = { { 0.0, 0.0, 0.0, 0.0 }, - { 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }, - { -0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }, - { 0.0, 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, -0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, 0.0, 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, -0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, 0.0, 0.75 * BGC_EPSYLON_FP64 }, - { 0.0, 0.0, 0.0, -0.75 * BGC_EPSYLON_FP64 } + { 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }, + { -0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }, + { 0.0, 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, -0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, 0.0, 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, -0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, 0.0, 0.75 * BGC_FP64_EPSYLON }, + { 0.0, 0.0, 0.0, -0.75 * BGC_FP64_EPSYLON } }; -static const BgcQuaternionFP64 _TEST_FP64_NONZERO_QUATERION_LIST[] = { +static const BGC_FP64_Quaternion _TEST_FP64_NONZERO_QUATERION_LIST[] = { { 0.0, 1.0, 0.0, 0.0 }, - { 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }, - { -1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }, - { 0.0, 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, -1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, 0.0, 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, -1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, 0.0, 1.25 * BGC_EPSYLON_FP64 }, - { 0.0, 0.0, 0.0, -1.25 * BGC_EPSYLON_FP64 }, - { 1.25 * BGC_EPSYLON_FP64, 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { -1.25 * BGC_EPSYLON_FP64, -1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 } + { 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }, + { -1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }, + { 0.0, 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, -1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, 0.0, 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, -1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, 0.0, 1.25 * BGC_FP64_EPSYLON }, + { 0.0, 0.0, 0.0, -1.25 * BGC_FP64_EPSYLON }, + { 1.25 * BGC_FP64_EPSYLON, 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { -1.25 * BGC_FP64_EPSYLON, -1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 } }; void test_quaternion_is_zero_fp64() { - print_testing_name("bgc_quaternion_is_zero_fp64"); + print_testing_name("bgc_fp64_quaternion_is_zero"); // Testing zero values: for (int i = 0; i < _TEST_FP64_ZERO_QUATERNION_AMOUNT; i++) { - if (!bgc_quaternion_is_zero_fp64(&_TEST_FP64_ZERO_QUATERNION_LIST[i])) { + if (!bgc_fp64_quaternion_is_zero(&_TEST_FP64_ZERO_QUATERNION_LIST[i])) { print_testing_error("A zero quaternion was not recognized"); return; } @@ -101,7 +101,7 @@ void test_quaternion_is_zero_fp64() // Testing non-zero values: for (int i = 0; i < _TEST_FP64_NONZERO_QUATERNION_AMOUNT; i++) { - if (bgc_quaternion_is_zero_fp64(&_TEST_FP64_NONZERO_QUATERION_LIST[i])) { + if (bgc_fp64_quaternion_is_zero(&_TEST_FP64_NONZERO_QUATERION_LIST[i])) { print_testing_error("A non-zero quaternion was recognized as a zero quaternion"); return; } diff --git a/basic-geometry-test/tests/quaternion/quaternion_modulus.c b/basic-geometry-test/tests/quaternion/quaternion_modulus.c index 5d6b4e6..042bd7c 100644 --- a/basic-geometry-test/tests/quaternion/quaternion_modulus.c +++ b/basic-geometry-test/tests/quaternion/quaternion_modulus.c @@ -6,7 +6,7 @@ static const int _TEST_FP32_QUATERNION_AMOUNT = 4; -static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST[] = { +static const BGC_FP32_Quaternion _TEST_FP32_QUATERNION_LIST[] = { { 0.0f, 4.0f, 3.0f, 0.0f }, { -1.0f, 1.0f, -1.0f, 1.0f }, { 100.0f, -100.0f, 0.0f, 100.0f }, @@ -29,10 +29,10 @@ static const float _TEST_FP32_MODULUS_LIST[] = { void test_quaternion_square_modulus_fp32() { - print_testing_name("bgc_quaternion_get_square_modulus_fp32"); + print_testing_name("bgc_fp32_quaternion_get_square_modulus"); for (int i = 0; i < _TEST_FP32_QUATERNION_AMOUNT; i++) { - if (!bgc_are_close_fp32(bgc_quaternion_get_square_modulus_fp32(&_TEST_FP32_QUATERNION_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) { + if (!bgc_fp32_are_close(bgc_fp32_quaternion_get_square_modulus(&_TEST_FP32_QUATERNION_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -43,10 +43,10 @@ void test_quaternion_square_modulus_fp32() void test_quaternion_modulus_fp32() { - print_testing_name("bgc_quaternion_get_modulus_fp32"); + print_testing_name("bgc_fp32_quaternion_get_modulus"); for (int i = 0; i < _TEST_FP32_QUATERNION_AMOUNT; i++) { - if (!bgc_are_close_fp32(bgc_quaternion_get_modulus_fp32(&_TEST_FP32_QUATERNION_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) { + if (!bgc_fp32_are_close(bgc_fp32_quaternion_get_modulus(&_TEST_FP32_QUATERNION_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -59,7 +59,7 @@ void test_quaternion_modulus_fp32() static const int _TEST_FP64_QUATERNION_AMOUNT = 4; -static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST[] = { +static const BGC_FP64_Quaternion _TEST_FP64_QUATERNION_LIST[] = { { 0.0, 4.0, 3.0, 0.0 }, { -1.0, 1.0, -1.0, 1.0 }, { 100.0, -100.0, 0.0, 100.0 }, @@ -82,10 +82,10 @@ static const double _TEST_FP64_MODULUS_LIST[] = { void test_quaternion_square_modulus_fp64() { - print_testing_name("bgc_quaternion_get_square_modulus_fp64"); + print_testing_name("bgc_fp64_quaternion_get_square_modulus"); for (int i = 0; i < _TEST_FP64_QUATERNION_AMOUNT; i++) { - if (!bgc_are_close_fp64(bgc_quaternion_get_square_modulus_fp64(&_TEST_FP64_QUATERNION_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) { + if (!bgc_fp64_are_close(bgc_fp64_quaternion_get_square_modulus(&_TEST_FP64_QUATERNION_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -96,10 +96,10 @@ void test_quaternion_square_modulus_fp64() void test_quaternion_modulus_fp64() { - print_testing_name("bgc_quaternion_get_modulus_fp64"); + print_testing_name("bgc_fp64_quaternion_get_modulus"); for (int i = 0; i < _TEST_FP64_QUATERNION_AMOUNT; i++) { - if (!bgc_are_close_fp64(bgc_quaternion_get_modulus_fp64(&_TEST_FP64_QUATERNION_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) { + if (!bgc_fp64_are_close(bgc_fp64_quaternion_get_modulus(&_TEST_FP64_QUATERNION_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) { print_testing_failed(); return; } diff --git a/basic-geometry-test/tests/quaternion/quaternion_reset.c b/basic-geometry-test/tests/quaternion/quaternion_reset.c index 62db061..91b9908 100644 --- a/basic-geometry-test/tests/quaternion/quaternion_reset.c +++ b/basic-geometry-test/tests/quaternion/quaternion_reset.c @@ -4,11 +4,11 @@ void test_quaternion_reset_fp32() { - BgcQuaternionFP32 vector; + BGC_FP32_Quaternion vector; - print_testing_name("bgc_quaternion_reset_fp32"); + print_testing_name("bgc_fp32_quaternion_reset"); - bgc_quaternion_reset_fp32(&vector); + bgc_fp32_quaternion_reset(&vector); if (vector.s0 != 0.0f || vector.x1 != 0.0f || vector.x2 != 0.0f || vector.x3 != 0.0f) { print_testing_failed(); @@ -20,11 +20,11 @@ void test_quaternion_reset_fp32() void test_quaternion_reset_fp64() { - BgcQuaternionFP64 vector; + BGC_FP64_Quaternion vector; - print_testing_name("bgc_quaternion_reset_fp64"); + print_testing_name("bgc_fp64_quaternion_reset"); - bgc_quaternion_reset_fp64(&vector); + bgc_fp64_quaternion_reset(&vector); if (vector.s0 != 0.0 || vector.x1 != 0.0 || vector.x2 != 0.0 || vector.x3 != 0.0) { print_testing_failed(); diff --git a/basic-geometry-test/tests/quaternion/quaternion_set_to_identity.c b/basic-geometry-test/tests/quaternion/quaternion_set_to_identity.c index 36d6766..8ce85a7 100644 --- a/basic-geometry-test/tests/quaternion/quaternion_set_to_identity.c +++ b/basic-geometry-test/tests/quaternion/quaternion_set_to_identity.c @@ -2,13 +2,13 @@ #include "./../../helpers.h" -void test_quaternion_set_to_identity_fp32() +void test_quaternion_make_unit_fp32() { - BgcQuaternionFP32 vector; + BGC_FP32_Quaternion vector; - print_testing_name("bgc_quaternion_set_to_identity_fp32"); + print_testing_name("bgc_fp32_quaternion_make_unit"); - bgc_quaternion_make_unit_fp32(&vector); + bgc_fp32_quaternion_make_unit(&vector); if (vector.s0 != 1.0f || vector.x1 != 0.0f || vector.x2 != 0.0f || vector.x3 != 0.0f) { print_testing_failed(); @@ -18,13 +18,13 @@ void test_quaternion_set_to_identity_fp32() print_testing_success(); } -void test_quaternion_set_to_identity_fp64() +void test_quaternion_make_unit_fp64() { - BgcQuaternionFP64 vector; + BGC_FP64_Quaternion vector; - print_testing_name("bgc_quaternion_set_to_identity_fp64"); + print_testing_name("bgc_fp64_quaternion_make_unit"); - bgc_quaternion_make_unit_fp64(&vector); + bgc_fp64_quaternion_make_unit(&vector); if (vector.s0 != 1.0 || vector.x1 != 0.0 || vector.x2 != 0.0 || vector.x3 != 0.0) { print_testing_failed(); @@ -36,6 +36,6 @@ void test_quaternion_set_to_identity_fp64() void test_quaternion_set_to_identity() { - test_quaternion_set_to_identity_fp32(); - test_quaternion_set_to_identity_fp64(); + test_quaternion_make_unit_fp32(); + test_quaternion_make_unit_fp64(); } diff --git a/basic-geometry-test/tests/quaternion/quaternion_set_to_identity.h b/basic-geometry-test/tests/quaternion/quaternion_set_to_identity.h index 53bc58f..53bb12e 100644 --- a/basic-geometry-test/tests/quaternion/quaternion_set_to_identity.h +++ b/basic-geometry-test/tests/quaternion/quaternion_set_to_identity.h @@ -1,9 +1,9 @@ #ifndef _TEST_QUATERNION_SET_TO_IDENTITY_H_ #define _TEST_QUATERNION_SET_TO_IDENTITY_H_ -void test_quaternion_set_to_identity_fp32(); +void test_quaternion_make_unit_fp32(); -void test_quaternion_set_to_identity_fp64(); +void test_quaternion_make_unit_fp64(); void test_quaternion_set_to_identity(); diff --git a/basic-geometry-test/tests/quaternion/quaternion_set_values.c b/basic-geometry-test/tests/quaternion/quaternion_set_values.c index 0164ad5..45cf3c1 100644 --- a/basic-geometry-test/tests/quaternion/quaternion_set_values.c +++ b/basic-geometry-test/tests/quaternion/quaternion_set_values.c @@ -8,25 +8,25 @@ void test_quaternion_set_values_fp32() { - BgcQuaternionFP32 vector; + BGC_FP32_Quaternion vector; - print_testing_name("bgc_quaternion_set_values_fp32"); + print_testing_name("bgc_fp32_quaternion_make"); - bgc_quaternion_set_values_fp32(1.0f, 2.0f, 3.0f, 4.0f, &vector); + bgc_fp32_quaternion_make(1.0f, 2.0f, 3.0f, 4.0f, &vector); if (vector.s0 != 1.0f || vector.x1 != 2.0f || vector.x2 != 3.0f || vector.x3 != 4.0f) { print_testing_error("First step failed"); return; } - bgc_quaternion_set_values_fp32(-1.0f, -3.0f, -5.0f, -7.0f, &vector); + bgc_fp32_quaternion_make(-1.0f, -3.0f, -5.0f, -7.0f, &vector); if (vector.s0 != -1.0f || vector.x1 != -3.0f || vector.x2 != -5.0f || vector.x3 != -7.0f) { print_testing_error("Second step failed"); return; } - bgc_quaternion_set_values_fp32(-8.0f, -2.0f, 2.0f, 4.0f, &vector); + bgc_fp32_quaternion_make(-8.0f, -2.0f, 2.0f, 4.0f, &vector); if (vector.s0 != -8.0f || vector.x1 != -2.0f || vector.x2 != 2.0f || vector.x3 != 4.0f) { print_testing_error("Third step failed"); @@ -40,25 +40,25 @@ void test_quaternion_set_values_fp32() void test_quaternion_set_values_fp64() { - BgcQuaternionFP64 vector; + BGC_FP64_Quaternion vector; - print_testing_name("bgc_quaternion_set_values_fp64"); + print_testing_name("bgc_fp64_quaternion_make"); - bgc_quaternion_set_values_fp64(1.0, 2.0, 3.0, 4.0, &vector); + bgc_fp64_quaternion_make(1.0, 2.0, 3.0, 4.0, &vector); if (vector.s0 != 1.0 || vector.x1 != 2.0 || vector.x2 != 3.0 || vector.x3 != 4.0) { print_testing_error("First step failed"); return; } - bgc_quaternion_set_values_fp64(-1.0, -3.0, -5.0, -7.0, &vector); + bgc_fp64_quaternion_make(-1.0, -3.0, -5.0, -7.0, &vector); if (vector.s0 != -1.0 || vector.x1 != -3.0 || vector.x2 != -5.0 || vector.x3 != -7.0) { print_testing_error("Second step failed"); return; } - bgc_quaternion_set_values_fp64(-8.0, -2.0, 2.0, 4.0, &vector); + bgc_fp64_quaternion_make(-8.0, -2.0, 2.0, 4.0, &vector); if (vector.s0 != -8.0 || vector.x1 != -2.0 || vector.x2 != 2.0 || vector.x3 != 4.0) { print_testing_error("Third step failed"); diff --git a/basic-geometry-test/tests/quaternion/quaternion_swap.c b/basic-geometry-test/tests/quaternion/quaternion_swap.c index dad3269..1648404 100644 --- a/basic-geometry-test/tests/quaternion/quaternion_swap.c +++ b/basic-geometry-test/tests/quaternion/quaternion_swap.c @@ -8,14 +8,14 @@ static const int _TEST_FP32_QUATERNION_AMOUNT = 4; -static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST1[] = { +static const BGC_FP32_Quaternion _TEST_FP32_QUATERNION_LIST1[] = { { 1.0f, 2.0f, 3.0f, 4.0f }, { -4.0f, -3.0f, -2.0f, -1.0f }, { -244.8f, 100.0f, -100.0f, 344.7f }, { 1000.32f, -100.1f, 100.2f, -271.3f } }; -static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST2[] = { +static const BGC_FP32_Quaternion _TEST_FP32_QUATERNION_LIST2[] = { { 3.6f, -0.123f, 5.3f, 1003.28f }, { 204.07f, -781.89f, -0.0032f, 891.3f }, { -20.02f, -1.0003f, 5.322f, 0.9275f }, @@ -24,15 +24,15 @@ static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST2[] = { void test_quaternion_swap_fp32() { - BgcQuaternionFP32 quaternion1, quaternion2; + BGC_FP32_Quaternion quaternion1, quaternion2; - print_testing_name("bgc_quaternion_swap_fp32"); + print_testing_name("bgc_fp32_quaternion_swap"); for (int i = 0; i < _TEST_FP32_QUATERNION_AMOUNT; i++) { - bgc_quaternion_copy_fp32(&_TEST_FP32_QUATERNION_LIST1[i], &quaternion1); - bgc_quaternion_copy_fp32(&_TEST_FP32_QUATERNION_LIST2[i], &quaternion2); + bgc_fp32_quaternion_copy(&_TEST_FP32_QUATERNION_LIST1[i], &quaternion1); + bgc_fp32_quaternion_copy(&_TEST_FP32_QUATERNION_LIST2[i], &quaternion2); - bgc_quaternion_swap_fp32(&quaternion1, &quaternion2); + bgc_fp32_quaternion_swap(&quaternion1, &quaternion2); if (quaternion1.s0 != _TEST_FP32_QUATERNION_LIST2[i].s0 || quaternion1.x1 != _TEST_FP32_QUATERNION_LIST2[i].x1 || @@ -54,14 +54,14 @@ void test_quaternion_swap_fp32() static const int _TEST_FP64_QUATERNION_AMOUNT = 4; -static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST1[] = { +static const BGC_FP64_Quaternion _TEST_FP64_QUATERNION_LIST1[] = { { 1.0, 2.0, 3.0, 4.0 }, { -4.0, -3.0, -2.0, -1.0 }, { -244.8, 100.0, -100.0, 344.7 }, { 1000.32, -100.1, 100.2, -271.3 } }; -static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST2[] = { +static const BGC_FP64_Quaternion _TEST_FP64_QUATERNION_LIST2[] = { { 3.6, -0.123, 5.3, 1003.28 }, { 204.07, -781.89, -0.0032, 891.3 }, { -20.02, -1.0003, 5.322, 0.9275 }, @@ -70,15 +70,15 @@ static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST2[] = { void test_quaternion_swap_fp64() { - BgcQuaternionFP64 quaternion1, quaternion2; + BGC_FP64_Quaternion quaternion1, quaternion2; - print_testing_name("bgc_quaternion_swap_fp64"); + print_testing_name("bgc_fp64_quaternion_swap"); for (int i = 0; i < _TEST_FP64_QUATERNION_AMOUNT; i++) { - bgc_quaternion_copy_fp64(&_TEST_FP64_QUATERNION_LIST1[i], &quaternion1); - bgc_quaternion_copy_fp64(&_TEST_FP64_QUATERNION_LIST2[i], &quaternion2); + bgc_fp64_quaternion_copy(&_TEST_FP64_QUATERNION_LIST1[i], &quaternion1); + bgc_fp64_quaternion_copy(&_TEST_FP64_QUATERNION_LIST2[i], &quaternion2); - bgc_quaternion_swap_fp64(&quaternion1, &quaternion2); + bgc_fp64_quaternion_swap(&quaternion1, &quaternion2); if (quaternion1.s0 != _TEST_FP64_QUATERNION_LIST2[i].s0 || quaternion1.x1 != _TEST_FP64_QUATERNION_LIST2[i].x1 || diff --git a/basic-geometry-test/tests/utilities/are_close.c b/basic-geometry-test/tests/utilities/are_close.c index d35dcbe..f94b5c2 100644 --- a/basic-geometry-test/tests/utilities/are_close.c +++ b/basic-geometry-test/tests/utilities/are_close.c @@ -12,22 +12,22 @@ static const TestNumberPairFP32 _TEST_FP32_DATA_CLOSE[] = { {1.0f, 1.0f}, {-1.0f, -1.0f}, - {-0.4f * BGC_EPSYLON_FP32, 0.4f * BGC_EPSYLON_FP32}, + {-0.4f * BGC_FP32_EPSYLON, 0.4f * BGC_FP32_EPSYLON}, - {1.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32}, - {1.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32}, - {1.0f + 0.75f * BGC_EPSYLON_FP32, 1.0f}, - {1.0f - 0.75f * BGC_EPSYLON_FP32, 1.0f}, + {1.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON}, + {1.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON}, + {1.0f + 0.75f * BGC_FP32_EPSYLON, 1.0f}, + {1.0f - 0.75f * BGC_FP32_EPSYLON, 1.0f}, - {-1.0f, -1.0f + 0.75f * BGC_EPSYLON_FP32}, - {-1.0f, -1.0f - 0.75f * BGC_EPSYLON_FP32}, - {-1.0f + 0.75f * BGC_EPSYLON_FP32, -1.0f}, - {-1.0f - 0.75f * BGC_EPSYLON_FP32, -1.0f}, + {-1.0f, -1.0f + 0.75f * BGC_FP32_EPSYLON}, + {-1.0f, -1.0f - 0.75f * BGC_FP32_EPSYLON}, + {-1.0f + 0.75f * BGC_FP32_EPSYLON, -1.0f}, + {-1.0f - 0.75f * BGC_FP32_EPSYLON, -1.0f}, - {100.0f, 100.0f * (1.0f + 0.75f * BGC_EPSYLON_FP32)}, - {100.0f, 100.0f * (1.0f - 0.75f * BGC_EPSYLON_FP32)}, - {-100.0f, -100.0f * (1.0f + 0.75f * BGC_EPSYLON_FP32)}, - {-100.0f, -100.0f * (1.0f - 0.75f * BGC_EPSYLON_FP32)} + {100.0f, 100.0f * (1.0f + 0.75f * BGC_FP32_EPSYLON)}, + {100.0f, 100.0f * (1.0f - 0.75f * BGC_FP32_EPSYLON)}, + {-100.0f, -100.0f * (1.0f + 0.75f * BGC_FP32_EPSYLON)}, + {-100.0f, -100.0f * (1.0f - 0.75f * BGC_FP32_EPSYLON)} }; static const TestNumberPairFP32 _TEST_FP32_DATA_DIFFERENT[] = { @@ -35,31 +35,31 @@ static const TestNumberPairFP32 _TEST_FP32_DATA_DIFFERENT[] = { {1.0f, 0.999f}, {-1.0f, -0.999f}, - {-0.6f * BGC_EPSYLON_FP32, 0.6f * BGC_EPSYLON_FP32}, + {-0.6f * BGC_FP32_EPSYLON, 0.6f * BGC_FP32_EPSYLON}, - {1.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32}, - {1.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32}, - {1.0f + 1.25f * BGC_EPSYLON_FP32, 1.0f}, - {1.0f - 1.25f * BGC_EPSYLON_FP32, 1.0f}, + {1.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON}, + {1.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON}, + {1.0f + 1.25f * BGC_FP32_EPSYLON, 1.0f}, + {1.0f - 1.25f * BGC_FP32_EPSYLON, 1.0f}, - {-1.0f, -1.0f + 1.25f * BGC_EPSYLON_FP32}, - {-1.0f, -1.0f - 1.25f * BGC_EPSYLON_FP32}, - {-1.0f + 1.25f * BGC_EPSYLON_FP32, -1.0f}, - {-1.0f - 1.25f * BGC_EPSYLON_FP32, -1.0f}, + {-1.0f, -1.0f + 1.25f * BGC_FP32_EPSYLON}, + {-1.0f, -1.0f - 1.25f * BGC_FP32_EPSYLON}, + {-1.0f + 1.25f * BGC_FP32_EPSYLON, -1.0f}, + {-1.0f - 1.25f * BGC_FP32_EPSYLON, -1.0f}, - {100.0f, 100.0f * (1.0f + 1.25f * BGC_EPSYLON_FP32)}, - {100.0f, 100.0f * (1.0f - 1.25f * BGC_EPSYLON_FP32)}, - {-100.0f, -100.0f * (1.0f + 1.25f * BGC_EPSYLON_FP32)}, - {-100.0f, -100.0f * (1.0f - 1.25f * BGC_EPSYLON_FP32)} + {100.0f, 100.0f * (1.0f + 1.25f * BGC_FP32_EPSYLON)}, + {100.0f, 100.0f * (1.0f - 1.25f * BGC_FP32_EPSYLON)}, + {-100.0f, -100.0f * (1.0f + 1.25f * BGC_FP32_EPSYLON)}, + {-100.0f, -100.0f * (1.0f - 1.25f * BGC_FP32_EPSYLON)} }; void test_are_close_fp32() { - print_testing_name("bgc_are_close_fp32"); + print_testing_name("bgc_fp32_are_close"); // Testing close pairs of values: for (int i = 0; i < _TEST_FP32_CLOSE_NUMBERS_AMOUNT; i++) { - if (!bgc_are_close_fp32(_TEST_FP32_DATA_CLOSE[i].number1, _TEST_FP32_DATA_CLOSE[i].number2)) { + if (!bgc_fp32_are_close(_TEST_FP32_DATA_CLOSE[i].number1, _TEST_FP32_DATA_CLOSE[i].number2)) { print_testing_error("A pair of close numbers was not recognized"); return; } @@ -67,7 +67,7 @@ void test_are_close_fp32() // Testing different pairs of values: for (int i = 0; i < _TEST_FP32_DIFFERENT_NUMBERS_AMOUNT; i++) { - if (bgc_are_close_fp32(_TEST_FP32_DATA_DIFFERENT[i].number1, _TEST_FP32_DATA_DIFFERENT[i].number2)) { + if (bgc_fp32_are_close(_TEST_FP32_DATA_DIFFERENT[i].number1, _TEST_FP32_DATA_DIFFERENT[i].number2)) { print_testing_error("A pair of close numbers was not recognized"); return; } @@ -86,22 +86,22 @@ static const TestNumberPairFP64 _TEST_FP64_DATA_CLOSE[] = { {1.0, 1.0}, {-1.0, -1.0}, - {-0.4 * BGC_EPSYLON_FP64, 0.4 * BGC_EPSYLON_FP64}, + {-0.4 * BGC_FP64_EPSYLON, 0.4 * BGC_FP64_EPSYLON}, - {1.0, 1.0 + 0.75 * BGC_EPSYLON_FP64}, - {1.0, 1.0 - 0.75 * BGC_EPSYLON_FP64}, - {1.0 + 0.75 * BGC_EPSYLON_FP64, 1.0}, - {1.0 - 0.75 * BGC_EPSYLON_FP64, 1.0}, + {1.0, 1.0 + 0.75 * BGC_FP64_EPSYLON}, + {1.0, 1.0 - 0.75 * BGC_FP64_EPSYLON}, + {1.0 + 0.75 * BGC_FP64_EPSYLON, 1.0}, + {1.0 - 0.75 * BGC_FP64_EPSYLON, 1.0}, - {-1.0, -1.0 + 0.75 * BGC_EPSYLON_FP64}, - {-1.0, -1.0 - 0.75 * BGC_EPSYLON_FP64}, - {-1.0 + 0.75 * BGC_EPSYLON_FP64, -1.0}, - {-1.0 - 0.75 * BGC_EPSYLON_FP64, -1.0}, + {-1.0, -1.0 + 0.75 * BGC_FP64_EPSYLON}, + {-1.0, -1.0 - 0.75 * BGC_FP64_EPSYLON}, + {-1.0 + 0.75 * BGC_FP64_EPSYLON, -1.0}, + {-1.0 - 0.75 * BGC_FP64_EPSYLON, -1.0}, - {100.0, 100.0 * (1.0 + 0.75 * BGC_EPSYLON_FP64)}, - {100.0, 100.0 * (1.0 - 0.75 * BGC_EPSYLON_FP64)}, - {-100.0, -100.0 * (1.0 + 0.75 * BGC_EPSYLON_FP64)}, - {-100.0, -100.0 * (1.0 - 0.75 * BGC_EPSYLON_FP64)} + {100.0, 100.0 * (1.0 + 0.75 * BGC_FP64_EPSYLON)}, + {100.0, 100.0 * (1.0 - 0.75 * BGC_FP64_EPSYLON)}, + {-100.0, -100.0 * (1.0 + 0.75 * BGC_FP64_EPSYLON)}, + {-100.0, -100.0 * (1.0 - 0.75 * BGC_FP64_EPSYLON)} }; static const TestNumberPairFP64 _TEST_FP64_DATA_DIFFERENT[] = { @@ -109,31 +109,31 @@ static const TestNumberPairFP64 _TEST_FP64_DATA_DIFFERENT[] = { {1.0, 0.999999}, {-1.0, -0.999999}, - {-0.6 * BGC_EPSYLON_FP64, 0.6 * BGC_EPSYLON_FP64}, + {-0.6 * BGC_FP64_EPSYLON, 0.6 * BGC_FP64_EPSYLON}, - {1.0, 1.0 + 1.25 * BGC_EPSYLON_FP64}, - {1.0, 1.0 - 1.25 * BGC_EPSYLON_FP64}, - {1.0 + 1.25 * BGC_EPSYLON_FP64, 1.0}, - {1.0 - 1.25 * BGC_EPSYLON_FP64, 1.0}, + {1.0, 1.0 + 1.25 * BGC_FP64_EPSYLON}, + {1.0, 1.0 - 1.25 * BGC_FP64_EPSYLON}, + {1.0 + 1.25 * BGC_FP64_EPSYLON, 1.0}, + {1.0 - 1.25 * BGC_FP64_EPSYLON, 1.0}, - {-1.0, -1.0 + 1.25 * BGC_EPSYLON_FP64}, - {-1.0, -1.0 - 1.25 * BGC_EPSYLON_FP64}, - {-1.0 + 1.25 * BGC_EPSYLON_FP64, -1.0}, - {-1.0 - 1.25 * BGC_EPSYLON_FP64, -1.0}, + {-1.0, -1.0 + 1.25 * BGC_FP64_EPSYLON}, + {-1.0, -1.0 - 1.25 * BGC_FP64_EPSYLON}, + {-1.0 + 1.25 * BGC_FP64_EPSYLON, -1.0}, + {-1.0 - 1.25 * BGC_FP64_EPSYLON, -1.0}, - {100.0, 100.0 * (1.0 + 1.25 * BGC_EPSYLON_FP64)}, - {100.0, 100.0 * (1.0 - 1.25 * BGC_EPSYLON_FP64)}, - {-100.0, -100.0 * (1.0 + 1.25 * BGC_EPSYLON_FP64)}, - {-100.0, -100.0 * (1.0 - 1.25 * BGC_EPSYLON_FP64)} + {100.0, 100.0 * (1.0 + 1.25 * BGC_FP64_EPSYLON)}, + {100.0, 100.0 * (1.0 - 1.25 * BGC_FP64_EPSYLON)}, + {-100.0, -100.0 * (1.0 + 1.25 * BGC_FP64_EPSYLON)}, + {-100.0, -100.0 * (1.0 - 1.25 * BGC_FP64_EPSYLON)} }; void test_are_close_fp64() { - print_testing_name("bgc_are_close_fp64"); + print_testing_name("bgc_fp64_are_close"); // Testing close pairs of values: for (int i = 0; i < _TEST_FP64_CLOSE_NUMBERS_AMOUNT; i++) { - if (!bgc_are_close_fp64(_TEST_FP64_DATA_CLOSE[i].number1, _TEST_FP64_DATA_CLOSE[i].number2)) { + if (!bgc_fp64_are_close(_TEST_FP64_DATA_CLOSE[i].number1, _TEST_FP64_DATA_CLOSE[i].number2)) { print_testing_error("A pair of close numbers was not recognized"); return; } @@ -141,7 +141,7 @@ void test_are_close_fp64() // Testing different pairs of values: for (int i = 0; i < _TEST_FP64_DIFFERENT_NUMBERS_AMOUNT; i++) { - if (bgc_are_close_fp64(_TEST_FP64_DATA_DIFFERENT[i].number1, _TEST_FP64_DATA_DIFFERENT[i].number2)) { + if (bgc_fp64_are_close(_TEST_FP64_DATA_DIFFERENT[i].number1, _TEST_FP64_DATA_DIFFERENT[i].number2)) { print_testing_error("A pair of different numbers was recognized as close numbers"); return; } diff --git a/basic-geometry-test/tests/utilities/is_unit.c b/basic-geometry-test/tests/utilities/is_unit.c index 49e30d4..763b727 100644 --- a/basic-geometry-test/tests/utilities/is_unit.c +++ b/basic-geometry-test/tests/utilities/is_unit.c @@ -9,24 +9,24 @@ static const int _TEST_FP32_NONUNIT_NUMBERS_AMOUNT = 4; static const float _TEST_FP32_UNIT_NUMBERS[] = { 1.0f, - 1.0f + 0.75f * BGC_EPSYLON_FP32, - 1.0f - 0.75f * BGC_EPSYLON_FP32 + 1.0f + 0.75f * BGC_FP32_EPSYLON, + 1.0f - 0.75f * BGC_FP32_EPSYLON }; static const float _TEST_FP32_NONUNIT_NUMBERS[] = { 0.0f, -1.0f, - 1.0f + 1.25f * BGC_EPSYLON_FP32, - 1.0f - 1.25f * BGC_EPSYLON_FP32 + 1.0f + 1.25f * BGC_FP32_EPSYLON, + 1.0f - 1.25f * BGC_FP32_EPSYLON }; void test_is_unit_fp32() { - print_testing_name("bgc_is_unit_fp32"); + print_testing_name("bgc_fp32_is_unit"); // Testing unit values: for (int i = 0; i < _TEST_FP32_UNIT_NUMBERS_AMOUNT; i++) { - if (!bgc_is_unit_fp32(_TEST_FP32_UNIT_NUMBERS[i])) { + if (!bgc_fp32_is_unit(_TEST_FP32_UNIT_NUMBERS[i])) { print_testing_error("A unit value was not recognized"); return; } @@ -34,7 +34,7 @@ void test_is_unit_fp32() // Testing non-unit values: for (int i = 0; i < _TEST_FP32_NONUNIT_NUMBERS_AMOUNT; i++) { - if (bgc_is_unit_fp32(_TEST_FP32_NONUNIT_NUMBERS[i])) { + if (bgc_fp32_is_unit(_TEST_FP32_NONUNIT_NUMBERS[i])) { print_testing_error("A non-unit value was recognized as a unit value"); return; } @@ -50,24 +50,24 @@ static const int _TEST_FP64_NONUNIT_NUMBERS_AMOUNT = 4; static const double _TEST_FP64_UNIT_NUMBERS[] = { 1.0, - 1.0 + 0.75 * BGC_EPSYLON_FP64, - 1.0 - 0.75 * BGC_EPSYLON_FP64 + 1.0 + 0.75 * BGC_FP64_EPSYLON, + 1.0 - 0.75 * BGC_FP64_EPSYLON }; static const double _TEST_FP64_NONUNIT_NUMBERS[] = { 0.0, -1.0, - 1.0 + 1.25 * BGC_EPSYLON_FP64, - 1.0 - 1.25 * BGC_EPSYLON_FP64 + 1.0 + 1.25 * BGC_FP64_EPSYLON, + 1.0 - 1.25 * BGC_FP64_EPSYLON }; void test_is_unit_fp64() { - print_testing_name("bgc_is_unit_fp64"); + print_testing_name("bgc_fp64_is_unit"); // Testing unit values: for (int i = 0; i < _TEST_FP64_UNIT_NUMBERS_AMOUNT; i++) { - if (!bgc_is_unit_fp64(_TEST_FP64_UNIT_NUMBERS[i])) { + if (!bgc_fp64_is_unit(_TEST_FP64_UNIT_NUMBERS[i])) { print_testing_error("A unit value was not recognized"); return; } @@ -75,7 +75,7 @@ void test_is_unit_fp64() // Testing non-unit values: for (int i = 0; i < _TEST_FP64_NONUNIT_NUMBERS_AMOUNT; i++) { - if (bgc_is_unit_fp64(_TEST_FP64_NONUNIT_NUMBERS[i])) { + if (bgc_fp64_is_unit(_TEST_FP64_NONUNIT_NUMBERS[i])) { print_testing_error("A non-unit value was recognized as a unit value"); return; } @@ -91,24 +91,24 @@ static const int _TEST_FP32_DATA_SQUARE_NONUNIT_AMOUNT = 4; static const float _TEST_FP32_DATA_SQUARE_UNIT[] = { 1.0f, - 1.0f + 1.75f * BGC_EPSYLON_FP32, - 1.0f - 1.75f * BGC_EPSYLON_FP32 + 1.0f + 1.75f * BGC_FP32_EPSYLON, + 1.0f - 1.75f * BGC_FP32_EPSYLON }; static const float _TEST_FP32_DATA_SQUARE_NONUNIT[] = { 0.0f, -1.0f, - 1.0f + 2.25f * BGC_EPSYLON_FP32, - 1.0f - 2.25f * BGC_EPSYLON_FP32 + 1.0f + 2.25f * BGC_FP32_EPSYLON, + 1.0f - 2.25f * BGC_FP32_EPSYLON }; -void test_is_sqare_unit_fp32() +void test_is_square_unit_fp32() { - print_testing_name("bgc_is_sqare_unit_fp32"); + print_testing_name("bgc_fp32_is_square_unit"); // Testing unit values: for (int i = 0; i < _TEST_FP32_DATA_SQUARE_UNIT_AMOUNT; i++) { - if (!bgc_is_sqare_unit_fp32(_TEST_FP32_DATA_SQUARE_UNIT[i])) { + if (!bgc_fp32_is_square_unit(_TEST_FP32_DATA_SQUARE_UNIT[i])) { print_testing_error("A square unit value was not recognized"); return; } @@ -116,7 +116,7 @@ void test_is_sqare_unit_fp32() // Testing non-unit values: for (int i = 0; i < _TEST_FP32_DATA_SQUARE_NONUNIT_AMOUNT; i++) { - if (bgc_is_sqare_unit_fp32(_TEST_FP32_DATA_SQUARE_NONUNIT[i])) { + if (bgc_fp32_is_square_unit(_TEST_FP32_DATA_SQUARE_NONUNIT[i])) { print_testing_error("A non-unit value was recognized as a square unit value"); return; } @@ -132,24 +132,24 @@ static const int _TEST_FP64_DATA_SQUARE_NONUNIT_AMOUNT = 4; static const double _TEST_FP64_DATA_SQUARE_UNIT[] = { 1.0, - 1.0 + 1.75 * BGC_EPSYLON_FP64, - 1.0 - 1.75 * BGC_EPSYLON_FP64 + 1.0 + 1.75 * BGC_FP64_EPSYLON, + 1.0 - 1.75 * BGC_FP64_EPSYLON }; static const double _TEST_FP64_DATA_SQUARE_NONUNIT[] = { 0.0, -1.0, - 1.0 + 2.25 * BGC_EPSYLON_FP64, - 1.0 - 2.25 * BGC_EPSYLON_FP64 + 1.0 + 2.25 * BGC_FP64_EPSYLON, + 1.0 - 2.25 * BGC_FP64_EPSYLON }; -void test_is_sqare_unit_fp64() +void test_is_square_unit_fp64() { - print_testing_name("bgc_is_sqare_unit_fp64"); + print_testing_name("bgc_fp64_is_square_unit"); // Testing unit values: for (int i = 0; i < _TEST_FP64_DATA_SQUARE_UNIT_AMOUNT; i++) { - if (!bgc_is_sqare_unit_fp64(_TEST_FP64_DATA_SQUARE_UNIT[i])) { + if (!bgc_fp64_is_square_unit(_TEST_FP64_DATA_SQUARE_UNIT[i])) { print_testing_error("A square unit value was not recognized"); return; } @@ -157,7 +157,7 @@ void test_is_sqare_unit_fp64() // Testing non-unit values: for (int i = 0; i < _TEST_FP64_DATA_SQUARE_NONUNIT_AMOUNT; i++) { - if (bgc_is_sqare_unit_fp64(_TEST_FP64_DATA_SQUARE_NONUNIT[i])) { + if (bgc_fp64_is_square_unit(_TEST_FP64_DATA_SQUARE_NONUNIT[i])) { print_testing_error("A non-unit value was recognized as a square unit value"); return; } @@ -171,6 +171,6 @@ void test_is_unit() test_is_unit_fp32(); test_is_unit_fp64(); - test_is_sqare_unit_fp32(); - test_is_sqare_unit_fp64(); + test_is_square_unit_fp32(); + test_is_square_unit_fp64(); } diff --git a/basic-geometry-test/tests/utilities/is_unit.h b/basic-geometry-test/tests/utilities/is_unit.h index 83e404d..945e5f5 100644 --- a/basic-geometry-test/tests/utilities/is_unit.h +++ b/basic-geometry-test/tests/utilities/is_unit.h @@ -5,9 +5,9 @@ void test_is_unit_fp32(); void test_is_unit_fp64(); -void test_is_sqare_unit_fp32(); +void test_is_square_unit_fp32(); -void test_is_sqare_unit_fp64(); +void test_is_square_unit_fp64(); void test_is_unit(); diff --git a/basic-geometry-test/tests/utilities/is_zero.c b/basic-geometry-test/tests/utilities/is_zero.c index 06c8473..b85b2d4 100644 --- a/basic-geometry-test/tests/utilities/is_zero.c +++ b/basic-geometry-test/tests/utilities/is_zero.c @@ -9,24 +9,24 @@ static const int _TEST_FP32_NONZERO_NUMBERS_AMOUNT = 4; static const float _TEST_FP32_ZERO_NUMBERS[] = { 0.0f, - 0.75f * BGC_EPSYLON_FP32, - -0.75f * BGC_EPSYLON_FP32 + 0.75f * BGC_FP32_EPSYLON, + -0.75f * BGC_FP32_EPSYLON }; static const float _TEST_FP32_NONZERO_NUMBERS[] = { 1.0f, -1.0f, - 1.25f * BGC_EPSYLON_FP32, - -1.25f * BGC_EPSYLON_FP32 + 1.25f * BGC_FP32_EPSYLON, + -1.25f * BGC_FP32_EPSYLON }; void test_is_zero_fp32() { - print_testing_name("bgc_is_zero_fp32"); + print_testing_name("bgc_fp32_is_zero"); // Testing zero values: for (int i = 0; i < _TEST_FP32_ZERO_NUMBERS_AMOUNT; i++) { - if (!bgc_is_zero_fp32(_TEST_FP32_ZERO_NUMBERS[i])) { + if (!bgc_fp32_is_zero(_TEST_FP32_ZERO_NUMBERS[i])) { print_testing_error("A zero value was not recognized"); return; } @@ -34,7 +34,7 @@ void test_is_zero_fp32() // Testing non-zero values: for (int i = 0; i < _TEST_FP32_NONZERO_NUMBERS_AMOUNT; i++) { - if (bgc_is_zero_fp32(_TEST_FP32_NONZERO_NUMBERS[i])) { + if (bgc_fp32_is_zero(_TEST_FP32_NONZERO_NUMBERS[i])) { print_testing_error("A non-zero value was recognized as a zero value"); return; } @@ -50,24 +50,24 @@ static const int _TEST_FP64_NONZERO_NUMBERS_AMOUNT = 4; static const double _TEST_FP64_ZERO_NUMBERS[] = { 0.0, - 0.75 * BGC_EPSYLON_FP64, - -0.75 * BGC_EPSYLON_FP64 + 0.75 * BGC_FP64_EPSYLON, + -0.75 * BGC_FP64_EPSYLON }; static const double _TEST_FP64_NONZERO_NUMBERS[] = { 1.0, -1.0, - 1.25 * BGC_EPSYLON_FP64, - -1.25 * BGC_EPSYLON_FP64 + 1.25 * BGC_FP64_EPSYLON, + -1.25 * BGC_FP64_EPSYLON }; void test_is_zero_fp64() { - print_testing_name("bgc_is_zero_fp64"); + print_testing_name("bgc_fp64_is_zero"); // Testing zero values: for (int i = 0; i < _TEST_FP64_ZERO_NUMBERS_AMOUNT; i++) { - if (!bgc_is_zero_fp64(_TEST_FP64_ZERO_NUMBERS[i])) { + if (!bgc_fp64_is_zero(_TEST_FP64_ZERO_NUMBERS[i])) { print_testing_error("A zero value was not recognized"); return; } @@ -75,7 +75,7 @@ void test_is_zero_fp64() // Testing non-zero values: for (int i = 0; i < _TEST_FP64_NONZERO_NUMBERS_AMOUNT; i++) { - if (bgc_is_zero_fp64(_TEST_FP64_NONZERO_NUMBERS[i])) { + if (bgc_fp64_is_zero(_TEST_FP64_NONZERO_NUMBERS[i])) { print_testing_error("A non-zero value was recognized as a zero value"); return; } diff --git a/basic-geometry-test/tests/vector2.c b/basic-geometry-test/tests/vector2.c index 66915b7..f699ba8 100644 --- a/basic-geometry-test/tests/vector2.c +++ b/basic-geometry-test/tests/vector2.c @@ -22,7 +22,7 @@ void test_vector2() const int TEST_FP32_VECTOR2_AMOUNT_1 = 5; -const BgcVector2FP32 TEST_FP32_VECTOR2_COMMON_1[] = { +const BGC_FP32_Vector2 TEST_FP32_VECTOR2_COMMON_1[] = { { 3.0f, 4.0f }, { -3.0f, -4.0f }, { 10000.0f, -20000.0f }, @@ -30,7 +30,7 @@ const BgcVector2FP32 TEST_FP32_VECTOR2_COMMON_1[] = { { -123.5f, 3.7283f } }; -const BgcVector2FP32 TEST_FP32_VECTOR2_COMMON_2[] = { +const BGC_FP32_Vector2 TEST_FP32_VECTOR2_COMMON_2[] = { { -3.0f, -4.0f }, { -3.0f, -4.0f }, { 0.002f, -0.05f }, @@ -49,7 +49,7 @@ int test_vector2_fp32_square_modulus() float square_modulus; for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) { - square_modulus = bgc_vector2_get_square_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]); + square_modulus = bgc_fp32_vector2_get_square_modulus(&TEST_FP32_VECTOR2_COMMON_1[i]); if (!test_are_equal_fp32(square_modulus, FP32_VECTOR2_SQUARE_MODULUS_1[i])) { print_testing_failed(); @@ -72,7 +72,7 @@ int test_vector2_fp32_modulus() float square_modulus; for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) { - square_modulus = bgc_vector2_get_modulus_fp32(&TEST_FP32_VECTOR2_COMMON_1[i]); + square_modulus = bgc_fp32_vector2_get_modulus(&TEST_FP32_VECTOR2_COMMON_1[i]); if (!test_are_equal_fp32(square_modulus, FP32_VECTOR2_MODULUS_1[i])) { print_testing_failed(); @@ -86,7 +86,7 @@ int test_vector2_fp32_modulus() // ===================== Add ==================== // -const BgcVector2FP32 TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = { +const BGC_FP32_Vector2 TEST_FP32_VECTOR2_COMMON_1_2_SUM[] = { { 0.0f, 0.0f }, { -6.0f, -8.0f }, { 10000.002f, -20000.05f }, @@ -98,10 +98,10 @@ int test_vector2_add_fp32() { print_testing_name("vector2_fp32_t add"); - BgcVector2FP32 vector; + BGC_FP32_Vector2 vector; for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) { - bgc_vector2_add_fp32(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector); + bgc_fp32_vector2_add(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector); if (!test_are_equal_fp32(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x1) || !test_are_equal_fp32(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_SUM[i].x2)) { @@ -116,7 +116,7 @@ int test_vector2_add_fp32() // ================== Subtract ================== // -const BgcVector2FP32 TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = { +const BGC_FP32_Vector2 TEST_FP32_VECTOR2_COMMON_1_2_DIFF[] = { { 6.0f, 8.0f }, { 0.0f, 0.0f }, { 9999.998f, -19999.95f }, @@ -128,10 +128,10 @@ int test_vector2_subtract_fp32() { print_testing_name("vector2_fp32_t subtract"); - BgcVector2FP32 vector; + BGC_FP32_Vector2 vector; for (int i = 0; i < TEST_FP32_VECTOR2_AMOUNT_1; i++) { - bgc_vector2_subtract_fp32(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector); + bgc_fp32_vector2_subtract(&TEST_FP32_VECTOR2_COMMON_1[i], &TEST_FP32_VECTOR2_COMMON_2[i], &vector); if (!test_are_equal_fp32(vector.x1, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x1) || !test_are_equal_fp32(vector.x2, TEST_FP32_VECTOR2_COMMON_1_2_DIFF[i].x2)) { diff --git a/basic-geometry-test/tests/vector2/vector2_copy.c b/basic-geometry-test/tests/vector2/vector2_copy.c index d6f463f..0639aea 100644 --- a/basic-geometry-test/tests/vector2/vector2_copy.c +++ b/basic-geometry-test/tests/vector2/vector2_copy.c @@ -7,7 +7,7 @@ // ==================== FP32 ==================== // static const int _TEST_FP32_VECTOR2_AMOUNT = 4; -static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST[] = { +static const BGC_FP32_Vector2 _TEST_FP32_VECTOR2_LIST[] = { { 1.0f, 2.0f }, { -2.0f, -1.0f }, { 100.0f, -100.0f }, @@ -16,13 +16,13 @@ static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST[] = { void test_vector2_copy_fp32() { - BgcVector2FP32 vector; + BGC_FP32_Vector2 vector; - print_testing_name("bgc_vector2_copy_fp32"); + print_testing_name("bgc_fp32_vector2_copy"); for (int i = 0; i < _TEST_FP32_VECTOR2_AMOUNT; i++) { - bgc_vector2_copy_fp32(&_TEST_FP32_VECTOR2_LIST[i], &vector); + bgc_fp32_vector2_copy(&_TEST_FP32_VECTOR2_LIST[i], &vector); if (vector.x1 != _TEST_FP32_VECTOR2_LIST[i].x1 || vector.x2 != _TEST_FP32_VECTOR2_LIST[i].x2) { print_testing_failed(); @@ -36,7 +36,7 @@ void test_vector2_copy_fp32() // ==================== FP64 ==================== // static const int _TEST_FP64_VECTOR2_AMOUNT = 4; -static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST[] = { +static const BGC_FP64_Vector2 _TEST_FP64_VECTOR2_LIST[] = { { 1.0, 2.0 }, { -2.0, -1.0 }, { 100.0, -100.0 }, @@ -45,13 +45,13 @@ static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST[] = { void test_vector2_copy_fp64() { - BgcVector2FP64 vector; + BGC_FP64_Vector2 vector; - print_testing_name("bgc_vector2_copy_fp64"); + print_testing_name("bgc_fp64_vector2_copy"); for (int i = 0; i < _TEST_FP64_VECTOR2_AMOUNT; i++) { - bgc_vector2_copy_fp64(&_TEST_FP64_VECTOR2_LIST[i], &vector); + bgc_fp64_vector2_copy(&_TEST_FP64_VECTOR2_LIST[i], &vector); if (vector.x1 != _TEST_FP64_VECTOR2_LIST[i].x1 || vector.x2 != _TEST_FP64_VECTOR2_LIST[i].x2) { print_testing_failed(); diff --git a/basic-geometry-test/tests/vector2/vector2_is_unit.c b/basic-geometry-test/tests/vector2/vector2_is_unit.c index 4876bbf..d8f91bb 100644 --- a/basic-geometry-test/tests/vector2/vector2_is_unit.c +++ b/basic-geometry-test/tests/vector2/vector2_is_unit.c @@ -7,32 +7,32 @@ static const int _TEST_FP32_UNIT_VECTOR2_AMOUNT = 6; static const int _TEST_FP32_NONUNIT_VECTOR2_AMOUNT = 7; -static const BgcVector2FP32 _TEST_FP32_UNIT_VECTOR2_LIST[] = { +static const BGC_FP32_Vector2 _TEST_FP32_UNIT_VECTOR2_LIST[] = { { 1.0f, 0.0f }, { 0.0f, -1.0f }, - { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 }, - { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 } + { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON }, + { 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON } }; -static const BgcVector2FP32 _TEST_FP32_NONUNIT_VECTOR2_LIST[] = { +static const BGC_FP32_Vector2 _TEST_FP32_NONUNIT_VECTOR2_LIST[] = { { 0.0f, 0.0f }, - { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 }, - { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 }, - { 0.8f + 1.25f * BGC_EPSYLON_FP32, 0.6f + 1.25f * BGC_EPSYLON_FP32 }, - { 0.6f - 1.25f * BGC_EPSYLON_FP32, 0.8f - 1.25f * BGC_EPSYLON_FP32 } + { 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON }, + { 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON }, + { 0.8f + 1.25f * BGC_FP32_EPSYLON, 0.6f + 1.25f * BGC_FP32_EPSYLON }, + { 0.6f - 1.25f * BGC_FP32_EPSYLON, 0.8f - 1.25f * BGC_FP32_EPSYLON } }; void test_vector2_is_unit_fp32() { - print_testing_name("bgc_vector2_is_unit_fp32"); + print_testing_name("bgc_fp32_vector2_is_unit"); // Testing zero values: for (int i = 0; i < _TEST_FP32_UNIT_VECTOR2_AMOUNT; i++) { - if (!bgc_vector2_is_unit_fp32(&_TEST_FP32_UNIT_VECTOR2_LIST[i])) { + if (!bgc_fp32_vector2_is_unit(&_TEST_FP32_UNIT_VECTOR2_LIST[i])) { print_testing_error("A unit vector was not recognized"); return; } @@ -40,7 +40,7 @@ void test_vector2_is_unit_fp32() // Testing non-zero values: for (int i = 0; i < _TEST_FP32_NONUNIT_VECTOR2_AMOUNT; i++) { - if (bgc_vector2_is_unit_fp32(&_TEST_FP32_NONUNIT_VECTOR2_LIST[i])) { + if (bgc_fp32_vector2_is_unit(&_TEST_FP32_NONUNIT_VECTOR2_LIST[i])) { print_testing_error("A non-unit vector was recognized as a unit vector"); return; } @@ -54,32 +54,32 @@ void test_vector2_is_unit_fp32() static const int _TEST_FP64_UNIT_VECTOR2_AMOUNT = 6; static const int _TEST_FP64_NONUNIT_VECTOR2_AMOUNT = 7; -static const BgcVector2FP64 _TEST_FP64_UNIT_VECTOR2_LIST[] = { +static const BGC_FP64_Vector2 _TEST_FP64_UNIT_VECTOR2_LIST[] = { { -1.0, 0.0 }, { 0.0, 1.0 }, - { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 }, - { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 } + { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON }, + { 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON } }; -static const BgcVector2FP64 _TEST_FP64_NONUNIT_VECTOR2_LIST[] = { +static const BGC_FP64_Vector2 _TEST_FP64_NONUNIT_VECTOR2_LIST[] = { { 0.0, 0.0 }, - { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 }, - { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 }, - { 0.6 + 1.25 * BGC_EPSYLON_FP64, 0.8 + 1.25 * BGC_EPSYLON_FP64 }, - { 0.8 - 1.25 * BGC_EPSYLON_FP64, 0.6 - 1.25 * BGC_EPSYLON_FP64 } + { 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON }, + { 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON }, + { 0.6 + 1.25 * BGC_FP64_EPSYLON, 0.8 + 1.25 * BGC_FP64_EPSYLON }, + { 0.8 - 1.25 * BGC_FP64_EPSYLON, 0.6 - 1.25 * BGC_FP64_EPSYLON } }; void test_vector2_is_unit_fp64() { - print_testing_name("bgc_vector2_is_unit_fp64"); + print_testing_name("bgc_fp64_vector2_is_unit"); // Testing zero values: for (int i = 0; i < _TEST_FP64_UNIT_VECTOR2_AMOUNT; i++) { - if (!bgc_vector2_is_unit_fp64(&_TEST_FP64_UNIT_VECTOR2_LIST[i])) { + if (!bgc_fp64_vector2_is_unit(&_TEST_FP64_UNIT_VECTOR2_LIST[i])) { print_testing_error("A unit vector was not recognized"); return; } @@ -87,7 +87,7 @@ void test_vector2_is_unit_fp64() // Testing non-zero values: for (int i = 0; i < _TEST_FP64_NONUNIT_VECTOR2_AMOUNT; i++) { - if (bgc_vector2_is_unit_fp64(&_TEST_FP64_NONUNIT_VECTOR2_LIST[i])) { + if (bgc_fp64_vector2_is_unit(&_TEST_FP64_NONUNIT_VECTOR2_LIST[i])) { print_testing_error("A non-unit vector was recognized as a unit vector"); return; } diff --git a/basic-geometry-test/tests/vector2/vector2_is_zero.c b/basic-geometry-test/tests/vector2/vector2_is_zero.c index c189b98..7545e6a 100644 --- a/basic-geometry-test/tests/vector2/vector2_is_zero.c +++ b/basic-geometry-test/tests/vector2/vector2_is_zero.c @@ -7,31 +7,31 @@ static const int _TEST_FP32_ZERO_VECTOR2_AMOUNT = 5; static const int _TEST_FP32_NONZERO_VECTOR2_AMOUNT = 7; -static const BgcVector2FP32 _TEST_FP32_ZERO_VECTOR2_LIST[] = { +static const BGC_FP32_Vector2 _TEST_FP32_ZERO_VECTOR2_LIST[] = { { 0.0f, 0.0f }, - { 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { -0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.75f * BGC_EPSYLON_FP32 }, - { 0.0f, -0.75f * BGC_EPSYLON_FP32 } + { 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { -0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.75f * BGC_FP32_EPSYLON }, + { 0.0f, -0.75f * BGC_FP32_EPSYLON } }; -static const BgcVector2FP32 _TEST_FP32_NONZERO_VECTOR2_LIST[] = { +static const BGC_FP32_Vector2 _TEST_FP32_NONZERO_VECTOR2_LIST[] = { { 0.0f, 1.0f }, - { 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { -1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 1.25f * BGC_EPSYLON_FP32 }, - { 0.0f, -1.25f * BGC_EPSYLON_FP32 }, - { 1.25f * BGC_EPSYLON_FP32, 1.25f * BGC_EPSYLON_FP32 }, - { -1.25f * BGC_EPSYLON_FP32, -1.25f * BGC_EPSYLON_FP32 } + { 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { -1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 1.25f * BGC_FP32_EPSYLON }, + { 0.0f, -1.25f * BGC_FP32_EPSYLON }, + { 1.25f * BGC_FP32_EPSYLON, 1.25f * BGC_FP32_EPSYLON }, + { -1.25f * BGC_FP32_EPSYLON, -1.25f * BGC_FP32_EPSYLON } }; void test_vector2_is_zero_fp32() { - print_testing_name("bgc_vector2_is_zero_fp32"); + print_testing_name("bgc_fp32_vector2_is_zero"); // Testing zero values: for (int i = 0; i < _TEST_FP32_ZERO_VECTOR2_AMOUNT; i++) { - if (!bgc_vector2_is_zero_fp32(&_TEST_FP32_ZERO_VECTOR2_LIST[i])) { + if (!bgc_fp32_vector2_is_zero(&_TEST_FP32_ZERO_VECTOR2_LIST[i])) { print_testing_error("A zero vector was not recongized"); return; } @@ -39,7 +39,7 @@ void test_vector2_is_zero_fp32() // Testing non-zero values: for (int i = 0; i < _TEST_FP32_NONZERO_VECTOR2_AMOUNT; i++) { - if (bgc_vector2_is_zero_fp32(&_TEST_FP32_NONZERO_VECTOR2_LIST[i])) { + if (bgc_fp32_vector2_is_zero(&_TEST_FP32_NONZERO_VECTOR2_LIST[i])) { print_testing_error("A non-zero vector was recongized as a zero vector"); return; } @@ -53,31 +53,31 @@ void test_vector2_is_zero_fp32() static const int _TEST_FP64_ZERO_VECTOR2_AMOUNT = 5; static const int _TEST_FP64_NONZERO_VECTOR2_AMOUNT = 7; -static const BgcVector2FP64 _TEST_FP64_ZERO_VECTOR2_LIST[] = { +static const BGC_FP64_Vector2 _TEST_FP64_ZERO_VECTOR2_LIST[] = { { 0.0, 0.0 }, - { 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { -0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.75 * BGC_EPSYLON_FP64 }, - { 0.0, -0.75 * BGC_EPSYLON_FP64 } + { 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { -0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.75 * BGC_FP64_EPSYLON }, + { 0.0, -0.75 * BGC_FP64_EPSYLON } }; -static const BgcVector2FP64 _TEST_FP64_NONZERO_VECTOR2_LIST[] = { +static const BGC_FP64_Vector2 _TEST_FP64_NONZERO_VECTOR2_LIST[] = { { 0.0, 1.0 }, - { 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { -1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 1.25 * BGC_EPSYLON_FP64 }, - { 0.0, -1.25 * BGC_EPSYLON_FP64 }, - { 1.25 * BGC_EPSYLON_FP64, 1.25 * BGC_EPSYLON_FP64 }, - { -1.25 * BGC_EPSYLON_FP64, -1.25 * BGC_EPSYLON_FP64 } + { 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { -1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 1.25 * BGC_FP64_EPSYLON }, + { 0.0, -1.25 * BGC_FP64_EPSYLON }, + { 1.25 * BGC_FP64_EPSYLON, 1.25 * BGC_FP64_EPSYLON }, + { -1.25 * BGC_FP64_EPSYLON, -1.25 * BGC_FP64_EPSYLON } }; void test_vector2_is_zero_fp64() { - print_testing_name("bgc_vector2_is_zero_fp64"); + print_testing_name("bgc_fp64_vector2_is_zero"); // Testing zero values: for (int i = 0; i < _TEST_FP64_ZERO_VECTOR2_AMOUNT; i++) { - if (!bgc_vector2_is_zero_fp64(&_TEST_FP64_ZERO_VECTOR2_LIST[i])) { + if (!bgc_fp64_vector2_is_zero(&_TEST_FP64_ZERO_VECTOR2_LIST[i])) { print_testing_error("A zero vector was not recongized"); return; } @@ -85,7 +85,7 @@ void test_vector2_is_zero_fp64() // Testing non-zero values: for (int i = 0; i < _TEST_FP64_NONZERO_VECTOR2_AMOUNT; i++) { - if (bgc_vector2_is_zero_fp64(&_TEST_FP64_NONZERO_VECTOR2_LIST[i])) { + if (bgc_fp64_vector2_is_zero(&_TEST_FP64_NONZERO_VECTOR2_LIST[i])) { print_testing_error("A non-zero vector was recongized as a zero vector"); return; } diff --git a/basic-geometry-test/tests/vector2/vector2_modulus.c b/basic-geometry-test/tests/vector2/vector2_modulus.c index 63f13d5..6e0b842 100644 --- a/basic-geometry-test/tests/vector2/vector2_modulus.c +++ b/basic-geometry-test/tests/vector2/vector2_modulus.c @@ -6,7 +6,7 @@ static const int _TEST_FP32_VECTOR2_AMOUNT = 4; -static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST[] = { +static const BGC_FP32_Vector2 _TEST_FP32_VECTOR2_LIST[] = { { 4.0f, 3.0f }, { -3.0f, -4.0f }, { 100.0f, -100.0f }, @@ -29,10 +29,10 @@ static const float _TEST_FP32_MODULUS_LIST[] = { void test_vector2_square_modulus_fp32() { - print_testing_name("bgc_vector2_get_square_modulus_fp32"); + print_testing_name("bgc_fp32_vector2_get_square_modulus"); for (int i = 0; i < _TEST_FP32_VECTOR2_AMOUNT; i++) { - if (!bgc_are_close_fp32(bgc_vector2_get_square_modulus_fp32(&_TEST_FP32_VECTOR2_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) { + if (!bgc_fp32_are_close(bgc_fp32_vector2_get_square_modulus(&_TEST_FP32_VECTOR2_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -43,10 +43,10 @@ void test_vector2_square_modulus_fp32() void test_vector2_modulus_fp32() { - print_testing_name("bgc_vector2_get_modulus_fp32"); + print_testing_name("bgc_fp32_vector2_get_modulus"); for (int i = 0; i < _TEST_FP32_VECTOR2_AMOUNT; i++) { - if (!bgc_are_close_fp32(bgc_vector2_get_modulus_fp32(&_TEST_FP32_VECTOR2_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) { + if (!bgc_fp32_are_close(bgc_fp32_vector2_get_modulus(&_TEST_FP32_VECTOR2_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -59,7 +59,7 @@ void test_vector2_modulus_fp32() static const int _TEST_FP64_VECTOR2_AMOUNT = 4; -static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST[] = { +static const BGC_FP64_Vector2 _TEST_FP64_VECTOR2_LIST[] = { { 4.0, 3.0 }, { -3.0, -4.0 }, { 100.0, -100.0 }, @@ -82,10 +82,10 @@ static const double _TEST_FP64_MODULUS_LIST[] = { void test_vector2_square_modulus_fp64() { - print_testing_name("bgc_vector2_get_square_modulus_fp64"); + print_testing_name("bgc_fp64_vector2_get_square_modulus"); for (int i = 0; i < _TEST_FP64_VECTOR2_AMOUNT; i++) { - if (!bgc_are_close_fp64(bgc_vector2_get_square_modulus_fp64(&_TEST_FP64_VECTOR2_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) { + if (!bgc_fp64_are_close(bgc_fp64_vector2_get_square_modulus(&_TEST_FP64_VECTOR2_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -96,10 +96,10 @@ void test_vector2_square_modulus_fp64() void test_vector2_modulus_fp64() { - print_testing_name("bgc_vector2_get_modulus_fp64"); + print_testing_name("bgc_fp64_vector2_get_modulus"); for (int i = 0; i < _TEST_FP64_VECTOR2_AMOUNT; i++) { - if (!bgc_are_close_fp64(bgc_vector2_get_modulus_fp64(&_TEST_FP64_VECTOR2_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) { + if (!bgc_fp64_are_close(bgc_fp64_vector2_get_modulus(&_TEST_FP64_VECTOR2_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) { print_testing_failed(); return; } diff --git a/basic-geometry-test/tests/vector2/vector2_reset.c b/basic-geometry-test/tests/vector2/vector2_reset.c index 04b1e15..f5e2bab 100644 --- a/basic-geometry-test/tests/vector2/vector2_reset.c +++ b/basic-geometry-test/tests/vector2/vector2_reset.c @@ -4,11 +4,11 @@ void test_vector2_reset_fp32() { - BgcVector2FP32 vector; + BGC_FP32_Vector2 vector; - print_testing_name("bgc_vector2_reset_fp32"); + print_testing_name("bgc_fp32_vector2_reset"); - bgc_vector2_reset_fp32(&vector); + bgc_fp32_vector2_reset(&vector); if (vector.x1 != 0.0f || vector.x2 != 0.0f) { print_testing_failed(); @@ -20,11 +20,11 @@ void test_vector2_reset_fp32() void test_vector2_reset_fp64() { - BgcVector2FP64 vector; + BGC_FP64_Vector2 vector; - print_testing_name("bgc_vector2_reset_fp64"); + print_testing_name("bgc_fp64_vector2_reset"); - bgc_vector2_reset_fp64(&vector); + bgc_fp64_vector2_reset(&vector); if (vector.x1 != 0.0 || vector.x2 != 0.0) { print_testing_failed(); diff --git a/basic-geometry-test/tests/vector2/vector2_set_values.c b/basic-geometry-test/tests/vector2/vector2_set_values.c index 80ec5c3..9933d09 100644 --- a/basic-geometry-test/tests/vector2/vector2_set_values.c +++ b/basic-geometry-test/tests/vector2/vector2_set_values.c @@ -8,25 +8,25 @@ void test_vector2_set_values_fp32() { - BgcVector2FP32 vector; + BGC_FP32_Vector2 vector; - print_testing_name("bgc_vector2_set_values_fp32"); + print_testing_name("bgc_fp32_vector2_make"); - bgc_vector2_set_values_fp32(1.0f, 2.0f, &vector); + bgc_fp32_vector2_make(1.0f, 2.0f, &vector); if (vector.x1 != 1.0f || vector.x2 != 2.0f) { print_testing_error("First step failed"); return; } - bgc_vector2_set_values_fp32(-3.0f, -5.0f, &vector); + bgc_fp32_vector2_make(-3.0f, -5.0f, &vector); if (vector.x1 != -3.0f || vector.x2 != -5.0f) { print_testing_error("Second step failed"); return; } - bgc_vector2_set_values_fp32(-2.0f, 2.0f, &vector); + bgc_fp32_vector2_make(-2.0f, 2.0f, &vector); if (vector.x1 != -2.0f || vector.x2 != 2.0f) { print_testing_error("Third step failed"); @@ -40,26 +40,26 @@ void test_vector2_set_values_fp32() void test_vector2_set_values_fp64() { - BgcVector2FP64 vector; + BGC_FP64_Vector2 vector; - print_testing_name("bgc_vector2_set_values_fp64"); + print_testing_name("bgc_fp64_vector2_make"); - bgc_vector2_set_values_fp64(1.0, 2.0, &vector); + bgc_fp64_vector2_make(1.0, 2.0, &vector); if (vector.x1 != 1.0 || vector.x2 != 2.0) { print_testing_error("First step failed"); return; } - bgc_vector2_set_values_fp64(-3.0, -5.0, &vector); + bgc_fp64_vector2_make(-3.0, -5.0, &vector); if (vector.x1 != -3.0 || vector.x2 != -5.0) { print_testing_error("Second step failed"); return; } - bgc_vector2_set_values_fp64(-2.0, 2.0, &vector); + bgc_fp64_vector2_make(-2.0, 2.0, &vector); if (vector.x1 != -2.0 || vector.x2 != 2.0) { print_testing_error("Third step failed"); diff --git a/basic-geometry-test/tests/vector2/vector2_swap.c b/basic-geometry-test/tests/vector2/vector2_swap.c index c40494f..9eeada2 100644 --- a/basic-geometry-test/tests/vector2/vector2_swap.c +++ b/basic-geometry-test/tests/vector2/vector2_swap.c @@ -8,14 +8,14 @@ static const int _TEST_FP32_VECTOR2_AMOUNT = 4; -static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST1[] = { +static const BGC_FP32_Vector2 _TEST_FP32_VECTOR2_LIST1[] = { { 1.0f, 2.0f }, { -2.0f, -1.0f }, { 100.0f, -100.0f }, { -100.1f, 100.2f } }; -static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST2[] = { +static const BGC_FP32_Vector2 _TEST_FP32_VECTOR2_LIST2[] = { { 3.6f, 5.3f }, { 204.07f, -781.89f }, { -20.02f, -1.0003f }, @@ -24,15 +24,15 @@ static const BgcVector2FP32 _TEST_FP32_VECTOR2_LIST2[] = { void test_vector2_swap_fp32() { - BgcVector2FP32 vector1, vector2; + BGC_FP32_Vector2 vector1, vector2; - print_testing_name("bgc_vector2_swap_fp32"); + print_testing_name("bgc_fp32_vector2_swap"); for (int i = 0; i < _TEST_FP32_VECTOR2_AMOUNT; i++) { - bgc_vector2_copy_fp32(&_TEST_FP32_VECTOR2_LIST1[i], &vector1); - bgc_vector2_copy_fp32(&_TEST_FP32_VECTOR2_LIST2[i], &vector2); + bgc_fp32_vector2_copy(&_TEST_FP32_VECTOR2_LIST1[i], &vector1); + bgc_fp32_vector2_copy(&_TEST_FP32_VECTOR2_LIST2[i], &vector2); - bgc_vector2_swap_fp32(&vector1, &vector2); + bgc_fp32_vector2_swap(&vector1, &vector2); if (vector1.x1 != _TEST_FP32_VECTOR2_LIST2[i].x1 || vector1.x2 != _TEST_FP32_VECTOR2_LIST2[i].x2 || @@ -50,14 +50,14 @@ void test_vector2_swap_fp32() static const int _TEST_FP64_VECTOR2_AMOUNT = 4; -static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST1[] = { +static const BGC_FP64_Vector2 _TEST_FP64_VECTOR2_LIST1[] = { { 1.0, 2.0 }, { -2.0, -1.0 }, { 100.0, -100.0 }, { -100.1, 100.2 } }; -static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST2[] = { +static const BGC_FP64_Vector2 _TEST_FP64_VECTOR2_LIST2[] = { { 3.6, 5.3 }, { 204.07, -781.89 }, { -20.02, -1.0003 }, @@ -66,15 +66,15 @@ static const BgcVector2FP64 _TEST_FP64_VECTOR2_LIST2[] = { void test_vector2_swap_fp64() { - BgcVector2FP64 vector1, vector2; + BGC_FP64_Vector2 vector1, vector2; - print_testing_name("bgc_vector2_swap_fp64"); + print_testing_name("bgc_fp64_vector2_swap"); for (int i = 0; i < _TEST_FP64_VECTOR2_AMOUNT; i++) { - bgc_vector2_copy_fp64(&_TEST_FP64_VECTOR2_LIST1[i], &vector1); - bgc_vector2_copy_fp64(&_TEST_FP64_VECTOR2_LIST2[i], &vector2); + bgc_fp64_vector2_copy(&_TEST_FP64_VECTOR2_LIST1[i], &vector1); + bgc_fp64_vector2_copy(&_TEST_FP64_VECTOR2_LIST2[i], &vector2); - bgc_vector2_swap_fp64(&vector1, &vector2); + bgc_fp64_vector2_swap(&vector1, &vector2); if (vector1.x1 != _TEST_FP64_VECTOR2_LIST2[i].x1 || vector1.x2 != _TEST_FP64_VECTOR2_LIST2[i].x2 || diff --git a/basic-geometry-test/tests/vector3/vector3_copy.c b/basic-geometry-test/tests/vector3/vector3_copy.c index 38562d9..f4ea248 100644 --- a/basic-geometry-test/tests/vector3/vector3_copy.c +++ b/basic-geometry-test/tests/vector3/vector3_copy.c @@ -7,7 +7,7 @@ // ==================== FP32 ==================== // static const int _TEST_FP32_VECTOR3_AMOUNT = 4; -static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST[] = { +static const BGC_FP32_Vector3 _TEST_FP32_VECTOR3_LIST[] = { { 1.0f, 2.0f, 3.0f }, { -3.0f, -2.0f, -1.0f }, { 100.0f, -100.0f, 0.001f }, @@ -16,13 +16,13 @@ static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST[] = { void test_vector3_copy_fp32() { - BgcVector3FP32 vector; + BGC_FP32_Vector3 vector; - print_testing_name("bgc_vector3_copy_fp32"); + print_testing_name("bgc_fp32_vector3_copy"); for (int i = 0; i < _TEST_FP32_VECTOR3_AMOUNT; i++) { - bgc_vector3_copy_fp32(&_TEST_FP32_VECTOR3_LIST[i], &vector); + bgc_fp32_vector3_copy(&_TEST_FP32_VECTOR3_LIST[i], &vector); if (vector.x1 != _TEST_FP32_VECTOR3_LIST[i].x1 || vector.x2 != _TEST_FP32_VECTOR3_LIST[i].x2 || @@ -38,7 +38,7 @@ void test_vector3_copy_fp32() // ==================== FP64 ==================== // static const int _TEST_FP64_VECTOR3_AMOUNT = 4; -static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST[] = { +static const BGC_FP64_Vector3 _TEST_FP64_VECTOR3_LIST[] = { { 1.0, 2.0, 3.0 }, { -3.0, -2.0, -1.0 }, { 100.0, -100.0, 0.001 }, @@ -47,13 +47,13 @@ static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST[] = { void test_vector3_copy_fp64() { - BgcVector3FP64 vector; + BGC_FP64_Vector3 vector; - print_testing_name("bgc_vector3_copy_fp64"); + print_testing_name("bgc_fp64_vector3_copy"); for (int i = 0; i < _TEST_FP64_VECTOR3_AMOUNT; i++) { - bgc_vector3_copy_fp64(&_TEST_FP64_VECTOR3_LIST[i], &vector); + bgc_fp64_vector3_copy(&_TEST_FP64_VECTOR3_LIST[i], &vector); if (vector.x1 != _TEST_FP64_VECTOR3_LIST[i].x1 || vector.x2 != _TEST_FP64_VECTOR3_LIST[i].x2 || diff --git a/basic-geometry-test/tests/vector3/vector3_is_unit.c b/basic-geometry-test/tests/vector3/vector3_is_unit.c index 97972e5..3500d32 100644 --- a/basic-geometry-test/tests/vector3/vector3_is_unit.c +++ b/basic-geometry-test/tests/vector3/vector3_is_unit.c @@ -7,38 +7,38 @@ static const int _TEST_FP32_UNIT_VECTOR3_AMOUNT = 10; static const int _TEST_FP32_NONUNIT_VECTOR3_AMOUNT = 9; -static const BgcVector3FP32 _TEST_FP32_UNIT_VECTOR3_LIST[] = { +static const BGC_FP32_Vector3 _TEST_FP32_UNIT_VECTOR3_LIST[] = { { 1.0f, 0.0f, 0.0f }, { 0.0f, -1.0f, 0.0f }, { 0.0f, -0.8f, 0.6f }, { -0.6f, 0.0f, 0.8f }, - { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, -1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, -1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 }, - { 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 } + { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, -1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, -1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON }, + { 0.0f, 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON } }; -static const BgcVector3FP32 _TEST_FP32_NONUNIT_VECTOR3_LIST[] = { +static const BGC_FP32_Vector3 _TEST_FP32_NONUNIT_VECTOR3_LIST[] = { { 0.0f, 0.0f, 0.0f }, - { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 }, - { 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 }, - { 0.8f + 1.25f * BGC_EPSYLON_FP32, -0.6f - 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.6f - 1.25f * BGC_EPSYLON_FP32, -0.8f + 1.25f * BGC_EPSYLON_FP32, 0.0f } + { 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON }, + { 0.0f, 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON }, + { 0.8f + 1.25f * BGC_FP32_EPSYLON, -0.6f - 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.6f - 1.25f * BGC_FP32_EPSYLON, -0.8f + 1.25f * BGC_FP32_EPSYLON, 0.0f } }; void test_vector3_is_unit_fp32() { - print_testing_name("bgc_vector3_is_unit_fp32"); + print_testing_name("bgc_fp32_vector3_is_unit"); // Testing zero values: for (int i = 0; i < _TEST_FP32_UNIT_VECTOR3_AMOUNT; i++) { - if (!bgc_vector3_is_unit_fp32(&_TEST_FP32_UNIT_VECTOR3_LIST[i])) { + if (!bgc_fp32_vector3_is_unit(&_TEST_FP32_UNIT_VECTOR3_LIST[i])) { print_testing_error("A unit vector was not recognized"); return; } @@ -46,7 +46,7 @@ void test_vector3_is_unit_fp32() // Testing non-zero values: for (int i = 0; i < _TEST_FP32_NONUNIT_VECTOR3_AMOUNT; i++) { - if (bgc_vector3_is_unit_fp32(&_TEST_FP32_NONUNIT_VECTOR3_LIST[i])) { + if (bgc_fp32_vector3_is_unit(&_TEST_FP32_NONUNIT_VECTOR3_LIST[i])) { print_testing_error("A non-unit vector was recognized as a unit vector"); return; } @@ -60,38 +60,38 @@ void test_vector3_is_unit_fp32() static const int _TEST_FP64_UNIT_VECTOR3_AMOUNT = 10; static const int _TEST_FP64_NONUNIT_VECTOR3_AMOUNT = 9; -static const BgcVector3FP64 _TEST_FP64_UNIT_VECTOR3_LIST[] = { +static const BGC_FP64_Vector3 _TEST_FP64_UNIT_VECTOR3_LIST[] = { { 1.0, 0.0, 0.0 }, { 0.0, -1.0, 0.0 }, { 0.0, -0.8, 0.6 }, { -0.6, 0.0, 0.8 }, - { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, -1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, -1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 }, - { 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 } + { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, -1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, -1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON }, + { 0.0, 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON } }; -static const BgcVector3FP64 _TEST_FP64_NONUNIT_VECTOR3_LIST[] = { +static const BGC_FP64_Vector3 _TEST_FP64_NONUNIT_VECTOR3_LIST[] = { { 0.0, 0.0, 0.0 }, - { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 }, - { 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 }, - { 0.8 + 1.25 * BGC_EPSYLON_FP64, -0.6 - 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.6 - 1.25 * BGC_EPSYLON_FP64, -0.8 + 1.25 * BGC_EPSYLON_FP64, 0.0 } + { 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON }, + { 0.0, 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON }, + { 0.8 + 1.25 * BGC_FP64_EPSYLON, -0.6 - 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.6 - 1.25 * BGC_FP64_EPSYLON, -0.8 + 1.25 * BGC_FP64_EPSYLON, 0.0 } }; void test_vector3_is_unit_fp64() { - print_testing_name("bgc_vector3_is_unit_fp64"); + print_testing_name("bgc_fp64_vector3_is_unit"); // Testing zero values: for (int i = 0; i < _TEST_FP64_UNIT_VECTOR3_AMOUNT; i++) { - if (!bgc_vector3_is_unit_fp64(&_TEST_FP64_UNIT_VECTOR3_LIST[i])) { + if (!bgc_fp64_vector3_is_unit(&_TEST_FP64_UNIT_VECTOR3_LIST[i])) { print_testing_error("A unit vector was not recognized"); return; } @@ -99,7 +99,7 @@ void test_vector3_is_unit_fp64() // Testing non-zero values: for (int i = 0; i < _TEST_FP64_NONUNIT_VECTOR3_AMOUNT; i++) { - if (bgc_vector3_is_unit_fp64(&_TEST_FP64_NONUNIT_VECTOR3_LIST[i])) { + if (bgc_fp64_vector3_is_unit(&_TEST_FP64_NONUNIT_VECTOR3_LIST[i])) { print_testing_error("A non-unit vector was recognized as a unit vector"); return; } diff --git a/basic-geometry-test/tests/vector3/vector3_is_zero.c b/basic-geometry-test/tests/vector3/vector3_is_zero.c index e7b03c4..97247aa 100644 --- a/basic-geometry-test/tests/vector3/vector3_is_zero.c +++ b/basic-geometry-test/tests/vector3/vector3_is_zero.c @@ -7,35 +7,35 @@ static const int _TEST_FP32_ZERO_VECTOR3_AMOUNT = 7; static const int _TEST_FP32_NONZERO_VECTOR3_AMOUNT = 9; -static const BgcVector3FP32 _TEST_FP32_ZERO_VECTOR3_LIST[] = { +static const BGC_FP32_Vector3 _TEST_FP32_ZERO_VECTOR3_LIST[] = { { 0.0f, 0.0f, 0.0f }, - { 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { -0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32 }, - { 0.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32 } + { 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { -0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, -0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, 0.75f * BGC_FP32_EPSYLON }, + { 0.0f, 0.0f, -0.75f * BGC_FP32_EPSYLON } }; -static const BgcVector3FP32 _TEST_FP32_NONZERO_VECTOR3_LIST[] = { +static const BGC_FP32_Vector3 _TEST_FP32_NONZERO_VECTOR3_LIST[] = { { 0.0f, 1.0f, 0.0f }, - { 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 0.0f, 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, -1.25f * BGC_EPSYLON_FP32, 0.0f }, - { 0.0f, 0.0f, 1.25f * BGC_EPSYLON_FP32 }, - { 0.0f, 0.0f, -1.25f * BGC_EPSYLON_FP32 }, - { 1.25f * BGC_EPSYLON_FP32, 1.25f * BGC_EPSYLON_FP32, 0.0f }, - { -1.25f * BGC_EPSYLON_FP32, -1.25f * BGC_EPSYLON_FP32, 0.0f } + { 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { -1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 0.0f, 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, -1.25f * BGC_FP32_EPSYLON, 0.0f }, + { 0.0f, 0.0f, 1.25f * BGC_FP32_EPSYLON }, + { 0.0f, 0.0f, -1.25f * BGC_FP32_EPSYLON }, + { 1.25f * BGC_FP32_EPSYLON, 1.25f * BGC_FP32_EPSYLON, 0.0f }, + { -1.25f * BGC_FP32_EPSYLON, -1.25f * BGC_FP32_EPSYLON, 0.0f } }; void test_vector3_is_zero_fp32() { - print_testing_name("bgc_vector3_is_zero_fp32"); + print_testing_name("bgc_fp32_vector3_is_zero"); // Testing zero values: for (int i = 0; i < _TEST_FP32_ZERO_VECTOR3_AMOUNT; i++) { - if (!bgc_vector3_is_zero_fp32(&_TEST_FP32_ZERO_VECTOR3_LIST[i])) { + if (!bgc_fp32_vector3_is_zero(&_TEST_FP32_ZERO_VECTOR3_LIST[i])) { print_testing_error("A zero vector was not recongized"); return; } @@ -43,7 +43,7 @@ void test_vector3_is_zero_fp32() // Testing non-zero values: for (int i = 0; i < _TEST_FP32_NONZERO_VECTOR3_AMOUNT; i++) { - if (bgc_vector3_is_zero_fp32(&_TEST_FP32_NONZERO_VECTOR3_LIST[i])) { + if (bgc_fp32_vector3_is_zero(&_TEST_FP32_NONZERO_VECTOR3_LIST[i])) { print_testing_error("A non-zero vector was recongized as a zero vector"); return; } @@ -57,35 +57,35 @@ void test_vector3_is_zero_fp32() static const int _TEST_FP64_ZERO_VECTOR3_AMOUNT = 7; static const int _TEST_FP64_NONZERO_VECTOR3_AMOUNT = 9; -static const BgcVector3FP64 _TEST_FP64_ZERO_VECTOR3_LIST[] = { +static const BGC_FP64_Vector3 _TEST_FP64_ZERO_VECTOR3_LIST[] = { { 0.0, 0.0, 0.0 }, - { 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { -0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, -0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, 0.75 * BGC_EPSYLON_FP64 }, - { 0.0, 0.0, -0.75 * BGC_EPSYLON_FP64 } + { 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { -0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, -0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, 0.75 * BGC_FP64_EPSYLON }, + { 0.0, 0.0, -0.75 * BGC_FP64_EPSYLON } }; -static const BgcVector3FP64 _TEST_FP64_NONZERO_VECTOR3_LIST[] = { +static const BGC_FP64_Vector3 _TEST_FP64_NONZERO_VECTOR3_LIST[] = { { 0.0, 1.0, 0.0 }, - { 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { -1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 0.0, 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, -1.25 * BGC_EPSYLON_FP64, 0.0 }, - { 0.0, 0.0, 1.25 * BGC_EPSYLON_FP64 }, - { 0.0, 0.0, -1.25 * BGC_EPSYLON_FP64 }, - { 1.25 * BGC_EPSYLON_FP64, 1.25 * BGC_EPSYLON_FP64, 0.0 }, - { -BGC_EPSYLON_FP64, -BGC_EPSYLON_FP64, 0.0 } + { 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { -1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 0.0, 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, -1.25 * BGC_FP64_EPSYLON, 0.0 }, + { 0.0, 0.0, 1.25 * BGC_FP64_EPSYLON }, + { 0.0, 0.0, -1.25 * BGC_FP64_EPSYLON }, + { 1.25 * BGC_FP64_EPSYLON, 1.25 * BGC_FP64_EPSYLON, 0.0 }, + { -BGC_FP64_EPSYLON, -BGC_FP64_EPSYLON, 0.0 } }; void test_vector3_is_zero_fp64() { - print_testing_name("bgc_vector3_is_zero_fp64"); + print_testing_name("bgc_fp64_vector3_is_zero"); // Testing zero values: for (int i = 0; i < _TEST_FP64_ZERO_VECTOR3_AMOUNT; i++) { - if (!bgc_vector3_is_zero_fp64(&_TEST_FP64_ZERO_VECTOR3_LIST[i])) { + if (!bgc_fp64_vector3_is_zero(&_TEST_FP64_ZERO_VECTOR3_LIST[i])) { print_testing_error("A zero vector was not recongized"); return; } @@ -93,7 +93,7 @@ void test_vector3_is_zero_fp64() // Testing non-zero values: for (int i = 0; i < _TEST_FP64_NONZERO_VECTOR3_AMOUNT; i++) { - if (bgc_vector3_is_zero_fp64(&_TEST_FP64_NONZERO_VECTOR3_LIST[i])) { + if (bgc_fp64_vector3_is_zero(&_TEST_FP64_NONZERO_VECTOR3_LIST[i])) { print_testing_error("A non-zero vector was recongized as a zero vector"); return; } diff --git a/basic-geometry-test/tests/vector3/vector3_modulus.c b/basic-geometry-test/tests/vector3/vector3_modulus.c index c080032..55a1a4b 100644 --- a/basic-geometry-test/tests/vector3/vector3_modulus.c +++ b/basic-geometry-test/tests/vector3/vector3_modulus.c @@ -6,7 +6,7 @@ static const int _TEST_FP32_VECTOR3_AMOUNT = 4; -static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST[] = { +static const BGC_FP32_Vector3 _TEST_FP32_VECTOR3_LIST[] = { { 4.0f, 3.0f, 0.0f }, { 0.0f, -3.0f, -4.0f }, { 100.0f, -100.0f, 100.0f }, @@ -29,10 +29,10 @@ static const float _TEST_FP32_MODULUS_LIST[] = { void test_vector3_square_modulus_fp32() { - print_testing_name("bgc_vector3_get_square_modulus_fp32"); + print_testing_name("bgc_fp32_vector3_get_square_modulus"); for (int i = 0; i < _TEST_FP32_VECTOR3_AMOUNT; i++) { - if (!bgc_are_close_fp32(bgc_vector3_get_square_modulus_fp32(&_TEST_FP32_VECTOR3_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) { + if (!bgc_fp32_are_close(bgc_fp32_vector3_get_square_modulus(&_TEST_FP32_VECTOR3_LIST[i]), _TEST_FP32_SQUARE_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -43,10 +43,10 @@ void test_vector3_square_modulus_fp32() void test_vector3_modulus_fp32() { - print_testing_name("bgc_vector3_get_modulus_fp32"); + print_testing_name("bgc_fp32_vector3_get_modulus"); for (int i = 0; i < _TEST_FP32_VECTOR3_AMOUNT; i++) { - if (!bgc_are_close_fp32(bgc_vector3_get_modulus_fp32(&_TEST_FP32_VECTOR3_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) { + if (!bgc_fp32_are_close(bgc_fp32_vector3_get_modulus(&_TEST_FP32_VECTOR3_LIST[i]), _TEST_FP32_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -59,7 +59,7 @@ void test_vector3_modulus_fp32() static const int _TEST_FP64_VECTOR3_AMOUNT = 4; -static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST[] = { +static const BGC_FP64_Vector3 _TEST_FP64_VECTOR3_LIST[] = { { 0.0, 4.0, 3.0 }, { -3.0, 0.0, -4.0 }, { 100.0, -100.0, 100.0 }, @@ -82,10 +82,10 @@ static const double _TEST_FP64_MODULUS_LIST[] = { void test_vector3_square_modulus_fp64() { - print_testing_name("bgc_vector3_get_square_modulus_fp64"); + print_testing_name("bgc_fp64_vector3_get_square_modulus"); for (int i = 0; i < _TEST_FP64_VECTOR3_AMOUNT; i++) { - if (!bgc_are_close_fp64(bgc_vector3_get_square_modulus_fp64(&_TEST_FP64_VECTOR3_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) { + if (!bgc_fp64_are_close(bgc_fp64_vector3_get_square_modulus(&_TEST_FP64_VECTOR3_LIST[i]), _TEST_FP64_SQUARE_MODULUS_LIST[i])) { print_testing_failed(); return; } @@ -96,10 +96,10 @@ void test_vector3_square_modulus_fp64() void test_vector3_modulus_fp64() { - print_testing_name("bgc_vector3_get_modulus_fp64"); + print_testing_name("bgc_fp64_vector3_get_modulus"); for (int i = 0; i < _TEST_FP64_VECTOR3_AMOUNT; i++) { - if (!bgc_are_close_fp64(bgc_vector3_get_modulus_fp64(&_TEST_FP64_VECTOR3_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) { + if (!bgc_fp64_are_close(bgc_fp64_vector3_get_modulus(&_TEST_FP64_VECTOR3_LIST[i]), _TEST_FP64_MODULUS_LIST[i])) { print_testing_failed(); return; } diff --git a/basic-geometry-test/tests/vector3/vector3_reset.c b/basic-geometry-test/tests/vector3/vector3_reset.c index 5a1ee00..21f06d5 100644 --- a/basic-geometry-test/tests/vector3/vector3_reset.c +++ b/basic-geometry-test/tests/vector3/vector3_reset.c @@ -4,11 +4,11 @@ void test_vector3_reset_fp32() { - BgcVector3FP32 vector; + BGC_FP32_Vector3 vector; - print_testing_name("bgc_vector3_reset_fp32"); + print_testing_name("bgc_fp32_vector3_reset"); - bgc_vector3_reset_fp32(&vector); + bgc_fp32_vector3_reset(&vector); if (vector.x1 != 0.0f || vector.x2 != 0.0f || vector.x3 != 0.0f) { print_testing_failed(); @@ -20,11 +20,11 @@ void test_vector3_reset_fp32() void test_vector3_reset_fp64() { - BgcVector3FP64 vector; + BGC_FP64_Vector3 vector; - print_testing_name("bgc_vector3_reset_fp64"); + print_testing_name("bgc_fp64_vector3_reset"); - bgc_vector3_reset_fp64(&vector); + bgc_fp64_vector3_reset(&vector); if (vector.x1 != 0.0 || vector.x2 != 0.0 || vector.x3 != 0.0) { print_testing_failed(); diff --git a/basic-geometry-test/tests/vector3/vector3_set_values.c b/basic-geometry-test/tests/vector3/vector3_set_values.c index 5d0363b..617bcdb 100644 --- a/basic-geometry-test/tests/vector3/vector3_set_values.c +++ b/basic-geometry-test/tests/vector3/vector3_set_values.c @@ -8,25 +8,25 @@ void test_vector3_set_values_fp32() { - BgcVector3FP32 vector; + BGC_FP32_Vector3 vector; - print_testing_name("bgc_vector3_set_values_fp32"); + print_testing_name("bgc_fp32_vector3_make"); - bgc_vector3_set_values_fp32(1.0f, 2.0f, 3.0f, &vector); + bgc_fp32_vector3_make(1.0f, 2.0f, 3.0f, &vector); if (vector.x1 != 1.0f || vector.x2 != 2.0f || vector.x3 != 3.0f) { print_testing_error("First step failed"); return; } - bgc_vector3_set_values_fp32(-3.0f, -5.0f, -7.0f, &vector); + bgc_fp32_vector3_make(-3.0f, -5.0f, -7.0f, &vector); if (vector.x1 != -3.0f || vector.x2 != -5.0f || vector.x3 != -7.0f) { print_testing_error("Second step failed"); return; } - bgc_vector3_set_values_fp32(-2.0f, 2.0f, 4.0f, &vector); + bgc_fp32_vector3_make(-2.0f, 2.0f, 4.0f, &vector); if (vector.x1 != -2.0f || vector.x2 != 2.0f || vector.x3 != 4.0f) { print_testing_error("Third step failed"); @@ -40,26 +40,26 @@ void test_vector3_set_values_fp32() void test_vector3_set_values_fp64() { - BgcVector3FP64 vector; + BGC_FP64_Vector3 vector; - print_testing_name("bgc_vector3_set_values_fp64"); + print_testing_name("bgc_fp64_vector3_make"); - bgc_vector3_set_values_fp64(1.0, 2.0, 3.0, &vector); + bgc_fp64_vector3_make(1.0, 2.0, 3.0, &vector); if (vector.x1 != 1.0 || vector.x2 != 2.0 || vector.x3 != 3.0) { print_testing_error("First step failed"); return; } - bgc_vector3_set_values_fp64(-3.0, -5.0, -7.0, &vector); + bgc_fp64_vector3_make(-3.0, -5.0, -7.0, &vector); if (vector.x1 != -3.0 || vector.x2 != -5.0 || vector.x3 != -7.0) { print_testing_error("Second step failed"); return; } - bgc_vector3_set_values_fp64(-2.0, 2.0, 4.0, &vector); + bgc_fp64_vector3_make(-2.0, 2.0, 4.0, &vector); if (vector.x1 != -2.0 || vector.x2 != 2.0 || vector.x3 != 4.0) { print_testing_error("Third step failed"); diff --git a/basic-geometry-test/tests/vector3/vector3_swap.c b/basic-geometry-test/tests/vector3/vector3_swap.c index 9c7705d..6573bae 100644 --- a/basic-geometry-test/tests/vector3/vector3_swap.c +++ b/basic-geometry-test/tests/vector3/vector3_swap.c @@ -8,14 +8,14 @@ static const int _TEST_FP32_VECTOR3_AMOUNT = 4; -static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST1[] = { +static const BGC_FP32_Vector3 _TEST_FP32_VECTOR3_LIST1[] = { { 1.0f, 2.0f, 3.0f }, { -3.0f, -2.0f, -1.0f }, { 100.0f, -100.0f, 344.7f }, { -100.1f, 100.2f, -271.3f } }; -static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST2[] = { +static const BGC_FP32_Vector3 _TEST_FP32_VECTOR3_LIST2[] = { { 3.6f, 5.3f, -0.123f }, { 204.07f, -781.89f, 891.3f }, { -20.02f, -1.0003f, 0.9275f }, @@ -24,15 +24,15 @@ static const BgcVector3FP32 _TEST_FP32_VECTOR3_LIST2[] = { void test_vector3_swap_fp32() { - BgcVector3FP32 vector1, vector2; + BGC_FP32_Vector3 vector1, vector2; - print_testing_name("bgc_vector3_swap_fp32"); + print_testing_name("bgc_fp32_vector3_swap"); for (int i = 0; i < _TEST_FP32_VECTOR3_AMOUNT; i++) { - bgc_vector3_copy_fp32(&_TEST_FP32_VECTOR3_LIST1[i], &vector1); - bgc_vector3_copy_fp32(&_TEST_FP32_VECTOR3_LIST2[i], &vector2); + bgc_fp32_vector3_copy(&_TEST_FP32_VECTOR3_LIST1[i], &vector1); + bgc_fp32_vector3_copy(&_TEST_FP32_VECTOR3_LIST2[i], &vector2); - bgc_vector3_swap_fp32(&vector1, &vector2); + bgc_fp32_vector3_swap(&vector1, &vector2); if (vector1.x1 != _TEST_FP32_VECTOR3_LIST2[i].x1 || vector1.x2 != _TEST_FP32_VECTOR3_LIST2[i].x2 || @@ -52,14 +52,14 @@ void test_vector3_swap_fp32() static const int _TEST_FP64_VECTOR3_AMOUNT = 4; -static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST1[] = { +static const BGC_FP64_Vector3 _TEST_FP64_VECTOR3_LIST1[] = { { 1.0, 2.0, 3.0 }, { -3.0, -2.0, -1.0 }, { 100.0, -100.0, 344.7 }, { -100.1, 100.2, -271.3 } }; -static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST2[] = { +static const BGC_FP64_Vector3 _TEST_FP64_VECTOR3_LIST2[] = { { 3.6, 5.3, -0.123 }, { 204.07, -781.89, 891.3 }, { -20.02, -1.0003, 0.9275 }, @@ -68,15 +68,15 @@ static const BgcVector3FP64 _TEST_FP64_VECTOR3_LIST2[] = { void test_vector3_swap_fp64() { - BgcVector3FP64 vector1, vector2; + BGC_FP64_Vector3 vector1, vector2; - print_testing_name("bgc_vector3_swap_fp64"); + print_testing_name("bgc_fp64_vector3_swap"); for (int i = 0; i < _TEST_FP64_VECTOR3_AMOUNT; i++) { - bgc_vector3_copy_fp64(&_TEST_FP64_VECTOR3_LIST1[i], &vector1); - bgc_vector3_copy_fp64(&_TEST_FP64_VECTOR3_LIST2[i], &vector2); + bgc_fp64_vector3_copy(&_TEST_FP64_VECTOR3_LIST1[i], &vector1); + bgc_fp64_vector3_copy(&_TEST_FP64_VECTOR3_LIST2[i], &vector2); - bgc_vector3_swap_fp64(&vector1, &vector2); + bgc_fp64_vector3_swap(&vector1, &vector2); if (vector1.x1 != _TEST_FP64_VECTOR3_LIST2[i].x1 || vector1.x2 != _TEST_FP64_VECTOR3_LIST2[i].x2 || diff --git a/basic-geometry-test/tests/versor/versor_are_close.c b/basic-geometry-test/tests/versor/versor_are_close.c index 312c795..acf9e14 100644 --- a/basic-geometry-test/tests/versor/versor_are_close.c +++ b/basic-geometry-test/tests/versor/versor_are_close.c @@ -9,35 +9,35 @@ static const int _TEST_FP32_CLOSE_VERSOR_PAIR_AMOUNT = 10; static const TestVersorPairFP32 _TEST_FP32_CLOSE_VERSOR_PAIR_LIST[] = { { { 1.0f, 0.0f, 0.0f, 0.0f }, - { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f } + { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f } }, { { 1.0f, 0.0f, 0.0f, 0.0f }, - { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f } + { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f } }, { { 0.0f, 1.0f, 0.0f, 0.0f }, - { 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f } + { 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f } }, { { 0.0f, 1.0f, 0.0f, 0.0f }, - { 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f } + { 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f } }, { { 0.0f, 0.0f, 1.0f, 0.0f }, - { 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f } + { 0.0f, 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f } }, { { 0.0f, 0.0f, 1.0f, 0.0f }, - { 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f } + { 0.0f, 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f } }, { { 0.0f, 0.0f, 0.0f, 1.0f }, - { 0.0f, 0.0f, 0.0f, 1.0f + 0.75f * BGC_EPSYLON_FP32 } + { 0.0f, 0.0f, 0.0f, 1.0f + 0.75f * BGC_FP32_EPSYLON } }, { { 0.0f, 0.0f, 0.0f, 1.0f }, - { 0.0f, 0.0f, 0.0f, 1.0f - 0.75f * BGC_EPSYLON_FP32 } + { 0.0f, 0.0f, 0.0f, 1.0f - 0.75f * BGC_FP32_EPSYLON } }, { { 0.70710678f, 0.0f, 0.70710675f, 0.0f }, @@ -54,35 +54,35 @@ static const int _TEST_FP32_DIFFERENT_VERSOR_PAIR_AMOUNT = 10; static const TestVersorPairFP32 _TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[] = { { { 1.0f, 0.0f, 0.0f, 0.0f }, - { 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f } + { 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f } }, { { 1.0f, 0.0f, 0.0f, 0.0f }, - { 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f } + { 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f } }, { { 0.0f, 1.0f, 0.0f, 0.0f }, - { 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f } + { 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f } }, { { 0.0f, 1.0f, 0.0f, 0.0f }, - { 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f } + { 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f } }, { { 0.0f, 0.0f, 1.0f, 0.0f }, - { 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32, 0.0f } + { 0.0f, 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON, 0.0f } }, { { 0.0f, 0.0f, 1.0f, 0.0f }, - { 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32, 0.0f } + { 0.0f, 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON, 0.0f } }, { { 0.0f, 0.0f, 0.0f, 1.0f }, - { 0.0f, 0.0f, 0.0f, 1.0f + 1.25f * BGC_EPSYLON_FP32 } + { 0.0f, 0.0f, 0.0f, 1.0f + 1.25f * BGC_FP32_EPSYLON } }, { { 0.0f, 0.0f, 0.0f, 1.0f }, - { 0.0f, 0.0f, 0.0f, 1.0f - 1.25f * BGC_EPSYLON_FP32 } + { 0.0f, 0.0f, 0.0f, 1.0f - 1.25f * BGC_FP32_EPSYLON } }, { { 0.707106f, 0.0f, 0.707107f, 0.0f }, @@ -96,11 +96,11 @@ static const TestVersorPairFP32 _TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[] = { void test_versor_are_close_fp32() { - print_testing_name("bgc_versor_are_close_fp32"); + print_testing_name("bgc_fp32_versor_are_close"); // Testing close pairs of versors: for (int i = 0; i < _TEST_FP32_CLOSE_VERSOR_PAIR_AMOUNT; i++) { - if (!bgc_versor_are_close_fp32(&_TEST_FP32_CLOSE_VERSOR_PAIR_LIST[i].first, &_TEST_FP32_CLOSE_VERSOR_PAIR_LIST[i].second)) { + if (!bgc_fp32_versor_are_close(&_TEST_FP32_CLOSE_VERSOR_PAIR_LIST[i].first, &_TEST_FP32_CLOSE_VERSOR_PAIR_LIST[i].second)) { print_testing_error("A pair of close versors was not recognized"); return; } @@ -108,7 +108,7 @@ void test_versor_are_close_fp32() // Testing different pairs of versors: for (int i = 0; i < _TEST_FP32_DIFFERENT_VERSOR_PAIR_AMOUNT; i++) { - if (bgc_versor_are_close_fp32(&_TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[i].first, &_TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[i].second)) { + if (bgc_fp32_versor_are_close(&_TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[i].first, &_TEST_FP32_DIFFERENT_VERSOR_PAIR_LIST[i].second)) { print_testing_error("A pair of different versors was recognized as close versors"); return; } @@ -125,35 +125,35 @@ static const int _TEST_FP64_CLOSE_VERSOR_PAIR_AMOUNT = 10; static const TestVersorPairFP64 _TEST_FP64_CLOSE_VERSOR_PAIR_LIST[] = { { { 1.0, 0.0, 0.0, 0.0 }, - { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 } + { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 } }, { { 1.0, 0.0, 0.0, 0.0 }, - { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 } + { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 } }, { { 0.0, 1.0, 0.0, 0.0 }, - { 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 } + { 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 } }, { { 0.0, 1.0, 0.0, 0.0 }, - { 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 } + { 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 } }, { { 0.0, 0.0, 1.0, 0.0 }, - { 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0 } + { 0.0, 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0 } }, { { 0.0, 0.0, 1.0, 0.0 }, - { 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0 } + { 0.0, 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0 } }, { { 0.0, 0.0, 0.0, 1.0 }, - { 0.0, 0.0, 0.0, 1.0 + 0.75 * BGC_EPSYLON_FP64 } + { 0.0, 0.0, 0.0, 1.0 + 0.75 * BGC_FP64_EPSYLON } }, { { 0.0, 0.0, 0.0, 1.0 }, - { 0.0, 0.0, 0.0, 1.0 - 0.75 * BGC_EPSYLON_FP64 } + { 0.0, 0.0, 0.0, 1.0 - 0.75 * BGC_FP64_EPSYLON } }, { { 0.7071067811865475244, 0.0, 0.7071067811865465244, 0.0 }, @@ -170,35 +170,35 @@ static const int _TEST_FP64_DIFFERENT_VERSOR_PAIR_AMOUNT = 10; static const TestVersorPairFP64 _TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[] = { { { 1.0, 0.0, 0.0, 0.0 }, - { 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 } + { 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 } }, { { 1.0, 0.0, 0.0, 0.0 }, - { 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 } + { 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 } }, { { 0.0, 1.0, 0.0, 0.0 }, - { 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 } + { 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 } }, { { 0.0, 1.0, 0.0, 0.0 }, - { 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0, 0.0 } + { 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0, 0.0 } }, { { 0.0, 0.0, 1.0, 0.0 }, - { 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64, 0.0 } + { 0.0, 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON, 0.0 } }, { { 0.0, 0.0, 1.0, 0.0 }, - { 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64, 0.0 } + { 0.0, 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON, 0.0 } }, { { 0.0, 0.0, 0.0, 1.0 }, - { 0.0, 0.0, 0.0, 1.0 + 1.25 * BGC_EPSYLON_FP64 } + { 0.0, 0.0, 0.0, 1.0 + 1.25 * BGC_FP64_EPSYLON } }, { { 0.0, 0.0, 0.0, 1.0 }, - { 0.0, 0.0, 0.0, 1.0 - 1.25 * BGC_EPSYLON_FP64 } + { 0.0, 0.0, 0.0, 1.0 - 1.25 * BGC_FP64_EPSYLON } }, { { 0.7071067811866, 0.0, 0.7071067811865, 0.0 }, @@ -212,11 +212,11 @@ static const TestVersorPairFP64 _TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[] = { void test_versor_are_close_fp64() { - print_testing_name("bgc_versor_are_close_fp64"); + print_testing_name("bgc_fp64_versor_are_close"); // Testing close pairs of versors: for (int i = 0; i < _TEST_FP64_CLOSE_VERSOR_PAIR_AMOUNT; i++) { - if (!bgc_versor_are_close_fp64(&_TEST_FP64_CLOSE_VERSOR_PAIR_LIST[i].first, &_TEST_FP64_CLOSE_VERSOR_PAIR_LIST[i].second)) { + if (!bgc_fp64_versor_are_close(&_TEST_FP64_CLOSE_VERSOR_PAIR_LIST[i].first, &_TEST_FP64_CLOSE_VERSOR_PAIR_LIST[i].second)) { print_testing_error("A pair of close versors was not recognized"); return; } @@ -224,7 +224,7 @@ void test_versor_are_close_fp64() // Testing different pairs of versors: for (int i = 0; i < _TEST_FP64_DIFFERENT_VERSOR_PAIR_AMOUNT; i++) { - if (bgc_versor_are_close_fp64(&_TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[i].first, &_TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[i].second)) { + if (bgc_fp64_versor_are_close(&_TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[i].first, &_TEST_FP64_DIFFERENT_VERSOR_PAIR_LIST[i].second)) { print_testing_error("A pair of different versors was recognized as close versors"); return; } diff --git a/basic-geometry-test/tests/versor/versor_combine.c b/basic-geometry-test/tests/versor/versor_combine.c index 443f2a2..830e880 100644 --- a/basic-geometry-test/tests/versor/versor_combine.c +++ b/basic-geometry-test/tests/versor/versor_combine.c @@ -38,14 +38,14 @@ static const TestVersorTripletFP32 _TEST_FP32_VERSOR_TRIPLET_LIST[] = { void test_versor_combine_fp32() { - BgcVersorFP32 versor; + BGC_FP32_Versor versor; - print_testing_name("bgc_versor_combine_fp32"); + print_testing_name("bgc_fp32_versor_combine"); for (int i = 0; i < _TEST_FP32_VERSOR_TRIPLET_AMOUNT; i++) { - bgc_versor_combine_fp32(&_TEST_FP32_VERSOR_TRIPLET_LIST[i].first, &_TEST_FP32_VERSOR_TRIPLET_LIST[i].second, &versor); + bgc_fp32_versor_combine(&_TEST_FP32_VERSOR_TRIPLET_LIST[i].first, &_TEST_FP32_VERSOR_TRIPLET_LIST[i].second, &versor); - if (!bgc_versor_are_close_fp32(&versor, &_TEST_FP32_VERSOR_TRIPLET_LIST[i].result)) { + if (!bgc_fp32_versor_are_close(&versor, &_TEST_FP32_VERSOR_TRIPLET_LIST[i].result)) { print_testing_failed(); return; } @@ -88,14 +88,14 @@ static const TestVersorTripletFP64 _TEST_FP64_VERSOR_TRIPLET_LIST[] = { void test_versor_combine_fp64() { - BgcVersorFP64 versor; + BGC_FP64_Versor versor; - print_testing_name("bgc_versor_combine_fp64"); + print_testing_name("bgc_fp64_versor_combine"); for (int i = 0; i < _TEST_FP64_VERSOR_TRIPLET_AMOUNT; i++) { - bgc_versor_combine_fp64(&_TEST_FP64_VERSOR_TRIPLET_LIST[i].first, &_TEST_FP64_VERSOR_TRIPLET_LIST[i].second, &versor); + bgc_fp64_versor_combine(&_TEST_FP64_VERSOR_TRIPLET_LIST[i].first, &_TEST_FP64_VERSOR_TRIPLET_LIST[i].second, &versor); - if (!bgc_versor_are_close_fp64(&versor, &_TEST_FP64_VERSOR_TRIPLET_LIST[i].result)) { + if (!bgc_fp64_versor_are_close(&versor, &_TEST_FP64_VERSOR_TRIPLET_LIST[i].result)) { print_testing_failed(); return; } diff --git a/basic-geometry-test/tests/versor/versor_copy.c b/basic-geometry-test/tests/versor/versor_copy.c index e424869..74a2bb2 100644 --- a/basic-geometry-test/tests/versor/versor_copy.c +++ b/basic-geometry-test/tests/versor/versor_copy.c @@ -7,7 +7,7 @@ // ==================== FP32 ==================== // static const int _TEST_FP32_VERSOR_AMOUNT = 8; -static const BgcVersorFP32 _TEST_FP32_VERSOR_LIST[] = { +static const BGC_FP32_Versor _TEST_FP32_VERSOR_LIST[] = { { 1.0f, 0.0f, 0.0f, 0.0f }, { -1.0f, 0.0f, 0.0f, 0.0f }, { 0.182574185835f, 0.36514837167f, 0.54772255751f, 0.73029674334f }, @@ -20,13 +20,13 @@ static const BgcVersorFP32 _TEST_FP32_VERSOR_LIST[] = { void test_versor_copy_fp32() { - BgcVersorFP32 versor; + BGC_FP32_Versor versor; - print_testing_name("bgc_versor_copy_fp32"); + print_testing_name("bgc_fp32_versor_copy"); for (int i = 0; i < _TEST_FP32_VERSOR_AMOUNT; i++) { - bgc_versor_copy_fp32(&_TEST_FP32_VERSOR_LIST[i], &versor); + bgc_fp32_versor_copy(&_TEST_FP32_VERSOR_LIST[i], &versor); if (versor._s0 != _TEST_FP32_VERSOR_LIST[i]._s0 || versor._x1 != _TEST_FP32_VERSOR_LIST[i]._x1 || @@ -43,7 +43,7 @@ void test_versor_copy_fp32() // ==================== FP64 ==================== // static const int _TEST_FP64_VERSOR_AMOUNT = 8; -static const BgcVersorFP64 _TEST_FP64_VERSOR_LIST[] = { +static const BGC_FP64_Versor _TEST_FP64_VERSOR_LIST[] = { { 1.0f, 0.0f, 0.0f, 0.0f }, { -1.0f, 0.0f, 0.0f, 0.0f }, { 0.1825741858350553712, 0.3651483716701107423, 0.5477225575051661135, 0.7302967433402214846 }, @@ -56,13 +56,13 @@ static const BgcVersorFP64 _TEST_FP64_VERSOR_LIST[] = { void test_versor_copy_fp64() { - BgcVersorFP64 versor; + BGC_FP64_Versor versor; - print_testing_name("bgc_versor_copy_fp64"); + print_testing_name("bgc_fp64_versor_copy"); for (int i = 0; i < _TEST_FP64_VERSOR_AMOUNT; i++) { - bgc_versor_copy_fp64(&_TEST_FP64_VERSOR_LIST[i], &versor); + bgc_fp64_versor_copy(&_TEST_FP64_VERSOR_LIST[i], &versor); if (versor._s0 != _TEST_FP64_VERSOR_LIST[i]._s0 || versor._x1 != _TEST_FP64_VERSOR_LIST[i]._x1 || diff --git a/basic-geometry-test/tests/versor/versor_is_identity.c b/basic-geometry-test/tests/versor/versor_is_identity.c index 024bcf9..738f0f3 100644 --- a/basic-geometry-test/tests/versor/versor_is_identity.c +++ b/basic-geometry-test/tests/versor/versor_is_identity.c @@ -7,33 +7,33 @@ static const int _TEST_FP32_IDENTIYTY_VERSOR_AMOUNT = 9; static const int _TEST_FP32_NON_IDENTIYTY_VERSOR_AMOUNT = 5; -static const BgcVersorFP32 _TEST_FP32_IDENTIYTY_VERSOR_LIST[] = { +static const BGC_FP32_Versor _TEST_FP32_IDENTIYTY_VERSOR_LIST[] = { { 1.0f, 0.0f, 0.0f, 0.0f }, - { 1.0f + 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }, - { 1.0f - 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f }, - { 1.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 1.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f, 0.0f }, - { 1.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 1.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32, 0.0f }, - { 1.0f, 0.0f, 0.0f, 0.75f * BGC_EPSYLON_FP32 }, - { 1.0f, 0.0f, 0.0f, -0.75f * BGC_EPSYLON_FP32 } + { 1.0f + 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }, + { 1.0f - 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f, 0.0f }, + { 1.0f, 0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 1.0f, -0.75f * BGC_FP32_EPSYLON, 0.0f, 0.0f }, + { 1.0f, 0.0f, 0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 1.0f, 0.0f, -0.75f * BGC_FP32_EPSYLON, 0.0f }, + { 1.0f, 0.0f, 0.0f, 0.75f * BGC_FP32_EPSYLON }, + { 1.0f, 0.0f, 0.0f, -0.75f * BGC_FP32_EPSYLON } }; -static const BgcVersorFP32 _TEST_FP32_NON_IDENTIYTY_VERSOR_LIST[] = { +static const BGC_FP32_Versor _TEST_FP32_NON_IDENTIYTY_VERSOR_LIST[] = { { 0.0f, 1.