599 lines
19 KiB
C
599 lines
19 KiB
C
#ifndef _BGC_VECTOR2_H_
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#define _BGC_VECTOR2_H_
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#include "utilities.h"
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#include "angle.h"
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#include <math.h>
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typedef struct
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{
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float x1, x2;
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} BgcVector2FP32;
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typedef struct
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{
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double x1, x2;
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} BgcVector2FP64;
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// =================== Reset ==================== //
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inline void bgc_vector2_reset_fp32(BgcVector2FP32* vector)
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{
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vector->x1 = 0.0f;
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vector->x2 = 0.0f;
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}
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inline void bgc_vector2_reset_fp64(BgcVector2FP64* vector)
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{
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vector->x1 = 0.0;
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vector->x2 = 0.0;
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}
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// ==================== Set ===================== //
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inline void bgc_vector2_set_values_fp32(const float x1, const float x2, BgcVector2FP32* destination)
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{
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destination->x1 = x1;
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destination->x2 = x2;
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}
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inline void bgc_vector2_set_values_fp64(const double x1, const double x2, BgcVector2FP64* destination)
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{
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destination->x1 = x1;
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destination->x2 = x2;
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}
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// ================== Modulus =================== //
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inline float bgc_vector2_get_square_modulus_fp32(const BgcVector2FP32* vector)
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{
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return vector->x1 * vector->x1 + vector->x2 * vector->x2;
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}
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inline double bgc_vector2_get_square_modulus_fp64(const BgcVector2FP64* vector)
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{
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return vector->x1 * vector->x1 + vector->x2 * vector->x2;
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}
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inline float bgc_vector2_get_modulus_fp32(const BgcVector2FP32* vector)
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{
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return sqrtf(bgc_vector2_get_square_modulus_fp32(vector));
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}
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inline double bgc_vector2_get_modulus_fp64(const BgcVector2FP64* vector)
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{
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return sqrt(bgc_vector2_get_square_modulus_fp64(vector));
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}
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// ================= Comparison ================= //
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inline int bgc_vector2_is_zero_fp32(const BgcVector2FP32* vector)
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{
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return bgc_vector2_get_square_modulus_fp32(vector) <= BGC_SQUARE_EPSYLON_FP32;
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}
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inline int bgc_vector2_is_zero_fp64(const BgcVector2FP64* vector)
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{
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return bgc_vector2_get_square_modulus_fp64(vector) <= BGC_SQUARE_EPSYLON_FP64;
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}
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inline int bgc_vector2_is_unit_fp32(const BgcVector2FP32* vector)
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{
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return bgc_is_sqare_unit_fp32(bgc_vector2_get_square_modulus_fp32(vector));
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}
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inline int bgc_vector2_is_unit_fp64(const BgcVector2FP64* vector)
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{
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return bgc_is_sqare_unit_fp64(bgc_vector2_get_square_modulus_fp64(vector));
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}
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// ==================== Copy ==================== //
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inline void bgc_vector2_copy_fp32(const BgcVector2FP32* source, BgcVector2FP32* destination)
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{
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destination->x1 = source->x1;
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destination->x2 = source->x2;
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}
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inline void bgc_vector2_copy_fp64(const BgcVector2FP64* source, BgcVector2FP64* destination)
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{
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destination->x1 = source->x1;
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destination->x2 = source->x2;
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}
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// ==================== Swap ==================== //
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inline void bgc_vector2_swap_fp32(BgcVector2FP32* vector1, BgcVector2FP32* vector2)
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{
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const float x1 = vector2->x1;
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const float x2 = vector2->x2;
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vector2->x1 = vector1->x1;
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vector2->x2 = vector1->x2;
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vector1->x1 = x1;
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vector1->x2 = x2;
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}
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inline void bgc_vector2_swap_fp64(BgcVector2FP64* vector1, BgcVector2FP64* vector2)
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{
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const double x1 = vector2->x1;
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const double x2 = vector2->x2;
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vector2->x1 = vector1->x1;
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vector2->x2 = vector1->x2;
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vector1->x1 = x1;
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vector1->x2 = x2;
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}
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// ================== Convert =================== //
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inline void bgc_vector2_convert_fp64_to_fp32(const BgcVector2FP64* source, BgcVector2FP32* destination)
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{
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destination->x1 = (float)source->x1;
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destination->x2 = (float)source->x2;
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}
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inline void bgc_vector2_convert_fp32_to_fp64(const BgcVector2FP32* source, BgcVector2FP64* destination)
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{
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destination->x1 = source->x1;
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destination->x2 = source->x2;
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}
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// ==================== Add ===================== //
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inline void bgc_vector2_add_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, BgcVector2FP32* sum)