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 1.0f, 0.0f }, { 0.0f, 0.0f, 0.0f, 1.0f }, { 0.5f, 0.5f, 0.5f, 0.5f }, - { 1.0f, -1.25f * BGC_EPSYLON_FP32, 0.0f, 0.0f } + { 1.0f, -1.25f * BGC_FP32_EPSYLON, 0.0f, 0.0f } }; void test_versor_is_identity_fp32() { - print_testing_name("bgc_versor_is_identity_fp32"); + print_testing_name("bgc_fp32_versor_is_idle"); // Testing zero values: for (int i = 0; i < _TEST_FP32_IDENTIYTY_VERSOR_AMOUNT; i++) { - if (!bgc_versor_is_identity_fp32(&_TEST_FP32_IDENTIYTY_VERSOR_LIST[i])) { + if (!bgc_fp32_versor_is_idle(&_TEST_FP32_IDENTIYTY_VERSOR_LIST[i])) { print_testing_error("An identity versor was not recognized"); return; } @@ -41,7 +41,7 @@ void test_versor_is_identity_fp32() // Testing non-zero values: for (int i = 0; i < _TEST_FP32_NON_IDENTIYTY_VERSOR_AMOUNT; i++) { - if (bgc_versor_is_identity_fp32(&_TEST_FP32_NON_IDENTIYTY_VERSOR_LIST[i])) { + if (bgc_fp32_versor_is_idle(&_TEST_FP32_NON_IDENTIYTY_VERSOR_LIST[i])) { print_testing_error("A non-identity versor was recognized as an identity versor"); return; } @@ -55,33 +55,33 @@ void test_versor_is_identity_fp32() static const int _TEST_FP64_IDENTIYTY_VERSOR_AMOUNT = 9; static const int _TEST_FP64_NON_IDENTIYTY_VERSOR_AMOUNT = 5; -static const BgcVersorFP64 _TEST_FP64_IDENTIYTY_VERSOR_LIST[] = { +static const BGC_FP64_Versor _TEST_FP64_IDENTIYTY_VERSOR_LIST[] = { { 1.0, 0.0, 0.0, 0.0 }, - { 1.0 + 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }, - { 1.0 - 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 }, - { 1.0, -0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 1.0, 0.75 * BGC_EPSYLON_FP64, 0.0, 0.0 }, - { 1.0, 0.0, 0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 1.0, 0.0, -0.75 * BGC_EPSYLON_FP64, 0.0 }, - { 1.0, 0.0, 0.0, 0.75 * BGC_EPSYLON_FP64 }, - { 1.0, 0.0, 0.0, -0.75 * BGC_EPSYLON_FP64 } + { 1.0 + 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }, + { 1.0 - 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0, 0.0 }, + { 1.0, -0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 1.0, 0.75 * BGC_FP64_EPSYLON, 0.0, 0.0 }, + { 1.0, 0.0, 0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 1.0, 0.0, -0.75 * BGC_FP64_EPSYLON, 0.0 }, + { 1.0, 0.0, 0.0, 0.75 * BGC_FP64_EPSYLON }, + { 1.0, 0.0, 0.0, -0.75 * BGC_FP64_EPSYLON } }; -static const BgcVersorFP64 _TEST_FP64_NON_IDENTIYTY_VERSOR_LIST[] = { +static const BGC_FP64_Versor _TEST_FP64_NON_IDENTIYTY_VERSOR_LIST[] = { { 0.0, 1.0, 0.0, 0.0 }, { 0.0, 0.0, 1.0, 0.0 }, { 0.0, 0.0, 0.0, 1.0 }, { 0.5, 0.5, 0.5, 0.5 }, - { 1.0, 0.0, 1.25 * BGC_EPSYLON_FP64, 0.0 } + { 1.0, 0.0, 1.25 * BGC_FP64_EPSYLON, 0.0 } }; void test_versor_is_identity_fp64() { - print_testing_name("bgc_versor_is_identity_fp64"); + print_testing_name("bgc_fp64_versor_is_idle"); // Testing zero values: for (int i = 0; i < _TEST_FP64_IDENTIYTY_VERSOR_AMOUNT; i++) { - if (!bgc_versor_is_identity_fp64(&_TEST_FP64_IDENTIYTY_VERSOR_LIST[i])) { + if (!bgc_fp64_versor_is_idle(&_TEST_FP64_IDENTIYTY_VERSOR_LIST[i])) { print_testing_error("An identity versor was not recognized"); return; } @@ -89,7 +89,7 @@ void test_versor_is_identity_fp64() // Testing non-zero values: for (int i = 0; i < _TEST_FP64_NON_IDENTIYTY_VERSOR_AMOUNT; i++) { - if (bgc_versor_is_identity_fp64(&_TEST_FP64_NON_IDENTIYTY_VERSOR_LIST[i])) { + if (bgc_fp64_versor_is_idle(&_TEST_FP64_NON_IDENTIYTY_VERSOR_LIST[i])) { print_testing_error("A non-identity versor was recognized as an identity versor"); return; } diff --git a/basic-geometry-test/tests/versor/versor_reset.c b/basic-geometry-test/tests/versor/versor_reset.c index 016f2d9..cc7e0c3 100644 --- a/basic-geometry-test/tests/versor/versor_reset.c +++ b/basic-geometry-test/tests/versor/versor_reset.c @@ -4,11 +4,11 @@ void test_versor_reset_fp32() { - BgcVersorFP32 versor; + BGC_FP32_Versor versor; - print_testing_name("bgc_versor_reset_fp32"); + print_testing_name("bgc_fp32_versor_reset"); - bgc_versor_reset_fp32(&versor); + bgc_fp32_versor_reset(&versor); if (versor._s0 != 1.0f || versor._x1 != 0.0f || versor._x2 != 0.0f || versor._x3 != 0.0f) { print_testing_failed(); @@ -20,11 +20,11 @@ void test_versor_reset_fp32() void test_versor_reset_fp64() { - BgcVersorFP64 versor; + BGC_FP64_Versor versor; - print_testing_name("bgc_versor_reset_fp64"); + print_testing_name("bgc_fp64_versor_reset"); - bgc_versor_reset_fp64(&versor); + bgc_fp64_versor_reset(&versor); if (versor._s0 != 1.0 || versor._x1 != 0.0 || versor._x2 != 0.0 || versor._x3 != 0.0) { print_testing_failed(); diff --git a/basic-geometry-test/tests/versor/versor_set_values.c b/basic-geometry-test/tests/versor/versor_set_values.c index 0e108b4..4b051d1 100644 --- a/basic-geometry-test/tests/versor/versor_set_values.c +++ b/basic-geometry-test/tests/versor/versor_set_values.c @@ -7,7 +7,7 @@ // ==================== FP32 ==================== // static const int _TEST_FP32_VERSOR_DATA_AMOUNT = 4; -static const BgcQuaternionFP32 _TEST_FP32_VERSOR_DATA_LIST[] = { +static const BGC_FP32_Quaternion _TEST_FP32_VERSOR_DATA_LIST[] = { { 1.0f, 2.0f, 3.0f, 4.0f }, { 4.0f, 3.0f, 2.0f, 1.0f }, { -1.0f, 0.0f, 0.0f, 0.0f }, @@ -17,12 +17,12 @@ static const BgcQuaternionFP32 _TEST_FP32_VERSOR_DATA_LIST[] = { void test_versor_set_values_fp32() { float versor_module, ratio; - BgcVersorFP32 versor; + BGC_FP32_Versor versor; - print_testing_name("bgc_versor_set_values_fp32"); + print_testing_name("bgc_fp32_versor_make"); for (int i = 0; i < _TEST_FP32_VERSOR_DATA_AMOUNT; i++) { - bgc_versor_set_values_fp32( + bgc_fp32_versor_make( _TEST_FP32_VERSOR_DATA_LIST[i].s0, _TEST_FP32_VERSOR_DATA_LIST[i].x1, _TEST_FP32_VERSOR_DATA_LIST[i].x2, @@ -32,28 +32,28 @@ void test_versor_set_values_fp32() versor_module = sqrtf(versor._s0 * versor._s0 + versor._x1 * versor._x1 + versor._x2 * versor._x2 + versor._x3 * versor._x3); - if (!bgc_is_unit_fp32(versor_module)) { + if (!bgc_fp32_is_unit(versor_module)) { print_testing_error("Versor module is not equal to one."); return; } - if (bgc_is_zero_fp32(_TEST_FP32_VERSOR_DATA_LIST[i].s0)) { + if (bgc_fp32_is_zero(_TEST_FP32_VERSOR_DATA_LIST[i].s0)) { continue; } ratio = _TEST_FP32_VERSOR_DATA_LIST[i].s0 / versor._s0; - if (!bgc_is_zero_fp32(_TEST_FP32_VERSOR_DATA_LIST[i].x1) && !bgc_are_close_fp32(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x1 / versor._x1)) { + if (!bgc_fp32_is_zero(_TEST_FP32_VERSOR_DATA_LIST[i].x1) && !bgc_fp32_are_close(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x1 / versor._x1)) { print_testing_error("Versor was not normalized proportionally (x1)."); return; } - if (!bgc_is_zero_fp32(_TEST_FP32_VERSOR_DATA_LIST[i].x2) && !bgc_are_close_fp32(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x2 / versor._x2)) { + if (!bgc_fp32_is_zero(_TEST_FP32_VERSOR_DATA_LIST[i].x2) && !bgc_fp32_are_close(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x2 / versor._x2)) { print_testing_error("Versor was not normalized proportionally (x2)."); return; } - if (!bgc_is_zero_fp32(_TEST_FP32_VERSOR_DATA_LIST[i].x3) && !bgc_are_close_fp32(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x3 / versor._x3)) { + if (!bgc_fp32_is_zero(_TEST_FP32_VERSOR_DATA_LIST[i].x3) && !bgc_fp32_are_close(ratio, _TEST_FP32_VERSOR_DATA_LIST[i].x3 / versor._x3)) { print_testing_error("Versor was not normalized proportionally (x3)."); return; } @@ -65,7 +65,7 @@ void test_versor_set_values_fp32() // ==================== FP64 ==================== // static const int _TEST_FP64_VERSOR_DATA_AMOUNT = 4; -static const BgcQuaternionFP64 _TEST_FP64_VERSOR_DATA_LIST[] = { +static const BGC_FP64_Quaternion _TEST_FP64_VERSOR_DATA_LIST[] = { { 1.0, 2.0, 3.0, 4.0 }, { 4.0, 3.0, 2.0, 1.0 }, { -1.0, 0.0, 0.0, 0.0 }, @@ -75,12 +75,12 @@ static const BgcQuaternionFP64 _TEST_FP64_VERSOR_DATA_LIST[] = { void test_versor_set_values_fp64() { double versor_module, ratio; - BgcVersorFP64 versor; + BGC_FP64_Versor versor; - print_testing_name("bgc_versor_set_values_fp64"); + print_testing_name("bgc_fp64_versor_make"); for (int i = 0; i < _TEST_FP64_VERSOR_DATA_AMOUNT; i++) { - bgc_versor_set_values_fp64( + bgc_fp64_versor_make( _TEST_FP64_VERSOR_DATA_LIST[i].s0, _TEST_FP64_VERSOR_DATA_LIST[i].x1, _TEST_FP64_VERSOR_DATA_LIST[i].x2, @@ -90,28 +90,28 @@ void test_versor_set_values_fp64() versor_module = sqrt(versor._s0 * versor._s0 + versor._x1 * versor._x1 + versor._x2 * versor._x2 + versor._x3 * versor._x3); - if (!bgc_is_unit_fp64(versor_module)) { + if (!bgc_fp64_is_unit(versor_module)) { print_testing_error("Versor module is not equal to one."); return; } - if (bgc_is_zero_fp64(_TEST_FP64_VERSOR_DATA_LIST[i].s0)) { + if (bgc_fp64_is_zero(_TEST_FP64_VERSOR_DATA_LIST[i].s0)) { continue; } ratio = _TEST_FP64_VERSOR_DATA_LIST[i].s0 / versor._s0; - if (!bgc_is_zero_fp64(_TEST_FP64_VERSOR_DATA_LIST[i].x1) && !bgc_are_close_fp64(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x1 / versor._x1)) { + if (!bgc_fp64_is_zero(_TEST_FP64_VERSOR_DATA_LIST[i].x1) && !bgc_fp64_are_close(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x1 / versor._x1)) { print_testing_error("Versor was not normalized proportionally (x1)."); return; } - if (!bgc_is_zero_fp64(_TEST_FP64_VERSOR_DATA_LIST[i].x2) && !bgc_are_close_fp64(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x2 / versor._x2)) { + if (!bgc_fp64_is_zero(_TEST_FP64_VERSOR_DATA_LIST[i].x2) && !bgc_fp64_are_close(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x2 / versor._x2)) { print_testing_error("Versor was not normalized proportionally (x2)."); return; } - if (!bgc_is_zero_fp64(_TEST_FP64_VERSOR_DATA_LIST[i].x3) && !bgc_are_close_fp64(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x3 / versor._x3)) { + if (!bgc_fp64_is_zero(_TEST_FP64_VERSOR_DATA_LIST[i].x3) && !bgc_fp64_are_close(ratio, _TEST_FP64_VERSOR_DATA_LIST[i].x3 / versor._x3)) { print_testing_error("Versor was not normalized proportionally (x3)."); return; } diff --git a/basic-geometry-test/tests/versor/versor_swap.c b/basic-geometry-test/tests/versor/versor_swap.c index 7abb862..b106bf6 100644 --- a/basic-geometry-test/tests/versor/versor_swap.c +++ b/basic-geometry-test/tests/versor/versor_swap.c @@ -8,13 +8,13 @@ static const int _TEST_FP32_VERSOR_AMOUNT = 3; -static const BgcQuaternionFP32 _TEST_FP32_VERSOR_LIST1[] = { +static const BGC_FP32_Quaternion _TEST_FP32_VERSOR_LIST1[] = { { 1.0f, 2.0f, 3.0f, 4.0f }, { -4.0f, -3.0f, -2.0f, -1.0f }, { 0.5f, -0.5f, -0.5f, -0.5f } }; -static const BgcQuaternionFP32 _TEST_FP32_VERSOR_LIST2[] = { +static const BGC_FP32_Quaternion _TEST_FP32_VERSOR_LIST2[] = { { -0.5f, 0.5f, 0.5f, 0.5f }, { -1.0f, -2.0f, -3.0f, -4.0f }, { 4.0f, 3.0f, 2.0f, 1.0f } @@ -22,12 +22,12 @@ static const BgcQuaternionFP32 _TEST_FP32_VERSOR_LIST2[] = { void test_versor_swap_fp32() { - BgcVersorFP32 versor1a, versor2a, versor1b, versor2b; + BGC_FP32_Versor versor1a, versor2a, versor1b, versor2b; - print_testing_name("bgc_versor_swap_fp32"); + print_testing_name("bgc_fp32_versor_swap"); for (int i = 0; i < _TEST_FP32_VERSOR_AMOUNT; i++) { - bgc_versor_set_values_fp32( + bgc_fp32_versor_make( _TEST_FP32_VERSOR_LIST1[i].s0, _TEST_FP32_VERSOR_LIST1[i].x1, _TEST_FP32_VERSOR_LIST1[i].x2, @@ -35,7 +35,7 @@ void test_versor_swap_fp32() &versor1a ); - bgc_versor_set_values_fp32( + bgc_fp32_versor_make( _TEST_FP32_VERSOR_LIST2[i].s0, _TEST_FP32_VERSOR_LIST2[i].x1, _TEST_FP32_VERSOR_LIST2[i].x2, @@ -43,10 +43,10 @@ void test_versor_swap_fp32() &versor2a ); - bgc_versor_copy_fp32(&versor1a, &versor1b); - bgc_versor_copy_fp32(&versor2a, &versor2b); + bgc_fp32_versor_copy(&versor1a, &versor1b); + bgc_fp32_versor_copy(&versor2a, &versor2b); - bgc_versor_swap_fp32(&versor1b, &versor2b); + bgc_fp32_versor_swap(&versor1b, &versor2b); if (versor1a._s0 != versor2b._s0 || versor1a._x1 != versor2b._x1 || versor1a._x2 != versor2b._x2 || versor1a._x3 != versor2b._x3 || versor2a._s0 != versor1b._s0 || versor2a._x1 != versor1b._x1 || versor2a._x2 != versor1b._x2 || versor2a._x3 != versor1b._x3) { @@ -62,12 +62,12 @@ void test_versor_swap_fp32() void test_versor_swap_fp64() { - BgcVersorFP64 versor1a, versor2a, versor1b, versor2b; + BGC_FP64_Versor versor1a, versor2a, versor1b, versor2b; - print_testing_name("bgc_versor_swap_fp64"); + print_testing_name("bgc_fp64_versor_swap"); for (int i = 0; i < _TEST_FP32_VERSOR_AMOUNT; i++) { - bgc_versor_set_values_fp64( + bgc_fp64_versor_make( _TEST_FP32_VERSOR_LIST1[i].s0, _TEST_FP32_VERSOR_LIST1[i].x1, _TEST_FP32_VERSOR_LIST1[i].x2, @@ -75,7 +75,7 @@ void test_versor_swap_fp64() &versor1a ); - bgc_versor_set_values_fp64( + bgc_fp64_versor_make( _TEST_FP32_VERSOR_LIST2[i].s0, _TEST_FP32_VERSOR_LIST2[i].x1, _TEST_FP32_VERSOR_LIST2[i].x2, @@ -83,10 +83,10 @@ void test_versor_swap_fp64() &versor2a ); - bgc_versor_copy_fp64(&versor1a, &versor1b); - bgc_versor_copy_fp64(&versor2a, &versor2b); + bgc_fp64_versor_copy(&versor1a, &versor1b); + bgc_fp64_versor_copy(&versor2a, &versor2b); - bgc_versor_swap_fp64(&versor1b, &versor2b); + bgc_fp64_versor_swap(&versor1b, &versor2b); if (versor1a._s0 != versor2b._s0 || versor1a._x1 != versor2b._x1 || versor1a._x2 != versor2b._x2 || versor1a._x3 != versor2b._x3 || versor2a._s0 != versor1b._s0 || versor2a._x1 != versor1b._x1 || versor2a._x2 != versor1b._x2 || versor2a._x3 != versor1b._x3) { diff --git a/basic-geometry/affine2.c b/basic-geometry/affine2.c index a9d325f..9810d0a 100644 --- a/basic-geometry/affine2.c +++ b/basic-geometry/affine2.c @@ -1,28 +1,31 @@ #include "affine2.h" -extern inline void bgc_affine2_reset_fp32(BgcAffine2FP32 * affine); -extern inline void bgc_affine2_reset_fp64(BgcAffine2FP64 * affine); +extern inline void bgc_fp32_affine2_reset(BGC_FP32_Affine2* affine); +extern inline void bgc_fp64_affine2_reset(BGC_FP64_Affine2* affine); -extern inline void bgc_affine2_make_fp32(const BgcMatrix2x2FP32 * distortion, const BgcVector2FP32 * shift, BgcAffine2FP32 * affine); -extern inline void bgc_affine2_make_fp64(const BgcMatrix2x2FP64 * distortion, const BgcVector2FP64 * shift, BgcAffine2FP64 * affine); +extern inline void bgc_fp32_affine2_make(BGC_FP32_Affine2* affine, const BGC_FP32_Matrix2x2* distortion, const BGC_FP32_Vector2* shift); +extern inline void bgc_fp64_affine2_make(BGC_FP64_Affine2* affine, const BGC_FP64_Matrix2x2* distortion, const BGC_FP64_Vector2* shift); -extern inline void bgc_affine2_copy_fp32(const BgcAffine2FP32 * source, BgcAffine2FP32 * destination); -extern inline void bgc_affine2_copy_fp64(const BgcAffine2FP64 * source, BgcAffine2FP64 * destination); +extern inline void bgc_fp32_affine2_copy(BGC_FP32_Affine2* destination, const BGC_FP32_Affine2* source); +extern inline void bgc_fp64_affine2_copy(BGC_FP64_Affine2* destination, const BGC_FP64_Affine2* source); -extern inline void bgc_affine2_convert_fp64_to_fp32(const BgcAffine2FP64 * source, BgcAffine2FP32 * destination); -extern inline void bgc_affine2_convert_fp32_to_fp64(const BgcAffine2FP32 * source, BgcAffine2FP64 * destination); +extern inline void bgc_fp32_affine2_swap(BGC_FP32_Affine2* first, BGC_FP32_Affine2* second); +extern inline void bgc_fp64_affine2_swap(BGC_FP64_Affine2* first, BGC_FP64_Affine2* second); -extern inline int bgc_affine2_invert_fp32(BgcAffine2FP32 * affine); -extern inline int bgc_affine2_invert_fp64(BgcAffine2FP64 * affine); +extern inline void bgc_fp32_affine2_convert_to_fp64(BGC_FP64_Affine2* destination, const BGC_FP32_Affine2* source); +extern inline void bgc_fp64_affine2_convert_to_fp32(BGC_FP32_Affine2* destination, const BGC_FP64_Affine2* source); -extern inline int bgc_affine2_get_inverse_fp32(const BgcAffine2FP32 * source, BgcAffine2FP32 * destination); -extern inline int bgc_affine2_get_inverse_fp64(const BgcAffine2FP64 * source, BgcAffine2FP64 * destination); +extern inline int bgc_fp32_affine2_invert(BGC_FP32_Affine2* affine); +extern inline int bgc_fp64_affine2_invert(BGC_FP64_Affine2* affine); -extern inline void bgc_affine2_combine_fp32(const BgcAffine2FP32 * first, const BgcAffine2FP32 * second, BgcAffine2FP32 * combination); -extern inline void bgc_affine2_combine_fp64(const BgcAffine2FP64 * first, const BgcAffine2FP64 * second, BgcAffine2FP64 * combination); +extern inline int bgc_fp32_affine2_get_inverse(BGC_FP32_Affine2* inverse, const BGC_FP32_Affine2* affine); +extern inline int bgc_fp64_affine2_get_inverse(BGC_FP64_Affine2* inverse, const BGC_FP64_Affine2* affine); -extern inline void bgc_affine2_transform_point_fp32(const BgcAffine2FP32 * affine, const BgcVector2FP32 * initial_point, BgcVector2FP32 * transformed_point); -extern inline void bgc_affine2_transform_point_fp64(const BgcAffine2FP64 * affine, const BgcVector2FP64 * initial_point, BgcVector2FP64 * transformed_point); +extern inline void bgc_fp32_affine2_combine(BGC_FP32_Affine2* combination, const BGC_FP32_Affine2* first, const BGC_FP32_Affine2* second); +extern inline void bgc_fp64_affine2_combine(BGC_FP64_Affine2* combination, const BGC_FP64_Affine2* first, const BGC_FP64_Affine2* second); -extern inline void bgc_affine2_transform_vector_fp32(const BgcAffine2FP32 * affine, const BgcVector2FP32 * initial_vector, BgcVector2FP32 * transformed_vector); -extern inline void bgc_affine2_transform_vector_fp64(const BgcAffine2FP64 * affine, const BgcVector2FP64 * initial_vector, BgcVector2FP64 * transformed_vector); +extern inline void bgc_fp32_affine2_transform_point(BGC_FP32_Vector2* transformed_point, const BGC_FP32_Affine2* affine, const BGC_FP32_Vector2* initial_point); +extern inline void bgc_fp64_affine2_transform_point(BGC_FP64_Vector2* transformed_point, const BGC_FP64_Affine2* affine, const BGC_FP64_Vector2* initial_point); + +extern inline void bgc_fp32_affine2_transform_vector(BGC_FP32_Vector2* transformed_vector, const BGC_FP32_Affine2* affine, const BGC_FP32_Vector2* initial_vector); +extern inline void bgc_fp64_affine2_transform_vector(BGC_FP64_Vector2* transformed_vector, const BGC_FP64_Affine2* affine, const BGC_FP64_Vector2* initial_vector); diff --git a/basic-geometry/affine2.h b/basic-geometry/affine2.h index be0aaf5..b21fb59 100644 --- a/basic-geometry/affine2.h +++ b/basic-geometry/affine2.h @@ -2,174 +2,188 @@ #define _BGC_AFFINE2_H_INCLUDED_ #include "vector2.h" -#include "matrixes.h" +#include "matrices.h" #include "matrix2x2.h" // ==================== Types ==================== // typedef struct { - BgcMatrix2x2FP32 distortion; - BgcVector2FP32 shift; -} BgcAffine2FP32; + BGC_FP32_Matrix2x2 distortion; + BGC_FP32_Vector2 shift; +} BGC_FP32_Affine2; typedef struct { - BgcMatrix2x2FP64 distortion; - BgcVector2FP64 shift; -} BgcAffine2FP64; + BGC_FP64_Matrix2x2 distortion; + BGC_FP64_Vector2 shift; +} BGC_FP64_Affine2; // ==================== Reset ==================== // -inline void bgc_affine2_reset_fp32(BgcAffine2FP32 * affine) +inline void bgc_fp32_affine2_reset(BGC_FP32_Affine2* affine) { - bgc_matrix2x2_set_to_identity_fp32(&affine->distortion); - bgc_vector2_reset_fp32(&affine->shift); + bgc_fp32_matrix2x2_make_identity(&affine->distortion); + bgc_fp32_vector2_reset(&affine->shift); } -inline void bgc_affine2_reset_fp64(BgcAffine2FP64 * affine) +inline void bgc_fp64_affine2_reset(BGC_FP64_Affine2* affine) { - bgc_matrix2x2_set_to_identity_fp64(&affine->distortion); - bgc_vector2_reset_fp64(&affine->shift); + bgc_fp64_matrix2x2_make_identity(&affine->distortion); + bgc_fp64_vector2_reset(&affine->shift); } // ==================== Make ===================== // -inline void bgc_affine2_make_fp32(const BgcMatrix2x2FP32 * distortion, const BgcVector2FP32 * shift, BgcAffine2FP32 * affine) +inline void bgc_fp32_affine2_make(BGC_FP32_Affine2* affine, const BGC_FP32_Matrix2x2* distortion, const BGC_FP32_Vector2* shift) { - bgc_matrix2x2_copy_fp32(distortion, &affine->distortion); - bgc_vector2_copy_fp32(shift, &affine->shift); + bgc_fp32_matrix2x2_copy(&affine->distortion, distortion); + bgc_fp32_vector2_copy(&affine->shift, shift); } -inline void bgc_affine2_make_fp64(const BgcMatrix2x2FP64 * distortion, const BgcVector2FP64 * shift, BgcAffine2FP64 * affine) +inline void bgc_fp64_affine2_make(BGC_FP64_Affine2* affine, const BGC_FP64_Matrix2x2* distortion, const BGC_FP64_Vector2* shift) { - bgc_matrix2x2_copy_fp64(distortion, &affine->distortion); - bgc_vector2_copy_fp64(shift, &affine->shift); + bgc_fp64_matrix2x2_copy(&affine->distortion, distortion); + bgc_fp64_vector2_copy(&affine->shift, shift); } // ==================== Copy ===================== // -inline void bgc_affine2_copy_fp32(const BgcAffine2FP32 * source, BgcAffine2FP32 * destination) +inline void bgc_fp32_affine2_copy(BGC_FP32_Affine2* destination, const BGC_FP32_Affine2* source) { - bgc_matrix2x2_copy_fp32(&source->distortion, &destination->distortion); - bgc_vector2_copy_fp32(&source->shift, &destination->shift); + bgc_fp32_matrix2x2_copy(&destination->distortion, &source->distortion); + bgc_fp32_vector2_copy(&destination->shift, &source->shift); } -inline void bgc_affine2_copy_fp64(const BgcAffine2FP64 * source, BgcAffine2FP64 * destination) +inline void bgc_fp64_affine2_copy(BGC_FP64_Affine2* destination, const BGC_FP64_Affine2* source) { - bgc_matrix2x2_copy_fp64(&source->distortion, &destination->distortion); - bgc_vector2_copy_fp64(&source->shift, &destination->shift); + bgc_fp64_matrix2x2_copy(&destination->distortion, &source->distortion); + bgc_fp64_vector2_copy(&destination->shift, &source->shift); +} + +// ==================== Swap ===================== // + +inline void bgc_fp32_affine2_swap(BGC_FP32_Affine2 * first, BGC_FP32_Affine2 * second) +{ + bgc_fp32_matrix2x2_swap(&first->distortion, &second->distortion); + bgc_fp32_vector2_swap(&first->shift, &second->shift); +} + +inline void bgc_fp64_affine2_swap(BGC_FP64_Affine2 * first, BGC_FP64_Affine2 * second) +{ + bgc_fp64_matrix2x2_swap(&first->distortion, &second->distortion); + bgc_fp64_vector2_swap(&first->shift, &second->shift); } // =================== Convert =================== // -inline void bgc_affine2_convert_fp64_to_fp32(const BgcAffine2FP64 * source, BgcAffine2FP32 * destination) +inline void bgc_fp32_affine2_convert_to_fp64(BGC_FP64_Affine2* destination, const BGC_FP32_Affine2* source) { - bgc_matrix2x2_convert_fp64_to_fp32(&source->distortion, &destination->distortion); - bgc_vector2_convert_fp64_to_fp32(&source->shift, &destination->shift); + bgc_fp32_matrix2x2_convert_to_fp64(&destination->distortion, &source->distortion); + bgc_fp32_vector2_convert_to_fp64(&destination->shift, &source->shift); } -inline void bgc_affine2_convert_fp32_to_fp64(const BgcAffine2FP32 * source, BgcAffine2FP64 * destination) +inline void bgc_fp64_affine2_convert_to_fp32(BGC_FP32_Affine2* destination, const BGC_FP64_Affine2 * source) { - bgc_matrix2x2_convert_fp32_to_fp64(&source->distortion, &destination->distortion); - bgc_vector2_convert_fp32_to_fp64(&source->shift, &destination->shift); + bgc_fp64_matrix2x2_convert_to_fp32(&destination->distortion, &source->distortion); + bgc_fp64_vector2_convert_to_fp32(&destination->shift, &source->shift); } // =================== Invert ==================== // -inline int bgc_affine2_invert_fp32(BgcAffine2FP32 * affine) +inline int bgc_fp32_affine2_invert(BGC_FP32_Affine2 * affine) { - if (!bgc_matrix2x2_invert_fp32(&affine->distortion, &affine->distortion)) { + if (!bgc_fp32_matrix2x2_invert(&affine->distortion)) { return 0; } - bgc_matrix2x2_get_right_product_fp32(&affine->distortion, &affine->shift, &affine->shift); - bgc_vector2_make_opposite_fp32(&affine->shift); + bgc_fp32_multiply_matrix2x2_by_vector2(&affine->shift, &affine->distortion, &affine->shift); + bgc_fp32_vector2_revert(&affine->shift); return 1; } -inline int bgc_affine2_invert_fp64(BgcAffine2FP64 * affine) +inline int bgc_fp64_affine2_invert(BGC_FP64_Affine2 * affine) { - if (!bgc_matrix2x2_invert_fp64(&affine->distortion, &affine->distortion)) { + if (!bgc_fp64_matrix2x2_invert(&affine->distortion)) { return 0; } - bgc_matrix2x2_get_right_product_fp64(&affine->distortion, &affine->shift, &affine->shift); - bgc_vector2_make_opposite_fp64(&affine->shift); + bgc_fp64_multiply_matrix2x2_by_vector2(&affine->shift, &affine->distortion, &affine->shift); + bgc_fp64_vector2_revert(&affine->shift); return 1; } // ================= Get Inverse ================= // -inline int bgc_affine2_get_inverse_fp32(const BgcAffine2FP32 * source, BgcAffine2FP32 * destination) +inline int bgc_fp32_affine2_get_inverse(BGC_FP32_Affine2* inverse, const BGC_FP32_Affine2 * affine) { - if (!bgc_matrix2x2_invert_fp32(&source->distortion, &destination->distortion)) { + if (!bgc_fp32_matrix2x2_get_inverse(&inverse->distortion, &affine->distortion)) { return 0; } - bgc_matrix2x2_get_right_product_fp32(&destination->distortion, &source->shift, &destination->shift); - bgc_vector2_make_opposite_fp32(&destination->shift); + bgc_fp32_multiply_matrix2x2_by_vector2(&inverse->shift, &inverse->distortion, &affine->shift); + bgc_fp32_vector2_revert(&inverse->shift); return 1; } -inline int bgc_affine2_get_inverse_fp64(const BgcAffine2FP64 * source, BgcAffine2FP64 * destination) +inline int bgc_fp64_affine2_get_inverse(BGC_FP64_Affine2* inverse, const BGC_FP64_Affine2 * affine) { - if (!bgc_matrix2x2_invert_fp64(&source->distortion, &destination->distortion)) { + if (!bgc_fp64_matrix2x2_get_inverse(&inverse->distortion, &affine->distortion)) { return 0; } - bgc_matrix2x2_get_right_product_fp64(&destination->distortion, &source->shift, &destination->shift); - bgc_vector2_make_opposite_fp64(&destination->shift); + bgc_fp64_multiply_matrix2x2_by_vector2(&inverse->shift, &inverse->distortion, &affine->shift); + bgc_fp64_vector2_revert(&inverse->shift); return 1; } // =================== Combine =================== // -inline void bgc_affine2_combine_fp32(const BgcAffine2FP32 * first, const BgcAffine2FP32 * second, BgcAffine2FP32 * combination) +inline void bgc_fp32_affine2_combine(BGC_FP32_Affine2* combination, const BGC_FP32_Affine2 * first, const BGC_FP32_Affine2 * second) { - BgcVector2FP32 first_shift; - bgc_matrix2x2_get_right_product_fp32(&second->distortion, &first->shift, &first_shift); - bgc_matrix_product_2x2_at_2x2_fp32(&second->distortion, &first->distortion, &combination->distortion); - bgc_vector2_add_fp32(&first_shift, &second->shift, &combination->shift); + BGC_FP32_Vector2 first_shift; + bgc_fp32_multiply_matrix2x2_by_vector2(&first_shift, &second->distortion, &first->shift); + bgc_fp32_multiply_matrix2x2_by_matrix2x2(&combination->distortion, &second->distortion, &first->distortion); + bgc_fp32_vector2_add(&combination->shift, &second->shift, &first_shift); } -inline void bgc_affine2_combine_fp64(const BgcAffine2FP64 * first, const BgcAffine2FP64 * second, BgcAffine2FP64 * combination) +inline void bgc_fp64_affine2_combine(BGC_FP64_Affine2* combination, const BGC_FP64_Affine2 * first, const BGC_FP64_Affine2 * second) { - BgcVector2FP64 first_shift; - bgc_matrix2x2_get_right_product_fp64(&second->distortion, &first->shift, &first_shift); - bgc_matrix_product_2x2_at_2x2_fp64(&second->distortion, &first->distortion, &combination->distortion); - bgc_vector2_add_fp64(&first_shift, &second->shift, &combination->shift); + BGC_FP64_Vector2 first_shift; + bgc_fp64_multiply_matrix2x2_by_vector2(&first_shift, &second->distortion, &first->shift); + bgc_fp64_multiply_matrix2x2_by_matrix2x2(&combination->distortion, &second->distortion, &first->distortion); + bgc_fp64_vector2_add(&combination->shift, &second->shift, &first_shift); } // =============== Transform Point =============== // -inline void bgc_affine2_transform_point_fp32(const BgcAffine2FP32 * affine, const BgcVector2FP32 * initial_point, BgcVector2FP32 * transformed_point) +inline void bgc_fp32_affine2_transform_point(BGC_FP32_Vector2* transformed_point, const BGC_FP32_Affine2 * affine, const BGC_FP32_Vector2 * initial_point) { - BgcVector2FP32 distorted; - bgc_matrix2x2_get_right_product_fp32(&affine->distortion, initial_point, &distorted); - bgc_vector2_add_fp32(&affine->shift, &distorted, transformed_point); + BGC_FP32_Vector2 distorted; + bgc_fp32_multiply_matrix2x2_by_vector2(&distorted, &affine->distortion, initial_point); + bgc_fp32_vector2_add(transformed_point, &affine->shift, &distorted); } -inline void bgc_affine2_transform_point_fp64(const BgcAffine2FP64 * affine, const BgcVector2FP64 * initial_point, BgcVector2FP64 * transformed_point) +inline void bgc_fp64_affine2_transform_point(BGC_FP64_Vector2* transformed_point, const BGC_FP64_Affine2 * affine, const BGC_FP64_Vector2 * initial_point) { - BgcVector2FP64 distorted; - bgc_matrix2x2_get_right_product_fp64(&affine->distortion, initial_point, &distorted); - bgc_vector2_add_fp64(&affine->shift, &distorted, transformed_point); + BGC_FP64_Vector2 distorted; + bgc_fp64_multiply_matrix2x2_by_vector2(&distorted, &affine->distortion, initial_point); + bgc_fp64_vector2_add(transformed_point, &affine->shift, &distorted); } // ============== Transform Vector =============== // -inline void bgc_affine2_transform_vector_fp32(const BgcAffine2FP32 * affine, const BgcVector2FP32 * initial_vector, BgcVector2FP32 * transformed_vector) +inline void bgc_fp32_affine2_transform_vector(BGC_FP32_Vector2* transformed_vector, const BGC_FP32_Affine2 * affine, const BGC_FP32_Vector2 * initial_vector) { - bgc_matrix2x2_get_right_product_fp32(&affine->distortion, initial_vector, transformed_vector); + bgc_fp32_multiply_matrix2x2_by_vector2(transformed_vector, &affine->distortion, initial_vector); } -inline void bgc_affine2_transform_vector_fp64(const BgcAffine2FP64 * affine, const BgcVector2FP64 * initial_vector, BgcVector2FP64 * transformed_vector) +inline void bgc_fp64_affine2_transform_vector(BGC_FP64_Vector2* transformed_vector, const BGC_FP64_Affine2 * affine, const BGC_FP64_Vector2 * initial_vector) { - bgc_matrix2x2_get_right_product_fp64(&affine->distortion, initial_vector, transformed_vector); + bgc_fp64_multiply_matrix2x2_by_vector2(transformed_vector, &affine->distortion, initial_vector); } #endif diff --git a/basic-geometry/affine3.c b/basic-geometry/affine3.c index 8f4940f..70ad5b5 100644 --- a/basic-geometry/affine3.c +++ b/basic-geometry/affine3.c @@ -1,28 +1,31 @@ #include "affine3.h" -extern inline void bgc_affine3_reset_fp32(BgcAffine3FP32 * affine); -extern inline void bgc_affine3_reset_fp64(BgcAffine3FP64 * affine); +extern inline void bgc_fp32_affine3_reset(BGC_FP32_Affine3* affine); +extern inline void bgc_fp64_affine3_reset(BGC_FP64_Affine3* affine); -extern inline void bgc_affine3_make_fp32(const BgcMatrix3x3FP32 * distortion, const BgcVector3FP32 * shift, BgcAffine3FP32 * affine); -extern inline void bgc_affine3_make_fp64(const BgcMatrix3x3FP64 * distortion, const BgcVector3FP64 * shift, BgcAffine3FP64 * affine); +extern inline void bgc_fp32_affine3_make(BGC_FP32_Affine3* affine, const BGC_FP32_Matrix3x3* distortion, const BGC_FP32_Vector3* shift); +extern inline void bgc_fp64_affine3_make(BGC_FP64_Affine3* affine, const BGC_FP64_Matrix3x3* distortion, const BGC_FP64_Vector3* shift); -extern inline void bgc_affine3_copy_fp32(const BgcAffine3FP32 * source, BgcAffine3FP32 * destination); -extern inline void bgc_affine3_copy_fp64(const BgcAffine3FP64 * source, BgcAffine3FP64 * destination); +extern inline void bgc_fp32_affine3_copy(BGC_FP32_Affine3* destination, const BGC_FP32_Affine3* source); +extern inline void bgc_fp64_affine3_copy(BGC_FP64_Affine3* destination, const BGC_FP64_Affine3* source); -extern inline void bgc_affine3_convert_fp64_to_fp32(const BgcAffine3FP64 * source, BgcAffine3FP32 * destination); -extern inline void bgc_affine3_convert_fp32_to_fp64(const BgcAffine3FP32 * source, BgcAffine3FP64 * destination); +extern inline void bgc_fp32_affine3_swap(BGC_FP32_Affine3* first, BGC_FP32_Affine3* second); +extern inline void bgc_fp64_affine3_swap(BGC_FP64_Affine3* first, BGC_FP64_Affine3* second); -extern inline int bgc_affine3_invert_fp32(BgcAffine3FP32 * affine); -extern inline int bgc_affine3_invert_fp64(BgcAffine3FP64 * affine); +extern inline void bgc_fp32_affine3_convert_to_fp64(BGC_FP64_Affine3* destination, const BGC_FP32_Affine3* source); +extern inline void bgc_fp64_affine3_convert_to_fp32(BGC_FP32_Affine3* destination, const BGC_FP64_Affine3* source); -extern inline int bgc_affine3_get_inverse_fp32(const BgcAffine3FP32 * source, BgcAffine3FP32 * destination); -extern inline int bgc_affine3_get_inverse_fp64(const BgcAffine3FP64 * source, BgcAffine3FP64 * destination); +extern inline int bgc_fp32_affine3_invert(BGC_FP32_Affine3* affine); +extern inline int bgc_fp64_affine3_invert(BGC_FP64_Affine3* affine); -extern inline void bgc_affine3_combine_fp32(const BgcAffine3FP32 * first, const BgcAffine3FP32 * second, BgcAffine3FP32 * combination); -extern inline void bgc_affine3_combine_fp64(const BgcAffine3FP64 * first, const BgcAffine3FP64 * second, BgcAffine3FP64 * combination); +extern inline int bgc_fp32_affine3_get_inverse(BGC_FP32_Affine3* inverse, const BGC_FP32_Affine3* affine); +extern inline int bgc_fp64_affine3_get_inverse(BGC_FP64_Affine3* inverse, const BGC_FP64_Affine3* affine); -extern inline void bgc_affine3_transform_point_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_point, BgcVector3FP32 * transformed_point); -extern inline void bgc_affine3_transform_point_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_point, BgcVector3FP64 * transformed_point); +extern inline void bgc_fp32_affine3_combine(BGC_FP32_Affine3* combination, const BGC_FP32_Affine3* first, const BGC_FP32_Affine3* second); +extern inline void bgc_fp64_affine3_combine(BGC_FP64_Affine3* combination, const BGC_FP64_Affine3* first, const BGC_FP64_Affine3* second); -extern inline void bgc_affine3_transform_vector_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_vector, BgcVector3FP32 * transformed_vector); -extern inline void bgc_affine3_transform_vector_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_vector, BgcVector3FP64 * transformed_vector); +extern inline void bgc_fp32_affine3_transform_point(BGC_FP32_Vector3* transformed_point, const BGC_FP32_Affine3* affine, const BGC_FP32_Vector3* initial_point); +extern inline void bgc_fp64_affine3_transform_point(BGC_FP64_Vector3* transformed_point, const BGC_FP64_Affine3* affine, const BGC_FP64_Vector3* initial_point); + +extern inline void bgc_fp32_affine3_transform_vector(BGC_FP32_Vector3* transformed_vector, const BGC_FP32_Affine3* affine, const BGC_FP32_Vector3* initial_vector); +extern inline void bgc_fp64_affine3_transform_vector(BGC_FP64_Vector3* transformed_vector, const BGC_FP64_Affine3* affine, const BGC_FP64_Vector3* initial_vector); diff --git a/basic-geometry/affine3.h b/basic-geometry/affine3.h index 71bbf0c..eaa8d98 100644 --- a/basic-geometry/affine3.h +++ b/basic-geometry/affine3.h @@ -2,173 +2,187 @@ #define _BGC_AFFINE3_H_INCLUDED_ #include "vector3.h" -#include "matrixes.h" +#include "matrices.h" #include "matrix3x3.h" // ==================== Types ==================== // typedef struct { - BgcMatrix3x3FP32 distortion; - BgcVector3FP32 shift; -} BgcAffine3FP32; + BGC_FP32_Matrix3x3 distortion; + BGC_FP32_Vector3 shift; +} BGC_FP32_Affine3; typedef struct { - BgcMatrix3x3FP64 distortion; - BgcVector3FP64 shift; -} BgcAffine3FP64; + BGC_FP64_Matrix3x3 distortion; + BGC_FP64_Vector3 shift; +} BGC_FP64_Affine3; // ==================== Reset ==================== // -inline void bgc_affine3_reset_fp32(BgcAffine3FP32 * affine) +inline void bgc_fp32_affine3_reset(BGC_FP32_Affine3 * affine) { - bgc_matrix3x3_set_to_identity_fp32(&affine->distortion); - bgc_vector3_reset_fp32(&affine->shift); + bgc_fp32_matrix3x3_make_identity(&affine->distortion); + bgc_fp32_vector3_reset(&affine->shift); } -inline void bgc_affine3_reset_fp64(BgcAffine3FP64 * affine) +inline void bgc_fp64_affine3_reset(BGC_FP64_Affine3 * affine) { - bgc_matrix3x3_set_to_identity_fp64(&affine->distortion); - bgc_vector3_reset_fp64(&affine->shift); + bgc_fp64_matrix3x3_make_identity(&affine->distortion); + bgc_fp64_vector3_reset(&affine->shift); } // ==================== Make ===================== // -inline void bgc_affine3_make_fp32(const BgcMatrix3x3FP32 * distortion, const BgcVector3FP32 * shift, BgcAffine3FP32 * affine) +inline void bgc_fp32_affine3_make(BGC_FP32_Affine3* affine, const BGC_FP32_Matrix3x3 * distortion, const BGC_FP32_Vector3 * shift) { - bgc_matrix3x3_copy_fp32(distortion, &affine->distortion); - bgc_vector3_copy_fp32(shift, &affine->shift); + bgc_fp32_matrix3x3_copy(&affine->distortion, distortion); + bgc_fp32_vector3_copy(&affine->shift, shift); } -inline void bgc_affine3_make_fp64(const BgcMatrix3x3FP64 * distortion, const BgcVector3FP64 * shift, BgcAffine3FP64 * affine) +inline void bgc_fp64_affine3_make(BGC_FP64_Affine3* affine, const BGC_FP64_Matrix3x3 * distortion, const BGC_FP64_Vector3 * shift) { - bgc_matrix3x3_copy_fp64(distortion, &affine->distortion); - bgc_vector3_copy_fp64(shift, &affine->shift); + bgc_fp64_matrix3x3_copy(&affine->distortion, distortion); + bgc_fp64_vector3_copy(&affine->shift, shift); } // ==================== Copy ===================== // -inline void bgc_affine3_copy_fp32(const BgcAffine3FP32 * source, BgcAffine3FP32 * destination) +inline void bgc_fp32_affine3_copy(BGC_FP32_Affine3* destination, const BGC_FP32_Affine3 * source) { - bgc_matrix3x3_copy_fp32(&source->distortion, &destination->distortion); - bgc_vector3_copy_fp32(&source->shift, &destination->shift); + bgc_fp32_matrix3x3_copy(&destination->distortion, &source->distortion); + bgc_fp32_vector3_copy(&destination->shift, &source->shift); } -inline void bgc_affine3_copy_fp64(const BgcAffine3FP64 * source, BgcAffine3FP64 * destination) +inline void bgc_fp64_affine3_copy(BGC_FP64_Affine3* destination, const BGC_FP64_Affine3 * source) { - bgc_matrix3x3_copy_fp64(&source->distortion, &destination->distortion); - bgc_vector3_copy_fp64(&source->shift, &destination->shift); + bgc_fp64_matrix3x3_copy(&destination->distortion, &source->distortion); + bgc_fp64_vector3_copy(&destination->shift, &source->shift); +} + +// ==================== Swap ===================== // + +inline void bgc_fp32_affine3_swap(BGC_FP32_Affine3 * first, BGC_FP32_Affine3 * second) +{ + bgc_fp32_matrix3x3_swap(&first->distortion, &second->distortion); + bgc_fp32_vector3_swap(&first->shift, &second->shift); +} + +inline void bgc_fp64_affine3_swap(BGC_FP64_Affine3 * first, BGC_FP64_Affine3 * second) +{ + bgc_fp64_matrix3x3_swap(&first->distortion, &second->distortion); + bgc_fp64_vector3_swap(&first->shift, &second->shift); } // =================== Convert =================== // -inline void bgc_affine3_convert_fp64_to_fp32(const BgcAffine3FP64 * source, BgcAffine3FP32 * destination) +inline void bgc_fp32_affine3_convert_to_fp64(BGC_FP64_Affine3* destination, const BGC_FP32_Affine3 * source) { - bgc_matrix3x3_convert_fp64_to_fp32(&source->distortion, &destination->distortion); - bgc_vector3_convert_fp64_to_fp32(&source->shift, &destination->shift); + bgc_fp32_matrix3x3_convert_to_fp64(&destination->distortion, &source->distortion); + bgc_fp32_vector3_convert_to_fp64(&destination->shift, &source->shift); } -inline void bgc_affine3_convert_fp32_to_fp64(const BgcAffine3FP32 * source, BgcAffine3FP64 * destination) +inline void bgc_fp64_affine3_convert_to_fp32(BGC_FP32_Affine3* destination, const BGC_FP64_Affine3* source) { - bgc_matrix3x3_convert_fp32_to_fp64(&source->distortion, &destination->distortion); - bgc_vector3_convert_fp32_to_fp64(&source->shift, &destination->shift); + bgc_fp64_matrix3x3_convert_to_fp32(&destination->distortion, &source->distortion); + bgc_fp64_vector3_convert_to_fp32(&destination->shift, &source->shift); } // =================== Invert ==================== // -inline int bgc_affine3_invert_fp32(BgcAffine3FP32 * affine) +inline int bgc_fp32_affine3_invert(BGC_FP32_Affine3 * affine) { - if (!bgc_matrix3x3_invert_fp32(&affine->distortion, &affine->distortion)) { + if (!bgc_fp32_matrix3x3_invert(&affine->distortion)) { return 0; } - bgc_matrix3x3_get_right_product_fp32(&affine->distortion, &affine->shift, &affine->shift); - bgc_vector3_make_opposite_fp32(&affine->shift); + bgc_fp32_multiply_matrix3x3_by_vector3(&affine->shift, &affine->distortion, &affine->shift); + bgc_fp32_vector3_revert(&affine->shift); return 1; } -inline int bgc_affine3_invert_fp64(BgcAffine3FP64 * affine) +inline int bgc_fp64_affine3_invert(BGC_FP64_Affine3 * affine) { - if (!bgc_matrix3x3_invert_fp64(&affine->distortion, &affine->distortion)) { + if (!bgc_fp64_matrix3x3_invert(&affine->distortion)) { return 0; } - bgc_matrix3x3_get_right_product_fp64(&affine->distortion, &affine->shift, &affine->shift); - bgc_vector3_make_opposite_fp64(&affine->shift); + bgc_fp64_multiply_matrix3x3_by_vector3(&affine->shift, &affine->distortion, &affine->shift); + bgc_fp64_vector3_revert(&affine->shift); return 1; } // ================= Get Inverse ================= // -inline int bgc_affine3_get_inverse_fp32(const BgcAffine3FP32 * source, BgcAffine3FP32 * destination) +inline int bgc_fp32_affine3_get_inverse(BGC_FP32_Affine3* destination, const BGC_FP32_Affine3 * source) { - if (!bgc_matrix3x3_invert_fp32(&source->distortion, &destination->distortion)) { + if (!bgc_fp32_matrix3x3_get_inverse(&destination->distortion, &source->distortion)) { return 0; } - bgc_matrix3x3_get_right_product_fp32(&destination->distortion, &source->shift, &destination->shift); - bgc_vector3_make_opposite_fp32(&destination->shift); + bgc_fp32_multiply_matrix3x3_by_vector3(&destination->shift, &destination->distortion, &source->shift); + bgc_fp32_vector3_revert(&destination->shift); return 1; } -inline int bgc_affine3_get_inverse_fp64(const BgcAffine3FP64 * source, BgcAffine3FP64 * destination) +inline int bgc_fp64_affine3_get_inverse(BGC_FP64_Affine3* destination, const BGC_FP64_Affine3 * source) { - if (!bgc_matrix3x3_invert_fp64(&source->distortion, &destination->distortion)) { + if (!bgc_fp64_matrix3x3_get_inverse(&destination->distortion, &source->distortion)) { return 0; } - bgc_matrix3x3_get_right_product_fp64(&destination->distortion, &source->shift, &destination->shift); - bgc_vector3_make_opposite_fp64(&destination->shift); + bgc_fp64_multiply_matrix3x3_by_vector3(&destination->shift, &destination->distortion, &source->shift); + bgc_fp64_vector3_revert(&destination->shift); return 1; } // =================== Combine =================== // -inline void bgc_affine3_combine_fp32(const BgcAffine3FP32 * first, const BgcAffine3FP32 * second, BgcAffine3FP32 * combination) +inline void bgc_fp32_affine3_combine(BGC_FP32_Affine3* combination, const BGC_FP32_Affine3 * first, const BGC_FP32_Affine3 * second) { - BgcVector3FP32 first_shift; - bgc_matrix3x3_get_right_product_fp32(&second->distortion, &first->shift, &first_shift); - bgc_matrix_product_3x3_at_3x3_fp32(&second->distortion, &first->distortion, &combination->distortion); - bgc_vector3_add_fp32(&first_shift, &second->shift, &combination->shift); + BGC_FP32_Vector3 first_shift; + bgc_fp32_multiply_matrix3x3_by_vector3(&first_shift, &second->distortion, &first->shift); + bgc_fp32_multiply_matrix3x3_by_matrix3x3(&combination->distortion, &second->distortion, &first->distortion); + bgc_fp32_vector3_add(&combination->shift, &first_shift, &second->shift); } -inline void bgc_affine3_combine_fp64(const BgcAffine3FP64 * first, const BgcAffine3FP64 * second, BgcAffine3FP64 * combination) +inline void bgc_fp64_affine3_combine(BGC_FP64_Affine3* combination, const BGC_FP64_Affine3 * first, const BGC_FP64_Affine3 * second) { - BgcVector3FP64 first_shift; - bgc_matrix3x3_get_right_product_fp64(&second->distortion, &first->shift, &first_shift); - bgc_matrix_product_3x3_at_3x3_fp64(&second->distortion, &first->distortion, &combination->distortion); - bgc_vector3_add_fp64(&first_shift, &second->shift, &combination->shift); + BGC_FP64_Vector3 first_shift; + bgc_fp64_multiply_matrix3x3_by_vector3(&first_shift, &second->distortion, &first->shift); + bgc_fp64_multiply_matrix3x3_by_matrix3x3(&combination->distortion, &second->distortion, &first->distortion); + bgc_fp64_vector3_add(&combination->shift, &first_shift, &second->shift); } // =============== Transform Point =============== // -inline void bgc_affine3_transform_point_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_point, BgcVector3FP32 * transformed_point) +inline void bgc_fp32_affine3_transform_point(BGC_FP32_Vector3* transformed_point, const BGC_FP32_Affine3 * affine, const BGC_FP32_Vector3 * initial_point) { - BgcVector3FP32 distorted; - bgc_matrix3x3_get_right_product_fp32(&affine->distortion, initial_point, &distorted); - bgc_vector3_add_fp32(&affine->shift, &distorted, transformed_point); + BGC_FP32_Vector3 distorted; + bgc_fp32_multiply_matrix3x3_by_vector3(&distorted, &affine->distortion, initial_point); + bgc_fp32_vector3_add(transformed_point, &affine->shift, &distorted); } -inline void bgc_affine3_transform_point_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_point, BgcVector3FP64 * transformed_point) +inline void bgc_fp64_affine3_transform_point(BGC_FP64_Vector3* transformed_point, const BGC_FP64_Affine3 * affine, const BGC_FP64_Vector3 * initial_point) { - BgcVector3FP64 distorted; - bgc_matrix3x3_get_right_product_fp64(&affine->distortion, initial_point, &distorted); - bgc_vector3_add_fp64(&affine->shift, &distorted, transformed_point); + BGC_FP64_Vector3 distorted; + bgc_fp64_multiply_matrix3x3_by_vector3(&distorted, &affine->distortion, initial_point); + bgc_fp64_vector3_add(transformed_point, &affine->shift, &distorted); } // ============== Transform Vector =============== // -inline void bgc_affine3_transform_vector_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_vector, BgcVector3FP32 * transformed_vector) +inline void bgc_fp32_affine3_transform_vector(BGC_FP32_Vector3* transformed_vector, const BGC_FP32_Affine3 * affine, const BGC_FP32_Vector3 * initial_vector) { - bgc_matrix3x3_get_right_product_fp32(&affine->distortion, initial_vector, transformed_vector); + bgc_fp32_multiply_matrix3x3_by_vector3(transformed_vector, &affine->distortion, initial_vector); } -inline void bgc_affine3_transform_vector_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_vector, BgcVector3FP64 * transformed_vector) +inline void bgc_fp64_affine3_transform_vector(BGC_FP64_Vector3* transformed_vector, const BGC_FP64_Affine3 * affine, const BGC_FP64_Vector3 * initial_vector) { - bgc_matrix3x3_get_right_product_fp64(&affine->distortion, initial_vector, transformed_vector); + bgc_fp64_multiply_matrix3x3_by_vector3(transformed_vector, &affine->distortion, initial_vector); } #endif diff --git a/basic-geometry/angle.c b/basic-geometry/angle.c index ea18e61..2f9798f 100644 --- a/basic-geometry/angle.c +++ b/basic-geometry/angle.c @@ -3,65 +3,59 @@ // !================= Radians ==================! // -extern inline float bgc_radians_to_degrees_fp32(const float radians); -extern inline double bgc_radians_to_degrees_fp64(const double radians); +extern inline float bgc_fp32_radians_to_degrees(const float radians); +extern inline double bgc_fp64_radians_to_degrees(const double radians); -extern inline float bgc_radians_to_turns_fp32(const float radians); -extern inline double bgc_radians_to_turns_fp64(const double radians); +extern inline float bgc_fp32_radians_to_turns(const float radians); +extern inline double bgc_fp64_radians_to_turns(const double radians); -extern inline float bgc_radians_to_units_fp32(const float radians, const BgcAngleUnitEnum to_unit); -extern inline double bgc_radians_to_units_fp64(const double radians, const BgcAngleUnitEnum to_unit); +extern inline float bgc_fp32_radians_to_units(const float radians, const int angle_unit); +extern inline double bgc_fp64_radians_to_units(const double radians, const int angle_unit); -extern inline float bgc_radians_normalize_fp32(const float radians, const BgcAngleRangeEnum range); -extern inline double bgc_radians_normalize_fp64(const double radians, const BgcAngleRangeEnum range); +extern inline float bgc_fp32_normalize_radians(const float radians, const int angle_range); +extern inline double bgc_fp64_normalize_radians(const double radians, const int angle_range); // !================= Degrees ==================! // -extern inline float bgc_degrees_to_radians_fp32(const float degrees); -extern inline double bgc_degrees_to_radians_fp64(const double degrees); +extern inline float bgc_fp32_degrees_to_radians(const float degrees); +extern inline double bgc_fp64_degrees_to_radians(const double degrees); -extern inline float bgc_degrees_to_turns_fp32(const float radians); -extern inline double bgc_degrees_to_turns_fp64(const double radians); +extern inline float bgc_fp32_degrees_to_turns(const float radians); +extern inline double bgc_fp64_degrees_to_turns(const double radians); -extern inline float bgc_degrees_to_units_fp32(const float degrees, const BgcAngleUnitEnum to_unit); -extern inline double bgc_degrees_to_units_fp64(const double degrees, const BgcAngleUnitEnum to_unit); +extern inline float bgc_fp32_degrees_to_units(const float degrees, const int angle_unit); +extern inline double bgc_fp64_degrees_to_units(const double degrees, const int angle_unit); -extern inline float bgc_degrees_normalize_fp32(const float degrees, const BgcAngleRangeEnum range); -extern inline double bgc_degrees_normalize_fp64(const double degrees, const BgcAngleRangeEnum range); +extern inline float bgc_fp32_normalize_degrees(const float degrees, const int angle_range); +extern inline double bgc_fp64_degrees_normalize(const double degrees, const int angle_range); // !================== Turns ===================! // -extern inline float bgc_turns_to_radians_fp32(const float turns); -extern inline double bgc_turns_to_radians_fp64(const double turns); +extern inline float bgc_fp32_turns_to_radians(const float turns); +extern inline double bgc_fp64_turns_to_radians(const double turns); -extern inline float bgc_turns_to_degrees_fp32(const float turns); -extern inline double bgc_turns_to_degrees_fp64(const double turns); +extern inline float bgc_fp32_turns_to_degrees(const float turns); +extern inline double bgc_fp64_turns_to_degrees(const double turns); -extern inline float bgc_turns_to_units_fp32(const float turns, const BgcAngleUnitEnum to_unit); -extern inline double bgc_turns_to_units_fp64(const double turns, const BgcAngleUnitEnum to_unit); +extern inline float bgc_fp32_turns_to_units(const float turns, const int angle_unit); +extern inline double bgc_fp64_turns_to_units(const double turns, const int angle_unit); -extern inline float bgc_turns_normalize_fp32(const float turns, const BgcAngleRangeEnum range); -extern inline double bgc_turns_normalize_fp64(const double turns, const BgcAngleRangeEnum range); +extern inline float bgc_fp32_normalize_turns(const float turns, const int angle_range); +extern inline double bgc_fp64_normalize_turns(const double turns, const int angle_range); // !================== Angle ===================! // -extern inline float bgc_angle_to_radians_fp32(const float angle, const BgcAngleUnitEnum unit); -extern inline double bgc_angle_to_radians_fp64(const double angle, const BgcAngleUnitEnum unit); +extern inline float bgc_fp32_angle_to_radians(const float angle, const int angle_unit); +extern inline double bgc_fp64_angle_to_radians(const double angle, const int angle_unit); -extern inline float bgc_angle_to_degrees_fp32(const float angle, const BgcAngleUnitEnum unit); -extern inline double bgc_angle_to_degrees_fp64(const double angle, const BgcAngleUnitEnum unit); +extern inline float bgc_fp32_angle_to_degrees(const float angle, const int angle_unit); +extern inline double bgc_fp64_angle_to_degrees(const double angle, const int angle_unit); -extern inline float bgc_angle_to_turns_fp32(const float angle, const BgcAngleUnitEnum unit); -extern inline double bgc_angle_to_turns_fp64(const double angle, const BgcAngleUnitEnum unit); +extern inline float bgc_fp32_angle_to_turns(const float angle, const int angle_unit); +extern inline double bgc_fp64_angle_to_turns(const double angle, const int angle_unit); -extern inline float bgc_angle_get_full_circle_fp32(const BgcAngleUnitEnum unit); -extern inline double bgc_angle_get_full_circle_fp64(const BgcAngleUnitEnum unit); +extern inline float bgc_fp32_full_circle(const int angle_unit); +extern inline double bgc_fp64_full_circle(const int angle_unit); -extern inline float bgc_angle_get_half_circle_fp32(const BgcAngleUnitEnum unit); -extern inline double bgc_angle_get_half_circle_fp64(const BgcAngleUnitEnum unit); - -extern inline float bgc_angle_get_quater_circle_fp32(const BgcAngleUnitEnum unit); -extern inline double bgc_angle_get_quater_circle_fp64(const BgcAngleUnitEnum unit); - -extern inline float bgc_angle_normalize_fp32(const float angle, const BgcAngleUnitEnum unit, const BgcAngleRangeEnum range); -extern inline double bgc_angle_normalize_fp64(const double angle, const BgcAngleUnitEnum unit, const BgcAngleRangeEnum range); +extern inline float bgc_fp32_normalize_angle(const float angle, const int angle_unit, const int angle_range); +extern inline double bgc_fp64_normalize_angle(const double angle, const int angle_unit, const int angle_range); diff --git a/basic-geometry/angle.h b/basic-geometry/angle.h index 0c82af7..81bc004 100644 --- a/basic-geometry/angle.h +++ b/basic-geometry/angle.h @@ -1,102 +1,98 @@ -#ifndef _BGC_ANGLE_H_ -#define _BGC_ANGLE_H_ +#ifndef _BGC_ANGLE_H_INCLUDED_ +#define _BGC_ANGLE_H_INCLUDED_ #include #include "utilities.h" -#define BGC_PI_FP32 3.1415926536f -#define BGC_TWO_PI_FP32 6.2831853072f -#define BGC_HALF_OF_PI_FP32 1.5707963268f -#define BGC_THIRD_OF_PI_FP32 1.0471975512f -#define BGC_FOURTH_OF_PI_FP32 0.7853981634f -#define BGC_SIXTH_OF_PI_FP32 0.5235987756f +#define BGC_FP32_PI 3.1415926536f +#define BGC_FP32_TWO_PI 6.2831853072f +#define BGC_FP32_HALF_OF_PI 1.5707963268f +#define BGC_FP32_ONE_THIRD_OF_PI 1.0471975512f +#define BGC_FP32_ONE_FOURTH_OF_PI 0.7853981634f +#define BGC_FP32_ONE_SIXTH_OF_PI 0.5235987756f -#define BGC_DEGREES_IN_RADIAN_FP32 57.295779513f -#define BGC_TURNS_IN_RADIAN_FP32 0.1591549431f -#define BGC_RADIANS_IN_DEGREE_FP32 1.745329252E-2f -#define BGC_TURNS_IN_DEGREE_FP32 2.7777777778E-3f +#define BGC_FP32_DEGREES_IN_RADIAN 57.295779513f +#define BGC_FP32_TURNS_IN_RADIAN 0.1591549431f +#define BGC_FP32_RADIANS_IN_DEGREE 1.745329252E-2f +#define BGC_FP32_TURNS_IN_DEGREE 2.7777777778E-3f -#define BGC_PI_FP64 3.14159265358979324 -#define BGC_TWO_PI_FP64 6.28318530717958648 -#define BGC_HALF_OF_PI_FP64 1.57079632679489662 -#define BGC_THIRD_OF_PI_FP64 1.04719755119659775 -#define BGC_FOURTH_OF_PI_FP64 0.78539816339744831 -#define BGC_SIXTH_OF_PI_FP64 0.523598775598298873 +#define BGC_FP64_PI 3.14159265358979324 +#define BGC_FP64_TWO_PI 6.28318530717958648 +#define BGC_FP64_HALF_OF_PI 1.57079632679489662 +#define BGC_FP64_ONE_THIRD_OF_PI 1.04719755119659775 +#define BGC_FP64_ONE_FOURTH_OF_PI 0.78539816339744831 +#define BGC_FP64_ONE_SIXTH_OF_PI 0.523598775598298873 -#define BGC_DEGREES_IN_RADIAN_FP64 57.2957795130823209 -#define BGC_TURNS_IN_RADIAN_FP64 0.159154943091895336 -#define BGC_RADIANS_IN_DEGREE_FP64 1.74532925199432958E-2 -#define BGC_TURNS_IN_DEGREE_FP64 2.77777777777777778E-3 +#define BGC_FP64_DEGREES_IN_RADIAN 57.2957795130823209 +#define BGC_FP64_TURNS_IN_RADIAN 0.159154943091895336 +#define BGC_FP64_RADIANS_IN_DEGREE 1.74532925199432958E-2 +#define BGC_FP64_TURNS_IN_DEGREE 2.77777777777777778E-3 -typedef enum { - BGC_ANGLE_UNIT_RADIANS = 1, - BGC_ANGLE_UNIT_DEGREES = 2, - BGC_ANGLE_UNIT_TURNS = 3 -} BgcAngleUnitEnum; +#define BGC_ANGLE_UNIT_RADIANS 1 +#define BGC_ANGLE_UNIT_DEGREES 2 +#define BGC_ANGLE_UNIT_TURNS 3 -typedef enum { - /** - * The measure of an angle with a range of: - * [0, 360) degrees, [0, 2xPI) radians, [0, 1) turns, [0, 400) gradians - */ - BGC_ANGLE_RANGE_UNSIGNED = 1, + /** + * The measure of an angle with a range of: + * [0, 360) degrees, [0, 2xPI) radians, [0, 1) turns, [0, 400) gradians + */ +#define BGC_ANGLE_RANGE_UNSIGNED 1 - /** - * The measure of an angle with a range of: - * (-180, 180] degrees, (-PI, PI] radians, (-0.5, 0.5] turns, (-200, 200] gradians - */ - BGC_ANGLE_RANGE_SIGNED = 2 -} BgcAngleRangeEnum; +/** + * The measure of an angle with a range of: + * (-180, 180] degrees, (-PI, PI] radians, (-0.5, 0.5] turns, (-200, 200] gradians + */ +#define BGC_ANGLE_RANGE_SIGNED 2 // !================= Radians ==================! // // ========= Convert radians to degrees ========= // -inline float bgc_radians_to_degrees_fp32(const float radians) +inline float bgc_fp32_radians_to_degrees(const float radians) { - return radians * BGC_DEGREES_IN_RADIAN_FP32; + return radians * BGC_FP32_DEGREES_IN_RADIAN; } -inline double bgc_radians_to_degrees_fp64(const double radians) +inline double bgc_fp64_radians_to_degrees(const double radians) { - return radians * BGC_DEGREES_IN_RADIAN_FP64; + return radians * BGC_FP64_DEGREES_IN_RADIAN; } // ========== Convert radians to turns ========== // -inline float bgc_radians_to_turns_fp32(const float radians) +inline float bgc_fp32_radians_to_turns(const float radians) { - return radians * BGC_TURNS_IN_RADIAN_FP32; + return radians * BGC_FP32_TURNS_IN_RADIAN; } -inline double bgc_radians_to_turns_fp64(const double radians) +inline double bgc_fp64_radians_to_turns(const double radians) { - return radians * BGC_TURNS_IN_RADIAN_FP64; + return radians * BGC_FP64_TURNS_IN_RADIAN; } // ========= Convert radians to any unit ======== // -inline float bgc_radians_to_units_fp32(const float radians, const BgcAngleUnitEnum to_unit) +inline float bgc_fp32_radians_to_units(const float radians, const int angle_unit) { - if (to_unit == BGC_ANGLE_UNIT_DEGREES) { - return radians * BGC_DEGREES_IN_RADIAN_FP32; + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { + return radians * BGC_FP32_DEGREES_IN_RADIAN; } - if (to_unit == BGC_ANGLE_UNIT_TURNS) { - return radians * BGC_TURNS_IN_RADIAN_FP32; + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { + return radians * BGC_FP32_TURNS_IN_RADIAN; } return radians; } -inline double bgc_radians_to_units_fp64(const double radians, const BgcAngleUnitEnum to_unit) +inline double bgc_fp64_radians_to_units(const double radians, const int angle_unit) { - if (to_unit == BGC_ANGLE_UNIT_DEGREES) { - return radians * BGC_DEGREES_IN_RADIAN_FP64; + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { + return radians * BGC_FP64_DEGREES_IN_RADIAN; } - if (to_unit == BGC_ANGLE_UNIT_TURNS) { - return radians * BGC_TURNS_IN_RADIAN_FP64; + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { + return radians * BGC_FP64_TURNS_IN_RADIAN; } return radians; @@ -104,103 +100,103 @@ inline double bgc_radians_to_units_fp64(const double radians, const BgcAngleUnit // ============ Normalize radians ============= // -inline float bgc_radians_normalize_fp32(const float radians, const BgcAngleRangeEnum range) +inline float bgc_fp32_normalize_radians(const float radians, const int angle_range) { - if (range == BGC_ANGLE_RANGE_UNSIGNED) { - if (0.0f <= radians && radians < BGC_TWO_PI_FP32) { + if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) { + if (0.0f <= radians && radians < BGC_FP32_TWO_PI) { return radians; } } else { - if (-BGC_PI_FP32 < radians && radians <= BGC_PI_FP32) { + if (-BGC_FP32_PI < radians && radians <= BGC_FP32_PI) { return radians; } } - float turns = radians * BGC_TURNS_IN_RADIAN_FP32; + float turns = radians * BGC_FP32_TURNS_IN_RADIAN; turns -= floorf(turns); - if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5f) { + if (angle_range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5f) { turns -= 1.0f; } - return turns * BGC_TWO_PI_FP32; + return turns * BGC_FP32_TWO_PI; } -inline double bgc_radians_normalize_fp64(const double radians, const BgcAngleRangeEnum range) +inline double bgc_fp64_normalize_radians(const double radians, const int angle_range) { - if (range == BGC_ANGLE_RANGE_UNSIGNED) { - if (0.0 <= radians && radians < BGC_TWO_PI_FP64) { + if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) { + if (0.0 <= radians && radians < BGC_FP64_TWO_PI) { return radians; } } else { - if (-BGC_PI_FP64 < radians && radians <= BGC_PI_FP64) { + if (-BGC_FP64_PI < radians && radians <= BGC_FP64_PI) { return radians; } } - double turns = radians * BGC_TURNS_IN_RADIAN_FP64; + double turns = radians * BGC_FP64_TURNS_IN_RADIAN; turns -= floor(turns); - if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5) { + if (angle_range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5) { turns -= 1.0; } - return turns * BGC_TWO_PI_FP64; + return turns * BGC_FP64_TWO_PI; } // !================= Degrees ==================! // // ========= Convert degrees to radians ========= // -inline float bgc_degrees_to_radians_fp32(const float degrees) +inline float bgc_fp32_degrees_to_radians(const float degrees) { - return degrees * BGC_RADIANS_IN_DEGREE_FP32; + return degrees * BGC_FP32_RADIANS_IN_DEGREE; } -inline double bgc_degrees_to_radians_fp64(const double degrees) +inline double bgc_fp64_degrees_to_radians(const double degrees) { - return degrees * BGC_RADIANS_IN_DEGREE_FP64; + return degrees * BGC_FP64_RADIANS_IN_DEGREE; } // ========== Convert degrees to turns ========== // -inline float bgc_degrees_to_turns_fp32(const float radians) +inline float bgc_fp32_degrees_to_turns(const float radians) { - return radians * BGC_TURNS_IN_DEGREE_FP32; + return radians * BGC_FP32_TURNS_IN_DEGREE; } -inline double bgc_degrees_to_turns_fp64(const double radians) +inline double bgc_fp64_degrees_to_turns(const double radians) { - return radians * BGC_TURNS_IN_DEGREE_FP64; + return radians * BGC_FP64_TURNS_IN_DEGREE; } // ========= Convert degreess to any unit ======== // -inline float bgc_degrees_to_units_fp32(const float degrees, const BgcAngleUnitEnum to_unit) +inline float bgc_fp32_degrees_to_units(const float degrees, const int angle_unit) { - if (to_unit == BGC_ANGLE_UNIT_RADIANS) { - return degrees * BGC_RADIANS_IN_DEGREE_FP32; + if (angle_unit == BGC_ANGLE_UNIT_RADIANS) { + return degrees * BGC_FP32_RADIANS_IN_DEGREE; } - if (to_unit == BGC_ANGLE_UNIT_TURNS) { - return degrees * BGC_TURNS_IN_DEGREE_FP32; + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { + return degrees * BGC_FP32_TURNS_IN_DEGREE; } return degrees; } -inline double bgc_degrees_to_units_fp64(const double degrees, const BgcAngleUnitEnum to_unit) +inline double bgc_fp64_degrees_to_units(const double degrees, const int angle_unit) { - if (to_unit == BGC_ANGLE_UNIT_RADIANS) { - return degrees * BGC_RADIANS_IN_DEGREE_FP64; + if (angle_unit == BGC_ANGLE_UNIT_RADIANS) { + return degrees * BGC_FP64_RADIANS_IN_DEGREE; } - if (to_unit == BGC_ANGLE_UNIT_TURNS) { - return degrees * BGC_TURNS_IN_DEGREE_FP64; + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { + return degrees * BGC_FP64_TURNS_IN_DEGREE; } return degrees; @@ -208,9 +204,9 @@ inline double bgc_degrees_to_units_fp64(const double degrees, const BgcAngleUnit // ============ Normalize degrees ============= // -inline float bgc_degrees_normalize_fp32(const float degrees, const BgcAngleRangeEnum range) +inline float bgc_fp32_normalize_degrees(const float degrees, const int angle_range) { - if (range == BGC_ANGLE_RANGE_UNSIGNED) { + if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) { if (0.0f <= degrees && degrees < 360.0f) { return degrees; } @@ -221,20 +217,20 @@ inline float bgc_degrees_normalize_fp32(const float degrees, const BgcAngleRange } } - float turns = degrees * BGC_TURNS_IN_DEGREE_FP32; + float turns = degrees * BGC_FP32_TURNS_IN_DEGREE; turns -= floorf(turns); - if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5f) { + if (angle_range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5f) { turns -= 1.0f; } return turns * 360.0f; } -inline double bgc_degrees_normalize_fp64(const double degrees, const BgcAngleRangeEnum range) +inline double bgc_fp64_degrees_normalize(const double degrees, const int angle_range) { - if (range == BGC_ANGLE_RANGE_UNSIGNED) { + if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) { if (0.0 <= degrees && degrees < 360.0) { return degrees; } @@ -245,11 +241,11 @@ inline double bgc_degrees_normalize_fp64(const double degrees, const BgcAngleRan } } - double turns = degrees * BGC_TURNS_IN_DEGREE_FP64; + double turns = degrees * BGC_FP64_TURNS_IN_DEGREE; turns -= floor(turns); - if (range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5) { + if (angle_range == BGC_ANGLE_RANGE_SIGNED && turns > 0.5) { turns -= 1.0; } @@ -260,50 +256,50 @@ inline double bgc_degrees_normalize_fp64(const double degrees, const BgcAngleRan // ========== Convert turns to radians ========== // -inline float bgc_turns_to_radians_fp32(const float turns) +inline float bgc_fp32_turns_to_radians(const float turns) { - return turns * BGC_TWO_PI_FP32; + return turns * BGC_FP32_TWO_PI; } -inline double bgc_turns_to_radians_fp64(const double turns) +inline double bgc_fp64_turns_to_radians(const double turns) { - return turns * BGC_TWO_PI_FP64; + return turns * BGC_FP64_TWO_PI; } // ========== Convert turns to degrees ========== // -inline float bgc_turns_to_degrees_fp32(const float turns) +inline float bgc_fp32_turns_to_degrees(const float turns) { return turns * 360.0f; } -inline double bgc_turns_to_degrees_fp64(const double turns) +inline double bgc_fp64_turns_to_degrees(const double turns) { return turns * 360.0; } // ========= Convert turns to any unit ======== // -inline float bgc_turns_to_units_fp32(const float turns, const BgcAngleUnitEnum to_unit) +inline float bgc_fp32_turns_to_units(const float turns, const int angle_unit) { - if (to_unit == BGC_ANGLE_UNIT_RADIANS) { - return turns * BGC_TWO_PI_FP32; + if (angle_unit == BGC_ANGLE_UNIT_RADIANS) { + return turns * BGC_FP32_TWO_PI; } - if (to_unit == BGC_ANGLE_UNIT_DEGREES) { + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { return turns * 360.0f; } return turns; } -inline double bgc_turns_to_units_fp64(const double turns, const BgcAngleUnitEnum to_unit) +inline double bgc_fp64_turns_to_units(const double turns, const int angle_unit) { - if (to_unit == BGC_ANGLE_UNIT_RADIANS) { - return turns * BGC_TWO_PI_FP64; + if (angle_unit == BGC_ANGLE_UNIT_RADIANS) { + return turns * BGC_FP64_TWO_PI; } - if (to_unit == BGC_ANGLE_UNIT_DEGREES) { + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { return turns * 360.0; } @@ -312,9 +308,9 @@ inline double bgc_turns_to_units_fp64(const double turns, const BgcAngleUnitEnum // ============= Normalize turns ============== // -inline float bgc_turns_normalize_fp32(const float turns, const BgcAngleRangeEnum range) +inline float bgc_fp32_normalize_turns(const float turns, const int angle_range) { - if (range == BGC_ANGLE_RANGE_UNSIGNED) { + if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) { if (0.0f <= turns && turns < 1.0f) { return turns; } @@ -327,16 +323,16 @@ inline float bgc_turns_normalize_fp32(const float turns, const BgcAngleRangeEnum float rest = turns - floorf(turns); - if (range == BGC_ANGLE_RANGE_SIGNED && rest > 0.5f) { + if (angle_range == BGC_ANGLE_RANGE_SIGNED && rest > 0.5f) { return rest - 1.0f; } return rest; } -inline double bgc_turns_normalize_fp64(const double turns, const BgcAngleRangeEnum range) +inline double bgc_fp64_normalize_turns(const double turns, const int angle_range) { - if (range == BGC_ANGLE_RANGE_UNSIGNED) { + if (angle_range == BGC_ANGLE_RANGE_UNSIGNED) { if (0.0 <= turns && turns < 1.0) { return turns; } @@ -349,7 +345,7 @@ inline double bgc_turns_normalize_fp64(const double turns, const BgcAngleRangeEn double rest = turns - floor(turns); - if (range == BGC_ANGLE_RANGE_SIGNED && rest > 0.5) { + if (angle_range == BGC_ANGLE_RANGE_SIGNED && rest > 0.5) { return rest - 1.0; } @@ -360,27 +356,27 @@ inline double bgc_turns_normalize_fp64(const double turns, const BgcAngleRangeEn // ========= Convert any unit to radians ======== // -inline float bgc_angle_to_radians_fp32(const float angle, const BgcAngleUnitEnum unit) +inline float bgc_fp32_angle_to_radians(const float angle, const int angle_unit) { - if (unit == BGC_ANGLE_UNIT_DEGREES) { - return angle * BGC_RADIANS_IN_DEGREE_FP32; + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { + return angle * BGC_FP32_RADIANS_IN_DEGREE; } - if (unit == BGC_ANGLE_UNIT_TURNS) { - return angle * BGC_TWO_PI_FP32; + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { + return angle * BGC_FP32_TWO_PI; } return angle; } -inline double bgc_angle_to_radians_fp64(const double angle, const BgcAngleUnitEnum unit) +inline double bgc_fp64_angle_to_radians(const double angle, const int angle_unit) { - if (unit == BGC_ANGLE_UNIT_DEGREES) { - return angle * BGC_RADIANS_IN_DEGREE_FP64; + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { + return angle * BGC_FP64_RADIANS_IN_DEGREE; } - if (unit == BGC_ANGLE_UNIT_TURNS) { - return angle * BGC_TWO_PI_FP64; + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { + return angle * BGC_FP64_TWO_PI; } return angle; @@ -388,26 +384,26 @@ inline double bgc_angle_to_radians_fp64(const double angle, const BgcAngleUnitEn // ========= Convert any unit to degreess ======== // -inline float bgc_angle_to_degrees_fp32(const float angle, const BgcAngleUnitEnum unit) +inline float bgc_fp32_angle_to_degrees(const float angle, const int angle_unit) { - if (unit == BGC_ANGLE_UNIT_RADIANS) { - return angle * BGC_DEGREES_IN_RADIAN_FP32; + if (angle_unit == BGC_ANGLE_UNIT_RADIANS) { + return angle * BGC_FP32_DEGREES_IN_RADIAN; } - if (unit == BGC_ANGLE_UNIT_TURNS) { + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { return angle * 360.0f; } return angle; } -inline double bgc_angle_to_degrees_fp64(const double angle, const BgcAngleUnitEnum unit) +inline double bgc_fp64_angle_to_degrees(const double angle, const int angle_unit) { - if (unit == BGC_ANGLE_UNIT_RADIANS) { - return angle * BGC_DEGREES_IN_RADIAN_FP64; + if (angle_unit == BGC_ANGLE_UNIT_RADIANS) { + return angle * BGC_FP64_DEGREES_IN_RADIAN; } - if (unit == BGC_ANGLE_UNIT_TURNS) { + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { return angle * 360.0; } @@ -416,27 +412,27 @@ inline double bgc_angle_to_degrees_fp64(const double angle, const BgcAngleUnitEn // ========= Convert any unit to turns ======== // -inline float bgc_angle_to_turns_fp32(const float angle, const BgcAngleUnitEnum unit) +inline float bgc_fp32_angle_to_turns(const float angle, const int angle_unit) { - if (unit == BGC_ANGLE_UNIT_RADIANS) { - return angle * BGC_TURNS_IN_RADIAN_FP32; + if (angle_unit == BGC_ANGLE_UNIT_RADIANS) { + return angle * BGC_FP32_TURNS_IN_RADIAN; } - if (unit == BGC_ANGLE_UNIT_DEGREES) { - return angle * BGC_TURNS_IN_DEGREE_FP32; + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { + return angle * BGC_FP32_TURNS_IN_DEGREE; } return angle; } -inline double bgc_angle_to_turns_fp64(const double angle, const BgcAngleUnitEnum unit) +inline double bgc_fp64_angle_to_turns(const double angle, const int angle_unit) { - if (unit == BGC_ANGLE_UNIT_RADIANS) { - return angle * BGC_TURNS_IN_RADIAN_FP64; + if (angle_unit == BGC_ANGLE_UNIT_RADIANS) { + return angle * BGC_FP64_TURNS_IN_RADIAN; } - if (unit == BGC_ANGLE_UNIT_DEGREES) { - return angle * BGC_TURNS_IN_DEGREE_FP64; + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { + return angle * BGC_FP64_TURNS_IN_DEGREE; } return angle; @@ -444,114 +440,58 @@ inline double bgc_angle_to_turns_fp64(const double angle, const BgcAngleUnitEnum // ============= Get Full Circle ============== // -inline float bgc_angle_get_full_circle_fp32(const BgcAngleUnitEnum unit) +inline float bgc_fp32_full_circle(const int angle_unit) { - if (unit == BGC_ANGLE_UNIT_DEGREES) { + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { return 360.0f; } - if (unit == BGC_ANGLE_UNIT_TURNS) { + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { return 1.0f; } - return BGC_TWO_PI_FP32; + return BGC_FP32_TWO_PI; } -inline double bgc_angle_get_full_circle_fp64(const BgcAngleUnitEnum unit) +inline double bgc_fp64_full_circle(const int angle_unit) { - if (unit == BGC_ANGLE_UNIT_DEGREES) { + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { return 360.0; } - if (unit == BGC_ANGLE_UNIT_TURNS) { + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { return 1.0; } - return BGC_TWO_PI_FP64; -} - -// ============= Get Half Circle ============== // - -inline float bgc_angle_get_half_circle_fp32(const BgcAngleUnitEnum unit) -{ - if (unit == BGC_ANGLE_UNIT_DEGREES) { - return 180.0f; - } - - if (unit == BGC_ANGLE_UNIT_TURNS) { - return 0.5f; - } - - return BGC_PI_FP32; -} - -inline double bgc_angle_get_half_circle_fp64(const BgcAngleUnitEnum unit) -{ - if (unit == BGC_ANGLE_UNIT_DEGREES) { - return 180.0; - } - - if (unit == BGC_ANGLE_UNIT_TURNS) { - return 0.5; - } - - return BGC_PI_FP64; -} - -// ============= Get Half Circle ============== // - -inline float bgc_angle_get_quater_circle_fp32(const BgcAngleUnitEnum unit) -{ - if (unit == BGC_ANGLE_UNIT_DEGREES) { - return 90.0f; - } - - if (unit == BGC_ANGLE_UNIT_TURNS) { - return 0.25f; - } - - return BGC_HALF_OF_PI_FP32; -} - -inline double bgc_angle_get_quater_circle_fp64(const BgcAngleUnitEnum unit) -{ - if (unit == BGC_ANGLE_UNIT_DEGREES) { - return 90.0; - } - - if (unit == BGC_ANGLE_UNIT_TURNS) { - return 0.25; - } - - return BGC_HALF_OF_PI_FP64; + return BGC_FP64_TWO_PI; } // ================ Normalize ================= // -inline float bgc_angle_normalize_fp32(const float angle, const BgcAngleUnitEnum unit, const BgcAngleRangeEnum range) +inline float bgc_fp32_normalize_angle(const float angle, const int angle_unit, const int angle_range) { - if (unit == BGC_ANGLE_UNIT_DEGREES) { - return bgc_degrees_normalize_fp32(angle, range); + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { + return bgc_fp32_normalize_degrees(angle, angle_range); } - if (unit == BGC_ANGLE_UNIT_TURNS) { - return bgc_turns_normalize_fp32(angle, range); + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { + return bgc_fp32_normalize_turns(angle, angle_range); } - return bgc_radians_normalize_fp32(angle, range); + return bgc_fp32_normalize_radians(angle, angle_range); } -inline double bgc_angle_normalize_fp64(const double angle, const BgcAngleUnitEnum unit, const BgcAngleRangeEnum range) +inline double bgc_fp64_normalize_angle(const double angle, const int angle_unit, const int angle_range) { - if (unit == BGC_ANGLE_UNIT_DEGREES) { - return bgc_degrees_normalize_fp64(angle, range); + if (angle_unit == BGC_ANGLE_UNIT_DEGREES) { + return bgc_fp64_degrees_normalize(angle, angle_range); } - if (unit == BGC_ANGLE_UNIT_TURNS) { - return bgc_turns_normalize_fp64(angle, range); + if (angle_unit == BGC_ANGLE_UNIT_TURNS) { + return bgc_fp64_normalize_turns(angle, angle_range); } - return bgc_radians_normalize_fp64(angle, range); + return bgc_fp64_normalize_radians(angle, angle_range); } #endif diff --git a/basic-geometry/basic-geometry.cbp b/basic-geometry/basic-geometry.cbp index 9d41076..4d62d04 100644 --- a/basic-geometry/basic-geometry.cbp +++ b/basic-geometry/basic-geometry.cbp @@ -60,10 +60,30 @@ diff --git a/basic-geometry/basic-geometry.h b/basic-geometry/basic-geometry.h index 402e083..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" @@ -8,25 +8,24 @@ #include "./vector2.h" #include "./vector3.h" -#include "./matrixes.h" +#include "./matrices.h" #include "./matrix2x2.h" #include "./matrix2x3.h" #include "./matrix3x2.h" #include "./matrix3x3.h" - -#include "./affine2.h" -#include "./affine3.h" + +#include "./affine2.h" +#include "./affine3.h" #include "./complex.h" -#include "./cotes-number.h" - -#include "./rotation3.h" - #include "./quaternion.h" -#include "./versor.h" + +#include "./turn2.h" +#include "./turn3.h" + +#include "./position2.h" +#include "./position3.h" + #include "./slerp.h" - -#include "./position2.h" -#include "./position3.h" #endif diff --git a/basic-geometry/basic-geometry.vcxproj b/basic-geometry/basic-geometry.vcxproj index fe4ec00..f392d21 100644 --- a/basic-geometry/basic-geometry.vcxproj +++ b/basic-geometry/basic-geometry.vcxproj @@ -1,4 +1,4 @@ - + @@ -24,20 +24,23 @@ - + + + + + - + - - + + - @@ -46,19 +49,23 @@ - + + + + + + + - + - - diff --git a/basic-geometry/basic-geometry.vcxproj.filters b/basic-geometry/basic-geometry.vcxproj.filters index 2f732d3..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 @@ -57,21 +48,15 @@ Файлы заголовков - + Файлы заголовков Исходные файлы - - Исходные файлы - Файлы заголовков - - Файлы заголовков - Файлы заголовков @@ -84,6 +69,27 @@ Файлы заголовков + + Файлы заголовков + + + Файлы заголовков + + + Файлы заголовков + + + Файлы заголовков + + + Файлы заголовков + + + Файлы заголовков + + + Файлы заголовков + @@ -98,22 +104,16 @@ Исходные файлы - - Исходные файлы - Исходные файлы Исходные файлы - - Исходные файлы - Исходные файлы - + Исходные файлы @@ -137,5 +137,26 @@ Исходные файлы + + Исходные файлы + + + Исходные файлы + + + Исходные файлы + + + Исходные файлы + + + Исходные файлы + + + Исходные файлы + + + Исходные файлы + \ No newline at end of file diff --git a/basic-geometry/complex.c b/basic-geometry/complex.c index 9afa6bf..af68316 100644 --- a/basic-geometry/complex.c +++ b/basic-geometry/complex.c @@ -1,96 +1,96 @@ #include "./complex.h" -extern inline void bgc_complex_reset_fp32(BgcComplexFP32* complex); -extern inline void bgc_complex_reset_fp64(BgcComplexFP64* complex); +extern inline void bgc_fp32_complex_reset(BGC_FP32_Complex* complex); +extern inline void bgc_fp64_complex_reset(BGC_FP64_Complex* complex); -extern inline void bgc_complex_set_values_fp32(const float real, const float imaginary, BgcComplexFP32* destination); -extern inline void bgc_complex_set_values_fp64(const double real, const double imaginary, BgcComplexFP64* destination); +extern inline void bgc_fp32_complex_make(BGC_FP32_Complex* complex, const float real, const float imaginary); +extern inline void bgc_fp64_complex_make(BGC_FP64_Complex* complex, const double real, const double imaginary); -extern inline float bgc_complex_get_square_modulus_fp32(const BgcComplexFP32* number); -extern inline double bgc_complex_get_square_modulus_fp64(const BgcComplexFP64* number); +extern inline float bgc_fp32_complex_get_square_modulus(const BGC_FP32_Complex* number); +extern inline double bgc_fp64_complex_get_square_modulus(const BGC_FP64_Complex* number); -extern inline float bgc_complex_get_modulus_fp32(const BgcComplexFP32* number); -extern inline double bgc_complex_get_modulus_fp64(const BgcComplexFP64* number); +extern inline float bgc_fp32_complex_get_modulus(const BGC_FP32_Complex* number); +extern inline double bgc_fp64_complex_get_modulus(const BGC_FP64_Complex* number); -extern inline int bgc_complex_is_zero_fp32(const BgcComplexFP32* number); -extern inline int bgc_complex_is_zero_fp64(const BgcComplexFP64* number); +extern inline int bgc_fp32_complex_is_zero(const BGC_FP32_Complex* number); +extern inline int bgc_fp64_complex_is_zero(const BGC_FP64_Complex* number); -extern inline int bgc_complex_is_unit_fp32(const BgcComplexFP32* number); -extern inline int bgc_complex_is_unit_fp64(const BgcComplexFP64* number); +extern inline int bgc_fp32_complex_is_unit(const BGC_FP32_Complex* number); +extern inline int bgc_fp64_complex_is_unit(const BGC_FP64_Complex* number); -extern inline void bgc_complex_copy_fp32(const BgcComplexFP32* source, BgcComplexFP32* destination); -extern inline void bgc_complex_copy_fp64(const BgcComplexFP64* source, BgcComplexFP64* destination); +extern inline void bgc_fp32_complex_copy(BGC_FP32_Complex* destination, const BGC_FP32_Complex* source); +extern inline void bgc_fp64_complex_copy(BGC_FP64_Complex* destination, const BGC_FP64_Complex* source); -extern inline void bgc_complex_swap_fp32(BgcComplexFP32* number1, BgcComplexFP32* number2); -extern inline void bgc_complex_swap_fp64(BgcComplexFP64* number1, BgcComplexFP64* number2); +extern inline void bgc_fp32_complex_swap(BGC_FP32_Complex* number1, BGC_FP32_Complex* number2); +extern inline void bgc_fp64_complex_swap(BGC_FP64_Complex* number1, BGC_FP64_Complex* number2); -extern inline void bgc_complex_convert_fp64_to_fp32(const BgcComplexFP64* source, BgcComplexFP32* destination); -extern inline void bgc_complex_convert_fp32_to_fp64(const BgcComplexFP32* source, BgcComplexFP64* destination); +extern inline void bgc_fp64_complex_convert_to_fp32(BGC_FP32_Complex* destination, const BGC_FP64_Complex* source); +extern inline void bgc_fp32_complex_convert_to_fp64(BGC_FP64_Complex* destination, const BGC_FP32_Complex* source); -extern inline void bgc_complex_make_opposite_fp32(BgcComplexFP32* number); -extern inline void bgc_complex_make_opposite_fp64(BgcComplexFP64* number); +extern inline void bgc_fp32_complex_revert(BGC_FP32_Complex* number); +extern inline void bgc_fp64_complex_revert(BGC_FP64_Complex* number); -extern inline void bgc_complex_get_opposite_fp32(const BgcComplexFP32* number, BgcComplexFP32* opposite); -extern inline void bgc_complex_get_opposite_fp64(const BgcComplexFP64* number, BgcComplexFP64* opposite); +extern inline void bgc_fp32_complex_get_reverse(BGC_FP32_Complex* reverse, const BGC_FP32_Complex* number); +extern inline void bgc_fp64_complex_get_reverse(BGC_FP64_Complex* reverse, const BGC_FP64_Complex* number); -extern inline int bgc_complex_normalize_fp32(BgcComplexFP32* number); -extern inline int bgc_complex_normalize_fp64(BgcComplexFP64* number); +extern inline int bgc_fp32_complex_normalize(BGC_FP32_Complex* number); +extern inline int bgc_fp64_complex_normalize(BGC_FP64_Complex* number); -extern inline int bgc_complex_get_normalized_fp32(const BgcComplexFP32* number, BgcComplexFP32* normalized); -extern inline int bgc_complex_get_normalized_fp64(const BgcComplexFP64* number, BgcComplexFP64* normalized); +extern inline int bgc_fp32_complex_get_normalized(BGC_FP32_Complex* normalized, const BGC_FP32_Complex* number); +extern inline int bgc_fp64_complex_get_normalized(BGC_FP64_Complex* normalized, const BGC_FP64_Complex* number); -extern inline void bgc_complex_conjugate_fp32(BgcComplexFP32* number); -extern inline void bgc_complex_conjugate_fp64(BgcComplexFP64* number); +extern inline void bgc_fp32_complex_conjugate(BGC_FP32_Complex* number); +extern inline void bgc_fp64_complex_conjugate(BGC_FP64_Complex* number); -extern inline void bgc_complex_get_conjugate_fp32(const BgcComplexFP32* number, BgcComplexFP32* conjugate); -extern inline void bgc_complex_get_conjugate_fp64(const BgcComplexFP64* number, BgcComplexFP64* conjugate); +extern inline void bgc_fp32_complex_get_conjugate(BGC_FP32_Complex* conjugate, const BGC_FP32_Complex* number); +extern inline void bgc_fp64_complex_get_conjugate(BGC_FP64_Complex* conjugate, const BGC_FP64_Complex* number); -extern inline int bgc_complex_invert_fp32(BgcComplexFP32* number); -extern inline int bgc_complex_invert_fp64(BgcComplexFP64* number); +extern inline int bgc_fp32_complex_invert(BGC_FP32_Complex* number); +extern inline int bgc_fp64_complex_invert(BGC_FP64_Complex* number); -extern inline int bgc_complex_get_inverse_fp32(const BgcComplexFP32* number, BgcComplexFP32* inverse); -extern inline int bgc_complex_get_inverse_fp64(const BgcComplexFP64* number, BgcComplexFP64* inverse); +extern inline int bgc_fp32_complex_get_inverse(BGC_FP32_Complex* inverse, const BGC_FP32_Complex* number); +extern inline int bgc_fp64_complex_get_inverse(BGC_FP64_Complex* inverse, const BGC_FP64_Complex* number); -extern inline void bgc_complex_multiply_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* result); -extern inline void bgc_complex_multiply_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* result); +extern inline void bgc_fp32_complex_get_product(BGC_FP32_Complex* product, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2); +extern inline void bgc_fp64_complex_get_product(BGC_FP64_Complex* product, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2); -extern inline int bgc_complex_devide_fp32(const BgcComplexFP32* divident, const BgcComplexFP32* divisor, BgcComplexFP32* quotient); -extern inline int bgc_complex_devide_fp64(const BgcComplexFP64* divident, const BgcComplexFP64* divisor, BgcComplexFP64* quotient); +extern inline int bgc_fp32_complex_get_ratio(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* divident, const BGC_FP32_Complex* divisor); +extern inline int bgc_fp64_complex_get_ratio(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* divident, const BGC_FP64_Complex* divisor); -extern inline void bgc_complex_add_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* sum); -extern inline void bgc_complex_add_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* sum); +extern inline void bgc_fp32_complex_add(BGC_FP32_Complex* sum, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2); +extern inline void bgc_fp64_complex_add(BGC_FP64_Complex* sum, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2); -extern inline void bgc_complex_add_scaled_fp32(const BgcComplexFP32* basic_number, const BgcComplexFP32* scalable_number, const float scale, BgcComplexFP32* sum); -extern inline void bgc_complex_add_scaled_fp64(const BgcComplexFP64* basic_number, const BgcComplexFP64* scalable_number, const double scale, BgcComplexFP64* sum); +extern inline void bgc_fp32_complex_add_scaled(BGC_FP32_Complex* sum, const BGC_FP32_Complex* basic_number, const BGC_FP32_Complex* scalable_number, const float scale); +extern inline void bgc_fp64_complex_add_scaled(BGC_FP64_Complex* sum, const BGC_FP64_Complex* basic_number, const BGC_FP64_Complex* scalable_number, const double scale); -extern inline void bgc_complex_subtract_fp32(const BgcComplexFP32* minuend, const BgcComplexFP32* subtrahend, BgcComplexFP32* difference); -extern inline void bgc_complex_subtract_fp64(const BgcComplexFP64* minuend, const BgcComplexFP64* subtrahend, BgcComplexFP64* difference); +extern inline void bgc_fp32_complex_subtract(BGC_FP32_Complex* difference, const BGC_FP32_Complex* minuend, const BGC_FP32_Complex* subtrahend); +extern inline void bgc_fp64_complex_subtract(BGC_FP64_Complex* difference, const BGC_FP64_Complex* minuend, const BGC_FP64_Complex* subtrahend); -extern inline void bgc_complex_multiply_by_number_fp32(const BgcComplexFP32* multiplicand, const float multiplier, BgcComplexFP32* product); -extern inline void bgc_complex_multiply_by_number_fp64(const BgcComplexFP64* multiplicand, const double multiplier, BgcComplexFP64* product); +extern inline void bgc_fp32_complex_multiply(BGC_FP32_Complex* product, const BGC_FP32_Complex* multiplicand, const float multiplier); +extern inline void bgc_fp64_complex_multiply(BGC_FP64_Complex* product, const BGC_FP64_Complex* multiplicand, const double multiplier); -extern inline void bgc_complex_divide_by_number_fp32(const BgcComplexFP32* dividend, const float divisor, BgcComplexFP32* quotient); -extern inline void bgc_complex_divide_by_number_fp64(const BgcComplexFP64* dividend, const double divisor, BgcComplexFP64* quotient); +extern inline void bgc_fp32_complex_divide(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* dividend, const float divisor); +extern inline void bgc_fp64_complex_divide(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* dividend, const double divisor); -extern inline void bgc_complex_get_mean_of_two_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* mean); -extern inline void bgc_complex_get_mean_of_two_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* mean); +extern inline void bgc_fp32_complex_get_mean2(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2); +extern inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2); -extern inline void bgc_complex_get_mean_of_three_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, const BgcComplexFP32* number3, BgcComplexFP32* mean); -extern inline void bgc_complex_get_mean_of_three_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, const BgcComplexFP64* number3, BgcComplexFP64* mean); +extern inline void bgc_fp32_complex_get_mean3(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const BGC_FP32_Complex* number3); +extern inline void bgc_fp64_complex_get_mean3(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const BGC_FP64_Complex* number3); -extern inline void bgc_complex_interpolate_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, const float phase, BgcComplexFP32* interpolation); -extern inline void bgc_complex_interpolate_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, const double phase, BgcComplexFP64* interpolation); +extern inline void bgc_fp32_complex_interpolate(BGC_FP32_Complex* interpolation, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const float phase); +extern inline void bgc_fp64_complex_interpolate(BGC_FP64_Complex* interpolation, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const double phase); -extern inline int bgc_complex_are_close_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2); -extern inline int bgc_complex_are_close_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2); +extern inline int bgc_fp32_complex_are_close(const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2); +extern inline int bgc_fp64_complex_are_close(const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2); // =============== Get Exponation =============== // -void bgc_complex_get_exponation_fp32(const BgcComplexFP32* base, const float real_exponent, const float imaginary_exponent, BgcComplexFP32* power) +void bgc_fp32_complex_get_exponation(BGC_FP32_Complex* power, const BGC_FP32_Complex* base, const float real_exponent, const float imaginary_exponent) { - const float square_modulus = bgc_complex_get_square_modulus_fp32(base); + const float square_modulus = bgc_fp32_complex_get_square_modulus(base); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) { + if (square_modulus <= BGC_FP32_SQUARE_EPSILON) { power->real = 0.0f; power->imaginary = 0.0f; return; @@ -106,11 +106,11 @@ void bgc_complex_get_exponation_fp32(const BgcComplexFP32* base, const float rea power->imaginary = power_modulus * sinf(power_angle); } -void bgc_complex_get_exponation_fp64(const BgcComplexFP64* base, const double real_exponent, const double imaginary_exponent, BgcComplexFP64* power) +void bgc_fp64_complex_get_exponation(BGC_FP64_Complex* power, const BGC_FP64_Complex* base, const double real_exponent, const double imaginary_exponent) { - const double square_modulus = bgc_complex_get_square_modulus_fp64(base); + const double square_modulus = bgc_fp64_complex_get_square_modulus(base); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64) { + if (square_modulus <= BGC_FP64_SQUARE_EPSILON) { power->real = 0.0; power->imaginary = 0.0; return; diff --git a/basic-geometry/complex.h b/basic-geometry/complex.h index 3d8b8c3..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" @@ -9,22 +9,22 @@ typedef struct { float real, imaginary; -} BgcComplexFP32; +} BGC_FP32_Complex; typedef struct { double real, imaginary; -} BgcComplexFP64; +} BGC_FP64_Complex; // =================== Reset ==================== // -inline void bgc_complex_reset_fp32(BgcComplexFP32* complex) +inline void bgc_fp32_complex_reset(BGC_FP32_Complex* complex) { complex->real = 0.0f; complex->imaginary = 0.0f; } -inline void bgc_complex_reset_fp64(BgcComplexFP64* complex) +inline void bgc_fp64_complex_reset(BGC_FP64_Complex* complex) { complex->real = 0.0; complex->imaginary = 0.0; @@ -32,71 +32,71 @@ inline void bgc_complex_reset_fp64(BgcComplexFP64* complex) // ==================== Set ===================== // -inline void bgc_complex_set_values_fp32(const float real, const float imaginary, BgcComplexFP32* destination) +inline void bgc_fp32_complex_make(BGC_FP32_Complex* complex, const float real, const float imaginary) { - destination->real = real; - destination->imaginary = imaginary; + complex->real = real; + complex->imaginary = imaginary; } -inline void bgc_complex_set_values_fp64(const double real, const double imaginary, BgcComplexFP64* destination) +inline void bgc_fp64_complex_make(BGC_FP64_Complex* complex, const double real, const double imaginary) { - destination->real = real; - destination->imaginary = imaginary; + complex->real = real; + complex->imaginary = imaginary; } // ================== Modulus =================== // -inline float bgc_complex_get_square_modulus_fp32(const BgcComplexFP32* number) +inline float bgc_fp32_complex_get_square_modulus(const BGC_FP32_Complex* number) { return number->real * number->real + number->imaginary * number->imaginary; } -inline double bgc_complex_get_square_modulus_fp64(const BgcComplexFP64* number) +inline double bgc_fp64_complex_get_square_modulus(const BGC_FP64_Complex* number) { return number->real * number->real + number->imaginary * number->imaginary; } -inline float bgc_complex_get_modulus_fp32(const BgcComplexFP32* number) +inline float bgc_fp32_complex_get_modulus(const BGC_FP32_Complex* number) { - return sqrtf(bgc_complex_get_square_modulus_fp32(number)); + return sqrtf(bgc_fp32_complex_get_square_modulus(number)); } -inline double bgc_complex_get_modulus_fp64(const BgcComplexFP64* number) +inline double bgc_fp64_complex_get_modulus(const BGC_FP64_Complex* number) { - return sqrt(bgc_complex_get_square_modulus_fp64(number)); + return sqrt(bgc_fp64_complex_get_square_modulus(number)); } // ================= Comparison ================= // -inline int bgc_complex_is_zero_fp32(const BgcComplexFP32* number) +inline int bgc_fp32_complex_is_zero(const BGC_FP32_Complex* number) { - return bgc_complex_get_square_modulus_fp32(number) <= BGC_SQUARE_EPSYLON_FP32; + return bgc_fp32_complex_get_square_modulus(number) <= BGC_FP32_SQUARE_EPSILON; } -inline int bgc_complex_is_zero_fp64(const BgcComplexFP64* number) +inline int bgc_fp64_complex_is_zero(const BGC_FP64_Complex* number) { - return bgc_complex_get_square_modulus_fp64(number) <= BGC_SQUARE_EPSYLON_FP64; + return bgc_fp64_complex_get_square_modulus(number) <= BGC_FP64_SQUARE_EPSILON; } -inline int bgc_complex_is_unit_fp32(const BgcComplexFP32* number) +inline int bgc_fp32_complex_is_unit(const BGC_FP32_Complex* number) { - return bgc_is_sqare_unit_fp32(bgc_complex_get_square_modulus_fp32(number)); + return bgc_fp32_is_square_unit(bgc_fp32_complex_get_square_modulus(number)); } -inline int bgc_complex_is_unit_fp64(const BgcComplexFP64* number) +inline int bgc_fp64_complex_is_unit(const BGC_FP64_Complex* number) { - return bgc_is_sqare_unit_fp64(bgc_complex_get_square_modulus_fp64(number)); + return bgc_fp64_is_square_unit(bgc_fp64_complex_get_square_modulus(number)); } // ==================== Copy ==================== // -inline void bgc_complex_copy_fp32(const BgcComplexFP32* source, BgcComplexFP32* destination) +inline void bgc_fp32_complex_copy(BGC_FP32_Complex* destination, const BGC_FP32_Complex* source) { destination->real = source->real; destination->imaginary = source->imaginary; } -inline void bgc_complex_copy_fp64(const BgcComplexFP64* source, BgcComplexFP64* destination) +inline void bgc_fp64_complex_copy(BGC_FP64_Complex* destination, const BGC_FP64_Complex* source) { destination->real = source->real; destination->imaginary = source->imaginary; @@ -104,7 +104,7 @@ inline void bgc_complex_copy_fp64(const BgcComplexFP64* source, BgcComplexFP64* // ==================== Swap ==================== // -inline void bgc_complex_swap_fp32(BgcComplexFP32* number1, BgcComplexFP32* number2) +inline void bgc_fp32_complex_swap(BGC_FP32_Complex* number1, BGC_FP32_Complex* number2) { const float real = number2->real; const float imaginary = number2->imaginary; @@ -116,7 +116,7 @@ inline void bgc_complex_swap_fp32(BgcComplexFP32* number1, BgcComplexFP32* numbe number1->imaginary = imaginary; } -inline void bgc_complex_swap_fp64(BgcComplexFP64* number1, BgcComplexFP64* number2) +inline void bgc_fp64_complex_swap(BGC_FP64_Complex* number1, BGC_FP64_Complex* number2) { const double real = number2->real; const double imaginary = number2->imaginary; @@ -130,13 +130,13 @@ inline void bgc_complex_swap_fp64(BgcComplexFP64* number1, BgcComplexFP64* numbe // ================== Convert =================== // -inline void bgc_complex_convert_fp64_to_fp32(const BgcComplexFP64* source, BgcComplexFP32* destination) +inline void bgc_fp64_complex_convert_to_fp32(BGC_FP32_Complex* destination, const BGC_FP64_Complex* source) { destination->real = (float)source->real; destination->imaginary = (float)source->imaginary; } -inline void bgc_complex_convert_fp32_to_fp64(const BgcComplexFP32* source, BgcComplexFP64* destination) +inline void bgc_fp32_complex_convert_to_fp64(BGC_FP64_Complex* destination, const BGC_FP32_Complex* source) { destination->real = source->real; destination->imaginary = source->imaginary; @@ -144,41 +144,41 @@ inline void bgc_complex_convert_fp32_to_fp64(const BgcComplexFP32* source, BgcCo // ================== Negative ================== // -inline void bgc_complex_make_opposite_fp32(BgcComplexFP32* number) +inline void bgc_fp32_complex_revert(BGC_FP32_Complex* number) { number->real = -number->real; number->imaginary = -number->imaginary; } -inline void bgc_complex_make_opposite_fp64(BgcComplexFP64* number) +inline void bgc_fp64_complex_revert(BGC_FP64_Complex* number) { number->real = -number->real; number->imaginary = -number->imaginary; } -inline void bgc_complex_get_opposite_fp32(const BgcComplexFP32* number, BgcComplexFP32* opposite) +inline void bgc_fp32_complex_get_reverse(BGC_FP32_Complex* reverse, const BGC_FP32_Complex* number) { - opposite->real = -number->real; - opposite->imaginary = -number->imaginary; + reverse->real = -number->real; + reverse->imaginary = -number->imaginary; } -inline void bgc_complex_get_opposite_fp64(const BgcComplexFP64* number, BgcComplexFP64* opposite) +inline void bgc_fp64_complex_get_reverse(BGC_FP64_Complex* reverse, const BGC_FP64_Complex* number) { - opposite->real = -number->real; - opposite->imaginary = -number->imaginary; + reverse->real = -number->real; + reverse->imaginary = -number->imaginary; } // ================= Normalize ================== // -inline int bgc_complex_normalize_fp32(BgcComplexFP32* number) +inline int bgc_fp32_complex_normalize(BGC_FP32_Complex* number) { - const float square_modulus = bgc_complex_get_square_modulus_fp32(number); + const float square_modulus = bgc_fp32_complex_get_square_modulus(number); - if (bgc_is_sqare_unit_fp32(square_modulus)) { + if (bgc_fp32_is_square_unit(square_modulus)) { return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -190,15 +190,15 @@ inline int bgc_complex_normalize_fp32(BgcComplexFP32* number) return 1; } -inline int bgc_complex_normalize_fp64(BgcComplexFP64* number) +inline int bgc_fp64_complex_normalize(BGC_FP64_Complex* number) { - const double square_modulus = bgc_complex_get_square_modulus_fp64(number); + const double square_modulus = bgc_fp64_complex_get_square_modulus(number); - if (bgc_is_sqare_unit_fp64(square_modulus)) { + if (bgc_fp64_is_square_unit(square_modulus)) { return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -210,17 +210,17 @@ inline int bgc_complex_normalize_fp64(BgcComplexFP64* number) return 1; } -inline int bgc_complex_get_normalized_fp32(const BgcComplexFP32* number, BgcComplexFP32* normalized) +inline int bgc_fp32_complex_get_normalized(BGC_FP32_Complex* normalized, const BGC_FP32_Complex* number) { - const float square_modulus = bgc_complex_get_square_modulus_fp32(number); + const float square_modulus = bgc_fp32_complex_get_square_modulus(number); - if (bgc_is_sqare_unit_fp32(square_modulus)) { + if (bgc_fp32_is_square_unit(square_modulus)) { normalized->real = number->real; normalized->imaginary = number->imaginary; return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { normalized->real = 0.0f; normalized->imaginary = 0.0f; return 0; @@ -234,17 +234,17 @@ inline int bgc_complex_get_normalized_fp32(const BgcComplexFP32* number, BgcComp return 1; } -inline int bgc_complex_get_normalized_fp64(const BgcComplexFP64* number, BgcComplexFP64* normalized) +inline int bgc_fp64_complex_get_normalized(BGC_FP64_Complex* normalized, const BGC_FP64_Complex* number) { - const double square_modulus = bgc_complex_get_square_modulus_fp64(number); + const double square_modulus = bgc_fp64_complex_get_square_modulus(number); - if (bgc_is_sqare_unit_fp64(square_modulus)) { + if (bgc_fp64_is_square_unit(square_modulus)) { normalized->real = number->real; normalized->imaginary = number->imaginary; return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { normalized->real = 0.0; normalized->imaginary = 0.0; return 0; @@ -260,23 +260,23 @@ inline int bgc_complex_get_normalized_fp64(const BgcComplexFP64* number, BgcComp // ================= Conjugate ================== // -inline void bgc_complex_conjugate_fp32(BgcComplexFP32* number) +inline void bgc_fp32_complex_conjugate(BGC_FP32_Complex* number) { number->imaginary = -number->imaginary; } -inline void bgc_complex_conjugate_fp64(BgcComplexFP64* number) +inline void bgc_fp64_complex_conjugate(BGC_FP64_Complex* number) { number->imaginary = -number->imaginary; } -inline void bgc_complex_get_conjugate_fp32(const BgcComplexFP32* number, BgcComplexFP32* conjugate) +inline void bgc_fp32_complex_get_conjugate(BGC_FP32_Complex* conjugate, const BGC_FP32_Complex* number) { conjugate->real = number->real; conjugate->imaginary = -number->imaginary; } -inline void bgc_complex_get_conjugate_fp64(const BgcComplexFP64* number, BgcComplexFP64* conjugate) +inline void bgc_fp64_complex_get_conjugate(BGC_FP64_Complex* conjugate, const BGC_FP64_Complex* number) { conjugate->real = number->real; conjugate->imaginary = -number->imaginary; @@ -284,11 +284,11 @@ inline void bgc_complex_get_conjugate_fp64(const BgcComplexFP64* number, BgcComp // =================== Invert =================== // -inline int bgc_complex_get_inverse_fp32(const BgcComplexFP32* number, BgcComplexFP32* inverse) +inline int bgc_fp32_complex_get_inverse(BGC_FP32_Complex* inverse, const BGC_FP32_Complex* number) { - const float square_modulus = bgc_complex_get_square_modulus_fp32(number); + const float square_modulus = bgc_fp32_complex_get_square_modulus(number); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -300,11 +300,11 @@ inline int bgc_complex_get_inverse_fp32(const BgcComplexFP32* number, BgcComplex return 1; } -inline int bgc_complex_get_inverse_fp64(const BgcComplexFP64* number, BgcComplexFP64* inverse) +inline int bgc_fp64_complex_get_inverse(BGC_FP64_Complex* inverse, const BGC_FP64_Complex* number) { - const double square_modulus = bgc_complex_get_square_modulus_fp64(number); + const double square_modulus = bgc_fp64_complex_get_square_modulus(number); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -316,31 +316,31 @@ inline int bgc_complex_get_inverse_fp64(const BgcComplexFP64* number, BgcComplex return 1; } -inline int bgc_complex_invert_fp32(BgcComplexFP32* number) +inline int bgc_fp32_complex_invert(BGC_FP32_Complex* number) { - return bgc_complex_get_inverse_fp32(number, number); + return bgc_fp32_complex_get_inverse(number, number); } -inline int bgc_complex_invert_fp64(BgcComplexFP64* number) +inline int bgc_fp64_complex_invert(BGC_FP64_Complex* number) { - return bgc_complex_get_inverse_fp64(number, number); + return bgc_fp64_complex_get_inverse(number, number); } // =============== Get Exponation =============== // -void bgc_complex_get_exponation_fp32(const BgcComplexFP32* base, const float real_exponent, const float imaginary_exponent, BgcComplexFP32* power); +void bgc_fp32_complex_get_exponation(BGC_FP32_Complex* power, const BGC_FP32_Complex* base, const float real_exponent, const float imaginary_exponent); -void bgc_complex_get_exponation_fp64(const BgcComplexFP64* base, const double real_exponent, const double imaginary_exponent, BgcComplexFP64* power); +void bgc_fp64_complex_get_exponation(BGC_FP64_Complex* power, const BGC_FP64_Complex* base, const double real_exponent, const double imaginary_exponent); // ==================== Add ===================== // -inline void bgc_complex_add_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* sum) +inline void bgc_fp32_complex_add(BGC_FP32_Complex* sum, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2) { sum->real = number1->real + number2->real; sum->imaginary = number1->imaginary + number2->imaginary; } -inline void bgc_complex_add_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* sum) +inline void bgc_fp64_complex_add(BGC_FP64_Complex* sum, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2) { sum->real = number1->real + number2->real; sum->imaginary = number1->imaginary + number2->imaginary; @@ -348,13 +348,13 @@ inline void bgc_complex_add_fp64(const BgcComplexFP64* number1, const BgcComplex // ================= Add scaled ================= // -inline void bgc_complex_add_scaled_fp32(const BgcComplexFP32* basic_number, const BgcComplexFP32* scalable_number, const float scale, BgcComplexFP32* sum) +inline void bgc_fp32_complex_add_scaled(BGC_FP32_Complex* sum, const BGC_FP32_Complex* basic_number, const BGC_FP32_Complex* scalable_number, const float scale) { sum->real = basic_number->real + scalable_number->real * scale; sum->imaginary = basic_number->imaginary + scalable_number->imaginary * scale; } -inline void bgc_complex_add_scaled_fp64(const BgcComplexFP64* basic_number, const BgcComplexFP64* scalable_number, const double scale, BgcComplexFP64* sum) +inline void bgc_fp64_complex_add_scaled(BGC_FP64_Complex* sum, const BGC_FP64_Complex* basic_number, const BGC_FP64_Complex* scalable_number, const double scale) { sum->real = basic_number->real + scalable_number->real * scale; sum->imaginary = basic_number->imaginary + scalable_number->imaginary * scale; @@ -362,13 +362,13 @@ inline void bgc_complex_add_scaled_fp64(const BgcComplexFP64* basic_number, cons // ================== Subtract ================== // -inline void bgc_complex_subtract_fp32(const BgcComplexFP32* minuend, const BgcComplexFP32* subtrahend, BgcComplexFP32* difference) +inline void bgc_fp32_complex_subtract(BGC_FP32_Complex* difference, const BGC_FP32_Complex* minuend, const BGC_FP32_Complex* subtrahend) { difference->real = minuend->real - subtrahend->real; difference->imaginary = minuend->imaginary - subtrahend->imaginary; } -inline void bgc_complex_subtract_fp64(const BgcComplexFP64* minuend, const BgcComplexFP64* subtrahend, BgcComplexFP64* difference) +inline void bgc_fp64_complex_subtract(BGC_FP64_Complex* difference, const BGC_FP64_Complex* minuend, const BGC_FP64_Complex* subtrahend) { difference->real = minuend->real - subtrahend->real; difference->imaginary = minuend->imaginary - subtrahend->imaginary; @@ -376,7 +376,7 @@ inline void bgc_complex_subtract_fp64(const BgcComplexFP64* minuend, const BgcCo // ================== Multiply ================== // -inline void bgc_complex_multiply_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* product) +inline void bgc_fp32_complex_get_product(BGC_FP32_Complex* product, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2) { const float real = number1->real * number2->real - number1->imaginary * number2->imaginary; const float imaginary = number1->real * number2->imaginary + number1->imaginary * number2->real; @@ -385,7 +385,7 @@ inline void bgc_complex_multiply_fp32(const BgcComplexFP32* number1, const BgcCo product->imaginary = imaginary; } -inline void bgc_complex_multiply_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* product) +inline void bgc_fp64_complex_get_product(BGC_FP64_Complex* product, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2) { const double real = number1->real * number2->real - number1->imaginary * number2->imaginary; const double imaginary = number1->real * number2->imaginary + number1->imaginary * number2->real; @@ -396,13 +396,13 @@ inline void bgc_complex_multiply_fp64(const BgcComplexFP64* number1, const BgcCo // ============= Multiply By Number ============= // -inline void bgc_complex_multiply_by_number_fp32(const BgcComplexFP32* multiplicand, const float multiplier, BgcComplexFP32* product) +inline void bgc_fp32_complex_multiply(BGC_FP32_Complex* product, const BGC_FP32_Complex* multiplicand, const float multiplier) { product->real = multiplicand->real * multiplier; product->imaginary = multiplicand->imaginary * multiplier; } -inline void bgc_complex_multiply_by_number_fp64(const BgcComplexFP64* multiplicand, const double multiplier, BgcComplexFP64* product) +inline void bgc_fp64_complex_multiply(BGC_FP64_Complex* product, const BGC_FP64_Complex* multiplicand, const double multiplier) { product->real = multiplicand->real * multiplier; product->imaginary = multiplicand->imaginary * multiplier; @@ -410,11 +410,11 @@ inline void bgc_complex_multiply_by_number_fp64(const BgcComplexFP64* multiplica // =================== Divide =================== // -inline int bgc_complex_devide_fp32(const BgcComplexFP32* divident, const BgcComplexFP32* divisor, BgcComplexFP32* quotient) +inline int bgc_fp32_complex_get_ratio(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* divident, const BGC_FP32_Complex* divisor) { - const float square_modulus = bgc_complex_get_square_modulus_fp32(divisor); + const float square_modulus = bgc_fp32_complex_get_square_modulus(divisor); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) { + if (square_modulus <= BGC_FP32_SQUARE_EPSILON) { return 0; } @@ -429,11 +429,11 @@ inline int bgc_complex_devide_fp32(const BgcComplexFP32* divident, const BgcComp return 1; } -inline int bgc_complex_devide_fp64(const BgcComplexFP64* divident, const BgcComplexFP64* divisor, BgcComplexFP64* quotient) +inline int bgc_fp64_complex_get_ratio(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* divident, const BGC_FP64_Complex* divisor) { - const double square_modulus = bgc_complex_get_square_modulus_fp64(divisor); + const double square_modulus = bgc_fp64_complex_get_square_modulus(divisor); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64) { + if (square_modulus <= BGC_FP64_SQUARE_EPSILON) { return 0; } @@ -450,25 +450,25 @@ inline int bgc_complex_devide_fp64(const BgcComplexFP64* divident, const BgcComp // ============== Divide By Number ============== // -inline void bgc_complex_divide_by_number_fp32(const BgcComplexFP32* dividend, const float divisor, BgcComplexFP32* quotient) +inline void bgc_fp32_complex_divide(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* dividend, const float divisor) { - bgc_complex_multiply_by_number_fp32(dividend, 1.0f / divisor, quotient); + bgc_fp32_complex_multiply(quotient, dividend, 1.0f / divisor); } -inline void bgc_complex_divide_by_number_fp64(const BgcComplexFP64* dividend, const double divisor, BgcComplexFP64* quotient) +inline void bgc_fp64_complex_divide(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* dividend, const double divisor) { - bgc_complex_multiply_by_number_fp64(dividend, 1.0 / divisor, quotient); + bgc_fp64_complex_multiply(quotient, dividend, 1.0 / divisor); } // ================== Average2 ================== // -inline void bgc_complex_get_mean_of_two_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, BgcComplexFP32* mean) +inline void bgc_fp32_complex_get_mean2(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2) { mean->real = (number1->real + number2->real) * 0.5f; mean->imaginary = (number1->imaginary + number2->imaginary) * 0.5f; } -inline void bgc_complex_get_mean_of_two_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, BgcComplexFP64* mean) +inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2) { mean->real = (number1->real + number2->real) * 0.5; mean->imaginary = (number1->imaginary + number2->imaginary) * 0.5; @@ -476,70 +476,70 @@ inline void bgc_complex_get_mean_of_two_fp64(const BgcComplexFP64* number1, cons // ================== Average3 ================== // -inline void bgc_complex_get_mean_of_three_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, const BgcComplexFP32* number3, BgcComplexFP32* mean) +inline void bgc_fp32_complex_get_mean3(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const BGC_FP32_Complex* number3) { - mean->real = (number1->real + number2->real + number3->real) * BGC_ONE_THIRD_FP32; - mean->imaginary = (number1->imaginary + number2->imaginary + number3->imaginary) * BGC_ONE_THIRD_FP32; + mean->real = (number1->real + number2->real + number3->real) * BGC_FP32_ONE_THIRD; + mean->imaginary = (number1->imaginary + number2->imaginary + number3->imaginary) * BGC_FP32_ONE_THIRD; } -inline void bgc_complex_get_mean_of_three_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, const BgcComplexFP64* number3, BgcComplexFP64* mean) +inline void bgc_fp64_complex_get_mean3(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const BGC_FP64_Complex* number3) { - mean->real = (number1->real + number2->real + number3->real) * BGC_ONE_THIRD_FP64; - mean->imaginary = (number1->imaginary + number2->imaginary + number3->imaginary) * BGC_ONE_THIRD_FP64; + mean->real = (number1->real + number2->real + number3->real) * BGC_FP64_ONE_THIRD; + mean->imaginary = (number1->imaginary + number2->imaginary + number3->imaginary) * BGC_FP64_ONE_THIRD; } // =================== Linear =================== // -inline void bgc_complex_interpolate_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2, const float phase, BgcComplexFP32* interpolation) +inline void bgc_fp32_complex_interpolate(BGC_FP32_Complex* interpolation, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const float phase) { - const float counterphase = 1.0f - phase; + const float counter_phase = 1.0f - phase; - interpolation->real = number1->real * counterphase + number2->real * phase; - interpolation->imaginary = number1->imaginary * counterphase + number2->imaginary * phase; + interpolation->real = number1->real * counter_phase + number2->real * phase; + interpolation->imaginary = number1->imaginary * counter_phase + number2->imaginary * phase; } -inline void bgc_complex_interpolate_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2, const double phase, BgcComplexFP64* interpolation) +inline void bgc_fp64_complex_interpolate(BGC_FP64_Complex* interpolation, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const double phase) { - const double counterphase = 1.0 - phase; + const double counter_phase = 1.0 - phase; - interpolation->real = number1->real * counterphase + number2->real * phase; - interpolation->imaginary = number1->imaginary * counterphase + number2->imaginary * phase; + interpolation->real = number1->real * counter_phase + number2->real * phase; + interpolation->imaginary = number1->imaginary * counter_phase + number2->imaginary * phase; } // ================== Are Close ================= // -inline int bgc_complex_are_close_fp32(const BgcComplexFP32* number1, const BgcComplexFP32* number2) +inline int bgc_fp32_complex_are_close(const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2) { - const float square_modulus1 = bgc_complex_get_square_modulus_fp32(number1); - const float square_modulus2 = bgc_complex_get_square_modulus_fp32(number2); + const float square_modulus1 = bgc_fp32_complex_get_square_modulus(number1); + const float square_modulus2 = bgc_fp32_complex_get_square_modulus(number2); const float d_real = number1->real - number2->real; const float d_imaginary = number1->imaginary - number2->imaginary; const float square_distance = d_real * d_real + d_imaginary * d_imaginary; - if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) { - return square_distance <= BGC_SQUARE_EPSYLON_FP32; + if (square_modulus1 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT) { + return square_distance <= BGC_FP32_SQUARE_EPSILON; } - return square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus2; + return square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus2; } -inline int bgc_complex_are_close_fp64(const BgcComplexFP64* number1, const BgcComplexFP64* number2) +inline int bgc_fp64_complex_are_close(const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2) { - const double square_modulus1 = bgc_complex_get_square_modulus_fp64(number1); - const double square_modulus2 = bgc_complex_get_square_modulus_fp64(number2); + const double square_modulus1 = bgc_fp64_complex_get_square_modulus(number1); + const double square_modulus2 = bgc_fp64_complex_get_square_modulus(number2); const double d_real = number1->real - number2->real; const double d_imaginary = number1->imaginary - number2->imaginary; const double square_distance = d_real * d_real + d_imaginary * d_imaginary; - if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) { - return square_distance <= BGC_SQUARE_EPSYLON_FP64; + if (square_modulus1 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT) { + return square_distance <= BGC_FP64_SQUARE_EPSILON; } - return square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus2; + return square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus2; } #endif diff --git a/basic-geometry/cotes-number.c b/basic-geometry/cotes-number.c deleted file mode 100644 index 38484e9..0000000 --- a/basic-geometry/cotes-number.c +++ /dev/null @@ -1,94 +0,0 @@ -#include "./cotes-number.h" - -const BgcCotesNumberFP32 BGC_IDLE_COTES_NUMBER_FP32 = { 1.0f, 0.0f }; - -const BgcCotesNumberFP64 BGC_IDLE_COTES_NUMBER_FP64 = { 1.0, 0.0 }; - -extern inline void bgc_cotes_number_reset_fp32(BgcCotesNumberFP32* number); -extern inline void bgc_cotes_number_reset_fp64(BgcCotesNumberFP64* number); - -extern inline void bgc_cotes_number_set_values_fp32(const float x1, const float x2, BgcCotesNumberFP32* number); -extern inline void bgc_cotes_number_set_values_fp64(const double x1, const double x2, BgcCotesNumberFP64* number); - -extern inline void bgc_cotes_number_set_turn_fp32(const float angle, const BgcAngleUnitEnum unit, BgcCotesNumberFP32* number); -extern inline void bgc_cotes_number_set_turn_fp64(const double angle, const BgcAngleUnitEnum unit, BgcCotesNumberFP64* number); - -extern inline float bgc_cotes_number_get_angle_fp32(const BgcCotesNumberFP32* number, const BgcAngleUnitEnum unit); -extern inline double bgc_cotes_number_get_angle_fp64(const BgcCotesNumberFP64* number, const BgcAngleUnitEnum unit); - -extern inline void bgc_cotes_number_copy_fp32(const BgcCotesNumberFP32* source, BgcCotesNumberFP32* destination); -extern inline void bgc_cotes_number_copy_fp64(const BgcCotesNumberFP64* source, BgcCotesNumberFP64* destination); - -extern inline void bgc_cotes_number_swap_fp32(BgcCotesNumberFP32* number1, BgcCotesNumberFP32* number2); -extern inline void bgc_cotes_number_swap_fp64(BgcCotesNumberFP64* number1, BgcCotesNumberFP64* number2); - -extern inline void bgc_cotes_number_convert_fp64_to_fp32(const BgcCotesNumberFP64* source, BgcCotesNumberFP32* destination); -extern inline void bgc_cotes_number_convert_fp32_to_fp64(const BgcCotesNumberFP32* source, BgcCotesNumberFP64* destination); - -extern inline void bgc_cotes_number_make_opposite_fp32(BgcCotesNumberFP32* number); -extern inline void bgc_cotes_number_make_opposite_fp64(BgcCotesNumberFP64* number); - -extern inline void bgc_cotes_number_get_opposite_fp32(const BgcCotesNumberFP32* number, BgcCotesNumberFP32* opposite); -extern inline void bgc_cotes_number_get_opposite_fp64(const BgcCotesNumberFP64* number, BgcCotesNumberFP64* opposite); - -extern inline void bgc_cotes_number_invert_fp32(BgcCotesNumberFP32* number); -extern inline void bgc_cotes_number_invert_fp64(BgcCotesNumberFP64* number); - -extern inline void bgc_cotes_number_get_inverse_fp32(const BgcCotesNumberFP32* number, BgcCotesNumberFP32* inverse); -extern inline void bgc_cotes_number_get_inverse_fp64(const BgcCotesNumberFP64* number, BgcCotesNumberFP64* inverse); - -extern inline void bgc_cotes_number_get_exponation_fp32(const BgcCotesNumberFP32* base, const float exponent, BgcCotesNumberFP32* power); -extern inline void bgc_cotes_number_get_exponation_fp64(const BgcCotesNumberFP64* base, const double exponent, BgcCotesNumberFP64* power); - -extern inline void bgc_cotes_number_combine_fp32(const BgcCotesNumberFP32* number1, const BgcCotesNumberFP32* number2, BgcCotesNumberFP32* result); -extern inline void bgc_cotes_number_combine_fp64(const BgcCotesNumberFP64* number1, const BgcCotesNumberFP64* number2, BgcCotesNumberFP64* result); - -extern inline void bgc_cotes_number_exclude_fp32(const BgcCotesNumberFP32* base, const BgcCotesNumberFP32* excludant, BgcCotesNumberFP32* difference); -extern inline void bgc_cotes_number_exclude_fp64(const BgcCotesNumberFP64* base, const BgcCotesNumberFP64* excludant, BgcCotesNumberFP64* difference); - -extern inline void bgc_cotes_number_get_rotation_matrix_fp32(const BgcCotesNumberFP32* number, BgcMatrix2x2FP32* matrix); -extern inline void bgc_cotes_number_get_rotation_matrix_fp64(const BgcCotesNumberFP64* number, BgcMatrix2x2FP64* matrix); - -extern inline void bgc_cotes_number_get_reverse_matrix_fp32(const BgcCotesNumberFP32* number, BgcMatrix2x2FP32* matrix); -extern inline void bgc_cotes_number_get_reverse_matrix_fp64(const BgcCotesNumberFP64* number, BgcMatrix2x2FP64* matrix); - -extern inline void bgc_cotes_number_turn_vector_fp32(const BgcCotesNumberFP32* number, const BgcVector2FP32* vector, BgcVector2FP32* result); -extern inline void bgc_cotes_number_turn_vector_fp64(const BgcCotesNumberFP64* number, const BgcVector2FP64* vector, BgcVector2FP64* result); - -extern inline void bgc_cotes_number_turn_vector_back_fp32(const BgcCotesNumberFP32* number, const BgcVector2FP32* vector, BgcVector2FP32* result); -extern inline void bgc_cotes_number_turn_vector_back_fp64(const BgcCotesNumberFP64* number, const BgcVector2FP64* vector, BgcVector2FP64* result); - -extern inline int bgc_cotes_number_are_close_fp32(const BgcCotesNumberFP32* number1, const BgcCotesNumberFP32* number2); -extern inline int bgc_cotes_number_are_close_fp64(const BgcCotesNumberFP64* number1, const BgcCotesNumberFP64* number2); - -void _bgc_cotes_number_normalize_fp32(const float square_modulus, BgcCotesNumberFP32* number) -{ - // (square_modulus != square_modulus) is true when square_modulus is NaN - - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { - number->_cos = 1.0f; - number->_sin = 0.0f; - return; - } - - const float multiplier = sqrtf(1.0f / square_modulus); - - number->_cos *= multiplier; - number->_sin *= multiplier; -} - -void _bgc_cotes_number_normalize_fp64(const double square_modulus, BgcCotesNumberFP64* number) -{ - // (square_modulus != square_modulus) is true when square_modulus is NaN - - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { - number->_cos = 1.0; - number->_sin = 0.0; - return; - } - - const double multiplier = sqrt(1.0 / square_modulus); - - number->_cos *= multiplier; - number->_sin *= multiplier; -} diff --git a/basic-geometry/cotes-number.h b/basic-geometry/cotes-number.h deleted file mode 100644 index a55ac7d..0000000 --- a/basic-geometry/cotes-number.h +++ /dev/null @@ -1,356 +0,0 @@ -#ifndef _BGC_COTES_NUMBER_H_ -#define _BGC_COTES_NUMBER_H_ - -#include - -#include "utilities.h" -#include "angle.h" -#include "vector2.h" -#include "matrix2x2.h" - -// =================== Types ==================== // - -typedef struct -{ - float _cos, _sin; -} BgcCotesNumberFP32; - -typedef struct -{ - double _cos, _sin; -} BgcCotesNumberFP64; - -// ================= Constants ================== // - -extern const BgcCotesNumberFP32 BGC_IDLE_COTES_NUMBER_FP32; -extern const BgcCotesNumberFP64 BGC_IDLE_COTES_NUMBER_FP64; - -// =================== Reset ==================== // - -inline void bgc_cotes_number_reset_fp32(BgcCotesNumberFP32* number) -{ - number->_cos = 1.0f; - number->_sin = 0.0f; -} - -inline void bgc_cotes_number_reset_fp64(BgcCotesNumberFP64* number) -{ - number->_cos = 1.0; - number->_sin = 0.0; -} - -// ==================== Set ===================== // - -void _bgc_cotes_number_normalize_fp32(const float square_modulus, BgcCotesNumberFP32* twin); - -void _bgc_cotes_number_normalize_fp64(const double square_modulus, BgcCotesNumberFP64* twin); - -inline void bgc_cotes_number_set_values_fp32(const float x1, const float x2, BgcCotesNumberFP32* number) -{ - const float square_modulus = x1 * x1 + x2 * x2; - - number->_cos = x1; - number->_sin = x2; - - if (!bgc_is_sqare_unit_fp32(square_modulus)) { - _bgc_cotes_number_normalize_fp32(square_modulus, number); - } -} - -inline void bgc_cotes_number_set_values_fp64(const double x1, const double x2, BgcCotesNumberFP64* number) -{ - const double square_modulus = x1 * x1 + x2 * x2; - - number->_cos = x1; - number->_sin = x2; - - if (!bgc_is_sqare_unit_fp64(square_modulus)) { - _bgc_cotes_number_normalize_fp64(square_modulus, number); - } -} - -// ================== Set Turn ================== // - -inline void bgc_cotes_number_set_turn_fp32(const float angle, const BgcAngleUnitEnum unit, BgcCotesNumberFP32* number) -{ - const float radians = bgc_angle_to_radians_fp32(angle, unit); - - number->_cos = cosf(radians); - number->_sin = sinf(radians); -} - -inline void bgc_cotes_number_set_turn_fp64(const double angle, const BgcAngleUnitEnum unit, BgcCotesNumberFP64* number) -{ - const double radians = bgc_angle_to_radians_fp64(angle, unit); - - number->_cos = cos(radians); - number->_sin = sin(radians); -} - -// =================== Angle =================== // - -inline float bgc_cotes_number_get_angle_fp32(const BgcCotesNumberFP32* number, const BgcAngleUnitEnum unit) -{ - return bgc_radians_to_units_fp32(atan2f(number->_sin, number->_cos), unit); -} - -inline double bgc_cotes_number_get_angle_fp64(const BgcCotesNumberFP64* number, const BgcAngleUnitEnum unit) -{ - return bgc_radians_to_units_fp64(atan2(number->_sin, number->_cos), unit); -} - -// ==================== Copy ==================== // - -inline void bgc_cotes_number_copy_fp32(const BgcCotesNumberFP32* source, BgcCotesNumberFP32* destination) -{ - destination->_cos = source->_cos; - destination->_sin = source->_sin; -} - -inline void bgc_cotes_number_copy_fp64(const BgcCotesNumberFP64* source, BgcCotesNumberFP64* destination) -{ - destination->_cos = source->_cos; - destination->_sin = source->_sin; -} - -// ==================== Swap ==================== // - -inline void bgc_cotes_number_swap_fp32(BgcCotesNumberFP32* number1, BgcCotesNumberFP32* number2) -{ - const float cos = number1->_cos; - const float sin = number1->_sin; - - number1->_cos = number2->_cos; - number1->_sin = number2->_sin; - - number2->_cos = cos; - number2->_sin = sin; -} - -inline void bgc_cotes_number_swap_fp64(BgcCotesNumberFP64* number1, BgcCotesNumberFP64* number2) -{ - const double cos = number1->_cos; - const double sin = number1->_sin; - - number1->_cos = number2->_cos; - number1->_sin = number2->_sin; - - number2->_cos = cos; - number2->_sin = sin; -} - -// ================== Convert =================== // - -inline void bgc_cotes_number_convert_fp64_to_fp32(const BgcCotesNumberFP64* source, BgcCotesNumberFP32* destination) -{ - bgc_cotes_number_set_values_fp32((float)source->_cos, (float)source->_sin, destination); -} - -inline void bgc_cotes_number_convert_fp32_to_fp64(const BgcCotesNumberFP32* source, BgcCotesNumberFP64* destination) -{ - bgc_cotes_number_set_values_fp64((double)source->_cos, (double)source->_sin, destination); -} - -// ================== Negative ================== // - -inline void bgc_cotes_number_make_opposite_fp32(BgcCotesNumberFP32* number) -{ - number->_cos = -number->_cos; - number->_sin = -number->_sin; -} - -inline void bgc_cotes_number_make_opposite_fp64(BgcCotesNumberFP64* number) -{ - number->_cos = -number->_cos; - number->_sin = -number->_sin; -} - -inline void bgc_cotes_number_get_opposite_fp32(const BgcCotesNumberFP32* number, BgcCotesNumberFP32* opposite) -{ - opposite->_cos = -number->_cos; - opposite->_sin = -number->_sin; -} - -inline void bgc_cotes_number_get_opposite_fp64(const BgcCotesNumberFP64* number, BgcCotesNumberFP64* opposite) -{ - opposite->_cos = -number->_cos; - opposite->_sin = -number->_sin; -} - -// =================== Invert =================== // - -inline void bgc_cotes_number_invert_fp32(BgcCotesNumberFP32* number) -{ - number->_sin = -number->_sin; -} - -inline void bgc_cotes_number_invert_fp64(BgcCotesNumberFP64* number) -{ - number->_sin = -number->_sin; -} - -inline void bgc_cotes_number_get_inverse_fp32(const BgcCotesNumberFP32* number, BgcCotesNumberFP32* inverse) -{ - inverse->_cos = number->_cos; - inverse->_sin = -number->_sin; -} - -inline void bgc_cotes_number_get_inverse_fp64(const BgcCotesNumberFP64* number, BgcCotesNumberFP64* inverse) -{ - inverse->_cos = number->_cos; - inverse->_sin = -number->_sin; -} - -// ================= Exponation ================= // - -inline void bgc_cotes_number_get_exponation_fp32(const BgcCotesNumberFP32* base, const float exponent, BgcCotesNumberFP32* power) -{ - const float power_angle = exponent * atan2f(base->_sin, base->_cos); - - power->_cos = cosf(power_angle); - power->_sin = sinf(power_angle); -} - -inline void bgc_cotes_number_get_exponation_fp64(const BgcCotesNumberFP64* base, const double exponent, BgcCotesNumberFP64* power) -{ - const double power_angle = exponent * atan2(base->_sin, base->_cos); - - power->_cos = cos(power_angle); - power->_sin = sin(power_angle); -} - -// ================ Combination ================= // - -inline void bgc_cotes_number_combine_fp32(const BgcCotesNumberFP32* number1, const BgcCotesNumberFP32* number2, BgcCotesNumberFP32* result) -{ - bgc_cotes_number_set_values_fp32( - number1->_cos * number2->_cos - number1->_sin * number2->_sin, - number1->_cos * number2->_sin + number1->_sin * number2->_cos, - result - ); -} - -inline void bgc_cotes_number_combine_fp64(const BgcCotesNumberFP64* number1, const BgcCotesNumberFP64* number2, BgcCotesNumberFP64* result) -{ - bgc_cotes_number_set_values_fp64( - number1->_cos * number2->_cos - number1->_sin * number2->_sin, - number1->_cos * number2->_sin + number1->_sin * number2->_cos, - result - ); -} - -// ================= Exclusion ================== // - -inline void bgc_cotes_number_exclude_fp32(const BgcCotesNumberFP32* base, const BgcCotesNumberFP32* excludant, BgcCotesNumberFP32* difference) -{ - bgc_cotes_number_set_values_fp32( - base->_cos * excludant->_cos + base->_sin * excludant->_sin, - base->_sin * excludant->_cos - base->_cos * excludant->_sin, - difference - ); -} - -inline void bgc_cotes_number_exclude_fp64(const BgcCotesNumberFP64* base, const BgcCotesNumberFP64* excludant, BgcCotesNumberFP64* difference) -{ - bgc_cotes_number_set_values_fp64( - base->_cos * excludant->_cos + base->_sin * excludant->_sin, - base->_sin * excludant->_cos - base->_cos * excludant->_sin, - difference - ); -} - -// ============== Rotation Matrix =============== // - -inline void bgc_cotes_number_get_rotation_matrix_fp32(const BgcCotesNumberFP32* number, BgcMatrix2x2FP32* matrix) -{ - matrix->r1c1 = number->_cos; - matrix->r1c2 = -number->_sin; - matrix->r2c1 = number->_sin; - matrix->r2c2 = number->_cos; -} - -inline void bgc_cotes_number_get_rotation_matrix_fp64(const BgcCotesNumberFP64* number, BgcMatrix2x2FP64* matrix) -{ - matrix->r1c1 = number->_cos; - matrix->r1c2 = -number->_sin; - matrix->r2c1 = number->_sin; - matrix->r2c2 = number->_cos; -} - -// ============== Reverse Matrix ================ // - -inline void bgc_cotes_number_get_reverse_matrix_fp32(const BgcCotesNumberFP32* number, BgcMatrix2x2FP32* matrix) -{ - matrix->r1c1 = number->_cos; - matrix->r1c2 = number->_sin; - matrix->r2c1 = -number->_sin; - matrix->r2c2 = number->_cos; -} - -inline void bgc_cotes_number_get_reverse_matrix_fp64(const BgcCotesNumberFP64* number, BgcMatrix2x2FP64* matrix) -{ - matrix->r1c1 = number->_cos; - matrix->r1c2 = number->_sin; - matrix->r2c1 = -number->_sin; - matrix->r2c2 = number->_cos; -} - -// ================ Turn Vector ================= // - -inline void bgc_cotes_number_turn_vector_fp32(const BgcCotesNumberFP32* number, const BgcVector2FP32* vector, BgcVector2FP32* result) -{ - const float x1 = number->_cos * vector->x1 - number->_sin * vector->x2; - const float x2 = number->_sin * vector->x1 + number->_cos * vector->x2; - - result->x1 = x1; - result->x2 = x2; -} - -inline void bgc_cotes_number_turn_vector_fp64(const BgcCotesNumberFP64* number, const BgcVector2FP64* vector, BgcVector2FP64* result) -{ - const double x1 = number->_cos * vector->x1 - number->_sin * vector->x2; - const double x2 = number->_sin * vector->x1 + number->_cos * vector->x2; - - result->x1 = x1; - result->x2 = x2; -} - -// ============ Turn Vector Backward ============ // - -inline void bgc_cotes_number_turn_vector_back_fp32(const BgcCotesNumberFP32* number, const BgcVector2FP32* vector, BgcVector2FP32* result) -{ - const float x1 = number->_sin * vector->x2 + number->_cos * vector->x1; - const float x2 = number->_cos * vector->x2 - number->_sin * vector->x1; - - result->x1 = x1; - result->x2 = x2; -} - -inline void bgc_cotes_number_turn_vector_back_fp64(const BgcCotesNumberFP64* number, const BgcVector2FP64* vector, BgcVector2FP64* result) -{ - const double x1 = number->_sin * vector->x2 + number->_cos * vector->x1; - const double x2 = number->_cos * vector->x2 - number->_sin * vector->x1; - - result->x1 = x1; - result->x2 = x2; -} - -// ================== Are Close ================= // - -inline int bgc_cotes_number_are_close_fp32(const BgcCotesNumberFP32* number1, const BgcCotesNumberFP32* number2) -{ - const float d_cos = number1->_cos - number2->_cos; - const float d_sin = number1->_sin - number2->_sin; - - return d_cos * d_cos + d_sin * d_sin <= BGC_SQUARE_EPSYLON_FP32; -} - -inline int bgc_cotes_number_are_close_fp64(const BgcCotesNumberFP64* number1, const BgcCotesNumberFP64* number2) -{ - const double d_cos = number1->_cos - number2->_cos; - const double d_sin = number1->_sin - number2->_sin; - - return d_cos * d_cos + d_sin * d_sin <= BGC_SQUARE_EPSYLON_FP64; -} - -#endif diff --git a/basic-geometry/dual-number.c b/basic-geometry/dual-number.c new file mode 100644 index 0000000..d8fd6bf --- /dev/null +++ b/basic-geometry/dual-number.c @@ -0,0 +1,43 @@ +#include "dual-number.h" + +extern inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number); +extern inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number); + +extern inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual); +extern inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real, const double dual); + +extern inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source); +extern inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source); + +extern inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second); +extern inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second); + +extern inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second); +extern inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second); + +extern inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale); +extern inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale); + +extern inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend); +extern inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* minuend, const BGC_FP64_DualNumber* subtrahend); + +extern inline void bgc_fp32_dual_number_multiply(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier); +extern inline void bgc_fp64_dual_number_multiply(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const double multiplier); + +extern inline void bgc_fp32_dual_number_divide(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor); +extern inline void bgc_fp64_dual_number_divide(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const double divisor); + +extern inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second); +extern inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second); + +extern inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const BGC_FP32_DualNumber* third); +extern inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const BGC_FP64_DualNumber* third); + +extern inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const float phase); +extern inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* interpolation, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const double phase); + +extern inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* number); +extern inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number); + +extern inline void bgc_fp32_number_get_reverse(BGC_FP32_DualNumber* reverse, const BGC_FP32_DualNumber* number); +extern inline void bgc_fp64_number_get_reverse(BGC_FP64_DualNumber* reverse, const BGC_FP64_DualNumber* number); diff --git a/basic-geometry/dual-number.h b/basic-geometry/dual-number.h new file mode 100644 index 0000000..f1a4e2a --- /dev/null +++ b/basic-geometry/dual-number.h @@ -0,0 +1,214 @@ +#ifndef _BGC_DUAL_NUMBER_H_INCLUDED_ +#define _BGC_DUAL_NUMBER_H_INCLUDED_ + +#include "utilities.h" + +// =================== Types ==================== // + +typedef struct { + float real, dual; +} BGC_FP32_DualNumber; + +typedef struct { + double real, dual; +} BGC_FP64_DualNumber; + +// =================== Reset ==================== // + +inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number) +{ + number->real = 0.0f; + number->dual = 0.0f; +} + +inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number) +{ + number->real = 0.0; + number->dual = 0.0; +} + +// ==================== Make ==================== // + +inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual) +{ + number->real = real; + number->dual = dual; +} + +inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real, const double dual) +{ + number->real = real; + number->dual = dual; +} + +// ==================== Copy ==================== // + +inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source) +{ + destination->real = source->real; + destination->dual = source->dual; +} + +inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source) +{ + destination->real = source->real; + destination->dual = source->dual; +} + +// ==================== Swap ==================== // + +inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second) +{ + first->real = second->real; + first->dual = second->dual; +} + +inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second) +{ + first->real = second->real; + first->dual = second->dual; +} + +// ==================== Add ===================== // + +inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second) +{ + sum->real = first->real + second->real; + sum->dual = first->dual + second->dual; +} + +inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second) +{ + sum->real = first->real + second->real; + sum->dual = first->dual + second->dual; +} + +// ================= Add Scaled ================= // + +inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale) +{ + sum->real = base_number->real + scalable_number->real * scale; + sum->dual = base_number->dual + scalable_number->dual * scale; +} + +inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale) +{ + sum->real = base_number->real + scalable_number->real * scale; + sum->dual = base_number->dual + scalable_number->dual * scale; +} + +// ================== Subtract ================== // + +inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend) +{ + difference->real = minuend->real - subtrahend->real; + difference->dual = minuend->dual - subtrahend->dual; +} + +inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* minuend, const BGC_FP64_DualNumber* subtrahend) +{ + difference->real = minuend->real - subtrahend->real; + difference->dual = minuend->dual - subtrahend->dual; +} + +// ================== Multiply ================== // + +inline void bgc_fp32_dual_number_multiply(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier) +{ + product->real = multiplicand->real * multiplier; + product->dual = multiplicand->dual * multiplier; +} + +inline void bgc_fp64_dual_number_multiply(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const double multiplier) +{ + product->real = multiplicand->real * multiplier; + product->dual = multiplicand->dual * multiplier; +} + +// =================== Divide =================== // + +inline void bgc_fp32_dual_number_divide(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor) +{ + bgc_fp32_dual_number_multiply(quotient, dividend, 1.0f / divisor); +} + +inline void bgc_fp64_dual_number_divide(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const double divisor) +{ + bgc_fp64_dual_number_multiply(quotient, dividend, 1.0 / divisor); +} + +// ================ Mean of Two ================= // + +inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second) +{ + mean->real = (first->real + second->real) * 0.5f; + mean->dual = (first->dual + second->dual) * 0.5f; +} + +inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second) +{ + mean->real = (first->real + second->real) * 0.5; + mean->dual = (first->dual + second->dual) * 0.5; +} + +// =============== Mean of Three ================ // + +inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const BGC_FP32_DualNumber* third) +{ + mean->real = (first->real + second->real + third->real) * BGC_FP32_ONE_THIRD; + mean->dual = (first->dual + second->dual + third->dual) * BGC_FP32_ONE_THIRD; +} + +inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const BGC_FP64_DualNumber* third) +{ + mean->real = (first->real + second->real + third->real) * BGC_FP64_ONE_THIRD; + mean->dual = (first->dual + second->dual + third->dual) * BGC_FP64_ONE_THIRD; +} + +// ============ Linear Interpolation ============ // + +inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const float phase) +{ + const float counter_phase = 1.0f - phase; + + interpolation->real = first->real *counter_phase + second->real * phase; + interpolation->dual = first->dual *counter_phase + second->dual * phase; +} + +inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* interpolation, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const double phase) +{ + const double counter_phase = 1.0 - phase; + + interpolation->real = first->real * counter_phase + second->real * phase; + interpolation->dual = first->dual * counter_phase + second->dual * phase; +} + +// =================== Revert =================== // + +inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* number) +{ + number->real = -number->real; + number->dual = -number->dual; +} + +inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number) +{ + number->real = -number->real; + number->dual = -number->dual; +} + +// ================ Get Reverse ================= // + +inline void bgc_fp32_number_get_reverse(BGC_FP32_DualNumber* reverse, const BGC_FP32_DualNumber* number) +{ + reverse->real = -number->real; + reverse->dual = -number->dual; +} + +inline void bgc_fp64_number_get_reverse(BGC_FP64_DualNumber* reverse, const BGC_FP64_DualNumber* number) +{ + reverse->real = -number->real; + reverse->dual = -number->dual; +} + +#endif diff --git a/basic-geometry/dual-quaternion.c b/basic-geometry/dual-quaternion.c new file mode 100644 index 0000000..4db7e44 --- /dev/null +++ b/basic-geometry/dual-quaternion.c @@ -0,0 +1,43 @@ +#include "dual-quaternion.h" + +extern inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion); +extern inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion); + +extern inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source); +extern inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source); + +extern inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second); +extern inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second); + +extern inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source); +extern inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source); + +extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second); +extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second); + +extern inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale); +extern inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale); + +extern inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend); +extern inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend); + +extern inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier); +extern inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier); + +extern inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor); +extern inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor); + +extern inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2); +extern inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2); + +extern inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3); +extern inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3); + +extern inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase); +extern inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase); + +extern inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion); +extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion); + +extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion); +extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion); diff --git a/basic-geometry/dual-quaternion.h b/basic-geometry/dual-quaternion.h new file mode 100644 index 0000000..e3f3357 --- /dev/null +++ b/basic-geometry/dual-quaternion.h @@ -0,0 +1,210 @@ +#ifndef _BGC_DUAL_QUATERNION_H_INCLUDED_ +#define _BGC_DUAL_QUATERNION_H_INCLUDED_ + +#include "quaternion.h" + +// =================== Types ==================== // + +typedef struct { + BGC_FP32_Quaternion real, dual; +} BGC_FP32_DualQuaternion; + +typedef struct { + BGC_FP64_Quaternion real, dual; +} BGC_FP64_DualQuaternion; + +// =================== Reset ==================== // + +inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion) +{ + bgc_fp32_quaternion_reset(&quaternion->real); + bgc_fp32_quaternion_reset(&quaternion->dual); +} + +inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion) +{ + bgc_fp64_quaternion_reset(&quaternion->real); + bgc_fp64_quaternion_reset(&quaternion->dual); +} + +// ==================== Copy ==================== // + +inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source) +{ + bgc_fp32_quaternion_copy(&destination->real, &source->real); + bgc_fp32_quaternion_copy(&destination->dual, &source->dual); +} + +inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source) +{ + bgc_fp64_quaternion_copy(&destination->real, &source->real); + bgc_fp64_quaternion_copy(&destination->dual, &source->dual); +} + +// ==================== Swap ==================== // + +inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second) +{ + bgc_fp32_quaternion_swap(&first->real, &second->real); + bgc_fp32_quaternion_swap(&first->dual, &second->dual); +} + +inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second) +{ + bgc_fp64_quaternion_swap(&first->real, &second->real); + bgc_fp64_quaternion_swap(&first->dual, &second->dual); +} + +// ================== Convert =================== // + +inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source) +{ + bgc_fp32_quaternion_convert_to_fp64(&destination->real, &source->real); + bgc_fp32_quaternion_convert_to_fp64(&destination->dual, &source->dual); +} + +inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source) +{ + bgc_fp64_quaternion_convert_to_fp32(&destination->real, &source->real); + bgc_fp64_quaternion_convert_to_fp32(&destination->dual, &source->dual); +} + +// ==================== Add ===================== // + +inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second) +{ + bgc_fp32_quaternion_add(&sum->real, &first->real, &second->real); + bgc_fp32_quaternion_add(&sum->dual, &first->dual, &second->dual); +} + +inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second) +{ + bgc_fp64_quaternion_add(&sum->real, &first->real, &second->real); + bgc_fp64_quaternion_add(&sum->dual, &first->dual, &second->dual); +} + +// ================= Add Scaled ================= // + +inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale) +{ + bgc_fp32_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale); + bgc_fp32_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale); +} + +inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale) +{ + bgc_fp64_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale); + bgc_fp64_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale); +} + +// ================== Subtract ================== // + +inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend) +{ + bgc_fp32_quaternion_subtract(&difference->real, &minuend->real, &subtrahend->real); + bgc_fp32_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual); +} + +inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend) +{ + bgc_fp64_quaternion_subtract(&difference->real, &minuend->real, &subtrahend->real); + bgc_fp64_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual); +} + +// ================== Multiply ================== // + +inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier) +{ + bgc_fp32_quaternion_multiply(&product->real, &multiplicand->real, multipier); + bgc_fp32_quaternion_multiply(&product->dual, &multiplicand->dual, multipier); +} + +inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier) +{ + bgc_fp64_quaternion_multiply(&product->real, &multiplicand->real, multipier); + bgc_fp64_quaternion_multiply(&product->dual, &multiplicand->dual, multipier); +} + +// =================== Divide =================== // + +inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor) +{ + bgc_fp32_dual_quaternion_multiply(quotient, divident, 1.0f / divisor); +} + +inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor) +{ + bgc_fp64_dual_quaternion_multiply(quotient, divident, 1.0 / divisor); +} + +// ================ Mean of Two ================= // + +inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2) +{ + bgc_fp32_quaternion_get_mean2(&mean->real, &quaternion1->real, &quaternion2->real); + bgc_fp32_quaternion_get_mean2(&mean->dual, &quaternion1->dual, &quaternion2->dual); +} + +inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2) +{ + bgc_fp64_quaternion_get_mean2(&mean->real, &quaternion1->real, &quaternion2->real); + bgc_fp64_quaternion_get_mean2(&mean->dual, &quaternion1->dual, &quaternion2->dual); +} + +// =============== Mean of Three ================ // + +inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3) +{ + bgc_fp32_quaternion_get_mean3(&mean->real, &quaternion1->real, &quaternion2->real, &quaternion3->real); + bgc_fp32_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual); +} + +inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3) +{ + bgc_fp64_quaternion_get_mean3(&mean->real, &quaternion1->real, &quaternion2->real, &quaternion3->real); + bgc_fp64_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual); +} + +// ============ Linear Interpolation ============ // + +inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase) +{ + bgc_fp32_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase); + bgc_fp32_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase); +} + +inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase) +{ + bgc_fp64_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase); + bgc_fp64_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase); +} + +// =================== Revert =================== // + +inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion) +{ + bgc_fp32_quaternion_revert(&quaternion->real); + bgc_fp32_quaternion_revert(&quaternion->dual); +} + +inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion) +{ + bgc_fp64_quaternion_revert(&quaternion->real); + bgc_fp64_quaternion_revert(&quaternion->dual); +} + +// ================ Get Reverse ================= // + +inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion) +{ + bgc_fp32_quaternion_get_reverse(&reverse->real, &quaternion->real); + bgc_fp32_quaternion_get_reverse(&reverse->dual, &quaternion->dual); +} + +inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion) +{ + bgc_fp64_quaternion_get_reverse(&reverse->real, &quaternion->real); + bgc_fp64_quaternion_get_reverse(&reverse->dual, &quaternion->dual); +} + +#endif diff --git a/basic-geometry/dual-vector3.c b/basic-geometry/dual-vector3.c new file mode 100644 index 0000000..8b2b8cf --- /dev/null +++ b/basic-geometry/dual-vector3.c @@ -0,0 +1,49 @@ +#include "./dual-vector3.h" + +extern inline void bgc_fp32_dual_vector3_reset(BGC_FP32_DualVector3* vector); +extern inline void bgc_fp64_dual_vector3_reset(BGC_FP64_DualVector3* vector); + +extern inline void bgc_fp32_dual_vector3_make(BGC_FP32_DualVector3* vector, const BGC_FP32_Vector3* real, const BGC_FP32_Vector3* dual); +extern inline void bgc_fp64_dual_vector3_make(BGC_FP64_DualVector3* vector, const BGC_FP64_Vector3* real, const BGC_FP64_Vector3* dual); + +extern inline void bgc_fp32_dual_vector3_copy(BGC_FP32_DualVector3* destination, const BGC_FP32_DualVector3* source); +extern inline void bgc_fp64_dual_vector3_copy(BGC_FP64_DualVector3* destination, const BGC_FP64_DualVector3* source); + +extern inline void bgc_fp32_dual_vector3_swap(BGC_FP32_DualVector3* first, BGC_FP32_DualVector3* second); +extern inline void bgc_fp64_dual_vector3_swap(BGC_FP64_DualVector3* first, BGC_FP64_DualVector3* second); + +extern inline void bgc_fp32_dual_vector3_set_real_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3); +extern inline void bgc_fp64_dual_vector3_set_real_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3); + +extern inline void bgc_fp32_dual_vector3_set_dual_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3); +extern inline void bgc_fp64_dual_vector3_set_dual_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3); + +extern inline void bgc_fp32_dual_vector3_add(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second); +extern inline void bgc_fp64_dual_vector3_add(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second); + +extern inline void bgc_fp32_dual_vector3_add_scaled(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* base_vector, const BGC_FP32_DualVector3* scalable_vector, const float scale); +extern inline void bgc_fp64_dual_vector3_add_scaled(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* base_vector, const BGC_FP64_DualVector3* scalable_vector, const double scale); + +extern inline void bgc_fp32_dual_vector3_subtract(BGC_FP32_DualVector3* difference, const BGC_FP32_DualVector3* minuend, const BGC_FP32_DualVector3* subtrahend); +extern inline void bgc_fp64_dual_vector3_subtract(BGC_FP64_DualVector3* difference, const BGC_FP64_DualVector3* minuend, const BGC_FP64_DualVector3* subtrahend); + +extern inline void bgc_fp32_dual_vector3_multiply(BGC_FP32_DualVector3* product, const BGC_FP32_DualVector3* multiplicand, const float multiplier); +extern inline void bgc_fp64_dual_vector3_multiply(BGC_FP64_DualVector3* product, const BGC_FP64_DualVector3* multiplicand, const double multiplier); + +extern inline void bgc_fp32_dual_vector3_divide(BGC_FP32_DualVector3* quotient, const BGC_FP32_DualVector3* dividend, const float divisor); +extern inline void bgc_fp64_dual_vector3_divide(BGC_FP64_DualVector3* quotient, const BGC_FP64_DualVector3* dividend, const double divisor); + +extern inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2); +extern inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2); + +extern inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2, const BGC_FP32_DualVector3* vector3); +extern inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2, const BGC_FP64_DualVector3* vector3); + +extern inline void bgc_fp32_dual_vector3_interpolate(BGC_FP32_DualVector3* interpolation, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second, const float phase); +extern inline void bgc_fp64_dual_vector3_interpolate(BGC_FP64_DualVector3* interpolation, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second, const double phase); + +extern inline void bgc_fp32_dual_vector3_revert(BGC_FP32_DualVector3* vector); +extern inline void bgc_fp64_dual_vector3_revert(BGC_FP64_DualVector3* vector); + +extern inline void bgc_fp32_dual_vector3_get_reverse(BGC_FP32_DualVector3* reverse, const BGC_FP32_DualVector3* vector); +extern inline void bgc_fp64_dual_vector3_get_reverse(BGC_FP64_DualVector3* reverse, const BGC_FP64_DualVector3* vector); diff --git a/basic-geometry/dual-vector3.h b/basic-geometry/dual-vector3.h new file mode 100644 index 0000000..5125099 --- /dev/null +++ b/basic-geometry/dual-vector3.h @@ -0,0 +1,242 @@ +#ifndef _BGC_DUAL_VECTOR3_H_INCLUDED_ +#define _BGC_DUAL_VECTOR3_H_INCLUDED_ + +#include "./vector3.h" + +// =================== Types ==================== // + +typedef struct { + BGC_FP32_Vector3 real, dual; +} BGC_FP32_DualVector3; + +typedef struct { + BGC_FP64_Vector3 real, dual; +} BGC_FP64_DualVector3; + +// =================== Reset ==================== // + +inline void bgc_fp32_dual_vector3_reset(BGC_FP32_DualVector3* vector) +{ + bgc_fp32_vector3_reset(&vector->real); + bgc_fp32_vector3_reset(&vector->dual); +} + +inline void bgc_fp64_dual_vector3_reset(BGC_FP64_DualVector3* vector) +{ + bgc_fp64_vector3_reset(&vector->real); + bgc_fp64_vector3_reset(&vector->dual); +} + +// ==================== Make ==================== // + +inline void bgc_fp32_dual_vector3_make(BGC_FP32_DualVector3* vector, const BGC_FP32_Vector3* real, const BGC_FP32_Vector3* dual) +{ + bgc_fp32_vector3_copy(&vector->real, real); + bgc_fp32_vector3_copy(&vector->dual, dual); +} + +inline void bgc_fp64_dual_vector3_make(BGC_FP64_DualVector3* vector, const BGC_FP64_Vector3* real, const BGC_FP64_Vector3* dual) +{ + bgc_fp64_vector3_copy(&vector->real, real); + bgc_fp64_vector3_copy(&vector->dual, dual); +} + +// ==================== Copy ==================== // + +inline void bgc_fp32_dual_vector3_copy(BGC_FP32_DualVector3* destination, const BGC_FP32_DualVector3* source) +{ + bgc_fp32_vector3_copy(&destination->real, &source->real); + bgc_fp32_vector3_copy(&destination->dual, &source->dual); +} + +inline void bgc_fp64_dual_vector3_copy(BGC_FP64_DualVector3* destination, const BGC_FP64_DualVector3* source) +{ + bgc_fp64_vector3_copy(&destination->real, &source->real); + bgc_fp64_vector3_copy(&destination->dual, &source->dual); +} + +// ==================== Swap ==================== // + +inline void bgc_fp32_dual_vector3_swap(BGC_FP32_DualVector3* first, BGC_FP32_DualVector3* second) +{ + bgc_fp32_vector3_swap(&first->real, &second->real); + bgc_fp32_vector3_swap(&first->dual, &second->dual); +} + +inline void bgc_fp64_dual_vector3_swap(BGC_FP64_DualVector3* first, BGC_FP64_DualVector3* second) +{ + bgc_fp64_vector3_swap(&first->real, &second->real); + bgc_fp64_vector3_swap(&first->dual, &second->dual); +} + +// ================== Set Real ================== // + +inline void bgc_fp32_dual_vector3_set_real_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3) +{ + vector->real.x1 = x1; + vector->real.x2 = x2; + vector->real.x3 = x3; +} + +inline void bgc_fp64_dual_vector3_set_real_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3) +{ + vector->real.x1 = x1; + vector->real.x2 = x2; + vector->real.x3 = x3; +} + +// ================== Set Dual ================== // + +inline void bgc_fp32_dual_vector3_set_dual_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3) +{ + vector->dual.x1 = x1; + vector->dual.x2 = x2; + vector->dual.x3 = x3; +} + +inline void bgc_fp64_dual_vector3_set_dual_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3) +{ + vector->dual.x1 = x1; + vector->dual.x2 = x2; + vector->dual.x3 = x3; +} + +// ==================== Add ===================== // + +inline void bgc_fp32_dual_vector3_add(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second) +{ + bgc_fp32_vector3_add(&sum->real, &first->real, &second->real); + bgc_fp32_vector3_add(&sum->dual, &first->dual, &second->dual); +} + +inline void bgc_fp64_dual_vector3_add(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second) +{ + bgc_fp64_vector3_add(&sum->real, &first->real, &second->real); + bgc_fp64_vector3_add(&sum->dual, &first->dual, &second->dual); +} + +// ================= Add Scaled ================= // + +inline void bgc_fp32_dual_vector3_add_scaled(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* base_vector, const BGC_FP32_DualVector3* scalable_vector, const float scale) +{ + bgc_fp32_vector3_add_scaled(&sum->real, &base_vector->real, &scalable_vector->real, scale); + bgc_fp32_vector3_add_scaled(&sum->dual, &base_vector->dual, &scalable_vector->dual, scale); +} + +inline void bgc_fp64_dual_vector3_add_scaled(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* base_vector, const BGC_FP64_DualVector3* scalable_vector, const double scale) +{ + bgc_fp64_vector3_add_scaled(&sum->real, &base_vector->real, &scalable_vector->real, scale); + bgc_fp64_vector3_add_scaled(&sum->dual, &base_vector->dual, &scalable_vector->dual, scale); +} + +// ================== Subtract ================== // + +inline void bgc_fp32_dual_vector3_subtract(BGC_FP32_DualVector3* difference, const BGC_FP32_DualVector3* minuend, const BGC_FP32_DualVector3* subtrahend) +{ + bgc_fp32_vector3_subtract(&difference->real, &minuend->real, &subtrahend->real); + bgc_fp32_vector3_subtract(&difference->dual, &minuend->dual, &subtrahend->dual); +} + +inline void bgc_fp64_dual_vector3_subtract(BGC_FP64_DualVector3* difference, const BGC_FP64_DualVector3* minuend, const BGC_FP64_DualVector3* subtrahend) +{ + bgc_fp64_vector3_subtract(&difference->real, &minuend->real, &subtrahend->real); + bgc_fp64_vector3_subtract(&difference->dual, &minuend->dual, &subtrahend->dual); +} + +// ================== Multiply ================== // + +inline void bgc_fp32_dual_vector3_multiply(BGC_FP32_DualVector3* product, const BGC_FP32_DualVector3* multiplicand, const float multiplier) +{ + bgc_fp32_vector3_multiply(&product->real, &multiplicand->real, multiplier); + bgc_fp32_vector3_multiply(&product->dual, &multiplicand->dual, multiplier); +} + +inline void bgc_fp64_dual_vector3_multiply(BGC_FP64_DualVector3* product, const BGC_FP64_DualVector3* multiplicand, const double multiplier) +{ + bgc_fp64_vector3_multiply(&product->real, &multiplicand->real, multiplier); + bgc_fp64_vector3_multiply(&product->dual, &multiplicand->dual, multiplier); +} + +// =================== Divide =================== // + +inline void bgc_fp32_dual_vector3_divide(BGC_FP32_DualVector3* quotient, const BGC_FP32_DualVector3* dividend, const float divisor) +{ + bgc_fp32_dual_vector3_multiply(quotient, dividend, 1.0f / divisor); +} + +inline void bgc_fp64_dual_vector3_divide(BGC_FP64_DualVector3* quotient, const BGC_FP64_DualVector3* dividend, const double divisor) +{ + bgc_fp64_dual_vector3_multiply(quotient, dividend, 1.0 / divisor); +} + +// ================ Mean of Two ================= // + +inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2) +{ + bgc_fp32_vector3_get_mean2(&mean->real, &vector1->real, &vector2->real); + bgc_fp32_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual); +} + +inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2) +{ + bgc_fp64_vector3_get_mean2(&mean->real, &vector1->real, &vector2->real); + bgc_fp64_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual); +} + +// =============== Mean of Three ================ // + +inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2, const BGC_FP32_DualVector3* vector3) +{ + bgc_fp32_vector3_get_mean3(&mean->real, &vector1->real, &vector2->real, &vector3->real); + bgc_fp32_vector3_get_mean3(&mean->dual, &vector1->dual, &vector2->dual, &vector3->dual); +} + +inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2, const BGC_FP64_DualVector3* vector3) +{ + bgc_fp64_vector3_get_mean3(&mean->real, &vector1->real, &vector2->real, &vector3->real); + bgc_fp64_vector3_get_mean3(&mean->dual, &vector1->dual, &vector2->dual, &vector3->dual); +} + +// ============ Linear Interpolation ============ // + +inline void bgc_fp32_dual_vector3_interpolate(BGC_FP32_DualVector3* interpolation, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second, const float phase) +{ + bgc_fp32_vector3_interpolate(&interpolation->real, &first->real, &second->real, phase); + bgc_fp32_vector3_interpolate(&interpolation->dual, &first->dual, &second->dual, phase); +} + +inline void bgc_fp64_dual_vector3_interpolate(BGC_FP64_DualVector3* interpolation, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second, const double phase) +{ + bgc_fp64_vector3_interpolate(&interpolation->real, &first->real, &second->real, phase); + bgc_fp64_vector3_interpolate(&interpolation->dual, &first->dual, &second->dual, phase); +} + +// =================== Revert =================== // + +inline void bgc_fp32_dual_vector3_revert(BGC_FP32_DualVector3* vector) +{ + bgc_fp32_vector3_revert(&vector->real); + bgc_fp32_vector3_revert(&vector->dual); +} + +inline void bgc_fp64_dual_vector3_revert(BGC_FP64_DualVector3* vector) +{ + bgc_fp64_vector3_revert(&vector->real); + bgc_fp64_vector3_revert(&vector->dual); +} + +// ================ Get Reverse ================= // + +inline void bgc_fp32_dual_vector3_get_reverse(BGC_FP32_DualVector3* reverse, const BGC_FP32_DualVector3* vector) +{ + bgc_fp32_vector3_get_reverse(&reverse->real, &vector->real); + bgc_fp32_vector3_get_reverse(&reverse->dual, &vector->dual); +} + +inline void bgc_fp64_dual_vector3_get_reverse(BGC_FP64_DualVector3* reverse, const BGC_FP64_DualVector3* vector) +{ + bgc_fp64_vector3_get_reverse(&reverse->real, &vector->real); + bgc_fp64_vector3_get_reverse(&reverse->dual, &vector->dual); +} + +#endif diff --git a/basic-geometry/hg-matrix3x3.c b/basic-geometry/hg-matrix3x3.c new file mode 100644 index 0000000..af76aa4 --- /dev/null +++ b/basic-geometry/hg-matrix3x3.c @@ -0,0 +1,7 @@ +#include "hg-matrix3x3.h" + +inline void bgc_fp32_hg_matrix3x3_reset(BGC_FP32_HgMatrix3x3* homogeneous_matrix); +inline void bgc_fp64_hg_matrix3x3_reset(BGC_FP64_HgMatrix3x3* homogeneous_matrix); + +inline void bgc_fp32_hg_matrix3x3_make(BGC_FP32_HgMatrix3x3* homogeneous_matrix, const BGC_FP32_Matrix3x3* linear_matrix, const BGC_FP32_Vector3* shift); +inline void bgc_fp64_hg_matrix3x3_make(BGC_FP64_HgMatrix3x3* homogeneous_matrix, const BGC_FP64_Matrix3x3* linear_matrix, const BGC_FP64_Vector3* shift); diff --git a/basic-geometry/hg-matrix3x3.h b/basic-geometry/hg-matrix3x3.h new file mode 100644 index 0000000..340f598 --- /dev/null +++ b/basic-geometry/hg-matrix3x3.h @@ -0,0 +1,123 @@ +#ifndef _BGC_HG_MATRIX3X3_H_INCLUDED_ +#define _BGC_HG_MATRIX3X3_H_INCLUDED_ + +#include "vector3.h" +#include "matrices.h" + +#include "hg-vector3.h" + +// =================== Types ==================== // + +typedef struct +{ + float r1c1, r1c2, r1c3, r1d0; + float r2c1, r2c2, r2c3, r2d0; + float r3c1, r3c2, r3c3, r3d0; + float d0c1, d0c2, d0c3, d0d0; +} BGC_FP32_HgMatrix3x3; + +typedef struct +{ + double r1c1, r1c2, r1c3, r1d0; + double r2c1, r2c2, r2c3, r2d0; + double r3c1, r3c2, r3c3, r3d0; + double d0c1, d0c2, d0c3, d0d0; +} BGC_FP64_HgMatrix3x3; + +// =================== Reset ==================== // + +inline void bgc_fp32_hg_matrix3x3_reset(BGC_FP32_HgMatrix3x3* homogeneous_matrix) +{ + homogeneous_matrix->r1c1 = 1.0f; + homogeneous_matrix->r1c2 = 0.0f; + homogeneous_matrix->r1c2 = 0.0f; + homogeneous_matrix->r1d0 = 0.0f; + + homogeneous_matrix->r2c1 = 0.0f; + homogeneous_matrix->r2c2 = 1.0f; + homogeneous_matrix->r2c2 = 0.0f; + homogeneous_matrix->r2d0 = 0.0f; + + homogeneous_matrix->r3c1 = 0.0f; + homogeneous_matrix->r3c2 = 0.0f; + homogeneous_matrix->r3c2 = 1.0f; + homogeneous_matrix->r3d0 = 0.0f; + + homogeneous_matrix->d0c1 = 0.0f; + homogeneous_matrix->d0c2 = 0.0f; + homogeneous_matrix->d0c2 = 0.0f; + homogeneous_matrix->d0d0 = 1.0f; +} + +inline void bgc_fp64_hg_matrix3x3_reset(BGC_FP64_HgMatrix3x3* homogeneous_matrix) +{ + homogeneous_matrix->r1c1 = 1.0; + homogeneous_matrix->r1c2 = 0.0; + homogeneous_matrix->r1c2 = 0.0; + homogeneous_matrix->r1d0 = 0.0; + + homogeneous_matrix->r2c1 = 0.0; + homogeneous_matrix->r2c2 = 1.0; + homogeneous_matrix->r2c2 = 0.0; + homogeneous_matrix->r2d0 = 0.0; + + homogeneous_matrix->r3c1 = 0.0; + homogeneous_matrix->r3c2 = 0.0; + homogeneous_matrix->r3c2 = 1.0; + homogeneous_matrix->r3d0 = 0.0; + + homogeneous_matrix->d0c1 = 0.0; + homogeneous_matrix->d0c2 = 0.0; + homogeneous_matrix->d0c2 = 0.0; + homogeneous_matrix->d0d0 = 1.0; +} + +// ==================== Make ==================== // + +inline void bgc_fp32_hg_matrix3x3_make(BGC_FP32_HgMatrix3x3* homogeneous_matrix, const BGC_FP32_Matrix3x3* linear_matrix, const BGC_FP32_Vector3* shift) +{ + homogeneous_matrix->r1c1 = linear_matrix->r1c1; + homogeneous_matrix->r1c2 = linear_matrix->r1c2; + homogeneous_matrix->r1c2 = linear_matrix->r1c3; + homogeneous_matrix->r1d0 = shift->x1; + + homogeneous_matrix->r2c1 = linear_matrix->r2c1; + homogeneous_matrix->r2c2 = linear_matrix->r2c2; + homogeneous_matrix->r2c2 = linear_matrix->r2c3; + homogeneous_matrix->r2d0 = shift->x2; + + homogeneous_matrix->r3c1 = linear_matrix->r3c1; + homogeneous_matrix->r3c2 = linear_matrix->r3c2; + homogeneous_matrix->r3c2 = linear_matrix->r3c3; + homogeneous_matrix->r3d0 = shift->x3; + + homogeneous_matrix->d0c1 = 0.0f; + homogeneous_matrix->d0c2 = 0.0f; + homogeneous_matrix->d0c2 = 0.0f; + homogeneous_matrix->d0d0 = 1.0f; +} + +inline void bgc_fp64_hg_matrix3x3_make(BGC_FP64_HgMatrix3x3* homogeneous_matrix, const BGC_FP64_Matrix3x3* linear_matrix, const BGC_FP64_Vector3* shift) +{ + homogeneous_matrix->r1c1 = linear_matrix->r1c1; + homogeneous_matrix->r1c2 = linear_matrix->r1c2; + homogeneous_matrix->r1c2 = linear_matrix->r1c3; + homogeneous_matrix->r1d0 = shift->x1; + + homogeneous_matrix->r2c1 = linear_matrix->r2c1; + homogeneous_matrix->r2c2 = linear_matrix->r2c2; + homogeneous_matrix->r2c2 = linear_matrix->r2c3; + homogeneous_matrix->r2d0 = shift->x2; + + homogeneous_matrix->r3c1 = linear_matrix->r3c1; + homogeneous_matrix->r3c2 = linear_matrix->r3c2; + homogeneous_matrix->r3c2 = linear_matrix->r3c3; + homogeneous_matrix->r3d0 = shift->x3; + + homogeneous_matrix->d0c1 = 0.0; + homogeneous_matrix->d0c2 = 0.0; + homogeneous_matrix->d0c2 = 0.0; + homogeneous_matrix->d0d0 = 1.0; +} + +#endif diff --git a/basic-geometry/hg-vector3.c b/basic-geometry/hg-vector3.c new file mode 100644 index 0000000..02d5a59 --- /dev/null +++ b/basic-geometry/hg-vector3.c @@ -0,0 +1,28 @@ +#include "./hg-vector3.h" + +extern inline void bgc_fp32_hg_vector3_reset_point(BGC_FP32_HgVector3* homogeneous_vector); +extern inline void bgc_fp64_hg_vector3_reset_point(BGC_FP64_HgVector3* homogeneous_vector); + +extern inline void bgc_fp32_hg_vector3_reset_vector(BGC_FP32_HgVector3* homogeneous_vector); +extern inline void bgc_fp64_hg_vector3_reset_vector(BGC_FP64_HgVector3* homogeneous_vector); + +extern inline void bgc_fp32_hg_vector3_make(BGC_FP32_HgVector3* homogeneous_vector, const float x1, const float x2, const float x3, const float ratio); +extern inline void bgc_fp64_hg_vector3_make(BGC_FP64_HgVector3* homogeneous_vector, const double x1, const double x2, const double x3, const double ratio); + +extern inline void bgc_fp32_hg_vector3_make_point(BGC_FP32_HgVector3* homogeneous_vector, const BGC_FP32_Vector3* regular_vector); +extern inline void bgc_fp64_hg_vector3_make_point(BGC_FP64_HgVector3* homogeneous_vector, const BGC_FP64_Vector3* regular_vector); + +extern inline void bgc_fp32_hg_vector3_make_vector(BGC_FP32_HgVector3* homogeneous_vector, const BGC_FP32_Vector3* regular_vector); +extern inline void bgc_fp64_hg_vector3_make_vector(BGC_FP64_HgVector3* homogeneous_vector, const BGC_FP64_Vector3* regular_vector); + +extern inline int bgc_fp32_hg_vector3_is_point(const BGC_FP32_HgVector3* homogeneous_vector); +extern inline int bgc_fp64_hg_vector3_is_point(const BGC_FP64_HgVector3* homogeneous_vector); + +extern inline int bgc_fp32_hg_vector3_is_vector(const BGC_FP32_HgVector3* homogeneous_vector); +extern inline int bgc_fp64_hg_vector3_is_vector(const BGC_FP64_HgVector3* homogeneous_vector); + +extern inline void bgc_fp32_hg_vector3_copy(BGC_FP32_HgVector3* destination, const BGC_FP32_HgVector3* source); +extern inline void bgc_fp64_hg_vector3_copy(BGC_FP64_HgVector3* destination, const BGC_FP64_HgVector3* source); + +extern inline void bgc_fp32_hg_vector3_swap(BGC_FP32_HgVector3* first, BGC_FP32_HgVector3* second); +extern inline void bgc_fp64_hg_vector3_swap(BGC_FP64_HgVector3* first, BGC_FP64_HgVector3* second); diff --git a/basic-geometry/hg-vector3.h b/basic-geometry/hg-vector3.h new file mode 100644 index 0000000..b1d28bc --- /dev/null +++ b/basic-geometry/hg-vector3.h @@ -0,0 +1,224 @@ +#ifndef _BGC_HG_VECTOR3_H_INCLUDED_ +#define _BGC_HG_VECTOR3_H_INCLUDED_ + +#include "./vector3.h" + +// ================== Vector3 =================== // + +// Homogeneous 3D Vector +typedef struct +{ + float x1, x2, x3, d0; +} BGC_FP32_HgVector3; + +// Homogeneous 3D Vector +typedef struct +{ + double x1, x2, x3, d0; +} BGC_FP64_HgVector3; + +// ================ Reset Point ================= // + +inline void bgc_fp32_hg_vector3_reset_point(BGC_FP32_HgVector3* homogeneous_vector) +{ + homogeneous_vector->x1 = 0.0f; + homogeneous_vector->x2 = 0.0f; + homogeneous_vector->x3 = 0.0f; + homogeneous_vector->d0 = 1.0f; +} + +inline void bgc_fp64_hg_vector3_reset_point(BGC_FP64_HgVector3* homogeneous_vector) +{ + homogeneous_vector->x1 = 0.0; + homogeneous_vector->x2 = 0.0; + homogeneous_vector->x3 = 0.0; + homogeneous_vector->d0 = 1.0; +} + +// ================ Reset Point ================= // + +inline void bgc_fp32_hg_vector3_reset_vector(BGC_FP32_HgVector3* homogeneous_vector) +{ + homogeneous_vector->x1 = 0.0f; + homogeneous_vector->x2 = 0.0f; + homogeneous_vector->x3 = 0.0f; + homogeneous_vector->d0 = 0.0f; +} + +inline void bgc_fp64_hg_vector3_reset_vector(BGC_FP64_HgVector3* homogeneous_vector) +{ + homogeneous_vector->x1 = 0.0; + homogeneous_vector->x2 = 0.0; + homogeneous_vector->x3 = 0.0; + homogeneous_vector->d0 = 0.0; +} + +// ==================== Make ==================== // + +inline void bgc_fp32_hg_vector3_make(BGC_FP32_HgVector3* homogeneous_vector, const float x1, const float x2, const float x3, const float d0) +{ + homogeneous_vector->x1 = x1; + homogeneous_vector->x2 = x2; + homogeneous_vector->x3 = x3; + homogeneous_vector->d0 = d0; +} + +inline void bgc_fp64_hg_vector3_make(BGC_FP64_HgVector3* homogeneous_vector, const double x1, const double x2, const double x3, const double d0) +{ + homogeneous_vector->x1 = x1; + homogeneous_vector->x2 = x2; + homogeneous_vector->x3 = x3; + homogeneous_vector->d0 = d0; +} + +// ================= Make Point ================= // + +inline void bgc_fp32_hg_vector3_make_point(BGC_FP32_HgVector3* homogeneous_vector, const BGC_FP32_Vector3* regular_vector) +{ + homogeneous_vector->x1 = regular_vector->x1; + homogeneous_vector->x2 = regular_vector->x2; + homogeneous_vector->x3 = regular_vector->x3; + homogeneous_vector->d0 = 1.0f; +} + +inline void bgc_fp64_hg_vector3_make_point(BGC_FP64_HgVector3* homogeneous_vector, const BGC_FP64_Vector3* regular_vector) +{ + homogeneous_vector->x1 = regular_vector->x1; + homogeneous_vector->x2 = regular_vector->x2; + homogeneous_vector->x3 = regular_vector->x3; + homogeneous_vector->d0 = 1.0; +} + +// ================ Make Vector ================= // + +inline void bgc_fp32_hg_vector3_make_vector(BGC_FP32_HgVector3* homogeneous_vector, const BGC_FP32_Vector3* regular_vector) +{ + homogeneous_vector->x1 = regular_vector->x1; + homogeneous_vector->x2 = regular_vector->x2; + homogeneous_vector->x3 = regular_vector->x3; + homogeneous_vector->d0 = 0.0f; +} + +inline void bgc_fp64_hg_vector3_make_vector(BGC_FP64_HgVector3* homogeneous_vector, const BGC_FP64_Vector3* regular_vector) +{ + homogeneous_vector->x1 = regular_vector->x1; + homogeneous_vector->x2 = regular_vector->x2; + homogeneous_vector->x3 = regular_vector->x3; + homogeneous_vector->d0 = 0.0; +} + +// ================== Is Point ================== // + +inline int bgc_fp32_hg_vector3_is_point(const BGC_FP32_HgVector3* homogeneous_vector) +{ + return !bgc_fp32_is_zero(homogeneous_vector->d0); +} + +inline int bgc_fp64_hg_vector3_is_point(const BGC_FP64_HgVector3* homogeneous_vector) +{ + return !bgc_fp64_is_zero(homogeneous_vector->d0); +} + +// ================= Is Vector ================== // + +inline int bgc_fp32_hg_vector3_is_vector(const BGC_FP32_HgVector3* homogeneous_vector) +{ + return bgc_fp32_is_zero(homogeneous_vector->d0); +} + +inline int bgc_fp64_hg_vector3_is_vector(const BGC_FP64_HgVector3* homogeneous_vector) +{ + return bgc_fp64_is_zero(homogeneous_vector->d0); +} + +// ==================== Copy ==================== // + +inline void bgc_fp32_hg_vector3_copy(BGC_FP32_HgVector3* destination, const BGC_FP32_HgVector3* source) +{ + destination->x1 = source->x1; + destination->x2 = source->x2; + destination->x3 = source->x3; + destination->d0 = source->d0; +} + +inline void bgc_fp64_hg_vector3_copy(BGC_FP64_HgVector3* destination, const BGC_FP64_HgVector3* source) +{ + destination->x1 = source->x1; + destination->x2 = source->x2; + destination->x3 = source->x3; + destination->d0 = source->d0; +} + +// ==================== Swap ==================== // + +inline void bgc_fp32_hg_vector3_swap(BGC_FP32_HgVector3* first, BGC_FP32_HgVector3* second) +{ + const float x1 = first->x1; + const float x2 = first->x2; + const float x3 = first->x3; + const float d0 = first->d0; + + first->x1 = second->x1; + first->x2 = second->x2; + first->x3 = second->x3; + first->d0 = second->d0; + + second->x1 = x1; + second->x2 = x2; + second->x3 = x3; + second->d0 = d0; +} + +inline void bgc_fp64_hg_vector3_swap(BGC_FP64_HgVector3* first, BGC_FP64_HgVector3* second) +{ + const double x1 = first->x1; + const double x2 = first->x2; + const double x3 = first->x3; + const double d0 = first->d0; + + first->x1 = second->x1; + first->x2 = second->x2; + first->x3 = second->x3; + first->d0 = second->d0; + + second->x1 = x1; + second->x2 = x2; + second->x3 = x3; + second->d0 = d0; +} + +// ================== Rescale =================== // + +inline int bgc_fp32_hg_vector3_rescale(BGC_FP32_HgVector3* homogeneous_vector, const float new_ratio) +{ + if (bgc_fp32_is_zero(homogeneous_vector->d0)) { + return 0; + } + + const float multiplier = new_ratio / homogeneous_vector->d0; + + homogeneous_vector->x1 *= multiplier; + homogeneous_vector->x2 *= multiplier; + homogeneous_vector->x3 *= multiplier; + homogeneous_vector->d0 = new_ratio; + + return 1; +} + +inline int bgc_fp64_hg_vector3_rescale(BGC_FP64_HgVector3* homogeneous_vector, const double new_ratio) +{ + if (bgc_fp64_is_zero(homogeneous_vector->d0)) { + return 0; + } + + const double multiplier = new_ratio / homogeneous_vector->d0; + + homogeneous_vector->x1 *= multiplier; + homogeneous_vector->x2 *= multiplier; + homogeneous_vector->x3 *= multiplier; + homogeneous_vector->d0 = new_ratio; + + return 1; +} + +#endif diff --git a/basic-geometry/matrices.c b/basic-geometry/matrices.c new file mode 100644 index 0000000..450f51a --- /dev/null +++ b/basic-geometry/matrices.c @@ -0,0 +1,25 @@ +#include "matrices.h" + +extern inline void bgc_fp32_multiply_matrix2x2_by_matrix2x2(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix2x2* matrix2); +extern inline void bgc_fp64_multiply_matrix2x2_by_matrix2x2(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix2x2* matrix2); + +extern inline void bgc_fp32_multiply_matrix2x2_by_matrix3x2(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix3x2* matrix2); +extern inline void bgc_fp64_multiply_matrix2x2_by_matrix3x2(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix3x2* matrix2); + +extern inline void bgc_fp32_multiply_matrix2x3_by_matrix2x2(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix2x2* matrix2); +extern inline void bgc_fp64_multiply_matrix2x3_by_matrix2x2(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix2x2* matrix2); + +extern inline void bgc_fp32_multiply_matrix2x3_by_matrix3x2(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix3x2* matrix2); +extern inline void bgc_fp64_multiply_matrix2x3_by_matrix3x2(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix3x2* matrix2); + +extern inline void bgc_fp32_multiply_matrix3x2_by_matrix2x3(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix2x3* matrix2); +extern inline void bgc_fp64_multiply_matrix3x2_by_matrix2x3(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix2x3* matrix2); + +extern inline void bgc_fp32_multiply_matrix3x2_by_matrix3x3(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix3x3* matrix2); +extern inline void bgc_fp64_multiply_matrix3x2_by_matrix3x3(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix3x3* matrix2); + +extern inline void bgc_fp32_multiply_matrix3x3_by_matrix2x3(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix2x3* matrix2); +extern inline void bgc_fp64_multiply_matrix3x3_by_matrix2x3(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix2x3* matrix2); + +extern inline void bgc_fp32_multiply_matrix3x3_by_matrix3x3(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix3x3* matrix2); +extern inline void bgc_fp64_multiply_matrix3x3_by_matrix3x3(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix3x3* matrix2); diff --git a/basic-geometry/matrices.h b/basic-geometry/matrices.h new file mode 100644 index 0000000..d500a33 --- /dev/null +++ b/basic-geometry/matrices.h @@ -0,0 +1,364 @@ +#ifndef _BGC_MATRICES_H_INCLUDED_ +#define _BGC_MATRICES_H_INCLUDED_ + +// ================== Matrix2x2 ================= // + +typedef struct { + float r1c1, r1c2; + float r2c1, r2c2; +} BGC_FP32_Matrix2x2; + +typedef struct { + double r1c1, r1c2; + double r2c1, r2c2; +} BGC_FP64_Matrix2x2; + +// ================== Matrix2x3 ================= // + +typedef struct { + float r1c1, r1c2; + float r2c1, r2c2; + float r3c1, r3c2; +} BGC_FP32_Matrix2x3; + +typedef struct { + double r1c1, r1c2; + double r2c1, r2c2; + double r3c1, r3c2; +} BGC_FP64_Matrix2x3; + +// ================== Matrix3x2 ================= // + +typedef struct { + float r1c1, r1c2, r1c3; + float r2c1, r2c2, r2c3; +} BGC_FP32_Matrix3x2; + +typedef struct { + double r1c1, r1c2, r1c3; + double r2c1, r2c2, r2c3; +} BGC_FP64_Matrix3x2; + +// ================== Matrix3x3 ================= // + +typedef struct { + float r1c1, r1c2, r1c3; + float r2c1, r2c2, r2c3; + float r3c1, r3c2, r3c3; +} BGC_FP32_Matrix3x3; + +typedef struct { + double r1c1, r1c2, r1c3; + double r2c1, r2c2, r2c3; + double r3c1, r3c2, r3c3; +} BGC_FP64_Matrix3x3; + +// ========== Matrix Product 2x2 at 2x2 ========= // + +inline void bgc_fp32_multiply_matrix2x2_by_matrix2x2(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix2x2* matrix2) +{ + const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; + const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; + + const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; + const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; +} + +inline void bgc_fp64_multiply_matrix2x2_by_matrix2x2(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix2x2* matrix2) +{ + const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; + const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; + + const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; + const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; +} + +// ========== Matrix Product 2x2 at 3x2 ========= // + +inline void bgc_fp32_multiply_matrix2x2_by_matrix3x2(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix3x2* matrix2) +{ + const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; + const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; + const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; + + const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; + const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; + const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + product->r1c3 = r1c3; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; + product->r2c3 = r2c3; +} + +inline void bgc_fp64_multiply_matrix2x2_by_matrix3x2(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix3x2* matrix2) +{ + const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; + const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; + const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; + + const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; + const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; + const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + product->r1c3 = r1c3; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; + product->r2c3 = r2c3; +} + +// ========== Matrix Product 2x3 at 2x2 ========= // + +inline void bgc_fp32_multiply_matrix2x3_by_matrix2x2(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix2x2* matrix2) +{ + const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; + const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; + + const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; + const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; + + const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; + const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; + + product->r3c1 = r3c1; + product->r3c2 = r3c2; +} + +inline void bgc_fp64_multiply_matrix2x3_by_matrix2x2(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix2x2* matrix2) +{ + const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; + const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; + + const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; + const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; + + const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; + const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; + + product->r3c1 = r3c1; + product->r3c2 = r3c2; +} + +// ========== Matrix Product 2x3 at 3x2 ========= // + +inline void bgc_fp32_multiply_matrix2x3_by_matrix3x2(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix3x2* matrix2) +{ + product->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; + product->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; + product->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; + + product->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; + product->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; + product->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; + + product->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; + product->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; + product->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3; +} + +inline void bgc_fp64_multiply_matrix2x3_by_matrix3x2(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix3x2* matrix2) +{ + product->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; + product->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; + product->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; + + product->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; + product->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; + product->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; + + product->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; + product->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; + product->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3; +} + +// ========== Matrix Product 3x2 at 2x3 ========= // + +inline void bgc_fp32_multiply_matrix3x2_by_matrix2x3(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix2x3* matrix2) +{ + product->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; + product->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; + + product->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; + product->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; +} + +inline void bgc_fp64_multiply_matrix3x2_by_matrix2x3(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix2x3* matrix2) +{ + product->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; + product->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; + + product->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; + product->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; +} + +// ========== Matrix Product 3x2 at 3x3 ========= // + +inline void bgc_fp32_multiply_matrix3x2_by_matrix3x3(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix3x3* matrix2) +{ + const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; + const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; + const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; + + const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; + const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; + const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + product->r1c3 = r1c3; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; + product->r2c3 = r2c3; +} + +inline void bgc_fp64_multiply_matrix3x2_by_matrix3x3(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix3x3* matrix2) +{ + const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; + const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; + const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; + + const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; + const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; + const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + product->r1c3 = r1c3; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; + product->r2c3 = r2c3; +} + +// ========== Matrix Product 3x3 at 2x3 ========= // + +inline void bgc_fp32_multiply_matrix3x3_by_matrix2x3(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix2x3* matrix2) +{ + const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; + const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; + + const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; + const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; + + const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; + const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; + + product->r3c1 = r3c1; + product->r3c2 = r3c2; +} + +inline void bgc_fp64_multiply_matrix3x3_by_matrix2x3(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix2x3* matrix2) +{ + const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; + const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; + + const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; + const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; + + const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; + const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; + + product->r3c1 = r3c1; + product->r3c2 = r3c2; +} + +// ========== Matrix Product 3x3 at 3x3 ========= // + +inline void bgc_fp32_multiply_matrix3x3_by_matrix3x3(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix3x3* matrix2) +{ + const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; + const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; + const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; + + const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; + const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; + const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; + + const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; + const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; + const float r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + product->r1c3 = r1c3; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; + product->r2c3 = r2c3; + + product->r3c1 = r3c1; + product->r3c2 = r3c2; + product->r3c3 = r3c3; +} + +inline void bgc_fp64_multiply_matrix3x3_by_matrix3x3(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix3x3* matrix2) +{ + const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; + const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; + const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; + + const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; + const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; + const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; + + const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; + const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; + const double r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3; + + product->r1c1 = r1c1; + product->r1c2 = r1c2; + product->r1c3 = r1c3; + + product->r2c1 = r2c1; + product->r2c2 = r2c2; + product->r2c3 = r2c3; + + product->r3c1 = r3c1; + product->r3c2 = r3c2; + product->r3c3 = r3c3; +} + +#endif // _BGC_MATRIX_TYPES_H_ diff --git a/basic-geometry/matrix2x2.c b/basic-geometry/matrix2x2.c index 0f4927b..4333c71 100644 --- a/basic-geometry/matrix2x2.c +++ b/basic-geometry/matrix2x2.c @@ -1,73 +1,82 @@ #include "matrix2x2.h" -extern inline void bgc_matrix2x2_reset_fp32(BgcMatrix2x2FP32* matrix); -extern inline void bgc_matrix2x2_reset_fp64(BgcMatrix2x2FP64* matrix); +extern inline void bgc_fp32_matrix2x2_reset(BGC_FP32_Matrix2x2* matrix); +extern inline void bgc_fp64_matrix2x2_reset(BGC_FP64_Matrix2x2* matrix); -extern inline void bgc_matrix2x2_set_to_identity_fp32(BgcMatrix2x2FP32* matrix); -extern inline void bgc_matrix2x2_set_to_identity_fp64(BgcMatrix2x2FP64* matrix); +extern inline void bgc_fp32_matrix2x2_make_identity(BGC_FP32_Matrix2x2* matrix); +extern inline void bgc_fp64_matrix2x2_make_identity(BGC_FP64_Matrix2x2* matrix); -extern inline void bgc_matrix2x2_set_to_diagonal_fp32(const float d1, const float d2, BgcMatrix2x2FP32* matrix); -extern inline void bgc_matrix2x2_set_to_diagonal_fp64(const double d1, const double d2, BgcMatrix2x2FP64* matrix); +extern inline void bgc_fp32_matrix2x2_make_diagonal(BGC_FP32_Matrix2x2* matrix, const float d1, const float d2); +extern inline void bgc_fp64_matrix2x2_make_diagonal(BGC_FP64_Matrix2x2* matrix, const double d1, const double d2); -extern inline void bgc_matrix2x2_set_turn_fp32(const float angle, const BgcAngleUnitEnum unit, BgcMatrix2x2FP32* matrix); -extern inline void bgc_matrix2x2_set_turn_fp64(const double angle, const BgcAngleUnitEnum unit, BgcMatrix2x2FP64* matrix); +extern inline void bgc_fp32_matrix2x2_set_turn(BGC_FP32_Matrix2x2* matrix, const float angle, const int angle_unit); +extern inline void bgc_fp64_matrix2x2_set_turn(BGC_FP64_Matrix2x2* matrix, const double angle, const int angle_unit); -extern inline float bgc_matrix2x2_get_determinant_fp32(const BgcMatrix2x2FP32* matrix); -extern inline double bgc_matrix2x2_get_determinant_fp64(const BgcMatrix2x2FP64* matrix); +extern inline float bgc_fp32_matrix2x2_get_determinant(const BGC_FP32_Matrix2x2* matrix); +extern inline double bgc_fp64_matrix2x2_get_determinant(const BGC_FP64_Matrix2x2* matrix); -extern inline int bgc_matrix2x2_is_singular_fp32(const BgcMatrix2x2FP32* matrix); -extern inline int bgc_matrix2x2_is_singular_fp64(const BgcMatrix2x2FP64* matrix); +extern inline int bgc_fp32_matrix2x2_is_identity(const BGC_FP32_Matrix2x2* matrix); +extern inline int bgc_fp64_matrix2x2_is_identity(const BGC_FP64_Matrix2x2* matrix); -extern inline int bgc_matrix2x2_is_rotation_fp32(const BgcMatrix2x2FP32* matrix); -extern inline int bgc_matrix2x2_is_rotation_fp64(const BgcMatrix2x2FP64* matrix); +extern inline int bgc_fp32_matrix2x2_is_singular(const BGC_FP32_Matrix2x2* matrix); +extern inline int bgc_fp64_matrix2x2_is_singular(const BGC_FP64_Matrix2x2* matrix); -extern inline void bgc_matrix2x2_copy_fp32(const BgcMatrix2x2FP32* source, BgcMatrix2x2FP32* destination); -extern inline void bgc_matrix2x2_copy_fp64(const BgcMatrix2x2FP64* source, BgcMatrix2x2FP64* destination); +extern inline int bgc_fp32_matrix2x2_is_rotation(const BGC_FP32_Matrix2x2* matrix); +extern inline int bgc_fp64_matrix2x2_is_rotation(const BGC_FP64_Matrix2x2* matrix); -extern inline void bgc_matrix2x2_swap_fp32(BgcMatrix2x2FP32* matrix1, BgcMatrix2x2FP32* matrix2); -extern inline void bgc_matrix2x2_swap_fp64(BgcMatrix2x2FP64* matrix1, BgcMatrix2x2FP64* matrix2); +extern inline void bgc_fp32_matrix2x2_copy(BGC_FP32_Matrix2x2* destination, const BGC_FP32_Matrix2x2* source); +extern inline void bgc_fp64_matrix2x2_copy(BGC_FP64_Matrix2x2* destination, const BGC_FP64_Matrix2x2* source); -extern inline void bgc_matrix2x2_convert_fp64_to_fp32(const BgcMatrix2x2FP64* source, BgcMatrix2x2FP32* destination); -extern inline void bgc_matrix2x2_convert_fp32_to_fp64(const BgcMatrix2x2FP32* source, BgcMatrix2x2FP64* destination); +extern inline void bgc_fp32_matrix2x2_swap(BGC_FP32_Matrix2x2* matrix1, BGC_FP32_Matrix2x2* matrix2); +extern inline void bgc_fp64_matrix2x2_swap(BGC_FP64_Matrix2x2* matrix1, BGC_FP64_Matrix2x2* matrix2); -extern inline int bgc_matrix2x2_invert_fp32(const BgcMatrix2x2FP32* matrix, BgcMatrix2x2FP32* inverted); -extern inline int bgc_matrix2x2_invert_fp64(const BgcMatrix2x2FP64* matrix, BgcMatrix2x2FP64* inverted); +extern inline void bgc_fp64_matrix2x2_convert_to_fp32(BGC_FP32_Matrix2x2* destination, const BGC_FP64_Matrix2x2* source); +extern inline void bgc_fp32_matrix2x2_convert_to_fp64(BGC_FP64_Matrix2x2* destination, const BGC_FP32_Matrix2x2* source); -extern inline void bgc_matrix2x2_transpose_fp32(const BgcMatrix2x2FP32* matrix, BgcMatrix2x2FP32* transposed); -extern inline void bgc_matrix2x2_transpose_fp64(const BgcMatrix2x2FP64* matrix, BgcMatrix2x2FP64* transposed); +extern inline int bgc_fp32_matrix2x2_get_inverse(BGC_FP32_Matrix2x2* inverse, const BGC_FP32_Matrix2x2* matrix); +extern inline int bgc_fp64_matrix2x2_get_inverse(BGC_FP64_Matrix2x2* inverse, const BGC_FP64_Matrix2x2* matrix); -extern inline void bgc_matrix2x2_set_row1_fp32(const float c1, const float c2, BgcMatrix2x2FP32* matrix); -extern inline void bgc_matrix2x2_set_row1_fp64(const double c1, const double c2, BgcMatrix2x2FP64* matrix); +extern inline int bgc_fp32_matrix2x2_invert(BGC_FP32_Matrix2x2* matrix); +extern inline int bgc_fp64_matrix2x2_invert(BGC_FP64_Matrix2x2* matrix); -extern inline void bgc_matrix2x2_set_row2_fp32(const float c1, const float c2, BgcMatrix2x2FP32* matrix); -extern inline void bgc_matrix2x2_set_row2_fp64(const double c1, const double c2, BgcMatrix2x2FP64* matrix); +extern inline void bgc_fp32_matrix2x2_transpose(BGC_FP32_Matrix2x2* matrix); +extern inline void bgc_fp64_matrix2x2_transpose(BGC_FP64_Matrix2x2* matrix); -extern inline void bgc_matrix2x2_set_column1_fp32(const float r1, const float r2, BgcMatrix2x2FP32* matrix); -extern inline void bgc_matrix2x2_set_column1_fp64(const double r1, const double r2, BgcMatrix2x2FP64* matrix); +extern inline void bgc_fp32_matrix2x2_get_transposed(BGC_FP32_Matrix2x2* transposed, const BGC_FP32_Matrix2x2* matrix); +extern inline void bgc_fp64_matrix2x2_get_transposed(BGC_FP64_Matrix2x2* transposed, const BGC_FP64_Matrix2x2* matrix); -extern inline void bgc_matrix2x2_set_column2_fp32(const float