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{
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sum->x1 = vector1->x1 + vector2->x1;
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sum->x2 = vector1->x2 + vector2->x2;
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}
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inline void bgc_vector2_add_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, BgcVector2FP64* sum)
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{
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sum->x1 = vector1->x1 + vector2->x1;
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sum->x2 = vector1->x2 + vector2->x2;
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}
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// ================= Add scaled ================= //
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inline void bgc_vector2_add_scaled_fp32(const BgcVector2FP32* basic_vector, const BgcVector2FP32* scalable_vector, const float scale, BgcVector2FP32* sum)
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{
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sum->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
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sum->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
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}
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inline void bgc_vector2_add_scaled_fp64(const BgcVector2FP64* basic_vector, const BgcVector2FP64* scalable_vector, const double scale, BgcVector2FP64* sum)
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{
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sum->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
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sum->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
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}
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// ================== Subtract ================== //
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inline void bgc_vector2_subtract_fp32(const BgcVector2FP32* minuend, const BgcVector2FP32* subtrahend, BgcVector2FP32* difference)
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{
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difference->x1 = minuend->x1 - subtrahend->x1;
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difference->x2 = minuend->x2 - subtrahend->x2;
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}
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inline void bgc_vector2_subtract_fp64(const BgcVector2FP64* minuend, const BgcVector2FP64* subtrahend, BgcVector2FP64* difference)
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{
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difference->x1 = minuend->x1 - subtrahend->x1;
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difference->x2 = minuend->x2 - subtrahend->x2;
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}
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// ================== Multiply ================== //
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inline void bgc_vector2_multiply_fp32(const BgcVector2FP32* multiplicand, const float multiplier, BgcVector2FP32* product)
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{
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product->x1 = multiplicand->x1 * multiplier;
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product->x2 = multiplicand->x2 * multiplier;
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}
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inline void bgc_vector2_multiply_fp64(const BgcVector2FP64* multiplicand, const double multiplier, BgcVector2FP64* product)
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{
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product->x1 = multiplicand->x1 * multiplier;
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product->x2 = multiplicand->x2 * multiplier;
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}
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// =================== Divide =================== //
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inline void bgc_vector2_divide_fp32(const BgcVector2FP32* dividend, const float divisor, BgcVector2FP32* quotient)
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{
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bgc_vector2_multiply_fp32(dividend, 1.0f / divisor, quotient);
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}
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inline void bgc_vector2_divide_fp64(const BgcVector2FP64* dividend, const double divisor, BgcVector2FP64* quotient)
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{
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bgc_vector2_multiply_fp64(dividend, 1.0 / divisor, quotient);
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}
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// ================ Mean of Two ================= //
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inline void bgc_vector2_get_mean_of_two_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, BgcVector2FP32* mean)
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{
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mean->x1 = (vector1->x1 + vector2->x1) * 0.5f;
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mean->x2 = (vector1->x2 + vector2->x2) * 0.5f;
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}
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inline void bgc_vector2_get_mean_of_two_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, BgcVector2FP64* mean)
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{
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mean->x1 = (vector1->x1 + vector2->x1) * 0.5;
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mean->x2 = (vector1->x2 + vector2->x2) * 0.5;
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}
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// =============== Mean of Three ================ //
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inline void bgc_vector2_get_mean_of_three_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const BgcVector2FP32* vector3, BgcVector2FP32* mean)
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{
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mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP32;
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mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP32;
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}
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inline void bgc_vector2_get_mean_of_three_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const BgcVector2FP64* vector3, BgcVector2FP64* mean)
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{
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mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP64;
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mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP64;
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}
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// =================== Linear =================== //
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inline void bgc_vector2_interpolate_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const float phase, BgcVector2FP32* interpolation)
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{
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const float counterphase = 1.0f - phase;
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interpolation->x1 = vector1->x1 * counterphase + vector2->x1 * phase;
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interpolation->x2 = vector1->x2 * counterphase + vector2->x2 * phase;
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}
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inline void bgc_vector2_interpolate_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const double phase, BgcVector2FP64* interpolation)
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{
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const double counterphase = 1.0 - phase;
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interpolation->x1 = vector1->x1 * counterphase + vector2->x1 * phase;
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interpolation->x2 = vector1->x2 * counterphase + vector2->x2 * phase;
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}
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// ================== Negative ================== //
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inline void bgc_vector2_make_opposite_fp32(BgcVector2FP32* vector)
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{
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vector->x1 = -vector->x1;
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vector->x2 = -vector->x2;
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}
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inline void bgc_vector2_make_opposite_fp64(BgcVector2FP64* vector)
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{