r1, const float r2, BgcMatrix2x2FP32* matrix); -extern inline void bgc_matrix2x2_set_column2_fp64(const double r1, const double r2, BgcMatrix2x2FP64* matrix); +extern inline void bgc_fp32_matrix2x2_get_row(BGC_FP32_Vector2* row, const BGC_FP32_Matrix2x2* matrix, const int row_number); +extern inline void bgc_fp64_matrix2x2_get_row(BGC_FP64_Vector2* row, const BGC_FP64_Matrix2x2* matrix, const int row_number); -extern inline void bgc_matrix2x2_add_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x2FP32* sum); -extern inline void bgc_matrix2x2_add_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x2FP64* sum); +extern inline void bgc_fp32_matrix2x2_set_row(BGC_FP32_Matrix2x2* matrix, const int row_number, const BGC_FP32_Vector2* row); +extern inline void bgc_fp64_matrix2x2_set_row(BGC_FP64_Matrix2x2* matrix, const int row_number, const BGC_FP64_Vector2* row); -extern inline void bgc_matrix2x2_add_scaled_fp32(const BgcMatrix2x2FP32* basic_matrix, const BgcMatrix2x2FP32* scalable_matrix, const float scale, BgcMatrix2x2FP32* sum); -extern inline void bgc_matrix2x2_add_scaled_fp64(const BgcMatrix2x2FP64* basic_matrix, const BgcMatrix2x2FP64* scalable_matrix, const double scale, BgcMatrix2x2FP64* sum); +extern inline void bgc_fp32_matrix2x2_get_column(BGC_FP32_Vector2* column, const BGC_FP32_Matrix2x2* matrix, const int column_number); +extern inline void bgc_fp64_matrix2x2_get_column(BGC_FP64_Vector2* column, const BGC_FP64_Matrix2x2* matrix, const int column_number); -extern inline void bgc_matrix2x2_subtract_fp32(const BgcMatrix2x2FP32* minuend, const BgcMatrix2x2FP32* subtrahend, BgcMatrix2x2FP32* difference); -extern inline void bgc_matrix2x2_subtract_fp64(const BgcMatrix2x2FP64* minuend, const BgcMatrix2x2FP64* subtrahend, BgcMatrix2x2FP64* difference); +extern inline void bgc_fp32_matrix2x2_set_column(BGC_FP32_Matrix2x2* matrix, const int column_number, const BGC_FP32_Vector2* column); +extern inline void bgc_fp64_matrix2x2_set_column(BGC_FP64_Matrix2x2* matrix, const int column_number, const BGC_FP64_Vector2* column); -extern inline void bgc_matrix2x2_subtract_scaled_fp32(const BgcMatrix2x2FP32* basic_matrix, const BgcMatrix2x2FP32* scalable_matrix, const float scale, BgcMatrix2x2FP32* difference); -extern inline void bgc_matrix2x2_subtract_scaled_fp64(const BgcMatrix2x2FP64* basic_matrix, const BgcMatrix2x2FP64* scalable_matrix, const double scale, BgcMatrix2x2FP64* difference); +extern inline void bgc_fp32_matrix2x2_add(BGC_FP32_Matrix2x2* sum, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix2x2* matrix2); +extern inline void bgc_fp64_matrix2x2_add(BGC_FP64_Matrix2x2* sum, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix2x2* matrix2); -extern inline void bgc_matrix2x2_multiply_fp32(const BgcMatrix2x2FP32* multiplicand, const float multiplier, BgcMatrix2x2FP32* product); -extern inline void bgc_matrix2x2_multiply_fp64(const BgcMatrix2x2FP64* multiplicand, const double multiplier, BgcMatrix2x2FP64* product); +extern inline void bgc_fp32_matrix2x2_add_scaled(BGC_FP32_Matrix2x2* sum, const BGC_FP32_Matrix2x2* basic_matrix, const BGC_FP32_Matrix2x2* scalable_matrix, const float scale); +extern inline void bgc_fp64_matrix2x2_add_scaled(BGC_FP64_Matrix2x2* sum, const BGC_FP64_Matrix2x2* basic_matrix, const BGC_FP64_Matrix2x2* scalable_matrix, const double scale); -extern inline void bgc_matrix2x2_divide_fp32(const BgcMatrix2x2FP32* dividend, const float divisor, BgcMatrix2x2FP32* quotient); -extern inline void bgc_matrix2x2_divide_fp64(const BgcMatrix2x2FP64* dividend, const double divisor, BgcMatrix2x2FP64* quotient); +extern inline void bgc_fp32_matrix2x2_subtract(BGC_FP32_Matrix2x2* difference, const BGC_FP32_Matrix2x2* minuend, const BGC_FP32_Matrix2x2* subtrahend); +extern inline void bgc_fp64_matrix2x2_subtract(BGC_FP64_Matrix2x2* difference, const BGC_FP64_Matrix2x2* minuend, const BGC_FP64_Matrix2x2* subtrahend); -extern inline void bgc_matrix2x2_get_left_product_fp32(const BgcVector2FP32* vector, const BgcMatrix2x2FP32* matrix, BgcVector2FP32* product); -extern inline void bgc_matrix2x2_get_left_product_fp64(const BgcVector2FP64* vector, const BgcMatrix2x2FP64* matrix, BgcVector2FP64* product); +extern inline void bgc_fp32_matrix2x2_multiply(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix2x2* multiplicand, const float multiplier); +extern inline void bgc_fp64_matrix2x2_multiply(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix2x2* multiplicand, const double multiplier); -extern inline void bgc_matrix2x2_get_right_product_fp32(const BgcMatrix2x2FP32* matrix, const BgcVector2FP32* vector, BgcVector2FP32* product); -extern inline void bgc_matrix2x2_get_right_product_fp64(const BgcMatrix2x2FP64* matrix, const BgcVector2FP64* vector, BgcVector2FP64* product); +extern inline void bgc_fp32_matrix2x2_divide(BGC_FP32_Matrix2x2* quotient, const BGC_FP32_Matrix2x2* dividend, const float divisor); +extern inline void bgc_fp64_matrix2x2_divide(BGC_FP64_Matrix2x2* quotient, const BGC_FP64_Matrix2x2* dividend, const double divisor); + +extern inline void bgc_fp32_matrix2x2_interpolate(BGC_FP32_Matrix2x2* interpolation, const BGC_FP32_Matrix2x2* first, const BGC_FP32_Matrix2x2* second, const float phase); +extern inline void bgc_fp64_matrix2x2_interpolate(BGC_FP64_Matrix2x2* interpolation, const BGC_FP64_Matrix2x2* first, const BGC_FP64_Matrix2x2* second, const double phase); + +extern inline void bgc_fp32_multiply_matrix2x2_by_vector2(BGC_FP32_Vector2* product, const BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Vector2* vector); +extern inline void bgc_fp64_multiply_matrix2x2_by_vector2(BGC_FP64_Vector2* product, const BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Vector2* vector); + +extern inline void bgc_fp32_multiply_vector2_by_matrix2x2(BGC_FP32_Vector2* product, const BGC_FP32_Vector2* vector, const BGC_FP32_Matrix2x2* matrix); +extern inline void bgc_fp64_multiply_vector2_by_matrix2x2(BGC_FP64_Vector2* product, const BGC_FP64_Vector2* vector, const BGC_FP64_Matrix2x2* matrix); diff --git a/basic-geometry/matrix2x2.h b/basic-geometry/matrix2x2.h index 613a322..9d7d8e7 100644 --- a/basic-geometry/matrix2x2.h +++ b/basic-geometry/matrix2x2.h @@ -1,13 +1,13 @@ -#ifndef _BGC_MATRIX2X2_H_ -#define _BGC_MATRIX2X2_H_ +#ifndef _BGC_MATRIX2X2_H_INCLUDED_ +#define _BGC_MATRIX2X2_H_INCLUDED_ #include "angle.h" #include "vector2.h" -#include "matrixes.h" +#include "matrices.h" // =================== Reset ==================== // -inline void bgc_matrix2x2_reset_fp32(BgcMatrix2x2FP32* matrix) +inline void bgc_fp32_matrix2x2_reset(BGC_FP32_Matrix2x2* matrix) { matrix->r1c1 = 0.0f; matrix->r1c2 = 0.0f; @@ -15,7 +15,7 @@ inline void bgc_matrix2x2_reset_fp32(BgcMatrix2x2FP32* matrix) matrix->r2c2 = 0.0f; } -inline void bgc_matrix2x2_reset_fp64(BgcMatrix2x2FP64* matrix) +inline void bgc_fp64_matrix2x2_reset(BGC_FP64_Matrix2x2* matrix) { matrix->r1c1 = 0.0; matrix->r1c2 = 0.0; @@ -25,7 +25,7 @@ inline void bgc_matrix2x2_reset_fp64(BgcMatrix2x2FP64* matrix) // ================== Identity ================== // -inline void bgc_matrix2x2_set_to_identity_fp32(BgcMatrix2x2FP32* matrix) +inline void bgc_fp32_matrix2x2_make_identity(BGC_FP32_Matrix2x2* matrix) { matrix->r1c1 = 1.0f; matrix->r1c2 = 0.0f; @@ -33,7 +33,7 @@ inline void bgc_matrix2x2_set_to_identity_fp32(BgcMatrix2x2FP32* matrix) matrix->r2c2 = 1.0f; } -inline void bgc_matrix2x2_set_to_identity_fp64(BgcMatrix2x2FP64* matrix) +inline void bgc_fp64_matrix2x2_make_identity(BGC_FP64_Matrix2x2* matrix) { matrix->r1c1 = 1.0; matrix->r1c2 = 0.0; @@ -43,7 +43,7 @@ inline void bgc_matrix2x2_set_to_identity_fp64(BgcMatrix2x2FP64* matrix) // ================ Set Diagonal ================ // -inline void bgc_matrix2x2_set_to_diagonal_fp32(const float d1, const float d2, BgcMatrix2x2FP32* matrix) +inline void bgc_fp32_matrix2x2_make_diagonal(BGC_FP32_Matrix2x2* matrix, const float d1, const float d2) { matrix->r1c1 = d1; matrix->r1c2 = 0.0f; @@ -51,7 +51,7 @@ inline void bgc_matrix2x2_set_to_diagonal_fp32(const float d1, const float d2, B matrix->r2c2 = d2; } -inline void bgc_matrix2x2_set_to_diagonal_fp64(const double d1, const double d2, BgcMatrix2x2FP64* matrix) +inline void bgc_fp64_matrix2x2_make_diagonal(BGC_FP64_Matrix2x2* matrix, const double d1, const double d2) { matrix->r1c1 = d1; matrix->r1c2 = 0.0; @@ -61,9 +61,9 @@ inline void bgc_matrix2x2_set_to_diagonal_fp64(const double d1, const double d2, // ============== Rotation Matrix =============== // -inline void bgc_matrix2x2_set_turn_fp32(const float angle, const BgcAngleUnitEnum unit, BgcMatrix2x2FP32* matrix) +inline void bgc_fp32_matrix2x2_set_turn(BGC_FP32_Matrix2x2* matrix, const float angle, const int angle_unit) { - const float radians = bgc_angle_to_radians_fp32(angle, unit); + const float radians = bgc_fp32_angle_to_radians(angle, angle_unit); const float cosine = cosf(radians); const float sine = sinf(radians); @@ -73,9 +73,9 @@ inline void bgc_matrix2x2_set_turn_fp32(const float angle, const BgcAngleUnitEnu matrix->r2c2 = cosine; } -inline void bgc_matrix2x2_set_turn_fp64(const double angle, const BgcAngleUnitEnum unit, BgcMatrix2x2FP64* matrix) +inline void bgc_fp64_matrix2x2_set_turn(BGC_FP64_Matrix2x2* matrix, const double angle, const int angle_unit) { - const double radians = bgc_angle_to_radians_fp64(angle, unit); + const double radians = bgc_fp64_angle_to_radians(angle, angle_unit); const double cosine = cos(radians); const double sine = sin(radians); @@ -87,65 +87,73 @@ inline void bgc_matrix2x2_set_turn_fp64(const double angle, const BgcAngleUnitEn // ================ Determinant ================= // -inline float bgc_matrix2x2_get_determinant_fp32(const BgcMatrix2x2FP32* matrix) +inline float bgc_fp32_matrix2x2_get_determinant(const BGC_FP32_Matrix2x2* matrix) { return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; } -inline double bgc_matrix2x2_get_determinant_fp64(const BgcMatrix2x2FP64* matrix) +inline double bgc_fp64_matrix2x2_get_determinant(const BGC_FP64_Matrix2x2* matrix) { return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1; } -// ================== Singular ================== // +// ================ Is Identity ================= // -inline int bgc_matrix2x2_is_singular_fp32(const BgcMatrix2x2FP32* matrix) +inline int bgc_fp32_matrix2x2_is_identity(const BGC_FP32_Matrix2x2* matrix) { - return bgc_is_zero_fp32(bgc_matrix2x2_get_determinant_fp32(matrix)); + return bgc_fp32_is_unit(matrix->r1c1) && bgc_fp32_is_zero(matrix->r1c2) + && bgc_fp32_is_zero(matrix->r2c1) && bgc_fp32_is_unit(matrix->r2c2); } -inline int bgc_matrix2x2_is_singular_fp64(const BgcMatrix2x2FP64* matrix) +inline int bgc_fp64_matrix2x2_is_identity(const BGC_FP64_Matrix2x2* matrix) { - return bgc_is_zero_fp64(bgc_matrix2x2_get_determinant_fp64(matrix)); + return bgc_fp64_is_unit(matrix->r1c1) && bgc_fp64_is_zero(matrix->r1c2) + && bgc_fp64_is_zero(matrix->r2c1) && bgc_fp64_is_unit(matrix->r2c2); +} + +// ================ Is Singular ================= // + +inline int bgc_fp32_matrix2x2_is_singular(const BGC_FP32_Matrix2x2* matrix) +{ + return bgc_fp32_is_zero(bgc_fp32_matrix2x2_get_determinant(matrix)); +} + +inline int bgc_fp64_matrix2x2_is_singular(const BGC_FP64_Matrix2x2* matrix) +{ + return bgc_fp64_is_zero(bgc_fp64_matrix2x2_get_determinant(matrix)); } // ================ Is Rotation ================= // -inline int bgc_matrix2x2_is_rotation_fp32(const BgcMatrix2x2FP32* matrix) +inline int bgc_fp32_matrix2x2_is_rotation(const BGC_FP32_Matrix2x2* matrix) { - if (!bgc_is_unit_fp32(bgc_matrix2x2_get_determinant_fp32(matrix))) { - return 0; - } + BGC_FP32_Matrix2x2 product; - const float product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1; - const float product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2; + product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1; + product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2; - const float product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1; - const float product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2; + product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1; + product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2; - return bgc_is_unit_fp32(product_r1c1) && bgc_is_zero_fp32(product_r1c2) - && bgc_is_zero_fp32(product_r2c1) && bgc_is_unit_fp32(product_r2c2); + return bgc_fp32_matrix2x2_is_identity(&product); } -inline int bgc_matrix2x2_is_rotation_fp64(const BgcMatrix2x2FP64* matrix) +inline int bgc_fp64_matrix2x2_is_rotation(const BGC_FP64_Matrix2x2* matrix) { - if (!bgc_is_unit_fp64(bgc_matrix2x2_get_determinant_fp64(matrix))) { - return 0; - } + BGC_FP64_Matrix2x2 product; - const double product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1; - const double product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2; + product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1; + product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2; - const double product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1; - const double product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2; + product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1; + product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2; - return bgc_is_unit_fp64(product_r1c1) && bgc_is_zero_fp64(product_r1c2) - && bgc_is_zero_fp64(product_r2c1) && bgc_is_unit_fp64(product_r2c2); + return bgc_fp64_matrix2x2_is_identity(&product); } // ==================== Copy ==================== // -inline void bgc_matrix2x2_copy_fp32(const BgcMatrix2x2FP32* source, BgcMatrix2x2FP32* destination) +inline void bgc_fp32_matrix2x2_copy(BGC_FP32_Matrix2x2* destination, const BGC_FP32_Matrix2x2* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -154,7 +162,7 @@ inline void bgc_matrix2x2_copy_fp32(const BgcMatrix2x2FP32* source, BgcMatrix2x2 destination->r2c2 = source->r2c2; } -inline void bgc_matrix2x2_copy_fp64(const BgcMatrix2x2FP64* source, BgcMatrix2x2FP64* destination) +inline void bgc_fp64_matrix2x2_copy(BGC_FP64_Matrix2x2* destination, const BGC_FP64_Matrix2x2* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -165,7 +173,7 @@ inline void bgc_matrix2x2_copy_fp64(const BgcMatrix2x2FP64* source, BgcMatrix2x2 // ==================== Swap ==================== // -inline void bgc_matrix2x2_swap_fp32(BgcMatrix2x2FP32* matrix1, BgcMatrix2x2FP32* matrix2) +inline void bgc_fp32_matrix2x2_swap(BGC_FP32_Matrix2x2* matrix1, BGC_FP32_Matrix2x2* matrix2) { const float r1c1 = matrix2->r1c1; const float r1c2 = matrix2->r1c2; @@ -186,7 +194,7 @@ inline void bgc_matrix2x2_swap_fp32(BgcMatrix2x2FP32* matrix1, BgcMatrix2x2FP32* matrix1->r2c2 = r2c2; } -inline void bgc_matrix2x2_swap_fp64(BgcMatrix2x2FP64* matrix1, BgcMatrix2x2FP64* matrix2) +inline void bgc_fp64_matrix2x2_swap(BGC_FP64_Matrix2x2* matrix1, BGC_FP64_Matrix2x2* matrix2) { const double r1c1 = matrix2->r1c1; const double r1c2 = matrix2->r1c2; @@ -209,7 +217,7 @@ inline void bgc_matrix2x2_swap_fp64(BgcMatrix2x2FP64* matrix1, BgcMatrix2x2FP64* // ================== Convert =================== // -inline void bgc_matrix2x2_convert_fp64_to_fp32(const BgcMatrix2x2FP64* source, BgcMatrix2x2FP32* destination) +inline void bgc_fp64_matrix2x2_convert_to_fp32(BGC_FP32_Matrix2x2* destination, const BGC_FP64_Matrix2x2* source) { destination->r1c1 = (float)source->r1c1; destination->r1c2 = (float)source->r1c2; @@ -218,7 +226,7 @@ inline void bgc_matrix2x2_convert_fp64_to_fp32(const BgcMatrix2x2FP64* source, B destination->r2c2 = (float)source->r2c2; } -inline void bgc_matrix2x2_convert_fp32_to_fp64(const BgcMatrix2x2FP32* source, BgcMatrix2x2FP64* destination) +inline void bgc_fp32_matrix2x2_convert_to_fp64(BGC_FP64_Matrix2x2* destination, const BGC_FP32_Matrix2x2* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -227,13 +235,13 @@ inline void bgc_matrix2x2_convert_fp32_to_fp64(const BgcMatrix2x2FP32* source, B destination->r2c2 = source->r2c2; } -// =================== Invert =================== // +// ================ Get Inverse ================= // -inline int bgc_matrix2x2_invert_fp32(const BgcMatrix2x2FP32* matrix, BgcMatrix2x2FP32* inverted) +inline int bgc_fp32_matrix2x2_get_inverse(BGC_FP32_Matrix2x2* inverse, const BGC_FP32_Matrix2x2* matrix) { - const float determinant = bgc_matrix2x2_get_determinant_fp32(matrix); + const float determinant = bgc_fp32_matrix2x2_get_determinant(matrix); - if (bgc_is_zero_fp32(determinant)) { + if (bgc_fp32_is_zero(determinant)) { return 0; } @@ -245,20 +253,20 @@ inline int bgc_matrix2x2_invert_fp32(const BgcMatrix2x2FP32* matrix, BgcMatrix2x const float multiplier = 1.0f / determinant; - inverted->r1c1 = r1c1 * multiplier; - inverted->r1c2 = r1c2 * multiplier; + inverse->r1c1 = r1c1 * multiplier; + inverse->r1c2 = r1c2 * multiplier; - inverted->r2c1 = r2c1 * multiplier; - inverted->r2c2 = r2c2 * multiplier; + inverse->r2c1 = r2c1 * multiplier; + inverse->r2c2 = r2c2 * multiplier; return 1; } -inline int bgc_matrix2x2_invert_fp64(const BgcMatrix2x2FP64* matrix, BgcMatrix2x2FP64* inverted) +inline int bgc_fp64_matrix2x2_get_inverse(BGC_FP64_Matrix2x2* inverse, const BGC_FP64_Matrix2x2* matrix) { - const double determinant = bgc_matrix2x2_get_determinant_fp64(matrix); + const double determinant = bgc_fp64_matrix2x2_get_determinant(matrix); - if (bgc_is_zero_fp64(determinant)) { + if (bgc_fp64_is_zero(determinant)) { return 0; } @@ -270,18 +278,46 @@ inline int bgc_matrix2x2_invert_fp64(const BgcMatrix2x2FP64* matrix, BgcMatrix2x const double multiplier = 1.0 / determinant; - inverted->r1c1 = r1c1 * multiplier; - inverted->r1c2 = r1c2 * multiplier; + inverse->r1c1 = r1c1 * multiplier; + inverse->r1c2 = r1c2 * multiplier; - inverted->r2c1 = r2c1 * multiplier; - inverted->r2c2 = r2c2 * multiplier; + inverse->r2c1 = r2c1 * multiplier; + inverse->r2c2 = r2c2 * multiplier; return 1; } +// =================== Invert =================== // + +inline int bgc_fp32_matrix2x2_invert(BGC_FP32_Matrix2x2* matrix) +{ + return bgc_fp32_matrix2x2_get_inverse(matrix, matrix); +} + +inline int bgc_fp64_matrix2x2_invert(BGC_FP64_Matrix2x2* matrix) +{ + return bgc_fp64_matrix2x2_get_inverse(matrix, matrix); +} + // ================= Transpose ================== // -inline void bgc_matrix2x2_transpose_fp32(const BgcMatrix2x2FP32* matrix, BgcMatrix2x2FP32* transposed) +inline void bgc_fp32_matrix2x2_transpose(BGC_FP32_Matrix2x2* matrix) +{ + const float r1c2 = matrix->r1c2; + matrix->r1c2 = matrix->r2c1; + matrix->r2c1 = r1c2; +} + +inline void bgc_fp64_matrix2x2_transpose(BGC_FP64_Matrix2x2* matrix) +{ + const double r1c2 = matrix->r1c2; + matrix->r1c2 = matrix->r2c1; + matrix->r2c1 = r1c2; +} + +// =============== Get Transpose ================ // + +inline void bgc_fp32_matrix2x2_get_transposed(BGC_FP32_Matrix2x2* transposed, const BGC_FP32_Matrix2x2* matrix) { const float r1c2 = matrix->r1c2; @@ -292,7 +328,7 @@ inline void bgc_matrix2x2_transpose_fp32(const BgcMatrix2x2FP32* matrix, BgcMatr transposed->r2c2 = matrix->r2c2; } -inline void bgc_matrix2x2_transpose_fp64(const BgcMatrix2x2FP64* matrix, BgcMatrix2x2FP64* transposed) +inline void bgc_fp64_matrix2x2_get_transposed(BGC_FP64_Matrix2x2* transposed, const BGC_FP64_Matrix2x2* matrix) { const double r1c2 = matrix->r1c2; @@ -303,65 +339,145 @@ inline void bgc_matrix2x2_transpose_fp64(const BgcMatrix2x2FP64* matrix, BgcMatr transposed->r2c2 = matrix->r2c2; } -// ================= Set Row 1 ================== // +// ================== Get Row =================== // -inline void bgc_matrix2x2_set_row1_fp32(const float c1, const float c2, BgcMatrix2x2FP32* matrix) +inline void bgc_fp32_matrix2x2_get_row(BGC_FP32_Vector2* row, const BGC_FP32_Matrix2x2* matrix, const int row_number) { - matrix->r1c1 = c1; - matrix->r1c2 = c2; + if (row_number == 1) { + row->x1 = matrix->r1c1; + row->x2 = matrix->r1c2; + return; + } + + if (row_number == 2) { + row->x1 = matrix->r2c1; + row->x2 = matrix->r2c2; + return; + } + + row->x1 = 0.0f; + row->x2 = 0.0f; } -inline void bgc_matrix2x2_set_row1_fp64(const double c1, const double c2, BgcMatrix2x2FP64* matrix) +inline void bgc_fp64_matrix2x2_get_row(BGC_FP64_Vector2* row, const BGC_FP64_Matrix2x2* matrix, const int row_number) { - matrix->r1c1 = c1; - matrix->r1c2 = c2; + if (row_number == 1) { + row->x1 = matrix->r1c1; + row->x2 = matrix->r1c2; + return; + } + + if (row_number == 2) { + row->x1 = matrix->r2c1; + row->x2 = matrix->r2c2; + return; + } + + row->x1 = 0.0; + row->x2 = 0.0; } -// ================= Set Row 2 ================== // +// ================== Set Row =================== // -inline void bgc_matrix2x2_set_row2_fp32(const float c1, const float c2, BgcMatrix2x2FP32* matrix) +inline void bgc_fp32_matrix2x2_set_row(BGC_FP32_Matrix2x2* matrix, const int row_number, const BGC_FP32_Vector2* row) { - matrix->r2c1 = c1; - matrix->r2c2 = c2; + if (row_number == 1) { + matrix->r1c1 = row->x1; + matrix->r1c2 = row->x2; + return; + } + + if (row_number == 2) { + matrix->r2c1 = row->x1; + matrix->r2c2 = row->x2; + } } -inline void bgc_matrix2x2_set_row2_fp64(const double c1, const double c2, BgcMatrix2x2FP64* matrix) +inline void bgc_fp64_matrix2x2_set_row(BGC_FP64_Matrix2x2* matrix, const int row_number, const BGC_FP64_Vector2* row) { - matrix->r2c1 = c1; - matrix->r2c2 = c2; + if (row_number == 1) { + matrix->r1c1 = row->x1; + matrix->r1c2 = row->x2; + return; + } + + if (row_number == 2) { + matrix->r2c1 = row->x1; + matrix->r2c2 = row->x2; + } } -// ================ Set Column 1 ================ // +// ================= Get Column ================= // -inline void bgc_matrix2x2_set_column1_fp32(const float r1, const float r2, BgcMatrix2x2FP32* matrix) +inline void bgc_fp32_matrix2x2_get_column(BGC_FP32_Vector2* column, const BGC_FP32_Matrix2x2* matrix, const int column_number) { - matrix->r1c1 = r1; - matrix->r2c1 = r2; + if (column_number == 1) { + column->x1 = matrix->r1c1; + column->x2 = matrix->r2c1; + return; + } + + if (column_number == 2) { + column->x1 = matrix->r1c2; + column->x2 = matrix->r2c2; + return; + } + + column->x1 = 0.0f; + column->x2 = 0.0f; } -inline void bgc_matrix2x2_set_column1_fp64(const double r1, const double r2, BgcMatrix2x2FP64* matrix) +inline void bgc_fp64_matrix2x2_get_column(BGC_FP64_Vector2* column, const BGC_FP64_Matrix2x2* matrix, const int column_number) { - matrix->r1c1 = r1; - matrix->r2c1 = r2; + if (column_number == 1) { + column->x1 = matrix->r1c1; + column->x2 = matrix->r2c1; + return; + } + + if (column_number == 2) { + column->x1 = matrix->r1c2; + column->x2 = matrix->r2c2; + return; + } + + column->x1 = 0.0; + column->x2 = 0.0; } -// ================ Set Column 2 ================ // +// ================= Set Column ================= // -inline void bgc_matrix2x2_set_column2_fp32(const float r1, const float r2, BgcMatrix2x2FP32* matrix) +inline void bgc_fp32_matrix2x2_set_column(BGC_FP32_Matrix2x2* matrix, const int column_number, const BGC_FP32_Vector2* column) { - matrix->r1c2 = r1; - matrix->r2c2 = r2; + if (column_number == 1) { + matrix->r1c1 = column->x1; + matrix->r2c1 = column->x2; + return; + } + + if (column_number == 2) { + matrix->r1c2 = column->x1; + matrix->r2c2 = column->x2; + } } -inline void bgc_matrix2x2_set_column2_fp64(const double r1, const double r2, BgcMatrix2x2FP64* matrix) +inline void bgc_fp64_matrix2x2_set_column(BGC_FP64_Matrix2x2* matrix, const int column_number, const BGC_FP64_Vector2* column) { - matrix->r1c2 = r1; - matrix->r2c2 = r2; + if (column_number == 1) { + matrix->r1c1 = column->x1; + matrix->r2c1 = column->x2; + return; + } + + if (column_number == 2) { + matrix->r1c2 = column->x1; + matrix->r2c2 = column->x2; + } } // ==================== Add ===================== // -inline void bgc_matrix2x2_add_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x2FP32* sum) +inline void bgc_fp32_matrix2x2_add(BGC_FP32_Matrix2x2* sum, const BGC_FP32_Matrix2x2* matrix1, const BGC_FP32_Matrix2x2* matrix2) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -370,7 +486,7 @@ inline void bgc_matrix2x2_add_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMat sum->r2c2 = matrix1->r2c2 + matrix2->r2c2; } -inline void bgc_matrix2x2_add_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x2FP64* sum) +inline void bgc_fp64_matrix2x2_add(BGC_FP64_Matrix2x2* sum, const BGC_FP64_Matrix2x2* matrix1, const BGC_FP64_Matrix2x2* matrix2) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -381,7 +497,7 @@ inline void bgc_matrix2x2_add_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMat // ================= Add scaled ================= // -inline void bgc_matrix2x2_add_scaled_fp32(const BgcMatrix2x2FP32* basic_matrix, const BgcMatrix2x2FP32* scalable_matrix, const float scale, BgcMatrix2x2FP32* sum) +inline void bgc_fp32_matrix2x2_add_scaled(BGC_FP32_Matrix2x2* sum, const BGC_FP32_Matrix2x2* basic_matrix, const BGC_FP32_Matrix2x2* scalable_matrix, const float scale) { sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale; sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale; @@ -390,7 +506,7 @@ inline void bgc_matrix2x2_add_scaled_fp32(const BgcMatrix2x2FP32* basic_matrix, sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale; } -inline void bgc_matrix2x2_add_scaled_fp64(const BgcMatrix2x2FP64* basic_matrix, const BgcMatrix2x2FP64* scalable_matrix, const double scale, BgcMatrix2x2FP64* sum) +inline void bgc_fp64_matrix2x2_add_scaled(BGC_FP64_Matrix2x2* sum, const BGC_FP64_Matrix2x2* basic_matrix, const BGC_FP64_Matrix2x2* scalable_matrix, const double scale) { sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale; sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale; @@ -401,7 +517,7 @@ inline void bgc_matrix2x2_add_scaled_fp64(const BgcMatrix2x2FP64* basic_matrix, // ================== Subtract ================== // -inline void bgc_matrix2x2_subtract_fp32(const BgcMatrix2x2FP32* minuend, const BgcMatrix2x2FP32* subtrahend, BgcMatrix2x2FP32* difference) +inline void bgc_fp32_matrix2x2_subtract(BGC_FP32_Matrix2x2* difference, const BGC_FP32_Matrix2x2* minuend, const BGC_FP32_Matrix2x2* subtrahend) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -410,7 +526,7 @@ inline void bgc_matrix2x2_subtract_fp32(const BgcMatrix2x2FP32* minuend, const B difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; } -inline void bgc_matrix2x2_subtract_fp64(const BgcMatrix2x2FP64* minuend, const BgcMatrix2x2FP64* subtrahend, BgcMatrix2x2FP64* difference) +inline void bgc_fp64_matrix2x2_subtract(BGC_FP64_Matrix2x2* difference, const BGC_FP64_Matrix2x2* minuend, const BGC_FP64_Matrix2x2* subtrahend) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -419,29 +535,9 @@ inline void bgc_matrix2x2_subtract_fp64(const BgcMatrix2x2FP64* minuend, const B difference->r2c2 = minuend->r2c2 - subtrahend->r2c2; } -// ============== Subtract scaled =============== // - -inline void bgc_matrix2x2_subtract_scaled_fp32(const BgcMatrix2x2FP32* basic_matrix, const BgcMatrix2x2FP32* scalable_matrix, const float scale, BgcMatrix2x2FP32* difference) -{ - difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale; - difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale; - - difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale; - difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale; -} - -inline void bgc_matrix2x2_subtract_scaled_fp64(const BgcMatrix2x2FP64* basic_matrix, const BgcMatrix2x2FP64* scalable_matrix, const double scale, BgcMatrix2x2FP64* difference) -{ - difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale; - difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale; - - difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale; - difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale; -} - // ================== Multiply ================== // -inline void bgc_matrix2x2_multiply_fp32(const BgcMatrix2x2FP32* multiplicand, const float multiplier, BgcMatrix2x2FP32* product) +inline void bgc_fp32_matrix2x2_multiply(BGC_FP32_Matrix2x2* product, const BGC_FP32_Matrix2x2* multiplicand, const float multiplier) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -450,7 +546,7 @@ inline void bgc_matrix2x2_multiply_fp32(const BgcMatrix2x2FP32* multiplicand, co product->r2c2 = multiplicand->r2c2 * multiplier; } -inline void bgc_matrix2x2_multiply_fp64(const BgcMatrix2x2FP64* multiplicand, const double multiplier, BgcMatrix2x2FP64* product) +inline void bgc_fp64_matrix2x2_multiply(BGC_FP64_Matrix2x2* product, const BGC_FP64_Matrix2x2* multiplicand, const double multiplier) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -461,39 +557,43 @@ inline void bgc_matrix2x2_multiply_fp64(const BgcMatrix2x2FP64* multiplicand, co // =================== Divide =================== // -inline void bgc_matrix2x2_divide_fp32(const BgcMatrix2x2FP32* dividend, const float divisor, BgcMatrix2x2FP32* quotient) +inline void bgc_fp32_matrix2x2_divide(BGC_FP32_Matrix2x2* quotient, const BGC_FP32_Matrix2x2* dividend, const float divisor) { - bgc_matrix2x2_multiply_fp32(dividend, 1.0f / divisor, quotient); + bgc_fp32_matrix2x2_multiply(quotient, dividend, 1.0f / divisor); } -inline void bgc_matrix2x2_divide_fp64(const BgcMatrix2x2FP64* dividend, const double divisor, BgcMatrix2x2FP64* quotient) +inline void bgc_fp64_matrix2x2_divide(BGC_FP64_Matrix2x2* quotient, const BGC_FP64_Matrix2x2* dividend, const double divisor) { - bgc_matrix2x2_multiply_fp64(dividend, 1.0 / divisor, quotient); + bgc_fp64_matrix2x2_multiply(quotient, dividend, 1.0 / divisor); } -// ============ Left Vector Product ============= // +// ================ Interpolate ================= // -inline void bgc_matrix2x2_get_left_product_fp32(const BgcVector2FP32* vector, const BgcMatrix2x2FP32* matrix, BgcVector2FP32* product) +inline void bgc_fp32_matrix2x2_interpolate(BGC_FP32_Matrix2x2* interpolation, const BGC_FP32_Matrix2x2* first, const BGC_FP32_Matrix2x2* second, const float phase) { - const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; - const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; + const float counter_phase = 1.0f - phase; - product->x1 = x1; - product->x2 = x2; + interpolation->r1c1 = first->r1c1 * counter_phase + second->r1c1 * phase; + interpolation->r1c2 = first->r1c2 * counter_phase + second->r1c2 * phase; + + interpolation->r2c1 = first->r2c1 * counter_phase + second->r2c1 * phase; + interpolation->r2c2 = first->r2c2 * counter_phase + second->r2c2 * phase; } -inline void bgc_matrix2x2_get_left_product_fp64(const BgcVector2FP64* vector, const BgcMatrix2x2FP64* matrix, BgcVector2FP64* product) +inline void bgc_fp64_matrix2x2_interpolate(BGC_FP64_Matrix2x2* interpolation, const BGC_FP64_Matrix2x2* first, const BGC_FP64_Matrix2x2* second, const double phase) { - const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; - const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; + const double counter_phase = 1.0 - phase; - product->x1 = x1; - product->x2 = x2; + interpolation->r1c1 = first->r1c1 * counter_phase + second->r1c1 * phase; + interpolation->r1c2 = first->r1c2 * counter_phase + second->r1c2 * phase; + + interpolation->r2c1 = first->r2c1 * counter_phase + second->r2c1 * phase; + interpolation->r2c2 = first->r2c2 * counter_phase + second->r2c2 * phase; } // ============ Right Vector Product ============ // -inline void bgc_matrix2x2_get_right_product_fp32(const BgcMatrix2x2FP32* matrix, const BgcVector2FP32* vector, BgcVector2FP32* product) +inline void bgc_fp32_multiply_matrix2x2_by_vector2(BGC_FP32_Vector2* product, const BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Vector2* vector) { const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; @@ -502,7 +602,7 @@ inline void bgc_matrix2x2_get_right_product_fp32(const BgcMatrix2x2FP32* matrix, product->x2 = x2; } -inline void bgc_matrix2x2_get_right_product_fp64(const BgcMatrix2x2FP64* matrix, const BgcVector2FP64* vector, BgcVector2FP64* product) +inline void bgc_fp64_multiply_matrix2x2_by_vector2(BGC_FP64_Vector2* product, const BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Vector2* vector) { const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; @@ -511,4 +611,24 @@ inline void bgc_matrix2x2_get_right_product_fp64(const BgcMatrix2x2FP64* matrix, product->x2 = x2; } +// ============ Left Vector Product ============= // + +inline void bgc_fp32_multiply_vector2_by_matrix2x2(BGC_FP32_Vector2* product, const BGC_FP32_Vector2* vector, const BGC_FP32_Matrix2x2* matrix) +{ + const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; + const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; + + product->x1 = x1; + product->x2 = x2; +} + +inline void bgc_fp64_multiply_vector2_by_matrix2x2(BGC_FP64_Vector2* product, const BGC_FP64_Vector2* vector, const BGC_FP64_Matrix2x2* matrix) +{ + const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; + const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; + + product->x1 = x1; + product->x2 = x2; +} + #endif diff --git a/basic-geometry/matrix2x3.c b/basic-geometry/matrix2x3.c index 4c02038..b5a0e3f 100644 --- a/basic-geometry/matrix2x3.c +++ b/basic-geometry/matrix2x3.c @@ -1,55 +1,52 @@ #include "matrix2x3.h" -extern inline void bgc_matrix2x3_reset_fp32(BgcMatrix2x3FP32* matrix); -extern inline void bgc_matrix2x3_reset_fp64(BgcMatrix2x3FP64* matrix); +extern inline void bgc_fp32_matrix2x3_reset(BGC_FP32_Matrix2x3* matrix); +extern inline void bgc_fp64_matrix2x3_reset(BGC_FP64_Matrix2x3* matrix); -extern inline void bgc_matrix2x3_copy_fp32(const BgcMatrix2x3FP32* source, BgcMatrix2x3FP32* destination); -extern inline void bgc_matrix2x3_copy_fp64(const BgcMatrix2x3FP64* source, BgcMatrix2x3FP64* destination); +extern inline void bgc_fp32_matrix2x3_copy(BGC_FP32_Matrix2x3* destination, const BGC_FP32_Matrix2x3* source); +extern inline void bgc_fp64_matrix2x3_copy(BGC_FP64_Matrix2x3* destination, const BGC_FP64_Matrix2x3* source); -extern inline void bgc_matrix2x3_swap_fp32(BgcMatrix2x3FP32* matrix1, BgcMatrix2x3FP32* matrix2); -extern inline void bgc_matrix2x3_swap_fp64(BgcMatrix2x3FP64* matrix1, BgcMatrix2x3FP64* matrix2); +extern inline void bgc_fp32_matrix2x3_swap(BGC_FP32_Matrix2x3* matrix1, BGC_FP32_Matrix2x3* matrix2); +extern inline void bgc_fp64_matrix2x3_swap(BGC_FP64_Matrix2x3* matrix1, BGC_FP64_Matrix2x3* matrix2); -extern inline void bgc_matrix2x3_convert_fp64_to_fp32(const BgcMatrix2x3FP64* source, BgcMatrix2x3FP32* destination); -extern inline void bgc_matrix2x3_convert_fp32_to_fp64(const BgcMatrix2x3FP32* source, BgcMatrix2x3FP64* destination); +extern inline void bgc_fp32_matrix2x3_convert_to_fp64(BGC_FP64_Matrix2x3* destination, const BGC_FP32_Matrix2x3* source); +extern inline void bgc_fp64_matrix2x3_convert_to_fp32(BGC_FP32_Matrix2x3* destination, const BGC_FP64_Matrix2x3* source); -extern inline void bgc_matrix2x3_transpose_fp32(const BgcMatrix3x2FP32* matrix, BgcMatrix2x3FP32* transposed); -extern inline void bgc_matrix2x3_transpose_fp64(const BgcMatrix3x2FP64* matrix, BgcMatrix2x3FP64* transposed); +extern inline void bgc_fp32_matrix2x3_get_transposed(BGC_FP32_Matrix2x3* transposed, const BGC_FP32_Matrix3x2* matrix); +extern inline void bgc_fp64_matrix2x3_get_transposed(BGC_FP64_Matrix2x3* transposed, const BGC_FP64_Matrix3x2* matrix); -extern inline void bgc_matrix2x3_set_row1_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix); -extern inline void bgc_matrix2x3_set_row1_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix); +extern inline void bgc_fp32_matrix2x3_get_row(BGC_FP32_Vector2* row, const BGC_FP32_Matrix2x3* matrix, const int row_number); +extern inline void bgc_fp64_matrix2x3_get_row(BGC_FP64_Vector2* row, const BGC_FP64_Matrix2x3* matrix, const int row_number); -extern inline void bgc_matrix2x3_set_row2_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix); -extern inline void bgc_matrix2x3_set_row2_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix); +extern inline void bgc_fp32_matrix2x3_set_row(BGC_FP32_Matrix2x3* matrix, const int row_number, const BGC_FP32_Vector2* row); +extern inline void bgc_fp64_matrix2x3_set_row(BGC_FP64_Matrix2x3* matrix, const int row_number, const BGC_FP64_Vector2* row); -extern inline void bgc_matrix2x3_set_row3_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix); -extern inline void bgc_matrix2x3_set_row3_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix); +extern inline void bgc_fp32_matrix2x3_get_column(BGC_FP32_Vector3* column, const BGC_FP32_Matrix2x3* matrix, const int column_number); +extern inline void bgc_fp64_matrix2x3_get_column(BGC_FP64_Vector3* column, const BGC_FP64_Matrix2x3* matrix, const int column_number); -extern inline void bgc_matrix2x3_set_column1_fp32(const float r1, const float r2, const float r3, BgcMatrix2x3FP32* matrix); -extern inline void bgc_matrix2x3_set_column1_fp64(const double r1, const double r2, const double r3, BgcMatrix2x3FP64* matrix); +extern inline void bgc_fp32_matrix2x3_set_column(BGC_FP32_Matrix2x3* matrix, const int number, const BGC_FP32_Vector3* column); +extern inline void bgc_fp64_matrix2x3_set_column(BGC_FP64_Matrix2x3* matrix, const int number, const BGC_FP64_Vector3* column); -extern inline void bgc_matrix2x3_set_column2_fp32(const float r1, const float r2, const float r3, BgcMatrix2x3FP32* matrix); -extern inline void bgc_matrix2x3_set_column2_fp64(const double r1, const double r2, const double r3, BgcMatrix2x3FP64* matrix); +extern inline void bgc_fp32_matrix2x3_add(BGC_FP32_Matrix2x3* sum, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix2x3* matrix2); +extern inline void bgc_fp64_matrix2x3_add(BGC_FP64_Matrix2x3* sum, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix2x3* matrix2); -extern inline void bgc_matrix2x3_add_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x3FP32* sum); -extern inline void bgc_matrix2x3_add_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x3FP64* sum); +extern inline void bgc_fp32_matrix2x3_add_scaled(BGC_FP32_Matrix2x3* sum, const BGC_FP32_Matrix2x3* basic_matrix, const BGC_FP32_Matrix2x3* scalable_matrix, const float scale); +extern inline void bgc_fp64_matrix2x3_add_scaled(BGC_FP64_Matrix2x3* sum, const BGC_FP64_Matrix2x3* basic_matrix, const BGC_FP64_Matrix2x3* scalable_matrix, const double scale); -extern inline void bgc_matrix2x3_add_scaled_fp32(const BgcMatrix2x3FP32* basic_matrix, const BgcMatrix2x3FP32* scalable_matrix, const float scale, BgcMatrix2x3FP32* sum); -extern inline void bgc_matrix2x3_add_scaled_fp64(const BgcMatrix2x3FP64* basic_matrix, const BgcMatrix2x3FP64* scalable_matrix, const double scale, BgcMatrix2x3FP64* sum); +extern inline void bgc_fp32_matrix2x3_subtract(BGC_FP32_Matrix2x3* difference, const BGC_FP32_Matrix2x3* minuend, const BGC_FP32_Matrix2x3* subtrahend); +extern inline void bgc_fp64_matrix2x3_subtract(BGC_FP64_Matrix2x3* difference, const BGC_FP64_Matrix2x3* minuend, const BGC_FP64_Matrix2x3* subtrahend); -extern inline void bgc_matrix2x3_subtract_fp32(const BgcMatrix2x3FP32* minuend, const BgcMatrix2x3FP32* subtrahend, BgcMatrix2x3FP32* difference); -extern inline void bgc_matrix2x3_subtract_fp64(const BgcMatrix2x3FP64* minuend, const BgcMatrix2x3FP64* subtrahend, BgcMatrix2x3FP64* difference); +extern inline void bgc_fp32_matrix2x3_multiply(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix2x3* multiplicand, const float multiplier); +extern inline void bgc_fp64_matrix2x3_multiply(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix2x3* multiplicand, const double multiplier); -extern inline void bgc_matrix2x3_subtract_scaled_fp32(const BgcMatrix2x3FP32* basic_matrix, const BgcMatrix2x3FP32* scalable_matrix, const float scale, BgcMatrix2x3FP32* difference); -extern inline void bgc_matrix2x3_subtract_scaled_fp64(const BgcMatrix2x3FP64* basic_matrix, const BgcMatrix2x3FP64* scalable_matrix, const double scale, BgcMatrix2x3FP64* difference); +extern inline void bgc_fp32_matrix2x3_divide(BGC_FP32_Matrix2x3* quotient, const BGC_FP32_Matrix2x3* dividend, const float divisor); +extern inline void bgc_fp64_matrix2x3_divide(BGC_FP64_Matrix2x3* quotient, const BGC_FP64_Matrix2x3* dividend, const double divisor); -extern inline void bgc_matrix2x3_multiply_fp32(const BgcMatrix2x3FP32* multiplicand, const float multiplier, BgcMatrix2x3FP32* product); -extern inline void bgc_matrix2x3_multiply_fp64(const BgcMatrix2x3FP64* multiplicand, const double multiplier, BgcMatrix2x3FP64* product); +extern inline void bgc_fp32_matrix2x3_interpolate(BGC_FP32_Matrix2x3* interpolation, const BGC_FP32_Matrix2x3* first, const BGC_FP32_Matrix2x3* second, const float phase); +extern inline void bgc_fp64_matrix2x3_interpolate(BGC_FP64_Matrix2x3* interpolation, const BGC_FP64_Matrix2x3* first, const BGC_FP64_Matrix2x3* second, const double phase); -extern inline void bgc_matrix2x3_divide_fp32(const BgcMatrix2x3FP32* dividend, const float divisor, BgcMatrix2x3FP32* quotient); -extern inline void bgc_matrix2x3_divide_fp64(const BgcMatrix2x3FP64* dividend, const double divisor, BgcMatrix2x3FP64* quotient); +extern inline void bgc_fp32_multiply_vector3_by_matrix2x3(BGC_FP32_Vector2* product, const BGC_FP32_Vector3* vector, const BGC_FP32_Matrix2x3* matrix); +extern inline void bgc_fp64_multiply_vector3_by_matrix2x3(BGC_FP64_Vector2* product, const BGC_FP64_Vector3* vector, const BGC_FP64_Matrix2x3* matrix); -extern inline void bgc_matrix2x3_get_left_product_fp32(const BgcVector3FP32* vector, const BgcMatrix2x3FP32* matrix, BgcVector2FP32* result); -extern inline void bgc_matrix2x3_get_left_product_fp64(const BgcVector3FP64* vector, const BgcMatrix2x3FP64* matrix, BgcVector2FP64* result); - -extern inline void bgc_matrix2x3_get_right_product_fp32(const BgcMatrix2x3FP32* matrix, const BgcVector2FP32* vector, BgcVector3FP32* result); -extern inline void bgc_matrix2x3_get_right_product_fp64(const BgcMatrix2x3FP64* matrix, const BgcVector2FP64* vector, BgcVector3FP64* result); +extern inline void bgc_fp32_multiply_matrix2x3_by_vector2(BGC_FP32_Vector3* product, const BGC_FP32_Matrix2x3* matrix, const BGC_FP32_Vector2* vector); +extern inline void bgc_fp64_multiply_matrix2x3_by_vector2(BGC_FP64_Vector3* product, const BGC_FP64_Matrix2x3* matrix, const BGC_FP64_Vector2* vector); diff --git a/basic-geometry/matrix2x3.h b/basic-geometry/matrix2x3.h index ef63d8b..906dfe8 100644 --- a/basic-geometry/matrix2x3.h +++ b/basic-geometry/matrix2x3.h @@ -1,13 +1,13 @@ -#ifndef _BGC_MATRIX2X3_H_ -#define _BGC_MATRIX2X3_H_ +#ifndef _BGC_MATRIX2X3_H_INCLUDED_ +#define _BGC_MATRIX2X3_H_INCLUDED_ #include "vector2.h" #include "vector3.h" -#include "matrixes.h" +#include "matrices.h" // =================== Reset ==================== // -inline void bgc_matrix2x3_reset_fp32(BgcMatrix2x3FP32* matrix) +inline void bgc_fp32_matrix2x3_reset(BGC_FP32_Matrix2x3* matrix) { matrix->r1c1 = 0.0f; matrix->r1c2 = 0.0f; @@ -19,7 +19,7 @@ inline void bgc_matrix2x3_reset_fp32(BgcMatrix2x3FP32* matrix) matrix->r3c2 = 0.0f; } -inline void bgc_matrix2x3_reset_fp64(BgcMatrix2x3FP64* matrix) +inline void bgc_fp64_matrix2x3_reset(BGC_FP64_Matrix2x3* matrix) { matrix->r1c1 = 0.0; matrix->r1c2 = 0.0; @@ -33,7 +33,7 @@ inline void bgc_matrix2x3_reset_fp64(BgcMatrix2x3FP64* matrix) // ==================== Copy ==================== // -inline void bgc_matrix2x3_copy_fp32(const BgcMatrix2x3FP32* source, BgcMatrix2x3FP32* destination) +inline void bgc_fp32_matrix2x3_copy(BGC_FP32_Matrix2x3* destination, const BGC_FP32_Matrix2x3* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -45,7 +45,7 @@ inline void bgc_matrix2x3_copy_fp32(const BgcMatrix2x3FP32* source, BgcMatrix2x3 destination->r3c2 = source->r3c2; } -inline void bgc_matrix2x3_copy_fp64(const BgcMatrix2x3FP64* source, BgcMatrix2x3FP64* destination) +inline void bgc_fp64_matrix2x3_copy(BGC_FP64_Matrix2x3* destination, const BGC_FP64_Matrix2x3* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -59,7 +59,7 @@ inline void bgc_matrix2x3_copy_fp64(const BgcMatrix2x3FP64* source, BgcMatrix2x3 // ==================== Swap ==================== // -inline void bgc_matrix2x3_swap_fp32(BgcMatrix2x3FP32* matrix1, BgcMatrix2x3FP32* matrix2) +inline void bgc_fp32_matrix2x3_swap(BGC_FP32_Matrix2x3* matrix1, BGC_FP32_Matrix2x3* matrix2) { const float r1c1 = matrix2->r1c1; const float r1c2 = matrix2->r1c2; @@ -89,7 +89,7 @@ inline void bgc_matrix2x3_swap_fp32(BgcMatrix2x3FP32* matrix1, BgcMatrix2x3FP32* matrix1->r3c2 = r3c2; } -inline void bgc_matrix2x3_swap_fp64(BgcMatrix2x3FP64* matrix1, BgcMatrix2x3FP64* matrix2) +inline void bgc_fp64_matrix2x3_swap(BGC_FP64_Matrix2x3* matrix1, BGC_FP64_Matrix2x3* matrix2) { const double r1c1 = matrix2->r1c1; const double r1c2 = matrix2->r1c2; @@ -121,7 +121,7 @@ inline void bgc_matrix2x3_swap_fp64(BgcMatrix2x3FP64* matrix1, BgcMatrix2x3FP64* // ================== Convert =================== // -inline void bgc_matrix2x3_convert_fp64_to_fp32(const BgcMatrix2x3FP64* source, BgcMatrix2x3FP32* destination) +inline void bgc_fp64_matrix2x3_convert_to_fp32(BGC_FP32_Matrix2x3* destination, const BGC_FP64_Matrix2x3* source) { destination->r1c1 = (float)source->r1c1; destination->r1c2 = (float)source->r1c2; @@ -133,7 +133,7 @@ inline void bgc_matrix2x3_convert_fp64_to_fp32(const BgcMatrix2x3FP64* source, B destination->r3c2 = (float)source->r3c2; } -inline void bgc_matrix2x3_convert_fp32_to_fp64(const BgcMatrix2x3FP32* source, BgcMatrix2x3FP64* destination) +inline void bgc_fp32_matrix2x3_convert_to_fp64(BGC_FP64_Matrix2x3* destination, const BGC_FP32_Matrix2x3* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -147,7 +147,7 @@ inline void bgc_matrix2x3_convert_fp32_to_fp64(const BgcMatrix2x3FP32* source, B // ================= Transpose ================== // -inline void bgc_matrix2x3_transpose_fp32(const BgcMatrix3x2FP32* matrix, BgcMatrix2x3FP32* transposed) +inline void bgc_fp32_matrix2x3_get_transposed(BGC_FP32_Matrix2x3* transposed, const BGC_FP32_Matrix3x2* matrix) { transposed->r1c1 = matrix->r1c1; transposed->r1c2 = matrix->r2c1; @@ -159,7 +159,7 @@ inline void bgc_matrix2x3_transpose_fp32(const BgcMatrix3x2FP32* matrix, BgcMatr transposed->r3c2 = matrix->r2c3; } -inline void bgc_matrix2x3_transpose_fp64(const BgcMatrix3x2FP64* matrix, BgcMatrix2x3FP64* transposed) +inline void bgc_fp64_matrix2x3_get_transposed(BGC_FP64_Matrix2x3* transposed, const BGC_FP64_Matrix3x2* matrix) { transposed->r1c1 = matrix->r1c1; transposed->r1c2 = matrix->r2c1; @@ -171,83 +171,169 @@ inline void bgc_matrix2x3_transpose_fp64(const BgcMatrix3x2FP64* matrix, BgcMatr transposed->r3c2 = matrix->r2c3; } -// ================= Set Row 1 ================== // +// ================== Get Row =================== // -inline void bgc_matrix2x3_set_row1_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix) +inline void bgc_fp32_matrix2x3_get_row(BGC_FP32_Vector2* row, const BGC_FP32_Matrix2x3* matrix, const int row_number) { - matrix->r1c1 = c1; - matrix->r1c2 = c2; + if (row_number == 1) { + row->x1 = matrix->r1c1; + row->x2 = matrix->r1c2; + return; + } + + if (row_number == 2) { + row->x1 = matrix->r2c1; + row->x2 = matrix->r2c2; + return; + } + + if (row_number == 3) { + row->x1 = matrix->r3c1; + row->x2 = matrix->r3c2; + return; + } + + row->x1 = 0.0f; + row->x2 = 0.0f; } -inline void bgc_matrix2x3_set_row1_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix) +inline void bgc_fp64_matrix2x3_get_row(BGC_FP64_Vector2* row, const BGC_FP64_Matrix2x3* matrix, const int row_number) { - matrix->r1c1 = c1; - matrix->r1c2 = c2; + if (row_number == 1) { + row->x1 = matrix->r1c1; + row->x2 = matrix->r1c2; + return; + } + + if (row_number == 2) { + row->x1 = matrix->r2c1; + row->x2 = matrix->r2c2; + return; + } + + if (row_number == 3) { + row->x1 = matrix->r3c1; + row->x2 = matrix->r3c2; + return; + } + + row->x1 = 0.0f; + row->x2 = 0.0f; } -// ================= Set Row 2 ================== // +// ================== Set Row =================== // -inline void bgc_matrix2x3_set_row2_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix) +inline void bgc_fp32_matrix2x3_set_row(BGC_FP32_Matrix2x3* matrix, const int row_number, const BGC_FP32_Vector2* row) { - matrix->r2c1 = c1; - matrix->r2c2 = c2; + if (row_number == 1) { + matrix->r1c1 = row->x1; + matrix->r1c2 = row->x2; + return; + } + + if (row_number == 2) { + matrix->r2c1 = row->x1; + matrix->r2c2 = row->x2; + return; + } + + if (row_number == 3) { + matrix->r3c1 = row->x1; + matrix->r3c2 = row->x2; + } } -inline void bgc_matrix2x3_set_row2_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix) +inline void bgc_fp64_matrix2x3_set_row(BGC_FP64_Matrix2x3* matrix, const int row_number, const BGC_FP64_Vector2* row) { - matrix->r2c1 = c1; - matrix->r2c2 = c2; + if (row_number == 1) { + matrix->r1c1 = row->x1; + matrix->r1c2 = row->x2; + return; + } + + if (row_number == 2) { + matrix->r2c1 = row->x1; + matrix->r2c2 = row->x2; + return; + } + + if (row_number == 3) { + matrix->r3c1 = row->x1; + matrix->r3c2 = row->x2; + } } -// ================= Set Row 3 ================== // +// ================= Get Column ================= // -inline void bgc_matrix2x3_set_row3_fp32(const float c1, const float c2, BgcMatrix2x3FP32* matrix) +inline void bgc_fp32_matrix2x3_get_column(BGC_FP32_Vector3* column, const BGC_FP32_Matrix2x3* matrix, const int column_number) { - matrix->r3c1 = c1; - matrix->r3c2 = c2; + if (column_number == 1) { + column->x1 = matrix->r1c1; + column->x2 = matrix->r2c1; + column->x3 = matrix->r3c1; + return; + } + + if (column_number == 2) { + column->x1 = matrix->r1c2; + column->x2 = matrix->r2c2; + column->x3 = matrix->r3c2; + } } -inline void bgc_matrix2x3_set_row3_fp64(const double c1, const double c2, BgcMatrix2x3FP64* matrix) +inline void bgc_fp64_matrix2x3_get_column(BGC_FP64_Vector3* column, const BGC_FP64_Matrix2x3* matrix, const int column_number) { - matrix->r3c1 = c1; - matrix->r3c2 = c2; + if (column_number == 1) { + column->x1 = matrix->r1c1; + column->x2 = matrix->r2c1; + column->x3 = matrix->r3c1; + return; + } + + if (column_number == 2) { + column->x1 = matrix->r1c2; + column->x2 = matrix->r2c2; + column->x3 = matrix->r3c2; + } } -// ================ Set Column 1 ================ // +// ================= Set Column ================= // -inline void bgc_matrix2x3_set_column1_fp32(const float r1, const float r2, const float r3, BgcMatrix2x3FP32* matrix) +inline void bgc_fp32_matrix2x3_set_column(BGC_FP32_Matrix2x3* matrix, const int column_number, const BGC_FP32_Vector3* column) { - matrix->r1c1 = r1; - matrix->r2c1 = r2; - matrix->r3c1 = r3; + if (column_number == 1) { + matrix->r1c1 = column->x1; + matrix->r2c1 = column->x2; + matrix->r3c1 = column->x3; + return; + } + + if (column_number == 2) { + matrix->r1c2 = column->x1; + matrix->r2c2 = column->x2; + matrix->r3c2 = column->x3; + } } -inline void bgc_matrix2x3_set_column1_fp64(const double r1, const double r2, const double r3, BgcMatrix2x3FP64* matrix) +inline void bgc_fp64_matrix2x3_set_column(BGC_FP64_Matrix2x3* matrix, const int column_number, const BGC_FP64_Vector3* column) { - matrix->r1c1 = r1; - matrix->r2c1 = r2; - matrix->r3c1 = r3; -} + if (column_number == 1) { + matrix->r1c1 = column->x1; + matrix->r2c1 = column->x2; + matrix->r3c1 = column->x3; + return; + } -// ================ Set Column 2 ================ // - -inline void bgc_matrix2x3_set_column2_fp32(const float r1, const float r2, const float r3, BgcMatrix2x3FP32* matrix) -{ - matrix->r1c2 = r1; - matrix->r2c2 = r2; - matrix->r3c2 = r3; -} - -inline void bgc_matrix2x3_set_column2_fp64(const double r1, const double r2, const double r3, BgcMatrix2x3FP64* matrix) -{ - matrix->r1c2 = r1; - matrix->r2c2 = r2; - matrix->r3c2 = r3; + if (column_number == 2) { + matrix->r1c2 = column->x1; + matrix->r2c2 = column->x2; + matrix->r3c2 = column->x3; + } } // ==================== Add ===================== // -inline void bgc_matrix2x3_add_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x3FP32* sum) +inline void bgc_fp32_matrix2x3_add(BGC_FP32_Matrix2x3* sum, const BGC_FP32_Matrix2x3* matrix1, const BGC_FP32_Matrix2x3* matrix2) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -259,7 +345,7 @@ inline void bgc_matrix2x3_add_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMat sum->r3c2 = matrix1->r3c2 + matrix2->r3c2; } -inline void bgc_matrix2x3_add_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x3FP64* sum) +inline void bgc_fp64_matrix2x3_add(BGC_FP64_Matrix2x3* sum, const BGC_FP64_Matrix2x3* matrix1, const BGC_FP64_Matrix2x3* matrix2) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -273,7 +359,7 @@ inline void bgc_matrix2x3_add_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMat // ================= Add scaled ================= // -inline void bgc_matrix2x3_add_scaled_fp32(const BgcMatrix2x3FP32* basic_matrix, const BgcMatrix2x3FP32* scalable_matrix, const float scale, BgcMatrix2x3FP32* sum) +inline void bgc_fp32_matrix2x3_add_scaled(BGC_FP32_Matrix2x3* sum, const BGC_FP32_Matrix2x3* basic_matrix, const BGC_FP32_Matrix2x3* scalable_matrix, const float scale) { sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale; sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale; @@ -285,7 +371,7 @@ inline void bgc_matrix2x3_add_scaled_fp32(const BgcMatrix2x3FP32* basic_matrix, sum->r3c2 = basic_matrix->r3c2 + scalable_matrix->r3c2 * scale; } -inline void bgc_matrix2x3_add_scaled_fp64(const BgcMatrix2x3FP64* basic_matrix, const BgcMatrix2x3FP64* scalable_matrix, const double scale, BgcMatrix2x3FP64* sum) +inline void bgc_fp64_matrix2x3_add_scaled(BGC_FP64_Matrix2x3* sum, const BGC_FP64_Matrix2x3* basic_matrix, const BGC_FP64_Matrix2x3* scalable_matrix, const double scale) { sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale; sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale; @@ -299,7 +385,7 @@ inline void bgc_matrix2x3_add_scaled_fp64(const BgcMatrix2x3FP64* basic_matrix, // ================== Subtract ================== // -inline void bgc_matrix2x3_subtract_fp32(const BgcMatrix2x3FP32* minuend, const BgcMatrix2x3FP32* subtrahend, BgcMatrix2x3FP32* difference) +inline void bgc_fp32_matrix2x3_subtract(BGC_FP32_Matrix2x3* difference, const BGC_FP32_Matrix2x3* minuend, const BGC_FP32_Matrix2x3* subtrahend) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -311,7 +397,7 @@ inline void bgc_matrix2x3_subtract_fp32(const BgcMatrix2x3FP32* minuend, const B difference->r3c2 = minuend->r3c2 - subtrahend->r3c2; } -inline void bgc_matrix2x3_subtract_fp64(const BgcMatrix2x3FP64* minuend, const BgcMatrix2x3FP64* subtrahend, BgcMatrix2x3FP64* difference) +inline void bgc_fp64_matrix2x3_subtract(BGC_FP64_Matrix2x3* difference, const BGC_FP64_Matrix2x3* minuend, const BGC_FP64_Matrix2x3* subtrahend) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -323,35 +409,9 @@ inline void bgc_matrix2x3_subtract_fp64(const BgcMatrix2x3FP64* minuend, const B difference->r3c2 = minuend->r3c2 - subtrahend->r3c2; } -// ============== Subtract scaled =============== // - -inline void bgc_matrix2x3_subtract_scaled_fp32(const BgcMatrix2x3FP32* basic_matrix, const BgcMatrix2x3FP32* scalable_matrix, const float scale, BgcMatrix2x3FP32* difference) -{ - difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale; - difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale; - - difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale; - difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale; - - difference->r3c1 = basic_matrix->r3c1 - scalable_matrix->r3c1 * scale; - difference->r3c2 = basic_matrix->r3c2 - scalable_matrix->r3c2 * scale; -} - -inline void bgc_matrix2x3_subtract_scaled_fp64(const BgcMatrix2x3FP64* basic_matrix, const BgcMatrix2x3FP64* scalable_matrix, const double scale, BgcMatrix2x3FP64* difference) -{ - difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale; - difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale; - - difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale; - difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale; - - difference->r3c1 = basic_matrix->r3c1 - scalable_matrix->r3c1 * scale; - difference->r3c2 = basic_matrix->r3c2 - scalable_matrix->r3c2 * scale; -} - // ================== Multiply ================== // -inline void bgc_matrix2x3_multiply_fp32(const BgcMatrix2x3FP32* multiplicand, const float multiplier, BgcMatrix2x3FP32* product) +inline void bgc_fp32_matrix2x3_multiply(BGC_FP32_Matrix2x3* product, const BGC_FP32_Matrix2x3* multiplicand, const float multiplier) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -363,7 +423,7 @@ inline void bgc_matrix2x3_multiply_fp32(const BgcMatrix2x3FP32* multiplicand, co product->r3c2 = multiplicand->r3c2 * multiplier; } -inline void bgc_matrix2x3_multiply_fp64(const BgcMatrix2x3FP64* multiplicand, const double multiplier, BgcMatrix2x3FP64* product) +inline void bgc_fp64_matrix2x3_multiply(BGC_FP64_Matrix2x3* product, const BGC_FP64_Matrix2x3* multiplicand, const double multiplier) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -377,44 +437,74 @@ inline void bgc_matrix2x3_multiply_fp64(const BgcMatrix2x3FP64* multiplicand, co // =================== Divide =================== // -inline void bgc_matrix2x3_divide_fp32(const BgcMatrix2x3FP32* dividend, const float divisor, BgcMatrix2x3FP32* quotient) +inline void bgc_fp32_matrix2x3_divide(BGC_FP32_Matrix2x3* quotient, const BGC_FP32_Matrix2x3* dividend, const float divisor) { - bgc_matrix2x3_multiply_fp32(dividend, 1.0f / divisor, quotient); + bgc_fp32_matrix2x3_multiply(quotient, dividend, 1.0f / divisor); } -inline void bgc_matrix2x3_divide_fp64(const BgcMatrix2x3FP64* dividend, const double divisor, BgcMatrix2x3FP64* quotient) +inline void bgc_fp64_matrix2x3_divide(BGC_FP64_Matrix2x3* quotient, const BGC_FP64_Matrix2x3* dividend, const double divisor) { - bgc_matrix2x3_multiply_fp64(dividend, 1.0 / divisor, quotient); + bgc_fp64_matrix2x3_multiply(quotient, dividend, 1.0 / divisor); +} + +// ================ Interpolate ================= // + +inline void bgc_fp32_matrix2x3_interpolate(BGC_FP32_Matrix2x3* interpolation, const BGC_FP32_Matrix2x3* first, const BGC_FP32_Matrix2x3* second, const float phase) +{ + const float couter_phase = 1.0f - phase; + + interpolation->r1c1 = first->r1c1 * couter_phase + second->r1c1 * phase; + interpolation->r1c2 = first->r1c2 * couter_phase + second->r1c2 * phase; + + interpolation->r2c1 = first->r2c1 * couter_phase + second->r2c1 * phase; + interpolation->r2c2 = first->r2c2 * couter_phase + second->r2c2 * phase; + + interpolation->r3c1 = first->r3c1 * couter_phase + second->r3c1 * phase; + interpolation->r3c2 = first->r3c2 * couter_phase + second->r3c2 * phase; +} + +inline void bgc_fp64_matrix2x3_interpolate(BGC_FP64_Matrix2x3* interpolation, const BGC_FP64_Matrix2x3* first, const BGC_FP64_Matrix2x3* second, const double phase) +{ + const double couter_phase = 1.0 - phase; + + interpolation->r1c1 = first->r1c1 * couter_phase + second->r1c1 * phase; + interpolation->r1c2 = first->r1c2 * couter_phase + second->r1c2 * phase; + + interpolation->r2c1 = first->r2c1 * couter_phase + second->r2c1 * phase; + interpolation->r2c2 = first->r2c2 * couter_phase + second->r2c2 * phase; + + interpolation->r3c1 = first->r3c1 * couter_phase + second->r3c1 * phase; + interpolation->r3c2 = first->r3c2 * couter_phase + second->r3c2 * phase; } // ============ Left Vector Product ============= // -inline void bgc_matrix2x3_get_left_product_fp32(const BgcVector3FP32* vector, const BgcMatrix2x3FP32* matrix, BgcVector2FP32* result) +inline void bgc_fp32_multiply_vector3_by_matrix2x3(BGC_FP32_Vector2* product, const BGC_FP32_Vector3* vector, const BGC_FP32_Matrix2x3* matrix) { - result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1; - result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2; + product->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1; + product->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2; } -inline void bgc_matrix2x3_get_left_product_fp64(const BgcVector3FP64* vector, const BgcMatrix2x3FP64* matrix, BgcVector2FP64* result) +inline void bgc_fp64_multiply_vector3_by_matrix2x3(BGC_FP64_Vector2* product, const BGC_FP64_Vector3* vector, const BGC_FP64_Matrix2x3* matrix) { - result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1; - result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2; + product->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1; + product->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2; } // ============ Right Vector Product ============ // -inline void bgc_matrix2x3_get_right_product_fp32(const BgcMatrix2x3FP32* matrix, const BgcVector2FP32* vector, BgcVector3FP32* result) +inline void bgc_fp32_multiply_matrix2x3_by_vector2(BGC_FP32_Vector3* product, const BGC_FP32_Matrix2x3* matrix, const BGC_FP32_Vector2* vector) { - result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; - result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; - result->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2; + product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; + product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; + product->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2; } -inline void bgc_matrix2x3_get_right_product_fp64(const BgcMatrix2x3FP64* matrix, const BgcVector2FP64* vector, BgcVector3FP64* result) +inline void bgc_fp64_multiply_matrix2x3_by_vector2(BGC_FP64_Vector3* product, const BGC_FP64_Matrix2x3* matrix, const BGC_FP64_Vector2* vector) { - result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; - result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; - result->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2; + product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2; + product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2; + product->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2; } #endif diff --git a/basic-geometry/matrix3x2.c b/basic-geometry/matrix3x2.c index e93d9a8..ee9b5e1 100644 --- a/basic-geometry/matrix3x2.c +++ b/basic-geometry/matrix3x2.c @@ -1,55 +1,52 @@ #include "matrix3x2.h" -extern inline void bgc_matrix3x2_reset_fp32(BgcMatrix3x2FP32* matrix); -extern inline void bgc_matrix3x2_reset_fp64(BgcMatrix3x2FP64* matrix); +extern inline void bgc_fp32_matrix3x2_reset(BGC_FP32_Matrix3x2* matrix); +extern inline void bgc_fp64_matrix3x2_reset(BGC_FP64_Matrix3x2* matrix); -extern inline void bgc_matrix3x2_copy_fp32(const BgcMatrix3x2FP32* source, BgcMatrix3x2FP32* destination); -extern inline void bgc_matrix3x2_copy_fp64(const BgcMatrix3x2FP64* source, BgcMatrix3x2FP64* destination); +extern inline void bgc_fp32_matrix3x2_copy(BGC_FP32_Matrix3x2* destination, const BGC_FP32_Matrix3x2* source); +extern inline void bgc_fp64_matrix3x2_copy(BGC_FP64_Matrix3x2* destination, const BGC_FP64_Matrix3x2* source); -extern inline void bgc_matrix3x2_swap_fp32(BgcMatrix3x2FP32* matrix1, BgcMatrix3x2FP32* matrix2); -extern inline void bgc_matrix3x2_swap_fp64(BgcMatrix3x2FP64* matrix1, BgcMatrix3x2FP64* matrix2); +extern inline void bgc_fp32_matrix3x2_swap(BGC_FP32_Matrix3x2* matrix1, BGC_FP32_Matrix3x2* matrix2); +extern inline void bgc_fp64_matrix3x2_swap(BGC_FP64_Matrix3x2* matrix1, BGC_FP64_Matrix3x2* matrix2); -extern inline void bgc_matrix3x2_convert_fp64_to_fp32(const BgcMatrix3x2FP64* source, BgcMatrix3x2FP32* destination); -extern inline void bgc_matrix3x2_convert_fp32_to_fp64(const BgcMatrix3x2FP32* source, BgcMatrix3x2FP64* destination); +extern inline void bgc_fp32_matrix3x2_convert_to_fp64(BGC_FP64_Matrix3x2* destination, const BGC_FP32_Matrix3x2* source); +extern inline void bgc_fp64_matrix3x2_convert_to_fp32(BGC_FP32_Matrix3x2* destination, const BGC_FP64_Matrix3x2* source); -extern inline void bgc_matrix3x2_transpose_fp32(const BgcMatrix2x3FP32* matrix, BgcMatrix3x2FP32* transposed); -extern inline void bgc_matrix3x2_transpose_fp64(const BgcMatrix2x3FP64* matrix, BgcMatrix3x2FP64* transposed); +extern inline void bgc_fp32_matrix3x2_get_transposed(BGC_FP32_Matrix3x2* transposed, const BGC_FP32_Matrix2x3* matrix); +extern inline void bgc_fp64_matrix3x2_get_transposed(BGC_FP64_Matrix3x2* transposed, const BGC_FP64_Matrix2x3* matrix); -extern inline void bgc_matrix3x2_set_row1_fp32(const float c1, const float c2, const float c3, BgcMatrix3x2FP32* matrix); -extern inline void bgc_matrix3x2_set_row1_fp64(const double c1, const double c2, const double c3, BgcMatrix3x2FP64* matrix); +extern inline void bgc_fp32_matrix3x2_get_row(BGC_FP32_Vector3* row, const BGC_FP32_Matrix3x2* matrix, const int row_number); +extern inline void bgc_fp64_matrix3x2_get_row(BGC_FP64_Vector3* row, const BGC_FP64_Matrix3x2* matrix, const int row_number); -extern inline void bgc_matrix3x2_set_row2_fp32(const float c1, const float c2, const float c3, BgcMatrix3x2FP32* matrix); -extern inline void bgc_matrix3x2_set_row2_fp64(const double c1, const double c2, const double c3, BgcMatrix3x2FP64* matrix); +extern inline void bgc_fp32_matrix3x2_set_row(BGC_FP32_Matrix3x2* matrix, const int row_number, const BGC_FP32_Vector3* row); +extern inline void bgc_fp64_matrix3x2_set_row(BGC_FP64_Matrix3x2* matrix, const int row_number, const BGC_FP64_Vector3* row); -extern inline void bgc_matrix3x2_set_column1_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix); -extern inline void bgc_matrix3x2_set_column1_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix); +extern inline void bgc_fp32_matrix3x2_get_column(BGC_FP32_Vector2* column, const BGC_FP32_Matrix3x2* matrix, const int column_number); +extern inline void bgc_fp64_matrix3x2_get_column(BGC_FP64_Vector2* column, const BGC_FP64_Matrix3x2* matrix, const int column_number); -extern inline void bgc_matrix3x2_set_column2_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix); -extern inline void bgc_matrix3x2_set_column2_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix); +extern inline void bgc_fp32_matrix3x2_set_column(BGC_FP32_Matrix3x2* matrix, const int column_number, const BGC_FP32_Vector2* column); +extern inline void bgc_fp64_matrix3x2_set_column(BGC_FP64_Matrix3x2* matrix, const int column_number, const BGC_FP64_Vector2* column); -extern inline void bgc_matrix3x2_set_column3_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix); -extern inline void bgc_matrix3x2_set_column3_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix); +extern inline void bgc_fp32_matrix3x2_add(BGC_FP32_Matrix3x2* sum, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix3x2* matrix2); +extern inline void bgc_fp64_matrix3x2_add(BGC_FP64_Matrix3x2* sum, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix3x2* matrix2); -extern inline void bgc_matrix3x2_add_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x2FP32* sum); -extern inline void bgc_matrix3x2_add_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x2FP64* sum); +extern inline void bgc_fp32_matrix3x2_add_scaled(BGC_FP32_Matrix3x2* sum, const BGC_FP32_Matrix3x2* basic_matrix, const BGC_FP32_Matrix3x2* scalable_matrix, const float scale); +extern inline void bgc_fp64_matrix3x2_add_scaled(BGC_FP64_Matrix3x2* sum, const BGC_FP64_Matrix3x2* basic_matrix, const BGC_FP64_Matrix3x2* scalable_matrix, const double scale); -extern inline void bgc_matrix3x2_add_scaled_fp32(const BgcMatrix3x2FP32* basic_matrix, const BgcMatrix3x2FP32* scalable_matrix, const float scale, BgcMatrix3x2FP32* sum); -extern inline void bgc_matrix3x2_add_scaled_fp64(const BgcMatrix3x2FP64* basic_matrix, const BgcMatrix3x2FP64* scalable_matrix, const double scale, BgcMatrix3x2FP64* sum); +extern inline void bgc_fp32_matrix3x2_subtract(BGC_FP32_Matrix3x2* difference, const BGC_FP32_Matrix3x2* minuend, const BGC_FP32_Matrix3x2* subtrahend); +extern inline void bgc_fp64_matrix3x2_subtract(BGC_FP64_Matrix3x2* difference, const BGC_FP64_Matrix3x2* minuend, const BGC_FP64_Matrix3x2* subtrahend); -extern inline void bgc_matrix3x2_subtract_fp32(const BgcMatrix3x2FP32* minuend, const BgcMatrix3x2FP32* subtrahend, BgcMatrix3x2FP32* difference); -extern inline void bgc_matrix3x2_subtract_fp64(const BgcMatrix3x2FP64* minuend, const BgcMatrix3x2FP64* subtrahend, BgcMatrix3x2FP64* difference); +extern inline void bgc_fp32_matrix3x2_multiply(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix3x2* multiplicand, const float multiplier); +extern inline void bgc_fp64_matrix3x2_multiply(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix3x2* multiplicand, const double multiplier); -extern inline void bgc_matrix3x2_subtract_scaled_fp32(const BgcMatrix3x2FP32* basic_matrix, const BgcMatrix3x2FP32* scalable_matrix, const float scale, BgcMatrix3x2FP32* difference); -extern inline void bgc_matrix3x2_subtract_scaled_fp64(const BgcMatrix3x2FP64* basic_matrix, const BgcMatrix3x2FP64* scalable_matrix, const double scale, BgcMatrix3x2FP64* difference); +extern inline void bgc_fp32_matrix3x2_divide(BGC_FP32_Matrix3x2* quotient, const BGC_FP32_Matrix3x2* dividend, const float divisor); +extern inline void bgc_fp64_matrix3x2_divide(BGC_FP64_Matrix3x2* quotient, const BGC_FP64_Matrix3x2* dividend, const double divisor); -extern inline void bgc_matrix3x2_multiply_fp32(const BgcMatrix3x2FP32* multiplicand, const float multiplier, BgcMatrix3x2FP32* product); -extern inline void bgc_matrix3x2_multiply_fp64(const BgcMatrix3x2FP64* multiplicand, const double multiplier, BgcMatrix3x2FP64* product); +extern inline void bgc_fp32_matrix3x2_interpolate(BGC_FP32_Matrix3x2* interpolation, const BGC_FP32_Matrix3x2* first, const BGC_FP32_Matrix3x2* second, const float phase); +extern inline void bgc_fp64_matrix3x2_interpolate(BGC_FP64_Matrix3x2* interpolation, const BGC_FP64_Matrix3x2* first, const BGC_FP64_Matrix3x2* second, const double phase); -extern inline void bgc_matrix3x2_divide_fp32(const BgcMatrix3x2FP32* dividend, const float divisor, BgcMatrix3x2FP32* quotient); -extern inline void bgc_matrix3x2_divide_fp64(const BgcMatrix3x2FP64* dividend, const double divisor, BgcMatrix3x2FP64* quotient); +extern inline void bgc_fp32_multiply_vector2_by_matrix3x2(BGC_FP32_Vector3* product, const BGC_FP32_Vector2* vector, const BGC_FP32_Matrix3x2* matrix); +extern inline void bgc_fp64_multiply_vector2_by_matrix3x2(BGC_FP64_Vector3* product, const BGC_FP64_Vector2* vector, const BGC_FP64_Matrix3x2* matrix); -extern inline void bgc_matrix3x2_get_left_product_fp32(const BgcVector2FP32* vector, const BgcMatrix3x2FP32* matrix, BgcVector3FP32* result); -extern inline void bgc_matrix3x2_get_left_product_fp64(const BgcVector2FP64* vector, const BgcMatrix3x2FP64* matrix, BgcVector3FP64* result); - -extern inline void bgc_matrix3x2_get_right_product_fp32(const BgcMatrix3x2FP32* matrix, const BgcVector3FP32* vector, BgcVector2FP32* result); -extern inline void bgc_matrix3x2_get_right_product_fp64(const BgcMatrix3x2FP64* matrix, const BgcVector3FP64* vector, BgcVector2FP64* result); +extern inline void bgc_fp32_multiply_matrix3x2_by_vector3(BGC_FP32_Vector2* product, const BGC_FP32_Matrix3x2* matrix, const BGC_FP32_Vector3* vector); +extern inline void bgc_fp64_multiply_matrix3x2_by_vector3(BGC_FP64_Vector2* product, const BGC_FP64_Matrix3x2* matrix, const BGC_FP64_Vector3* vector); diff --git a/basic-geometry/matrix3x2.h b/basic-geometry/matrix3x2.h index cf90ff6..693ccfd 100644 --- a/basic-geometry/matrix3x2.h +++ b/basic-geometry/matrix3x2.h @@ -1,13 +1,13 @@ -#ifndef _BGC_MATRIX3X2_H_ -#define _BGC_MATRIX3X2_H_ +#ifndef _BGC_MATRIX3X2_H_INCLUDED_ +#define _BGC_MATRIX3X2_H_INCLUDED_ #include "vector2.h" #include "vector3.h" -#include "matrixes.h" +#include "matrices.h" // =================== Reset ==================== // -inline void bgc_matrix3x2_reset_fp32(BgcMatrix3x2FP32* matrix) +inline void bgc_fp32_matrix3x2_reset(BGC_FP32_Matrix3x2* matrix) { matrix->r1c1 = 0.0f; matrix->r1c2 = 0.0f; @@ -18,7 +18,7 @@ inline void bgc_matrix3x2_reset_fp32(BgcMatrix3x2FP32* matrix) matrix->r2c3 = 0.0f; } -inline void bgc_matrix3x2_reset_fp64(BgcMatrix3x2FP64* matrix) +inline void bgc_fp64_matrix3x2_reset(BGC_FP64_Matrix3x2* matrix) { matrix->r1c1 = 0.0; matrix->r1c2 = 0.0; @@ -31,7 +31,7 @@ inline void bgc_matrix3x2_reset_fp64(BgcMatrix3x2FP64* matrix) // ==================== Copy ==================== // -inline void bgc_matrix3x2_copy_fp32(const BgcMatrix3x2FP32* source, BgcMatrix3x2FP32* destination) +inline void bgc_fp32_matrix3x2_copy(BGC_FP32_Matrix3x2* destination, const BGC_FP32_Matrix3x2* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -42,7 +42,7 @@ inline void bgc_matrix3x2_copy_fp32(const BgcMatrix3x2FP32* source, BgcMatrix3x2 destination->r2c3 = source->r2c3; } -inline void bgc_matrix3x2_copy_fp64(const BgcMatrix3x2FP64* source, BgcMatrix3x2FP64* destination) +inline void bgc_fp64_matrix3x2_copy(BGC_FP64_Matrix3x2* destination, const BGC_FP64_Matrix3x2* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -55,7 +55,7 @@ inline void bgc_matrix3x2_copy_fp64(const BgcMatrix3x2FP64* source, BgcMatrix3x2 // ==================== Swap ==================== // -inline void bgc_matrix3x2_swap_fp32(BgcMatrix3x2FP32* matrix1, BgcMatrix3x2FP32* matrix2) +inline void bgc_fp32_matrix3x2_swap(BGC_FP32_Matrix3x2* matrix1, BGC_FP32_Matrix3x2* matrix2) { const float r1c1 = matrix2->r1c1; const float r1c2 = matrix2->r1c2; @@ -82,7 +82,7 @@ inline void bgc_matrix3x2_swap_fp32(BgcMatrix3x2FP32* matrix1, BgcMatrix3x2FP32* matrix1->r2c3 = r2c3; } -inline void bgc_matrix3x2_swap_fp64(BgcMatrix3x2FP64* matrix1, BgcMatrix3x2FP64* matrix2) +inline void bgc_fp64_matrix3x2_swap(BGC_FP64_Matrix3x2* matrix1, BGC_FP64_Matrix3x2* matrix2) { const double r1c1 = matrix2->r1c1; const double r1c2 = matrix2->r1c2; @@ -111,7 +111,7 @@ inline void bgc_matrix3x2_swap_fp64(BgcMatrix3x2FP64* matrix1, BgcMatrix3x2FP64* // ================== Convert =================== // -inline void bgc_matrix3x2_convert_fp64_to_fp32(const BgcMatrix3x2FP64* source, BgcMatrix3x2FP32* destination) +inline void bgc_fp64_matrix3x2_convert_to_fp32(BGC_FP32_Matrix3x2* destination, const BGC_FP64_Matrix3x2* source) { destination->r1c1 = (float)source->r1c1; destination->r1c2 = (float)source->r1c2; @@ -122,7 +122,7 @@ inline void bgc_matrix3x2_convert_fp64_to_fp32(const BgcMatrix3x2FP64* source, B destination->r2c3 = (float)source->r2c3; } -inline void bgc_matrix3x2_convert_fp32_to_fp64(const BgcMatrix3x2FP32* source, BgcMatrix3x2FP64* destination) +inline void bgc_fp32_matrix3x2_convert_to_fp64(BGC_FP64_Matrix3x2* destination, const BGC_FP32_Matrix3x2* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -135,7 +135,7 @@ inline void bgc_matrix3x2_convert_fp32_to_fp64(const BgcMatrix3x2FP32* source, B // ================= Transpose ================== // -inline void bgc_matrix3x2_transpose_fp32(const BgcMatrix2x3FP32* matrix, BgcMatrix3x2FP32* transposed) +inline void bgc_fp32_matrix3x2_get_transposed(BGC_FP32_Matrix3x2* transposed, const BGC_FP32_Matrix2x3* matrix) { transposed->r1c1 = matrix->r1c1; transposed->r1c2 = matrix->r2c1; @@ -146,7 +146,7 @@ inline void bgc_matrix3x2_transpose_fp32(const BgcMatrix2x3FP32* matrix, BgcMatr transposed->r2c3 = matrix->r3c2; } -inline void bgc_matrix3x2_transpose_fp64(const BgcMatrix2x3FP64* matrix, BgcMatrix3x2FP64* transposed) +inline void bgc_fp64_matrix3x2_get_transposed(BGC_FP64_Matrix3x2* transposed, const BGC_FP64_Matrix2x3* matrix) { transposed->r1c1 = matrix->r1c1; transposed->r1c2 = matrix->r2c1; @@ -157,83 +157,199 @@ inline void bgc_matrix3x2_transpose_fp64(const BgcMatrix2x3FP64* matrix, BgcMatr transposed->r2c3 = matrix->r3c2; } -// ================= Set Row 1 ================== // +// ================== Get Row =================== // -inline void bgc_matrix3x2_set_row1_fp32(const float c1, const float c2, const float c3, BgcMatrix3x2FP32* matrix) +inline void bgc_fp32_matrix3x2_get_row(BGC_FP32_Vector3* row, const BGC_FP32_Matrix3x2* matrix, const int row_number) { - matrix->r1c1 = c1; - matrix->r1c2 = c2; - matrix->r1c3 = c3; + if (row_number == 1) + { + row->x1 = matrix->r1c1; + row->x2 = matrix->r1c2; + row->x3 = matrix->r1c3; + return; + } + + if (row_number == 2) + { + row->x1 = matrix->r2c1; + row->x2 = matrix->r2c2; + row->x3 = matrix->r2c3; + return; + } + + row->x1 = 0.0f; + row->x2 = 0.0f; + row->x3 = 0.0f; } -inline void bgc_matrix3x2_set_row1_fp64(const double c1, const double c2, const double c3, BgcMatrix3x2FP64* matrix) +inline void bgc_fp64_matrix3x2_get_row(BGC_FP64_Vector3* row, const BGC_FP64_Matrix3x2* matrix, const int row_number) { - matrix->r1c1 = c1; - matrix->r1c2 = c2; - matrix->r1c3 = c3; + if (row_number == 1) + { + row->x1 = matrix->r1c1; + row->x2 = matrix->r1c2; + row->x3 = matrix->r1c3; + return; + } + + if (row_number == 2) + { + row->x1 = matrix->r2c1; + row->x2 = matrix->r2c2; + row->x3 = matrix->r2c3; + return; + } + + row->x1 = 0.0f; + row->x2 = 0.0f; + row->x3 = 0.0f; } -// ================= Set Row 2 ================== // +// ================== Set Row =================== // -inline void bgc_matrix3x2_set_row2_fp32(const float c1, const float c2, const float c3, BgcMatrix3x2FP32* matrix) +inline void bgc_fp32_matrix3x2_set_row(BGC_FP32_Matrix3x2* matrix, const int row_number, const BGC_FP32_Vector3* row) { - matrix->r2c1 = c1; - matrix->r2c2 = c2; - matrix->r2c3 = c3; + if (row_number == 1) + { + matrix->r1c1 = row->x1; + matrix->r1c2 = row->x2; + matrix->r1c3 = row->x3; + return; + } + + if (row_number == 2) + { + matrix->r2c1 = row->x1; + matrix->r2c2 = row->x2; + matrix->r2c3 = row->x3; + } } -inline void bgc_matrix3x2_set_row2_fp64(const double c1, const double c2, const double c3, BgcMatrix3x2FP64* matrix) +inline void bgc_fp64_matrix3x2_set_row(BGC_FP64_Matrix3x2* matrix, const int row_number, const BGC_FP64_Vector3* row) { - matrix->r2c1 = c1; - matrix->r2c2 = c2; - matrix->r2c3 = c3; + if (row_number == 1) + { + matrix->r1c1 = row->x1; + matrix->r1c2 = row->x2; + matrix->r1c3 = row->x3; + return; + } + + if (row_number == 2) + { + matrix->r2c1 = row->x1; + matrix->r2c2 = row->x2; + matrix->r2c3 = row->x3; + } } -// ================ Set Column 1 ================ // +// ================= Get Column ================= // -inline void bgc_matrix3x2_set_column1_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix) +inline void bgc_fp32_matrix3x2_get_column(BGC_FP32_Vector2* column, const BGC_FP32_Matrix3x2* matrix, const int column_number) { - matrix->r1c1 = r1; - matrix->r2c1 = r2; + if (column_number == 1) + { + column->x1 = matrix->r1c1; + column->x2 = matrix->r2c1; + return; + } + + if (column_number == 2) + { + column->x1 = matrix->r1c2; + column->x2 = matrix->r2c2; + return; + } + + if (column_number == 3) + { + column->x1 = matrix->r1c3; + column->x2 = matrix->r2c3; + return; + } + + column->x1 = 0.0f; + column->x2 = 0.0f; } -inline void bgc_matrix3x2_set_column1_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix) +inline void bgc_fp64_matrix3x2_get_column(BGC_FP64_Vector2* column, const BGC_FP64_Matrix3x2* matrix, const int column_number) { - matrix->r1c1 = r1; - matrix->r2c1 = r2; + if (column_number == 1) + { + column->x1 = matrix->r1c1; + column->x2 = matrix->r2c1; + return; + } + + if (column_number == 2) + { + column->x1 = matrix->r1c2; + column->x2 = matrix->r2c2; + return; + } + + if (column_number == 3) + { + column->x1 = matrix->r1c3; + column->x2 = matrix->r2c3; + return; + } + + column->x1 = 0.0; + column->x2 = 0.0; } -// ================ Set Column 2 ================ // +// ================= Set Column ================= // -inline void bgc_matrix3x2_set_column2_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix) +inline void bgc_fp32_matrix3x2_set_column(BGC_FP32_Matrix3x2* matrix, const int column_number, const BGC_FP32_Vector2* column) { - matrix->r1c2 = r1; - matrix->r2c2 = r2; + if (column_number == 1) + { + matrix->r1c1 = column->x1; + matrix->r2c1 = column->x2; + return; + } + + if (column_number == 2) + { + matrix->r1c2 = column->x1; + matrix->r2c2 = column->x2; + return; + } + + if (column_number == 3) + { + matrix->r1c3 = column->x1; + matrix->r2c3 = column->x2; + } } -inline void bgc_matrix3x2_set_column2_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix) +inline void bgc_fp64_matrix3x2_set_column(BGC_FP64_Matrix3x2* matrix, const int column_number, const BGC_FP64_Vector2* column) { - matrix->r1c2 = r1; - matrix->r2c2 = r2; -} + if (column_number == 1) + { + matrix->r1c1 = column->x1; + matrix->r2c1 = column->x2; + return; + } -// ================ Set Column 3 ================ // + if (column_number == 2) + { + matrix->r1c2 = column->x1; + matrix->r2c2 = column->x2; + return; + } -inline void bgc_matrix3x2_set_column3_fp32(const float r1, const float r2, BgcMatrix3x2FP32* matrix) -{ - matrix->r1c3 = r1; - matrix->r2c3 = r2; -} - -inline void bgc_matrix3x2_set_column3_fp64(const double r1, const double r2, BgcMatrix3x2FP64* matrix) -{ - matrix->r1c3 = r1; - matrix->r2c3 = r2; + if (column_number == 3) + { + matrix->r1c3 = column->x1; + matrix->r2c3 = column->x2; + } } // ==================== Add ===================== // -inline void bgc_matrix3x2_add_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x2FP32* sum) +inline void bgc_fp32_matrix3x2_add(BGC_FP32_Matrix3x2* sum, const BGC_FP32_Matrix3x2* matrix1, const BGC_FP32_Matrix3x2* matrix2) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -244,7 +360,7 @@ inline void bgc_matrix3x2_add_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMat sum->r2c3 = matrix1->r2c3 + matrix2->r2c3; } -inline void bgc_matrix3x2_add_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x2FP64* sum) +inline void bgc_fp64_matrix3x2_add(BGC_FP64_Matrix3x2* sum, const BGC_FP64_Matrix3x2* matrix1, const BGC_FP64_Matrix3x2* matrix2) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -257,7 +373,7 @@ inline void bgc_matrix3x2_add_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMat // ================= Add scaled ================= // -inline void bgc_matrix3x2_add_scaled_fp32(const BgcMatrix3x2FP32* basic_matrix, const BgcMatrix3x2FP32* scalable_matrix, const float scale, BgcMatrix3x2FP32* sum) +inline void bgc_fp32_matrix3x2_add_scaled(BGC_FP32_Matrix3x2* sum, const BGC_FP32_Matrix3x2* basic_matrix, const BGC_FP32_Matrix3x2* scalable_matrix, const float scale) { sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale; sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale; @@ -268,7 +384,7 @@ inline void bgc_matrix3x2_add_scaled_fp32(const BgcMatrix3x2FP32* basic_matrix, sum->r2c3 = basic_matrix->r2c3 + scalable_matrix->r2c3 * scale; } -inline void bgc_matrix3x2_add_scaled_fp64(const BgcMatrix3x2FP64* basic_matrix, const BgcMatrix3x2FP64* scalable_matrix, const double scale, BgcMatrix3x2FP64* sum) +inline void bgc_fp64_matrix3x2_add_scaled(BGC_FP64_Matrix3x2* sum, const BGC_FP64_Matrix3x2* basic_matrix, const BGC_FP64_Matrix3x2* scalable_matrix, const double scale) { sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale; sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale; @@ -281,7 +397,7 @@ inline void bgc_matrix3x2_add_scaled_fp64(const BgcMatrix3x2FP64* basic_matrix, // ================== Subtract ================== // -inline void bgc_matrix3x2_subtract_fp32(const BgcMatrix3x2FP32* minuend, const BgcMatrix3x2FP32* subtrahend, BgcMatrix3x2FP32* difference) +inline void bgc_fp32_matrix3x2_subtract(BGC_FP32_Matrix3x2* difference, const BGC_FP32_Matrix3x2* minuend, const BGC_FP32_Matrix3x2* subtrahend) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -292,7 +408,7 @@ inline void bgc_matrix3x2_subtract_fp32(const BgcMatrix3x2FP32* minuend, const B difference->r2c3 = minuend->r2c3 - subtrahend->r2c3; } -inline void bgc_matrix3x2_subtract_fp64(const BgcMatrix3x2FP64* minuend, const BgcMatrix3x2FP64* subtrahend, BgcMatrix3x2FP64* difference) +inline void bgc_fp64_matrix3x2_subtract(BGC_FP64_Matrix3x2* difference, const BGC_FP64_Matrix3x2* minuend, const BGC_FP64_Matrix3x2* subtrahend) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -303,33 +419,9 @@ inline void bgc_matrix3x2_subtract_fp64(const BgcMatrix3x2FP64* minuend, const B difference->r2c3 = minuend->r2c3 - subtrahend->r2c3; } -// ============== Subtract scaled =============== // - -inline void bgc_matrix3x2_subtract_scaled_fp32(const BgcMatrix3x2FP32* basic_matrix, const BgcMatrix3x2FP32* scalable_matrix, const float scale, BgcMatrix3x2FP32* difference) -{ - difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale; - difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale; - difference->r1c3 = basic_matrix->r1c3 - scalable_matrix->r1c3 * scale; - - difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale; - difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale; - difference->r2c3 = basic_matrix->r2c3 - scalable_matrix->r2c3 * scale; -} - -inline void bgc_matrix3x2_subtract_scaled_fp64(const BgcMatrix3x2FP64* basic_matrix, const BgcMatrix3x2FP64* scalable_matrix, const double scale, BgcMatrix3x2FP64* difference) -{ - difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale; - difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale; - difference->r1c3 = basic_matrix->r1c3 - scalable_matrix->r1c3 * scale; - - difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale; - difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale; - difference->r2c3 = basic_matrix->r2c3 - scalable_matrix->r2c3 * scale; -} - // ================== Multiply ================== // -inline void bgc_matrix3x2_multiply_fp32(const BgcMatrix3x2FP32* multiplicand, const float multiplier, BgcMatrix3x2FP32* product) +inline void bgc_fp32_matrix3x2_multiply(BGC_FP32_Matrix3x2* product, const BGC_FP32_Matrix3x2* multiplicand, const float multiplier) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -340,7 +432,7 @@ inline void bgc_matrix3x2_multiply_fp32(const BgcMatrix3x2FP32* multiplicand, co product->r2c3 = multiplicand->r2c3 * multiplier; } -inline void bgc_matrix3x2_multiply_fp64(const BgcMatrix3x2FP64* multiplicand, const double multiplier, BgcMatrix3x2FP64* product) +inline void bgc_fp64_matrix3x2_multiply(BGC_FP64_Matrix3x2* product, const BGC_FP64_Matrix3x2* multiplicand, const double multiplier) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -353,44 +445,72 @@ inline void bgc_matrix3x2_multiply_fp64(const BgcMatrix3x2FP64* multiplicand, co // =================== Divide =================== // -inline void bgc_matrix3x2_divide_fp32(const BgcMatrix3x2FP32* dividend, const float divisor, BgcMatrix3x2FP32* quotient) +inline void bgc_fp32_matrix3x2_divide(BGC_FP32_Matrix3x2* quotient, const BGC_FP32_Matrix3x2* dividend, const float divisor) { - bgc_matrix3x2_multiply_fp32(dividend, 1.0f / divisor, quotient); + bgc_fp32_matrix3x2_multiply(quotient, dividend, 1.0f / divisor); } -inline void bgc_matrix3x2_divide_fp64(const BgcMatrix3x2FP64* dividend, const double divisor, BgcMatrix3x2FP64* quotient) +inline void bgc_fp64_matrix3x2_divide(BGC_FP64_Matrix3x2* quotient, const BGC_FP64_Matrix3x2* dividend, const double divisor) { - bgc_matrix3x2_multiply_fp64(dividend, 1.0 / divisor, quotient); + bgc_fp64_matrix3x2_multiply(quotient, dividend, 1.0 / divisor); +} + +// ================ Interpolate ================= // + +inline void bgc_fp32_matrix3x2_interpolate(BGC_FP32_Matrix3x2* interpolation, const BGC_FP32_Matrix3x2* first, const BGC_FP32_Matrix3x2* second, const float phase) +{ + const float couter_phase = 1.0f - phase; + + interpolation->r1c1 = first->r1c1 * couter_phase + second->r1c1 * phase; + interpolation->r1c2 = first->r1c2 * couter_phase + second->r1c2 * phase; + interpolation->r1c3 = first->r1c3 * couter_phase + second->r1c3 * phase; + + interpolation->r2c1 = first->r2c1 * couter_phase + second->r2c1 * phase; + interpolation->r2c2 = first->r2c2 * couter_phase + second->r2c2 * phase; + interpolation->r2c3 = first->r2c3 * couter_phase + second->r2c3 * phase; +} + +inline void bgc_fp64_matrix3x2_interpolate(BGC_FP64_Matrix3x2* interpolation, const BGC_FP64_Matrix3x2* first, const BGC_FP64_Matrix3x2* second, const double phase) +{ + const double couter_phase = 1.0 - phase; + + interpolation->r1c1 = first->r1c1 * couter_phase + second->r1c1 * phase; + interpolation->r1c2 = first->r1c2 * couter_phase + second->r1c2 * phase; + interpolation->r1c3 = first->r1c3 * couter_phase + second->r1c3 * phase; + + interpolation->r2c1 = first->r2c1 * couter_phase + second->r2c1 * phase; + interpolation->r2c2 = first->r2c2 * couter_phase + second->r2c2 * phase; + interpolation->r2c3 = first->r2c3 * couter_phase + second->r2c3 * phase; } // ============ Left Vector Product ============= // -inline void bgc_matrix3x2_get_left_product_fp32(const BgcVector2FP32* vector, const BgcMatrix3x2FP32* matrix, BgcVector3FP32* result) +inline void bgc_fp32_multiply_vector2_by_matrix3x2(BGC_FP32_Vector3* product, const BGC_FP32_Vector2* vector, const BGC_FP32_Matrix3x2* matrix) { - result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; - result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; - result->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3; + product->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; + product->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; + product->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3; } -inline void bgc_matrix3x2_get_left_product_fp64(const BgcVector2FP64* vector, const BgcMatrix3x2FP64* matrix, BgcVector3FP64* result) +inline void bgc_fp64_multiply_vector2_by_matrix3x2(BGC_FP64_Vector3* product, const BGC_FP64_Vector2* vector, const BGC_FP64_Matrix3x2* matrix) { - result->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; - result->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; - result->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3; + product->x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1; + product->x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2; + product->x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3; } // ============ Right Vector Product ============ // -inline void bgc_matrix3x2_get_right_product_fp32(const BgcMatrix3x2FP32* matrix, const BgcVector3FP32* vector, BgcVector2FP32* result) +inline void bgc_fp32_multiply_matrix3x2_by_vector3(BGC_FP32_Vector2* product, const BGC_FP32_Matrix3x2* matrix, const BGC_FP32_Vector3* vector) { - result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3; - result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3; + product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3; + product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3; } -inline void bgc_matrix3x2_get_right_product_fp64(const BgcMatrix3x2FP64* matrix, const BgcVector3FP64* vector, BgcVector2FP64* result) +inline void bgc_fp64_multiply_matrix3x2_by_vector3(BGC_FP64_Vector2* product, const BGC_FP64_Matrix3x2* matrix, const BGC_FP64_Vector3* vector) { - result->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3; - result->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3; + product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3; + product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3; } #endif diff --git a/basic-geometry/matrix3x3.c b/basic-geometry/matrix3x3.c index fc61d36..4125e37 100644 --- a/basic-geometry/matrix3x3.c +++ b/basic-geometry/matrix3x3.c @@ -1,84 +1,87 @@ #include "matrix3x3.h" -extern inline void bgc_matrix3x3_reset_fp32(BgcMatrix3x3FP32* matrix); -extern inline void bgc_matrix3x3_reset_fp64(BgcMatrix3x3FP64* matrix); +extern inline void bgc_fp32_matrix3x3_reset(BGC_FP32_Matrix3x3* matrix); +extern inline void bgc_fp64_matrix3x3_reset(BGC_FP64_Matrix3x3* matrix); -extern inline void bgc_matrix3x3_set_to_identity_fp32(BgcMatrix3x3FP32* matrix); -extern inline void bgc_matrix3x3_set_to_identity_fp64(BgcMatrix3x3FP64* matrix); +extern inline void bgc_fp32_matrix3x3_make_identity(BGC_FP32_Matrix3x3* matrix); +extern inline void bgc_fp64_matrix3x3_make_identity(BGC_FP64_Matrix3x3* matrix); -extern inline void bgc_matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, const float d3, BgcMatrix3x3FP32* matrix); -extern inline void bgc_matrix3x3_set_to_diagonal_fp64(const double d1, const double d2, const double d3, BgcMatrix3x3FP64* matrix); +extern inline void bgc_fp32_matrix3x3_make_diagonal(BGC_FP32_Matrix3x3* matrix, const float d1, const float d2, const float d3); +extern inline void bgc_fp64_matrix3x3_make_diagonal(BGC_FP64_Matrix3x3* matrix, const double d1, const double d2, const double d3); -extern inline void bgc_matrix3x3_copy_fp32(const BgcMatrix3x3FP32* source, BgcMatrix3x3FP32* destination); -extern inline void bgc_matrix3x3_copy_fp64(const BgcMatrix3x3FP64* source, BgcMatrix3x3FP64* destination); +extern inline void bgc_fp32_matrix3x3_copy(BGC_FP32_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source); +extern inline void bgc_fp64_matrix3x3_copy(BGC_FP64_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source); -extern inline void bgc_matrix3x3_swap_fp32(BgcMatrix3x3FP32* matrix1, BgcMatrix3x3FP32* matrix2); -extern inline void bgc_matrix3x3_swap_fp64(BgcMatrix3x3FP64* matrix1, BgcMatrix3x3FP64* matrix2); +extern inline void bgc_fp32_matrix3x3_swap(BGC_FP32_Matrix3x3* matrix1, BGC_FP32_Matrix3x3* matrix2); +extern inline void bgc_fp64_matrix3x3_swap(BGC_FP64_Matrix3x3* matrix1, BGC_FP64_Matrix3x3* matrix2); -extern inline void bgc_matrix3x3_convert_fp64_to_fp32(const BgcMatrix3x3FP64* source, BgcMatrix3x3FP32* destination); -extern inline void bgc_matrix3x3_convert_fp32_to_fp64(const BgcMatrix3x3FP32* source, BgcMatrix3x3FP64* destination); +extern inline void bgc_fp64_matrix3x3_convert_to_fp32(BGC_FP32_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source); +extern inline void bgc_fp32_matrix3x3_convert_to_fp64(BGC_FP64_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source); -extern inline float bgc_matrix3x3_get_determinant_fp32(const BgcMatrix3x3FP32* matrix); -extern inline double bgc_matrix3x3_get_determinant_fp64(const BgcMatrix3x3FP64* matrix); +extern inline float bgc_fp32_matrix3x3_get_determinant(const BGC_FP32_Matrix3x3* matrix); +extern inline double bgc_fp64_matrix3x3_get_determinant(const BGC_FP64_Matrix3x3* matrix); -extern inline int bgc_matrix3x3_is_singular_fp32(const BgcMatrix3x3FP32* matrix); -extern inline int bgc_matrix3x3_is_singular_fp64(const BgcMatrix3x3FP64* matrix); +extern inline int bgc_fp32_matrix3x3_is_identity(const BGC_FP32_Matrix3x3* matrix); +extern inline int bgc_fp64_matrix3x3_is_identity(const BGC_FP64_Matrix3x3* matrix); -extern inline int bgc_matrix3x3_is_rotation_fp32(const BgcMatrix3x3FP32* matrix); -extern inline int bgc_matrix3x3_is_rotation_fp64(const BgcMatrix3x3FP64* matrix); +extern inline int bgc_fp32_matrix3x3_is_singular(const BGC_FP32_Matrix3x3* matrix); +extern inline int bgc_fp64_matrix3x3_is_singular(const BGC_FP64_Matrix3x3* matrix); -extern inline void bgc_matrix3x3_transpose_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* transposed); -extern inline void bgc_matrix3x3_transpose_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64* transposed); +extern inline int bgc_fp32_matrix3x3_is_rotation(const BGC_FP32_Matrix3x3* matrix); +extern inline int bgc_fp64_matrix3x3_is_rotation(const BGC_FP64_Matrix3x3* matrix); -extern inline void bgc_matrix3x3_set_row1_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix); -extern inline void bgc_matrix3x3_set_row1_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix); +extern inline int bgc_fp32_matrix3x3_invert(BGC_FP32_Matrix3x3* matrix); +extern inline int bgc_fp64_matrix3x3_invert(BGC_FP64_Matrix3x3* matrix); -extern inline void bgc_matrix3x3_set_row2_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix); -extern inline void bgc_matrix3x3_set_row2_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix); +extern inline void bgc_fp32_matrix3x3_transpose(BGC_FP32_Matrix3x3* matrix); +extern inline void bgc_fp64_matrix3x3_transpose(BGC_FP64_Matrix3x3* matrix); -extern inline void bgc_matrix3x3_set_row3_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix); -extern inline void bgc_matrix3x3_set_row3_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix); +extern inline void bgc_fp32_matrix3x3_get_transposed(BGC_FP32_Matrix3x3* transposed, const BGC_FP32_Matrix3x3* matrix); +extern