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vector->x1 = -vector->x1;
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vector->x2 = -vector->x2;
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}
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inline void bgc_vector2_get_opposite_fp32(const BgcVector2FP32* vector, BgcVector2FP32* opposite)
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{
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opposite->x1 = -vector->x1;
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opposite->x2 = -vector->x2;
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}
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inline void bgc_vector2_get_opposite_fp64(const BgcVector2FP64* vector, BgcVector2FP64* opposite)
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{
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opposite->x1 = -vector->x1;
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opposite->x2 = -vector->x2;
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}
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// ================= Normalize ================== //
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inline int bgc_vector2_normalize_fp32(BgcVector2FP32* vector)
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{
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const float square_modulus = bgc_vector2_get_square_modulus_fp32(vector);
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if (bgc_is_sqare_unit_fp32(square_modulus)) {
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return 1;
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}
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
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return 0;
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}
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const float multiplier = sqrtf(1.0f / square_modulus);
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vector->x1 *= multiplier;
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vector->x2 *= multiplier;
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return 1;
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}
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inline int bgc_vector2_normalize_fp64(BgcVector2FP64* vector)
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{
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const double square_modulus = bgc_vector2_get_square_modulus_fp64(vector);
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if (bgc_is_sqare_unit_fp64(square_modulus)) {
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return 1;
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}
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
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return 0;
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}
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const double multiplier = sqrt(1.0 / square_modulus);
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vector->x1 *= multiplier;
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vector->x2 *= multiplier;
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return 1;
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}
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inline int bgc_vector2_get_normalized_fp32(const BgcVector2FP32* vector, BgcVector2FP32* normalized)
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{
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const float square_modulus = bgc_vector2_get_square_modulus_fp32(vector);
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if (bgc_is_sqare_unit_fp32(square_modulus)) {
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bgc_vector2_copy_fp32(vector, normalized);
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return 1;
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}
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
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bgc_vector2_reset_fp32(normalized);
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return 0;
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}
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bgc_vector2_multiply_fp32(vector, sqrtf(1.0f / square_modulus), normalized);
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return 1;
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}
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inline int bgc_vector2_get_normalized_fp64(const BgcVector2FP64* vector, BgcVector2FP64* normalized)
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{
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const double square_modulus = bgc_vector2_get_square_modulus_fp64(vector);
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if (bgc_is_sqare_unit_fp64(square_modulus)) {
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bgc_vector2_copy_fp64(vector, normalized);
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return 1;
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}
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
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bgc_vector2_reset_fp64(normalized);
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return 0;
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}
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bgc_vector2_multiply_fp64(vector, sqrt(1.0 / square_modulus), normalized);
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return 1;
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}
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// ============= Get Scalar Product ============= //
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inline float bgc_vector2_get_scalar_product_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2)
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{
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return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2;
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}
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inline double bgc_vector2_get_scalar_product_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2)
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{
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return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2;
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}
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// ============= Get Cross Product ============== //
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inline float bgc_vector2_get_cross_product_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2)
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{
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return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
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}
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inline double bgc_vector2_get_cross_product_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2)
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{
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return vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
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}
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// ================= Get Angle ================== //
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float bgc_vector2_get_angle_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const BgcAngleUnitEnum unit);
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double bgc_vector2_get_angle_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const BgcAngleUnitEnum unit);
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// ============= Get Square Distance ============ //
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inline float bgc_vector2_get_square_distance_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2)
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{
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const float dx1 = vector1->x1 - vector2->x1;
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const float dx2 = vector1->x2 - vector2->x2;
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return dx1 * dx1 + dx2 * dx2;
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}
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inline double bgc_vector2_get_square_distance_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2)
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{
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const double dx1 = vector1->x1 - vector2->x1;
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const double dx2 = vector1->x2 - vector2->x2;
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return dx1 * dx1 + dx2 * dx2;
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}
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// ================== Distance ================== //
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inline float bgc_vector2_get_distance_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2)
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{
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return sqrtf(bgc_vector2_get_square_distance_fp32(vector1, vector2));