inline void bgc_fp64_matrix3x3_get_transposed(BGC_FP64_Matrix3x3* transposed, const BGC_FP64_Matrix3x3* matrix); -extern inline void bgc_matrix3x3_set_column1_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix); -extern inline void bgc_matrix3x3_set_column1_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix); +extern inline void bgc_fp32_matrix3x3_get_row(BGC_FP32_Vector3* row, const BGC_FP32_Matrix3x3* matrix, const int row_number); +extern inline void bgc_fp64_matrix3x3_get_row(BGC_FP64_Vector3* row, const BGC_FP64_Matrix3x3* matrix, const int row_number); -extern inline void bgc_matrix3x3_set_column2_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix); -extern inline void bgc_matrix3x3_set_column2_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix); +extern inline void bgc_fp32_matrix3x3_set_row(BGC_FP32_Matrix3x3* matrix, const int row_number, const BGC_FP32_Vector3* row); +extern inline void bgc_fp64_matrix3x3_set_row(BGC_FP64_Matrix3x3* matrix, const int row_number, const BGC_FP64_Vector3* row); -extern inline void bgc_matrix3x3_set_column3_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix); -extern inline void bgc_matrix3x3_set_column3_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix); +extern inline void bgc_fp32_matrix3x3_get_column(BGC_FP32_Vector3* column, const BGC_FP32_Matrix3x3* matrix, const int column_number); +extern inline void bgc_fp64_matrix3x3_get_column(BGC_FP64_Vector3* column, const BGC_FP64_Matrix3x3* matrix, const int column_number); -extern inline void bgc_matrix3x3_add_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x3FP32* sum); -extern inline void bgc_matrix3x3_add_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x3FP64* sum); +extern inline void bgc_fp32_matrix3x3_set_column(BGC_FP32_Matrix3x3* matrix, const int column_number, const BGC_FP32_Vector3* column); +extern inline void bgc_fp64_matrix3x3_set_column(BGC_FP64_Matrix3x3* matrix, const int column_number, const BGC_FP64_Vector3* column); -extern inline void bgc_matrix3x3_add_scaled_fp32(const BgcMatrix3x3FP32* basic_matrix, const BgcMatrix3x3FP32* scalable_matrix, const float scale, BgcMatrix3x3FP32* sum); -extern inline void bgc_matrix3x3_add_scaled_fp64(const BgcMatrix3x3FP64* basic_matrix, const BgcMatrix3x3FP64* scalable_matrix, const double scale, BgcMatrix3x3FP64* sum); +extern inline void bgc_fp32_matrix3x3_add(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix3x3* matrix2); +extern inline void bgc_fp64_matrix3x3_add(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix3x3* matrix2); -extern inline void bgc_matrix3x3_subtract_fp32(const BgcMatrix3x3FP32* minuend, const BgcMatrix3x3FP32* subtrahend, BgcMatrix3x3FP32* difference); -extern inline void bgc_matrix3x3_subtract_fp64(const BgcMatrix3x3FP64* minuend, const BgcMatrix3x3FP64* subtrahend, BgcMatrix3x3FP64* difference); +extern inline void bgc_fp32_matrix3x3_add_scaled(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* basic_matrix, const BGC_FP32_Matrix3x3* scalable_matrix, const float scale); +extern inline void bgc_fp64_matrix3x3_add_scaled(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* basic_matrix, const BGC_FP64_Matrix3x3* scalable_matrix, const double scale); -extern inline void bgc_matrix3x3_subtract_scaled_fp32(const BgcMatrix3x3FP32* basic_matrix, const BgcMatrix3x3FP32* scalable_matrix, const float scale, BgcMatrix3x3FP32* difference); -extern inline void bgc_matrix3x3_subtract_scaled_fp64(const BgcMatrix3x3FP64* basic_matrix, const BgcMatrix3x3FP64* scalable_matrix, const double scale, BgcMatrix3x3FP64* difference); +extern inline void bgc_fp32_matrix3x3_subtract(BGC_FP32_Matrix3x3* difference, const BGC_FP32_Matrix3x3* minuend, const BGC_FP32_Matrix3x3* subtrahend); +extern inline void bgc_fp64_matrix3x3_subtract(BGC_FP64_Matrix3x3* difference, const BGC_FP64_Matrix3x3* minuend, const BGC_FP64_Matrix3x3* subtrahend); -extern inline void bgc_matrix3x3_multiply_fp32(const BgcMatrix3x3FP32* multiplicand, const float multiplier, BgcMatrix3x3FP32* product); -extern inline void bgc_matrix3x3_multiply_fp64(const BgcMatrix3x3FP64* multiplicand, const double multiplier, BgcMatrix3x3FP64* product); +extern inline void bgc_fp32_matrix3x3_multiply(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix3x3* multiplicand, const float multiplier); +extern inline void bgc_fp64_matrix3x3_multiply(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix3x3* multiplicand, const double multiplier); -extern inline void bgc_matrix3x3_divide_fp32(const BgcMatrix3x3FP32* dividend, const float divisor, BgcMatrix3x3FP32* quotient); -extern inline void bgc_matrix3x3_divide_fp64(const BgcMatrix3x3FP64* dividend, const double divisor, BgcMatrix3x3FP64* quotient); +extern inline void bgc_fp32_matrix3x3_divide(BGC_FP32_Matrix3x3* quotient, const BGC_FP32_Matrix3x3* dividend, const float divisor); +extern inline void bgc_fp64_matrix3x3_divide(BGC_FP64_Matrix3x3* quotient, const BGC_FP64_Matrix3x3* dividend, const double divisor); -extern inline void bgc_matrix3x3_get_left_product_fp32(const BgcVector3FP32* vector, const BgcMatrix3x3FP32* matrix, BgcVector3FP32* result); -extern inline void bgc_matrix3x3_get_left_product_fp64(const BgcVector3FP64* vector, const BgcMatrix3x3FP64* matrix, BgcVector3FP64* result); +extern inline void bgc_fp32_matrix3x3_interpolate(BGC_FP32_Matrix3x3* interpolation, const BGC_FP32_Matrix3x3* first, const BGC_FP32_Matrix3x3* second, const float phase); +extern inline void bgc_fp64_matrix3x3_interpolate(BGC_FP64_Matrix3x3* interpolation, const BGC_FP64_Matrix3x3* first, const BGC_FP64_Matrix3x3* second, const double phase); -extern inline void bgc_matrix3x3_get_right_product_fp32(const BgcMatrix3x3FP32* matrix, const BgcVector3FP32* vector, BgcVector3FP32* result); -extern inline void bgc_matrix3x3_get_right_product_fp64(const BgcMatrix3x3FP64* matrix, const BgcVector3FP64* vector, BgcVector3FP64* result); +extern inline void bgc_fp32_multiply_vector3_by_matrix3x3(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector, const BGC_FP32_Matrix3x3* matrix); +extern inline void bgc_fp64_multiply_vector3_by_matrix3x3(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector, const BGC_FP64_Matrix3x3* matrix); -// =================== Invert =================== // +extern inline void bgc_fp32_multiply_matrix3x3_by_vector3(BGC_FP32_Vector3* product, const BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Vector3* vector); +extern inline void bgc_fp64_multiply_matrix3x3_by_vector3(BGC_FP64_Vector3* product, const BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Vector3* vector); -int bgc_matrix3x3_invert_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* inverted) +// ================ Get Inverse ================= // + +int bgc_fp32_matrix3x3_get_inverse(BGC_FP32_Matrix3x3* inverse, const BGC_FP32_Matrix3x3* matrix) { - const float determinant = bgc_matrix3x3_get_determinant_fp32(matrix); + const float determinant = bgc_fp32_matrix3x3_get_determinant(matrix); - if (bgc_is_zero_fp32(determinant)) { + if (bgc_fp32_is_zero(determinant)) { return 0; } @@ -96,26 +99,26 @@ int bgc_matrix3x3_invert_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* const float multiplier = 1.0f / determinant; - inverted->r1c1 = r1c1 * multiplier; - inverted->r1c2 = r1c2 * multiplier; - inverted->r1c3 = r1c3 * multiplier; + inverse->r1c1 = r1c1 * multiplier; + inverse->r1c2 = r1c2 * multiplier; + inverse->r1c3 = r1c3 * multiplier; - inverted->r2c1 = r2c1 * multiplier; - inverted->r2c2 = r2c2 * multiplier; - inverted->r2c3 = r2c3 * multiplier; + inverse->r2c1 = r2c1 * multiplier; + inverse->r2c2 = r2c2 * multiplier; + inverse->r2c3 = r2c3 * multiplier; - inverted->r3c1 = r3c1 * multiplier; - inverted->r3c2 = r3c2 * multiplier; - inverted->r3c3 = r3c3 * multiplier; + inverse->r3c1 = r3c1 * multiplier; + inverse->r3c2 = r3c2 * multiplier; + inverse->r3c3 = r3c3 * multiplier; return 1; } -int bgc_matrix3x3_invert_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64* inverted) +int bgc_fp64_matrix3x3_get_inverse(BGC_FP64_Matrix3x3* inverse, const BGC_FP64_Matrix3x3* matrix) { - const double determinant = bgc_matrix3x3_get_determinant_fp64(matrix); + const double determinant = bgc_fp64_matrix3x3_get_determinant(matrix); - if (bgc_is_zero_fp64(determinant)) { + if (bgc_fp64_is_zero(determinant)) { return 0; } @@ -133,17 +136,17 @@ int bgc_matrix3x3_invert_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64* const double multiplier = 1.0 / determinant; - inverted->r1c1 = r1c1 * multiplier; - inverted->r1c2 = r1c2 * multiplier; - inverted->r1c3 = r1c3 * multiplier; + inverse->r1c1 = r1c1 * multiplier; + inverse->r1c2 = r1c2 * multiplier; + inverse->r1c3 = r1c3 * multiplier; - inverted->r2c1 = r2c1 * multiplier; - inverted->r2c2 = r2c2 * multiplier; - inverted->r2c3 = r2c3 * multiplier; + inverse->r2c1 = r2c1 * multiplier; + inverse->r2c2 = r2c2 * multiplier; + inverse->r2c3 = r2c3 * multiplier; - inverted->r3c1 = r3c1 * multiplier; - inverted->r3c2 = r3c2 * multiplier; - inverted->r3c3 = r3c3 * multiplier; + inverse->r3c1 = r3c1 * multiplier; + inverse->r3c2 = r3c2 * multiplier; + inverse->r3c3 = r3c3 * multiplier; return 1; } diff --git a/basic-geometry/matrix3x3.h b/basic-geometry/matrix3x3.h index b0bd7c6..26450b2 100644 --- a/basic-geometry/matrix3x3.h +++ b/basic-geometry/matrix3x3.h @@ -1,12 +1,12 @@ -#ifndef _BGC_MATRIX3X3_H_ -#define _BGC_MATRIX3X3_H_ +#ifndef _BGC_MATRIX3X3_H_INCLUDED_ +#define _BGC_MATRIX3X3_H_INCLUDED_ #include "vector3.h" -#include "matrixes.h" +#include "matrices.h" // =================== Reset ==================== // -inline void bgc_matrix3x3_reset_fp32(BgcMatrix3x3FP32* matrix) +inline void bgc_fp32_matrix3x3_reset(BGC_FP32_Matrix3x3* matrix) { matrix->r1c1 = 0.0f; matrix->r1c2 = 0.0f; @@ -21,7 +21,7 @@ inline void bgc_matrix3x3_reset_fp32(BgcMatrix3x3FP32* matrix) matrix->r3c3 = 0.0f; } -inline void bgc_matrix3x3_reset_fp64(BgcMatrix3x3FP64* matrix) +inline void bgc_fp64_matrix3x3_reset(BGC_FP64_Matrix3x3* matrix) { matrix->r1c1 = 0.0; matrix->r1c2 = 0.0; @@ -38,7 +38,7 @@ inline void bgc_matrix3x3_reset_fp64(BgcMatrix3x3FP64* matrix) // ================== Identity ================== // -inline void bgc_matrix3x3_set_to_identity_fp32(BgcMatrix3x3FP32* matrix) +inline void bgc_fp32_matrix3x3_make_identity(BGC_FP32_Matrix3x3* matrix) { matrix->r1c1 = 1.0f; matrix->r1c2 = 0.0f; @@ -53,7 +53,7 @@ inline void bgc_matrix3x3_set_to_identity_fp32(BgcMatrix3x3FP32* matrix) matrix->r3c3 = 1.0f; } -inline void bgc_matrix3x3_set_to_identity_fp64(BgcMatrix3x3FP64* matrix) +inline void bgc_fp64_matrix3x3_make_identity(BGC_FP64_Matrix3x3* matrix) { matrix->r1c1 = 1.0; matrix->r1c2 = 0.0; @@ -70,7 +70,7 @@ inline void bgc_matrix3x3_set_to_identity_fp64(BgcMatrix3x3FP64* matrix) // ================ Set Diagonal ================ // -inline void bgc_matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, const float d3, BgcMatrix3x3FP32* matrix) +inline void bgc_fp32_matrix3x3_make_diagonal(BGC_FP32_Matrix3x3* matrix, const float d1, const float d2, const float d3) { matrix->r1c1 = d1; matrix->r1c2 = 0.0f; @@ -85,7 +85,7 @@ inline void bgc_matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, c matrix->r3c3 = d2; } -inline void bgc_matrix3x3_set_to_diagonal_fp64(const double d1, const double d2, const double d3, BgcMatrix3x3FP64* matrix) +inline void bgc_fp64_matrix3x3_make_diagonal(BGC_FP64_Matrix3x3* matrix, const double d1, const double d2, const double d3) { matrix->r1c1 = d1; matrix->r1c2 = 0.0; @@ -102,7 +102,7 @@ inline void bgc_matrix3x3_set_to_diagonal_fp64(const double d1, const double d2, // ==================== Copy ==================== // -inline void bgc_matrix3x3_copy_fp32(const BgcMatrix3x3FP32* source, BgcMatrix3x3FP32* destination) +inline void bgc_fp32_matrix3x3_copy(BGC_FP32_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -117,7 +117,7 @@ inline void bgc_matrix3x3_copy_fp32(const BgcMatrix3x3FP32* source, BgcMatrix3x3 destination->r3c3 = source->r3c3; } -inline void bgc_matrix3x3_copy_fp64(const BgcMatrix3x3FP64* source, BgcMatrix3x3FP64* destination) +inline void bgc_fp64_matrix3x3_copy(BGC_FP64_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -134,7 +134,7 @@ inline void bgc_matrix3x3_copy_fp64(const BgcMatrix3x3FP64* source, BgcMatrix3x3 // ==================== Swap ==================== // -inline void bgc_matrix3x3_swap_fp32(BgcMatrix3x3FP32* matrix1, BgcMatrix3x3FP32* matrix2) +inline void bgc_fp32_matrix3x3_swap(BGC_FP32_Matrix3x3* matrix1, BGC_FP32_Matrix3x3* matrix2) { const float r1c1 = matrix2->r1c1; const float r1c2 = matrix2->r1c2; @@ -173,7 +173,7 @@ inline void bgc_matrix3x3_swap_fp32(BgcMatrix3x3FP32* matrix1, BgcMatrix3x3FP32* matrix1->r3c3 = r3c3; } -inline void bgc_matrix3x3_swap_fp64(BgcMatrix3x3FP64* matrix1, BgcMatrix3x3FP64* matrix2) +inline void bgc_fp64_matrix3x3_swap(BGC_FP64_Matrix3x3* matrix1, BGC_FP64_Matrix3x3* matrix2) { const double r1c1 = matrix2->r1c1; const double r1c2 = matrix2->r1c2; @@ -214,7 +214,7 @@ inline void bgc_matrix3x3_swap_fp64(BgcMatrix3x3FP64* matrix1, BgcMatrix3x3FP64* // ================== Convert =================== // -inline void bgc_matrix3x3_convert_fp64_to_fp32(const BgcMatrix3x3FP64* source, BgcMatrix3x3FP32* destination) +inline void bgc_fp64_matrix3x3_convert_to_fp32(BGC_FP32_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source) { destination->r1c1 = (float)source->r1c1; destination->r1c2 = (float)source->r1c2; @@ -229,7 +229,7 @@ inline void bgc_matrix3x3_convert_fp64_to_fp32(const BgcMatrix3x3FP64* source, B destination->r3c3 = (float)source->r3c3; } -inline void bgc_matrix3x3_convert_fp32_to_fp64(const BgcMatrix3x3FP32* source, BgcMatrix3x3FP64* destination) +inline void bgc_fp32_matrix3x3_convert_to_fp64(BGC_FP64_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source) { destination->r1c1 = source->r1c1; destination->r1c2 = source->r1c2; @@ -246,89 +246,141 @@ inline void bgc_matrix3x3_convert_fp32_to_fp64(const BgcMatrix3x3FP32* source, B // ================ Determinant ================= // -inline float bgc_matrix3x3_get_determinant_fp32(const BgcMatrix3x3FP32* matrix) +inline float bgc_fp32_matrix3x3_get_determinant(const BGC_FP32_Matrix3x3* matrix) { return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2) + matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3) + matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1); } -inline double bgc_matrix3x3_get_determinant_fp64(const BgcMatrix3x3FP64* matrix) +inline double bgc_fp64_matrix3x3_get_determinant(const BGC_FP64_Matrix3x3* matrix) { return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2) + matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3) + matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1); } -// ================== Singular ================== // +// ================ Is Identity ================= // -inline int bgc_matrix3x3_is_singular_fp32(const BgcMatrix3x3FP32* matrix) +inline int bgc_fp32_matrix3x3_is_identity(const BGC_FP32_Matrix3x3* matrix) { - return bgc_is_zero_fp32(bgc_matrix3x3_get_determinant_fp32(matrix)); + return bgc_fp32_is_unit(matrix->r1c1) && bgc_fp32_is_zero(matrix->r1c2) && bgc_fp32_is_zero(matrix->r1c3) + && bgc_fp32_is_zero(matrix->r2c1) && bgc_fp32_is_unit(matrix->r2c2) && bgc_fp32_is_zero(matrix->r2c3) + && bgc_fp32_is_zero(matrix->r3c1) && bgc_fp32_is_zero(matrix->r3c2) && bgc_fp32_is_unit(matrix->r3c3); } -inline int bgc_matrix3x3_is_singular_fp64(const BgcMatrix3x3FP64* matrix) +inline int bgc_fp64_matrix3x3_is_identity(const BGC_FP64_Matrix3x3* matrix) { - return bgc_is_zero_fp64(bgc_matrix3x3_get_determinant_fp64(matrix)); + return bgc_fp64_is_unit(matrix->r1c1) && bgc_fp64_is_zero(matrix->r1c2) && bgc_fp64_is_zero(matrix->r1c3) + && bgc_fp64_is_zero(matrix->r2c1) && bgc_fp64_is_unit(matrix->r2c2) && bgc_fp64_is_zero(matrix->r2c3) + && bgc_fp64_is_zero(matrix->r3c1) && bgc_fp64_is_zero(matrix->r3c2) && bgc_fp64_is_unit(matrix->r3c3); +} + +// ================ Is Singular ================= // + +inline int bgc_fp32_matrix3x3_is_singular(const BGC_FP32_Matrix3x3* matrix) +{ + return bgc_fp32_is_zero(bgc_fp32_matrix3x3_get_determinant(matrix)); +} + +inline int bgc_fp64_matrix3x3_is_singular(const BGC_FP64_Matrix3x3* matrix) +{ + return bgc_fp64_is_zero(bgc_fp64_matrix3x3_get_determinant(matrix)); } // ================ Is Rotation ================= // -inline int bgc_matrix3x3_is_rotation_fp32(const BgcMatrix3x3FP32* matrix) +inline int bgc_fp32_matrix3x3_is_rotation(const BGC_FP32_Matrix3x3* matrix) { - if (!bgc_is_unit_fp32(bgc_matrix3x3_get_determinant_fp32(matrix))) { - return 0; - } + BGC_FP32_Matrix3x3 product; - const float product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1; - const float product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2; - const float product_r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3; + product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1; + product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2; + product.r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3; - const float product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1; - const float product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2; - const float product_r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3; + product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1; + product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2; + product.r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3; - const float product_r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1; - const float product_r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2; - const float product_r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3; + product.r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1; + product.r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2; + product.r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3; - return bgc_is_unit_fp32(product_r1c1) && bgc_is_zero_fp32(product_r1c2) && bgc_is_zero_fp32(product_r1c3) - && bgc_is_zero_fp32(product_r2c1) && bgc_is_unit_fp32(product_r2c2) && bgc_is_zero_fp32(product_r2c3) - && bgc_is_zero_fp32(product_r3c1) && bgc_is_zero_fp32(product_r3c2) && bgc_is_unit_fp32(product_r3c3); + return bgc_fp32_matrix3x3_is_identity(&product); } -inline int bgc_matrix3x3_is_rotation_fp64(const BgcMatrix3x3FP64* matrix) +inline int bgc_fp64_matrix3x3_is_rotation(const BGC_FP64_Matrix3x3* matrix) { - if (!bgc_is_unit_fp64(bgc_matrix3x3_get_determinant_fp64(matrix))) { - return 0; - } + BGC_FP64_Matrix3x3 product; - const double product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1; - const double product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2; - const double product_r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3; + product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1; + product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2; + product.r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3; - const double product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1; - const double product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2; - const double product_r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3; + product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1; + product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2; + product.r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3; - const double product_r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1; - const double product_r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2; - const double product_r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3; + product.r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1; + product.r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2; + product.r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3; - return bgc_is_unit_fp64(product_r1c1) && bgc_is_zero_fp64(product_r1c2) && bgc_is_zero_fp64(product_r1c3) - && bgc_is_zero_fp64(product_r2c1) && bgc_is_unit_fp64(product_r2c2) && bgc_is_zero_fp64(product_r2c3) - && bgc_is_zero_fp64(product_r3c1) && bgc_is_zero_fp64(product_r3c2) && bgc_is_unit_fp64(product_r3c3); + return bgc_fp64_matrix3x3_is_identity(&product); } +// ================ Get Inverse ================= // + +int bgc_fp32_matrix3x3_get_inverse(BGC_FP32_Matrix3x3* inverse, const BGC_FP32_Matrix3x3* matrix); + +int bgc_fp64_matrix3x3_get_inverse(BGC_FP64_Matrix3x3* inverse, const BGC_FP64_Matrix3x3* matrix); + // =================== Invert =================== // -int bgc_matrix3x3_invert_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* inverted); +inline int bgc_fp32_matrix3x3_invert(BGC_FP32_Matrix3x3* matrix) +{ + return bgc_fp32_matrix3x3_get_inverse(matrix, matrix); +} -int bgc_matrix3x3_invert_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64* inverted); +inline int bgc_fp64_matrix3x3_invert(BGC_FP64_Matrix3x3* matrix) +{ + return bgc_fp64_matrix3x3_get_inverse(matrix, matrix); +} // ================= Transpose ================== // -inline void bgc_matrix3x3_transpose_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* transposed) +inline void bgc_fp32_matrix3x3_transpose(BGC_FP32_Matrix3x3* matrix) +{ + const float r1c2 = matrix->r1c2; + const float r1c3 = matrix->r1c3; + const float r2c3 = matrix->r2c3; + + matrix->r1c2 = matrix->r2c1; + matrix->r1c3 = matrix->r3c1; + matrix->r2c3 = matrix->r3c2; + + matrix->r2c1 = r1c2; + matrix->r3c1 = r1c3; + matrix->r3c2 = r2c3; +} + +inline void bgc_fp64_matrix3x3_transpose(BGC_FP64_Matrix3x3* matrix) +{ + const double r1c2 = matrix->r1c2; + const double r1c3 = matrix->r1c3; + const double r2c3 = matrix->r2c3; + + matrix->r1c2 = matrix->r2c1; + matrix->r1c3 = matrix->r3c1; + matrix->r2c3 = matrix->r3c2; + + matrix->r2c1 = r1c2; + matrix->r3c1 = r1c3; + matrix->r3c2 = r2c3; +} + +// =============== Get Transpose ================ // + +inline void bgc_fp32_matrix3x3_get_transposed(BGC_FP32_Matrix3x3* transposed, const BGC_FP32_Matrix3x3* matrix) { transposed->r1c1 = matrix->r1c1; transposed->r2c2 = matrix->r2c2; @@ -347,7 +399,7 @@ inline void bgc_matrix3x3_transpose_fp32(const BgcMatrix3x3FP32* matrix, BgcMatr transposed->r3c2 = r2c3; } -inline void bgc_matrix3x3_transpose_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64* transposed) +inline void bgc_fp64_matrix3x3_get_transposed(BGC_FP64_Matrix3x3* transposed, const BGC_FP64_Matrix3x3* matrix) { transposed->r1c1 = matrix->r1c1; transposed->r2c2 = matrix->r2c2; @@ -366,105 +418,245 @@ inline void bgc_matrix3x3_transpose_fp64(const BgcMatrix3x3FP64* matrix, BgcMatr transposed->r3c2 = r2c3; } -// ================= Set Row 1 ================== // +// ================== Get Row -================== // -inline void bgc_matrix3x3_set_row1_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix) +inline void bgc_fp32_matrix3x3_get_row(BGC_FP32_Vector3* row, const BGC_FP32_Matrix3x3* matrix, const int row_number) { - matrix->r1c1 = c1; - matrix->r1c2 = c2; - matrix->r1c3 = c3; + if (row_number == 1) + { + row->x1 = matrix->r1c1; + row->x2 = matrix->r1c2; + row->x3 = matrix->r1c3; + return; + } + + if (row_number == 2) + { + row->x1 = matrix->r2c1; + row->x2 = matrix->r2c2; + row->x3 = matrix->r2c3; + return; + } + + if (row_number == 3) + { + row->x1 = matrix->r3c1; + row->x2 = matrix->r3c2; + row->x3 = matrix->r3c3; + return; + } + + row->x1 = 0.0f; + row->x2 = 0.0f; + row->x3 = 0.0f; } -inline void bgc_matrix3x3_set_row1_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix) +inline void bgc_fp64_matrix3x3_get_row(BGC_FP64_Vector3* row, const BGC_FP64_Matrix3x3* matrix, const int row_number) { - matrix->r1c1 = c1; - matrix->r1c2 = c2; - matrix->r1c3 = c3; + if (row_number == 1) + { + row->x1 = matrix->r1c1; + row->x2 = matrix->r1c2; + row->x3 = matrix->r1c3; + return; + } + + if (row_number == 2) + { + row->x1 = matrix->r2c1; + row->x2 = matrix->r2c2; + row->x3 = matrix->r2c3; + return; + } + + if (row_number == 3) + { + row->x1 = matrix->r3c1; + row->x2 = matrix->r3c2; + row->x3 = matrix->r3c3; + return; + } + + row->x1 = 0.0; + row->x2 = 0.0; + row->x3 = 0.0; } -// ================= Set Row 2 ================== // +// ================== Set Row =================== // -inline void bgc_matrix3x3_set_row2_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix) +inline void bgc_fp32_matrix3x3_set_row(BGC_FP32_Matrix3x3* matrix, const int row_number, const BGC_FP32_Vector3* row) { - matrix->r2c1 = c1; - matrix->r2c2 = c2; - matrix->r2c3 = c3; + if (row_number == 1) + { + matrix->r1c1 = row->x1; + matrix->r1c2 = row->x2; + matrix->r1c3 = row->x3; + return; + } + + if (row_number == 2) + { + matrix->r2c1 = row->x1; + matrix->r2c2 = row->x2; + matrix->r2c3 = row->x3; + return; + } + + if (row_number == 3) + { + matrix->r3c1 = row->x1; + matrix->r3c2 = row->x2; + matrix->r3c3 = row->x3; + } } -inline void bgc_matrix3x3_set_row2_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix) +inline void bgc_fp64_matrix3x3_set_row(BGC_FP64_Matrix3x3* matrix, const int row_number, const BGC_FP64_Vector3* row) { - matrix->r2c1 = c1; - matrix->r2c2 = c2; - matrix->r2c3 = c3; + if (row_number == 1) + { + matrix->r1c1 = row->x1; + matrix->r1c2 = row->x2; + matrix->r1c3 = row->x3; + return; + } + + if (row_number == 2) + { + matrix->r2c1 = row->x1; + matrix->r2c2 = row->x2; + matrix->r2c3 = row->x3; + return; + } + + if (row_number == 3) + { + matrix->r3c1 = row->x1; + matrix->r3c2 = row->x2; + matrix->r3c3 = row->x3; + } } -// ================= Set Row 3 ================== // +// ================= Get Column ================= // -inline void bgc_matrix3x3_set_row3_fp32(const float c1, const float c2, const float c3, BgcMatrix3x3FP32* matrix) +inline void bgc_fp32_matrix3x3_get_column(BGC_FP32_Vector3* column, const BGC_FP32_Matrix3x3* matrix, const int column_number) { - matrix->r3c1 = c1; - matrix->r3c2 = c2; - matrix->r3c3 = c3; + if (column_number == 1) + { + column->x1 = matrix->r1c1; + column->x2 = matrix->r2c1; + column->x3 = matrix->r3c1; + return; + } + + if (column_number == 2) + { + column->x1 = matrix->r1c2; + column->x2 = matrix->r2c2; + column->x3 = matrix->r3c2; + return; + } + + if (column_number == 3) + { + column->x1 = matrix->r1c3; + column->x2 = matrix->r2c3; + column->x3 = matrix->r3c3; + return; + } + + column->x1 = 0.0f; + column->x2 = 0.0f; + column->x3 = 0.0f; } -inline void bgc_matrix3x3_set_row3_fp64(const double c1, const double c2, const double c3, BgcMatrix3x3FP64* matrix) +inline void bgc_fp64_matrix3x3_get_column(BGC_FP64_Vector3* column, const BGC_FP64_Matrix3x3* matrix, const int column_number) { - matrix->r3c1 = c1; - matrix->r3c2 = c2; - matrix->r3c3 = c3; + if (column_number == 1) + { + column->x1 = matrix->r1c1; + column->x2 = matrix->r2c1; + column->x3 = matrix->r3c1; + return; + } + + if (column_number == 2) + { + column->x1 = matrix->r1c2; + column->x2 = matrix->r2c2; + column->x3 = matrix->r3c2; + return; + } + + if (column_number == 3) + { + column->x1 = matrix->r1c3; + column->x2 = matrix->r2c3; + column->x3 = matrix->r3c3; + return; + } + + column->x1 = 0.0; + column->x2 = 0.0; + column->x3 = 0.0; } -// ================ Set Column 1 ================ // +// ================= Set Column ================= // -inline void bgc_matrix3x3_set_column1_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix) +inline void bgc_fp32_matrix3x3_set_column(BGC_FP32_Matrix3x3* matrix, const int column_number, const BGC_FP32_Vector3* column) { - matrix->r1c1 = r1; - matrix->r2c1 = r2; - matrix->r3c1 = r3; + if (column_number == 1) + { + matrix->r1c1 = column->x1; + matrix->r2c1 = column->x2; + matrix->r3c1 = column->x3; + return; + } + + if (column_number == 2) + { + matrix->r1c2 = column->x1; + matrix->r2c2 = column->x2; + matrix->r3c2 = column->x3; + return; + } + + if (column_number == 3) + { + matrix->r1c3 = column->x1; + matrix->r2c3 = column->x2; + matrix->r3c3 = column->x3; + } } -inline void bgc_matrix3x3_set_column1_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix) +inline void bgc_fp64_matrix3x3_set_column(BGC_FP64_Matrix3x3* matrix, const int column_number, const BGC_FP64_Vector3* column) { - matrix->r1c1 = r1; - matrix->r2c1 = r2; - matrix->r3c1 = r3; -} + if (column_number == 1) + { + matrix->r1c1 = column->x1; + matrix->r2c1 = column->x2; + matrix->r3c1 = column->x3; + return; + } -// ================ Set Column 2 ================ // + if (column_number == 2) + { + matrix->r1c2 = column->x1; + matrix->r2c2 = column->x2; + matrix->r3c2 = column->x3; + return; + } -inline void bgc_matrix3x3_set_column2_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix) -{ - matrix->r1c2 = r1; - matrix->r2c2 = r2; - matrix->r3c2 = r3; -} - -inline void bgc_matrix3x3_set_column2_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix) -{ - matrix->r1c2 = r1; - matrix->r2c2 = r2; - matrix->r3c2 = r3; -} - -// ================ Set Column 3 ================ // - -inline void bgc_matrix3x3_set_column3_fp32(const float r1, const float r2, const float r3, BgcMatrix3x3FP32* matrix) -{ - matrix->r1c3 = r1; - matrix->r2c3 = r2; - matrix->r3c3 = r3; -} - -inline void bgc_matrix3x3_set_column3_fp64(const double r1, const double r2, const double r3, BgcMatrix3x3FP64* matrix) -{ - matrix->r1c3 = r1; - matrix->r2c3 = r2; - matrix->r3c3 = r3; + if (column_number == 3) + { + matrix->r1c3 = column->x1; + matrix->r2c3 = column->x2; + matrix->r3c3 = column->x3; + } } // ==================== Add ===================== // -inline void bgc_matrix3x3_add_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x3FP32* sum) +inline void bgc_fp32_matrix3x3_add(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix3x3* matrix2) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -479,7 +671,7 @@ inline void bgc_matrix3x3_add_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMat sum->r3c3 = matrix1->r3c3 + matrix2->r3c3; } -inline void bgc_matrix3x3_add_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x3FP64* sum) +inline void bgc_fp64_matrix3x3_add(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix3x3* matrix2) { sum->r1c1 = matrix1->r1c1 + matrix2->r1c1; sum->r1c2 = matrix1->r1c2 + matrix2->r1c2; @@ -496,7 +688,7 @@ inline void bgc_matrix3x3_add_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMat // ================= Add scaled ================= // -inline void bgc_matrix3x3_add_scaled_fp32(const BgcMatrix3x3FP32* basic_matrix, const BgcMatrix3x3FP32* scalable_matrix, const float scale, BgcMatrix3x3FP32* sum) +inline void bgc_fp32_matrix3x3_add_scaled(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* basic_matrix, const BGC_FP32_Matrix3x3* scalable_matrix, const float scale) { sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale; sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale; @@ -511,7 +703,7 @@ inline void bgc_matrix3x3_add_scaled_fp32(const BgcMatrix3x3FP32* basic_matrix, sum->r3c3 = basic_matrix->r3c3 + scalable_matrix->r3c3 * scale; } -inline void bgc_matrix3x3_add_scaled_fp64(const BgcMatrix3x3FP64* basic_matrix, const BgcMatrix3x3FP64* scalable_matrix, const double scale, BgcMatrix3x3FP64* sum) +inline void bgc_fp64_matrix3x3_add_scaled(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* basic_matrix, const BGC_FP64_Matrix3x3* scalable_matrix, const double scale) { sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale; sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale; @@ -528,7 +720,7 @@ inline void bgc_matrix3x3_add_scaled_fp64(const BgcMatrix3x3FP64* basic_matrix, // ================== Subtract ================== // -inline void bgc_matrix3x3_subtract_fp32(const BgcMatrix3x3FP32* minuend, const BgcMatrix3x3FP32* subtrahend, BgcMatrix3x3FP32* difference) +inline void bgc_fp32_matrix3x3_subtract(BGC_FP32_Matrix3x3* difference, const BGC_FP32_Matrix3x3* minuend, const BGC_FP32_Matrix3x3* subtrahend) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -543,7 +735,7 @@ inline void bgc_matrix3x3_subtract_fp32(const BgcMatrix3x3FP32* minuend, const B difference->r3c3 = minuend->r3c3 - subtrahend->r3c3; } -inline void bgc_matrix3x3_subtract_fp64(const BgcMatrix3x3FP64* minuend, const BgcMatrix3x3FP64* subtrahend, BgcMatrix3x3FP64* difference) +inline void bgc_fp64_matrix3x3_subtract(BGC_FP64_Matrix3x3* difference, const BGC_FP64_Matrix3x3* minuend, const BGC_FP64_Matrix3x3* subtrahend) { difference->r1c1 = minuend->r1c1 - subtrahend->r1c1; difference->r1c2 = minuend->r1c2 - subtrahend->r1c2; @@ -558,41 +750,9 @@ inline void bgc_matrix3x3_subtract_fp64(const BgcMatrix3x3FP64* minuend, const B difference->r3c3 = minuend->r3c3 - subtrahend->r3c3; } -// ================= Add scaled ================= // - -inline void bgc_matrix3x3_subtract_scaled_fp32(const BgcMatrix3x3FP32* basic_matrix, const BgcMatrix3x3FP32* scalable_matrix, const float scale, BgcMatrix3x3FP32* difference) -{ - difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale; - difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale; - difference->r1c3 = basic_matrix->r1c3 - scalable_matrix->r1c3 * scale; - - difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale; - difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale; - difference->r2c3 = basic_matrix->r2c3 - scalable_matrix->r2c3 * scale; - - difference->r3c1 = basic_matrix->r3c1 - scalable_matrix->r3c1 * scale; - difference->r3c2 = basic_matrix->r3c2 - scalable_matrix->r3c2 * scale; - difference->r3c3 = basic_matrix->r3c3 - scalable_matrix->r3c3 * scale; -} - -inline void bgc_matrix3x3_subtract_scaled_fp64(const BgcMatrix3x3FP64* basic_matrix, const BgcMatrix3x3FP64* scalable_matrix, const double scale, BgcMatrix3x3FP64* difference) -{ - difference->r1c1 = basic_matrix->r1c1 - scalable_matrix->r1c1 * scale; - difference->r1c2 = basic_matrix->r1c2 - scalable_matrix->r1c2 * scale; - difference->r1c3 = basic_matrix->r1c3 - scalable_matrix->r1c3 * scale; - - difference->r2c1 = basic_matrix->r2c1 - scalable_matrix->r2c1 * scale; - difference->r2c2 = basic_matrix->r2c2 - scalable_matrix->r2c2 * scale; - difference->r2c3 = basic_matrix->r2c3 - scalable_matrix->r2c3 * scale; - - difference->r3c1 = basic_matrix->r3c1 - scalable_matrix->r3c1 * scale; - difference->r3c2 = basic_matrix->r3c2 - scalable_matrix->r3c2 * scale; - difference->r3c3 = basic_matrix->r3c3 - scalable_matrix->r3c3 * scale; -} - // ================== Multiply ================== // -inline void bgc_matrix3x3_multiply_fp32(const BgcMatrix3x3FP32* multiplicand, const float multiplier, BgcMatrix3x3FP32* product) +inline void bgc_fp32_matrix3x3_multiply(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix3x3* multiplicand, const float multiplier) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -607,7 +767,7 @@ inline void bgc_matrix3x3_multiply_fp32(const BgcMatrix3x3FP32* multiplicand, co product->r3c3 = multiplicand->r3c3 * multiplier; } -inline void bgc_matrix3x3_multiply_fp64(const BgcMatrix3x3FP64* multiplicand, const double multiplier, BgcMatrix3x3FP64* product) +inline void bgc_fp64_matrix3x3_multiply(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix3x3* multiplicand, const double multiplier) { product->r1c1 = multiplicand->r1c1 * multiplier; product->r1c2 = multiplicand->r1c2 * multiplier; @@ -624,62 +784,98 @@ inline void bgc_matrix3x3_multiply_fp64(const BgcMatrix3x3FP64* multiplicand, co // =================== Divide =================== // -inline void bgc_matrix3x3_divide_fp32(const BgcMatrix3x3FP32* dividend, const float divisor, BgcMatrix3x3FP32* quotient) +inline void bgc_fp32_matrix3x3_divide(BGC_FP32_Matrix3x3* quotient, const BGC_FP32_Matrix3x3* dividend, const float divisor) { - bgc_matrix3x3_multiply_fp32(dividend, 1.0f / divisor, quotient); + bgc_fp32_matrix3x3_multiply(quotient, dividend, 1.0f / divisor); } -inline void bgc_matrix3x3_divide_fp64(const BgcMatrix3x3FP64* dividend, const double divisor, BgcMatrix3x3FP64* quotient) +inline void bgc_fp64_matrix3x3_divide(BGC_FP64_Matrix3x3* quotient, const BGC_FP64_Matrix3x3* dividend, const double divisor) { - bgc_matrix3x3_multiply_fp64(dividend, 1.0 / divisor, quotient); + bgc_fp64_matrix3x3_multiply(quotient, dividend, 1.0 / divisor); +} + +// ================ Interpolate ================= // + +inline void bgc_fp32_matrix3x3_interpolate(BGC_FP32_Matrix3x3* interpolation, const BGC_FP32_Matrix3x3* first, const BGC_FP32_Matrix3x3* second, const float phase) +{ + const float counter_phase = 1.0f - phase; + + interpolation->r1c1 = first->r1c1 * counter_phase + second->r1c1 * phase; + interpolation->r1c2 = first->r1c2 * counter_phase + second->r1c2 * phase; + interpolation->r1c3 = first->r1c3 * counter_phase + second->r1c3 * phase; + + interpolation->r2c1 = first->r2c1 * counter_phase + second->r2c1 * phase; + interpolation->r2c2 = first->r2c2 * counter_phase + second->r2c2 * phase; + interpolation->r2c3 = first->r2c3 * counter_phase + second->r2c3 * phase; + + interpolation->r3c1 = first->r3c1 * counter_phase + second->r3c1 * phase; + interpolation->r3c2 = first->r3c2 * counter_phase + second->r3c2 * phase; + interpolation->r3c3 = first->r3c3 * counter_phase + second->r3c3 * phase; +} + +inline void bgc_fp64_matrix3x3_interpolate(BGC_FP64_Matrix3x3* interpolation, const BGC_FP64_Matrix3x3* first, const BGC_FP64_Matrix3x3* second, const double phase) +{ + const double counter_phase = 1.0 - phase; + + interpolation->r1c1 = first->r1c1 * counter_phase + second->r1c1 * phase; + interpolation->r1c2 = first->r1c2 * counter_phase + second->r1c2 * phase; + interpolation->r1c3 = first->r1c3 * counter_phase + second->r1c3 * phase; + + interpolation->r2c1 = first->r2c1 * counter_phase + second->r2c1 * phase; + interpolation->r2c2 = first->r2c2 * counter_phase + second->r2c2 * phase; + interpolation->r2c3 = first->r2c3 * counter_phase + second->r2c3 * phase; + + interpolation->r3c1 = first->r3c1 * counter_phase + second->r3c1 * phase; + interpolation->r3c2 = first->r3c2 * counter_phase + second->r3c2 * phase; + interpolation->r3c3 = first->r3c3 * counter_phase + second->r3c3 * phase; } // ============ Left Vector Product ============= // -inline void bgc_matrix3x3_get_left_product_fp32(const BgcVector3FP32* vector, const BgcMatrix3x3FP32* matrix, BgcVector3FP32* result) +inline void bgc_fp32_multiply_vector3_by_matrix3x3(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector, const BGC_FP32_Matrix3x3* matrix) { const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1; const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2; const float x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3; - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; + product->x1 = x1; + product->x2 = x2; + product->x3 = x3; } -inline void bgc_matrix3x3_get_left_product_fp64(const BgcVector3FP64* vector, const BgcMatrix3x3FP64* matrix, BgcVector3FP64* result) +inline void bgc_fp64_multiply_vector3_by_matrix3x3(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector, const BGC_FP64_Matrix3x3* matrix) { const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1; const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2; const double x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3; - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; + product->x1 = x1; + product->x2 = x2; + product->x3 = x3; } // ============ Right Vector Product ============ // -inline void bgc_matrix3x3_get_right_product_fp32(const BgcMatrix3x3FP32* matrix, const BgcVector3FP32* vector, BgcVector3FP32* result) +inline void bgc_fp32_multiply_matrix3x3_by_vector3(BGC_FP32_Vector3* product, const BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Vector3* vector) { const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3; const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3; const float x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3; - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; + product->x1 = x1; + product->x2 = x2; + product->x3 = x3; } -inline void bgc_matrix3x3_get_right_product_fp64(const BgcMatrix3x3FP64* matrix, const BgcVector3FP64* vector, BgcVector3FP64* result) +inline void bgc_fp64_multiply_matrix3x3_by_vector3(BGC_FP64_Vector3* product, const BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Vector3* vector) { const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3; const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3; const double x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3; - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; + product->x1 = x1; + product->x2 = x2; + product->x3 = x3; } #endif diff --git a/basic-geometry/matrixes.c b/basic-geometry/matrixes.c deleted file mode 100644 index f73cc05..0000000 --- a/basic-geometry/matrixes.c +++ /dev/null @@ -1,280 +0,0 @@ -#include "matrixes.h" - -extern inline void bgc_matrix_product_2x2_at_2x2_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x2FP32* result); -extern inline void bgc_matrix_product_2x2_at_2x2_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x2FP64* result); - -// ========== Matrix Product 2x2 at 3x2 ========= // - -void bgc_matrix_product_2x2_at_3x2_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x2FP32* result) -{ - const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; -} - -void bgc_matrix_product_2x2_at_3x2_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x2FP64* result) -{ - const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; -} - -// ========== Matrix Product 2x3 at 2x2 ========= // - -void bgc_matrix_product_2x3_at_2x2_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x3FP32* result) -{ - const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - - const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; - const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; -} - -void bgc_matrix_product_2x3_at_2x2_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x3FP64* result) -{ - const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - - const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; - const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; -} - -// ========== Matrix Product 2x3 at 3x2 ========= // - -void bgc_matrix_product_2x3_at_3x2_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x3FP32* result) -{ - result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - result->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; - - result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - result->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; - - result->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; - result->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; - result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3; -} - -void bgc_matrix_product_2x3_at_3x2_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x3FP64* result) -{ - result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - result->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3; - - result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - result->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3; - - result->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1; - result->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2; - result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3; -} - -// ========== Matrix Product 3x2 at 2x3 ========= // - -void bgc_matrix_product_3x2_at_2x3_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x2FP32* result) -{ - result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; - result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; - - result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; -} - -void bgc_matrix_product_3x2_at_2x3_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x2FP64* result) -{ - result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; - result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; - - result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; -} - -// ========== Matrix Product 3x2 at 3x3 ========= // - -void bgc_matrix_product_3x2_at_3x3_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x2FP32* result) -{ - const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; - const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; - const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; -} - -void bgc_matrix_product_3x2_at_3x3_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x2FP64* result) -{ - const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; - const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; - const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; -} - -// ========== Matrix Product 3x3 at 2x3 ========= // - -void bgc_matrix_product_3x3_at_2x3_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x3FP32* result) -{ - const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; - const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - - const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; - const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; -} - -void bgc_matrix_product_3x3_at_2x3_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x3FP64* result) -{ - const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; - const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - - const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; - const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; -} - -// ========== Matrix Product 3x3 at 3x3 ========= // - -void bgc_matrix_product_3x3_at_3x3_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x3FP32* result) -{ - const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; - const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; - const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; - - const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; - const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; - const float r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; - result->r3c3 = r3c3; -} - -void bgc_matrix_product_3x3_at_3x3_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x3FP64* result) -{ - const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1; - const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2; - const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2; - const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3; - - const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1; - const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2; - const double r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - result->r1c3 = r1c3; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; - result->r2c3 = r2c3; - - result->r3c1 = r3c1; - result->r3c2 = r3c2; - result->r3c3 = r3c3; -} diff --git a/basic-geometry/matrixes.h b/basic-geometry/matrixes.h deleted file mode 100644 index 3039648..0000000 --- a/basic-geometry/matrixes.h +++ /dev/null @@ -1,130 +0,0 @@ -#ifndef _BGC_MATRIX_TYPES_H_ -#define _BGC_MATRIX_TYPES_H_ - -// ================== Matrix2x2 ================= // - -typedef struct { - float r1c1, r1c2; - float r2c1, r2c2; -} BgcMatrix2x2FP32; - -typedef struct { - double r1c1, r1c2; - double r2c1, r2c2; -} BgcMatrix2x2FP64; - -// ================== Matrix2x3 ================= // - -typedef struct { - float r1c1, r1c2; - float r2c1, r2c2; - float r3c1, r3c2; -} BgcMatrix2x3FP32; - -typedef struct { - double r1c1, r1c2; - double r2c1, r2c2; - double r3c1, r3c2; -} BgcMatrix2x3FP64; - -// ================== Matrix3x2 ================= // - -typedef struct { - float r1c1, r1c2, r1c3; - float r2c1, r2c2, r2c3; -} BgcMatrix3x2FP32; - -typedef struct { - double r1c1, r1c2, r1c3; - double r2c1, r2c2, r2c3; -} BgcMatrix3x2FP64; - -// ================== Matrix3x3 ================= // - -typedef struct { - float r1c1, r1c2, r1c3; - float r2c1, r2c2, r2c3; - float r3c1, r3c2, r3c3; -} BgcMatrix3x3FP32; - -typedef struct { - double r1c1, r1c2, r1c3; - double r2c1, r2c2, r2c3; - double r3c1, r3c2, r3c3; -} BgcMatrix3x3FP64; - -// ========== Matrix Product 2x2 at 2x2 ========= // - -inline void bgc_matrix_product_2x2_at_2x2_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x2FP32* result) -{ - const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - - const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; -} - -inline void bgc_matrix_product_2x2_at_2x2_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x2FP64* result) -{ - const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1; - const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2; - - const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1; - const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2; - - result->r1c1 = r1c1; - result->r1c2 = r1c2; - - result->r2c1 = r2c1; - result->r2c2 = r2c2; -} - -// ========== Matrix Product 2x2 at 3x2 ========= // - -void bgc_matrix_product_2x2_at_3x2_fp32(const BgcMatrix2x2FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x2FP32* result); - -void bgc_matrix_product_2x2_at_3x2_fp64(const BgcMatrix2x2FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x2FP64* result); - -// ========== Matrix Product 2x3 at 2x2 ========= // - -void bgc_matrix_product_2x3_at_2x2_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix2x2FP32* matrix2, BgcMatrix2x3FP32* result); - -void bgc_matrix_product_2x3_at_2x2_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix2x2FP64* matrix2, BgcMatrix2x3FP64* result); - -// ========== Matrix Product 2x3 at 3x2 ========= // - -void bgc_matrix_product_2x3_at_3x2_fp32(const BgcMatrix2x3FP32* matrix1, const BgcMatrix3x2FP32* matrix2, BgcMatrix3x3FP32* result); - -void bgc_matrix_product_2x3_at_3x2_fp64(const BgcMatrix2x3FP64* matrix1, const BgcMatrix3x2FP64* matrix2, BgcMatrix3x3FP64* result); - -// ========== Matrix Product 3x2 at 2x3 ========= // - -void bgc_matrix_product_3x2_at_2x3_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x2FP32* result); - -void bgc_matrix_product_3x2_at_2x3_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x2FP64* result); - -// ========== Matrix Product 3x2 at 3x3 ========= // - -void bgc_matrix_product_3x2_at_3x3_fp32(const BgcMatrix3x2FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x2FP32* result); - -void bgc_matrix_product_3x2_at_3x3_fp64(const BgcMatrix3x2FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x2FP64* result); - -// ========== Matrix Product 3x3 at 2x3 ========= // - -void bgc_matrix_product_3x3_at_2x3_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix2x3FP32* matrix2, BgcMatrix2x3FP32* result); - -void bgc_matrix_product_3x3_at_2x3_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix2x3FP64* matrix2, BgcMatrix2x3FP64* result); - -// ========== Matrix Product 3x3 at 3x3 ========= // - -void bgc_matrix_product_3x3_at_3x3_fp32(const BgcMatrix3x3FP32* matrix1, const BgcMatrix3x3FP32* matrix2, BgcMatrix3x3FP32* result); - -void bgc_matrix_product_3x3_at_3x3_fp64(const BgcMatrix3x3FP64* matrix1, const BgcMatrix3x3FP64* matrix2, BgcMatrix3x3FP64* result); - -#endif // _BGC_MATRIX_TYPES_H_ diff --git a/basic-geometry/position2.c b/basic-geometry/position2.c index f2d6819..e3f957b 100644 --- a/basic-geometry/position2.c +++ b/basic-geometry/position2.c @@ -1,43 +1,49 @@ #include "position2.h" -extern inline void bgc_position2_reset_fp32(BgcPosition2FP32 * node); -extern inline void bgc_position2_reset_fp64(BgcPosition2FP64 * node); +extern inline void bgc_fp32_position2_reset(BGC_FP32_Position2* node); +extern inline void bgc_fp64_position2_reset(BGC_FP64_Position2* node); -extern inline void bgc_position2_make_fp32(const BgcCotesNumberFP32 * turn, const BgcVector2FP32 * shift, BgcPosition2FP32 * position); -extern inline void bgc_position2_make_fp64(const BgcCotesNumberFP64 * turn, const BgcVector2FP64 * shift, BgcPosition2FP64 * position); +extern inline void bgc_fp32_position2_make(BGC_FP32_Position2* position, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* shift); +extern inline void bgc_fp64_position2_make(BGC_FP64_Position2* position, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* shift); -extern inline void bgc_position2_copy_fp32(const BgcPosition2FP32 * source, BgcPosition2FP32 * destination); -extern inline void bgc_position2_copy_fp64(const BgcPosition2FP64 * source, BgcPosition2FP64 * destination); +extern inline void bgc_fp32_position2_copy(BGC_FP32_Position2* destination, const BGC_FP32_Position2* source); +extern inline void bgc_fp64_position2_copy(BGC_FP64_Position2* destination, const BGC_FP64_Position2* source); -extern inline void bgc_position2_convert_fp64_to_fp32(const BgcPosition2FP64 * source, BgcPosition2FP32 * destination); -extern inline void bgc_position2_convert_fp32_to_fp64(const BgcPosition2FP32 * source, BgcPosition2FP64 * destination); +extern inline void bgc_fp32_position2_swap(BGC_FP32_Position2* first, BGC_FP32_Position2* second); +extern inline void bgc_fp64_position2_swap(BGC_FP64_Position2* first, BGC_FP64_Position2* second); -extern inline void bgc_position2_invert_fp32(BgcPosition2FP32 * position); -extern inline void bgc_position2_invert_fp64(BgcPosition2FP64 * position); +extern inline void bgc_fp64_position2_convert_to_fp32(BGC_FP32_Position2* destination, const BGC_FP64_Position2* source); +extern inline void bgc_fp32_position2_convert_to_fp64(BGC_FP64_Position2* destination, const BGC_FP32_Position2* source); -extern inline void bgc_position2_get_inverse_fp32(const BgcPosition2FP32 * position, BgcPosition2FP32 * inverted); -extern inline void bgc_position2_get_inverse_fp64(const BgcPosition2FP64 * position, BgcPosition2FP64 * inverted); +extern inline int bgc_fp32_position2_is_idle(const BGC_FP32_Position2* position); +extern inline int bgc_fp64_position2_is_idle(const BGC_FP64_Position2* position); -extern inline void bgc_position2_combine_fp32(const BgcPosition2FP32 * first, const BgcPosition2FP32 * second, BgcPosition2FP32 * combination); -extern inline void bgc_position2_combine_fp64(const BgcPosition2FP64 * first, const BgcPosition2FP64 * second, BgcPosition2FP64 * combination); +extern inline void bgc_fp32_position2_invert(BGC_FP32_Position2* position); +extern inline void bgc_fp64_position2_invert(BGC_FP64_Position2* position); -extern inline void bgc_position2_exclude_fp32(const BgcPosition2FP32 * base, const BgcPosition2FP32 * excludand, BgcPosition2FP32 * difference); -extern inline void bgc_position2_exclude_fp64(const BgcPosition2FP64 * base, const BgcPosition2FP64 * excludand, BgcPosition2FP64 * difference); +extern inline void bgc_fp32_position2_get_inverse(BGC_FP32_Position2* inverted, const BGC_FP32_Position2* position); +extern inline void bgc_fp64_position2_get_inverse(BGC_FP64_Position2* inverted, const BGC_FP64_Position2* position); -extern inline void bgc_position2_get_outward_affine_fp32(const BgcPosition2FP32 * position, BgcAffine2FP32 * outward_affine_map); -extern inline void bgc_position2_get_outward_affine_fp64(const BgcPosition2FP64 * position, BgcAffine2FP64 * outward_affine_map); +extern inline void bgc_fp32_position2_combine(BGC_FP32_Position2* combination, const BGC_FP32_Position2* first, const BGC_FP32_Position2* second); +extern inline void bgc_fp64_position2_combine(BGC_FP64_Position2* combination, const BGC_FP64_Position2* first, const BGC_FP64_Position2* second); -extern inline void bgc_position2_get_inward_affine_fp32(const BgcPosition2FP32 * position, BgcAffine2FP32 * inward_affine_map); -extern inline void bgc_position2_get_inward_affine_fp64(const BgcPosition2FP64 * position, BgcAffine2FP64 * inward_affine_map); +extern inline void bgc_fp32_position2_exclude(BGC_FP32_Position2* difference, const BGC_FP32_Position2* base, const BGC_FP32_Position2* excludand); +extern inline void bgc_fp64_position2_exclude(BGC_FP64_Position2* difference, const BGC_FP64_Position2* base, const BGC_FP64_Position2* excludand); -extern inline void bgc_position2_transform_point_outwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * inner_point, BgcVector2FP32 * outer_point); -extern inline void bgc_position2_transform_point_outwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * inner_point, BgcVector2FP64 * outer_point); +extern inline void bgc_fp32_position2_get_outward_affine(BGC_FP32_Affine2* outward_affine_map, const BGC_FP32_Position2* position); +extern inline void bgc_fp64_position2_get_outward_affine(BGC_FP64_Affine2* outward_affine_map, const BGC_FP64_Position2* position); -extern inline void bgc_position2_transform_point_inwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * outer_point, BgcVector2FP32 * inner_point); -extern inline void bgc_position2_transform_point_inwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * outer_point, BgcVector2FP64 * inner_point); +extern inline void bgc_fp32_position2_get_inward_affine(BGC_FP32_Affine2* inward_affine_map, const BGC_FP32_Position2* position); +extern inline void bgc_fp64_position2_get_inward_affine(BGC_FP64_Affine2* inward_affine_map, const BGC_FP64_Position2* position); -extern inline void bgc_position2_transform_vector_outwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * inner_vector, BgcVector2FP32 * outer_vector); -extern inline void bgc_position2_transform_vector_outwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * inner_vector, BgcVector2FP64 * outer_vector); +extern inline void bgc_fp32_position2_transform_point_outwards(BGC_FP32_Vector2* outer_point, const BGC_FP32_Position2* position, const BGC_FP32_Vector2* inner_point); +extern inline void bgc_fp64_position2_transform_point_outwards(BGC_FP64_Vector2* outer_point, const BGC_FP64_Position2* position, const BGC_FP64_Vector2* inner_point); -extern inline void bgc_position2_transform_vector_inwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * outer_vector, BgcVector2FP32 * inner_vector); -extern inline void bgc_position2_transform_vector_inwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * outer_vector, BgcVector2FP64 * inner_vector); +extern inline void bgc_fp32_position2_transform_point_inwards(BGC_FP32_Vector2* inner_point, const BGC_FP32_Position2* position, const BGC_FP32_Vector2* outer_point); +extern inline void bgc_fp64_position2_transform_point_inwards(BGC_FP64_Vector2* inner_point, const BGC_FP64_Position2* position, const BGC_FP64_Vector2* outer_point); + +extern inline void bgc_fp32_position2_transform_vector_outwards(BGC_FP32_Vector2* outer_vector, const BGC_FP32_Position2* position, const BGC_FP32_Vector2* inner_vector); +extern inline void bgc_fp64_position2_transform_vector_outwards(BGC_FP64_Vector2* outer_vector, const BGC_FP64_Position2* position, const BGC_FP64_Vector2* inner_vector); + +extern inline void bgc_fp32_position2_transform_vector_inwards(BGC_FP32_Vector2* inner_vector, const BGC_FP32_Position2* position, const BGC_FP32_Vector2* outer_vector); +extern inline void bgc_fp64_position2_transform_vector_inwards(BGC_FP64_Vector2* inner_vector, const BGC_FP64_Position2* position, const BGC_FP64_Vector2* outer_vector); diff --git a/basic-geometry/position2.h b/basic-geometry/position2.h index 3e5e62f..e6b0650 100644 --- a/basic-geometry/position2.h +++ b/basic-geometry/position2.h @@ -3,231 +3,257 @@ #include "vector2.h" #include "affine2.h" -#include "cotes-number.h" +#include "turn2.h" // ==================== Types ==================== // typedef struct { - BgcCotesNumberFP32 turn; - BgcVector2FP32 shift; -} BgcPosition2FP32; + BGC_FP32_Turn2 turn; + BGC_FP32_Vector2 shift; +} BGC_FP32_Position2; typedef struct { - BgcCotesNumberFP64 turn; - BgcVector2FP64 shift; -} BgcPosition2FP64; + BGC_FP64_Turn2 turn; + BGC_FP64_Vector2 shift; +} BGC_FP64_Position2; // ==================== Reset ==================== // -inline void bgc_position2_reset_fp32(BgcPosition2FP32 * position) +inline void bgc_fp32_position2_reset(BGC_FP32_Position2* position) { - bgc_cotes_number_reset_fp32(&position->turn); - bgc_vector2_reset_fp32(&position->shift); + bgc_fp32_turn2_reset(&position->turn); + bgc_fp32_vector2_reset(&position->shift); } -inline void bgc_position2_reset_fp64(BgcPosition2FP64 * position) +inline void bgc_fp64_position2_reset(BGC_FP64_Position2* position) { - bgc_cotes_number_reset_fp64(&position->turn); - bgc_vector2_reset_fp64(&position->shift); + bgc_fp64_turn2_reset(&position->turn); + bgc_fp64_vector2_reset(&position->shift); } // ==================== Make ===================== // -inline void bgc_position2_make_fp32(const BgcCotesNumberFP32 * turn, const BgcVector2FP32 * shift, BgcPosition2FP32 * position) +inline void bgc_fp32_position2_make(BGC_FP32_Position2* position, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* shift) { - bgc_cotes_number_copy_fp32(turn, &position->turn); - bgc_vector2_copy_fp32(shift, &position->shift); + bgc_fp32_turn2_copy(&position->turn, turn); + bgc_fp32_vector2_copy(&position->shift, shift); } -inline void bgc_position2_make_fp64(const BgcCotesNumberFP64 * turn, const BgcVector2FP64 * shift, BgcPosition2FP64 * position) +inline void bgc_fp64_position2_make(BGC_FP64_Position2* position, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* shift) { - bgc_cotes_number_copy_fp64(turn, &position->turn); - bgc_vector2_copy_fp64(shift, &position->shift); + bgc_fp64_turn2_copy(&position->turn, turn); + bgc_fp64_vector2_copy(&position->shift, shift); } // ==================== Copy ===================== // -inline void bgc_position2_copy_fp32(const BgcPosition2FP32 * source, BgcPosition2FP32 * destination) +inline void bgc_fp32_position2_copy(BGC_FP32_Position2* destination, const BGC_FP32_Position2* source) { - bgc_cotes_number_copy_fp32(&source->turn, &destination->turn); - bgc_vector2_copy_fp32(&source->shift, &destination->shift); + bgc_fp32_turn2_copy(&destination->turn, &source->turn); + bgc_fp32_vector2_copy(&destination->shift, &source->shift); } -inline void bgc_position2_copy_fp64(const BgcPosition2FP64 * source, BgcPosition2FP64 * destination) +inline void bgc_fp64_position2_copy(BGC_FP64_Position2* destination, const BGC_FP64_Position2* source) { - bgc_cotes_number_copy_fp64(&source->turn, &destination->turn); - bgc_vector2_copy_fp64(&source->shift, &destination->shift); + bgc_fp64_turn2_copy(&destination->turn, &source->turn); + bgc_fp64_vector2_copy(&destination->shift, &source->shift); +} + +// ==================== Swap ===================== // + +inline void bgc_fp32_position2_swap(BGC_FP32_Position2 * first, BGC_FP32_Position2 * second) +{ + bgc_fp32_turn2_swap(&first->turn, &second->turn); + bgc_fp32_vector2_swap(&first->shift, &second->shift); +} + +inline void bgc_fp64_position2_swap(BGC_FP64_Position2 * first, BGC_FP64_Position2 * second) +{ + bgc_fp64_turn2_swap(&first->turn, &second->turn); + bgc_fp64_vector2_swap(&first->shift, &second->shift); } // =================== Convert =================== // -inline void bgc_position2_convert_fp64_to_fp32(const BgcPosition2FP64 * source, BgcPosition2FP32 * destination) +inline void bgc_fp64_position2_convert_to_fp32(BGC_FP32_Position2* destination, const BGC_FP64_Position2 * source) { - bgc_cotes_number_convert_fp64_to_fp32(&source->turn, &destination->turn); - bgc_vector2_convert_fp64_to_fp32(&source->shift, &destination->shift); + bgc_fp64_turn2_convert_to_fp32(&destination->turn, &source->turn); + bgc_fp64_vector2_convert_to_fp32(&destination->shift, &source->shift); } -inline void bgc_position2_convert_fp32_to_fp64(const BgcPosition2FP32 * source, BgcPosition2FP64 * destination) +inline void bgc_fp32_position2_convert_to_fp64(BGC_FP64_Position2* destination, const BGC_FP32_Position2 * source) { - bgc_cotes_number_convert_fp32_to_fp64(&source->turn, &destination->turn); - bgc_vector2_convert_fp32_to_fp64(&source->shift, &destination->shift); + bgc_fp32_turn2_convert_to_fp64(&destination->turn, &source->turn); + bgc_fp32_vector2_convert_to_fp64(&destination->shift, &source->shift); +} + +// =================== Is Idle =================== // + +inline int bgc_fp32_position2_is_idle(const BGC_FP32_Position2 * position) +{ + return bgc_fp32_vector2_is_zero(&position->shift) && bgc_fp32_turn2_is_idle(&position->turn); +} + +inline int bgc_fp64_position2_is_idle(const BGC_FP64_Position2 * position) +{ + return bgc_fp64_vector2_is_zero(&position->shift) && bgc_fp64_turn2_is_idle(&position->turn); } // =================== Invert ==================== // -inline void bgc_position2_invert_fp32(BgcPosition2FP32 * position) +inline void bgc_fp32_position2_invert(BGC_FP32_Position2 * position) { - bgc_cotes_number_turn_vector_back_fp32(&position->turn, &position->shift, &position->shift); - bgc_cotes_number_invert_fp32(&position->turn); - bgc_vector2_make_opposite_fp32(&position->shift); + bgc_fp32_turn2_vector_back(&position->shift, &position->turn, &position->shift); + bgc_fp32_turn2_revert(&position->turn); + bgc_fp32_vector2_revert(&position->shift); } -inline void bgc_position2_invert_fp64(BgcPosition2FP64 * position) +inline void bgc_fp64_position2_invert(BGC_FP64_Position2 * position) { - bgc_cotes_number_turn_vector_back_fp64(&position->turn, &position->shift, &position->shift); - bgc_cotes_number_invert_fp64(&position->turn); - bgc_vector2_make_opposite_fp64(&position->shift); + bgc_fp64_turn2_vector_back(&position->shift, &position->turn, &position->shift); + bgc_fp64_turn2_revert(&position->turn); + bgc_fp64_vector2_revert(&position->shift); } // ================= Get Inverse ================= // -inline void bgc_position2_get_inverse_fp32(const BgcPosition2FP32 * position, BgcPosition2FP32 * inverted) +inline void bgc_fp32_position2_get_inverse(BGC_FP32_Position2* inverted, const BGC_FP32_Position2 * position) { - bgc_cotes_number_turn_vector_back_fp32(&position->turn, &position->shift, &inverted->shift); - bgc_cotes_number_get_inverse_fp32(&position->turn, &inverted->turn); - bgc_vector2_make_opposite_fp32(&inverted->shift); + bgc_fp32_turn2_vector_back(&inverted->shift, &position->turn, &position->shift); + bgc_fp32_turn2_get_reverse(&inverted->turn, &position->turn); + bgc_fp32_vector2_revert(&inverted->shift); } -inline void bgc_position2_get_inverse_fp64(const BgcPosition2FP64 * position, BgcPosition2FP64 * inverted) +inline void bgc_fp64_position2_get_inverse(BGC_FP64_Position2* inverted, const BGC_FP64_Position2 * position) { - bgc_cotes_number_turn_vector_back_fp64(&position->turn, &position->shift, &inverted->shift); - bgc_cotes_number_get_inverse_fp64(&position->turn, &inverted->turn); - bgc_vector2_make_opposite_fp64(&inverted->shift); + bgc_fp64_turn2_vector_back(&inverted->shift, &position->turn, &position->shift); + bgc_fp64_turn2_get_reverse(&inverted->turn, &position->turn); + bgc_fp64_vector2_revert(&inverted->shift); } // =================== Combine =================== // -inline void bgc_position2_combine_fp32(const BgcPosition2FP32 * first, const BgcPosition2FP32 * second, BgcPosition2FP32 * combination) +inline void bgc_fp32_position2_combine(BGC_FP32_Position2* combination, const BGC_FP32_Position2 * first, const BGC_FP32_Position2 * second) { - BgcVector2FP32 relative_shift; - bgc_cotes_number_turn_vector_fp32(&second->turn, &first->shift, &relative_shift); - bgc_cotes_number_combine_fp32(&first->turn, &second->turn, &combination->turn); - bgc_vector2_add_fp32(&relative_shift, &second->shift, &combination->shift); + BGC_FP32_Vector2 relative_shift; + bgc_fp32_turn2_vector(&relative_shift, &second->turn, &first->shift); + bgc_fp32_turn2_combine(&combination->turn, &first->turn, &second->turn); + bgc_fp32_vector2_add(&combination->shift, &second->shift, &relative_shift); } -inline void bgc_position2_combine_fp64(const BgcPosition2FP64 * first, const BgcPosition2FP64 * second, BgcPosition2FP64 * combination) +inline void bgc_fp64_position2_combine(BGC_FP64_Position2* combination, const BGC_FP64_Position2 * first, const BGC_FP64_Position2 * second) { - BgcVector2FP64 relative_shift; - bgc_cotes_number_turn_vector_fp64(&second->turn, &first->shift, &relative_shift); - bgc_cotes_number_combine_fp64(&first->turn, &second->turn, &combination->turn); - bgc_vector2_add_fp64(&relative_shift, &second->shift, &combination->shift); + BGC_FP64_Vector2 relative_shift; + bgc_fp64_turn2_vector(&relative_shift, &second->turn, &first->shift); + bgc_fp64_turn2_combine(&combination->turn, &first->turn, &second->turn); + bgc_fp64_vector2_add(&combination->shift, &second->shift, &relative_shift); } // =================== Exclude =================== // -inline void bgc_position2_exclude_fp32(const BgcPosition2FP32 * base, const BgcPosition2FP32 * excludand, BgcPosition2FP32 * difference) +inline void bgc_fp32_position2_exclude(BGC_FP32_Position2* difference, const BGC_FP32_Position2 * base, const BGC_FP32_Position2 * excludand) { - BgcVector2FP32 relative_shift; - bgc_vector2_subtract_fp32(&base->shift, &excludand->shift, &relative_shift); - bgc_cotes_number_turn_vector_back_fp32(&excludand->turn, &relative_shift, &difference->shift); - bgc_cotes_number_exclude_fp32(&base->turn, &excludand->turn, &difference->turn); + BGC_FP32_Vector2 relative_shift; + bgc_fp32_vector2_subtract(&relative_shift, &base->shift, &excludand->shift); + bgc_fp32_turn2_vector_back(&difference->shift, &excludand->turn, &relative_shift); + bgc_fp32_turn2_exclude(&difference->turn, &base->turn, &excludand->turn); } -inline void bgc_position2_exclude_fp64(const BgcPosition2FP64 * base, const BgcPosition2FP64 * excludand, BgcPosition2FP64 * difference) +inline void bgc_fp64_position2_exclude(BGC_FP64_Position2* difference, const BGC_FP64_Position2 * base, const BGC_FP64_Position2 * excludand) { - BgcVector2FP64 relative_shift; - bgc_vector2_subtract_fp64(&base->shift, &excludand->shift, &relative_shift); - bgc_cotes_number_turn_vector_back_fp64(&excludand->turn, &relative_shift, &difference->shift); - bgc_cotes_number_exclude_fp64(&base->turn, &excludand->turn, &difference->turn); + BGC_FP64_Vector2 relative_shift; + bgc_fp64_vector2_subtract(&relative_shift, &base->shift, &excludand->shift); + bgc_fp64_turn2_vector_back(&difference->shift, &excludand->turn, &relative_shift); + bgc_fp64_turn2_exclude(&difference->turn, &base->turn, &excludand->turn); } // ============= Get Outward Affine ============== // -inline void bgc_position2_get_outward_affine_fp32(const BgcPosition2FP32 * position, BgcAffine2FP32 * outward_affine_map) +inline void bgc_fp32_position2_get_outward_affine(BGC_FP32_Affine2* outward_affine_map, const BGC_FP32_Position2 * position) { - bgc_cotes_number_get_rotation_matrix_fp32(&position->turn, &outward_affine_map->distortion); - bgc_vector2_copy_fp32(&position->shift, &outward_affine_map->shift); + bgc_fp32_turn2_get_rotation_matrix(&outward_affine_map->distortion, &position->turn); + bgc_fp32_vector2_copy(&outward_affine_map->shift, &position->shift); } -inline void bgc_position2_get_outward_affine_fp64(const BgcPosition2FP64 * position, BgcAffine2FP64 * outward_affine_map) +inline void bgc_fp64_position2_get_outward_affine(BGC_FP64_Affine2* outward_affine_map, const BGC_FP64_Position2 * position) { - bgc_cotes_number_get_rotation_matrix_fp64(&position->turn, &outward_affine_map->distortion); - bgc_vector2_copy_fp64(&position->shift, &outward_affine_map->shift); + bgc_fp64_turn2_get_rotation_matrix(&outward_affine_map->distortion, &position->turn); + bgc_fp64_vector2_copy(&outward_affine_map->shift, &position->shift); } // ============== Get Inward Affine ============== // -inline void bgc_position2_get_inward_affine_fp32(const BgcPosition2FP32 * position, BgcAffine2FP32 * inward_affine_map) +inline void bgc_fp32_position2_get_inward_affine(BGC_FP32_Affine2* inward_affine_map, const BGC_FP32_Position2 * position) { - bgc_cotes_number_get_reverse_matrix_fp32(&position->turn, &inward_affine_map->distortion); - bgc_matrix2x2_get_right_product_fp32(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift); - bgc_vector2_make_opposite_fp32(&inward_affine_map->shift); + bgc_fp32_turn2_get_reverse_matrix(&inward_affine_map->distortion, &position->turn); + bgc_fp32_multiply_matrix2x2_by_vector2(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift); + bgc_fp32_vector2_revert(&inward_affine_map->shift); } -inline void bgc_position2_get_inward_affine_fp64(const BgcPosition2FP64 * position, BgcAffine2FP64 * inward_affine_map) +inline void bgc_fp64_position2_get_inward_affine(BGC_FP64_Affine2* inward_affine_map, const BGC_FP64_Position2 * position) { - bgc_cotes_number_get_reverse_matrix_fp64(&position->turn, &inward_affine_map->distortion); - bgc_matrix2x2_get_right_product_fp64(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift); - bgc_vector2_make_opposite_fp64(&inward_affine_map->shift); + bgc_fp64_turn2_get_reverse_matrix(&inward_affine_map->distortion, &position->turn); + bgc_fp64_multiply_matrix2x2_by_vector2(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift); + bgc_fp64_vector2_revert(&inward_affine_map->shift); } // ========== Transform Point Outwards =========== // -inline void bgc_position2_transform_point_outwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * inner_point, BgcVector2FP32 * outer_point) +inline void bgc_fp32_position2_transform_point_outwards(BGC_FP32_Vector2* outer_point, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * inner_point) { - BgcVector2FP32 turned_point; - bgc_cotes_number_turn_vector_fp32(&position->turn, inner_point, &turned_point); - bgc_vector2_add_fp32(&position->shift, &turned_point, outer_point); + BGC_FP32_Vector2 turned_point; + bgc_fp32_turn2_vector(&turned_point, &position->turn, inner_point); + bgc_fp32_vector2_add(outer_point, &position->shift, &turned_point); } -inline void bgc_position2_transform_point_outwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * inner_point, BgcVector2FP64 * outer_point) +inline void bgc_fp64_position2_transform_point_outwards(BGC_FP64_Vector2* outer_point, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * inner_point) { - BgcVector2FP64 turned_point; - bgc_cotes_number_turn_vector_fp64(&position->turn, inner_point, &turned_point); - bgc_vector2_add_fp64(&position->shift, &turned_point, outer_point); + BGC_FP64_Vector2 turned_point; + bgc_fp64_turn2_vector(&turned_point, &position->turn, inner_point); + bgc_fp64_vector2_add(outer_point, &position->shift, &turned_point); } // =========== Transform Point Inwards =========== // -inline void bgc_position2_transform_point_inwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * outer_point, BgcVector2FP32 * inner_point) +inline void bgc_fp32_position2_transform_point_inwards(BGC_FP32_Vector2* inner_point, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * outer_point) { - BgcVector2FP32 relative_point; - bgc_vector2_subtract_fp32(outer_point, &position->shift, &relative_point); - bgc_cotes_number_turn_vector_back_fp32(&position->turn, &relative_point, inner_point); + BGC_FP32_Vector2 relative_point; + bgc_fp32_vector2_subtract(&relative_point, outer_point, &position->shift); + bgc_fp32_turn2_vector_back(inner_point, &position->turn, &relative_point); } -inline void bgc_position2_transform_point_inwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * outer_point, BgcVector2FP64 * inner_point) +inline void bgc_fp64_position2_transform_point_inwards(BGC_FP64_Vector2* inner_point, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * outer_point) { - BgcVector2FP64 relative_point; - bgc_vector2_subtract_fp64(outer_point, &position->shift, &relative_point); - bgc_cotes_number_turn_vector_back_fp64(&position->turn, &relative_point, inner_point); + BGC_FP64_Vector2 relative_point; + bgc_fp64_vector2_subtract(&relative_point, outer_point, &position->shift); + bgc_fp64_turn2_vector_back(inner_point, &position->turn, &relative_point); } // ========== Transform Vector Outwards ========== // -inline void bgc_position2_transform_vector_outwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * inner_vector, BgcVector2FP32 * outer_vector) +inline void bgc_fp32_position2_transform_vector_outwards(BGC_FP32_Vector2* outer_vector, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * inner_vector) { - bgc_cotes_number_turn_vector_fp32(&position->turn, inner_vector, outer_vector); + bgc_fp32_turn2_vector(outer_vector, &position->turn, inner_vector); } -inline void bgc_position2_transform_vector_outwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * inner_vector, BgcVector2FP64 * outer_vector) +inline void bgc_fp64_position2_transform_vector_outwards(BGC_FP64_Vector2* outer_vector, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * inner_vector) { - bgc_cotes_number_turn_vector_fp64(&position->turn, inner_vector, outer_vector); + bgc_fp64_turn2_vector(outer_vector, &position->turn, inner_vector); } // ========== Transform Vector Inwards =========== // -inline void bgc_position2_transform_vector_inwards_fp32(const BgcPosition2FP32 * position, const BgcVector2FP32 * outer_vector, BgcVector2FP32 * inner_vector) +inline void bgc_fp32_position2_transform_vector_inwards(BGC_FP32_Vector2* inner_vector, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * outer_vector) { - bgc_cotes_number_turn_vector_back_fp32(&position->turn, outer_vector, inner_vector); + bgc_fp32_turn2_vector_back(inner_vector, &position->turn, outer_vector); } -inline void bgc_position2_transform_vector_inwards_fp64(const BgcPosition2FP64 * position, const BgcVector2FP64 * outer_vector, BgcVector2FP64 * inner_vector) +inline void bgc_fp64_position2_transform_vector_inwards(BGC_FP64_Vector2* inner_vector, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * outer_vector) { - bgc_cotes_number_turn_vector_back_fp64(&position->turn, outer_vector, inner_vector); + bgc_fp64_turn2_vector_back(inner_vector, &position->turn, outer_vector); } #endif diff --git a/basic-geometry/position3.c b/basic-geometry/position3.c index 377159f..33b819a 100644 --- a/basic-geometry/position3.c +++ b/basic-geometry/position3.c @@ -1,43 +1,49 @@ #include "position3.h" -extern inline void bgc_position3_reset_fp32(BgcPosition3FP32 * node); -extern inline void bgc_position3_reset_fp64(BgcPosition3FP64 * node); +extern inline void bgc_fp32_position3_reset(BGC_FP32_Position3 * node); +extern inline void bgc_fp64_position3_reset(BGC_FP64_Position3 * node); -extern inline void bgc_position3_make_fp32(const BgcVersorFP32 * turn, const BgcVector3FP32 * shift, BgcPosition3FP32 * position); -extern inline void bgc_position3_make_fp64(const BgcVersorFP64 * turn, const BgcVector3FP64 * shift, BgcPosition3FP64 * position); +extern inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* shift); +extern inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Turn3 * turn, const BGC_FP64_Vector3 * shift); -extern inline void bgc_position3_copy_fp32(const BgcPosition3FP32 * source, BgcPosition3FP32 * destination); -extern inline void bgc_position3_copy_fp64(const BgcPosition3FP64 * source, BgcPosition3FP64 * destination); +extern inline void bgc_fp32_position3_copy(BGC_FP32_Position3* destination, const BGC_FP32_Position3* source); +extern inline void bgc_fp64_position3_copy(BGC_FP64_Position3* destination, const BGC_FP64_Position3 * source); -extern inline void bgc_position3_convert_fp64_to_fp32(const BgcPosition3FP64 * source, BgcPosition3FP32 * destination); -extern inline void bgc_position3_convert_fp32_to_fp64(const BgcPosition3FP32 * source, BgcPosition3FP64 * destination); +extern inline void bgc_fp32_position3_swap(BGC_FP32_Position3 * first, BGC_FP32_Position3 * second); +extern inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Position3 * second); -extern inline void bgc_position3_invert_fp32(BgcPosition3FP32 * position); -extern inline void bgc_position3_invert_fp64(BgcPosition3FP64 * position); +extern inline void bgc_fp32_position3_convert_to_fp64(BGC_FP64_Position3* destination,const BGC_FP32_Position3 * source); +extern inline void bgc_fp64_position3_convert_to_fp32(BGC_FP32_Position3* destination, const BGC_FP64_Position3* source); -extern inline void bgc_position3_get_inverse_fp32(const BgcPosition3FP32 * position, BgcPosition3FP32 * inverted); -extern inline void bgc_position3_get_inverse_fp64(const BgcPosition3FP64 * position, BgcPosition3FP64 * inverted); +extern inline int bgc_fp32_position3_is_idle(const BGC_FP32_Position3 * position); +extern inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3 * position); -extern inline void bgc_position3_combine_fp32(const BgcPosition3FP32 * first, const BgcPosition3FP32 * second, BgcPosition3FP32 * combination); -extern inline void bgc_position3_combine_fp64(const BgcPosition3FP64 * first, const BgcPosition3FP64 * second, BgcPosition3FP64 * combination); +extern inline void bgc_fp32_position3_invert(BGC_FP32_Position3 * position); +extern inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position); -extern inline void bgc_position3_exclude_fp32(const BgcPosition3FP32 * base, const BgcPosition3FP32 * excludant, BgcPosition3FP32 * difference); -extern inline void bgc_position3_exclude_fp64(const BgcPosition3FP64 * base, const BgcPosition3FP64 * excludant, BgcPosition3FP64 * difference); +extern inline void bgc_fp32_position3_get_inverse(BGC_FP32_Position3* inverse, const BGC_FP32_Position3* position); +extern inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* inverse, const BGC_FP64_Position3 * position); -extern inline void bgc_position3_get_outward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * outward_affine_map); -extern inline void bgc_position3_get_outward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * outward_affine_map); +extern inline void bgc_fp32_position3_combine(BGC_FP32_Position3* combination, const BGC_FP32_Position3* first, const BGC_FP32_Position3* second); +extern inline void bgc_fp64_position3_combine(BGC_FP64_Position3* combination, const BGC_FP64_Position3 * first, const BGC_FP64_Position3 * second); -extern inline void bgc_position3_get_inward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * inward_affine_map); -extern inline void bgc_position3_get_inward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * inward_affine_map); +extern inline void bgc_fp32_position3_exclude(BGC_FP32_Position3* difference, const BGC_FP32_Position3* base, const BGC_FP32_Position3* excludant); +extern inline void bgc_fp64_position3_exclude(BGC_FP64_Position3* difference, const BGC_FP64_Position3 * base, const BGC_FP64_Position3 * excludant); -extern inline void bgc_position3_transform_point_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_point, BgcVector3FP32 * outer_point); -extern inline void bgc_position3_transform_point_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_point, BgcVector3FP64 * outer_point); +extern inline void bgc_fp32_position3_get_outward_affine(BGC_FP32_Affine3* outward_affine_map, const BGC_FP32_Position3* position); +extern inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* outward_affine_map, const BGC_FP64_Position3 * position); -extern inline void bgc_position3_transform_point_inwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_point, BgcVector3FP32 * inner_point); -extern inline void bgc_position3_transform_point_inwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_point, BgcVector3FP64 * inner_point); +extern inline void bgc_fp32_position3_get_inward_affine(BGC_FP32_Affine3* inward_affine_map, const BGC_FP32_Position3* position); +extern inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* inward_affine_map, const BGC_FP64_Position3 * position); -extern inline void bgc_position3_transform_vector_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_vector, BgcVector3FP32 * outer_vector); -extern inline void bgc_position3_transform_vector_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_vector, BgcVector3FP64 * outer_vector); +extern inline void bgc_fp32_position3_transform_point_outwards(BGC_FP32_Vector3* outer_point, const BGC_FP32_Position3* position, const BGC_FP32_Vector3* inner_point); +extern inline void bgc_fp64_position3_transform_point_outwards(BGC_FP64_Vector3* outer_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_point); -extern inline void bgc_position3_transform_vector_inwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_vector, BgcVector3FP32 * inner_vector); -extern inline void bgc_position3_transform_vector_inwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_vector, BgcVector3FP64 * inner_vector); +extern inline void bgc_fp32_position3_transform_point_inwards(BGC_FP32_Vector3* inner_point, const BGC_FP32_Position3* position, const BGC_FP32_Vector3* outer_point); +extern inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* inner_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_point); + +extern inline void bgc_fp32_position3_transform_vector_outwards(BGC_FP32_Vector3* outer_vector, const BGC_FP32_Position3* position, const BGC_FP32_Vector3* inner_vector); +extern inline void bgc_fp64_position3_transform_vector_outwards(BGC_FP64_Vector3* outer_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_vector); + +extern inline void bgc_fp32_position3_transform_vector_inwards(BGC_FP32_Vector3* inner_vector, const BGC_FP32_Position3* position, const BGC_FP32_Vector3* outer_vector); +extern inline void bgc_fp64_position3_transform_vector_inwards(BGC_FP64_Vector3* inner_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_vector); diff --git a/basic-geometry/position3.h b/basic-geometry/position3.h index 6b9edd1..b366403 100644 --- a/basic-geometry/position3.h +++ b/basic-geometry/position3.h @@ -3,230 +3,256 @@ #include "vector3.h" #include "affine3.h" -#include "versor.h" +#include "turn3.h" // ==================== Types ==================== // typedef struct { - BgcVersorFP32 turn; - BgcVector3FP32 shift; -} BgcPosition3FP32; + BGC_FP32_Turn3 turn; + BGC_FP32_Vector3 shift; +} BGC_FP32_Position3; typedef struct { - BgcVersorFP64 turn; - BgcVector3FP64 shift; -} BgcPosition3FP64; + BGC_FP64_Turn3 turn; + BGC_FP64_Vector3 shift; +} BGC_FP64_Position3; // ==================== Reset ==================== // -inline void bgc_position3_reset_fp32(BgcPosition3FP32 * position) +inline void bgc_fp32_position3_reset(BGC_FP32_Position3 * position) { - bgc_versor_reset_fp32(&position->turn); - bgc_vector3_reset_fp32(&position->shift); + bgc_fp32_turn3_reset(&position->turn); + bgc_fp32_vector3_reset(&position->shift); } -inline void bgc_position3_reset_fp64(BgcPosition3FP64 * position) +inline void bgc_fp64_position3_reset(BGC_FP64_Position3 * position) { - bgc_versor_reset_fp64(&position->turn); - bgc_vector3_reset_fp64(&position->shift); + bgc_fp64_turn3_reset(&position->turn); + bgc_fp64_vector3_reset(&position->shift); } // ==================== Make ===================== // -inline void bgc_position3_make_fp32(const BgcVersorFP32 * turn, const BgcVector3FP32 * shift, BgcPosition3FP32 * position) +inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Turn3 * turn, const BGC_FP32_Vector3 * shift) { - bgc_versor_copy_fp32(turn, &position->turn); - bgc_vector3_copy_fp32(shift, &position->shift); + bgc_fp32_turn3_copy(&position->turn, turn); + bgc_fp32_vector3_copy(&position->shift, shift); } -inline void bgc_position3_make_fp64(const BgcVersorFP64 * turn, const BgcVector3FP64 * shift, BgcPosition3FP64 * position) +inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Turn3 * turn, const BGC_FP64_Vector3 * shift) { - bgc_versor_copy_fp64(turn, &position->turn); - bgc_vector3_copy_fp64(shift, &position->shift); + bgc_fp64_turn3_copy(&position->turn, turn); + bgc_fp64_vector3_copy(&position->shift, shift); } // ==================== Copy ===================== // -inline void bgc_position3_copy_fp32(const BgcPosition3FP32 * source, BgcPosition3FP32 * destination) +inline void bgc_fp32_position3_copy(BGC_FP32_Position3* destination, const BGC_FP32_Position3 * source) { - bgc_versor_copy_fp32(&source->turn, &destination->turn); - bgc_vector3_copy_fp32(&source->shift, &destination->shift); + bgc_fp32_turn3_copy(&destination->turn, &source->turn); + bgc_fp32_vector3_copy(&destination->shift, &source->shift); } -inline void bgc_position3_copy_fp64(const BgcPosition3FP64 * source, BgcPosition3FP64 * destination) +inline void bgc_fp64_position3_copy(BGC_FP64_Position3* destination, const BGC_FP64_Position3 * source) { - bgc_versor_copy_fp64(&source->turn, &destination->turn); - bgc_vector3_copy_fp64(&source->shift, &destination->shift); + bgc_fp64_turn3_copy(&destination->turn, &source->turn); + bgc_fp64_vector3_copy(&destination->shift, &source->shift); +} + +// ==================== Swap ===================== // + +inline void bgc_fp32_position3_swap(BGC_FP32_Position3 * first, BGC_FP32_Position3 * second) +{ + bgc_fp32_turn3_swap(&first->turn, &second->turn); + bgc_fp32_vector3_swap(&first->shift, &second->shift); +} + +inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Position3 * second) +{ + bgc_fp64_turn3_swap(&first->turn, &second->turn); + bgc_fp64_vector3_swap(&first->shift, &second->shift); } // =================== Convert =================== // -inline void bgc_position3_convert_fp64_to_fp32(const BgcPosition3FP64 * source, BgcPosition3FP32 * destination) +inline void bgc_fp32_position3_convert_to_fp64(BGC_FP64_Position3* destination, const BGC_FP32_Position3 * source) { - bgc_versor_convert_fp64_to_fp32(&source->turn, &destination->turn); - bgc_vector3_convert_fp64_to_fp32(&source->shift, &destination->shift); + bgc_fp32_turn3_convert_to_fp64(&destination->turn, &source->turn); + bgc_fp32_vector3_convert_to_fp64(&destination->shift, &source->shift); } -inline void bgc_position3_convert_fp32_to_fp64(const BgcPosition3FP32 * source, BgcPosition3FP64 * destination) +inline void bgc_fp64_position3_convert_to_fp32(BGC_FP32_Position3* destination, const BGC_FP64_Position3* source) { - bgc_versor_convert_fp32_to_fp64(&source->turn, &destination->turn); - bgc_vector3_convert_fp32_to_fp64(&source->shift, &destination->shift); + bgc_fp64_turn3_convert_to_fp32(&destination->turn, &source->turn); + bgc_fp64_vector3_convert_to_fp32(&destination->shift, &source->shift); +} + +// =================== Is Idle =================== // + +inline int bgc_fp32_position3_is_idle(const BGC_FP32_Position3 * position) +{ + return bgc_fp32_vector3_is_zero(&position->shift) && bgc_fp32_turn3_is_idle(&position->turn); +} + +inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3 * position) +{ + return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_turn3_is_idle(&position->turn); } // =================== Invert ==================== // -inline void bgc_position3_invert_fp32(BgcPosition3FP32 * position) +inline void bgc_fp32_position3_invert(BGC_FP32_Position3 * position) { - bgc_versor_turn_vector_back_fp32(&position->turn, &position->shift, &position->shift); - bgc_versor_invert_fp32(&position->turn); - bgc_vector3_make_opposite_fp32(&position->shift); + bgc_fp32_turn3_vector_back(&position->shift, &position->turn, &position->shift); + bgc_fp32_turn3_revert(&position->turn); + bgc_fp32_vector3_revert(&position->shift); } -inline void bgc_position3_invert_fp64(BgcPosition3FP64 * position) +inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position) { - bgc_versor_turn_vector_back_fp64(&position->turn, &position->shift, &position->shift); - bgc_versor_invert_fp64(&position->turn); - bgc_vector3_make_opposite_fp64(&position->shift); + bgc_fp64_turn3_vector_back(&position->shift, &position->turn, &position->shift); + bgc_fp64_turn3_revert(&position->turn); + bgc_fp64_vector3_revert(&position->shift); } // ================= Get Inverse ================= // -inline void bgc_position3_get_inverse_fp32(const BgcPosition3FP32 * position, BgcPosition3FP32 * inverted) +inline void bgc_fp32_position3_get_inverse(BGC_FP32_Position3* inverse, const BGC_FP32_Position3 * position) { - bgc_versor_turn_vector_back_fp32(&position->turn, &position->shift, &inverted->shift); - bgc_versor_get_inverse_fp32(&position->turn, &inverted->turn); - bgc_vector3_make_opposite_fp32(&inverted->shift); + bgc_fp32_turn3_vector_back(&inverse->shift, &position->turn, &position->shift); + bgc_fp32_turn3_get_reverse(&inverse->turn, &position->turn); + bgc_fp32_vector3_revert(&inverse->shift); } -inline void bgc_position3_get_inverse_fp64(const BgcPosition3FP64 * position, BgcPosition3FP64 * inverted) +inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* inverse, const BGC_FP64_Position3 * position) { - bgc_versor_turn_vector_back_fp64(&position->turn, &position->shift, &inverted->shift); - bgc_versor_get_inverse_fp64(&position->turn, &inverted->turn); - bgc_vector3_make_opposite_fp64(&inverted->shift); + bgc_fp64_turn3_vector_back(&inverse->shift, &position->turn, &position->shift); + bgc_fp64_turn3_get_reverse(&inverse->turn, &position->turn); + bgc_fp64_vector3_revert(&inverse->shift); } // =================== Combine =================== // -inline void bgc_position3_combine_fp32(const BgcPosition3FP32 * first, const BgcPosition3FP32 * second, BgcPosition3FP32 * combination) +inline void bgc_fp32_position3_combine(BGC_FP32_Position3* combination, const BGC_FP32_Position3 * first, const BGC_FP32_Position3 * second) { - BgcVector3FP32 relative_shift; - bgc_versor_turn_vector_fp32(&second->turn, &first->shift, &relative_shift); - bgc_versor_combine_fp32(&first->turn, &second->turn, &combination->turn); - bgc_vector3_add_fp32(&relative_shift, &second->shift, &combination->shift); + BGC_FP32_Vector3 relative_shift; + bgc_fp32_turn3_vector(&relative_shift, &second->turn, &first->shift); + bgc_fp32_turn3_combine(&combination->turn, &first->turn, &second->turn); + bgc_fp32_vector3_add(&combination->shift, &relative_shift, &second->shift); } -inline void bgc_position3_combine_fp64(const BgcPosition3FP64 * first, const BgcPosition3FP64 * second, BgcPosition3FP64 * combination) +inline void bgc_fp64_position3_combine(BGC_FP64_Position3* combination, const BGC_FP64_Position3 * first, const BGC_FP64_Position3 * second) { - BgcVector3FP64 relative_shift; - bgc_versor_turn_vector_fp64(&second->turn, &first->shift, &relative_shift); - bgc_versor_combine_fp64(&first->turn, &second->turn, &combination->turn); - bgc_vector3_add_fp64(&relative_shift, &second->shift, &combination->shift); + BGC_FP64_Vector3 relative_shift; + bgc_fp64_turn3_vector(&relative_shift, &second->turn, &first->shift); + bgc_fp64_turn3_combine(&combination->turn, &first->turn, &second->turn); + bgc_fp64_vector3_add(&combination->shift, &relative_shift, &second->shift); } // =================== Exclude =================== // -inline void bgc_position3_exclude_fp32(const BgcPosition3FP32 * base, const BgcPosition3FP32 * excludant, BgcPosition3FP32 * difference) +inline void bgc_fp32_position3_exclude(BGC_FP32_Position3* difference, const BGC_FP32_Position3 * base, const BGC_FP32_Position3 * excludant) { - BgcVector3FP32 relative_shift; - bgc_vector3_subtract_fp32(&base->shift, &excludant->shift, &relative_shift); - bgc_versor_turn_vector_back_fp32(&excludant->turn, &relative_shift, &difference->shift); - bgc_versor_exclude_fp32(&base->turn, &excludant->turn, &difference->turn); + BGC_FP32_Vector3 relative_shift; + bgc_fp32_vector3_subtract(&relative_shift, &base->shift, &excludant->shift); + bgc_fp32_turn3_vector_back(&difference->shift, &excludant->turn, &relative_shift); + bgc_fp32_turn3_exclude(&difference->turn, &base->turn, &excludant->turn); } -inline void bgc_position3_exclude_fp64(const BgcPosition3FP64 * base, const BgcPosition3FP64 * excludant, BgcPosition3FP64 * difference) +inline void bgc_fp64_position3_exclude(BGC_FP64_Position3* difference, const BGC_FP64_Position3 * base, const BGC_FP64_Position3 * excludant) { - BgcVector3FP64 relative_shift; - bgc_vector3_subtract_fp64(&base->shift, &excludant->shift, &relative_shift); - bgc_versor_turn_vector_back_fp64(&excludant->turn, &relative_shift, &difference->shift); - bgc_versor_exclude_fp64(&base->turn, &excludant->turn, &difference->turn); + BGC_FP64_Vector3 relative_shift; + bgc_fp64_vector3_subtract(&relative_shift, &base->shift, &excludant->shift); + bgc_fp64_turn3_vector_back(&difference->shift, &excludant->turn, &relative_shift); + bgc_fp64_turn3_exclude(&difference->turn, &base->turn, &excludant->turn); } // ============= Get Outward Affine ============== // -inline void bgc_position3_get_outward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * outward_affine_map) +inline void bgc_fp32_position3_get_outward_affine(BGC_FP32_Affine3* outward_affine_map, const BGC_FP32_Position3 * position) { - bgc_versor_get_rotation_matrix_fp32(&position->turn, &outward_affine_map->distortion); - bgc_vector3_copy_fp32(&position->shift, &outward_affine_map->shift); + bgc_fp32_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn); + bgc_fp32_vector3_copy(&outward_affine_map->shift, &position->shift); } -inline void bgc_position3_get_outward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * outward_affine_map) +inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* outward_affine_map, const BGC_FP64_Position3 * position) { - bgc_versor_get_rotation_matrix_fp64(&position->turn, &outward_affine_map->distortion); - bgc_vector3_copy_fp64(&position->shift, &outward_affine_map->shift); + bgc_fp64_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn); + bgc_fp64_vector3_copy(&outward_affine_map->shift, &position->shift); } // ============== Get Inward Affine ============== // -inline void bgc_position3_get_inward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * inward_affine_map) +inline void bgc_fp32_position3_get_inward_affine(BGC_FP32_Affine3* inward_affine_map, const BGC_FP32_Position3 * position) { - bgc_versor_get_reverse_matrix_fp32(&position->turn, &inward_affine_map->distortion); - bgc_matrix3x3_get_right_product_fp32(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift); - bgc_vector3_make_opposite_fp32(&inward_affine_map->shift); + bgc_fp32_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn); + bgc_fp32_multiply_matrix3x3_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift); + bgc_fp32_vector3_revert(&inward_affine_map->shift); } -inline void bgc_position3_get_inward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * inward_affine_map) +inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* inward_affine_map, const BGC_FP64_Position3 * position) { - bgc_versor_get_reverse_matrix_fp64(&position->turn, &inward_affine_map->distortion); - bgc_matrix3x3_get_right_product_fp64(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift); - bgc_vector3_make_opposite_fp64(&inward_affine_map->shift); + bgc_fp64_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn); + bgc_fp64_multiply_matrix3x3_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift); + bgc_fp64_vector3_revert(&inward_affine_map->shift); } // ========== Transform Point Outwards =========== // -inline void bgc_position3_transform_point_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_point, BgcVector3FP32 * outer_point) +inline void bgc_fp32_position3_transform_point_outwards(BGC_FP32_Vector3* outer_point, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_point) { - BgcVector3FP32 turned_point; - bgc_versor_turn_vector_fp32(&position->turn, inner_point, &turned_point); - bgc_vector3_add_fp32(&position->shift, &turned_point, outer_point); + BGC_FP32_Vector3 turned_point; + bgc_fp32_turn3_vector(&turned_point, &position->turn, inner_point); + bgc_fp32_vector3_add(outer_point, &position->shift, &turned_point); } -inline void bgc_position3_transform_point_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_point, BgcVector3FP64 * outer_point) +inline void bgc_fp64_position3_transform_point_outwards(BGC_FP64_Vector3* outer_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_point) { - BgcVector3FP64 turned_point; - bgc_versor_turn_vector_fp64(&position->turn, inner_point, &turned_point); - bgc_vector3_add_fp64(&position->shift, &turned_point, outer_point); + BGC_FP64_Vector3 turned_point; + bgc_fp64_turn3_vector(&turned_point, &position->turn, inner_point); + bgc_fp64_vector3_add(outer_point, &position->shift, &turned_point); } // =========== Transform Point Inwards =========== // -inline void bgc_position3_transform_point_inwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_point, BgcVector3FP32 * inner_point) +inline void bgc_fp32_position3_transform_point_inwards(BGC_FP32_Vector3* inner_point, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_point) { - BgcVector3FP32 relative_point; - bgc_vector3_subtract_fp32(outer_point, &position->shift, &relative_point); - bgc_versor_turn_vector_back_fp32(&position->turn, &relative_point, inner_point); + BGC_FP32_Vector3 relative_point; + bgc_fp32_vector3_subtract(&relative_point, outer_point, &position->shift); + bgc_fp32_turn3_vector_back(inner_point, &position->turn, &relative_point); } -inline void bgc_position3_transform_point_inwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_point, BgcVector3FP64 * inner_point) +inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* inner_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_point) { - BgcVector3FP64 relative_point; - bgc_vector3_subtract_fp64(outer_point, &position->shift, &relative_point); - bgc_versor_turn_vector_back_fp64(&position->turn, &relative_point, inner_point); + BGC_FP64_Vector3 relative_point; + bgc_fp64_vector3_subtract(&relative_point, outer_point, &position->shift); + bgc_fp64_turn3_vector_back(inner_point, &position->turn, &relative_point); } // ========== Transform Vector Outwards ========== // -inline void bgc_position3_transform_vector_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_vector, BgcVector3FP32 * outer_vector) +inline void bgc_fp32_position3_transform_vector_outwards(BGC_FP32_Vector3* outer_vector, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_vector) { - bgc_versor_turn_vector_fp32(&position->turn, inner_vector, outer_vector); + bgc_fp32_turn3_vector(outer_vector, &position->turn, inner_vector); } -inline void bgc_position3_transform_vector_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_vector, BgcVector3FP64 * outer_vector) +inline void bgc_fp64_position3_transform_vector_outwards(BGC_FP64_Vector3* outer_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_vector) { - bgc_versor_turn_vector_fp64(&position->turn, inner_vector, outer_vector); + bgc_fp64_turn3_vector(outer_vector, &position->turn, inner_vector); } // ========== Transform Vector Inwards =========== // -inline void bgc_position3_transform_vector_inwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_vector, BgcVector3FP32 * inner_vector) +inline void bgc_fp32_position3_transform_vector_inwards(BGC_FP32_Vector3* inner_vector, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_vector) { - bgc_versor_turn_vector_back_fp32(&position->turn, outer_vector, inner_vector); + bgc_fp32_turn3_vector_back(inner_vector, &position->turn, outer_vector); } -inline void bgc_position3_transform_vector_inwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_vector, BgcVector3FP64 * inner_vector) +inline void bgc_fp64_position3_transform_vector_inwards(BGC_FP64_Vector3* inner_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_vector) { - bgc_versor_turn_vector_back_fp64(&position->turn, outer_vector, inner_vector); + bgc_fp64_turn3_vector_back(inner_vector, &position->turn, outer_vector); } #endif // _BGC_POSITION_H_INCLUDED_ diff --git a/basic-geometry/quaternion.c b/basic-geometry/quaternion.c index 8762c9d..3f74252 100644 --- a/basic-geometry/quaternion.c +++ b/basic-geometry/quaternion.c @@ -1,105 +1,108 @@ #include #include "quaternion.h" -extern inline void bgc_quaternion_reset_fp32(BgcQuaternionFP32* quaternion); -extern inline void bgc_quaternion_reset_fp64(BgcQuaternionFP64* quaternion); +extern inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* quaternion); +extern inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* quaternion); -extern inline void bgc_quaternion_make_unit_fp32(BgcQuaternionFP32* quaternion); -extern inline void bgc_quaternion_make_unit_fp64(BgcQuaternionFP64* quaternion); +extern inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* quaternion); +extern inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* quaternion); -extern inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcQuaternionFP32* quaternion); -extern inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcQuaternionFP64* quaternion); +extern inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* quaternion, const float s0, const float x1, const float x2, const float x3); +extern inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* quaternion, const double s0, const double x1, const double x2, const double x3); -extern inline float bgc_quaternion_get_square_modulus_fp32(const BgcQuaternionFP32* quaternion); -extern inline double bgc_quaternion_get_square_modulus_fp64(const BgcQuaternionFP64* quaternion); +extern inline float bgc_fp32_quaternion_get_square_modulus(const BGC_FP32_Quaternion* quaternion); +extern inline double bgc_fp64_quaternion_get_square_modulus(const BGC_FP64_Quaternion* quaternion); -extern inline float bgc_quaternion_get_modulus_fp32(const BgcQuaternionFP32* quaternion); -extern inline double bgc_quaternion_get_modulus_fp64(const BgcQuaternionFP64* quaternion); +extern inline float bgc_fp32_quaternion_get_modulus(const BGC_FP32_Quaternion* quaternion); +extern inline double bgc_fp64_quaternion_get_modulus(const BGC_FP64_Quaternion* quaternion); -extern inline int bgc_quaternion_is_zero_fp32(const BgcQuaternionFP32* quaternion); -extern inline int bgc_quaternion_is_zero_fp64(const BgcQuaternionFP64* quaternion); +extern inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* quaternion); +extern inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* quaternion); -extern inline int bgc_quaternion_is_unit_fp32(const BgcQuaternionFP32* quaternion); -extern inline int bgc_quaternion_is_unit_fp64(const BgcQuaternionFP64* quaternion); +extern inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* quaternion); +extern inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* quaternion); -extern inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* source, BgcQuaternionFP32* destination); -extern inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* source, BgcQuaternionFP64* destination); +extern inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* destination, const BGC_FP32_Quaternion* source); +extern inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* destination, const BGC_FP64_Quaternion* source); -extern inline void bgc_quaternion_swap_fp32(BgcQuaternionFP32* quarternion1, BgcQuaternionFP32* quarternion2); -extern inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuaternionFP64* quarternion2); +extern inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* quarternion1, BGC_FP32_Quaternion* quarternion2); +extern inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64_Quaternion* quarternion2); -extern inline void bgc_quaternion_convert_fp64_to_fp32(const BgcQuaternionFP64* source, BgcQuaternionFP32* destination); -extern inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* source, BgcQuaternionFP64* destination); +extern inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* destination, const BGC_FP32_Quaternion* source); +extern inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* destination, const BGC_FP64_Quaternion* source); -extern inline void bgc_quaternion_add_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2, BgcQuaternionFP32* sum); -extern inline void bgc_quaternion_add_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2, BgcQuaternionFP64* sum); +extern inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2); +extern inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2); -extern inline void bgc_quaternion_add_scaled_fp32(const BgcQuaternionFP32* basic_quaternion, const BgcQuaternionFP32* scalable_quaternion, const float scale, BgcQuaternionFP32* sum); -extern inline void bgc_quaternion_add_scaled_fp64(const BgcQuaternionFP64* basic_quaternion, const BgcQuaternionFP64* scalable_quaternion, const double scale, BgcQuaternionFP64* sum); +extern inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* basic_quaternion, const BGC_FP32_Quaternion* scalable_quaternion, const float scale); +extern inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* basic_quaternion, const BGC_FP64_Quaternion* scalable_quaternion, const double scale); -extern inline void bgc_quaternion_subtract_fp32(const BgcQuaternionFP32* minuend, const BgcQuaternionFP32* subtrahend, BgcQuaternionFP32* difference); -extern inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64* minuend, const BgcQuaternionFP64* subtrahend, BgcQuaternionFP64* difference); +extern inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* minuend, const BGC_FP32_Quaternion* subtrahend); +extern inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* minuend, const BGC_FP64_Quaternion* subtrahend); -extern inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product); -extern inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* product); +extern inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right); +extern inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right); -extern inline void bgc_quaternion_multiply_by_number_fp32(const BgcQuaternionFP32* multiplicand, const float multipier, BgcQuaternionFP32* product); -extern inline void bgc_quaternion_multiply_by_number_fp64(const BgcQuaternionFP64* multiplicand, const double multipier, BgcQuaternionFP64* product); +extern inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right); +extern inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right); -extern inline int bgc_quaternion_divide_fp32(const BgcQuaternionFP32* divident, const BgcQuaternionFP32* divisor, BgcQuaternionFP32* quotient); -extern inline int bgc_quaternion_divide_fp64(const BgcQuaternionFP64* divident, const BgcQuaternionFP64* divisor, BgcQuaternionFP64* quotient); +extern inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier); +extern inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier); -extern inline void bgc_quaternion_divide_by_number_fp32(const BgcQuaternionFP32* dividend, const float divisor, BgcQuaternionFP32* quotient); -extern inline void bgc_quaternion_divide_by_number_fp64(const BgcQuaternionFP64* dividend, const double divisor, BgcQuaternionFP64* quotient); +extern inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor); +extern inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor); -extern inline void bgc_quaternion_get_mean_of_two_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, BgcQuaternionFP32* mean); -extern inline void bgc_quaternion_get_mean_of_two_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, BgcQuaternionFP64* mean); +extern inline void bgc_fp32_quaternion_divide(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor); +extern inline void bgc_fp64_quaternion_divide(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor); -extern inline void bgc_quaternion_get_mean_of_three_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, const BgcQuaternionFP32* vector3, BgcQuaternionFP32* mean); -extern inline void bgc_quaternion_get_mean_of_three_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, const BgcQuaternionFP64* vector3, BgcQuaternionFP64* mean); +extern inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2); +extern inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2); -extern inline void bgc_quaternion_interpolate_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, const float phase, BgcQuaternionFP32* interpolation); -extern inline void bgc_quaternion_interpolate_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, const double phase, BgcQuaternionFP64* interpolation); +extern inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const BGC_FP32_Quaternion* quaternion3); +extern inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const BGC_FP64_Quaternion* quaternion3); -extern inline void bgc_quaternion_conjugate_fp32(BgcQuaternionFP32* quaternion); -extern inline void bgc_quaternion_conjugate_fp64(BgcQuaternionFP64* quaternion); +extern inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase); +extern inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase); -extern inline void bgc_quaternion_get_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* conjugate); -extern inline void bgc_quaternion_get_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* conjugate); +extern inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion); +extern inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion); -extern inline void bgc_quaternion_make_opposite_fp32(BgcQuaternionFP32* quaternion); -extern inline void bgc_quaternion_make_opposite_fp64(BgcQuaternionFP64* quaternion); +extern inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* conjugate, const BGC_FP32_Quaternion* quaternion); +extern inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* conjugate, const BGC_FP64_Quaternion* quaternion); -extern inline void bgc_quaternion_get_opposite_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* opposite); -extern inline void bgc_quaternion_get_opposite_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* opposite); +extern inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* quaternion); +extern inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* quaternion); -extern inline int bgc_quaternion_invert_fp32(BgcQuaternionFP32* quaternion); -extern inline int bgc_quaternion_invert_fp64(BgcQuaternionFP64* quaternion); +extern inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* reverse, const BGC_FP32_Quaternion* quaternion); +extern inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* reverse, const BGC_FP64_Quaternion* quaternion); -extern inline int bgc_quaternion_get_inverse_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* inverse); -extern inline int bgc_quaternion_get_inverse_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* inverse); +extern inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* quaternion); +extern inline int bgc_fp64_quaternion_invert(BGC_FP64_Quaternion* quaternion); -extern inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion); -extern inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion); +extern inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const BGC_FP32_Quaternion* quaternion); +extern inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const BGC_FP64_Quaternion* quaternion); -extern inline int bgc_quaternion_get_normalized_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* normalized); -extern inline int bgc_quaternion_get_normalized_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* normalized); +extern inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion); +extern inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion); -extern inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation); -extern inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation); +extern inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion); +extern inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion); -extern inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* reverse); -extern inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* reverse); +extern inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion); +extern inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion); -extern inline int bgc_quaternion_get_both_matrices_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse); -extern inline int bgc_quaternion_get_both_matrices_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse); +extern inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion); +extern inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion); -extern inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2); -extern inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2); +extern inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion); +extern inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion); + +extern inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2); +extern inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2); // =============== Get Exponation =============== // -int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const float exponent, BgcQuaternionFP32* power) +int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP32_Quaternion* base, const float exponent) { const float s0s0 = base->s0 * base->s0; const float x1x1 = base->x1 * base->x1; @@ -109,12 +112,12 @@ int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const floa const float square_vector = x1x1 + (x2x2 + x3x3); const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); - // square_modulus != square_modulus means checking for NaN value at square_modulus - if (square_modulus != square_modulus) { + // isnan(square_modulus) means checking for NaN value at square_modulus + if (isnan(square_modulus)) { return 0; } - if (square_vector <= BGC_SQUARE_EPSYLON_FP32) { + if (square_vector <= BGC_FP32_SQUARE_EPSILON) { if (base->s0 < 0.0f) { return 0; } @@ -140,7 +143,7 @@ int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const floa return 1; } -int bgc_quaternion_get_exponation_fp64(const BgcQuaternionFP64* base, const double exponent, BgcQuaternionFP64* power) +int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent) { const double s0s0 = base->s0 * base->s0; const double x1x1 = base->x1 * base->x1; @@ -149,13 +152,13 @@ int bgc_quaternion_get_exponation_fp64(const BgcQuaternionFP64* base, const doub const double square_vector = x1x1 + (x2x2 + x3x3); const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); - - // square_modulus != square_modulus means checking for NaN value at square_modulus - if (square_modulus != square_modulus) { + + // isnan(square_modulus) means checking for NaN value at square_modulus + if (isnan(square_modulus)) { return 0; } - if (square_vector <= BGC_SQUARE_EPSYLON_FP64) { + if (square_vector <= BGC_FP64_SQUARE_EPSILON) { if (base->s0 < 0.0) { return 0; } diff --git a/basic-geometry/quaternion.h b/basic-geometry/quaternion.h index 9d8f0f5..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 @@ -9,15 +9,15 @@ typedef struct { float s0, x1, x2, x3; -} BgcQuaternionFP32; +} BGC_FP32_Quaternion; typedef struct { double s0, x1, x2, x3; -} BgcQuaternionFP64; +} BGC_FP64_Quaternion; // ==================== Reset =================== // -inline void bgc_quaternion_reset_fp32(BgcQuaternionFP32 * quaternion) +inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* quaternion) { quaternion->s0 = 0.0f; quaternion->x1 = 0.0f; @@ -25,7 +25,7 @@ inline void bgc_quaternion_reset_fp32(BgcQuaternionFP32 * quaternion) quaternion->x3 = 0.0f; } -inline void bgc_quaternion_reset_fp64(BgcQuaternionFP64 * quaternion) +inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* quaternion) { quaternion->s0 = 0.0; quaternion->x1 = 0.0; @@ -35,7 +35,7 @@ inline void bgc_quaternion_reset_fp64(BgcQuaternionFP64 * quaternion) // ================= Make Unit ================== // -inline void bgc_quaternion_make_unit_fp32(BgcQuaternionFP32 * quaternion) +inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* quaternion) { quaternion->s0 = 1.0f; quaternion->x1 = 0.0f; @@ -43,7 +43,7 @@ inline void bgc_quaternion_make_unit_fp32(BgcQuaternionFP32 * quaternion) quaternion->x3 = 0.0f; } -inline void bgc_quaternion_make_unit_fp64(BgcQuaternionFP64 * quaternion) +inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* quaternion) { quaternion->s0 = 1.0; quaternion->x1 = 0.0; @@ -53,7 +53,7 @@ inline void bgc_quaternion_make_unit_fp64(BgcQuaternionFP64 * quaternion) // ==================== Set ===================== // -inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcQuaternionFP32 * quaternion) +inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* quaternion, const float s0, const float x1, const float x2, const float x3) { quaternion->s0 = s0; quaternion->x1 = x1; @@ -61,7 +61,7 @@ inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const quaternion->x3 = x3; } -inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcQuaternionFP64 * quaternion) +inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* quaternion, const double s0, const double x1, const double x2, const double x3) { quaternion->s0 = s0; quaternion->x1 = x1; @@ -71,55 +71,55 @@ inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, con // ============= Get Square Modulus ============= // -inline float bgc_quaternion_get_square_modulus_fp32(const BgcQuaternionFP32* quaternion) +inline float bgc_fp32_quaternion_get_square_modulus(const BGC_FP32_Quaternion* quaternion) { return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3); } -inline double bgc_quaternion_get_square_modulus_fp64(const BgcQuaternionFP64* quaternion) +inline double bgc_fp64_quaternion_get_square_modulus(const BGC_FP64_Quaternion* quaternion) { return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3); } // ================ Get Modulus ================= // -inline float bgc_quaternion_get_modulus_fp32(const BgcQuaternionFP32* quaternion) +inline float bgc_fp32_quaternion_get_modulus(const BGC_FP32_Quaternion* quaternion) { - return sqrtf(bgc_quaternion_get_square_modulus_fp32(quaternion)); + return sqrtf(bgc_fp32_quaternion_get_square_modulus(quaternion)); } -inline double bgc_quaternion_get_modulus_fp64(const BgcQuaternionFP64* quaternion) +inline double bgc_fp64_quaternion_get_modulus(const BGC_FP64_Quaternion* quaternion) { - return sqrt(bgc_quaternion_get_square_modulus_fp64(quaternion)); + return sqrt(bgc_fp64_quaternion_get_square_modulus(quaternion)); } // ================== Is Zero =================== // -inline int bgc_quaternion_is_zero_fp32(const BgcQuaternionFP32* quaternion) +inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* quaternion) { - return bgc_quaternion_get_square_modulus_fp32(quaternion) <= BGC_SQUARE_EPSYLON_FP32; + return bgc_fp32_quaternion_get_square_modulus(quaternion) <= BGC_FP32_SQUARE_EPSILON; } -inline int bgc_quaternion_is_zero_fp64(const BgcQuaternionFP64* quaternion) +inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* quaternion) { - return bgc_quaternion_get_square_modulus_fp64(quaternion) <= BGC_SQUARE_EPSYLON_FP64; + return bgc_fp64_quaternion_get_square_modulus(quaternion) <= BGC_FP64_SQUARE_EPSILON; } // ================== Is Unit =================== // -inline int bgc_quaternion_is_unit_fp32(const BgcQuaternionFP32* quaternion) +inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* quaternion) { - return bgc_is_sqare_unit_fp32(bgc_quaternion_get_square_modulus_fp32(quaternion)); + return bgc_fp32_is_square_unit(bgc_fp32_quaternion_get_square_modulus(quaternion)); } -inline int bgc_quaternion_is_unit_fp64(const BgcQuaternionFP64* quaternion) +inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* quaternion) { - return bgc_is_sqare_unit_fp64(bgc_quaternion_get_square_modulus_fp64(quaternion)); + return bgc_fp64_is_square_unit(bgc_fp64_quaternion_get_square_modulus(quaternion)); } // ==================== Copy ==================== // -inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* source, BgcQuaternionFP32* destination) +inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* destination, const BGC_FP32_Quaternion* source) { destination->s0 = source->s0; destination->x1 = source->x1; @@ -127,7 +127,7 @@ inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* source, BgcQuatern destination->x3 = source->x3; } -inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* source, BgcQuaternionFP64* destination) +inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* destination, const BGC_FP64_Quaternion* source) { destination->s0 = source->s0; destination->x1 = source->x1; @@ -137,7 +137,7 @@ inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* source, BgcQuatern // ==================== Swap ==================== // -inline void bgc_quaternion_swap_fp32(BgcQuaternionFP32* quarternion1, BgcQuaternionFP32* quarternion2) +inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* quarternion1, BGC_FP32_Quaternion* quarternion2) { const float s0 = quarternion2->s0; const float x1 = quarternion2->x1; @@ -155,7 +155,7 @@ inline void bgc_quaternion_swap_fp32(BgcQuaternionFP32* quarternion1, BgcQuatern quarternion1->x3 = x3; } -inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuaternionFP64* quarternion2) +inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64_Quaternion* quarternion2) { const double s0 = quarternion2->s0; const double x1 = quarternion2->x1; @@ -175,15 +175,7 @@ inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuatern // ================== Convert =================== // -inline void bgc_quaternion_convert_fp64_to_fp32(const BgcQuaternionFP64* source, BgcQuaternionFP32* destination) -{ - destination->s0 = (float)source->s0; - destination->x1 = (float)source->x1; - destination->x2 = (float)source->x2; - destination->x3 = (float)source->x3; -} - -inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* source, BgcQuaternionFP64* destination) +inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* destination, const BGC_FP32_Quaternion* source) { destination->s0 = source->s0; destination->x1 = source->x1; @@ -191,9 +183,17 @@ inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* source, destination->x3 = source->x3; } +inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* destination, const BGC_FP64_Quaternion* source) +{ + destination->s0 = (float)source->s0; + destination->x1 = (float)source->x1; + destination->x2 = (float)source->x2; + destination->x3 = (float)source->x3; +} + // ==================== Add ===================== // -inline void bgc_quaternion_add_fp32(const BgcQuaternionFP32 * quaternion1, const BgcQuaternionFP32 * quaternion2, BgcQuaternionFP32 * sum) +inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2) { sum->s0 = quaternion1->s0 + quaternion2->s0; sum->x1 = quaternion1->x1 + quaternion2->x1; @@ -201,7 +201,7 @@ inline void bgc_quaternion_add_fp32(const BgcQuaternionFP32 * quaternion1, const sum->x3 = quaternion1->x3 + quaternion2->x3; } -inline void bgc_quaternion_add_fp64(const BgcQuaternionFP64 * quaternion1, const BgcQuaternionFP64 * quaternion2, BgcQuaternionFP64 * sum) +inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2) { sum->s0 = quaternion1->s0 + quaternion2->s0; sum->x1 = quaternion1->x1 + quaternion2->x1; @@ -211,7 +211,7 @@ inline void bgc_quaternion_add_fp64(const BgcQuaternionFP64 * quaternion1, const // ================= Add Scaled ================= // -inline void bgc_quaternion_add_scaled_fp32(const BgcQuaternionFP32 * basic_quaternion, const BgcQuaternionFP32 * scalable_quaternion, const float scale, BgcQuaternionFP32 * sum) +inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* basic_quaternion, const BGC_FP32_Quaternion* scalable_quaternion, const float scale) { sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale; sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale; @@ -219,7 +219,7 @@ inline void bgc_quaternion_add_scaled_fp32(const BgcQuaternionFP32 * basic_quate sum->x3 = basic_quaternion->x3 + scalable_quaternion->x3 * scale; } -inline void bgc_quaternion_add_scaled_fp64(const BgcQuaternionFP64 * basic_quaternion, const BgcQuaternionFP64 * scalable_quaternion, const double scale, BgcQuaternionFP64 * sum) +inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* basic_quaternion, const BGC_FP64_Quaternion* scalable_quaternion, const double scale) { sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale; sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale; @@ -229,7 +229,7 @@ inline void bgc_quaternion_add_scaled_fp64(const BgcQuaternionFP64 * basic_quate // ================== Subtract ================== // -inline void bgc_quaternion_subtract_fp32(const BgcQuaternionFP32 * minuend, const BgcQuaternionFP32 * subtrahend, BgcQuaternionFP32 * difference) +inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* minuend, const BGC_FP32_Quaternion* subtrahend) { difference->s0 = minuend->s0 - subtrahend->s0; difference->x1 = minuend->x1 - subtrahend->x1; @@ -237,7 +237,7 @@ inline void bgc_quaternion_subtract_fp32(const BgcQuaternionFP32 * minuend, cons difference->x3 = minuend->x3 - subtrahend->x3; } -inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64 * minuend, const BgcQuaternionFP64 * subtrahend, BgcQuaternionFP64 * difference) +inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* minuend, const BGC_FP64_Quaternion* subtrahend) { difference->s0 = minuend->s0 - subtrahend->s0; difference->x1 = minuend->x1 - subtrahend->x1; @@ -247,7 +247,7 @@ inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64 * minuend, cons // ================== Multiply ================== // -inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product) +inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right) { const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3); const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3); @@ -260,7 +260,7 @@ inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* left, const Bg product->x3 = x3; } -inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* product) +inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right) { const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3); const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3); @@ -273,7 +273,33 @@ inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* left, const Bg product->x3 = x3; } -inline void bgc_quaternion_multiply_by_number_fp32(const BgcQuaternionFP32* multiplicand, const float multipier, BgcQuaternionFP32* product) +inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right) +{ + const float s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3); + const float x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3); + const float x2 = (left->x2 * right->s0 + left->x1 * right->x3) - (left->s0 * right->x2 + left->x3 * right->x1); + const float x3 = (left->x3 * right->s0 + left->x2 * right->x1) - (left->s0 * right->x3 + left->x1 * right->x2); + + product->s0 = s0; + product->x1 = x1; + product->x2 = x2; + product->x3 = x3; +} + +inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right) +{ + const double s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3); + const double x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3); + const double x2 = (left->x2 * right->s0 + left->x1 * right->x3) - (left->s0 * right->x2 + left->x3 * right->x1); + const double x3 = (left->x3 * right->s0 + left->x2 * right->x1) - (left->s0 * right->x3 + left->x1 * right->x2); + + product->s0 = s0; + product->x1 = x1; + product->x2 = x2; + product->x3 = x3; +} + +inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier) { product->s0 = multiplicand->s0 * multipier; product->x1 = multiplicand->x1 * multipier; @@ -281,7 +307,7 @@ inline void bgc_quaternion_multiply_by_number_fp32(const BgcQuaternionFP32* mult product->x3 = multiplicand->x3 * multipier; } -inline void bgc_quaternion_multiply_by_number_fp64(const BgcQuaternionFP64* multiplicand, const double multipier, BgcQuaternionFP64* product) +inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier) { product->s0 = multiplicand->s0 * multipier; product->x1 = multiplicand->x1 * multipier; @@ -291,11 +317,11 @@ inline void bgc_quaternion_multiply_by_number_fp64(const BgcQuaternionFP64* mult // =================== Divide =================== // -inline int bgc_quaternion_divide_fp32(const BgcQuaternionFP32* divident, const BgcQuaternionFP32* divisor, BgcQuaternionFP32* quotient) +inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor) { - const float square_modulus = bgc_quaternion_get_square_modulus_fp32(divisor); + const float square_modulus = bgc_fp32_quaternion_get_square_modulus(divisor); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -314,11 +340,11 @@ inline int bgc_quaternion_divide_fp32(const BgcQuaternionFP32* divident, const B return 1; } -inline int bgc_quaternion_divide_fp64(const BgcQuaternionFP64* divident, const BgcQuaternionFP64* divisor, BgcQuaternionFP64* quotient) +inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor) { - const double square_modulus = bgc_quaternion_get_square_modulus_fp64(divisor); + const double square_modulus = bgc_fp64_quaternion_get_square_modulus(divisor); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -337,91 +363,91 @@ inline int bgc_quaternion_divide_fp64(const BgcQuaternionFP64* divident, const B return 1; } -inline void bgc_quaternion_divide_by_number_fp32(const BgcQuaternionFP32* dividend, const float divisor, BgcQuaternionFP32* quotient) +inline void bgc_fp32_quaternion_divide(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor) { - bgc_quaternion_multiply_by_number_fp32(dividend, 1.0f / divisor, quotient); + bgc_fp32_quaternion_multiply(quotient, dividend, 1.0f / divisor); } -inline void bgc_quaternion_divide_by_number_fp64(const BgcQuaternionFP64* dividend, const double divisor, BgcQuaternionFP64* quotient) +inline void bgc_fp64_quaternion_divide(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor) { - bgc_quaternion_multiply_by_number_fp64(dividend, 1.0 / divisor, quotient); + bgc_fp64_quaternion_multiply(quotient, dividend, 1.0 / divisor); } // ================ Mean of Two ================= // -inline void bgc_quaternion_get_mean_of_two_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, BgcQuaternionFP32* mean) +inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2) { - mean->s0 = (vector1->s0 + vector2->s0) * 0.5f; - mean->x1 = (vector1->x1 + vector2->x1) * 0.5f; - mean->x2 = (vector1->x2 + vector2->x2) * 0.5f; - mean->x3 = (vector1->x3 + vector2->x3) * 0.5f; + mean->s0 = (quaternion1->s0 + quaternion2->s0) * 0.5f; + mean->x1 = (quaternion1->x1 + quaternion2->x1) * 0.5f; + mean->x2 = (quaternion1->x2 + quaternion2->x2) * 0.5f; + mean->x3 = (quaternion1->x3 + quaternion2->x3) * 0.5f; } -inline void bgc_quaternion_get_mean_of_two_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, BgcQuaternionFP64* mean) +inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2) { - mean->s0 = (vector1->s0 + vector2->s0) * 0.5f; - mean->x1 = (vector1->x1 + vector2->x1) * 0.5f; - mean->x2 = (vector1->x2 + vector2->x2) * 0.5f; - mean->x3 = (vector1->x3 + vector2->x3) * 0.5f; + mean->s0 = (quaternion1->s0 + quaternion2->s0) * 0.5f; + mean->x1 = (quaternion1->x1 + quaternion2->x1) * 0.5f; + mean->x2 = (quaternion1->x2 + quaternion2->x2) * 0.5f; + mean->x3 = (quaternion1->x3 + quaternion2->x3) * 0.5f; } // =============== Mean of Three ================ // -inline void bgc_quaternion_get_mean_of_three_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, const BgcQuaternionFP32* vector3, BgcQuaternionFP32* mean) +inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const BGC_FP32_Quaternion* quaternion3) { - mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_ONE_THIRD_FP32; - mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP32; - mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP32; - mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP32; + mean->s0 = (quaternion1->s0 + quaternion2->s0 + quaternion3->s0) * BGC_FP32_ONE_THIRD; + mean->x1 = (quaternion1->x1 + quaternion2->x1 + quaternion3->x1) * BGC_FP32_ONE_THIRD; + mean->x2 = (quaternion1->x2 + quaternion2->x2 + quaternion3->x2) * BGC_FP32_ONE_THIRD; + mean->x3 = (quaternion1->x3 + quaternion2->x3 + quaternion3->x3) * BGC_FP32_ONE_THIRD; } -inline void bgc_quaternion_get_mean_of_three_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, const BgcQuaternionFP64* vector3, BgcQuaternionFP64* mean) +inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const BGC_FP64_Quaternion* quaternion3) { - mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_ONE_THIRD_FP64; - mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP64; - mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP64; - mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP64; + mean->s0 = (quaternion1->s0 + quaternion2->s0 + quaternion3->s0) * BGC_FP64_ONE_THIRD; + mean->x1 = (quaternion1->x1 + quaternion2->x1 + quaternion3->x1) * BGC_FP64_ONE_THIRD; + mean->x2 = (quaternion1->x2 + quaternion2->x2 + quaternion3->x2) * BGC_FP64_ONE_THIRD; + mean->x3 = (quaternion1->x3 + quaternion2->x3 + quaternion3->x3) * BGC_FP64_ONE_THIRD; } // ============ Linear Interpolation ============ // -inline void bgc_quaternion_interpolate_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2, const float phase, BgcQuaternionFP32* interpolation) +inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase) { - const float counterphase = 1.0f - phase; + const float counter_phase = 1.0f - phase; - interpolation->s0 = quaternion1->s0 * counterphase + quaternion2->s0 * phase; - interpolation->x1 = quaternion1->x1 * counterphase + quaternion2->x1 * phase; - interpolation->x2 = quaternion1->x2 * counterphase + quaternion2->x2 * phase; - interpolation->x3 = quaternion1->x3 * counterphase + quaternion2->x3 * phase; + interpolation->s0 = quaternion1->s0 * counter_phase + quaternion2->s0 * phase; + interpolation->x1 = quaternion1->x1 * counter_phase + quaternion2->x1 * phase; + interpolation->x2 = quaternion1->x2 * counter_phase + quaternion2->x2 * phase; + interpolation->x3 = quaternion1->x3 * counter_phase + quaternion2->x3 * phase; } -inline void bgc_quaternion_interpolate_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2, const double phase, BgcQuaternionFP64* interpolation) +inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase) { - const double counterphase = 1.0 - phase; + const double counter_phase = 1.0 - phase; - interpolation->s0 = quaternion1->s0 * counterphase + quaternion2->s0 * phase; - interpolation->x1 = quaternion1->x1 * counterphase + quaternion2->x1 * phase; - interpolation->x2 = quaternion1->x2 * counterphase + quaternion2->x2 * phase; - interpolation->x3 = quaternion1->x3 * counterphase + quaternion2->x3 * phase; + interpolation->s0 = quaternion1->s0 * counter_phase + quaternion2->s0 * phase; + interpolation->x1 = quaternion1->x1 * counter_phase + quaternion2->x1 * phase; + interpolation->x2 = quaternion1->x2 * counter_phase + quaternion2->x2 * phase; + interpolation->x3 = quaternion1->x3 * counter_phase + quaternion2->x3 * phase; } // ================= Conjugate ================== // -inline void bgc_quaternion_conjugate_fp32(BgcQuaternionFP32* quaternion) +inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion) { quaternion->x1 = -quaternion->x1; quaternion->x2 = -quaternion->x2; quaternion->x3 = -quaternion->x3; } -inline void bgc_quaternion_conjugate_fp64(BgcQuaternionFP64* quaternion) +inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion) { quaternion->x1 = -quaternion->x1; quaternion->x2 = -quaternion->x2; quaternion->x3 = -quaternion->x3; } -inline void bgc_quaternion_get_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* conjugate) +inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* conjugate, const BGC_FP32_Quaternion* quaternion) { conjugate->s0 = quaternion->s0; conjugate->x1 = -quaternion->x1; @@ -429,7 +455,7 @@ inline void bgc_quaternion_get_conjugate_fp32(const BgcQuaternionFP32* quaternio conjugate->x3 = -quaternion->x3; } -inline void bgc_quaternion_get_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* conjugate) +inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* conjugate, const BGC_FP64_Quaternion* quaternion) { conjugate->s0 = quaternion->s0; conjugate->x1 = -quaternion->x1; @@ -439,7 +465,7 @@ inline void bgc_quaternion_get_conjugate_fp64(const BgcQuaternionFP64* quaternio // ================== Negative ================== // -inline void bgc_quaternion_make_opposite_fp32(BgcQuaternionFP32* quaternion) +inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* quaternion) { quaternion->s0 = -quaternion->s0; quaternion->x1 = -quaternion->x1; @@ -447,7 +473,7 @@ inline void bgc_quaternion_make_opposite_fp32(BgcQuaternionFP32* quaternion) quaternion->x3 = -quaternion->x3; } -inline void bgc_quaternion_make_opposite_fp64(BgcQuaternionFP64* quaternion) +inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* quaternion) { quaternion->s0 = -quaternion->s0; quaternion->x1 = -quaternion->x1; @@ -455,29 +481,29 @@ inline void bgc_quaternion_make_opposite_fp64(BgcQuaternionFP64* quaternion) quaternion->x3 = -quaternion->x3; } -inline void bgc_quaternion_get_opposite_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* opposite) +inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* reverse, const BGC_FP32_Quaternion* quaternion) { - opposite->s0 = -quaternion->s0; - opposite->x1 = -quaternion->x1; - opposite->x2 = -quaternion->x2; - opposite->x3 = -quaternion->x3; + reverse->s0 = -quaternion->s0; + reverse->x1 = -quaternion->x1; + reverse->x2 = -quaternion->x2; + reverse->x3 = -quaternion->x3; } -inline void bgc_quaternion_get_opposite_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* opposite) +inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* reverse, const BGC_FP64_Quaternion* quaternion) { - opposite->s0 = -quaternion->s0; - opposite->x1 = -quaternion->x1; - opposite->x2 = -quaternion->x2; - opposite->x3 = -quaternion->x3; + reverse->s0 = -quaternion->s0; + reverse->x1 = -quaternion->x1; + reverse->x2 = -quaternion->x2; + reverse->x3 = -quaternion->x3; } // =================== Invert =================== // -inline int bgc_quaternion_get_inverse_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* inverse) +inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const BGC_FP32_Quaternion* quaternion) { - const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion); + const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -491,11 +517,11 @@ inline int bgc_quaternion_get_inverse_fp32(const BgcQuaternionFP32* quaternion, return 1; } -inline int bgc_quaternion_get_inverse_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* inverse) +inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const BGC_FP64_Quaternion* quaternion) { - const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion); + const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -509,27 +535,27 @@ inline int bgc_quaternion_get_inverse_fp64(const BgcQuaternionFP64* quaternion, return 1; } -inline int bgc_quaternion_invert_fp32(BgcQuaternionFP32* quaternion) +inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* quaternion) { - return bgc_quaternion_get_inverse_fp32(quaternion, quaternion); + return bgc_fp32_quaternion_get_inverse(quaternion, quaternion); } -inline int bgc_quaternion_invert_fp64(BgcQuaternionFP64* quaternion) +inline int bgc_fp64_quaternion_invert(BGC_FP64_Quaternion* quaternion) { - return bgc_quaternion_get_inverse_fp64(quaternion, quaternion); + return bgc_fp64_quaternion_get_inverse(quaternion, quaternion); } // ================= Normalize ================== // -inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion) +inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion) { - const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion); + const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion); - if (bgc_is_sqare_unit_fp32(square_modulus)) { + if (bgc_fp32_is_square_unit(square_modulus)) { return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -543,15 +569,15 @@ inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion) return 1; } -inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion) +inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion) { - const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion); + const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion); - if (bgc_is_sqare_unit_fp64(square_modulus)) { + if (bgc_fp64_is_square_unit(square_modulus)) { return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -565,51 +591,51 @@ inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion) return 1; } -inline int bgc_quaternion_get_normalized_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* normalized) +inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion) { - const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion); + const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion); - if (bgc_is_sqare_unit_fp32(square_modulus)) { - bgc_quaternion_copy_fp32(quaternion, normalized); + if (bgc_fp32_is_square_unit(square_modulus)) { + bgc_fp32_quaternion_copy(normalized, quaternion); return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { - bgc_quaternion_reset_fp32(normalized); + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { + bgc_fp32_quaternion_reset(normalized); return 0; } - bgc_quaternion_multiply_by_number_fp32(quaternion, sqrtf(1.0f / square_modulus), normalized); + bgc_fp32_quaternion_multiply(normalized, quaternion, sqrtf(1.0f / square_modulus)); return 1; } -inline int bgc_quaternion_get_normalized_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* normalized) +inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion) { - const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion); + const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion); - if (bgc_is_sqare_unit_fp64(square_modulus)) { - bgc_quaternion_copy_fp64(quaternion, normalized); + if (bgc_fp64_is_square_unit(square_modulus)) { + bgc_fp64_quaternion_copy(normalized, quaternion); return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { - bgc_quaternion_reset_fp64(normalized); + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { + bgc_fp64_quaternion_reset(normalized); return 0; } - bgc_quaternion_multiply_by_number_fp64(quaternion, sqrt(1.0 / square_modulus), normalized); + bgc_fp64_quaternion_multiply(normalized, quaternion, sqrt(1.0 / square_modulus)); return 1; } // =============== Get Exponation =============== // -int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const float exponent, BgcQuaternionFP32* power); +int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP32_Quaternion* base, const float exponent); -int bgc_quaternion_get_exponation_fp64(const BgcQuaternionFP64* base, const double exponent, BgcQuaternionFP64* power); +int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent); // ============ Get Rotation Matrix ============= // -inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation) +inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion) { const float s0s0 = quaternion->s0 * quaternion->s0; const float x1x1 = quaternion->x1 * quaternion->x1; @@ -618,9 +644,9 @@ inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quat const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { - bgc_matrix3x3_set_to_identity_fp32(rotation); + bgc_fp32_matrix3x3_make_identity(rotation); return 0; } @@ -650,7 +676,7 @@ inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quat return 1; } -inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation) +inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion) { const double s0s0 = quaternion->s0 * quaternion->s0; const double x1x1 = quaternion->x1 * quaternion->x1; @@ -659,9 +685,9 @@ inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quat const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { - bgc_matrix3x3_set_to_identity_fp64(rotation); + bgc_fp64_matrix3x3_make_identity(rotation); return 0; } @@ -693,7 +719,7 @@ inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quat // ============= Get Reverse Matrix ============= // -inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* reverse) +inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion) { const float s0s0 = quaternion->s0 * quaternion->s0; const float x1x1 = quaternion->x1 * quaternion->x1; @@ -702,9 +728,9 @@ inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quate const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { - bgc_matrix3x3_set_to_identity_fp32(reverse); + bgc_fp32_matrix3x3_make_identity(reverse); return 0; } @@ -734,7 +760,7 @@ inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quate return 1; } -inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* reverse) +inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion) { const double s0s0 = quaternion->s0 * quaternion->s0; const double x1x1 = quaternion->x1 * quaternion->x1; @@ -743,9 +769,9 @@ inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quate const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3); - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { - bgc_matrix3x3_set_to_identity_fp64(reverse); + bgc_fp64_matrix3x3_make_identity(reverse); return 0; } @@ -777,20 +803,20 @@ inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quate // ============= Get Both Matrixes ============== // -inline int bgc_quaternion_get_both_matrices_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse) +inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion) { - if (bgc_quaternion_get_reverse_matrix_fp32(quaternion, reverse)) { - bgc_matrix3x3_transpose_fp32(reverse, rotation); + if (bgc_fp32_quaternion_get_reverse_matrix(reverse, quaternion)) { + bgc_fp32_matrix3x3_get_transposed(rotation, reverse); return 1; } return 0; } -inline int bgc_quaternion_get_both_matrices_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse) +inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion) { - if (bgc_quaternion_get_reverse_matrix_fp64(quaternion, reverse)) { - bgc_matrix3x3_transpose_fp64(reverse, rotation); + if (bgc_fp64_quaternion_get_reverse_matrix(reverse, quaternion)) { + bgc_fp64_matrix3x3_get_transposed(rotation, reverse); return 1; } @@ -799,40 +825,40 @@ inline int bgc_quaternion_get_both_matrices_fp64(const BgcQuaternionFP64* quater // ================== Are Close ================= // -inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2) +inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2) { const float ds0 = quaternion1->s0 - quaternion2->s0; const float dx1 = quaternion1->x1 - quaternion2->x1; const float dx2 = quaternion1->x2 - quaternion2->x2; const float dx3 = quaternion1->x3 - quaternion2->x3; - const float square_modulus1 = bgc_quaternion_get_square_modulus_fp32(quaternion1); - const float square_modulus2 = bgc_quaternion_get_square_modulus_fp32(quaternion2); + const float square_modulus1 = bgc_fp32_quaternion_get_square_modulus(quaternion1); + const float square_modulus2 = bgc_fp32_quaternion_get_square_modulus(quaternion2); const float square_distance = (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3); - if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) { - return square_distance <= BGC_SQUARE_EPSYLON_FP32; + if (square_modulus1 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT) { + return square_distance <= BGC_FP32_SQUARE_EPSILON; } - return square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus2; + return square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus2; } -inline int bgc_quaternion_are_close_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2) +inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2) { const double ds0 = quaternion1->s0 - quaternion2->s0; const double dx1 = quaternion1->x1 - quaternion2->x1; const double dx2 = quaternion1->x2 - quaternion2->x2; const double dx3 = quaternion1->x3 - quaternion2->x3; - const double square_modulus1 = bgc_quaternion_get_square_modulus_fp64(quaternion1); - const double square_modulus2 = bgc_quaternion_get_square_modulus_fp64(quaternion2); + const double square_modulus1 = bgc_fp64_quaternion_get_square_modulus(quaternion1); + const double square_modulus2 = bgc_fp64_quaternion_get_square_modulus(quaternion2); const double square_distance = (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3); - if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) { - return square_distance <= BGC_SQUARE_EPSYLON_FP64; + if (square_modulus1 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT) { + return square_distance <= BGC_FP64_SQUARE_EPSILON; } - return square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus2; + return square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus2; } #endif diff --git a/basic-geometry/rotation3.c b/basic-geometry/rotation3.c deleted file mode 100644 index 973f14d..0000000 --- a/basic-geometry/rotation3.c +++ /dev/null @@ -1,14 +0,0 @@ -#include "rotation3.h" - -const BgcRotation3FP32 BGC_IDLE_ROTATION3_FP32 = { {0.0f, 0.0f, 0.0f}, 0.0f}; - -const BgcRotation3FP64 BGC_IDLE_ROTATION3_FP64 = { {0.0, 0.0, 0.0}, 0.0}; - -extern inline void bgc_rotation3_reset_fp32(BgcRotation3FP32* rotation); -extern inline void bgc_rotation3_reset_fp64(BgcRotation3FP64* rotation); - -extern inline void bgc_rotation3_set_values_fp32(const float x1, const float x2, const float x3, const float angle, const BgcAngleUnitEnum unit, BgcRotation3FP32* rotation); -extern inline void bgc_rotation3_set_values_fp64(const double x1, const double x2, const double x3, const double angle, const BgcAngleUnitEnum unit, BgcRotation3FP64* rotation); - -extern inline void bgc_rotation3_set_with_axis_fp32(const BgcVector3FP32* axis, const float angle, const BgcAngleUnitEnum unit, BgcRotation3FP32* rotation); -extern inline void bgc_rotation3_set_with_axis_fp64(const BgcVector3FP64* axis, const double angle, const BgcAngleUnitEnum unit, BgcRotation3FP64* rotation); diff --git a/basic-geometry/rotation3.h b/basic-geometry/rotation3.h deleted file mode 100644 index c382316..0000000 --- a/basic-geometry/rotation3.h +++ /dev/null @@ -1,93 +0,0 @@ -#ifndef _BGC_ROTATION3_H_ -#define _BGC_ROTATION3_H_ - -#include "utilities.h" -#include "angle.h" -#include "vector3.h" - -typedef struct { - BgcVector3FP32 axis; - float radians; -} BgcRotation3FP32; - -typedef struct { - BgcVector3FP64 axis; - double radians; -} BgcRotation3FP64; - -extern const BgcRotation3FP32 BGC_IDLE_ROTATION3_FP32; - -extern const BgcRotation3FP64 BGC_IDLE_ROTATION3_FP64; - -// =================== Reset ==================== // - -inline void bgc_rotation3_reset_fp32(BgcRotation3FP32* rotation) -{ - rotation->axis.x1 = 0.0f; - rotation->axis.x2 = 0.0f; - rotation->axis.x3 = 0.0f; - - rotation->radians = 0.0f; -} - -inline void bgc_rotation3_reset_fp64(BgcRotation3FP64* rotation) -{ - rotation->axis.x1 = 0.0; - rotation->axis.x2 = 0.0; - rotation->axis.x3 = 0.0; - - rotation->radians = 0.0; -} - -// ================= Set Values ================= // - -inline void bgc_rotation3_set_values_fp32(const float x1, const float x2, const float x3, const float angle, const BgcAngleUnitEnum unit, BgcRotation3FP32* rotation) -{ - rotation->axis.x1 = x1; - rotation->axis.x2 = x2; - rotation->axis.x3 = x3; - - if (bgc_vector3_normalize_fp32(&rotation->axis)) { - rotation->radians = bgc_angle_to_radians_fp32(angle, unit); - } - else { - rotation->radians = 0.0f; - } -} - - -inline void bgc_rotation3_set_values_fp64(const double x1, const double x2, const double x3, const double angle, const BgcAngleUnitEnum unit, BgcRotation3FP64* rotation) -{ - rotation->axis.x1 = x1; - rotation->axis.x2 = x2; - rotation->axis.x3 = x3; - - if (bgc_vector3_normalize_fp64(&rotation->axis)) { - rotation->radians = bgc_angle_to_radians_fp64(angle, unit); - } - else { - rotation->radians = 0.0; - } -} - -inline void bgc_rotation3_set_with_axis_fp32(const BgcVector3FP32* axis, const float angle, const BgcAngleUnitEnum unit, BgcRotation3FP32* rotation) -{ - if (bgc_vector3_get_normalized_fp32(axis, &rotation->axis)) { - rotation->radians = bgc_angle_to_radians_fp32(angle, unit); - } - else { - rotation->radians = 0.0f; - } -} - -inline void bgc_rotation3_set_with_axis_fp64(const BgcVector3FP64* axis, const double angle, const BgcAngleUnitEnum unit, BgcRotation3FP64* rotation) -{ - if (bgc_vector3_get_normalized_fp64(axis, &rotation->axis)) { - rotation->radians = bgc_angle_to_radians_fp64(angle, unit); - } - else { - rotation->radians = 0.0; - } -} - -#endif diff --git a/basic-geometry/slerp.c b/basic-geometry/slerp.c index 9ad91df..11d8075 100644 --- a/basic-geometry/slerp.c +++ b/basic-geometry/slerp.c @@ -1,31 +1,31 @@ #include "./slerp.h" -extern inline void bgc_slerp_reset_fp32(BgcSlerpFP32* slerp); -extern inline void bgc_slerp_reset_fp64(BgcSlerpFP64* slerp); +extern inline void bgc_fp32_slerp_reset(BGC_FP32_Slerp* slerp); +extern inline void bgc_fp64_slerp_reset(BGC_FP64_Slerp* slerp); -extern inline void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp); -extern inline void bgc_slerp_make_full_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp); +extern inline void bgc_fp32_slerp_make_full(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end); +extern inline void bgc_fp64_slerp_make_full(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end); -extern inline void bgc_slerp_make_shortened_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp); -extern inline void bgc_slerp_make_shortened_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp); +extern inline void bgc_fp32_slerp_make_shortened(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end); +extern inline void bgc_fp64_slerp_make_shortened(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end); -extern inline void bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result); -extern inline void bgc_slerp_get_turn_for_phase_fp64(const BgcSlerpFP64* slerp, const double phase, BgcVersorFP64* result); +extern inline void bgc_fp32_slerp_get_phase_versor(BGC_FP32_Turn3* versor, const BGC_FP32_Slerp* slerp, const float phase); +extern inline void bgc_fp64_slerp_get_phase_versor(BGC_FP64_Turn3* versor, const BGC_FP64_Slerp* slerp, const double phase); -void bgc_slerp_make_fp32(const BgcVersorFP32* start, const BgcVersorFP32* augment, BgcSlerpFP32* slerp) +void bgc_fp32_slerp_make(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* augment) { - const float square_vector = augment->_x1 * augment->_x1 + augment->_x2 * augment->_x2 + augment->_x3 * augment->_x3; + const float square_vector = augment->_versor.x1 * augment->_versor.x1 + augment->_versor.x2 * augment->_versor.x2 + augment->_versor.x3 * augment->_versor.x3; if (square_vector != square_vector) { - bgc_slerp_reset_fp32(slerp); + bgc_fp32_slerp_reset(slerp); return; } - if (square_vector <= BGC_SQUARE_EPSYLON_FP32) { - slerp->s0_cos_weight = start->_s0; - slerp->x1_cos_weight = start->_x1; - slerp->x2_cos_weight = start->_x2; - slerp->x3_cos_weight = start->_x3; + if (square_vector <= BGC_FP32_SQUARE_EPSILON) { + slerp->s0_cos_weight = start->_versor.s0; + slerp->x1_cos_weight = start->_versor.x1; + slerp->x2_cos_weight = start->_versor.x2; + slerp->x3_cos_weight = start->_versor.x3; slerp->s0_sin_weight = 0.0f; slerp->x1_sin_weight = 0.0f; @@ -38,35 +38,35 @@ void bgc_slerp_make_fp32(const BgcVersorFP32* start, const BgcVersorFP32* augmen const float vector_modulus = sqrtf(square_vector); - slerp->radians = atan2f(vector_modulus, augment->_s0); + slerp->radians = atan2f(vector_modulus, augment->_versor.s0); const float multiplier = 1.0f / vector_modulus; - slerp->s0_cos_weight = start->_s0; - slerp->x1_cos_weight = start->_x1; - slerp->x2_cos_weight = start->_x2; - slerp->x3_cos_weight = start->_x3; + slerp->s0_cos_weight = start->_versor.s0; + slerp->x1_cos_weight = start->_versor.x1; + slerp->x2_cos_weight = start->_versor.x2; + slerp->x3_cos_weight = start->_versor.x3; - slerp->s0_sin_weight = -multiplier * (augment->_x1 * start->_x1 + augment->_x2 * start->_x2 + augment->_x3 * start->_x3); - slerp->x1_sin_weight = multiplier * (augment->_x1 * start->_s0 + augment->_x2 * start->_x3 - augment->_x3 * start->_x2); - slerp->x2_sin_weight = multiplier * (augment->_x2 * start->_s0 - augment->_x1 * start->_x3 + augment->_x3 * start->_x1); - slerp->x3_sin_weight = multiplier * (augment->_x3 * start->_s0 - augment->_x2 * start->_x1 + augment->_x1 * start->_x2); + slerp->s0_sin_weight = -multiplier * (augment->_versor.x1 * start->_versor.x1 + augment->_versor.x2 * start->_versor.x2 + augment->_versor.x3 * start->_versor.x3); + slerp->x1_sin_weight = multiplier * (augment->_versor.x1 * start->_versor.s0 + augment->_versor.x2 * start->_versor.x3 - augment->_versor.x3 * start->_versor.x2); + slerp->x2_sin_weight = multiplier * (augment->_versor.x2 * start->_versor.s0 - augment->_versor.x1 * start->_versor.x3 + augment->_versor.x3 * start->_versor.x1); + slerp->x3_sin_weight = multiplier * (augment->_versor.x3 * start->_versor.s0 - augment->_versor.x2 * start->_versor.x1 + augment->_versor.x1 * start->_versor.x2); } -void bgc_slerp_make_fp64(const BgcVersorFP64* start, const BgcVersorFP64* augment, BgcSlerpFP64* slerp) +void bgc_fp64_slerp_make(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* augment) { - const double square_vector = augment->_x1 * augment->_x1 + augment->_x2 * augment->_x2 + augment->_x3 * augment->_x3; + const double square_vector = augment->_versor.x1 * augment->_versor.x1 + augment->_versor.x2 * augment->_versor.x2 + augment->_versor.x3 * augment->_versor.x3; if (square_vector != square_vector) { - bgc_slerp_reset_fp64(slerp); + bgc_fp64_slerp_reset(slerp); return; } - if (square_vector <= BGC_SQUARE_EPSYLON_FP64) { - slerp->s0_cos_weight = start->_s0; - slerp->x1_cos_weight = start->_x1; - slerp->x2_cos_weight = start->_x2; - slerp->x3_cos_weight = start->_x3; + if (square_vector <= BGC_FP64_SQUARE_EPSILON) { + slerp->s0_cos_weight = start->_versor.s0; + slerp->x1_cos_weight = start->_versor.x1; + slerp->x2_cos_weight = start->_versor.x2; + slerp->x3_cos_weight = start->_versor.x3; slerp->s0_sin_weight = 0.0; slerp->x1_sin_weight = 0.0; @@ -79,17 +79,17 @@ void bgc_slerp_make_fp64(const BgcVersorFP64* start, const BgcVersorFP64* augmen const double vector_modulus = sqrt(square_vector); - slerp->radians = atan2(vector_modulus, augment->_s0); + slerp->radians = atan2(vector_modulus, augment->_versor.s0); const double multiplier = 1.0 / vector_modulus; - slerp->s0_cos_weight = start->_s0; - slerp->x1_cos_weight = start->_x1; - slerp->x2_cos_weight = start->_x2; - slerp->x3_cos_weight = start->_x3; + slerp->s0_cos_weight = start->_versor.s0; + slerp->x1_cos_weight = start->_versor.x1; + slerp->x2_cos_weight = start->_versor.x2; + slerp->x3_cos_weight = start->_versor.x3; - slerp->s0_sin_weight = -multiplier * (augment->_x1 * start->_x1 + augment->_x2 * start->_x2 + augment->_x3 * start->_x3); - slerp->x1_sin_weight = multiplier * (augment->_x1 * start->_s0 + augment->_x2 * start->_x3 - augment->_x3 * start->_x2); - slerp->x2_sin_weight = multiplier * (augment->_x2 * start->_s0 - augment->_x1 * start->_x3 + augment->_x3 * start->_x1); - slerp->x3_sin_weight = multiplier * (augment->_x3 * start->_s0 - augment->_x2 * start->_x1 + augment->_x1 * start->_x2); + slerp->s0_sin_weight = -multiplier * (augment->_versor.x1 * start->_versor.x1 + augment->_versor.x2 * start->_versor.x2 + augment->_versor.x3 * start->_versor.x3); + slerp->x1_sin_weight = multiplier * (augment->_versor.x1 * start->_versor.s0 + augment->_versor.x2 * start->_versor.x3 - augment->_versor.x3 * start->_versor.x2); + slerp->x2_sin_weight = multiplier * (augment->_versor.x2 * start->_versor.s0 - augment->_versor.x1 * start->_versor.x3 + augment->_versor.x3 * start->_versor.x1); + slerp->x3_sin_weight = multiplier * (augment->_versor.x3 * start->_versor.s0 - augment->_versor.x2 * start->_versor.x1 + augment->_versor.x1 * start->_versor.x2); } diff --git a/basic-geometry/slerp.h b/basic-geometry/slerp.h index 5760c2c..91dae68 100644 --- a/basic-geometry/slerp.h +++ b/basic-geometry/slerp.h @@ -1,7 +1,7 @@ -#ifndef _BGC_VERSOR_SLERP_H_ -#define _BGC_VERSOR_SLERP_H_ +#ifndef _BGC_SLERP_H_INCLUDED_ +#define _BGC_SLERP_H_INCLUDED_ -#include "./versor.h" +#include "./turn3.h" typedef struct { float s0_cos_weight, s0_sin_weight; @@ -9,7 +9,7 @@ typedef struct { float x2_cos_weight, x2_sin_weight; float x3_cos_weight, x3_sin_weight; float radians; -} BgcSlerpFP32; +} BGC_FP32_Slerp; typedef struct { double s0_cos_weight, s0_sin_weight; @@ -17,9 +17,9 @@ typedef struct { double x2_cos_weight, x2_sin_weight; double x3_cos_weight, x3_sin_weight; double radians; -} BgcSlerpFP64; +} BGC_FP64_Slerp; -inline void bgc_slerp_reset_fp32(BgcSlerpFP32* slerp) +inline void bgc_fp32_slerp_reset(BGC_FP32_Slerp* slerp) { slerp->s0_cos_weight = 1.0f; slerp->s0_sin_weight = 0.0f; @@ -36,7 +36,7 @@ inline void bgc_slerp_reset_fp32(BgcSlerpFP32* slerp) slerp->radians = 0.0f; } -inline void bgc_slerp_reset_fp64(BgcSlerpFP64* slerp) +inline void bgc_fp64_slerp_reset(BGC_FP64_Slerp* slerp) { slerp->s0_cos_weight = 1.0; slerp->s0_sin_weight = 0.0; @@ -53,75 +53,74 @@ inline void bgc_slerp_reset_fp64(BgcSlerpFP64* slerp) slerp->radians = 0.0; } -void bgc_slerp_make_fp32(const BgcVersorFP32* start, const BgcVersorFP32* augment, BgcSlerpFP32* slerp); +void bgc_fp32_slerp_make(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* augment); +void bgc_fp64_slerp_make(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* augment); -void bgc_slerp_make_fp64(const BgcVersorFP64* start, const BgcVersorFP64* augment, BgcSlerpFP64* slerp); - -inline void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp) +inline void bgc_fp32_slerp_make_full(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end) { - BgcVersorFP32 augment; + BGC_FP32_Turn3 augment; - bgc_versor_exclude_fp32(end, start, &augment); + bgc_fp32_turn3_exclude(&augment, end, start); - bgc_slerp_make_fp32(start, &augment, slerp); + bgc_fp32_slerp_make(slerp, start, &augment); } -inline void bgc_slerp_make_full_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp) +inline void bgc_fp64_slerp_make_full(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end) { - BgcVersorFP64 augment; + BGC_FP64_Turn3 augment; - bgc_versor_exclude_fp64(end, start, &augment); + bgc_fp64_turn3_exclude(&augment, end, start); - bgc_slerp_make_fp64(start, &augment, slerp); + bgc_fp64_slerp_make(slerp, start, &augment); } -inline void bgc_slerp_make_shortened_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp) +inline void bgc_fp32_slerp_make_shortened(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end) { - BgcVersorFP32 augment; + BGC_FP32_Turn3 augment; - bgc_versor_exclude_fp32(end, start, &augment); - bgc_versor_shorten_fp32(&augment); + bgc_fp32_turn3_exclude(&augment, end, start); + bgc_fp32_turn3_shorten(&augment); - bgc_slerp_make_fp32(start, &augment, slerp); + bgc_fp32_slerp_make(slerp, start, &augment); } -inline void bgc_slerp_make_shortened_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp) +inline void bgc_fp64_slerp_make_shortened(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end) { - BgcVersorFP64 augment; + BGC_FP64_Turn3 augment; - bgc_versor_exclude_fp64(end, start, &augment); - bgc_versor_shorten_fp64(&augment); + bgc_fp64_turn3_exclude(&augment, end, start); + bgc_fp64_turn3_shorten(&augment); - bgc_slerp_make_fp64(start, &augment, slerp); + bgc_fp64_slerp_make(slerp, start, &augment); } -inline void bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result) +inline void bgc_fp32_slerp_get_phase_versor(BGC_FP32_Turn3* versor, const BGC_FP32_Slerp* slerp, const float phase) { const float angle = slerp->radians * phase; const float cosine = cosf(angle); const float sine = sinf(angle); - bgc_versor_set_values_fp32( + bgc_fp32_turn3_set_raw_values( + versor, slerp->s0_cos_weight * cosine + slerp->s0_sin_weight * sine, slerp->x1_cos_weight * cosine + slerp->x1_sin_weight * sine, slerp->x2_cos_weight * cosine + slerp->x2_sin_weight * sine, - slerp->x3_cos_weight * cosine + slerp->x3_sin_weight * sine, - result + slerp->x3_cos_weight * cosine + slerp->x3_sin_weight * sine ); } -inline void bgc_slerp_get_turn_for_phase_fp64(const BgcSlerpFP64* slerp, const double phase, BgcVersorFP64* result) +inline void bgc_fp64_slerp_get_phase_versor(BGC_FP64_Turn3* versor, const BGC_FP64_Slerp* slerp, const double phase) { const double angle = slerp->radians * phase; const double cosine = cos(angle); const double sine = sin(angle); - bgc_versor_set_values_fp64( + bgc_fp64_turn3_set_raw_values( + versor, slerp->s0_cos_weight * cosine + slerp->s0_sin_weight * sine, slerp->x1_cos_weight * cosine + slerp->x1_sin_weight * sine, slerp->x2_cos_weight * cosine + slerp->x2_sin_weight * sine, - slerp->x3_cos_weight * cosine + slerp->x3_sin_weight * sine, - result + slerp->x3_cos_weight * cosine + slerp->x3_sin_weight * sine ); } diff --git a/basic-geometry/turn2.c b/basic-geometry/turn2.c new file mode 100644 index 0000000..b29d6d9 --- /dev/null +++ b/basic-geometry/turn2.c @@ -0,0 +1,91 @@ +#include "./turn2.h" + +const BGC_FP32_Turn2 BGC_FP32_IDLE_TURN2 = { 1.0f, 0.0f }; + +const BGC_FP64_Turn2 BGC_FP64_IDLE_TURN2 = { 1.0, 0.0 }; + +extern inline void bgc_fp32_turn2_reset(BGC_FP32_Turn2* turn); +extern inline void bgc_fp64_turn2_reset(BGC_FP64_Turn2* turn); + +extern inline void bgc_fp32_turn2_make(BGC_FP32_Turn2* turn, const float x1, const float x2); +extern inline void bgc_fp64_turn2_make(BGC_FP64_Turn2* turn, const double x1, const double x2); + +extern inline void bgc_fp32_turn2_make_for_angle(BGC_FP32_Turn2* turn, const float angle, const int angle_unit); +extern inline void bgc_fp64_turn2_make_for_angle(BGC_FP64_Turn2* turn, const double angle, const int angle_unit); + +extern inline int bgc_fp32_turn2_is_idle(const BGC_FP32_Turn2* turn); +extern inline int bgc_fp64_turn2_is_idle(const BGC_FP64_Turn2* turn); + +extern inline float bgc_fp32_turn2_get_angle(const BGC_FP32_Turn2* turn, const int angle_unit); +extern inline double bgc_fp64_turn2_get_angle(const BGC_FP64_Turn2* turn, const int angle_unit); + +extern inline void bgc_fp32_turn2_copy(BGC_FP32_Turn2* destination, const BGC_FP32_Turn2* source); +extern inline void bgc_fp64_turn2_copy(BGC_FP64_Turn2* destination, const BGC_FP64_Turn2* source); + +extern inline void bgc_fp32_turn2_swap(BGC_FP32_Turn2* turn1, BGC_FP32_Turn2* turn2); +extern inline void bgc_fp64_turn2_swap(BGC_FP64_Turn2* turn1, BGC_FP64_Turn2* turn2); + +extern inline void bgc_fp64_turn2_convert_to_fp32(BGC_FP32_Turn2* destination, const BGC_FP64_Turn2* source); +extern inline void bgc_fp32_turn2_convert_to_fp64(BGC_FP64_Turn2* destination, const BGC_FP32_Turn2* source); + +extern inline void bgc_fp32_turn2_revert(BGC_FP32_Turn2* turn); +extern inline void bgc_fp64_turn2_revert(BGC_FP64_Turn2* turn); + +extern inline void bgc_fp32_turn2_get_reverse(BGC_FP32_Turn2* reverse, const BGC_FP32_Turn2* turn); +extern inline void bgc_fp64_turn2_get_reverse(BGC_FP64_Turn2* reverse, const BGC_FP64_Turn2* turn); + +extern inline void bgc_fp32_turn2_get_exponation(BGC_FP32_Turn2* power, const BGC_FP32_Turn2* base, const float exponent); +extern inline void bgc_fp64_turn2_get_exponation(BGC_FP64_Turn2* power, const BGC_FP64_Turn2* base, const double exponent); + +extern inline void bgc_fp32_turn2_combine(BGC_FP32_Turn2* combination, const BGC_FP32_Turn2* turn1, const BGC_FP32_Turn2* turn2); +extern inline void bgc_fp64_turn2_combine(BGC_FP64_Turn2* combination, const BGC_FP64_Turn2* turn1, const BGC_FP64_Turn2* turn2); + +extern inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* difference, const BGC_FP32_Turn2* base, const BGC_FP32_Turn2* excludant); +extern inline void bgc_fp64_turn2_exclude(BGC_FP64_Turn2* difference, const BGC_FP64_Turn2* base, const BGC_FP64_Turn2* excludant); + +extern inline void bgc_fp32_turn2_get_rotation_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Turn2* turn); +extern inline void bgc_fp64_turn2_get_rotation_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Turn2* turn); + +extern inline void bgc_fp32_turn2_get_reverse_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Turn2* turn); +extern inline void bgc_fp64_turn2_get_reverse_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Turn2* turn); + +extern inline void bgc_fp32_turn2_vector(BGC_FP32_Vector2* turned_vector, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* vector); +extern inline void bgc_fp64_turn2_vector(BGC_FP64_Vector2* turned_vector, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* vector); + +extern inline void bgc_fp32_turn2_vector_back(BGC_FP32_Vector2* turned_vector, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* vector); +extern inline void bgc_fp64_turn2_vector_back(BGC_FP64_Vector2* turned_vector, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* vector); + +extern inline int bgc_fp32_turn2_are_close(const BGC_FP32_Turn2* turn1, const BGC_FP32_Turn2* turn2); +extern inline int bgc_fp64_turn2_are_close(const BGC_FP64_Turn2* turn1, const BGC_FP64_Turn2* turn2); + +void _bgc_fp32_turn2_normalize(BGC_FP32_Turn2* turn) +{ + const float square_modulus = turn->_cos * turn->_cos + turn->_sin * turn->_sin; + + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { + turn->_cos = 1.0f; + turn->_sin = 0.0f; + return; + } + + const float multiplier = sqrtf(1.0f / square_modulus); + + turn->_cos *= multiplier; + turn->_sin *= multiplier; +} + +void _bgc_fp64_turn2_normalize(BGC_FP64_Turn2* turn) +{ + const double square_modulus = turn->_cos * turn->_cos + turn->_sin * turn->_sin; + + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { + turn->_cos = 1.0; + turn->_sin = 0.0; + return; + } + + const double multiplier = sqrt(1.0 / square_modulus); + + turn->_cos *= multiplier; + turn->_sin *= multiplier; +} diff --git a/basic-geometry/turn2.h b/basic-geometry/turn2.h new file mode 100644 index 0000000..667d2fc --- /dev/null +++ b/basic-geometry/turn2.h @@ -0,0 +1,343 @@ +#ifndef _BGC_TURN2_H_INCLUDED_ +#define _BGC_TURN2_H_INCLUDED_ + +#include + +#include "utilities.h" +#include "angle.h" +#include "vector2.h" +#include "matrix2x2.h" + +// =================== Types ==================== // + +typedef struct +{ + float _cos, _sin; +} BGC_FP32_Turn2; + +typedef struct +{ + double _cos, _sin; +} BGC_FP64_Turn2; + +// ================= Constants ================== // + +extern const BGC_FP32_Turn2 BGC_FP32_IDLE_TURN2; +extern const BGC_FP64_Turn2 BGC_FP64_IDLE_TURN2; + +// =================== Reset ==================== // + +inline void bgc_fp32_turn2_reset(BGC_FP32_Turn2* turn) +{ + turn->_cos = 1.0f; + turn->_sin = 0.0f; +} + +inline void bgc_fp64_turn2_reset(BGC_FP64_Turn2* turn) +{ + turn->_cos = 1.0; + turn->_sin = 0.0; +} + +// ================== Set Turn ================== // + +inline void bgc_fp32_turn2_make_for_angle(BGC_FP32_Turn2* turn, const float angle, const int angle_unit) +{ + const float radians = bgc_fp32_angle_to_radians(angle, angle_unit); + + turn->_cos = cosf(radians); + turn->_sin = sinf(radians); +} + +inline void bgc_fp64_turn2_make_for_angle(BGC_FP64_Turn2* turn, const double angle, const int angle_unit) +{ + const double radians = bgc_fp64_angle_to_radians(angle, angle_unit); + + turn->_cos = cos(radians); + turn->_sin = sin(radians); +} + + +// ================== Set Turn ================== // + +inline int bgc_fp32_turn2_is_idle(const BGC_FP32_Turn2* turn) +{ + return bgc_fp32_is_unit(turn->_cos) && bgc_fp32_is_zero(turn->_sin); +} + +inline int bgc_fp64_turn2_is_idle(const BGC_FP64_Turn2* turn) +{ + return bgc_fp64_is_unit(turn->_cos) && bgc_fp64_is_zero(turn->_sin); +} + +// ==================== Set ===================== // + +void _bgc_fp32_turn2_normalize(BGC_FP32_Turn2* twin); + +void _bgc_fp64_turn2_normalize(BGC_FP64_Turn2* twin); + +inline void bgc_fp32_turn2_make(BGC_FP32_Turn2* turn, const float x1, const float x2) +{ + const float square_modulus = x1 * x1 + x2 * x2; + + turn->_cos = x1; + turn->_sin = x2; + + if (!bgc_fp32_is_square_unit(square_modulus)) { + _bgc_fp32_turn2_normalize(turn); + } +} + +inline void bgc_fp64_turn2_make(BGC_FP64_Turn2* turn, const double x1, const double x2) +{ + const double square_modulus = x1 * x1 + x2 * x2; + + turn->_cos = x1; + turn->_sin = x2; + + if (!bgc_fp64_is_square_unit(square_modulus)) { + _bgc_fp64_turn2_normalize(turn); + } +} + +// =================== Angle =================== // + +inline float bgc_fp32_turn2_get_angle(const BGC_FP32_Turn2* turn, const int angle_unit) +{ + return bgc_fp32_radians_to_units(atan2f(turn->_sin, turn->_cos), angle_unit); +} + +inline double bgc_fp64_turn2_get_angle(const BGC_FP64_Turn2* turn, const int angle_unit) +{ + return bgc_fp64_radians_to_units(atan2(turn->_sin, turn->_cos), angle_unit); +} + +// ==================== Copy ==================== // + +inline void bgc_fp32_turn2_copy(BGC_FP32_Turn2* destination, const BGC_FP32_Turn2* source) +{ + destination->_cos = source->_cos; + destination->_sin = source->_sin; +} + +inline void bgc_fp64_turn2_copy(BGC_FP64_Turn2* destination, const BGC_FP64_Turn2* source) +{ + destination->_cos = source->_cos; + destination->_sin = source->_sin; +} + +// ==================== Swap ==================== // + +inline void bgc_fp32_turn2_swap(BGC_FP32_Turn2* turn1, BGC_FP32_Turn2* turn2) +{ + const float cos = turn1->_cos; + const float sin = turn1->_sin; + + turn1->_cos = turn2->_cos; + turn1->_sin = turn2->_sin; + + turn2->_cos = cos; + turn2->_sin = sin; +} + +inline void bgc_fp64_turn2_swap(BGC_FP64_Turn2* turn1, BGC_FP64_Turn2* turn2) +{ + const double cos = turn1->_cos; + const double sin = turn1->_sin; + + turn1->_cos = turn2->_cos; + turn1->_sin = turn2->_sin; + + turn2->_cos = cos; + turn2->_sin = sin; +} + +// ================== Convert =================== // + +inline void bgc_fp64_turn2_convert_to_fp32(BGC_FP32_Turn2* destination, const BGC_FP64_Turn2* source) +{ + bgc_fp32_turn2_make(destination, (float)source->_cos, (float)source->_sin); +} + +inline void bgc_fp32_turn2_convert_to_fp64(BGC_FP64_Turn2* destination, const BGC_FP32_Turn2* source) +{ + bgc_fp64_turn2_make(destination, (double)source->_cos, (double)source->_sin); +} + +// =================== Revert =================== // + +inline void bgc_fp32_turn2_revert(BGC_FP32_Turn2* turn) +{ + turn->_sin = -turn->_sin; +} + +inline void bgc_fp64_turn2_revert(BGC_FP64_Turn2* turn) +{ + turn->_sin = -turn->_sin; +} + +inline void bgc_fp32_turn2_get_reverse(BGC_FP32_Turn2* reverse, const BGC_FP32_Turn2* turn) +{ + reverse->_cos = turn->_cos; + reverse->_sin = -turn->_sin; +} + +inline void bgc_fp64_turn2_get_reverse(BGC_FP64_Turn2* reverse, const BGC_FP64_Turn2* turn) +{ + reverse->_cos = turn->_cos; + reverse->_sin = -turn->_sin; +} + +// ================= Exponation ================= // + +inline void bgc_fp32_turn2_get_exponation(BGC_FP32_Turn2* power, const BGC_FP32_Turn2* base, const float exponent) +{ + const float power_angle = exponent * atan2f(base->_sin, base->_cos); + + power->_cos = cosf(power_angle); + power->_sin = sinf(power_angle); +} + +inline void bgc_fp64_turn2_get_exponation(BGC_FP64_Turn2* power, const BGC_FP64_Turn2* base, const double exponent) +{ + const double power_angle = exponent * atan2(base->_sin, base->_cos); + + power->_cos = cos(power_angle); + power->_sin = sin(power_angle); +} + +// ================ Combination ================= // + +inline void bgc_fp32_turn2_combine(BGC_FP32_Turn2* combination, const BGC_FP32_Turn2* turn1, const BGC_FP32_Turn2* turn2) +{ + bgc_fp32_turn2_make( + combination, + turn1->_cos * turn2->_cos - turn1->_sin * turn2->_sin, + turn1->_cos * turn2->_sin + turn1->_sin * turn2->_cos + ); +} + +inline void bgc_fp64_turn2_combine(BGC_FP64_Turn2* combination, const BGC_FP64_Turn2* turn1, const BGC_FP64_Turn2* turn2) +{ + bgc_fp64_turn2_make( + combination, + turn1->_cos * turn2->_cos - turn1->_sin * turn2->_sin, + turn1->_cos * turn2->_sin + turn1->_sin * turn2->_cos + ); +} + +// ================= Exclusion ================== // + +inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* difference, const BGC_FP32_Turn2* base, const BGC_FP32_Turn2* excludant) +{ + bgc_fp32_turn2_make( + difference, + base->_cos * excludant->_cos + base->_sin * excludant->_sin, + base->_sin * excludant->_cos - base->_cos * excludant->_sin + ); +} + +inline void bgc_fp64_turn2_exclude(BGC_FP64_Turn2* difference, const BGC_FP64_Turn2* base, const BGC_FP64_Turn2* excludant) +{ + bgc_fp64_turn2_make( + difference, + base->_cos * excludant->_cos + base->_sin * excludant->_sin, + base->_sin * excludant->_cos - base->_cos * excludant->_sin + ); +} + +// ============== Rotation Matrix =============== // + +inline void bgc_fp32_turn2_get_rotation_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Turn2* turn) +{ + matrix->r1c1 = turn->_cos; + matrix->r1c2 = -turn->_sin; + matrix->r2c1 = turn->_sin; + matrix->r2c2 = turn->_cos; +} + +inline void bgc_fp64_turn2_get_rotation_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Turn2* turn) +{ + matrix->r1c1 = turn->_cos; + matrix->r1c2 = -turn->_sin; + matrix->r2c1 = turn->_sin; + matrix->r2c2 = turn->_cos; +} + +// ============== Reverse Matrix ================ // + +inline void bgc_fp32_turn2_get_reverse_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_Turn2* turn) +{ + matrix->r1c1 = turn->_cos; + matrix->r1c2 = turn->_sin; + matrix->r2c1 = -turn->_sin; + matrix->r2c2 = turn->_cos; +} + +inline void bgc_fp64_turn2_get_reverse_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_Turn2* turn) +{ + matrix->r1c1 = turn->_cos; + matrix->r1c2 = turn->_sin; + matrix->r2c1 = -turn->_sin; + matrix->r2c2 = turn->_cos; +} + +// ================ Turn Vector ================= // + +inline void bgc_fp32_turn2_vector(BGC_FP32_Vector2* turned_vector, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* vector) +{ + const float x1 = turn->_cos * vector->x1 - turn->_sin * vector->x2; + const float x2 = turn->_sin * vector->x1 + turn->_cos * vector->x2; + + turned_vector->x1 = x1; + turned_vector->x2 = x2; +} + +inline void bgc_fp64_turn2_vector(BGC_FP64_Vector2* turned_vector, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* vector) +{ + const double x1 = turn->_cos * vector->x1 - turn->_sin * vector->x2; + const double x2 = turn->_sin * vector->x1 + turn->_cos * vector->x2; + + turned_vector->x1 = x1; + turned_vector->x2 = x2; +} + +// ============ Turn Vector Backward ============ // + +inline void bgc_fp32_turn2_vector_back(BGC_FP32_Vector2* turned_vector, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* vector) +{ + const float x1 = turn->_sin * vector->x2 + turn->_cos * vector->x1; + const float x2 = turn->_cos * vector->x2 - turn->_sin * vector->x1; + + turned_vector->x1 = x1; + turned_vector->x2 = x2; +} + +inline void bgc_fp64_turn2_vector_back(BGC_FP64_Vector2* turned_vector, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* vector) +{ + const double x1 = turn->_sin * vector->x2 + turn->_cos * vector->x1; + const double x2 = turn->_cos * vector->x2 - turn->_sin * vector->x1; + + turned_vector->x1 = x1; + turned_vector->x2 = x2; +} + +// ================== Are Close ================= // + +inline int bgc_fp32_turn2_are_close(const BGC_FP32_Turn2* turn1, const BGC_FP32_Turn2* turn2) +{ + const float d_cos = turn1->_cos - turn2->_cos; + const float d_sin = turn1->_sin - turn2->_sin; + + return d_cos * d_cos + d_sin * d_sin <= BGC_FP32_SQUARE_EPSILON; +} + +inline int bgc_fp64_turn2_are_close(const BGC_FP64_Turn2* turn1, const BGC_FP64_Turn2* turn2) +{ + const double d_cos = turn1->_cos - turn2->_cos; + const double d_sin = turn1->_sin - turn2->_sin; + + return d_cos * d_cos + d_sin * d_sin <= BGC_FP64_SQUARE_EPSILON; +} + +#endif diff --git a/basic-geometry/turn3.c b/basic-geometry/turn3.c new file mode 100644 index 0000000..21570f1 --- /dev/null +++ b/basic-geometry/turn3.c @@ -0,0 +1,584 @@ +#include + +#include "angle.h" +#include "turn3.h" + +const BGC_FP32_Turn3 BGC_FP32_IDLE_TURN3 = {{ 1.0f, 0.0f, 0.0f, 0.0f }}; + +const BGC_FP64_Turn3 BGC_FP64_IDLE_TURN3 = {{ 1.0, 0.0, 0.0, 0.0 }}; + +extern inline void bgc_fp32_turn3_reset(BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_reset(BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_set_raw_values(BGC_FP32_Turn3* turn, const float s0, const float x1, const float x2, const float x3); +extern inline void bgc_fp64_turn3_set_raw_values(BGC_FP64_Turn3* turn, const double s0, const double x1, const double x2, const double x3); + +extern inline void bgc_fp32_turn3_get_quaternion(BGC_FP32_Quaternion* quaternion, const BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_get_quaternion(BGC_FP64_Quaternion* quaternion, const BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_set_quaternion(BGC_FP32_Turn3* turn, const BGC_FP32_Quaternion* quaternion); +extern inline void bgc_fp64_turn3_set_quaternion(BGC_FP64_Turn3* turn, const BGC_FP64_Quaternion* quaternion); + +extern inline void bgc_fp32_turn3_copy(BGC_FP32_Turn3* destination, const BGC_FP32_Turn3* source); +extern inline void bgc_fp64_turn3_copy(BGC_FP64_Turn3* destination, const BGC_FP64_Turn3* source); + +extern inline void bgc_fp32_turn3_swap(BGC_FP32_Turn3* turn1, BGC_FP32_Turn3* turn2); +extern inline void bgc_fp64_turn3_swap(BGC_FP64_Turn3* turn1, BGC_FP64_Turn3* turn2); + +extern inline int bgc_fp32_turn3_is_idle(const BGC_FP32_Turn3* turn); +extern inline int bgc_fp64_turn3_is_idle(const BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_convert_to_fp64(BGC_FP64_Turn3* destination, const BGC_FP32_Turn3* source); +extern inline void bgc_fp64_turn3_convert_to_fp32(BGC_FP32_Turn3* destination, const BGC_FP64_Turn3* source); + +extern inline void bgc_fp32_turn3_shorten(BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_shorten(BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_get_shortened(BGC_FP32_Turn3* shortened, const BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_get_shortened(BGC_FP64_Turn3* shortened, const BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_alternate(BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_alternate(BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_get_alternative(BGC_FP32_Turn3* alternative, const BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_get_alternative(BGC_FP64_Turn3* alternative, const BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_revert(BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_revert(BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_get_reverse(BGC_FP32_Turn3* inverse, const BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_get_reverse(BGC_FP64_Turn3* inverse, const BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_combine(BGC_FP32_Turn3* combination, const BGC_FP32_Turn3* first, const BGC_FP32_Turn3* second); +extern inline void bgc_fp64_turn3_combine(BGC_FP64_Turn3* combination, const BGC_FP64_Turn3* first, const BGC_FP64_Turn3* second); + +extern inline void bgc_fp32_turn3_combine3(BGC_FP32_Turn3* combination, const BGC_FP32_Turn3* first, const BGC_FP32_Turn3* second, const BGC_FP32_Turn3* third); +extern inline void bgc_fp64_turn3_combine3(BGC_FP64_Turn3* combination, const BGC_FP64_Turn3* first, const BGC_FP64_Turn3* second, const BGC_FP64_Turn3* third); + +extern inline void bgc_fp32_turn3_exclude(BGC_FP32_Turn3* difference, const BGC_FP32_Turn3* base, const BGC_FP32_Turn3* excludant); +extern inline void bgc_fp64_turn3_exclude(BGC_FP64_Turn3* difference, const BGC_FP64_Turn3* base, const BGC_FP64_Turn3* excludant); + +extern inline void bgc_fp32_turn3_get_rotation_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_get_rotation_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_get_reverse_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_get_reverse_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Turn3* turn); +extern inline void bgc_fp64_turn3_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Turn3* turn); + +extern inline void bgc_fp32_turn3_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* vector); +extern inline void bgc_fp64_turn3_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Turn3* turn, const BGC_FP64_Vector3* vector); + +extern inline void bgc_fp32_turn3_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* vector); +extern inline void bgc_fp64_turn3_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Turn3* turn, const BGC_FP64_Vector3* vector); + +extern inline int bgc_fp32_turn3_are_close(const BGC_FP32_Turn3* turn1, const BGC_FP32_Turn3* turn2); +extern inline int bgc_fp64_turn3_are_close(const BGC_FP64_Turn3* turn1, const BGC_FP64_Turn3* turn2); + +// ================= Normalize ================== // + +void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* turn, const float square_modulus) +{ + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { + bgc_fp32_turn3_reset(turn); + return; + } + + bgc_fp32_quaternion_multiply(&turn->_versor, &turn->_versor, sqrtf(1.0f / square_modulus)); +} + +void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* turn, const double square_modulus) +{ + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { + bgc_fp64_turn3_reset(turn); + return; + } + + bgc_fp64_quaternion_multiply(&turn->_versor, &turn->_versor, sqrt(1.0 / square_modulus)); +} + + +// ================ Get Rotation ================ // + +float bgc_fp32_turn3_get_rotation(BGC_FP32_Vector3* axis, const BGC_FP32_Turn3* turn, const int angle_unit) +{ + const float square_vector_modulus = turn->_versor.x1 * turn->_versor.x1 + turn->_versor.x2 * turn->_versor.x2 + turn->_versor.x3 * turn->_versor.x3; + + if (square_vector_modulus <= BGC_FP32_SQUARE_EPSILON) { + bgc_fp32_vector3_reset(axis); + return 0.0f; + } + + const float vector_modulus = sqrtf(square_vector_modulus); + + const float multiplier = 1.0f / vector_modulus; + + axis->x1 = turn->_versor.x1 * multiplier; + axis->x2 = turn->_versor.x2 * multiplier; + axis->x3 = turn->_versor.x3 * multiplier; + + return 2.0f * atan2f(vector_modulus, turn->_versor.s0); +} + +double bgc_fp64_turn3_get_rotation(BGC_FP64_Vector3* axis, const BGC_FP64_Turn3* turn, const int angle_unit) +{ + const double square_vector_modulus = turn->_versor.x1 * turn->_versor.x1 + turn->_versor.x2 * turn->_versor.x2 + turn->_versor.x3 * turn->_versor.x3; + + if (square_vector_modulus <= BGC_FP64_SQUARE_EPSILON) { + bgc_fp64_vector3_reset(axis); + return 0.0; + } + + const double vector_modulus = sqrt(square_vector_modulus); + + const double multiplier = 1.0 / vector_modulus; + + axis->x1 = turn->_versor.x1 * multiplier; + axis->x2 = turn->_versor.x2 * multiplier; + axis->x3 = turn->_versor.x3 * multiplier; + + return 2.0 * atan2(vector_modulus, turn->_versor.s0); +} + +// ================ Set Rotation ================ // + +void bgc_fp32_turn3_set_rotation(BGC_FP32_Turn3* turn, const float x1, const float x2, const float x3, const float angle, const int angle_unit) +{ + const float square_vector = x1 * x1 + x2 * x2 + x3 * x3; + + if (square_vector <= BGC_FP32_SQUARE_EPSILON) { + bgc_fp32_turn3_reset(turn); + return; + } + + const float half_angle = bgc_fp32_angle_to_radians(0.5f * angle, angle_unit); + + const float sine = sinf(half_angle); + + if (bgc_fp32_is_zero(sine)) { + bgc_fp32_turn3_reset(turn); + return; + } + + const float multiplier = sine / sqrtf(square_vector); + + bgc_fp32_quaternion_make(&turn->_versor, cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier); + + const float square_modulus = bgc_fp32_quaternion_get_square_modulus(&turn->_versor); + + if (!bgc_fp32_is_square_unit(square_modulus)) { + _bgc_fp32_turn3_normalize(turn, square_modulus); + } +} + +void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* turn, const double x1, const double x2, const double x3, const double angle, const int angle_unit) +{ + const double square_vector = x1 * x1 + x2 * x2 + x3 * x3; + + if (square_vector <= BGC_FP64_SQUARE_EPSILON) { + bgc_fp64_turn3_reset(turn); + return; + } + + const double half_angle = bgc_fp64_angle_to_radians(0.5 * angle, angle_unit); + + const double sine = sin(half_angle); + + if (bgc_fp64_is_zero(sine)) { + bgc_fp64_turn3_reset(turn); + return; + } + + const double multiplier = sine / sqrt(square_vector); + + bgc_fp64_quaternion_make(&turn->_versor, cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier); + + const double square_modulus = bgc_fp64_quaternion_get_square_modulus(&turn->_versor); + + if (!bgc_fp64_is_square_unit(square_modulus)) { + _bgc_fp64_turn3_normalize(turn, square_modulus); + } +} + +// ========= Make Direction Difference ========== // + +static int _bgc_fp32_turn3_make_direction_turn(BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* start, const BGC_FP32_Vector3* end, const float square_modulus_product) +{ + BGC_FP32_Vector3 orthogonal_axis; + + bgc_fp32_vector3_get_cross_product(&orthogonal_axis, start, end); + + const float scalar_product = bgc_fp32_vector3_get_dot_product(start, end); + const float square_modulus = bgc_fp32_vector3_get_square_modulus(&orthogonal_axis); + const float square_sine = square_modulus / square_modulus_product; + + if (square_sine > BGC_FP32_SQUARE_EPSILON) { + const float cosine = scalar_product / sqrtf(square_modulus_product); + const float angle = 0.5f * atan2f(sqrtf(square_sine), cosine); + + const float multiplier = sinf(angle) * sqrtf(1.0f / square_modulus); + + bgc_fp32_turn3_set_raw_values(turn, cosf(angle), orthogonal_axis.x1 * multiplier, orthogonal_axis.x2 * multiplier, orthogonal_axis.x3 * multiplier); + return BGC_SOME_TURN; + } + + if (scalar_product < 0.0f) { + return BGC_OPPOSITE; + } + + bgc_fp32_turn3_reset(turn); + + return BGC_ZERO_TURN; +} + +static int _bgc_fp64_turn3_make_direction_turn(BGC_FP64_Turn3* versor, const BGC_FP64_Vector3* start, const BGC_FP64_Vector3* end, const double square_modulus_product) +{ + BGC_FP64_Vector3 orthogonal_axis; + + bgc_fp64_vector3_get_cross_product(&orthogonal_axis, start, end); + + const double scalar_product = bgc_fp64_vector3_get_dot_product(start, end); + const double square_modulus = bgc_fp64_vector3_get_square_modulus(&orthogonal_axis); + const double square_sine = square_modulus / square_modulus_product; + + if (square_sine > BGC_FP64_SQUARE_EPSILON) { + const double cosine = scalar_product / sqrt(square_modulus_product); + const double angle = 0.5 * atan2(sqrt(square_sine), cosine); + + const double multiplier = sin(angle) * sqrt(1.0f / square_modulus); + + bgc_fp64_turn3_set_raw_values(versor, cos(angle), orthogonal_axis.x1 * multiplier, orthogonal_axis.x2 * multiplier, orthogonal_axis.x3 * multiplier); + return BGC_SOME_TURN; + } + + if (scalar_product < 0.0) { + return BGC_OPPOSITE; + } + + bgc_fp64_turn3_reset(versor); + + return BGC_ZERO_TURN; +} + +// ========= Find Direction Difference ========== // + +int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* difference, const BGC_FP32_Vector3* start, const BGC_FP32_Vector3* end) +{ + const float start_square_modulus = bgc_fp32_vector3_get_square_modulus(start); + const float end_square_modulus = bgc_fp32_vector3_get_square_modulus(end); + + if (start_square_modulus <= BGC_FP32_SQUARE_EPSILON || end_square_modulus <= BGC_FP32_SQUARE_EPSILON) { + bgc_fp32_turn3_reset(difference); + return BGC_ZERO_TURN; + } + + return _bgc_fp32_turn3_make_direction_turn(difference, start, end, start_square_modulus * end_square_modulus); +} + +int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* difference, const BGC_FP64_Vector3* start, const BGC_FP64_Vector3* end) +{ + const double start_square_modulus = bgc_fp64_vector3_get_square_modulus(start); + const double end_square_modulus = bgc_fp64_vector3_get_square_modulus(end); + + if (start_square_modulus <= BGC_FP64_SQUARE_EPSILON || end_square_modulus <= BGC_FP64_SQUARE_EPSILON) { + bgc_fp64_turn3_reset(difference); + return BGC_ZERO_TURN; + } + + return _bgc_fp64_turn3_make_direction_turn(difference, start, end, start_square_modulus * end_square_modulus); +} + +// =============== Set Directions =============== // + +static int _bgc_fp32_turn3_validate_basis(const float primary_square_modulus, const float auxiliary_square_modulus, const float orthogonal_square_modulus) +{ + if (primary_square_modulus <= BGC_FP32_SQUARE_EPSILON) { + //TODO: add error code for: primary_vector is zero + return BGC_FAILED; + } + + if (auxiliary_square_modulus <= BGC_FP32_SQUARE_EPSILON) { + //TODO: add error code for: auxiliary_vector is zero + return BGC_FAILED; + } + + if (orthogonal_square_modulus <= BGC_FP32_SQUARE_EPSILON * primary_square_modulus * auxiliary_square_modulus) { + //TODO: add error code for: primary_vector and auxiliary_vector are parallel + return BGC_FAILED; + } + + return BGC_SUCCESS; +} + +static int _bgc_fp64_turn3_validate_basis(const double primary_square_modulus, const double auxiliary_square_modulus, const double orthogonal_square_modulus) +{ + if (primary_square_modulus <= BGC_FP64_SQUARE_EPSILON) { + //TODO: add error code for: primary_vector is zero + return BGC_FAILED; + } + + if (auxiliary_square_modulus <= BGC_FP64_SQUARE_EPSILON) { + //TODO: add error code for: auxiliary_vector is zero + return BGC_FAILED; + } + + if (orthogonal_square_modulus <= BGC_FP64_SQUARE_EPSILON * primary_square_modulus * auxiliary_square_modulus) { + //TODO: add error code for: primary_vector and auxiliary_vector are parallel + return BGC_FAILED; + } + + return BGC_SUCCESS; +} + +int bgc_fp32_turn3_make_basis_difference( + BGC_FP32_Turn3* versor, + const BGC_FP32_Vector3* initial_primary_direction, + const BGC_FP32_Vector3* initial_auxiliary_direction, + const BGC_FP32_Vector3* final_primary_direction, + const BGC_FP32_Vector3* final_auxiliary_direction +) +{ + BGC_FP32_Vector3 initial_orthogonal_direction, turned_orthogonal_direction, final_orthogonal_direction; + + // Step 1: Validate initial basis: + bgc_fp32_vector3_get_cross_product(&initial_orthogonal_direction, initial_primary_direction, initial_auxiliary_direction); + + const float initial_primary_square_modulus = bgc_fp32_vector3_get_square_modulus(initial_primary_direction); + const float initial_auxiliary_square_modulus = bgc_fp32_vector3_get_square_modulus(initial_auxiliary_direction); + const float initial_orthogonal_square_modulus = bgc_fp32_vector3_get_square_modulus(&initial_orthogonal_direction); + + const int initial_basis_valudation = _bgc_fp32_turn3_validate_basis(initial_primary_square_modulus, initial_auxiliary_square_modulus, initial_orthogonal_square_modulus); + + if (initial_basis_valudation != BGC_SUCCESS) { + return initial_basis_valudation; + } + + // Step 1: Validate final basis: + bgc_fp32_vector3_get_cross_product(&final_orthogonal_direction, final_primary_direction, final_auxiliary_direction); + + const float final_primary_square_modulus = bgc_fp32_vector3_get_square_modulus(final_primary_direction); + const float final_auxiliary_square_modulus = bgc_fp32_vector3_get_square_modulus(final_auxiliary_direction); + const float final_orthogonal_square_modulus = bgc_fp32_vector3_get_square_modulus(&final_orthogonal_direction); + + const int final_basis_valudation = _bgc_fp32_turn3_validate_basis(final_primary_square_modulus, final_auxiliary_square_modulus, final_orthogonal_square_modulus); + + if (final_basis_valudation != BGC_SUCCESS) { + return final_basis_valudation; + } + + // Step 3: Validate normalize orthogonal vectors: + bgc_fp32_vector3_divide(&initial_orthogonal_direction, &initial_orthogonal_direction, sqrtf(initial_orthogonal_square_modulus)); + bgc_fp32_vector3_divide(&final_orthogonal_direction, &final_orthogonal_direction, sqrtf(final_orthogonal_square_modulus)); + + BGC_FP32_Turn3 turn1, turn2; + + // Step 4: Find turn1 + int turn1_code = _bgc_fp32_turn3_make_direction_turn(&turn1, initial_primary_direction, final_primary_direction, initial_primary_square_modulus * final_primary_square_modulus); + + if (turn1_code == BGC_OPPOSITE) { + bgc_fp32_turn3_set_raw_values(&turn1, 0.0f, initial_orthogonal_direction.x1, initial_orthogonal_direction.x2, initial_orthogonal_direction.x3); + } + + bgc_fp32_turn3_vector(&turned_orthogonal_direction, &turn1, &initial_orthogonal_direction); + + // Step 5: Find turn2: + int turn2_code = _bgc_fp32_turn3_make_direction_turn(&turn2, &turned_orthogonal_direction, &final_orthogonal_direction, 1.0f); + + if (turn2_code == BGC_OPPOSITE) { + const float turn2_multiplier = sqrtf(1.0f / final_primary_square_modulus); + + bgc_fp32_turn3_set_raw_values(&turn2, + 0.0f, + final_primary_direction->x1 * turn2_multiplier, + final_primary_direction->x2 * turn2_multiplier, + final_primary_direction->x3 * turn2_multiplier + ); + } + + // Step 6: Combine turn1 and turn2: + bgc_fp32_turn3_combine(versor, &turn1, &turn2); + + return BGC_SUCCESS; +} + +int bgc_fp64_turn3_make_basis_difference( + BGC_FP64_Turn3* versor, + const BGC_FP64_Vector3* initial_primary_direction, + const BGC_FP64_Vector3* initial_auxiliary_direction, + const BGC_FP64_Vector3* final_primary_direction, + const BGC_FP64_Vector3* final_auxiliary_direction +) +{ + BGC_FP64_Vector3 initial_orthogonal_direction, turned_orthogonal_direction, final_orthogonal_direction; + + // Step 1: Validate initial basis: + bgc_fp64_vector3_get_cross_product(&initial_orthogonal_direction, initial_primary_direction, initial_auxiliary_direction); + + const double initial_primary_square_modulus = bgc_fp64_vector3_get_square_modulus(initial_primary_direction); + const double initial_auxiliary_square_modulus = bgc_fp64_vector3_get_square_modulus(initial_auxiliary_direction); + const double initial_orthogonal_square_modulus = bgc_fp64_vector3_get_square_modulus(&initial_orthogonal_direction); + + const int initial_basis_valudation = _bgc_fp64_turn3_validate_basis(initial_primary_square_modulus, initial_auxiliary_square_modulus, initial_orthogonal_square_modulus); + + if (initial_basis_valudation != BGC_SUCCESS) { + return initial_basis_valudation; + } + + // Step 1: Validate final basis: + bgc_fp64_vector3_get_cross_product(&final_orthogonal_direction, final_primary_direction, final_auxiliary_direction); + + const double final_primary_square_modulus = bgc_fp64_vector3_get_square_modulus(final_primary_direction); + const double final_auxiliary_square_modulus = bgc_fp64_vector3_get_square_modulus(final_auxiliary_direction); + const double final_orthogonal_square_modulus = bgc_fp64_vector3_get_square_modulus(&final_orthogonal_direction); + + const int final_basis_valudation = _bgc_fp64_turn3_validate_basis(final_primary_square_modulus, final_auxiliary_square_modulus, final_orthogonal_square_modulus); + + if (final_basis_valudation != BGC_SUCCESS) { + return final_basis_valudation; + } + + // Step 3: Validate normalize orthogonal vectors: + bgc_fp64_vector3_divide(&initial_orthogonal_direction, &initial_orthogonal_direction, sqrt(initial_orthogonal_square_modulus)); + bgc_fp64_vector3_divide(&final_orthogonal_direction, &final_orthogonal_direction, sqrt(final_orthogonal_square_modulus)); + + BGC_FP64_Turn3 turn1, turn2; + + // Step 4: Find turn1 + int turn1_code = _bgc_fp64_turn3_make_direction_turn(&turn1, initial_primary_direction, final_primary_direction, initial_primary_square_modulus * final_primary_square_modulus); + + if (turn1_code == BGC_OPPOSITE) { + bgc_fp64_turn3_set_raw_values(&turn1, 0.0, initial_orthogonal_direction.x1, initial_orthogonal_direction.x2, initial_orthogonal_direction.x3); + } + + bgc_fp64_turn3_vector(&turned_orthogonal_direction, &turn1, &initial_orthogonal_direction); + + // Step 5: Find turn2: + int turn2_code = _bgc_fp64_turn3_make_direction_turn(&turn2, &turned_orthogonal_direction, &final_orthogonal_direction, 1.0f); + + if (turn2_code == BGC_OPPOSITE) { + const double turn2_multiplier = sqrt(1.0 / final_primary_square_modulus); + + bgc_fp64_turn3_set_raw_values(&turn2, + 0.0, + final_primary_direction->x1 * turn2_multiplier, + final_primary_direction->x2 * turn2_multiplier, + final_primary_direction->x3 * turn2_multiplier + ); + } + + // Step 6: Combine turn1 and turn2: + bgc_fp64_turn3_combine(versor, &turn1, &turn2); + + return BGC_SUCCESS; +} + +// =============== Get Exponation =============== // + +void bgc_fp32_turn3_get_exponation(BGC_FP32_Turn3* power, const BGC_FP32_Turn3* base, const float exponent) +{ + const float square_vector = base->_versor.x1 * base->_versor.x1 + base->_versor.x2 * base->_versor.x2 + base->_versor.x3 * base->_versor.x3; + + if (square_vector <= BGC_FP32_SQUARE_EPSILON || square_vector != square_vector) { + bgc_fp32_turn3_reset(power); + return; + } + + const float vector_modulus = sqrtf(square_vector); + + const float angle = atan2f(vector_modulus, base->_versor.s0) * exponent; + + const float multiplier = sinf(angle) / vector_modulus; + + bgc_fp32_turn3_set_raw_values(power, cosf(angle), base->_versor.x1 * multiplier, base->_versor.x2 * multiplier, base->_versor.x3 * multiplier); +} + +void bgc_fp64_turn3_get_exponation(BGC_FP64_Turn3* power, const BGC_FP64_Turn3* base, const double exponent) +{ + const double square_vector = base->_versor.x1 * base->_versor.x1 + base->_versor.x2 * base->_versor.x2 + base->_versor.x3 * base->_versor.x3; + + if (square_vector <= BGC_FP64_SQUARE_EPSILON || square_vector != square_vector) { + bgc_fp64_turn3_reset(power); + return; + } + + const double vector_modulus = sqrt(square_vector); + + const double angle = atan2(vector_modulus, base->_versor.s0) * exponent; + + const double multiplier = sin(angle) / vector_modulus; + + bgc_fp64_turn3_set_raw_values(power, cos(angle), base->_versor.x1 * multiplier, base->_versor.x2 * multiplier, base->_versor.x3 * multiplier); +} + +// ============ Sphere Interpolation ============ // + +void bgc_fp32_turn3_spherically_interpolate(BGC_FP32_Turn3* interpolation, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end, const float phase) +{ + const float delta_s0 = (end->_versor.s0 * start->_versor.s0 + end->_versor.x1 * start->_versor.x1) + (end->_versor.x2 * start->_versor.x2 + end->_versor.x3 * start->_versor.x3); + const float delta_x1 = (end->_versor.x1 * start->_versor.s0 + end->_versor.x3 * start->_versor.x2) - (end->_versor.s0 * start->_versor.x1 + end->_versor.x2 * start->_versor.x3); + const float delta_x2 = (end->_versor.x2 * start->_versor.s0 + end->_versor.x1 * start->_versor.x3) - (end->_versor.s0 * start->_versor.x2 + end->_versor.x3 * start->_versor.x1); + const float delta_x3 = (end->_versor.x3 * start->_versor.s0 + end->_versor.x2 * start->_versor.x1) - (end->_versor.s0 * start->_versor.x3 + end->_versor.x1 * start->_versor.x2); + + const float square_vector = delta_x1 * delta_x1 + delta_x2 * delta_x2 + delta_x3 * delta_x3; + + // square_vector != square_vector means checking for NaN value at square_vector + if (square_vector <= BGC_FP32_SQUARE_EPSILON || isnan(square_vector)) { + bgc_fp32_turn3_copy(interpolation, end); + return; + } + + // Calculating of the turning which fits the phase: + const float vector_modulus = sqrtf(square_vector); + const float angle = atan2f(vector_modulus, delta_s0) * phase; + const float multiplier = sinf(angle) / vector_modulus; + + const float turn_s0 = cosf(angle); + const float turn_x1 = delta_x1 * multiplier; + const float turn_x2 = delta_x2 * multiplier; + const float turn_x3 = delta_x3 * multiplier; + + // Combining of starting orientation with the turning + bgc_fp32_turn3_set_raw_values( + interpolation, + (turn_s0 * start->_versor.s0 - turn_x1 * start->_versor.x1) - (turn_x2 * start->_versor.x2 + turn_x3 * start->_versor.x3), + (turn_x1 * start->_versor.s0 + turn_s0 * start->_versor.x1) - (turn_x3 * start->_versor.x2 - turn_x2 * start->_versor.x3), + (turn_x2 * start->_versor.s0 + turn_s0 * start->_versor.x2) - (turn_x1 * start->_versor.x3 - turn_x3 * start->_versor.x1), + (turn_x3 * start->_versor.s0 + turn_s0 * start->_versor.x3) - (turn_x2 * start->_versor.x1 - turn_x1 * start->_versor.x2) + ); +} + +void bgc_fp64_turn3_spherically_interpolate(BGC_FP64_Turn3* interpolation, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end, const double phase) +{ + const double delta_s0 = (end->_versor.s0 * start->_versor.s0 + end->_versor.x1 * start->_versor.x1) + (end->_versor.x2 * start->_versor.x2 + end->_versor.x3 * start->_versor.x3); + const double delta_x1 = (end->_versor.x1 * start->_versor.s0 + end->_versor.x3 * start->_versor.x2) - (end->_versor.s0 * start->_versor.x1 + end->_versor.x2 * start->_versor.x3); + const double delta_x2 = (end->_versor.x2 * start->_versor.s0 + end->_versor.x1 * start->_versor.x3) - (end->_versor.s0 * start->_versor.x2 + end->_versor.x3 * start->_versor.x1); + const double delta_x3 = (end->_versor.x3 * start->_versor.s0 + end->_versor.x2 * start->_versor.x1) - (end->_versor.s0 * start->_versor.x3 + end->_versor.x1 * start->_versor.x2); + + const double square_vector = delta_x1 * delta_x1 + delta_x2 * delta_x2 + delta_x3 * delta_x3; + + // square_vector != square_vector means checking for NaN value at square_vector + if (square_vector <= BGC_FP64_SQUARE_EPSILON || isnan(square_vector)) { + bgc_fp64_turn3_copy(interpolation, end); + return; + } + + // Calculating of the turning which fits the phase: + const double vector_modulus = sqrt(square_vector); + const double angle = atan2(vector_modulus, delta_s0) * phase; + const double multiplier = sin(angle) / vector_modulus; + + const double turn_s0 = cos(angle); + const double turn_x1 = delta_x1 * multiplier; + const double turn_x2 = delta_x2 * multiplier; + const double turn_x3 = delta_x3 * multiplier; + + // Combining of starting orientation with the turning + bgc_fp64_turn3_set_raw_values( + interpolation, + (turn_s0 * start->_versor.s0 - turn_x1 * start->_versor.x1) - (turn_x2 * start->_versor.x2 + turn_x3 * start->_versor.x3), + (turn_x1 * start->_versor.s0 + turn_s0 * start->_versor.x1) - (turn_x3 * start->_versor.x2 - turn_x2 * start->_versor.x3), + (turn_x2 * start->_versor.s0 + turn_s0 * start->_versor.x2) - (turn_x1 * start->_versor.x3 - turn_x3 * start->_versor.x1), + (turn_x3 * start->_versor.s0 + turn_s0 * start->_versor.x3) - (turn_x2 * start->_versor.x1 - turn_x1 * start->_versor.x2) + ); +} diff --git a/basic-geometry/turn3.h b/basic-geometry/turn3.h new file mode 100644 index 0000000..13d02fe --- /dev/null +++ b/basic-geometry/turn3.h @@ -0,0 +1,502 @@ +#ifndef _BGC_TURN3_H_INCLUDED_ +#define _BGC_TURN3_H_INCLUDED_ + +#include + +#include "utilities.h" +#include "angle.h" +#include "vector3.h" +#include "matrix3x3.h" +#include "quaternion.h" + +#define BGC_SOME_TURN 1 +#define BGC_ZERO_TURN 0 +#define BGC_OPPOSITE -1 + +#define BGC_ERROR_PRIMARY_DIRECTION_UNKNOWN -3001 +#define BGC_ERROR_PRIMARY_VECTOR_IS_ZERO -3002 + +#define BGC_ERROR_AUXILIARY_DIRECTION_UNKNOWN -3011 +#define BGC_ERROR_AUXILIARY_VECTOR_IS_ZERO -3012 + +#define BGC_ERROR_DIRECTIONS_PARALLEL -3021 +#define BGC_ERROR_VECTORS_PARALLEL -3022 + +// =================== Types ==================== // + +typedef struct { + BGC_FP32_Quaternion _versor; +} BGC_FP32_Turn3; + +typedef struct { + BGC_FP64_Quaternion _versor; +} BGC_FP64_Turn3; + +// ================= Constants ================== // + +extern const BGC_FP32_Turn3 BGC_FP32_IDLE_TURN3; +extern const BGC_FP64_Turn3 BGC_FP64_IDLE_TURN3; + +// =================== Reset ==================== // + +inline void bgc_fp32_turn3_reset(BGC_FP32_Turn3* turn) +{ + bgc_fp32_quaternion_make(&turn->_versor, 1.0f, 0.0f, 0.0f, 0.0f); +} + +inline void bgc_fp64_turn3_reset(BGC_FP64_Turn3* turn) +{ + bgc_fp64_quaternion_make(&turn->_versor, 1.0, 0.0, 0.0, 0.0); +} + +// ============= Private: Normalize ============= // + +void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* turn, const float square_modulus); + +void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* turn, const double square_modulus); + +// ================= Set Values ================= // + +inline void bgc_fp32_turn3_set_raw_values(BGC_FP32_Turn3* turn, const float s0, const float x1, const float x2, const float x3) +{ + bgc_fp32_quaternion_make(&turn->_versor, s0, x1, x2, x3); + + const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); + + if (!bgc_fp32_is_square_unit(square_modulus)) { + _bgc_fp32_turn3_normalize(turn, square_modulus); + } +} + +inline void bgc_fp64_turn3_set_raw_values(BGC_FP64_Turn3* turn, const double s0, const double x1, const double x2, const double x3) +{ + bgc_fp64_quaternion_make(&turn->_versor, s0, x1, x2, x3); + + const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); + + if (!bgc_fp64_is_square_unit(square_modulus)) { + _bgc_fp64_turn3_normalize(turn, square_modulus); + } +} + +// =============== Get Quaternion =============== // + +inline void bgc_fp32_turn3_get_quaternion(BGC_FP32_Quaternion* quaternion, const BGC_FP32_Turn3* turn) +{ + bgc_fp32_quaternion_copy(quaternion, &turn->_versor); +} + +inline void bgc_fp64_turn3_get_quaternion(BGC_FP64_Quaternion* quaternion, const BGC_FP64_Turn3* turn) +{ + bgc_fp64_quaternion_copy(quaternion, &turn->_versor); +} + +// =============== Set Quaternion =============== // + +inline void bgc_fp32_turn3_set_quaternion(BGC_FP32_Turn3* turn, const BGC_FP32_Quaternion* quaternion) +{ + bgc_fp32_quaternion_copy(&turn->_versor, quaternion); + + const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion); + + if (!bgc_fp32_is_square_unit(square_modulus)) { + _bgc_fp32_turn3_normalize(turn, square_modulus); + } +} + +inline void bgc_fp64_turn3_set_quaternion(BGC_FP64_Turn3* turn, const BGC_FP64_Quaternion* quaternion) +{ + bgc_fp64_quaternion_copy(&turn->_versor, quaternion); + + const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion); + + if (!bgc_fp64_is_square_unit(square_modulus)) { + _bgc_fp64_turn3_normalize(turn, square_modulus); + } +} + +// ================ Get Rotation ================ // + +float bgc_fp32_turn3_get_rotation(BGC_FP32_Vector3* axis, const BGC_FP32_Turn3* turn, const int angle_unit); + +double bgc_fp64_turn3_get_rotation(BGC_FP64_Vector3* axis, const BGC_FP64_Turn3* turn, const int angle_unit); + +// ================ Set Rotation ================ // + +void bgc_fp32_turn3_set_rotation(BGC_FP32_Turn3* turn, const float x1, const float x2, const float x3, const float angle, const int angle_unit); + +void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* turn, const double x1, const double x2, const double x3, const double angle, const int angle_unit); + +// ========= Find Direction Difference ========== // + +int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* difference, const BGC_FP32_Vector3* start, const BGC_FP32_Vector3* end); + +int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* difference, const BGC_FP64_Vector3* start, const BGC_FP64_Vector3* end); + +// =============== Set Directions =============== // + +int bgc_fp32_turn3_make_basis_difference( + BGC_FP32_Turn3* turn, + const BGC_FP32_Vector3* initial_primary_direction, + const BGC_FP32_Vector3* initial_auxiliary_direction, + const BGC_FP32_Vector3* final_primary_direction, + const BGC_FP32_Vector3* final_auxiliary_direction +); + +int bgc_fp64_turn3_make_basis_difference( + BGC_FP64_Turn3* turn, + const BGC_FP64_Vector3* initial_primary_direction, + const BGC_FP64_Vector3* initial_auxiliary_direction, + const BGC_FP64_Vector3* final_primary_direction, + const BGC_FP64_Vector3* final_auxiliary_direction +); + +// ==================== Copy ==================== // + +inline void bgc_fp32_turn3_copy(BGC_FP32_Turn3* destination, const BGC_FP32_Turn3* source) +{ + bgc_fp32_quaternion_copy(&destination->_versor, &source->_versor); +} + +inline void bgc_fp64_turn3_copy(BGC_FP64_Turn3* destination, const BGC_FP64_Turn3* source) +{ + bgc_fp64_quaternion_copy(&destination->_versor, &source->_versor); +} + +// ==================== Swap ==================== // + +inline void bgc_fp32_turn3_swap(BGC_FP32_Turn3* turn1, BGC_FP32_Turn3* turn2) +{ + bgc_fp32_quaternion_swap(&turn1->_versor, &turn2->_versor); +} + +inline void bgc_fp64_turn3_swap(BGC_FP64_Turn3* turn1, BGC_FP64_Turn3* turn2) +{ + bgc_fp64_quaternion_swap(&turn1->_versor, &turn2->_versor); +} + +// ================= Comparison ================= // + +inline int bgc_fp32_turn3_is_idle(const BGC_FP32_Turn3* turn) +{ + return turn->_versor.x1 * turn->_versor.x1 + turn->_versor.x2 * turn->_versor.x2 + turn->_versor.x3 * turn->_versor.x3 <= BGC_FP32_SQUARE_EPSILON; +} + +inline int bgc_fp64_turn3_is_idle(const BGC_FP64_Turn3* turn) +{ + return turn->_versor.x1 * turn->_versor.x1 + turn->_versor.x2 * turn->_versor.x2 + turn->_versor.x3 * turn->_versor.x3 <= BGC_FP64_SQUARE_EPSILON; +} + +// ================== Convert =================== // + +inline void bgc_fp32_turn3_convert_to_fp64(BGC_FP64_Turn3* destination, const BGC_FP32_Turn3* source) +{ + bgc_fp32_quaternion_convert_to_fp64(&destination->_versor, &source->_versor); + + const double square_modulus = bgc_fp64_quaternion_get_square_modulus(&destination->_versor); + + if (!bgc_fp64_is_square_unit(square_modulus)) { + _bgc_fp64_turn3_normalize(destination, square_modulus); + } +} + +inline void bgc_fp64_turn3_convert_to_fp32(BGC_FP32_Turn3* destination, const BGC_FP64_Turn3* source) +{ + bgc_fp64_quaternion_convert_to_fp32(&destination->_versor, &source->_versor); + + const float square_modulus = bgc_fp32_quaternion_get_square_modulus(&destination->_versor); + + if (!bgc_fp32_is_square_unit(square_modulus)) { + _bgc_fp32_turn3_normalize(destination, square_modulus); + } +} + +// ================== Shorten =================== // + +inline void bgc_fp32_turn3_shorten(BGC_FP32_Turn3* turn) +{ + if (turn->_versor.s0 < 0.0f) { + bgc_fp32_quaternion_revert(&turn->_versor); + } +} + +inline void bgc_fp64_turn3_shorten(BGC_FP64_Turn3* turn) +{ + if (turn->_versor.s0 < 0.0) { + bgc_fp64_quaternion_revert(&turn->_versor); + } +} + +inline void bgc_fp32_turn3_get_shortened(BGC_FP32_Turn3* shortened, const BGC_FP32_Turn3* turn) +{ + if (turn->_versor.s0 >= 0.0f) { + bgc_fp32_quaternion_copy(&shortened->_versor, &turn->_versor); + } + else { + bgc_fp32_quaternion_get_reverse(&shortened->_versor, &turn->_versor); + } +} + +inline void bgc_fp64_turn3_get_shortened(BGC_FP64_Turn3* shortened, const BGC_FP64_Turn3* turn) +{ + if (turn->_versor.s0 >= 0.0) { + bgc_fp64_quaternion_copy(&shortened->_versor, &turn->_versor); + } + else { + bgc_fp64_quaternion_get_reverse(&shortened->_versor, &turn->_versor); + } +} + +// ================= Alternate ================== // + +inline void bgc_fp32_turn3_alternate(BGC_FP32_Turn3* turn) +{ + bgc_fp32_quaternion_revert(&turn->_versor); +} + +inline void bgc_fp64_turn3_alternate(BGC_FP64_Turn3* turn) +{ + bgc_fp64_quaternion_revert(&turn->_versor); +} + +inline void bgc_fp32_turn3_get_alternative(BGC_FP32_Turn3* alternative, const BGC_FP32_Turn3* turn) +{ + bgc_fp32_quaternion_get_reverse(&alternative->_versor, &turn->_versor); +} + +inline void bgc_fp64_turn3_get_alternative(BGC_FP64_Turn3* alternative, const BGC_FP64_Turn3* turn) +{ + bgc_fp64_quaternion_get_reverse(&alternative->_versor, &turn->_versor); +} + +// =================== Revert =================== // + +inline void bgc_fp32_turn3_revert(BGC_FP32_Turn3* turn) +{ + bgc_fp32_quaternion_conjugate(&turn->_versor); +} + +inline void bgc_fp64_turn3_revert(BGC_FP64_Turn3* turn) +{ + bgc_fp64_quaternion_conjugate(&turn->_versor); +} + +inline void bgc_fp32_turn3_get_reverse(BGC_FP32_Turn3* inverse, const BGC_FP32_Turn3* turn) +{ + bgc_fp32_quaternion_get_conjugate(&inverse->_versor, &turn->_versor); +} + +inline void bgc_fp64_turn3_get_reverse(BGC_FP64_Turn3* inverse, const BGC_FP64_Turn3* turn) +{ + bgc_fp64_quaternion_get_conjugate(&inverse->_versor, &turn->_versor); +} + +// =============== Get Exponation =============== // + +void bgc_fp32_turn3_get_exponation(BGC_FP32_Turn3* power, const BGC_FP32_Turn3* base, const float exponent); + +void bgc_fp64_turn3_get_exponation(BGC_FP64_Turn3* power, const BGC_FP64_Turn3* base, const double exponent); + +// ================ Combination ================= // + +inline void bgc_fp32_turn3_combine(BGC_FP32_Turn3* combination, const BGC_FP32_Turn3* first, const BGC_FP32_Turn3* second) +{ + bgc_fp32_quaternion_get_product(&combination->_versor, &second->_versor, &first->_versor); + + const float square_modulus = bgc_fp32_quaternion_get_square_modulus(&combination->_versor); + + if (!bgc_fp32_is_square_unit(square_modulus)) { + _bgc_fp32_turn3_normalize(combination, square_modulus); + } +} + +inline void bgc_fp64_turn3_combine(BGC_FP64_Turn3* combination, const BGC_FP64_Turn3* first, const BGC_FP64_Turn3* second) +{ + bgc_fp64_quaternion_get_product(&combination->_versor, &second->_versor, &first->_versor); + + const double square_modulus = bgc_fp64_quaternion_get_square_modulus(&combination->_versor); + + if (!bgc_fp64_is_square_unit(square_modulus)) { + _bgc_fp64_turn3_normalize(combination, square_modulus); + } +} + +// ============ Combination of three ============ // + +inline void bgc_fp32_turn3_combine3(BGC_FP32_Turn3* combination, const BGC_FP32_Turn3* first, const BGC_FP32_Turn3* second, const BGC_FP32_Turn3* third) +{ + BGC_FP32_Quaternion product; + + bgc_fp32_quaternion_get_product(&product, &second->_versor, &first->_versor); + + bgc_fp32_quaternion_get_product(&combination->_versor, &third->_versor, &product); + + const float square_modulus = bgc_fp32_quaternion_get_square_modulus(&combination->_versor); + + if (!bgc_fp32_is_square_unit(square_modulus)) { + _bgc_fp32_turn3_normalize(combination, square_modulus); + } +} + +inline void bgc_fp64_turn3_combine3(BGC_FP64_Turn3* combination, const BGC_FP64_Turn3* first, const BGC_FP64_Turn3* second, const BGC_FP64_Turn3* third) +{ + BGC_FP64_Quaternion product; + + bgc_fp64_quaternion_get_product(&product, &second->_versor, &first->_versor); + + bgc_fp64_quaternion_get_product(&combination->_versor, &third->_versor, &product); + + const double square_modulus = bgc_fp64_quaternion_get_square_modulus(&combination->_versor); + + if (!bgc_fp64_is_square_unit(square_modulus)) { + _bgc_fp64_turn3_normalize(combination, square_modulus); + } +} + +// ================= Exclusion ================== // + +inline void bgc_fp32_turn3_exclude(BGC_FP32_Turn3* difference, const BGC_FP32_Turn3* base, const BGC_FP32_Turn3* excludant) +{ + bgc_fp32_quaternion_get_product_by_conjugate(&difference->_versor, &base->_versor, &excludant->_versor); + + const float square_modulus = bgc_fp32_quaternion_get_square_modulus(&difference->_versor); + + if (!bgc_fp32_is_square_unit(square_modulus)) { + _bgc_fp32_turn3_normalize(difference, square_modulus); + } +} + +inline void bgc_fp64_turn3_exclude(BGC_FP64_Turn3* difference, const BGC_FP64_Turn3* base, const BGC_FP64_Turn3* excludant) +{ + bgc_fp64_quaternion_get_product_by_conjugate(&difference->_versor, &base->_versor, &excludant->_versor); + + const double square_modulus = bgc_fp64_quaternion_get_square_modulus(&difference->_versor); + + if (!bgc_fp64_is_square_unit(square_modulus)) { + _bgc_fp64_turn3_normalize(difference, square_modulus); + } +} + +// ============ Sphere Interpolation ============ // + +void bgc_fp32_turn3_spherically_interpolate(BGC_FP32_Turn3* interpolation, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end, const float phase); + +void bgc_fp64_turn3_spherically_interpolate(BGC_FP64_Turn3* interpolation, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end, const double phase); + +// ============ Get Rotation Matrix ============= // + +inline void bgc_fp32_turn3_get_rotation_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Turn3* turn) +{ + bgc_fp32_quaternion_get_rotation_matrix(matrix, &turn->_versor); +} + +inline void bgc_fp64_turn3_get_rotation_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Turn3* turn) +{ + bgc_fp64_quaternion_get_rotation_matrix(matrix, &turn->_versor); +} + +// ============= Get Reverse Matrix ============= // + +inline void bgc_fp32_turn3_get_reverse_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Turn3* turn) +{ + bgc_fp32_quaternion_get_reverse_matrix(matrix, &turn->_versor); +} + +inline void bgc_fp64_turn3_get_reverse_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Turn3* turn) +{ + bgc_fp64_quaternion_get_reverse_matrix(matrix, &turn->_versor); +} + +// ============= Get Both Matrixes ============== // + +inline void bgc_fp32_turn3_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Turn3* turn) +{ + bgc_fp32_quaternion_get_both_matrices(rotation, reverse, &turn->_versor); +} + +inline void bgc_fp64_turn3_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Turn3* turn) +{ + bgc_fp64_quaternion_get_both_matrices(rotation, reverse, &turn->_versor); +} + +// ================ Turn Vector ================= // + +inline void bgc_fp32_turn3_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Turn3* versor, const BGC_FP32_Vector3* vector) +{ + const float tx1 = 2.0f * (versor->_versor.x2 * vector->x3 - versor->_versor.x3 * vector->x2); + const float tx2 = 2.0f * (versor->_versor.x3 * vector->x1 - versor->_versor.x1 * vector->x3); + const float tx3 = 2.0f * (versor->_versor.x1 * vector->x2 - versor->_versor.x2 * vector->x1); + + const float x1 = (vector->x1 + tx1 * versor->_versor.s0) + (versor->_versor.x2 * tx3 - versor->_versor.x3 * tx2); + const float x2 = (vector->x2 + tx2 * versor->_versor.s0) + (versor->_versor.x3 * tx1 - versor->_versor.x1 * tx3); + const float x3 = (vector->x3 + tx3 * versor->_versor.s0) + (versor->_versor.x1 * tx2 - versor->_versor.x2 * tx1); + + turned_vector->x1 = x1; + turned_vector->x2 = x2; + turned_vector->x3 = x3; +} + +inline void bgc_fp64_turn3_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Turn3* turn, const BGC_FP64_Vector3* vector) +{ + const double tx1 = 2.0 * (turn->_versor.x2 * vector->x3 - turn->_versor.x3 * vector->x2); + const double tx2 = 2.0 * (turn->_versor.x3 * vector->x1 - turn->_versor.x1 * vector->x3); + const double tx3 = 2.0 * (turn->_versor.x1 * vector->x2 - turn->_versor.x2 * vector->x1); + + const double x1 = (vector->x1 + tx1 * turn->_versor.s0) + (turn->_versor.x2 * tx3 - turn->_versor.x3 * tx2); + const double x2 = (vector->x2 + tx2 * turn->_versor.s0) + (turn->_versor.x3 * tx1 - turn->_versor.x1 * tx3); + const double x3 = (vector->x3 + tx3 * turn->_versor.s0) + (turn->_versor.x1 * tx2 - turn->_versor.x2 * tx1); + + turned_vector->x1 = x1; + turned_vector->x2 = x2; + turned_vector->x3 = x3; +} + +// ============== Turn Vector Back ============== // + +inline void bgc_fp32_turn3_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* vector) +{ + const float tx1 = 2.0f * (turn->_versor.x2 * vector->x3 - turn->_versor.x3 * vector->x2); + const float tx2 = 2.0f * (turn->_versor.x3 * vector->x1 - turn->_versor.x1 * vector->x3); + const float tx3 = 2.0f * (turn->_versor.x1 * vector->x2 - turn->_versor.x2 * vector->x1); + + const float x1 = (vector->x1 - tx1 * turn->_versor.s0) + (turn->_versor.x2 * tx3 - turn->_versor.x3 * tx2); + const float x2 = (vector->x2 - tx2 * turn->_versor.s0) + (turn->_versor.x3 * tx1 - turn->_versor.x1 * tx3); + const float x3 = (vector->x3 - tx3 * turn->_versor.s0) + (turn->_versor.x1 * tx2 - turn->_versor.x2 * tx1); + + turned_vector->x1 = x1; + turned_vector->x2 = x2; + turned_vector->x3 = x3; +} + +inline void bgc_fp64_turn3_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Turn3* turn, const BGC_FP64_Vector3* vector) +{ + const double tx1 = 2.0 * (turn->_versor.x2 * vector->x3 - turn->_versor.x3 * vector->x2); + const double tx2 = 2.0 * (turn->_versor.x3 * vector->x1 - turn->_versor.x1 * vector->x3); + const double tx3 = 2.0 * (turn->_versor.x1 * vector->x2 - turn->_versor.x2 * vector->x1); + + const double x1 = (vector->x1 - tx1 * turn->_versor.s0) + (turn->_versor.x2 * tx3 - turn->_versor.x3 * tx2); + const double x2 = (vector->x2 - tx2 * turn->_versor.s0) + (turn->_versor.x3 * tx1 - turn->_versor.x1 * tx3); + const double x3 = (vector->x3 - tx3 * turn->_versor.s0) + (turn->_versor.x1 * tx2 - turn->_versor.x2 * tx1); + + turned_vector->x1 = x1; + turned_vector->x2 = x2; + turned_vector->x3 = x3; +} + +// ================== Are Close ================= // + +inline int bgc_fp32_turn3_are_close(const BGC_FP32_Turn3* turn1, const BGC_FP32_Turn3* turn2) +{ + BGC_FP32_Quaternion difference; + bgc_fp32_quaternion_subtract(&difference, &turn1->_versor, &turn2->_versor); + return bgc_fp32_quaternion_get_square_modulus(&difference) <= BGC_FP32_SQUARE_EPSILON; +} + +inline int bgc_fp64_turn3_are_close(const BGC_FP64_Turn3* turn1, const BGC_FP64_Turn3* turn2) +{ + BGC_FP64_Quaternion difference; + bgc_fp64_quaternion_subtract(&difference, &turn1->_versor, &turn2->_versor); + return bgc_fp64_quaternion_get_square_modulus(&difference) <= BGC_FP64_SQUARE_EPSILON; +} + +#endif 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.c b/basic-geometry/utilities.c index a656162..61caa21 100644 --- a/basic-geometry/utilities.c +++ b/basic-geometry/utilities.c @@ -2,14 +2,14 @@ extern inline int bgc_is_correct_axis(const int axis); -extern inline int bgc_is_zero_fp32(const float square_value); -extern inline int bgc_is_zero_fp64(const double square_value); +extern inline int bgc_fp32_is_zero(const float square_value); +extern inline int bgc_fp64_is_zero(const double square_value); -extern inline int bgc_is_unit_fp32(const float square_value); -extern inline int bgc_is_unit_fp64(const double square_value); +extern inline int bgc_fp32_is_unit(const float square_value); +extern inline int bgc_fp64_is_unit(const double square_value); -extern inline int bgc_is_sqare_unit_fp32(const float square_value); -extern inline int bgc_is_sqare_unit_fp64(const double square_value); +extern inline int bgc_fp32_is_square_unit(const float square_value); +extern inline int bgc_fp64_is_square_unit(const double square_value); -extern inline int bgc_are_close_fp32(const float value1, const float value2); -extern inline int bgc_are_close_fp64(const double value1, const double value2); +extern inline int bgc_fp32_are_close(const float value1, const float value2); +extern inline int bgc_fp64_are_close(const double value1, const double value2); diff --git a/basic-geometry/utilities.h b/basic-geometry/utilities.h index 25ae143..c315fa6 100644 --- a/basic-geometry/utilities.h +++ b/basic-geometry/utilities.h @@ -1,33 +1,31 @@ -#ifndef _BGC_UTILITIES_H_ -#define _BGC_UTILITIES_H_ +#ifndef _BGC_UTILITIES_H_INCLUDED_ +#define _BGC_UTILITIES_H_INCLUDED_ -#define BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 1.0f +#define BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT 1.0f -#define BGC_EPSYLON_FP32 4.76837E-7f -#define BGC_SQUARE_EPSYLON_FP32 (BGC_EPSYLON_FP32 * BGC_EPSYLON_FP32) +#define BGC_FP32_EPSILON 4.76837E-7f +#define BGC_FP32_SQUARE_EPSILON (BGC_FP32_EPSILON * BGC_FP32_EPSILON) -#define BGC_ONE_THIRD_FP32 0.3333333333f -#define BGC_ONE_SIXTH_FP32 0.1666666667f -#define BGC_ONE_SEVENTH_FP32 0.142857142857f -#define BGC_ONE_NINETH_FP32 0.1111111111f +#define BGC_FP32_ONE_THIRD 0.3333333333f +#define BGC_FP32_ONE_SIXTH 0.1666666667f +#define BGC_FP32_ONE_SEVENTH 0.142857142857f +#define BGC_FP32_ONE_NINETH 0.1111111111f -#define BGC_ARCCOSINE_PRECISION_LIMIT_FP32 0.70711f +#define BGC_FP32_GOLDEN_RATIO_HIGH 1.618034f +#define BGC_FP32_GOLDEN_RATIO_LOW 0.618034f -#define BGC_GOLDEN_RATIO_HIGH_FP32 1.618034f -#define BGC_GOLDEN_RATIO_LOW_FP32 0.618034f +#define BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT 1.0 -#define BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 1.0 +#define BGC_FP64_EPSILON 4.996003611E-14 +#define BGC_FP64_SQUARE_EPSILON (BGC_FP64_EPSILON * BGC_FP64_EPSILON) -#define BGC_EPSYLON_FP64 4.996003611E-14 -#define BGC_SQUARE_EPSYLON_FP64 (BGC_EPSYLON_FP64 * BGC_EPSYLON_FP64) +#define BGC_FP64_ONE_THIRD 0.3333333333333333333 +#define BGC_FP64_ONE_SIXTH 0.1666666666666666667 +#define BGC_FP64_ONE_SEVENTH 0.142857142857142857 +#define BGC_FP64_ONE_NINETH 0.1111111111111111111 -#define BGC_ONE_THIRD_FP64 0.3333333333333333333 -#define BGC_ONE_SIXTH_FP64 0.1666666666666666667 -#define BGC_ONE_SEVENTH_FP64 0.142857142857142857 -#define BGC_ONE_NINETH_FP64 0.1111111111111111111 - -#define BGC_GOLDEN_RATIO_HIGH_FP64 1.61803398874989485 -#define BGC_GOLDEN_RATIO_LOW_FP64 0.61803398874989485 +#define BGC_FP64_GOLDEN_RATIO_HIGH 1.61803398874989485 +#define BGC_FP64_GOLDEN_RATIO_LOW 0.61803398874989485 #define BGC_SUCCESS 0 #define BGC_FAILED -1 @@ -53,66 +51,66 @@ inline int bgc_is_correct_axis(const int axis) || axis == BGC_AXIS_X3 || axis == BGC_AXIS_REVERSE_X3; } -inline int bgc_is_zero_fp32(const float value) +inline int bgc_fp32_is_zero(const float value) { - return (-BGC_EPSYLON_FP32 <= value) && (value <= BGC_EPSYLON_FP32); + return (-BGC_FP32_EPSILON <= value) && (value <= BGC_FP32_EPSILON); } -inline int bgc_is_zero_fp64(const double value) +inline int bgc_fp64_is_zero(const double value) { - return (-BGC_EPSYLON_FP64 <= value) && (value <= BGC_EPSYLON_FP64); + return (-BGC_FP64_EPSILON <= value) && (value <= BGC_FP64_EPSILON); } -inline int bgc_is_unit_fp32(const float value) +inline int bgc_fp32_is_unit(const float value) { - return (1.0f - BGC_EPSYLON_FP32 <= value) && (value <= 1.0f + BGC_EPSYLON_FP32); + return (1.0f - BGC_FP32_EPSILON <= value) && (value <= 1.0f + BGC_FP32_EPSILON); } -inline int bgc_is_unit_fp64(const double value) +inline int bgc_fp64_is_unit(const double value) { - return (1.0 - BGC_EPSYLON_FP64 <= value) && (value <= 1.0 + BGC_EPSYLON_FP64); + return (1.0 - BGC_FP64_EPSILON <= value) && (value <= 1.0 + BGC_FP64_EPSILON); } -inline int bgc_is_sqare_unit_fp32(const float square_value) +inline int bgc_fp32_is_square_unit(const float square_value) { - return (1.0f - 2.0f * BGC_EPSYLON_FP32 <= square_value) && (square_value <= 1.0f + 2.0f * BGC_EPSYLON_FP32); + return (1.0f - 2.0f * BGC_FP32_EPSILON <= square_value) && (square_value <= 1.0f + 2.0f * BGC_FP32_EPSILON); } -inline int bgc_is_sqare_unit_fp64(const double square_value) +inline int bgc_fp64_is_square_unit(const double square_value) { - return (1.0 - 2.0 * BGC_EPSYLON_FP64 <= square_value) && (square_value <= 1.0 + 2.0 * BGC_EPSYLON_FP64); + return (1.0 - 2.0 * BGC_FP64_EPSILON <= square_value) && (square_value <= 1.0 + 2.0 * BGC_FP64_EPSILON); } // ================== Are Close ================= // -inline int bgc_are_close_fp32(const float value1, const float value2) +inline int bgc_fp32_are_close(const float value1, const float value2) { const float difference = value1 - value2; const float square_value1 = value1 * value1; const float square_value2 = value2 * value2; const float square_difference = difference * difference; - if (square_value1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_value2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) { - return square_difference <= BGC_SQUARE_EPSYLON_FP32; + if (square_value1 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT || square_value2 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT) { + return square_difference <= BGC_FP32_SQUARE_EPSILON; } - return square_difference <= BGC_SQUARE_EPSYLON_FP32 * square_value1 && square_difference <= BGC_SQUARE_EPSYLON_FP32 * square_value2; + return square_difference <= BGC_FP32_SQUARE_EPSILON * square_value1 && square_difference <= BGC_FP32_SQUARE_EPSILON * square_value2; } -inline int bgc_are_close_fp64(const double value1, const double value2) +inline int bgc_fp64_are_close(const double value1, const double value2) { const double difference = value1 - value2; const double square_value1 = value1 * value1; const double square_value2 = value2 * value2; const double square_difference = difference * difference; - if (square_value1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_value2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) { - return square_difference <= BGC_SQUARE_EPSYLON_FP64; + if (square_value1 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT || square_value2 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT) { + return square_difference <= BGC_FP64_SQUARE_EPSILON; } - return square_difference <= BGC_SQUARE_EPSYLON_FP64 * square_value1 && square_difference <= BGC_SQUARE_EPSYLON_FP64 * square_value2; + return square_difference <= BGC_FP64_SQUARE_EPSILON * square_value1 && square_difference <= BGC_FP64_SQUARE_EPSILON * square_value2; } #endif diff --git a/basic-geometry/vector2.c b/basic-geometry/vector2.c index 64f2521..a80308d 100644 --- a/basic-geometry/vector2.c +++ b/basic-geometry/vector2.c @@ -1,143 +1,143 @@ #include "vector2.h" -extern inline void bgc_vector2_reset_fp32(BgcVector2FP32* vector); -extern inline void bgc_vector2_reset_fp64(BgcVector2FP64* vector); +extern inline void bgc_fp32_vector2_reset(BGC_FP32_Vector2* vector); +extern inline void bgc_fp64_vector2_reset(BGC_FP64_Vector2* vector); -extern inline void bgc_vector2_set_values_fp32(const float x1, const float x2, BgcVector2FP32* destination); -extern inline void bgc_vector2_set_values_fp64(const double x1, const double x2, BgcVector2FP64* destination); +extern inline void bgc_fp32_vector2_make(BGC_FP32_Vector2* destination, const float x1, const float x2); +extern inline void bgc_fp64_vector2_make(BGC_FP64_Vector2* destination, const double x1, const double x2); -extern inline float bgc_vector2_get_square_modulus_fp32(const BgcVector2FP32* vector); -extern inline double bgc_vector2_get_square_modulus_fp64(const BgcVector2FP64* vector); +extern inline float bgc_fp32_vector2_get_square_modulus(const BGC_FP32_Vector2* vector); +extern inline double bgc_fp64_vector2_get_square_modulus(const BGC_FP64_Vector2* vector); -extern inline float bgc_vector2_get_modulus_fp32(const BgcVector2FP32* vector); -extern inline double bgc_vector2_get_modulus_fp64(const BgcVector2FP64* vector); +extern inline float bgc_fp32_vector2_get_modulus(const BGC_FP32_Vector2* vector); +extern inline double bgc_fp64_vector2_get_modulus(const BGC_FP64_Vector2* vector); -extern inline int bgc_vector2_is_zero_fp32(const BgcVector2FP32* vector); -extern inline int bgc_vector2_is_zero_fp64(const BgcVector2FP64* vector); +extern inline int bgc_fp32_vector2_is_zero(const BGC_FP32_Vector2* vector); +extern inline int bgc_fp64_vector2_is_zero(const BGC_FP64_Vector2* vector); -extern inline int bgc_vector2_is_unit_fp32(const BgcVector2FP32* vector); -extern inline int bgc_vector2_is_unit_fp64(const BgcVector2FP64* vector); +extern inline int bgc_fp32_vector2_is_unit(const BGC_FP32_Vector2* vector); +extern inline int bgc_fp64_vector2_is_unit(const BGC_FP64_Vector2* vector); -extern inline void bgc_vector2_copy_fp32(const BgcVector2FP32* source, BgcVector2FP32* destination); -extern inline void bgc_vector2_copy_fp64(const BgcVector2FP64* source, BgcVector2FP64* destination); +extern inline void bgc_fp32_vector2_copy(BGC_FP32_Vector2* destination, const BGC_FP32_Vector2* source); +extern inline void bgc_fp64_vector2_copy(BGC_FP64_Vector2* destination, const BGC_FP64_Vector2* source); -extern inline void bgc_vector2_swap_fp32(BgcVector2FP32* vector1, BgcVector2FP32* vector2); -extern inline void bgc_vector2_swap_fp64(BgcVector2FP64* vector1, BgcVector2FP64* vector2); +extern inline void bgc_fp32_vector2_swap(BGC_FP32_Vector2* vector1, BGC_FP32_Vector2* vector2); +extern inline void bgc_fp64_vector2_swap(BGC_FP64_Vector2* vector1, BGC_FP64_Vector2* vector2); -extern inline void bgc_vector2_convert_fp64_to_fp32(const BgcVector2FP64* source, BgcVector2FP32* destination); -extern inline void bgc_vector2_convert_fp32_to_fp64(const BgcVector2FP32* source, BgcVector2FP64* destination); +extern inline void bgc_fp32_vector2_convert_to_fp64(BGC_FP64_Vector2* destination, const BGC_FP32_Vector2* source); +extern inline void bgc_fp64_vector2_convert_to_fp32(BGC_FP32_Vector2* destination, const BGC_FP64_Vector2* source); -extern inline void bgc_vector2_add_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, BgcVector2FP32* sum); -extern inline void bgc_vector2_add_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, BgcVector2FP64* sum); +extern inline void bgc_fp32_vector2_add(BGC_FP32_Vector2* sum, const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2); +extern inline void bgc_fp64_vector2_add(BGC_FP64_Vector2* sum, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2); -extern inline void bgc_vector2_add_scaled_fp32(const BgcVector2FP32* basic_vector, const BgcVector2FP32* scalable_vector, const float scale, BgcVector2FP32* sum); -extern inline void bgc_vector2_add_scaled_fp64(const BgcVector2FP64* basic_vector, const BgcVector2FP64* scalable_vector, const double scale, BgcVector2FP64* sum); +extern inline void bgc_fp32_vector2_add_scaled(BGC_FP32_Vector2* sum, const BGC_FP32_Vector2* basic_vector, const BGC_FP32_Vector2* scalable_vector, const float scale); +extern inline void bgc_fp64_vector2_add_scaled(BGC_FP64_Vector2* sum, const BGC_FP64_Vector2* basic_vector, const BGC_FP64_Vector2* scalable_vector, const double scale); -extern inline void bgc_vector2_subtract_fp32(const BgcVector2FP32* minuend, const BgcVector2FP32* subtrahend, BgcVector2FP32* difference); -extern inline void bgc_vector2_subtract_fp64(const BgcVector2FP64* minuend, const BgcVector2FP64* subtrahend, BgcVector2FP64* difference); +extern inline void bgc_fp32_vector2_subtract(BGC_FP32_Vector2* difference, const BGC_FP32_Vector2* minuend, const BGC_FP32_Vector2* subtrahend); +extern inline void bgc_fp64_vector2_subtract(BGC_FP64_Vector2* difference, const BGC_FP64_Vector2* minuend, const BGC_FP64_Vector2* subtrahend); -extern inline void bgc_vector2_multiply_fp32(const BgcVector2FP32* multiplicand, const float multiplier, BgcVector2FP32* product); -extern inline void bgc_vector2_multiply_fp64(const BgcVector2FP64* multiplicand, const double multiplier, BgcVector2FP64* product); +extern inline void bgc_fp32_vector2_multiply(BGC_FP32_Vector2* product, const BGC_FP32_Vector2* multiplicand, const float multiplier); +extern inline void bgc_fp64_vector2_multiply(BGC_FP64_Vector2* product, const BGC_FP64_Vector2* multiplicand, const double multiplier); -extern inline void bgc_vector2_divide_fp32(const BgcVector2FP32* dividend, const float divisor, BgcVector2FP32* quotient); -extern inline void bgc_vector2_divide_fp64(const BgcVector2FP64* dividend, const double divisor, BgcVector2FP64* quotient); +extern inline void bgc_fp32_vector2_divide(BGC_FP32_Vector2* quotient, const BGC_FP32_Vector2* dividend, const float divisor); +extern inline void bgc_fp64_vector2_divide(BGC_FP64_Vector2* quotient, const BGC_FP64_Vector2* dividend, const double divisor); -extern inline void bgc_vector2_get_mean_of_two_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, BgcVector2FP32* mean); -extern inline void bgc_vector2_get_mean_of_two_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, BgcVector2FP64* mean); +extern inline void bgc_fp32_vector2_get_mean2(BGC_FP32_Vector2* mean, const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2); +extern inline void bgc_fp64_vector2_get_mean2(BGC_FP64_Vector2* mean, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2); -extern inline void bgc_vector2_get_mean_of_three_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const BgcVector2FP32* vector3, BgcVector2FP32* mean); -extern inline void bgc_vector2_get_mean_of_three_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const BgcVector2FP64* vector3, BgcVector2FP64* mean); +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_vector2_interpolate_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const float phase, BgcVector2FP32* interpolation); -extern inline void bgc_vector2_interpolate_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const double phase, BgcVector2FP64* interpolation); +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_vector2_make_opposite_fp32(BgcVector2FP32* vector); -extern inline void bgc_vector2_make_opposite_fp64(BgcVector2FP64* vector); +extern inline void bgc_fp32_vector2_revert(BGC_FP32_Vector2* vector); +extern inline void bgc_fp64_vector2_revert(BGC_FP64_Vector2* vector); -extern inline void bgc_vector2_get_opposite_fp32(const BgcVector2FP32* vector, BgcVector2FP32* opposite); -extern inline void bgc_vector2_get_opposite_fp64(const BgcVector2FP64* vector, BgcVector2FP64* opposite); +extern inline void bgc_fp32_vector2_get_reverse(BGC_FP32_Vector2* reverse, const BGC_FP32_Vector2* vector); +extern inline void bgc_fp64_vector2_get_reverse(BGC_FP64_Vector2* reverse, const BGC_FP64_Vector2* vector); -extern inline int bgc_vector2_normalize_fp32(BgcVector2FP32* vector); -extern inline int bgc_vector2_normalize_fp64(BgcVector2FP64* vector); +extern inline int bgc_fp32_vector2_normalize(BGC_FP32_Vector2* vector); +extern inline int bgc_fp64_vector2_normalize(BGC_FP64_Vector2* vector); -extern inline int bgc_vector2_get_normalized_fp32(const BgcVector2FP32* vector, BgcVector2FP32* normalized); -extern inline int bgc_vector2_get_normalized_fp64(const BgcVector2FP64* vector, BgcVector2FP64* normalized); +extern inline int bgc_fp32_vector2_get_normalized(BGC_FP32_Vector2* normalized, const BGC_FP32_Vector2* vector); +extern inline int bgc_fp64_vector2_get_normalized(BGC_FP64_Vector2* normalized, const BGC_FP64_Vector2* vector); -extern inline float bgc_vector2_get_scalar_product_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2); -extern inline double bgc_vector2_get_scalar_product_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2); +extern inline float bgc_fp32_vector2_get_dot_product(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2); +extern inline double bgc_fp64_vector2_get_dot_product(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2); -extern inline float bgc_vector2_get_cross_product_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2); -extern inline double bgc_vector2_get_cross_product_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2); +extern inline float bgc_fp32_vector2_get_cross_product(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2); +extern inline double bgc_fp64_vector2_get_cross_product(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2); -extern inline float bgc_vector2_get_square_distance_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2); -extern inline double bgc_vector2_get_square_distance_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2); +extern inline float bgc_fp32_vector2_get_square_distance(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2); +extern inline double bgc_fp64_vector2_get_square_distance(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2); -extern inline float bgc_vector2_get_distance_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2); -extern inline double bgc_vector2_get_distance_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2); +extern inline float bgc_fp32_vector2_get_distance(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2); +extern inline double bgc_fp64_vector2_get_distance(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2); -extern inline int bgc_vector2_are_close_enough_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const float distance); -extern inline int bgc_vector2_are_close_enough_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const double distance); +extern inline int bgc_fp32_vector2_are_close_enough(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2, const float distance); +extern inline int bgc_fp64_vector2_are_close_enough(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const double distance); -extern inline int bgc_vector2_are_close_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2); -extern inline int bgc_vector2_are_close_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2); +extern inline int bgc_fp32_vector2_are_close(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2); +extern inline int bgc_fp64_vector2_are_close(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2); -extern inline int bgc_vector2_are_parallel_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2); -extern inline int bgc_vector2_are_parallel_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2); +extern inline int bgc_fp32_vector2_are_parallel(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2); +extern inline int bgc_fp64_vector2_are_parallel(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2); -extern inline int bgc_vector2_are_orthogonal_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2); -extern inline int bgc_vector2_are_orthogonal_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2); +extern inline int bgc_fp32_vector2_are_orthogonal(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2); +extern inline int bgc_fp64_vector2_are_orthogonal(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2); -extern inline int bgc_vector2_get_attitude_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2); -extern inline int bgc_vector2_get_attitude_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2); +extern inline int bgc_fp32_vector2_get_attitude(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2); +extern inline int bgc_fp64_vector2_get_attitude(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2); // =================== Angle ==================== // -float bgc_vector2_get_angle_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const BgcAngleUnitEnum unit) +float bgc_fp32_vector2_get_angle(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2, const int angle_unit) { - const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1); + const float square_modulus1 = bgc_fp32_vector2_get_square_modulus(vector1); // square_modulus1 != square_modulus1 is check for NaN value at square_modulus1 - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32 || square_modulus1 != square_modulus1) { + if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON || square_modulus1 != square_modulus1) { return 0.0f; } - const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2); + const float square_modulus2 = bgc_fp32_vector2_get_square_modulus(vector2); // square_modulus2 != square_modulus2 is check for NaN value at square_modulus2 - if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP32 || square_modulus2 != square_modulus2) { + if (square_modulus2 <= BGC_FP32_SQUARE_EPSILON || square_modulus2 != square_modulus2) { return 0.0f; } const float multiplier = sqrtf(1.0f / (square_modulus1 * square_modulus2)); - const float x = bgc_vector2_get_scalar_product_fp32(vector1, vector2); + const float x = bgc_fp32_vector2_get_dot_product(vector1, vector2); - const float y = fabsf(bgc_vector2_get_cross_product_fp32(vector1, vector2)); + const float y = fabsf(bgc_fp32_vector2_get_cross_product(vector1, vector2)); - return bgc_radians_to_units_fp32(atan2f(y * multiplier, x * multiplier), unit); + return bgc_fp32_radians_to_units(atan2f(y * multiplier, x * multiplier), angle_unit); } -double bgc_vector2_get_angle_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const BgcAngleUnitEnum unit) +double bgc_fp64_vector2_get_angle(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const int angle_unit) { - const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1); + const double square_modulus1 = bgc_fp64_vector2_get_square_modulus(vector1); // square_modulus1 != square_modulus1 is check for NaN value at square_modulus1 - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64 || square_modulus1 != square_modulus1) { + if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON || square_modulus1 != square_modulus1) { return 0.0; } - const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2); + const double square_modulus2 = bgc_fp64_vector2_get_square_modulus(vector2); // square_modulus2 != square_modulus2 is check for NaN value at square_modulus2 - if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP64 || square_modulus2 != square_modulus2) { + if (square_modulus2 <= BGC_FP64_SQUARE_EPSILON || square_modulus2 != square_modulus2) { return 0.0; } const double multiplier = sqrt(1.0 / (square_modulus1 * square_modulus2)); - const double x = bgc_vector2_get_scalar_product_fp64(vector1, vector2); + const double x = bgc_fp64_vector2_get_dot_product(vector1, vector2); - const double y = bgc_vector2_get_cross_product_fp64(vector1, vector2); + const double y = bgc_fp64_vector2_get_cross_product(vector1, vector2); - return bgc_radians_to_units_fp64(atan2(y * multiplier, x * multiplier), unit); + return bgc_fp64_radians_to_units(atan2(y * multiplier, x * multiplier), angle_unit); } diff --git a/basic-geometry/vector2.h b/basic-geometry/vector2.h index d5e5bbb..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" @@ -9,22 +9,22 @@ typedef struct { float x1, x2; -} BgcVector2FP32; +} BGC_FP32_Vector2; typedef struct { double x1, x2; -} BgcVector2FP64; +} BGC_FP64_Vector2; // =================== Reset ==================== // -inline void bgc_vector2_reset_fp32(BgcVector2FP32* vector) +inline void bgc_fp32_vector2_reset(BGC_FP32_Vector2* vector) { vector->x1 = 0.0f; vector->x2 = 0.0f; } -inline void bgc_vector2_reset_fp64(BgcVector2FP64* vector) +inline void bgc_fp64_vector2_reset(BGC_FP64_Vector2* vector) { vector->x1 = 0.0; vector->x2 = 0.0; @@ -32,13 +32,13 @@ inline void bgc_vector2_reset_fp64(BgcVector2FP64* vector) // ==================== Set ===================== // -inline void bgc_vector2_set_values_fp32(const float x1, const float x2, BgcVector2FP32* destination) +inline void bgc_fp32_vector2_make(BGC_FP32_Vector2* destination, const float x1, const float x2) { destination->x1 = x1; destination->x2 = x2; } -inline void bgc_vector2_set_values_fp64(const double x1, const double x2, BgcVector2FP64* destination) +inline void bgc_fp64_vector2_make(BGC_FP64_Vector2* destination, const double x1, const double x2) { destination->x1 = x1; destination->x2 = x2; @@ -46,57 +46,57 @@ inline void bgc_vector2_set_values_fp64(const double x1, const double x2, BgcVec // ================== Modulus =================== // -inline float bgc_vector2_get_square_modulus_fp32(const BgcVector2FP32* vector) +inline float bgc_fp32_vector2_get_square_modulus(const BGC_FP32_Vector2* vector) { return vector->x1 * vector->x1 + vector->x2 * vector->x2; } -inline double bgc_vector2_get_square_modulus_fp64(const BgcVector2FP64* vector) +inline double bgc_fp64_vector2_get_square_modulus(const BGC_FP64_Vector2* vector) { return vector->x1 * vector->x1 + vector->x2 * vector->x2; } -inline float bgc_vector2_get_modulus_fp32(const BgcVector2FP32* vector) +inline float bgc_fp32_vector2_get_modulus(const BGC_FP32_Vector2* vector) { - return sqrtf(bgc_vector2_get_square_modulus_fp32(vector)); + return sqrtf(bgc_fp32_vector2_get_square_modulus(vector)); } -inline double bgc_vector2_get_modulus_fp64(const BgcVector2FP64* vector) +inline double bgc_fp64_vector2_get_modulus(const BGC_FP64_Vector2* vector) { - return sqrt(bgc_vector2_get_square_modulus_fp64(vector)); + return sqrt(bgc_fp64_vector2_get_square_modulus(vector)); } // ================= Comparison ================= // -inline int bgc_vector2_is_zero_fp32(const BgcVector2FP32* vector) +inline int bgc_fp32_vector2_is_zero(const BGC_FP32_Vector2* vector) { - return bgc_vector2_get_square_modulus_fp32(vector) <= BGC_SQUARE_EPSYLON_FP32; + return bgc_fp32_vector2_get_square_modulus(vector) <= BGC_FP32_SQUARE_EPSILON; } -inline int bgc_vector2_is_zero_fp64(const BgcVector2FP64* vector) +inline int bgc_fp64_vector2_is_zero(const BGC_FP64_Vector2* vector) { - return bgc_vector2_get_square_modulus_fp64(vector) <= BGC_SQUARE_EPSYLON_FP64; + return bgc_fp64_vector2_get_square_modulus(vector) <= BGC_FP64_SQUARE_EPSILON; } -inline int bgc_vector2_is_unit_fp32(const BgcVector2FP32* vector) +inline int bgc_fp32_vector2_is_unit(const BGC_FP32_Vector2* vector) { - return bgc_is_sqare_unit_fp32(bgc_vector2_get_square_modulus_fp32(vector)); + return bgc_fp32_is_square_unit(bgc_fp32_vector2_get_square_modulus(vector)); } -inline int bgc_vector2_is_unit_fp64(const BgcVector2FP64* vector) +inline int bgc_fp64_vector2_is_unit(const BGC_FP64_Vector2* vector) { - return bgc_is_sqare_unit_fp64(bgc_vector2_get_square_modulus_fp64(vector)); + return bgc_fp64_is_square_unit(bgc_fp64_vector2_get_square_modulus(vector)); } // ==================== Copy ==================== // -inline void bgc_vector2_copy_fp32(const BgcVector2FP32* source, BgcVector2FP32* destination) +inline void bgc_fp32_vector2_copy(BGC_FP32_Vector2* destination, const BGC_FP32_Vector2* source) { destination->x1 = source->x1; destination->x2 = source->x2; } -inline void bgc_vector2_copy_fp64(const BgcVector2FP64* source, BgcVector2FP64* destination) +inline void bgc_fp64_vector2_copy(BGC_FP64_Vector2* destination, const BGC_FP64_Vector2* source) { destination->x1 = source->x1; destination->x2 = source->x2; @@ -104,7 +104,7 @@ inline void bgc_vector2_copy_fp64(const BgcVector2FP64* source, BgcVector2FP64* // ==================== Swap ==================== // -inline void bgc_vector2_swap_fp32(BgcVector2FP32* vector1, BgcVector2FP32* vector2) +inline void bgc_fp32_vector2_swap(BGC_FP32_Vector2* vector1, BGC_FP32_Vector2* vector2) { const float x1 = vector2->x1; const float x2 = vector2->x2; @@ -116,7 +116,7 @@ inline void bgc_vector2_swap_fp32(BgcVector2FP32* vector1, BgcVector2FP32* vecto vector1->x2 = x2; } -inline void bgc_vector2_swap_fp64(BgcVector2FP64* vector1, BgcVector2FP64* vector2) +inline void bgc_fp64_vector2_swap(BGC_FP64_Vector2* vector1, BGC_FP64_Vector2* vector2) { const double x1 = vector2->x1; const double x2 = vector2->x2; @@ -130,27 +130,27 @@ inline void bgc_vector2_swap_fp64(BgcVector2FP64* vector1, BgcVector2FP64* vecto // ================== Convert =================== // -inline void bgc_vector2_convert_fp64_to_fp32(const BgcVector2FP64* source, BgcVector2FP32* destination) -{ - destination->x1 = (float)source->x1; - destination->x2 = (float)source->x2; -} - -inline void bgc_vector2_convert_fp32_to_fp64(const BgcVector2FP32* source, BgcVector2FP64* destination) +inline void bgc_fp32_vector2_convert_to_fp64(BGC_FP64_Vector2* destination, const BGC_FP32_Vector2* source) { destination->x1 = source->x1; destination->x2 = source->x2; } +inline void bgc_fp64_vector2_convert_to_fp32(BGC_FP32_Vector2* destination, const BGC_FP64_Vector2* source) +{ + destination->x1 = (float)source->x1; + destination->x2 = (float)source->x2; +} + // ==================== Add ===================== // -inline void bgc_vector2_add_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, BgcVector2FP32* sum) +inline void bgc_fp32_vector2_add(BGC_FP32_Vector2* sum, const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2) { sum->x1 = vector1->x1 + vector2->x1; sum->x2 = vector1->x2 + vector2->x2; } -inline void bgc_vector2_add_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, BgcVector2FP64* sum) +inline void bgc_fp64_vector2_add(BGC_FP64_Vector2* sum, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2) { sum->x1 = vector1->x1 + vector2->x1; sum->x2 = vector1->x2 + vector2->x2; @@ -158,13 +158,13 @@ inline void bgc_vector2_add_fp64(const BgcVector2FP64* vector1, const BgcVector2 // ================= Add scaled ================= // -inline void bgc_vector2_add_scaled_fp32(const BgcVector2FP32* basic_vector, const BgcVector2FP32* scalable_vector, const float scale, BgcVector2FP32* sum) +inline void bgc_fp32_vector2_add_scaled(BGC_FP32_Vector2* sum, const BGC_FP32_Vector2* basic_vector, const BGC_FP32_Vector2* scalable_vector, const float scale) { sum->x1 = basic_vector->x1 + scalable_vector->x1 * scale; sum->x2 = basic_vector->x2 + scalable_vector->x2 * scale; } -inline void bgc_vector2_add_scaled_fp64(const BgcVector2FP64* basic_vector, const BgcVector2FP64* scalable_vector, const double scale, BgcVector2FP64* sum) +inline void bgc_fp64_vector2_add_scaled(BGC_FP64_Vector2* sum, const BGC_FP64_Vector2* basic_vector, const BGC_FP64_Vector2* scalable_vector, const double scale) { sum->x1 = basic_vector->x1 + scalable_vector->x1 * scale; sum->x2 = basic_vector->x2 + scalable_vector->x2 * scale; @@ -172,13 +172,13 @@ inline void bgc_vector2_add_scaled_fp64(const BgcVector2FP64* basic_vector, cons // ================== Subtract ================== // -inline void bgc_vector2_subtract_fp32(const BgcVector2FP32* minuend, const BgcVector2FP32* subtrahend, BgcVector2FP32* difference) +inline void bgc_fp32_vector2_subtract(BGC_FP32_Vector2* difference, const BGC_FP32_Vector2* minuend, const BGC_FP32_Vector2* subtrahend) { difference->x1 = minuend->x1 - subtrahend->x1; difference->x2 = minuend->x2 - subtrahend->x2; } -inline void bgc_vector2_subtract_fp64(const BgcVector2FP64* minuend, const BgcVector2FP64* subtrahend, BgcVector2FP64* difference) +inline void bgc_fp64_vector2_subtract(BGC_FP64_Vector2* difference, const BGC_FP64_Vector2* minuend, const BGC_FP64_Vector2* subtrahend) { difference->x1 = minuend->x1 - subtrahend->x1; difference->x2 = minuend->x2 - subtrahend->x2; @@ -186,13 +186,13 @@ inline void bgc_vector2_subtract_fp64(const BgcVector2FP64* minuend, const BgcVe // ================== Multiply ================== // -inline void bgc_vector2_multiply_fp32(const BgcVector2FP32* multiplicand, const float multiplier, BgcVector2FP32* product) +inline void bgc_fp32_vector2_multiply(BGC_FP32_Vector2* product, const BGC_FP32_Vector2* multiplicand, const float multiplier) { product->x1 = multiplicand->x1 * multiplier; product->x2 = multiplicand->x2 * multiplier; } -inline void bgc_vector2_multiply_fp64(const BgcVector2FP64* multiplicand, const double multiplier, BgcVector2FP64* product) +inline void bgc_fp64_vector2_multiply(BGC_FP64_Vector2* product, const BGC_FP64_Vector2* multiplicand, const double multiplier) { product->x1 = multiplicand->x1 * multiplier; product->x2 = multiplicand->x2 * multiplier; @@ -200,25 +200,25 @@ inline void bgc_vector2_multiply_fp64(const BgcVector2FP64* multiplicand, const // =================== Divide =================== // -inline void bgc_vector2_divide_fp32(const BgcVector2FP32* dividend, const float divisor, BgcVector2FP32* quotient) +inline void bgc_fp32_vector2_divide(BGC_FP32_Vector2* quotient, const BGC_FP32_Vector2* dividend, const float divisor) { - bgc_vector2_multiply_fp32(dividend, 1.0f / divisor, quotient); + bgc_fp32_vector2_multiply(quotient, dividend, 1.0f / divisor); } -inline void bgc_vector2_divide_fp64(const BgcVector2FP64* dividend, const double divisor, BgcVector2FP64* quotient) +inline void bgc_fp64_vector2_divide(BGC_FP64_Vector2* quotient, const BGC_FP64_Vector2* dividend, const double divisor) { - bgc_vector2_multiply_fp64(dividend, 1.0 / divisor, quotient); + bgc_fp64_vector2_multiply(quotient, dividend, 1.0 / divisor); } // ================ Mean of Two ================= // -inline void bgc_vector2_get_mean_of_two_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, BgcVector2FP32* mean) +inline void bgc_fp32_vector2_get_mean2(BGC_FP32_Vector2* mean, const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2) { mean->x1 = (vector1->x1 + vector2->x1) * 0.5f; mean->x2 = (vector1->x2 + vector2->x2) * 0.5f; } -inline void bgc_vector2_get_mean_of_two_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, BgcVector2FP64* mean) +inline void bgc_fp64_vector2_get_mean2(BGC_FP64_Vector2* mean, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2) { mean->x1 = (vector1->x1 + vector2->x1) * 0.5; mean->x2 = (vector1->x2 + vector2->x2) * 0.5; @@ -226,73 +226,73 @@ inline void bgc_vector2_get_mean_of_two_fp64(const BgcVector2FP64* vector1, cons // =============== Mean of Three ================ // -inline void bgc_vector2_get_mean_of_three_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const BgcVector2FP32* vector3, BgcVector2FP32* mean) +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) { - mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP32; - mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP32; + mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP32_ONE_THIRD; + mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP32_ONE_THIRD; } -inline void bgc_vector2_get_mean_of_three_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const BgcVector2FP64* vector3, BgcVector2FP64* mean) +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) { - mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP64; - mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP64; + mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP64_ONE_THIRD; + mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP64_ONE_THIRD; } // =================== Linear =================== // -inline void bgc_vector2_interpolate_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const float phase, BgcVector2FP32* interpolation) +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 counterphase = 1.0f - phase; + const float counter_phase = 1.0f - phase; - interpolation->x1 = vector1->x1 * counterphase + vector2->x1 * phase; - interpolation->x2 = vector1->x2 * counterphase + vector2->x2 * phase; + interpolation->x1 = first->x1 * counter_phase + second->x1 * phase; + interpolation->x2 = first->x2 * counter_phase + second->x2 * phase; } -inline void bgc_vector2_interpolate_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const double phase, BgcVector2FP64* interpolation) +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 counterphase = 1.0 - phase; + const double counter_phase = 1.0 - phase; - interpolation->x1 = vector1->x1 * counterphase + vector2->x1 * phase; - interpolation->x2 = vector1->x2 * counterphase + vector2->x2 * phase; + interpolation->x1 = first->x1 * counter_phase + second->x1 * phase; + interpolation->x2 = first->x2 * counter_phase + second->x2 * phase; } // ================== Negative ================== // -inline void bgc_vector2_make_opposite_fp32(BgcVector2FP32* vector) +inline void bgc_fp32_vector2_revert(BGC_FP32_Vector2* vector) { vector->x1 = -vector->x1; vector->x2 = -vector->x2; } -inline void bgc_vector2_make_opposite_fp64(BgcVector2FP64* vector) +inline void bgc_fp64_vector2_revert(BGC_FP64_Vector2* vector) { vector->x1 = -vector->x1; vector->x2 = -vector->x2; } -inline void bgc_vector2_get_opposite_fp32(const BgcVector2FP32* vector, BgcVector2FP32* opposite) +inline void bgc_fp32_vector2_get_reverse(BGC_FP32_Vector2* reverse, const BGC_FP32_Vector2* vector) { - opposite->x1 = -vector->x1; - opposite->x2 = -vector->x2; + reverse->x1 = -vector->x1; + reverse->x2 = -vector->x2; } -inline void bgc_vector2_get_opposite_fp64(const BgcVector2FP64* vector, BgcVector2FP64* opposite) +inline void bgc_fp64_vector2_get_reverse(BGC_FP64_Vector2* reverse, const BGC_FP64_Vector2* vector) { - opposite->x1 = -vector->x1; - opposite->x2 = -vector->x2; + reverse->x1 = -vector->x1; + reverse->x2 = -vector->x2; } // ================= Normalize ================== // -inline int bgc_vector2_normalize_fp32(BgcVector2FP32* vector) +inline int bgc_fp32_vector2_normalize(BGC_FP32_Vector2* vector) { - const float square_modulus = bgc_vector2_get_square_modulus_fp32(vector); + const float square_modulus = bgc_fp32_vector2_get_square_modulus(vector); - if (bgc_is_sqare_unit_fp32(square_modulus)) { + if (bgc_fp32_is_square_unit(square_modulus)) { return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -304,15 +304,15 @@ inline int bgc_vector2_normalize_fp32(BgcVector2FP32* vector) return 1; } -inline int bgc_vector2_normalize_fp64(BgcVector2FP64* vector) +inline int bgc_fp64_vector2_normalize(BGC_FP64_Vector2* vector) { - const double square_modulus = bgc_vector2_get_square_modulus_fp64(vector); + const double square_modulus = bgc_fp64_vector2_get_square_modulus(vector); - if (bgc_is_sqare_unit_fp64(square_modulus)) { + if (bgc_fp64_is_square_unit(square_modulus)) { return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -324,75 +324,75 @@ inline int bgc_vector2_normalize_fp64(BgcVector2FP64* vector) return 1; } -inline int bgc_vector2_get_normalized_fp32(const BgcVector2FP32* vector, BgcVector2FP32* normalized) +inline int bgc_fp32_vector2_get_normalized(BGC_FP32_Vector2* normalized, const BGC_FP32_Vector2* vector) { - const float square_modulus = bgc_vector2_get_square_modulus_fp32(vector); + const float square_modulus = bgc_fp32_vector2_get_square_modulus(vector); - if (bgc_is_sqare_unit_fp32(square_modulus)) { - bgc_vector2_copy_fp32(vector, normalized); + if (bgc_fp32_is_square_unit(square_modulus)) { + bgc_fp32_vector2_copy(normalized, vector); return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { - bgc_vector2_reset_fp32(normalized); + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { + bgc_fp32_vector2_reset(normalized); return 0; } - bgc_vector2_multiply_fp32(vector, sqrtf(1.0f / square_modulus), normalized); + bgc_fp32_vector2_multiply(normalized, vector, sqrtf(1.0f / square_modulus)); return 1; } -inline int bgc_vector2_get_normalized_fp64(const BgcVector2FP64* vector, BgcVector2FP64* normalized) +inline int bgc_fp64_vector2_get_normalized(BGC_FP64_Vector2* normalized, const BGC_FP64_Vector2* vector) { - const double square_modulus = bgc_vector2_get_square_modulus_fp64(vector); + const double square_modulus = bgc_fp64_vector2_get_square_modulus(vector); - if (bgc_is_sqare_unit_fp64(square_modulus)) { - bgc_vector2_copy_fp64(vector, normalized); + if (bgc_fp64_is_square_unit(square_modulus)) { + bgc_fp64_vector2_copy(normalized, vector); return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { - bgc_vector2_reset_fp64(normalized); + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { + bgc_fp64_vector2_reset(normalized); return 0; } - bgc_vector2_multiply_fp64(vector, sqrt(1.0 / square_modulus), normalized); + bgc_fp64_vector2_multiply(normalized, vector, sqrt(1.0 / square_modulus)); return 1; } // ============= Get Scalar Product ============= // -inline float bgc_vector2_get_scalar_product_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2) +inline float bgc_fp32_vector2_get_dot_product(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2) { return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2; } -inline double bgc_vector2_get_scalar_product_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2) +inline double bgc_fp64_vector2_get_dot_product(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2) { return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2; } // ============= Get Cross Product ============== // -inline float bgc_vector2_get_cross_product_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2) +inline float bgc_fp32_vector2_get_cross_product(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2) { return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1; } -inline double bgc_vector2_get_cross_product_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2) +inline double bgc_fp64_vector2_get_cross_product(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2) { return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1; } // ================= Get Angle ================== // -float bgc_vector2_get_angle_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const BgcAngleUnitEnum unit); +float bgc_fp32_vector2_get_angle(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2, const int angle_unit); -double bgc_vector2_get_angle_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const BgcAngleUnitEnum unit); +double bgc_fp64_vector2_get_angle(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const int angle_unit); // ============= Get Square Distance ============ // -inline float bgc_vector2_get_square_distance_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2) +inline float bgc_fp32_vector2_get_square_distance(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2) { const float dx1 = vector1->x1 - vector2->x1; const float dx2 = vector1->x2 - vector2->x2; @@ -400,7 +400,7 @@ inline float bgc_vector2_get_square_distance_fp32(const BgcVector2FP32* vector1, return dx1 * dx1 + dx2 * dx2; } -inline double bgc_vector2_get_square_distance_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2) +inline double bgc_fp64_vector2_get_square_distance(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2) { const double dx1 = vector1->x1 - vector2->x1; const double dx2 = vector1->x2 - vector2->x2; @@ -410,158 +410,158 @@ inline double bgc_vector2_get_square_distance_fp64(const BgcVector2FP64* vector1 // ================== Distance ================== // -inline float bgc_vector2_get_distance_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2) +inline float bgc_fp32_vector2_get_distance(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2) { - return sqrtf(bgc_vector2_get_square_distance_fp32(vector1, vector2)); + return sqrtf(bgc_fp32_vector2_get_square_distance(vector1, vector2)); } -inline double bgc_vector2_get_distance_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2) +inline double bgc_fp64_vector2_get_distance(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2) { - return sqrt(bgc_vector2_get_square_distance_fp64(vector1, vector2)); + return sqrt(bgc_fp64_vector2_get_square_distance(vector1, vector2)); } // ============== Are Close Enough ============== // -inline int bgc_vector2_are_close_enough_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const float distance_limit) +inline int bgc_fp32_vector2_are_close_enough(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2, const float distance_limit) { - return bgc_vector2_get_square_distance_fp32(vector1, vector2) <= distance_limit * distance_limit; + return bgc_fp32_vector2_get_square_distance(vector1, vector2) <= distance_limit * distance_limit; } -inline int bgc_vector2_are_close_enough_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const double distance_limit) +inline int bgc_fp64_vector2_are_close_enough(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const double distance_limit) { - return bgc_vector2_get_square_distance_fp64(vector1, vector2) <= distance_limit * distance_limit; + return bgc_fp64_vector2_get_square_distance(vector1, vector2) <= distance_limit * distance_limit; } // ================== Are Close ================= // -inline int bgc_vector2_are_close_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2) +inline int bgc_fp32_vector2_are_close(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2) { - const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1); - const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2); - const float square_distance = bgc_vector2_get_square_distance_fp32(vector1, vector2); + const float square_modulus1 = bgc_fp32_vector2_get_square_modulus(vector1); + const float square_modulus2 = bgc_fp32_vector2_get_square_modulus(vector2); + const float square_distance = bgc_fp32_vector2_get_square_distance(vector1, vector2); - if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) { - return square_distance <= BGC_SQUARE_EPSYLON_FP32; + if (square_modulus1 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT) { + return square_distance <= BGC_FP32_SQUARE_EPSILON; } - return square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus2; + return square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus2; } -inline int bgc_vector2_are_close_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2) +inline int bgc_fp64_vector2_are_close(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2) { - const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1); - const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2); - const double square_distance = bgc_vector2_get_square_distance_fp64(vector1, vector2); + const double square_modulus1 = bgc_fp64_vector2_get_square_modulus(vector1); + const double square_modulus2 = bgc_fp64_vector2_get_square_modulus(vector2); + const double square_distance = bgc_fp64_vector2_get_square_distance(vector1, vector2); - if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) { - return square_distance <= BGC_SQUARE_EPSYLON_FP64; + if (square_modulus1 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT) { + return square_distance <= BGC_FP64_SQUARE_EPSILON; } - return square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus2; + return square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus2; } // ================== Parallel ================== // -inline int bgc_vector2_are_parallel_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2) +inline int bgc_fp32_vector2_are_parallel(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2) { - const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1); + const float square_modulus1 = bgc_fp32_vector2_get_square_modulus(vector1); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32) { + if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON) { return 1; } - const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2); + const float square_modulus2 = bgc_fp32_vector2_get_square_modulus(vector2); - if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) { + if (square_modulus2 <= BGC_FP32_SQUARE_EPSILON) { return 1; } - const float cross_product = bgc_vector2_get_cross_product_fp32(vector1, vector2); + const float cross_product = bgc_fp32_vector2_get_cross_product(vector1, vector2); - return cross_product * cross_product <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 * square_modulus2; + return cross_product * cross_product <= BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2; } -inline int bgc_vector2_are_parallel_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2) +inline int bgc_fp64_vector2_are_parallel(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2) { - const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1); + const double square_modulus1 = bgc_fp64_vector2_get_square_modulus(vector1); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64) { + if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON) { return 1; } - const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2); + const double square_modulus2 = bgc_fp64_vector2_get_square_modulus(vector2); - if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) { + if (square_modulus2 <= BGC_FP64_SQUARE_EPSILON) { return 1; } - const double cross_product = bgc_vector2_get_cross_product_fp64(vector1, vector2); + const double cross_product = bgc_fp64_vector2_get_cross_product(vector1, vector2); - return cross_product * cross_product <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 * square_modulus2; + return cross_product * cross_product <= BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2; } // ================= Orthogonal ================= // -inline int bgc_vector2_are_orthogonal_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2) +inline int bgc_fp32_vector2_are_orthogonal(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2) { - const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1); + const float square_modulus1 = bgc_fp32_vector2_get_square_modulus(vector1); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32) { + if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON) { return 1; } - const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2); + const float square_modulus2 = bgc_fp32_vector2_get_square_modulus(vector2); - if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) { + if (square_modulus2 <= BGC_FP32_SQUARE_EPSILON) { return 1; } - const float scalar_product = bgc_vector2_get_scalar_product_fp32(vector1, vector2); + const float scalar_product = bgc_fp32_vector2_get_dot_product(vector1, vector2); - return scalar_product * scalar_product <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 * square_modulus2; + return scalar_product * scalar_product <= BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2; } -inline int bgc_vector2_are_orthogonal_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2) +inline int bgc_fp64_vector2_are_orthogonal(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2) { - const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1); + const double square_modulus1 = bgc_fp64_vector2_get_square_modulus(vector1); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64) { + if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON) { return 1; } - const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2); + const double square_modulus2 = bgc_fp64_vector2_get_square_modulus(vector2); - if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) { + if (square_modulus2 <= BGC_FP64_SQUARE_EPSILON) { return 1; } - const double scalar_product = bgc_vector2_get_scalar_product_fp64(vector1, vector2); + const double scalar_product = bgc_fp64_vector2_get_dot_product(vector1, vector2); - return scalar_product * scalar_product <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 * square_modulus2; + return scalar_product * scalar_product <= BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2; } // ================== Attitude ================== // -inline int bgc_vector2_get_attitude_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2) +inline int bgc_fp32_vector2_get_attitude(const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2) { - const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1); - const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2); + const float square_modulus1 = bgc_fp32_vector2_get_square_modulus(vector1); + const float square_modulus2 = bgc_fp32_vector2_get_square_modulus(vector2); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32 || square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) { + if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON || square_modulus2 <= BGC_FP32_SQUARE_EPSILON) { return BGC_ATTITUDE_ZERO; } - const float square_limit = BGC_SQUARE_EPSYLON_FP32 * square_modulus1 * square_modulus2; + const float square_limit = BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2; - const float scalar_product = bgc_vector2_get_scalar_product_fp32(vector1, vector2); + const float scalar_product = bgc_fp32_vector2_get_dot_product(vector1, vector2); if (scalar_product * scalar_product <= square_limit) { return BGC_ATTITUDE_ORTHOGONAL; } - const float cross_product = bgc_vector2_get_cross_product_fp32(vector1, vector2); + const float cross_product = bgc_fp32_vector2_get_cross_product(vector1, vector2); if (cross_product * cross_product > square_limit) { return BGC_ATTITUDE_ANY; @@ -570,24 +570,24 @@ inline int bgc_vector2_get_attitude_fp32(const BgcVector2FP32* vector1, const Bg return scalar_product > 0.0f ? BGC_ATTITUDE_CO_DIRECTIONAL : BGC_ATTITUDE_COUNTER_DIRECTIONAL; } -inline int bgc_vector2_get_attitude_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2) +inline int bgc_fp64_vector2_get_attitude(const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2) { - const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1); - const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2); + const double square_modulus1 = bgc_fp64_vector2_get_square_modulus(vector1); + const double square_modulus2 = bgc_fp64_vector2_get_square_modulus(vector2); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64 || square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) { + if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON || square_modulus2 <= BGC_FP64_SQUARE_EPSILON) { return BGC_ATTITUDE_ZERO; } - const double square_limit = BGC_SQUARE_EPSYLON_FP64 * square_modulus1 * square_modulus2; + const double square_limit = BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2; - const double scalar_product = bgc_vector2_get_scalar_product_fp64(vector1, vector2); + const double scalar_product = bgc_fp64_vector2_get_dot_product(vector1, vector2); if (scalar_product * scalar_product <= square_limit) { return BGC_ATTITUDE_ORTHOGONAL; } - const double cross_product = bgc_vector2_get_cross_product_fp64(vector1, vector2); + const double cross_product = bgc_fp64_vector2_get_cross_product(vector1, vector2); if (cross_product * cross_product > square_limit) { return BGC_ATTITUDE_ANY; diff --git a/basic-geometry/vector3.c b/basic-geometry/vector3.c index 95f1bac..fbf9615 100644 --- a/basic-geometry/vector3.c +++ b/basic-geometry/vector3.c @@ -1,153 +1,153 @@ #include "vector3.h" -extern inline void bgc_vector3_reset_fp32(BgcVector3FP32* vector); -extern inline void bgc_vector3_reset_fp64(BgcVector3FP64* vector); +extern inline void bgc_fp32_vector3_reset(BGC_FP32_Vector3* vector); +extern inline void bgc_fp64_vector3_reset(BGC_FP64_Vector3* vector); -extern inline void bgc_vector3_set_values_fp32(const float x1, const float x2, const float x3, BgcVector3FP32* destination); -extern inline void bgc_vector3_set_values_fp64(const double x1, const double x2, const double x3, BgcVector3FP64* destination); +extern inline void bgc_fp32_vector3_make(BGC_FP32_Vector3* destination, const float x1, const float x2, const float x3); +extern inline void bgc_fp64_vector3_make(BGC_FP64_Vector3* destination, const double x1, const double x2, const double x3); -extern inline float bgc_vector3_get_square_modulus_fp32(const BgcVector3FP32* vector); -extern inline double bgc_vector3_get_square_modulus_fp64(const BgcVector3FP64* vector); +extern inline float bgc_fp32_vector3_get_square_modulus(const BGC_FP32_Vector3* vector); +extern inline double bgc_fp64_vector3_get_square_modulus(const BGC_FP64_Vector3* vector); -extern inline float bgc_vector3_get_modulus_fp32(const BgcVector3FP32* vector); -extern inline double bgc_vector3_get_modulus_fp64(const BgcVector3FP64* vector); +extern inline float bgc_fp32_vector3_get_modulus(const BGC_FP32_Vector3* vector); +extern inline double bgc_fp64_vector3_get_modulus(const BGC_FP64_Vector3* vector); -extern inline int bgc_vector3_is_zero_fp32(const BgcVector3FP32* vector); -extern inline int bgc_vector3_is_zero_fp64(const BgcVector3FP64* vector); +extern inline int bgc_fp32_vector3_is_zero(const BGC_FP32_Vector3* vector); +extern inline int bgc_fp64_vector3_is_zero(const BGC_FP64_Vector3* vector); -extern inline int bgc_vector3_is_unit_fp32(const BgcVector3FP32* vector); -extern inline int bgc_vector3_is_unit_fp64(const BgcVector3FP64* vector); +extern inline int bgc_fp32_vector3_is_unit(const BGC_FP32_Vector3* vector); +extern inline int bgc_fp64_vector3_is_unit(const BGC_FP64_Vector3* vector); -extern inline void bgc_vector3_copy_fp32(const BgcVector3FP32* source, BgcVector3FP32* destination); -extern inline void bgc_vector3_copy_fp64(const BgcVector3FP64* source, BgcVector3FP64* destination); +extern inline void bgc_fp32_vector3_copy(BGC_FP32_Vector3* destination, const BGC_FP32_Vector3* source); +extern inline void bgc_fp64_vector3_copy(BGC_FP64_Vector3* destination, const BGC_FP64_Vector3* source); -extern inline void bgc_vector3_convert_fp64_to_fp32(const BgcVector3FP64* source, BgcVector3FP32* destination); -extern inline void bgc_vector3_convert_fp32_to_fp64(const BgcVector3FP32* source, BgcVector3FP64* destination); +extern inline void bgc_fp32_vector3_convert_to_fp64(BGC_FP64_Vector3* destination, const BGC_FP32_Vector3* source); +extern inline void bgc_fp64_vector3_convert_to_fp32(BGC_FP32_Vector3* destination, const BGC_FP64_Vector3* source); -extern inline void bgc_vector3_swap_fp32(BgcVector3FP32* vector1, BgcVector3FP32* vector2); -extern inline void bgc_vector3_swap_fp64(BgcVector3FP64* vector1, BgcVector3FP64* vector2); +extern inline void bgc_fp32_vector3_swap(BGC_FP32_Vector3* vector1, BGC_FP32_Vector3* vector2); +extern inline void bgc_fp64_vector3_swap(BGC_FP64_Vector3* vector1, BGC_FP64_Vector3* vector2); -extern inline void bgc_vector3_add_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, BgcVector3FP32* sum); -extern inline void bgc_vector3_add_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, BgcVector3FP64* sum); +extern inline void bgc_fp32_vector3_add(BGC_FP32_Vector3* sum, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2); +extern inline void bgc_fp64_vector3_add(BGC_FP64_Vector3* sum, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2); -extern inline void bgc_vector3_add_scaled_fp32(const BgcVector3FP32* basic_vector, const BgcVector3FP32* scalable_vector, const float scale, BgcVector3FP32* sum); -extern inline void bgc_vector3_add_scaled_fp64(const BgcVector3FP64* basic_vector, const BgcVector3FP64* scalable_vector, const double scale, BgcVector3FP64* sum); +extern inline void bgc_fp32_vector3_add_scaled(BGC_FP32_Vector3* sum, const BGC_FP32_Vector3* basic_vector, const BGC_FP32_Vector3* scalable_vector, const float scale); +extern inline void bgc_fp64_vector3_add_scaled(BGC_FP64_Vector3* sum, const BGC_FP64_Vector3* basic_vector, const BGC_FP64_Vector3* scalable_vector, const double scale); -extern inline void bgc_vector3_subtract_fp32(const BgcVector3FP32* minuend, const BgcVector3FP32* subtrahend, BgcVector3FP32* difference); -extern inline void bgc_vector3_subtract_fp64(const BgcVector3FP64* minuend, const BgcVector3FP64* subtrahend, BgcVector3FP64* difference); +extern inline void bgc_fp32_vector3_subtract(BGC_FP32_Vector3* difference, const BGC_FP32_Vector3* minuend, const BGC_FP32_Vector3* subtrahend); +extern inline void bgc_fp64_vector3_subtract(BGC_FP64_Vector3* difference, const BGC_FP64_Vector3* minuend, const BGC_FP64_Vector3* subtrahend); -extern inline void bgc_vector3_multiply_fp32(const BgcVector3FP32* multiplicand, const float multiplier, BgcVector3FP32* product); -extern inline void bgc_vector3_multiply_fp64(const BgcVector3FP64* multiplicand, const double multiplier, BgcVector3FP64* product); +extern inline void bgc_fp32_vector3_multiply(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* multiplicand, const float multiplier); +extern inline void bgc_fp64_vector3_multiply(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* multiplicand, const double multiplier); -extern inline void bgc_vector3_divide_fp32(const BgcVector3FP32* dividend, const float divisor, BgcVector3FP32* quotient); -extern inline void bgc_vector3_divide_fp64(const BgcVector3FP64* dividend, const double divisor, BgcVector3FP64* quotient); +extern inline void bgc_fp32_vector3_divide(BGC_FP32_Vector3* quotient, const BGC_FP32_Vector3* dividend, const float divisor); +extern inline void bgc_fp64_vector3_divide(BGC_FP64_Vector3* quotient, const BGC_FP64_Vector3* dividend, const double divisor); -extern inline void bgc_vector3_get_mean_of_two_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, BgcVector3FP32* result); -extern inline void bgc_vector3_get_mean_of_two_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, BgcVector3FP64* result); +extern inline void bgc_fp32_vector3_get_mean2(BGC_FP32_Vector3* mean, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2); +extern inline void bgc_fp64_vector3_get_mean2(BGC_FP64_Vector3* mean, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2); -extern inline void bgc_vector3_get_mean_of_three_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcVector3FP32* vector3, BgcVector3FP32* result); -extern inline void bgc_vector3_get_mean_of_three_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcVector3FP64* vector3, BgcVector3FP64* result); +extern inline void bgc_fp32_vector3_get_mean3(BGC_FP32_Vector3* mean, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3); +extern inline void bgc_fp64_vector3_get_mean3(BGC_FP64_Vector3* mean, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3); -extern inline void bgc_vector3_interpolate_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const float phase, BgcVector3FP32* interpolation); -extern inline void bgc_vector3_interpolate_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const double phase, BgcVector3FP64* interpolation); +extern inline void bgc_fp32_vector3_interpolate(BGC_FP32_Vector3* interpolation, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const float phase); +extern inline void bgc_fp64_vector3_interpolate(BGC_FP64_Vector3* interpolation, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double phase); -extern inline void bgc_vector3_make_opposite_fp32(BgcVector3FP32* vector); -extern inline void bgc_vector3_make_opposite_fp64(BgcVector3FP64* vector); +extern inline void bgc_fp32_vector3_revert(BGC_FP32_Vector3* vector); +extern inline void bgc_fp64_vector3_revert(BGC_FP64_Vector3* vector); -extern inline void bgc_vector3_get_opposite_fp32(const BgcVector3FP32* vector, BgcVector3FP32* opposite); -extern inline void bgc_vector3_get_opposite_fp64(const BgcVector3FP64* vector, BgcVector3FP64* opposite); +extern inline void bgc_fp32_vector3_get_reverse(BGC_FP32_Vector3* reverse, const BGC_FP32_Vector3* vector); +extern inline void bgc_fp64_vector3_get_reverse(BGC_FP64_Vector3* reverse, const BGC_FP64_Vector3* vector); -extern inline int bgc_vector3_normalize_fp32(BgcVector3FP32* vector); -extern inline int bgc_vector3_normalize_fp64(BgcVector3FP64* vector); +extern inline int bgc_fp32_vector3_normalize(BGC_FP32_Vector3* vector); +extern inline int bgc_fp64_vector3_normalize(BGC_FP64_Vector3* vector); -extern inline int bgc_vector3_get_normalized_fp32(const BgcVector3FP32* vector, BgcVector3FP32* normalized); -extern inline int bgc_vector3_get_normalized_fp64(const BgcVector3FP64* vector, BgcVector3FP64* normalized); +extern inline int bgc_fp32_vector3_get_normalized(BGC_FP32_Vector3* normalized, const BGC_FP32_Vector3* vector); +extern inline int bgc_fp64_vector3_get_normalized(BGC_FP64_Vector3* normalized, const BGC_FP64_Vector3* vector); -extern inline float bgc_vector3_get_scalar_product_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2); -extern inline double bgc_vector3_get_scalar_product_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2); +extern inline float bgc_fp32_vector3_get_dot_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2); +extern inline double bgc_fp64_vector3_get_dot_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2); -extern inline float bgc_vector3_get_triple_product_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcVector3FP32* vector3); -extern inline double bgc_vector3_get_triple_product_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcVector3FP64* vector3); +extern inline float bgc_fp32_vector3_get_triple_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3); +extern inline double bgc_fp64_vector3_get_triple_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3); -extern inline void bgc_vector3_get_cross_product_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, BgcVector3FP32* result); -extern inline void bgc_vector3_get_cross_product_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, BgcVector3FP64* result); +extern inline void bgc_fp32_vector3_get_cross_product(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2); +extern inline void bgc_fp64_vector3_get_cross_product(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2); -extern inline void bgc_vector3_get_double_cross_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcVector3FP32* vector3, BgcVector3FP32* result); -extern inline void bgc_vector3_get_double_cross_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcVector3FP64* vector3, BgcVector3FP64* result); +extern inline void bgc_fp32_vector3_get_double_cross(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3); +extern inline void bgc_fp64_vector3_get_double_cross(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3); -extern inline float bgc_vector3_get_square_distance_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2); -extern inline double bgc_vector3_get_square_distance_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2); +extern inline float bgc_fp32_vector3_get_square_distance(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2); +extern inline double bgc_fp64_vector3_get_square_distance(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2); -extern inline float bgc_vector3_get_distance_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2); -extern inline double bgc_vector3_get_distance_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2); +extern inline float bgc_fp32_vector3_get_distance(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2); +extern inline double bgc_fp64_vector3_get_distance(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2); -extern inline int bgc_vector3_are_close_enough_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const float distance); -extern inline int bgc_vector3_are_close_enough_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const double distance); +extern inline int bgc_fp32_vector3_are_close_enough(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const float distance); +extern inline int bgc_fp64_vector3_are_close_enough(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double distance); -extern inline int bgc_vector3_are_close_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2); -extern inline int bgc_vector3_are_close_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2); +extern inline int bgc_fp32_vector3_are_close(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2); +extern inline int bgc_fp64_vector3_are_close(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2); -extern inline int bgc_vector3_are_parallel_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2); -extern inline int bgc_vector3_are_parallel_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2); +extern inline int bgc_fp32_vector3_are_parallel(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2); +extern inline int bgc_fp64_vector3_are_parallel(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2); -extern inline int bgc_vector3_are_orthogonal_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2); -extern inline int bgc_vector3_are_orthogonal_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2); +extern inline int bgc_fp32_vector3_are_orthogonal(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2); +extern inline int bgc_fp64_vector3_are_orthogonal(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2); -extern inline int bgc_vector3_get_attitude_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2); -extern inline int bgc_vector3_get_attitude_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2); +extern inline int bgc_fp32_vector3_get_attitude(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2); +extern inline int bgc_fp64_vector3_get_attitude(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2); // =================== Angle ==================== // -float bgc_vector3_get_angle_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcAngleUnitEnum angle_unit) +float bgc_fp32_vector3_get_angle(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const int angle_unit) { - const float square_modulus1 = bgc_vector3_get_square_modulus_fp32(vector1); + const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1); // square_modulus1 != square_modulus1 is check for NaN value at square_modulus1 - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32 || square_modulus1 != square_modulus1) { + if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON || square_modulus1 != square_modulus1) { return 0.0f; } - const float square_modulus2 = bgc_vector3_get_square_modulus_fp32(vector2); + const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2); // square_modulus2 != square_modulus2 is check for NaN value at square_modulus2 - if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP32 || square_modulus2 != square_modulus2) { + if (square_modulus2 <= BGC_FP32_SQUARE_EPSILON || square_modulus2 != square_modulus2) { return 0.0f; } - BgcVector3FP32 cross_product; + BGC_FP32_Vector3 cross_product; - bgc_vector3_get_cross_product_fp32(vector1, vector2, &cross_product); + bgc_fp32_vector3_get_cross_product(&cross_product, vector1, vector2); - const float scalar = bgc_vector3_get_scalar_product_fp32(vector1, vector2); + const float scalar = bgc_fp32_vector3_get_dot_product(vector1, vector2); - const float cross = bgc_vector3_get_modulus_fp32(&cross_product); + const float cross = bgc_fp32_vector3_get_modulus(&cross_product); - return bgc_radians_to_units_fp32(atan2f(cross, scalar), angle_unit); + return bgc_fp32_radians_to_units(atan2f(cross, scalar), angle_unit); } -double bgc_vector3_get_angle_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcAngleUnitEnum angle_unit) +double bgc_fp64_vector3_get_angle(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const int angle_unit) { - const double square_modulus1 = bgc_vector3_get_square_modulus_fp64(vector1); + const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1); // square_modulus1 != square_modulus1 is check for NaN value at square_modulus1 - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64 || square_modulus1 != square_modulus1) { + if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON || square_modulus1 != square_modulus1) { return 0.0; } - const double square_modulus2 = bgc_vector3_get_square_modulus_fp64(vector2); + const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2); // square_modulus2 != square_modulus2 is check for NaN value at square_modulus2 - if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP64 || square_modulus2 != square_modulus2) { + if (square_modulus2 <= BGC_FP64_SQUARE_EPSILON || square_modulus2 != square_modulus2) { return 0.0; } - BgcVector3FP64 cross_product; + BGC_FP64_Vector3 cross_product; - bgc_vector3_get_cross_product_fp64(vector1, vector2, &cross_product); + bgc_fp64_vector3_get_cross_product(&cross_product, vector1, vector2); - const double scalar = bgc_vector3_get_scalar_product_fp64(vector1, vector2); + const double scalar = bgc_fp64_vector3_get_dot_product(vector1, vector2); - const double cross = bgc_vector3_get_modulus_fp64(&cross_product); + const double cross = bgc_fp64_vector3_get_modulus(&cross_product); - return bgc_radians_to_units_fp64(atan2(cross, scalar), angle_unit); + return bgc_fp64_radians_to_units(atan2(cross, scalar), angle_unit); } diff --git a/basic-geometry/vector3.h b/basic-geometry/vector3.h index a5e42a7..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" @@ -11,23 +11,23 @@ typedef struct { float x1, x2, x3; -} BgcVector3FP32; +} BGC_FP32_Vector3; typedef struct { double x1, x2, x3; -} BgcVector3FP64; +} BGC_FP64_Vector3; // =================== Reset ==================== // -inline void bgc_vector3_reset_fp32(BgcVector3FP32* vector) +inline void bgc_fp32_vector3_reset(BGC_FP32_Vector3* vector) { vector->x1 = 0.0f; vector->x2 = 0.0f; vector->x3 = 0.0f; } -inline void bgc_vector3_reset_fp64(BgcVector3FP64* vector) +inline void bgc_fp64_vector3_reset(BGC_FP64_Vector3* vector) { vector->x1 = 0.0; vector->x2 = 0.0; @@ -36,14 +36,14 @@ inline void bgc_vector3_reset_fp64(BgcVector3FP64* vector) // ==================== Set ===================== // -inline void bgc_vector3_set_values_fp32(const float x1, const float x2, const float x3, BgcVector3FP32* destination) +inline void bgc_fp32_vector3_make(BGC_FP32_Vector3* destination, const float x1, const float x2, const float x3) { destination->x1 = x1; destination->x2 = x2; destination->x3 = x3; } -inline void bgc_vector3_set_values_fp64(const double x1, const double x2, const double x3, BgcVector3FP64* destination) +inline void bgc_fp64_vector3_make(BGC_FP64_Vector3* destination, const double x1, const double x2, const double x3) { destination->x1 = x1; destination->x2 = x2; @@ -52,58 +52,58 @@ inline void bgc_vector3_set_values_fp64(const double x1, const double x2, const // ================== Modulus =================== // -inline float bgc_vector3_get_square_modulus_fp32(const BgcVector3FP32* vector) +inline float bgc_fp32_vector3_get_square_modulus(const BGC_FP32_Vector3* vector) { return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3; } -inline double bgc_vector3_get_square_modulus_fp64(const BgcVector3FP64* vector) +inline double bgc_fp64_vector3_get_square_modulus(const BGC_FP64_Vector3* vector) { return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3; } -inline float bgc_vector3_get_modulus_fp32(const BgcVector3FP32* vector) +inline float bgc_fp32_vector3_get_modulus(const BGC_FP32_Vector3* vector) { - return sqrtf(bgc_vector3_get_square_modulus_fp32(vector)); + return sqrtf(bgc_fp32_vector3_get_square_modulus(vector)); } -inline double bgc_vector3_get_modulus_fp64(const BgcVector3FP64* vector) +inline double bgc_fp64_vector3_get_modulus(const BGC_FP64_Vector3* vector) { - return sqrt(bgc_vector3_get_square_modulus_fp64(vector)); + return sqrt(bgc_fp64_vector3_get_square_modulus(vector)); } // ================= Comparison ================= // -inline int bgc_vector3_is_zero_fp32(const BgcVector3FP32* vector) +inline int bgc_fp32_vector3_is_zero(const BGC_FP32_Vector3* vector) { - return bgc_vector3_get_square_modulus_fp32(vector) <= BGC_SQUARE_EPSYLON_FP32; + return bgc_fp32_vector3_get_square_modulus(vector) <= BGC_FP32_SQUARE_EPSILON; } -inline int bgc_vector3_is_zero_fp64(const BgcVector3FP64* vector) +inline int bgc_fp64_vector3_is_zero(const BGC_FP64_Vector3* vector) { - return bgc_vector3_get_square_modulus_fp64(vector) <= BGC_SQUARE_EPSYLON_FP64; + return bgc_fp64_vector3_get_square_modulus(vector) <= BGC_FP64_SQUARE_EPSILON; } -inline int bgc_vector3_is_unit_fp32(const BgcVector3FP32* vector) +inline int bgc_fp32_vector3_is_unit(const BGC_FP32_Vector3* vector) { - return bgc_is_sqare_unit_fp32(bgc_vector3_get_square_modulus_fp32(vector)); + return bgc_fp32_is_square_unit(bgc_fp32_vector3_get_square_modulus(vector)); } -inline int bgc_vector3_is_unit_fp64(const BgcVector3FP64* vector) +inline int bgc_fp64_vector3_is_unit(const BGC_FP64_Vector3* vector) { - return bgc_is_sqare_unit_fp64(bgc_vector3_get_square_modulus_fp64(vector)); + return bgc_fp64_is_square_unit(bgc_fp64_vector3_get_square_modulus(vector)); } // ==================== Copy ==================== // -inline void bgc_vector3_copy_fp32(const BgcVector3FP32* source, BgcVector3FP32* destination) +inline void bgc_fp32_vector3_copy(BGC_FP32_Vector3* destination, const BGC_FP32_Vector3* source) { destination->x1 = source->x1; destination->x2 = source->x2; destination->x3 = source->x3; } -inline void bgc_vector3_copy_fp64(const BgcVector3FP64* source, BgcVector3FP64* destination) +inline void bgc_fp64_vector3_copy(BGC_FP64_Vector3* destination, const BGC_FP64_Vector3* source) { destination->x1 = source->x1; destination->x2 = source->x2; @@ -112,7 +112,7 @@ inline void bgc_vector3_copy_fp64(const BgcVector3FP64* source, BgcVector3FP64* // ==================== Swap ==================== // -inline void bgc_vector3_swap_fp32(BgcVector3FP32* vector1, BgcVector3FP32* vector2) +inline void bgc_fp32_vector3_swap(BGC_FP32_Vector3* vector1, BGC_FP32_Vector3* vector2) { const float x1 = vector2->x1; const float x2 = vector2->x2; @@ -127,7 +127,7 @@ inline void bgc_vector3_swap_fp32(BgcVector3FP32* vector1, BgcVector3FP32* vecto vector1->x3 = x3; } -inline void bgc_vector3_swap_fp64(BgcVector3FP64* vector1, BgcVector3FP64* vector2) +inline void bgc_fp64_vector3_swap(BGC_FP64_Vector3* vector1, BGC_FP64_Vector3* vector2) { const double x1 = vector2->x1; const double x2 = vector2->x2; @@ -144,30 +144,30 @@ inline void bgc_vector3_swap_fp64(BgcVector3FP64* vector1, BgcVector3FP64* vecto // ================== Convert =================== // -inline void bgc_vector3_convert_fp64_to_fp32(const BgcVector3FP64* source, BgcVector3FP32* destination) -{ - destination->x1 = (float)source->x1; - destination->x2 = (float)source->x2; - destination->x3 = (float)source->x3; -} - -inline void bgc_vector3_convert_fp32_to_fp64(const BgcVector3FP32* source, BgcVector3FP64* destination) +inline void bgc_fp32_vector3_convert_to_fp64(BGC_FP64_Vector3* destination, const BGC_FP32_Vector3* source) { destination->x1 = source->x1; destination->x2 = source->x2; destination->x3 = source->x3; } +inline void bgc_fp64_vector3_convert_to_fp32(BGC_FP32_Vector3* destination, const BGC_FP64_Vector3* source) +{ + destination->x1 = (float)source->x1; + destination->x2 = (float)source->x2; + destination->x3 = (float)source->x3; +} + // ==================== Add ===================== // -inline void bgc_vector3_add_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, BgcVector3FP32* sum) +inline void bgc_fp32_vector3_add(BGC_FP32_Vector3* sum, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2) { sum->x1 = vector1->x1 + vector2->x1; sum->x2 = vector1->x2 + vector2->x2; sum->x3 = vector1->x3 + vector2->x3; } -inline void bgc_vector3_add_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, BgcVector3FP64* sum) +inline void bgc_fp64_vector3_add(BGC_FP64_Vector3* sum, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2) { sum->x1 = vector1->x1 + vector2->x1; sum->x2 = vector1->x2 + vector2->x2; @@ -176,14 +176,14 @@ inline void bgc_vector3_add_fp64(const BgcVector3FP64* vector1, const BgcVector3 // ================= Add scaled ================= // -inline void bgc_vector3_add_scaled_fp32(const BgcVector3FP32* basic_vector, const BgcVector3FP32* scalable_vector, const float scale, BgcVector3FP32* sum) +inline void bgc_fp32_vector3_add_scaled(BGC_FP32_Vector3* sum, const BGC_FP32_Vector3* basic_vector, const BGC_FP32_Vector3* scalable_vector, const float scale) { sum->x1 = basic_vector->x1 + scalable_vector->x1 * scale; sum->x2 = basic_vector->x2 + scalable_vector->x2 * scale; sum->x3 = basic_vector->x3 + scalable_vector->x3 * scale; } -inline void bgc_vector3_add_scaled_fp64(const BgcVector3FP64* basic_vector, const BgcVector3FP64* scalable_vector, const double scale, BgcVector3FP64* sum) +inline void bgc_fp64_vector3_add_scaled(BGC_FP64_Vector3* sum, const BGC_FP64_Vector3* basic_vector, const BGC_FP64_Vector3* scalable_vector, const double scale) { sum->x1 = basic_vector->x1 + scalable_vector->x1 * scale; sum->x2 = basic_vector->x2 + scalable_vector->x2 * scale; @@ -192,14 +192,14 @@ inline void bgc_vector3_add_scaled_fp64(const BgcVector3FP64* basic_vector, cons // ================== Subtract ================== // -inline void bgc_vector3_subtract_fp32(const BgcVector3FP32* minuend, const BgcVector3FP32* subtrahend, BgcVector3FP32* difference) +inline void bgc_fp32_vector3_subtract(BGC_FP32_Vector3* difference, const BGC_FP32_Vector3* minuend, const BGC_FP32_Vector3* subtrahend) { difference->x1 = minuend->x1 - subtrahend->x1; difference->x2 = minuend->x2 - subtrahend->x2; difference->x3 = minuend->x3 - subtrahend->x3; } -inline void bgc_vector3_subtract_fp64(const BgcVector3FP64* minuend, const BgcVector3FP64* subtrahend, BgcVector3FP64* difference) +inline void bgc_fp64_vector3_subtract(BGC_FP64_Vector3* difference, const BGC_FP64_Vector3* minuend, const BGC_FP64_Vector3* subtrahend) { difference->x1 = minuend->x1 - subtrahend->x1; difference->x2 = minuend->x2 - subtrahend->x2; @@ -208,14 +208,14 @@ inline void bgc_vector3_subtract_fp64(const BgcVector3FP64* minuend, const BgcVe // ================== Multiply ================== // -inline void bgc_vector3_multiply_fp32(const BgcVector3FP32* multiplicand, const float multiplier, BgcVector3FP32* product) +inline void bgc_fp32_vector3_multiply(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* multiplicand, const float multiplier) { product->x1 = multiplicand->x1 * multiplier; product->x2 = multiplicand->x2 * multiplier; product->x3 = multiplicand->x3 * multiplier; } -inline void bgc_vector3_multiply_fp64(const BgcVector3FP64* multiplicand, const double multiplier, BgcVector3FP64* product) +inline void bgc_fp64_vector3_multiply(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* multiplicand, const double multiplier) { product->x1 = multiplicand->x1 * multiplier; product->x2 = multiplicand->x2 * multiplier; @@ -224,26 +224,26 @@ inline void bgc_vector3_multiply_fp64(const BgcVector3FP64* multiplicand, const // =================== Divide =================== // -inline void bgc_vector3_divide_fp32(const BgcVector3FP32* dividend, const float divisor, BgcVector3FP32* quotient) +inline void bgc_fp32_vector3_divide(BGC_FP32_Vector3* quotient, const BGC_FP32_Vector3* dividend, const float divisor) { - bgc_vector3_multiply_fp32(dividend, 1.0f / divisor, quotient); + bgc_fp32_vector3_multiply(quotient, dividend, 1.0f / divisor); } -inline void bgc_vector3_divide_fp64(const BgcVector3FP64* dividend, const double divisor, BgcVector3FP64* quotient) +inline void bgc_fp64_vector3_divide(BGC_FP64_Vector3* quotient, const BGC_FP64_Vector3* dividend, const double divisor) { - bgc_vector3_multiply_fp64(dividend, 1.0 / divisor, quotient); + bgc_fp64_vector3_multiply(quotient, dividend, 1.0 / divisor); } // ================== Average2 ================== // -inline void bgc_vector3_get_mean_of_two_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, BgcVector3FP32* mean) +inline void bgc_fp32_vector3_get_mean2(BGC_FP32_Vector3* mean, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2) { mean->x1 = (vector1->x1 + vector2->x1) * 0.5f; mean->x2 = (vector1->x2 + vector2->x2) * 0.5f; mean->x3 = (vector1->x3 + vector2->x3) * 0.5f; } -inline void bgc_vector3_get_mean_of_two_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, BgcVector3FP64* mean) +inline void bgc_fp64_vector3_get_mean2(BGC_FP64_Vector3* mean, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2) { mean->x1 = (vector1->x1 + vector2->x1) * 0.5; mean->x2 = (vector1->x2 + vector2->x2) * 0.5; @@ -252,81 +252,81 @@ inline void bgc_vector3_get_mean_of_two_fp64(const BgcVector3FP64* vector1, cons // ================== Average3 ================== // -inline void bgc_vector3_get_mean_of_three_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcVector3FP32* vector3, BgcVector3FP32* mean) +inline void bgc_fp32_vector3_get_mean3(BGC_FP32_Vector3* mean, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3) { - mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP32; - mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP32; - mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP32; + mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP32_ONE_THIRD; + mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP32_ONE_THIRD; + mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_FP32_ONE_THIRD; } -inline void bgc_vector3_get_mean_of_three_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcVector3FP64* vector3, BgcVector3FP64* mean) +inline void bgc_fp64_vector3_get_mean3(BGC_FP64_Vector3* mean, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3) { - mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP64; - mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP64; - mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP64; + mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP64_ONE_THIRD; + mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP64_ONE_THIRD; + mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_FP64_ONE_THIRD; } // =================== Linear =================== // -inline void bgc_vector3_interpolate_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const float phase, BgcVector3FP32* interpolation) +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 counterphase = 1.0f - phase; + const float counter_phase = 1.0f - phase; - interpolation->x1 = vector1->x1 * counterphase + vector2->x1 * phase; - interpolation->x2 = vector1->x2 * counterphase + vector2->x2 * phase; - interpolation->x3 = vector1->x3 * counterphase + 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_vector3_interpolate_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const double phase, BgcVector3FP64* interpolation) +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 counterphase = 1.0 - phase; + const double counter_phase = 1.0 - phase; - interpolation->x1 = vector1->x1 * counterphase + vector2->x1 * phase; - interpolation->x2 = vector1->x2 * counterphase + vector2->x2 * phase; - interpolation->x3 = vector1->x3 * counterphase + 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 ================== // -inline void bgc_vector3_make_opposite_fp32(BgcVector3FP32* vector) +inline void bgc_fp32_vector3_revert(BGC_FP32_Vector3* vector) { vector->x1 = -vector->x1; vector->x2 = -vector->x2; vector->x3 = -vector->x3; } -inline void bgc_vector3_make_opposite_fp64(BgcVector3FP64* vector) +inline void bgc_fp64_vector3_revert(BGC_FP64_Vector3* vector) { vector->x1 = -vector->x1; vector->x2 = -vector->x2; vector->x3 = -vector->x3; } -inline void bgc_vector3_get_opposite_fp32(const BgcVector3FP32* vector, BgcVector3FP32* opposite) +inline void bgc_fp32_vector3_get_reverse(BGC_FP32_Vector3* reverse, const BGC_FP32_Vector3* vector) { - opposite->x1 = -vector->x1; - opposite->x2 = -vector->x2; - opposite->x3 = -vector->x3; + reverse->x1 = -vector->x1; + reverse->x2 = -vector->x2; + reverse->x3 = -vector->x3; } -inline void bgc_vector3_get_opposite_fp64(const BgcVector3FP64* vector, BgcVector3FP64* opposite) +inline void bgc_fp64_vector3_get_reverse(BGC_FP64_Vector3* reverse, const BGC_FP64_Vector3* vector) { - opposite->x1 = -vector->x1; - opposite->x2 = -vector->x2; - opposite->x3 = -vector->x3; + reverse->x1 = -vector->x1; + reverse->x2 = -vector->x2; + reverse->x3 = -vector->x3; } // ================= Normalize ================== // -inline int bgc_vector3_normalize_fp32(BgcVector3FP32* vector) +inline int bgc_fp32_vector3_normalize(BGC_FP32_Vector3* vector) { - const float square_modulus = bgc_vector3_get_square_modulus_fp32(vector); + const float square_modulus = bgc_fp32_vector3_get_square_modulus(vector); - if (bgc_is_sqare_unit_fp32(square_modulus)) { + if (bgc_fp32_is_square_unit(square_modulus)) { return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -339,15 +339,15 @@ inline int bgc_vector3_normalize_fp32(BgcVector3FP32* vector) return 1; } -inline int bgc_vector3_normalize_fp64(BgcVector3FP64* vector) +inline int bgc_fp64_vector3_normalize(BGC_FP64_Vector3* vector) { - const double square_modulus = bgc_vector3_get_square_modulus_fp64(vector); + const double square_modulus = bgc_fp64_vector3_get_square_modulus(vector); - if (bgc_is_sqare_unit_fp64(square_modulus)) { + if (bgc_fp64_is_square_unit(square_modulus)) { return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { return 0; } @@ -360,64 +360,64 @@ inline int bgc_vector3_normalize_fp64(BgcVector3FP64* vector) return 1; } -inline int bgc_vector3_get_normalized_fp32(const BgcVector3FP32* vector, BgcVector3FP32* normalized) +inline int bgc_fp32_vector3_get_normalized(BGC_FP32_Vector3* normalized, const BGC_FP32_Vector3* vector) { - const float square_modulus = bgc_vector3_get_square_modulus_fp32(vector); + const float square_modulus = bgc_fp32_vector3_get_square_modulus(vector); - if (bgc_is_sqare_unit_fp32(square_modulus)) { - bgc_vector3_copy_fp32(vector, normalized); + if (bgc_fp32_is_square_unit(square_modulus)) { + bgc_fp32_vector3_copy(normalized, vector); return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { - bgc_vector3_reset_fp32(normalized); + if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) { + bgc_fp32_vector3_reset(normalized); return 0; } - bgc_vector3_multiply_fp32(vector, sqrtf(1.0f / square_modulus), normalized); + bgc_fp32_vector3_multiply(normalized, vector, sqrtf(1.0f / square_modulus)); return 1; } -inline int bgc_vector3_get_normalized_fp64(const BgcVector3FP64* vector, BgcVector3FP64* normalized) +inline int bgc_fp64_vector3_get_normalized(BGC_FP64_Vector3* normalized, const BGC_FP64_Vector3* vector) { - const double square_modulus = bgc_vector3_get_square_modulus_fp64(vector); + const double square_modulus = bgc_fp64_vector3_get_square_modulus(vector); - if (bgc_is_sqare_unit_fp64(square_modulus)) { - bgc_vector3_copy_fp64(vector, normalized); + if (bgc_fp64_is_square_unit(square_modulus)) { + bgc_fp64_vector3_copy(normalized, vector); return 1; } - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { - bgc_vector3_reset_fp64(normalized); + if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) { + bgc_fp64_vector3_reset(normalized); return 0; } - bgc_vector3_multiply_fp64(vector, sqrt(1.0 / square_modulus), normalized); + bgc_fp64_vector3_multiply(normalized, vector, sqrt(1.0 / square_modulus)); return 1; } // =============== Scalar Product =============== // -inline float bgc_vector3_get_scalar_product_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2) +inline float bgc_fp32_vector3_get_dot_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2) { return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3; } -inline double bgc_vector3_get_scalar_product_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2) +inline double bgc_fp64_vector3_get_dot_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2) { return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3; } // =============== Triple Product =============== // -inline float bgc_vector3_get_triple_product_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcVector3FP32* vector3) +inline float bgc_fp32_vector3_get_triple_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3) { return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2) + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3) + vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1); } -inline double bgc_vector3_get_triple_product_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcVector3FP64* vector3) +inline double bgc_fp64_vector3_get_triple_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3) { return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2) + vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3) @@ -426,7 +426,7 @@ inline double bgc_vector3_get_triple_product_fp64(const BgcVector3FP64* vector1, // =============== Cross Product ================ // -inline void bgc_vector3_get_cross_product_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, BgcVector3FP32* product) +inline void bgc_fp32_vector3_get_cross_product(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2) { const float x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2; const float x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3; @@ -437,7 +437,7 @@ inline void bgc_vector3_get_cross_product_fp32(const BgcVector3FP32* vector1, co product->x3 = x3; } -inline void bgc_vector3_get_cross_product_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, BgcVector3FP64* product) +inline void bgc_fp64_vector3_get_cross_product(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2) { const double x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2; const double x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3; @@ -450,20 +450,20 @@ inline void bgc_vector3_get_cross_product_fp64(const BgcVector3FP64* vector1, co // ============ Double Cross Product ============ // -inline void bgc_vector3_get_double_cross_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcVector3FP32* vector3, BgcVector3FP32* product) +inline void bgc_fp32_vector3_get_double_cross(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3) { - const float ac = bgc_vector3_get_scalar_product_fp32(vector1, vector3); - const float ab = bgc_vector3_get_scalar_product_fp32(vector1, vector2); + const float ac = bgc_fp32_vector3_get_dot_product(vector1, vector3); + const float ab = bgc_fp32_vector3_get_dot_product(vector1, vector2); product->x1 = vector2->x1 * ac - vector3->x1 * ab; product->x2 = vector2->x2 * ac - vector3->x2 * ab; product->x3 = vector2->x3 * ac - vector3->x3 * ab; } -inline void bgc_vector3_get_double_cross_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcVector3FP64* vector3, BgcVector3FP64* product) +inline void bgc_fp64_vector3_get_double_cross(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3) { - const double ac = bgc_vector3_get_scalar_product_fp64(vector1, vector3); - const double ab = bgc_vector3_get_scalar_product_fp64(vector1, vector2); + const double ac = bgc_fp64_vector3_get_dot_product(vector1, vector3); + const double ab = bgc_fp64_vector3_get_dot_product(vector1, vector2); product->x1 = vector2->x1 * ac - vector3->x1 * ab; product->x2 = vector2->x2 * ac - vector3->x2 * ab; @@ -472,13 +472,13 @@ inline void bgc_vector3_get_double_cross_fp64(const BgcVector3FP64* vector1, con // =================== Angle ==================== // -float bgc_vector3_get_angle_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcAngleUnitEnum angle_unit); +float bgc_fp32_vector3_get_angle(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const int angle_unit); -double bgc_vector3_get_angle_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcAngleUnitEnum angle_unit); +double bgc_fp64_vector3_get_angle(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const int angle_unit); // =============== Square Distance ============== // -inline float bgc_vector3_get_square_distance_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2) +inline float bgc_fp32_vector3_get_square_distance(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2) { const float dx1 = (vector1->x1 - vector2->x1); const float dx2 = (vector1->x2 - vector2->x2); @@ -487,7 +487,7 @@ inline float bgc_vector3_get_square_distance_fp32(const BgcVector3FP32* vector1, return dx1 * dx1 + dx2 * dx2 + dx3 * dx3; } -inline double bgc_vector3_get_square_distance_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2) +inline double bgc_fp64_vector3_get_square_distance(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2) { const double dx1 = (vector1->x1 - vector2->x1); const double dx2 = (vector1->x2 - vector2->x2); @@ -498,172 +498,172 @@ inline double bgc_vector3_get_square_distance_fp64(const BgcVector3FP64* vector1 // ================== Distance ================== // -inline float bgc_vector3_get_distance_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2) +inline float bgc_fp32_vector3_get_distance(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2) { - return sqrtf(bgc_vector3_get_square_distance_fp32(vector1, vector2)); + return sqrtf(bgc_fp32_vector3_get_square_distance(vector1, vector2)); } -inline double bgc_vector3_get_distance_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2) +inline double bgc_fp64_vector3_get_distance(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2) { - return sqrt(bgc_vector3_get_square_distance_fp64(vector1, vector2)); + return sqrt(bgc_fp64_vector3_get_square_distance(vector1, vector2)); } // ============== Are Close Enough ============== // -inline int bgc_vector3_are_close_enough_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const float distance_limit) +inline int bgc_fp32_vector3_are_close_enough(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const float distance_limit) { - return bgc_vector3_get_square_distance_fp32(vector1, vector2) <= distance_limit * distance_limit; + return bgc_fp32_vector3_get_square_distance(vector1, vector2) <= distance_limit * distance_limit; } -inline int bgc_vector3_are_close_enough_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const double distance_limit) +inline int bgc_fp64_vector3_are_close_enough(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double distance_limit) { - return bgc_vector3_get_square_distance_fp64(vector1, vector2) <= distance_limit * distance_limit; + return bgc_fp64_vector3_get_square_distance(vector1, vector2) <= distance_limit * distance_limit; } // ================== Are Close ================= // -inline int bgc_vector3_are_close_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2) +inline int bgc_fp32_vector3_are_close(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2) { - const float square_modulus1 = bgc_vector3_get_square_modulus_fp32(vector1); - const float square_modulus2 = bgc_vector3_get_square_modulus_fp32(vector2); - const float square_distance = bgc_vector3_get_square_distance_fp32(vector1, vector2); + const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1); + const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2); + const float square_distance = bgc_fp32_vector3_get_square_distance(vector1, vector2); - if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) { - return square_distance <= BGC_SQUARE_EPSYLON_FP32; + if (square_modulus1 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT) { + return square_distance <= BGC_FP32_SQUARE_EPSILON; } - return square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus2; + return square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus2; } -inline int bgc_vector3_are_close_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2) +inline int bgc_fp64_vector3_are_close(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2) { - const double square_modulus1 = bgc_vector3_get_square_modulus_fp64(vector1); - const double square_modulus2 = bgc_vector3_get_square_modulus_fp64(vector2); - const double square_distance = bgc_vector3_get_square_distance_fp64(vector1, vector2); + const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1); + const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2); + const double square_distance = bgc_fp64_vector3_get_square_distance(vector1, vector2); - if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) { - return square_distance <= BGC_SQUARE_EPSYLON_FP64; + if (square_modulus1 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT) { + return square_distance <= BGC_FP64_SQUARE_EPSILON; } - return square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus2; + return square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus2; } // ================== Parallel ================== // -inline int bgc_vector3_are_parallel_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2) +inline int bgc_fp32_vector3_are_parallel(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2) { - const float square_modulus1 = bgc_vector3_get_square_modulus_fp32(vector1); - const float square_modulus2 = bgc_vector3_get_square_modulus_fp32(vector2); + const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1); + const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32 || square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) { + if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON || square_modulus2 <= BGC_FP32_SQUARE_EPSILON) { return 1; } - BgcVector3FP32 product; + BGC_FP32_Vector3 product; - bgc_vector3_get_cross_product_fp32(vector1, vector2, &product); + bgc_fp32_vector3_get_cross_product(&product, vector1, vector2); - return bgc_vector3_get_square_modulus_fp32(&product) <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 * square_modulus2; + return bgc_fp32_vector3_get_square_modulus(&product) <= BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2; } -inline int bgc_vector3_are_parallel_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2) +inline int bgc_fp64_vector3_are_parallel(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2) { - const double square_modulus1 = bgc_vector3_get_square_modulus_fp64(vector1); - const double square_modulus2 = bgc_vector3_get_square_modulus_fp64(vector2); + const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1); + const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64 || square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) { + if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON || square_modulus2 <= BGC_FP64_SQUARE_EPSILON) { return 1; } - BgcVector3FP64 product; + BGC_FP64_Vector3 product; - bgc_vector3_get_cross_product_fp64(vector1, vector2, &product); + bgc_fp64_vector3_get_cross_product(&product, vector1, vector2); - return bgc_vector3_get_square_modulus_fp64(&product) <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 * square_modulus2; + return bgc_fp64_vector3_get_square_modulus(&product) <= BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2; } // ================= Orthogonal ================= // -inline int bgc_vector3_are_orthogonal_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2) +inline int bgc_fp32_vector3_are_orthogonal(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2) { - const float square_modulus1 = bgc_vector3_get_square_modulus_fp32(vector1); - const float square_modulus2 = bgc_vector3_get_square_modulus_fp32(vector2); + const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1); + const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32 || square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) { + if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON || square_modulus2 <= BGC_FP32_SQUARE_EPSILON) { return 1; } - const float scalar_product = bgc_vector3_get_scalar_product_fp32(vector1, vector2); + const float scalar_product = bgc_fp32_vector3_get_dot_product(vector1, vector2); - return scalar_product * scalar_product <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 * square_modulus2; + return scalar_product * scalar_product <= BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2; } -inline int bgc_vector3_are_orthogonal_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2) +inline int bgc_fp64_vector3_are_orthogonal(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2) { - const double square_modulus1 = bgc_vector3_get_square_modulus_fp64(vector1); - const double square_modulus2 = bgc_vector3_get_square_modulus_fp64(vector2); + const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1); + const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64 || square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) { + if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON || square_modulus2 <= BGC_FP64_SQUARE_EPSILON) { return 1; } - const double scalar_product = bgc_vector3_get_scalar_product_fp64(vector1, vector2); + const double scalar_product = bgc_fp64_vector3_get_dot_product(vector1, vector2); - return scalar_product * scalar_product <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 * square_modulus2; + return scalar_product * scalar_product <= BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2; } // ================== Attitude ================== // -inline int bgc_vector3_get_attitude_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2) +inline int bgc_fp32_vector3_get_attitude(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2) { - const float square_modulus1 = bgc_vector3_get_square_modulus_fp32(vector1); - const float square_modulus2 = bgc_vector3_get_square_modulus_fp32(vector2); + const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1); + const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32 || square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) { + if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON || square_modulus2 <= BGC_FP32_SQUARE_EPSILON) { return BGC_ATTITUDE_ZERO; } - const float square_limit = BGC_SQUARE_EPSYLON_FP32 * square_modulus1 * square_modulus2; + const float square_limit = BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2; - const float scalar_product = bgc_vector3_get_scalar_product_fp32(vector1, vector2); + const float scalar_product = bgc_fp32_vector3_get_dot_product(vector1, vector2); if (scalar_product * scalar_product <= square_limit) { return BGC_ATTITUDE_ORTHOGONAL; } - BgcVector3FP32 product; + BGC_FP32_Vector3 product; - bgc_vector3_get_cross_product_fp32(vector1, vector2, &product); + bgc_fp32_vector3_get_cross_product(&product, vector1, vector2); - if (bgc_vector3_get_square_modulus_fp32(&product) > square_limit) { + if (bgc_fp32_vector3_get_square_modulus(&product) > square_limit) { return BGC_ATTITUDE_ANY; } return scalar_product > 0.0f ? BGC_ATTITUDE_CO_DIRECTIONAL : BGC_ATTITUDE_COUNTER_DIRECTIONAL; } -inline int bgc_vector3_get_attitude_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2) +inline int bgc_fp64_vector3_get_attitude(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2) { - const double square_modulus1 = bgc_vector3_get_square_modulus_fp64(vector1); - const double square_modulus2 = bgc_vector3_get_square_modulus_fp64(vector2); + const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1); + const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2); - if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64 || square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) { + if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON || square_modulus2 <= BGC_FP64_SQUARE_EPSILON) { return BGC_ATTITUDE_ZERO; } - const double square_limit = BGC_SQUARE_EPSYLON_FP64 * square_modulus1 * square_modulus2; + const double square_limit = BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2; - const double scalar_product = bgc_vector3_get_scalar_product_fp64(vector1, vector2); + const double scalar_product = bgc_fp64_vector3_get_dot_product(vector1, vector2); if (scalar_product * scalar_product <= square_limit) { return BGC_ATTITUDE_ORTHOGONAL; } - BgcVector3FP64 product; + BGC_FP64_Vector3 product; - bgc_vector3_get_cross_product_fp64(vector1, vector2, &product); + bgc_fp64_vector3_get_cross_product(&product, vector1, vector2); - if (bgc_vector3_get_square_modulus_fp64(&product) > square_limit) { + if (bgc_fp64_vector3_get_square_modulus(&product) > square_limit) { return BGC_ATTITUDE_ANY; } diff --git a/basic-geometry/versor.c b/basic-geometry/versor.c deleted file mode 100644 index e9eed87..0000000 --- a/basic-geometry/versor.c +++ /dev/null @@ -1,584 +0,0 @@ -#include - -#include "angle.h" -#include "versor.h" - -const BgcVersorFP32 BGC_IDLE_VERSOR_FP32 = { 1.0f, 0.0f, 0.0f, 0.0f }; - -const BgcVersorFP64 BGC_IDLE_VERSOR_FP64 = { 1.0, 0.0, 0.0, 0.0 }; - -extern inline void bgc_versor_reset_fp32(BgcVersorFP32* versor); -extern inline void bgc_versor_reset_fp64(BgcVersorFP64* versor); - -extern inline void bgc_versor_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcVersorFP32* versor); -extern inline void bgc_versor_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcVersorFP64* versor); - -extern inline void bgc_versor_set_rotation_fp32(const BgcRotation3FP32* rotation, BgcVersorFP32* result); -extern inline void bgc_versor_set_rotation_fp64(const BgcRotation3FP64* rotation, BgcVersorFP64* result); - -extern inline void bgc_versor_copy_fp32(const BgcVersorFP32* source, BgcVersorFP32* destination); -extern inline void bgc_versor_copy_fp64(const BgcVersorFP64* source, BgcVersorFP64* destination); - -extern inline void bgc_versor_swap_fp32(BgcVersorFP32* versor1, BgcVersorFP32* versor2); -extern inline void bgc_versor_swap_fp64(BgcVersorFP64* versor1, BgcVersorFP64* versor2); - -extern inline int bgc_versor_is_identity_fp32(const BgcVersorFP32* versor); -extern inline int bgc_versor_is_identity_fp64(const BgcVersorFP64* versor); - -extern inline void bgc_versor_convert_fp64_to_fp32(const BgcVersorFP64* source, BgcVersorFP32* destination); -extern inline void bgc_versor_convert_fp32_to_fp64(const BgcVersorFP32* source, BgcVersorFP64* destination); - -extern inline void bgc_versor_shorten_fp32(BgcVersorFP32* versor); -extern inline void bgc_versor_shorten_fp64(BgcVersorFP64* versor); - -extern inline void bgc_versor_get_shortened_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened); -extern inline void bgc_versor_get_shortened_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened); - -extern inline void bgc_versor_make_opposite_fp32(BgcVersorFP32* versor); -extern inline void bgc_versor_make_opposite_fp64(BgcVersorFP64* versor); - -extern inline void bgc_versor_get_opposite_fp32(const BgcVersorFP32* versor, BgcVersorFP32* opposite); -extern inline void bgc_versor_get_opposite_fp64(const BgcVersorFP64* versor, BgcVersorFP64* opposite); - -extern inline void bgc_versor_invert_fp32(BgcVersorFP32* versor); -extern inline void bgc_versor_invert_fp64(BgcVersorFP64* versor); - -extern inline void bgc_versor_get_inverse_fp32(const BgcVersorFP32* versor, BgcVersorFP32* inverse); -extern inline void bgc_versor_get_inverse_fp64(const BgcVersorFP64* versor, BgcVersorFP64* inverse); - -extern inline void bgc_versor_combine_fp32(const BgcVersorFP32* first, const BgcVersorFP32* second, BgcVersorFP32* result); -extern inline void bgc_versor_combine_fp64(const BgcVersorFP64* first, const BgcVersorFP64* second, BgcVersorFP64* result); - -extern inline void bgc_versor_combine3_fp32(const BgcVersorFP32* first, const BgcVersorFP32* second, const BgcVersorFP32* third, BgcVersorFP32* result); -extern inline void bgc_versor_combine3_fp64(const BgcVersorFP64* first, const BgcVersorFP64* second, const BgcVersorFP64* third, BgcVersorFP64* result); - -extern inline void bgc_versor_exclude_fp32(const BgcVersorFP32* base, const BgcVersorFP32* excludant, BgcVersorFP32* difference); -extern inline void bgc_versor_exclude_fp64(const BgcVersorFP64* base, const BgcVersorFP64* excludant, BgcVersorFP64* difference); - -extern inline void bgc_versor_get_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix); -extern inline void bgc_versor_get_rotation_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix); - -extern inline void bgc_versor_get_reverse_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix); -extern inline void bgc_versor_get_reverse_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix); - -extern inline void bgc_versor_get_both_matrices_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse); -extern inline void bgc_versor_get_both_matrices_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse); - -extern inline void bgc_versor_turn_vector_fp32(const BgcVersorFP32* versor, const BgcVector3FP32* vector, BgcVector3FP32* result); -extern inline void bgc_versor_turn_vector_fp64(const BgcVersorFP64* versor, const BgcVector3FP64* vector, BgcVector3FP64* result); - -extern inline void bgc_versor_turn_vector_back_fp32(const BgcVersorFP32* versor, const BgcVector3FP32* vector, BgcVector3FP32* result); -extern inline void bgc_versor_turn_vector_back_fp64(const BgcVersorFP64* versor, const BgcVector3FP64* vector, BgcVector3FP64* result); - -extern inline int bgc_versor_are_close_fp32(const BgcVersorFP32* versor1, const BgcVersorFP32* versor2); -extern inline int bgc_versor_are_close_fp64(const BgcVersorFP64* versor1, const BgcVersorFP64* versor2); - -// ================= Normalize ================== // - -void _bgc_versor_normalize_fp32(const float square_modulus, BgcVersorFP32* versor) -{ - // (square_modulus != square_modulus) is true when square_modulus is NaN - - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) { - versor->_s0 = 1.0f; - versor->_x1 = 0.0f; - versor->_x2 = 0.0f; - versor->_x3 = 0.0f; - return; - } - - const float multiplier = sqrtf(1.0f / square_modulus); - - versor->_s0 *= multiplier; - versor->_x1 *= multiplier; - versor->_x2 *= multiplier; - versor->_x3 *= multiplier; -} - -void _bgc_versor_normalize_fp64(const double square_modulus, BgcVersorFP64* versor) -{ - // (square_modulus != square_modulus) is true when square_modulus is NaN - - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) { - versor->_s0 = 1.0; - versor->_x1 = 0.0; - versor->_x2 = 0.0; - versor->_x3 = 0.0; - return; - } - - const double multiplier = sqrt(1.0 / square_modulus); - - versor->_s0 *= multiplier; - versor->_x1 *= multiplier; - versor->_x2 *= multiplier; - versor->_x3 *= multiplier; -} - -// ================== Set Turn ================== // - -void bgc_versor_set_turn_fp32(const float x1, const float x2, const float x3, const float angle, const BgcAngleUnitEnum unit, BgcVersorFP32* result) -{ - const float square_vector = x1 * x1 + x2 * x2 + x3 * x3; - - if (square_vector <= BGC_SQUARE_EPSYLON_FP32) { - bgc_versor_reset_fp32(result); - return; - } - - const float half_angle = bgc_angle_to_radians_fp32(0.5f * angle, unit); - - const float sine = sinf(half_angle); - - if (bgc_is_zero_fp32(sine)) { - bgc_versor_reset_fp32(result); - return; - } - - const float multiplier = sine / sqrtf(square_vector); - - bgc_versor_set_values_fp32(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result); -} - -void bgc_versor_set_turn_fp64(const double x1, const double x2, const double x3, const double angle, const BgcAngleUnitEnum unit, BgcVersorFP64* result) -{ - const double square_vector = x1 * x1 + x2 * x2 + x3 * x3; - - if (square_vector <= BGC_SQUARE_EPSYLON_FP64) { - bgc_versor_reset_fp64(result); - return; - } - - const double half_angle = bgc_angle_to_radians_fp64(0.5 * angle, unit); - - const double sine = sin(half_angle); - - if (bgc_is_zero_fp64(sine)) { - bgc_versor_reset_fp64(result); - return; - } - - const double multiplier = sine / sqrt(square_vector); - - bgc_versor_set_values_fp64(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result); -} - -// ========= Make Direction Difference ========== // - -static int _bgc_versor_make_direction_turn_fp32(const BgcVector3FP32* start, const BgcVector3FP32* end, const float square_modulus_product, BgcVersorFP32* result) -{ - BgcVector3FP32 orthogonal_axis; - - bgc_vector3_get_cross_product_fp32(start, end, &orthogonal_axis); - - const float scalar_product = bgc_vector3_get_scalar_product_fp32(start, end); - const float square_modulus = bgc_vector3_get_square_modulus_fp32(&orthogonal_axis); - const float square_sine = square_modulus / square_modulus_product; - - if (square_sine > BGC_SQUARE_EPSYLON_FP32) { - const float cosine = scalar_product / sqrtf(square_modulus_product); - const float angle = 0.5f * atan2f(sqrtf(square_sine), cosine); - - const float multiplier = sinf(angle) * sqrtf(1.0f / square_modulus); - - bgc_versor_set_values_fp32(cosf(angle), orthogonal_axis.x1 * multiplier, orthogonal_axis.x2 * multiplier, orthogonal_axis.x3 * multiplier, result); - return BGC_SOME_TURN; - } - - if (scalar_product < 0.0f) { - return BGC_OPPOSITE; - } - - bgc_versor_reset_fp32(result); - return BGC_ZERO_TURN; -} - -static int _bgc_versor_make_direction_turn_fp64(const BgcVector3FP64* start, const BgcVector3FP64* end, const double square_modulus_product, BgcVersorFP64* result) -{ - BgcVector3FP64 orthogonal_axis; - - bgc_vector3_get_cross_product_fp64(start, end, &orthogonal_axis); - - const double scalar_product = bgc_vector3_get_scalar_product_fp64(start, end); - const double square_modulus = bgc_vector3_get_square_modulus_fp64(&orthogonal_axis); - const double square_sine = square_modulus / square_modulus_product; - - if (square_sine > BGC_SQUARE_EPSYLON_FP64) { - const double cosine = scalar_product / sqrt(square_modulus_product); - const double angle = 0.5 * atan2(sqrt(square_sine), cosine); - - const double multiplier = sin(angle) * sqrt(1.0f / square_modulus); - - bgc_versor_set_values_fp64(cos(angle), orthogonal_axis.x1 * multiplier, orthogonal_axis.x2 * multiplier, orthogonal_axis.x3 * multiplier, result); - return BGC_SOME_TURN; - } - - if (scalar_product < 0.0) { - return BGC_OPPOSITE; - } - - bgc_versor_reset_fp64(result); - return BGC_ZERO_TURN; -} - -int bgc_versor_make_direction_difference_fp32(const BgcVector3FP32* start, const BgcVector3FP32* end, BgcVersorFP32* result) -{ - const float start_square_modulus = bgc_vector3_get_square_modulus_fp32(start); - const float end_square_modulus = bgc_vector3_get_square_modulus_fp32(end); - - if (start_square_modulus <= BGC_SQUARE_EPSYLON_FP32 || end_square_modulus <= BGC_SQUARE_EPSYLON_FP32) { - bgc_versor_reset_fp32(result); - return BGC_ZERO_TURN; - } - - return _bgc_versor_make_direction_turn_fp32(start, end, start_square_modulus * end_square_modulus, result); -} - -int bgc_versor_make_direction_difference_fp64(const BgcVector3FP64* start, const BgcVector3FP64* end, BgcVersorFP64* result) -{ - const double start_square_modulus = bgc_vector3_get_square_modulus_fp64(start); - const double end_square_modulus = bgc_vector3_get_square_modulus_fp64(end); - - if (start_square_modulus <= BGC_SQUARE_EPSYLON_FP64 || end_square_modulus <= BGC_SQUARE_EPSYLON_FP64) { - bgc_versor_reset_fp64(result); - return BGC_ZERO_TURN; - } - - return _bgc_versor_make_direction_turn_fp64(start, end, start_square_modulus * end_square_modulus, result); -} - -// =============== Set Directions =============== // - -static int _bgc_versor_validate_basis_fp32(const float primary_square_modulus, const float auxiliary_square_modulus, const float orthogonal_square_modulus) -{ - if (primary_square_modulus <= BGC_SQUARE_EPSYLON_FP32) { - //TODO: add error code for: primary_vector is zero - return BGC_FAILED; - } - - if (auxiliary_square_modulus <= BGC_SQUARE_EPSYLON_FP32) { - //TODO: add error code for: auxiliary_vector is zero - return BGC_FAILED; - } - - if (orthogonal_square_modulus <= BGC_SQUARE_EPSYLON_FP32 * primary_square_modulus * auxiliary_square_modulus) { - //TODO: add error code for: primary_vector and auxiliary_vector are parallel - return BGC_FAILED; - } - - return BGC_SUCCESS; -} - -static int _bgc_versor_validate_basis_fp64(const double primary_square_modulus, const double auxiliary_square_modulus, const double orthogonal_square_modulus) -{ - if (primary_square_modulus <= BGC_SQUARE_EPSYLON_FP64) { - //TODO: add error code for: primary_vector is zero - return BGC_FAILED; - } - - if (auxiliary_square_modulus <= BGC_SQUARE_EPSYLON_FP64) { - //TODO: add error code for: auxiliary_vector is zero - return BGC_FAILED; - } - - if (orthogonal_square_modulus <= BGC_SQUARE_EPSYLON_FP64 * primary_square_modulus * auxiliary_square_modulus) { - //TODO: add error code for: primary_vector and auxiliary_vector are parallel - return BGC_FAILED; - } - - return BGC_SUCCESS; -} - -int bgc_versor_make_basis_difference_fp32( - const BgcVector3FP32* initial_primary_direction, - const BgcVector3FP32* initial_auxiliary_direction, - const BgcVector3FP32* final_primary_direction, - const BgcVector3FP32* final_auxiliary_direction, - BgcVersorFP32* result -) -{ - BgcVector3FP32 initial_orthogonal_direction, turned_orthogonal_direction, final_orthogonal_direction; - - // Step 1: Validate initial basis: - bgc_vector3_get_cross_product_fp32(initial_primary_direction, initial_auxiliary_direction, &initial_orthogonal_direction); - - const float initial_primary_square_modulus = bgc_vector3_get_square_modulus_fp32(initial_primary_direction); - const float initial_auxiliary_square_modulus = bgc_vector3_get_square_modulus_fp32(initial_auxiliary_direction); - const float initial_orthogonal_square_modulus = bgc_vector3_get_square_modulus_fp32(&initial_orthogonal_direction); - - const int initial_basis_valudation = _bgc_versor_validate_basis_fp32(initial_primary_square_modulus, initial_auxiliary_square_modulus, initial_orthogonal_square_modulus); - - if (initial_basis_valudation != BGC_SUCCESS) { - return initial_basis_valudation; - } - - // Step 1: Validate final basis: - bgc_vector3_get_cross_product_fp32(final_primary_direction, final_auxiliary_direction, &final_orthogonal_direction); - - const float final_primary_square_modulus = bgc_vector3_get_square_modulus_fp32(final_primary_direction); - const float final_auxiliary_square_modulus = bgc_vector3_get_square_modulus_fp32(final_auxiliary_direction); - const float final_orthogonal_square_modulus = bgc_vector3_get_square_modulus_fp32(&final_orthogonal_direction); - - const int final_basis_valudation = _bgc_versor_validate_basis_fp32(final_primary_square_modulus, final_auxiliary_square_modulus, final_orthogonal_square_modulus); - - if (final_basis_valudation != BGC_SUCCESS) { - return final_basis_valudation; - } - - // Step 3: Validate normalize orthogonal vectors: - bgc_vector3_divide_fp32(&initial_orthogonal_direction, sqrtf(initial_orthogonal_square_modulus), &initial_orthogonal_direction); - bgc_vector3_divide_fp32(&final_orthogonal_direction, sqrtf(final_orthogonal_square_modulus), &final_orthogonal_direction); - - BgcVersorFP32 turn1, turn2; - - // Step 4: Find turn1 - int turn1_code = _bgc_versor_make_direction_turn_fp32(initial_primary_direction, final_primary_direction, initial_primary_square_modulus * final_primary_square_modulus, &turn1); - - if (turn1_code == BGC_OPPOSITE) { - bgc_versor_set_values_fp32(0.0f, initial_orthogonal_direction.x1, initial_orthogonal_direction.x2, initial_orthogonal_direction.x3, &turn1); - } - - bgc_versor_turn_vector_fp32(&turn1, &initial_orthogonal_direction, &turned_orthogonal_direction); - - // Step 5: Find turn2: - int turn2_code = _bgc_versor_make_direction_turn_fp32(&turned_orthogonal_direction, &final_orthogonal_direction, 1.0f, &turn2); - - if (turn2_code == BGC_OPPOSITE) { - const float turn2_multiplier = sqrtf(1.0f / final_primary_square_modulus); - - bgc_versor_set_values_fp32(0.0f, - final_primary_direction->x1 * turn2_multiplier, - final_primary_direction->x2 * turn2_multiplier, - final_primary_direction->x3 * turn2_multiplier, - &turn2 - ); - } - - // Step 6: Combine turn1 and turn2: - bgc_versor_combine_fp32(&turn1, &turn2, result); - - return BGC_SUCCESS; -} - -int bgc_versor_make_basis_difference_fp64( - const BgcVector3FP64* initial_primary_direction, - const BgcVector3FP64* initial_auxiliary_direction, - const BgcVector3FP64* final_primary_direction, - const BgcVector3FP64* final_auxiliary_direction, - BgcVersorFP64* result -) -{ - BgcVector3FP64 initial_orthogonal_direction, turned_orthogonal_direction, final_orthogonal_direction; - - // Step 1: Validate initial basis: - bgc_vector3_get_cross_product_fp64(initial_primary_direction, initial_auxiliary_direction, &initial_orthogonal_direction); - - const double initial_primary_square_modulus = bgc_vector3_get_square_modulus_fp64(initial_primary_direction); - const double initial_auxiliary_square_modulus = bgc_vector3_get_square_modulus_fp64(initial_auxiliary_direction); - const double initial_orthogonal_square_modulus = bgc_vector3_get_square_modulus_fp64(&initial_orthogonal_direction); - - const int initial_basis_valudation = _bgc_versor_validate_basis_fp64(initial_primary_square_modulus, initial_auxiliary_square_modulus, initial_orthogonal_square_modulus); - - if (initial_basis_valudation != BGC_SUCCESS) { - return initial_basis_valudation; - } - - // Step 1: Validate final basis: - bgc_vector3_get_cross_product_fp64(final_primary_direction, final_auxiliary_direction, &final_orthogonal_direction); - - const double final_primary_square_modulus = bgc_vector3_get_square_modulus_fp64(final_primary_direction); - const double final_auxiliary_square_modulus = bgc_vector3_get_square_modulus_fp64(final_auxiliary_direction); - const double final_orthogonal_square_modulus = bgc_vector3_get_square_modulus_fp64(&final_orthogonal_direction); - - const int final_basis_valudation = _bgc_versor_validate_basis_fp64(final_primary_square_modulus, final_auxiliary_square_modulus, final_orthogonal_square_modulus); - - if (final_basis_valudation != BGC_SUCCESS) { - return final_basis_valudation; - } - - // Step 3: Validate normalize orthogonal vectors: - bgc_vector3_divide_fp64(&initial_orthogonal_direction, sqrt(initial_orthogonal_square_modulus), &initial_orthogonal_direction); - bgc_vector3_divide_fp64(&final_orthogonal_direction, sqrt(final_orthogonal_square_modulus), &final_orthogonal_direction); - - BgcVersorFP64 turn1, turn2; - - // Step 4: Find turn1 - int turn1_code = _bgc_versor_make_direction_turn_fp64(initial_primary_direction, final_primary_direction, initial_primary_square_modulus * final_primary_square_modulus, &turn1); - - if (turn1_code == BGC_OPPOSITE) { - bgc_versor_set_values_fp64(0.0, initial_orthogonal_direction.x1, initial_orthogonal_direction.x2, initial_orthogonal_direction.x3, &turn1); - } - - bgc_versor_turn_vector_fp64(&turn1, &initial_orthogonal_direction, &turned_orthogonal_direction); - - // Step 5: Find turn2: - int turn2_code = _bgc_versor_make_direction_turn_fp64(&turned_orthogonal_direction, &final_orthogonal_direction, 1.0f, &turn2); - - if (turn2_code == BGC_OPPOSITE) { - const double turn2_multiplier = sqrt(1.0 / final_primary_square_modulus); - - bgc_versor_set_values_fp64(0.0, - final_primary_direction->x1 * turn2_multiplier, - final_primary_direction->x2 * turn2_multiplier, - final_primary_direction->x3 * turn2_multiplier, - &turn2 - ); - } - - // Step 6: Combine turn1 and turn2: - bgc_versor_combine_fp64(&turn1, &turn2, result); - - return BGC_SUCCESS; -} - -// =============== Get Exponation =============== // - -void bgc_versor_get_exponation_fp32(const BgcVersorFP32* base, const float exponent, BgcVersorFP32* power) -{ - const float square_vector = base->_x1 * base->_x1 + base->_x2 * base->_x2 + base->_x3 * base->_x3; - - if (square_vector <= BGC_SQUARE_EPSYLON_FP32 || square_vector != square_vector) { - bgc_versor_reset_fp32(power); - return; - } - - const float vector_modulus = sqrtf(square_vector); - - const float angle = atan2f(vector_modulus, base->_s0) * exponent; - - const float multiplier = sinf(angle) / vector_modulus; - - bgc_versor_set_values_fp32(cosf(angle), base->_x1 * multiplier, base->_x2 * multiplier, base->_x3 * multiplier, power); -} - -void bgc_versor_get_exponation_fp64(const BgcVersorFP64* base, const double exponent, BgcVersorFP64* power) -{ - const double square_vector = base->_x1 * base->_x1 + base->_x2 * base->_x2 + base->_x3 * base->_x3; - - if (square_vector <= BGC_SQUARE_EPSYLON_FP64 || square_vector != square_vector) { - bgc_versor_reset_fp64(power); - return; - } - - const double vector_modulus = sqrt(square_vector); - - const double angle = atan2(vector_modulus, base->_s0) * exponent; - - const double multiplier = sin(angle) / vector_modulus; - - bgc_versor_set_values_fp64(cos(angle), base->_x1 * multiplier, base->_x2 * multiplier, base->_x3 * multiplier, power); -} - -// ============ Sphere Interpolation ============ // - -void bgc_versor_spherically_interpolate_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, const float phase, BgcVersorFP32* result) -{ - const float delta_s0 = (end->_s0 * start->_s0 + end->_x1 * start->_x1) + (end->_x2 * start->_x2 + end->_x3 * start->_x3); - const float delta_x1 = (end->_x1 * start->_s0 + end->_x3 * start->_x2) - (end->_s0 * start->_x1 + end->_x2 * start->_x3); - const float delta_x2 = (end->_x2 * start->_s0 + end->_x1 * start->_x3) - (end->_s0 * start->_x2 + end->_x3 * start->_x1); - const float delta_x3 = (end->_x3 * start->_s0 + end->_x2 * start->_x1) - (end->_s0 * start->_x3 + end->_x1 * start->_x2); - - const float square_vector = delta_x1 * delta_x1 + delta_x2 * delta_x2 + delta_x3 * delta_x3; - - // square_vector != square_vector means checking for NaN value at square_vector - if (square_vector <= BGC_SQUARE_EPSYLON_FP32 || square_vector != square_vector) { - bgc_versor_copy_fp32(end, result); - return; - } - - // Calculating of the turning which fits the phase: - const float vector_modulus = sqrtf(square_vector); - const float angle = atan2f(vector_modulus, delta_s0) * phase; - const float multiplier = sinf(angle) / vector_modulus; - - const float turn_s0 = cosf(angle); - const float turn_x1 = delta_x1 * multiplier; - const float turn_x2 = delta_x2 * multiplier; - const float turn_x3 = delta_x3 * multiplier; - - // Combining of starting orientation with the turning - bgc_versor_set_values_fp32( - (turn_s0 * start->_s0 - turn_x1 * start->_x1) - (turn_x2 * start->_x2 + turn_x3 * start->_x3), - (turn_x1 * start->_s0 + turn_s0 * start->_x1) - (turn_x3 * start->_x2 - turn_x2 * start->_x3), - (turn_x2 * start->_s0 + turn_s0 * start->_x2) - (turn_x1 * start->_x3 - turn_x3 * start->_x1), - (turn_x3 * start->_s0 + turn_s0 * start->_x3) - (turn_x2 * start->_x1 - turn_x1 * start->_x2), - result - ); -} - -void bgc_versor_spherically_interpolate_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, const double phase, BgcVersorFP64* result) -{ - const double delta_s0 = (end->_s0 * start->_s0 + end->_x1 * start->_x1) + (end->_x2 * start->_x2 + end->_x3 * start->_x3); - const double delta_x1 = (end->_x1 * start->_s0 + end->_x3 * start->_x2) - (end->_s0 * start->_x1 + end->_x2 * start->_x3); - const double delta_x2 = (end->_x2 * start->_s0 + end->_x1 * start->_x3) - (end->_s0 * start->_x2 + end->_x3 * start->_x1); - const double delta_x3 = (end->_x3 * start->_s0 + end->_x2 * start->_x1) - (end->_s0 * start->_x3 + end->_x1 * start->_x2); - - const double square_vector = delta_x1 * delta_x1 + delta_x2 * delta_x2 + delta_x3 * delta_x3; - - // square_vector != square_vector means checking for NaN value at square_vector - if (square_vector <= BGC_SQUARE_EPSYLON_FP64 || square_vector != square_vector) { - bgc_versor_copy_fp64(end, result); - return; - } - - // Calculating of the turning which fits the phase: - const double vector_modulus = sqrt(square_vector); - const double angle = atan2(vector_modulus, delta_s0) * phase; - const double multiplier = sin(angle) / vector_modulus; - - const double turn_s0 = cos(angle); - const double turn_x1 = delta_x1 * multiplier; - const double turn_x2 = delta_x2 * multiplier; - const double turn_x3 = delta_x3 * multiplier; - - // Combining of starting orientation with the turning - bgc_versor_set_values_fp64( - (turn_s0 * start->_s0 - turn_x1 * start->_x1) - (turn_x2 * start->_x2 + turn_x3 * start->_x3), - (turn_x1 * start->_s0 + turn_s0 * start->_x1) - (turn_x3 * start->_x2 - turn_x2 * start->_x3), - (turn_x2 * start->_s0 + turn_s0 * start->_x2) - (turn_x1 * start->_x3 - turn_x3 * start->_x1), - (turn_x3 * start->_s0 + turn_s0 * start->_x3) - (turn_x2 * start->_x1 - turn_x1 * start->_x2), - result - ); -} - -// ================ Get Rotation ================ // - -void bgc_versor_get_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32* result) -{ - const float square_modulus = versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3; - - if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) { - bgc_rotation3_reset_fp32(result); - return; - } - - const float vector_modulus = sqrtf(square_modulus); - - const float multiplier = 1.0f / vector_modulus; - - result->radians = 2.0f * atan2f(vector_modulus, versor->_s0); - - result->axis.x1 = versor->_x1 * multiplier; - result->axis.x2 = versor->_x2 * multiplier; - result->axis.x3 = versor->_x3 * multiplier; -} - -void bgc_versor_get_rotation_fp64(const BgcVersorFP64* versor, BgcRotation3FP64* result) -{ - const double square_modulus = versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3; - - if (square_modulus <= BGC_SQUARE_EPSYLON_FP64) { - bgc_rotation3_reset_fp64(result); - return; - } - - const double vector_modulus = sqrt(square_modulus); - - const double multiplier = 1.0 / vector_modulus; - - result->radians = 2.0 * atan2(vector_modulus, versor->_s0); - - result->axis.x1 = versor->_x1 * multiplier; - result->axis.x2 = versor->_x2 * multiplier; - result->axis.x3 = versor->_x3 * multiplier; -} diff --git a/basic-geometry/versor.h b/basic-geometry/versor.h deleted file mode 100644 index 4b6ad20..0000000 --- a/basic-geometry/versor.h +++ /dev/null @@ -1,659 +0,0 @@ -#ifndef _BGC_VERSOR_H_ -#define _BGC_VERSOR_H_ - -#include - -#include "utilities.h" -#include "angle.h" -#include "vector3.h" -#include "rotation3.h" -#include "matrix3x3.h" -#include "quaternion.h" - -#define BGC_SOME_TURN 1 -#define BGC_ZERO_TURN 0 -#define BGC_OPPOSITE -1 - -#define BGC_ERROR_PRIMARY_DIRECTION_UNKNOWN -3001 -#define BGC_ERROR_PRIMARY_VECTOR_IS_ZERO -3002 - -#define BGC_ERROR_AUXILIARY_DIRECTION_UNKNOWN -3011 -#define BGC_ERROR_AUXILIARY_VECTOR_IS_ZERO -3012 - -#define BGC_ERROR_DIRECTIONS_PARALLEL -3021 -#define BGC_ERROR_VECTORS_PARALLEL -3022 - -// =================== Types ==================== // - -typedef struct { - float _s0, _x1, _x2, _x3; -} BgcVersorFP32; - -typedef struct { - double _s0, _x1, _x2, _x3; -} BgcVersorFP64; - -// ================= Constants ================== // - -extern const BgcVersorFP32 BGC_IDLE_VERSOR_FP32; -extern const BgcVersorFP64 BGC_IDLE_VERSOR_FP64; - -// =================== Reset ==================== // - -inline void bgc_versor_reset_fp32(BgcVersorFP32* versor) -{ - versor->_s0 = 1.0f; - versor->_x1 = 0.0f; - versor->_x2 = 0.0f; - versor->_x3 = 0.0f; -} - -inline void bgc_versor_reset_fp64(BgcVersorFP64* versor) -{ - versor->_s0 = 1.0; - versor->_x1 = 0.0; - versor->_x2 = 0.0; - versor->_x3 = 0.0; -} - -// ==================== Set ===================== // - -void _bgc_versor_normalize_fp32(const float square_modulus, BgcVersorFP32* twin); - -void _bgc_versor_normalize_fp64(const double square_modulus, BgcVersorFP64* twin); - -inline void bgc_versor_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcVersorFP32* versor) -{ - versor->_s0 = s0; - versor->_x1 = x1; - versor->_x2 = x2; - versor->_x3 = x3; - - const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); - - if (!bgc_is_sqare_unit_fp32(square_modulus)) { - _bgc_versor_normalize_fp32(square_modulus, versor); - } -} - -inline void bgc_versor_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcVersorFP64* versor) -{ - versor->_s0 = s0; - versor->_x1 = x1; - versor->_x2 = x2; - versor->_x3 = x3; - - const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); - - if (!bgc_is_sqare_unit_fp64(square_modulus)) { - _bgc_versor_normalize_fp64(square_modulus, versor); - } -} - -// ================== Set Turn ================== // - -void bgc_versor_set_turn_fp32(const float x1, const float x2, const float x3, const float angle, const BgcAngleUnitEnum unit, BgcVersorFP32* result); - -void bgc_versor_set_turn_fp64(const double x1, const double x2, const double x3, const double angle, const BgcAngleUnitEnum unit, BgcVersorFP64* result); - -// ================ Set Rotation ================ // - -inline void bgc_versor_set_rotation_fp32(const BgcRotation3FP32* rotation, BgcVersorFP32* result) -{ - bgc_versor_set_turn_fp32(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BGC_ANGLE_UNIT_RADIANS, result); -} - -inline void bgc_versor_set_rotation_fp64(const BgcRotation3FP64* rotation, BgcVersorFP64* result) -{ - bgc_versor_set_turn_fp64(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BGC_ANGLE_UNIT_RADIANS, result); -} - -// ========= Make Direction Difference ========== // - -int bgc_versor_make_direction_difference_fp32(const BgcVector3FP32* start, const BgcVector3FP32* end, BgcVersorFP32* result); - -int bgc_versor_make_direction_difference_fp64(const BgcVector3FP64* start, const BgcVector3FP64* end, BgcVersorFP64* result); - -// =============== Set Directions =============== // - -int bgc_versor_make_basis_difference_fp32( - const BgcVector3FP32* initial_primary_direction, - const BgcVector3FP32* initial_auxiliary_direction, - const BgcVector3FP32* final_primary_direction, - const BgcVector3FP32* final_auxiliary_direction, - BgcVersorFP32* result -); - -int bgc_versor_make_basis_difference_fp64( - const BgcVector3FP64* initial_primary_direction, - const BgcVector3FP64* initial_auxiliary_direction, - const BgcVector3FP64* final_primary_direction, - const BgcVector3FP64* final_auxiliary_direction, - BgcVersorFP64* result -); - -// ==================== Copy ==================== // - -inline void bgc_versor_copy_fp32(const BgcVersorFP32* source, BgcVersorFP32* destination) -{ - destination->_s0 = source->_s0; - destination->_x1 = source->_x1; - destination->_x2 = source->_x2; - destination->_x3 = source->_x3; -} - -inline void bgc_versor_copy_fp64(const BgcVersorFP64* source, BgcVersorFP64* destination) -{ - destination->_s0 = source->_s0; - destination->_x1 = source->_x1; - destination->_x2 = source->_x2; - destination->_x3 = source->_x3; -} - -// ==================== Swap ==================== // - -inline void bgc_versor_swap_fp32(BgcVersorFP32* versor1, BgcVersorFP32* versor2) -{ - const float s0 = versor1->_s0; - const float x1 = versor1->_x1; - const float x2 = versor1->_x2; - const float x3 = versor1->_x3; - - versor1->_s0 = versor2->_s0; - versor1->_x1 = versor2->_x1; - versor1->_x2 = versor2->_x2; - versor1->_x3 = versor2->_x3; - - versor2->_s0 = s0; - versor2->_x1 = x1; - versor2->_x2 = x2; - versor2->_x3 = x3; -} - -inline void bgc_versor_swap_fp64(BgcVersorFP64* versor1, BgcVersorFP64* versor2) -{ - const double s0 = versor1->_s0; - const double x1 = versor1->_x1; - const double x2 = versor1->_x2; - const double x3 = versor1->_x3; - - versor1->_s0 = versor2->_s0; - versor1->_x1 = versor2->_x1; - versor1->_x2 = versor2->_x2; - versor1->_x3 = versor2->_x3; - - versor2->_s0 = s0; - versor2->_x1 = x1; - versor2->_x2 = x2; - versor2->_x3 = x3; -} - -// ================= Comparison ================= // - -inline int bgc_versor_is_identity_fp32(const BgcVersorFP32* versor) -{ - return versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3 <= BGC_SQUARE_EPSYLON_FP32; -} - -inline int bgc_versor_is_identity_fp64(const BgcVersorFP64* versor) -{ - return versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3 <= BGC_SQUARE_EPSYLON_FP64; -} - -// ================== Convert =================== // - -inline void bgc_versor_convert_fp64_to_fp32(const BgcVersorFP64* source, BgcVersorFP32* destination) -{ - bgc_versor_set_values_fp32( - (float)source->_s0, - (float)source->_x1, - (float)source->_x2, - (float)source->_x3, - destination - ); -} - -inline void bgc_versor_convert_fp32_to_fp64(const BgcVersorFP32* source, BgcVersorFP64* destination) -{ - bgc_versor_set_values_fp64( - source->_s0, - source->_x1, - source->_x2, - source->_x3, - destination - ); -} - -// ================== Shorten =================== // - -inline void bgc_versor_shorten_fp32(BgcVersorFP32* versor) -{ - if (versor->_s0 < 0.0f) { - versor->_s0 = -versor->_s0; - versor->_x1 = -versor->_x1; - versor->_x2 = -versor->_x2; - versor->_x3 = -versor->_x3; - } -} - -inline void bgc_versor_shorten_fp64(BgcVersorFP64* versor) -{ - if (versor->_s0 < 0.0) { - versor->_s0 = -versor->_s0; - versor->_x1 = -versor->_x1; - versor->_x2 = -versor->_x2; - versor->_x3 = -versor->_x3; - } -} - -inline void bgc_versor_get_shortened_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened) -{ - if (versor->_s0 >= 0.0f) { - shortened->_s0 = versor->_s0; - shortened->_x1 = versor->_x1; - shortened->_x2 = versor->_x2; - shortened->_x3 = versor->_x3; - return; - } - - shortened->_s0 = -versor->_s0; - shortened->_x1 = -versor->_x1; - shortened->_x2 = -versor->_x2; - shortened->_x3 = -versor->_x3; -} - -inline void bgc_versor_get_shortened_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened) -{ - if (versor->_s0 >= 0.0) { - shortened->_s0 = versor->_s0; - shortened->_x1 = versor->_x1; - shortened->_x2 = versor->_x2; - shortened->_x3 = versor->_x3; - return; - } - - shortened->_s0 = -versor->_s0; - shortened->_x1 = -versor->_x1; - shortened->_x2 = -versor->_x2; - shortened->_x3 = -versor->_x3; -} - -// ================== Negative ================== // - -inline void bgc_versor_make_opposite_fp32(BgcVersorFP32* versor) -{ - versor->_s0 = -versor->_s0; - versor->_x1 = -versor->_x1; - versor->_x2 = -versor->_x2; - versor->_x3 = -versor->_x3; -} - -inline void bgc_versor_make_opposite_fp64(BgcVersorFP64* versor) -{ - versor->_s0 = -versor->_s0; - versor->_x1 = -versor->_x1; - versor->_x2 = -versor->_x2; - versor->_x3 = -versor->_x3; -} - -inline void bgc_versor_get_opposite_fp32(const BgcVersorFP32* versor, BgcVersorFP32* opposite) -{ - opposite->_s0 = -versor->_s0; - opposite->_x1 = -versor->_x1; - opposite->_x2 = -versor->_x2; - opposite->_x3 = -versor->_x3; -} - -inline void bgc_versor_get_opposite_fp64(const BgcVersorFP64* versor, BgcVersorFP64* opposite) -{ - opposite->_s0 = -versor->_s0; - opposite->_x1 = -versor->_x1; - opposite->_x2 = -versor->_x2; - opposite->_x3 = -versor->_x3; -} - -// =================== Invert =================== // - -inline void bgc_versor_invert_fp32(BgcVersorFP32* versor) -{ - versor->_x1 = -versor->_x1; - versor->_x2 = -versor->_x2; - versor->_x3 = -versor->_x3; -} - -inline void bgc_versor_invert_fp64(BgcVersorFP64* versor) -{ - versor->_x1 = -versor->_x1; - versor->_x2 = -versor->_x2; - versor->_x3 = -versor->_x3; -} - -inline void bgc_versor_get_inverse_fp32(const BgcVersorFP32* versor, BgcVersorFP32* inverse) -{ - inverse->_s0 = versor->_s0; - inverse->_x1 = -versor->_x1; - inverse->_x2 = -versor->_x2; - inverse->_x3 = -versor->_x3; -} - -inline void bgc_versor_get_inverse_fp64(const BgcVersorFP64* versor, BgcVersorFP64* inverse) -{ - inverse->_s0 = versor->_s0; - inverse->_x1 = -versor->_x1; - inverse->_x2 = -versor->_x2; - inverse->_x3 = -versor->_x3; -} - -// =============== Get Exponation =============== // - -void bgc_versor_get_exponation_fp32(const BgcVersorFP32* base, const float exponent, BgcVersorFP32* power); - -void bgc_versor_get_exponation_fp64(const BgcVersorFP64* base, const double exponent, BgcVersorFP64* power); - -// ================ Combination ================= // - -inline void bgc_versor_combine_fp32(const BgcVersorFP32* first, const BgcVersorFP32* second, BgcVersorFP32* result) -{ - bgc_versor_set_values_fp32( - (second->_s0 * first->_s0 - second->_x1 * first->_x1) - (second->_x2 * first->_x2 + second->_x3 * first->_x3), - (second->_x1 * first->_s0 + second->_s0 * first->_x1) - (second->_x3 * first->_x2 - second->_x2 * first->_x3), - (second->_x2 * first->_s0 + second->_s0 * first->_x2) - (second->_x1 * first->_x3 - second->_x3 * first->_x1), - (second->_x3 * first->_s0 + second->_s0 * first->_x3) - (second->_x2 * first->_x1 - second->_x1 * first->_x2), - result - ); -} - -inline void bgc_versor_combine_fp64(const BgcVersorFP64* first, const BgcVersorFP64* second, BgcVersorFP64* result) -{ - bgc_versor_set_values_fp64( - (second->_s0 * first->_s0 - second->_x1 * first->_x1) - (second->_x2 * first->_x2 + second->_x3 * first->_x3), - (second->_x1 * first->_s0 + second->_s0 * first->_x1) - (second->_x3 * first->_x2 - second->_x2 * first->_x3), - (second->_x2 * first->_s0 + second->_s0 * first->_x2) - (second->_x1 * first->_x3 - second->_x3 * first->_x1), - (second->_x3 * first->_s0 + second->_s0 * first->_x3) - (second->_x2 * first->_x1 - second->_x1 * first->_x2), - result - ); -} - -// ============ Combination of three ============ // - -inline void bgc_versor_combine3_fp32(const BgcVersorFP32* first, const BgcVersorFP32* second, const BgcVersorFP32* third, BgcVersorFP32* result) -{ - const float s0 = (second->_s0 * first->_s0 - second->_x1 * first->_x1) - (second->_x2 * first->_x2 + second->_x3 * first->_x3); - const float x1 = (second->_x1 * first->_s0 + second->_s0 * first->_x1) - (second->_x3 * first->_x2 - second->_x2 * first->_x3); - const float x2 = (second->_x2 * first->_s0 + second->_s0 * first->_x2) - (second->_x1 * first->_x3 - second->_x3 * first->_x1); - const float x3 = (second->_x3 * first->_s0 + second->_s0 * first->_x3) - (second->_x2 * first->_x1 - second->_x1 * first->_x2); - - bgc_versor_set_values_fp32( - (third->_s0 * s0 - third->_x1 * x1) - (third->_x2 * x2 + third->_x3 * x3), - (third->_x1 * s0 + third->_s0 * x1) - (third->_x3 * x2 - third->_x2 * x3), - (third->_x2 * s0 + third->_s0 * x2) - (third->_x1 * x3 - third->_x3 * x1), - (third->_x3 * s0 + third->_s0 * x3) - (third->_x2 * x1 - third->_x1 * x2), - result - ); -} - -inline void bgc_versor_combine3_fp64(const BgcVersorFP64* first, const BgcVersorFP64* second, const BgcVersorFP64* third, BgcVersorFP64* result) -{ - const double s0 = (second->_s0 * first->_s0 - second->_x1 * first->_x1) - (second->_x2 * first->_x2 + second->_x3 * first->_x3); - const double x1 = (second->_x1 * first->_s0 + second->_s0 * first->_x1) - (second->_x3 * first->_x2 - second->_x2 * first->_x3); - const double x2 = (second->_x2 * first->_s0 + second->_s0 * first->_x2) - (second->_x1 * first->_x3 - second->_x3 * first->_x1); - const double x3 = (second->_x3 * first->_s0 + second->_s0 * first->_x3) - (second->_x2 * first->_x1 - second->_x1 * first->_x2); - - bgc_versor_set_values_fp64( - (third->_s0 * s0 - third->_x1 * x1) - (third->_x2 * x2 + third->_x3 * x3), - (third->_x1 * s0 + third->_s0 * x1) - (third->_x3 * x2 - third->_x2 * x3), - (third->_x2 * s0 + third->_s0 * x2) - (third->_x1 * x3 - third->_x3 * x1), - (third->_x3 * s0 + third->_s0 * x3) - (third->_x2 * x1 - third->_x1 * x2), - result - ); -} - -// ================= Exclusion ================== // - -inline void bgc_versor_exclude_fp32(const BgcVersorFP32* base, const BgcVersorFP32* excludant, BgcVersorFP32* difference) -{ - bgc_versor_set_values_fp32( - (base->_s0 * excludant->_s0 + base->_x1 * excludant->_x1) + (base->_x2 * excludant->_x2 + base->_x3 * excludant->_x3), - (base->_x1 * excludant->_s0 + base->_x3 * excludant->_x2) - (base->_s0 * excludant->_x1 + base->_x2 * excludant->_x3), - (base->_x2 * excludant->_s0 + base->_x1 * excludant->_x3) - (base->_s0 * excludant->_x2 + base->_x3 * excludant->_x1), - (base->_x3 * excludant->_s0 + base->_x2 * excludant->_x1) - (base->_s0 * excludant->_x3 + base->_x1 * excludant->_x2), - difference - ); -} - -inline void bgc_versor_exclude_fp64(const BgcVersorFP64* base, const BgcVersorFP64* excludant, BgcVersorFP64* difference) -{ - bgc_versor_set_values_fp64( - (base->_s0 * excludant->_s0 + base->_x1 * excludant->_x1) + (base->_x2 * excludant->_x2 + base->_x3 * excludant->_x3), - (base->_x1 * excludant->_s0 + base->_x3 * excludant->_x2) - (base->_s0 * excludant->_x1 + base->_x2 * excludant->_x3), - (base->_x2 * excludant->_s0 + base->_x1 * excludant->_x3) - (base->_s0 * excludant->_x2 + base->_x3 * excludant->_x1), - (base->_x3 * excludant->_s0 + base->_x2 * excludant->_x1) - (base->_s0 * excludant->_x3 + base->_x1 * excludant->_x2), - difference - ); -} - -// ============ Sphere Interpolation ============ // - -void bgc_versor_spherically_interpolate_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, const float phase, BgcVersorFP32* result); - -void bgc_versor_spherically_interpolate_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, const double phase, BgcVersorFP64* result); - -// ================ Get Rotation ================ // - -void bgc_versor_get_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32* result); - -void bgc_versor_get_rotation_fp64(const BgcVersorFP64* versor, BgcRotation3FP64* result); - -// ============ Get Rotation Matrix ============= // - -inline void bgc_versor_get_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix) -{ - const float s0s0 = versor->_s0 * versor->_s0; - const float x1x1 = versor->_x1 * versor->_x1; - const float x2x2 = versor->_x2 * versor->_x2; - const float x3x3 = versor->_x3 * versor->_x3; - - const float s0x1 = versor->_s0 * versor->_x1; - const float s0x2 = versor->_s0 * versor->_x2; - const float s0x3 = versor->_s0 * versor->_x3; - const float x1x2 = versor->_x1 * versor->_x2; - const float x1x3 = versor->_x1 * versor->_x3; - const float x2x3 = versor->_x2 * versor->_x3; - - matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - matrix->r1c2 = 2.0f * (x1x2 - s0x3); - matrix->r2c3 = 2.0f * (x2x3 - s0x1); - matrix->r3c1 = 2.0f * (x1x3 - s0x2); - - matrix->r2c1 = 2.0f * (x1x2 + s0x3); - matrix->r3c2 = 2.0f * (x2x3 + s0x1); - matrix->r1c3 = 2.0f * (x1x3 + s0x2); -} - -inline void bgc_versor_get_rotation_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix) -{ - const double s0s0 = versor->_s0 * versor->_s0; - const double x1x1 = versor->_x1 * versor->_x1; - const double x2x2 = versor->_x2 * versor->_x2; - const double x3x3 = versor->_x3 * versor->_x3; - - const double s0x1 = versor->_s0 * versor->_x1; - const double s0x2 = versor->_s0 * versor->_x2; - const double s0x3 = versor->_s0 * versor->_x3; - const double x1x2 = versor->_x1 * versor->_x2; - const double x1x3 = versor->_x1 * versor->_x3; - const double x2x3 = versor->_x2 * versor->_x3; - - matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - matrix->r1c2 = 2.0 * (x1x2 - s0x3); - matrix->r2c3 = 2.0 * (x2x3 - s0x1); - matrix->r3c1 = 2.0 * (x1x3 - s0x2); - - matrix->r2c1 = 2.0 * (x1x2 + s0x3); - matrix->r3c2 = 2.0 * (x2x3 + s0x1); - matrix->r1c3 = 2.0 * (x1x3 + s0x2); -} - -// ============= Get Reverse Matrix ============= // - -inline void bgc_versor_get_reverse_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix) -{ - const float s0s0 = versor->_s0 * versor->_s0; - const float x1x1 = versor->_x1 * versor->_x1; - const float x2x2 = versor->_x2 * versor->_x2; - const float x3x3 = versor->_x3 * versor->_x3; - - const float s0x1 = versor->_s0 * versor->_x1; - const float s0x2 = versor->_s0 * versor->_x2; - const float s0x3 = versor->_s0 * versor->_x3; - const float x1x2 = versor->_x1 * versor->_x2; - const float x1x3 = versor->_x1 * versor->_x3; - const float x2x3 = versor->_x2 * versor->_x3; - - matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - matrix->r1c2 = 2.0f * (x1x2 + s0x3); - matrix->r2c3 = 2.0f * (x2x3 + s0x1); - matrix->r3c1 = 2.0f * (x1x3 + s0x2); - - matrix->r2c1 = 2.0f * (x1x2 - s0x3); - matrix->r3c2 = 2.0f * (x2x3 - s0x1); - matrix->r1c3 = 2.0f * (x1x3 - s0x2); -} - -inline void bgc_versor_get_reverse_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix) -{ - const double s0s0 = versor->_s0 * versor->_s0; - const double x1x1 = versor->_x1 * versor->_x1; - const double x2x2 = versor->_x2 * versor->_x2; - const double x3x3 = versor->_x3 * versor->_x3; - - const double s0x1 = versor->_s0 * versor->_x1; - const double s0x2 = versor->_s0 * versor->_x2; - const double s0x3 = versor->_s0 * versor->_x3; - const double x1x2 = versor->_x1 * versor->_x2; - const double x1x3 = versor->_x1 * versor->_x3; - const double x2x3 = versor->_x2 * versor->_x3; - - matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); - matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); - matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); - - matrix->r1c2 = 2.0 * (x1x2 + s0x3); - matrix->r2c3 = 2.0 * (x2x3 + s0x1); - matrix->r3c1 = 2.0 * (x1x3 + s0x2); - - matrix->r2c1 = 2.0 * (x1x2 - s0x3); - matrix->r3c2 = 2.0 * (x2x3 - s0x1); - matrix->r1c3 = 2.0 * (x1x3 - s0x2); -} - -// ============= Get Both Matrixes ============== // - -inline void bgc_versor_get_both_matrices_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse) -{ - bgc_versor_get_reverse_matrix_fp32(versor, reverse); - bgc_matrix3x3_transpose_fp32(reverse, rotation); -} - -inline void bgc_versor_get_both_matrices_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse) -{ - bgc_versor_get_reverse_matrix_fp64(versor, reverse); - bgc_matrix3x3_transpose_fp64(reverse, rotation); -} - -// ================ Turn Vector ================= // - -inline void bgc_versor_turn_vector_fp32(const BgcVersorFP32* versor, const BgcVector3FP32* vector, BgcVector3FP32* result) -{ - const float tx1 = 2.0f * (versor->_x2 * vector->x3 - versor->_x3 * vector->x2); - const float tx2 = 2.0f * (versor->_x3 * vector->x1 - versor->_x1 * vector->x3); - const float tx3 = 2.0f * (versor->_x1 * vector->x2 - versor->_x2 * vector->x1); - - const float x1 = (vector->x1 + tx1 * versor->_s0) + (versor->_x2 * tx3 - versor->_x3 * tx2); - const float x2 = (vector->x2 + tx2 * versor->_s0) + (versor->_x3 * tx1 - versor->_x1 * tx3); - const float x3 = (vector->x3 + tx3 * versor->_s0) + (versor->_x1 * tx2 - versor->_x2 * tx1); - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -inline void bgc_versor_turn_vector_fp64(const BgcVersorFP64* versor, const BgcVector3FP64* vector, BgcVector3FP64* result) -{ - const double tx1 = 2.0 * (versor->_x2 * vector->x3 - versor->_x3 * vector->x2); - const double tx2 = 2.0 * (versor->_x3 * vector->x1 - versor->_x1 * vector->x3); - const double tx3 = 2.0 * (versor->_x1 * vector->x2 - versor->_x2 * vector->x1); - - const double x1 = (vector->x1 + tx1 * versor->_s0) + (versor->_x2 * tx3 - versor->_x3 * tx2); - const double x2 = (vector->x2 + tx2 * versor->_s0) + (versor->_x3 * tx1 - versor->_x1 * tx3); - const double x3 = (vector->x3 + tx3 * versor->_s0) + (versor->_x1 * tx2 - versor->_x2 * tx1); - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -// ============== Turn Vector Back ============== // - -inline void bgc_versor_turn_vector_back_fp32(const BgcVersorFP32* versor, const BgcVector3FP32* vector, BgcVector3FP32* result) -{ - const float tx1 = 2.0f * (versor->_x2 * vector->x3 - versor->_x3 * vector->x2); - const float tx2 = 2.0f * (versor->_x3 * vector->x1 - versor->_x1 * vector->x3); - const float tx3 = 2.0f * (versor->_x1 * vector->x2 - versor->_x2 * vector->x1); - - const float x1 = (vector->x1 - tx1 * versor->_s0) + (versor->_x2 * tx3 - versor->_x3 * tx2); - const float x2 = (vector->x2 - tx2 * versor->_s0) + (versor->_x3 * tx1 - versor->_x1 * tx3); - const float x3 = (vector->x3 - tx3 * versor->_s0) + (versor->_x1 * tx2 - versor->_x2 * tx1); - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -inline void bgc_versor_turn_vector_back_fp64(const BgcVersorFP64* versor, const BgcVector3FP64* vector, BgcVector3FP64* result) -{ - const double tx1 = 2.0 * (versor->_x2 * vector->x3 - versor->_x3 * vector->x2); - const double tx2 = 2.0 * (versor->_x3 * vector->x1 - versor->_x1 * vector->x3); - const double tx3 = 2.0 * (versor->_x1 * vector->x2 - versor->_x2 * vector->x1); - - const double x1 = (vector->x1 - tx1 * versor->_s0) + (versor->_x2 * tx3 - versor->_x3 * tx2); - const double x2 = (vector->x2 - tx2 * versor->_s0) + (versor->_x3 * tx1 - versor->_x1 * tx3); - const double x3 = (vector->x3 - tx3 * versor->_s0) + (versor->_x1 * tx2 - versor->_x2 * tx1); - - result->x1 = x1; - result->x2 = x2; - result->x3 = x3; -} - -// ================== Are Close ================= // - -inline int bgc_versor_are_close_fp32(const BgcVersorFP32* versor1, const BgcVersorFP32* versor2) -{ - const float ds0 = versor1->_s0 - versor2->_s0; - const float dx1 = versor1->_x1 - versor2->_x1; - const float dx2 = versor1->_x2 - versor2->_x2; - const float dx3 = versor1->_x3 - versor2->_x3; - - return (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3) <= BGC_SQUARE_EPSYLON_FP32; -} - -inline int bgc_versor_are_close_fp64(const BgcVersorFP64* versor1, const BgcVersorFP64* versor2) -{ - const double ds0 = versor1->_s0 - versor2->_s0; - const double dx1 = versor1->_x1 - versor2->_x1; - const double dx2 = versor1->_x2 - versor2->_x2; - const double dx3 = versor1->_x3 - versor2->_x3; - - return (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3) <= BGC_SQUARE_EPSYLON_FP64; -} - -#endif