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}
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inline double bgc_vector2_get_distance_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2)
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{
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return sqrt(bgc_vector2_get_square_distance_fp64(vector1, vector2));
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}
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// ============== Are Close Enough ============== //
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inline int bgc_vector2_are_close_enough_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const float distance_limit)
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{
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return bgc_vector2_get_square_distance_fp32(vector1, vector2) <= distance_limit * distance_limit;
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}
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inline int bgc_vector2_are_close_enough_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const double distance_limit)
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{
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return bgc_vector2_get_square_distance_fp64(vector1, vector2) <= distance_limit * distance_limit;
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}
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// ================== Are Close ================= //
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inline int bgc_vector2_are_close_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2)
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{
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const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1);
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const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2);
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const float square_distance = bgc_vector2_get_square_distance_fp32(vector1, vector2);
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if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) {
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return square_distance <= BGC_SQUARE_EPSYLON_FP32;
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}
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return square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus2;
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}
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inline int bgc_vector2_are_close_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2)
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{
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const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1);
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const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2);
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const double square_distance = bgc_vector2_get_square_distance_fp64(vector1, vector2);
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if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) {
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return square_distance <= BGC_SQUARE_EPSYLON_FP64;
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}
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return square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus2;
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}
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// ================== Parallel ================== //
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inline int bgc_vector2_are_parallel_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2)
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{
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const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1);
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if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32) {
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return 1;
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}
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const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2);
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if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) {
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return 1;
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}
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const float cross_product = bgc_vector2_get_cross_product_fp32(vector1, vector2);
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return cross_product * cross_product <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 * square_modulus2;
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}
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inline int bgc_vector2_are_parallel_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2)
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{
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const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1);
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if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64) {
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return 1;
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}
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const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2);
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if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) {
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return 1;
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}
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const double cross_product = bgc_vector2_get_cross_product_fp64(vector1, vector2);
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return cross_product * cross_product <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 * square_modulus2;
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}
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// ================= Orthogonal ================= //
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inline int bgc_vector2_are_orthogonal_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2)
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|
{
|
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const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1);
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|
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if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32) {
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return 1;
|
|
}
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|
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const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2);
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|
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if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) {
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return 1;
|
|
}
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|
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const float scalar_product = bgc_vector2_get_scalar_product_fp32(vector1, vector2);
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|
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return scalar_product * scalar_product <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 * square_modulus2;
|
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}
|
|
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inline int bgc_vector2_are_orthogonal_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2)
|
|
{
|
|
const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1);
|
|
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if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64) {
|
|
return 1;
|
|
}
|
|
|
|
const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2);
|
|
|
|
if (square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) {
|
|
return 1;
|
|
}
|
|
|
|
const double scalar_product = bgc_vector2_get_scalar_product_fp64(vector1, vector2);
|
|
|
|
return scalar_product * scalar_product <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 * square_modulus2;
|
|
}
|
|
|
|
|
|
// ================== Attitude ================== //
|
|
|
|
inline int bgc_vector2_get_attitude_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2)
|
|
{
|
|
const float square_modulus1 = bgc_vector2_get_square_modulus_fp32(vector1);
|
|
const float square_modulus2 = bgc_vector2_get_square_modulus_fp32(vector2);
|
|
|
|
if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP32 || square_modulus2 <= BGC_SQUARE_EPSYLON_FP32) {
|
|
return BGC_ATTITUDE_ZERO;
|
|
}
|
|
|
|
const float square_limit = BGC_SQUARE_EPSYLON_FP32 * square_modulus1 * square_modulus2;
|
|
|
|
const float scalar_product = bgc_vector2_get_scalar_product_fp32(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);
|
|
|
|
if (cross_product * cross_product > square_limit) {
|
|
return BGC_ATTITUDE_ANY;
|
|
}
|
|
|
|
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)
|
|
{
|
|
const double square_modulus1 = bgc_vector2_get_square_modulus_fp64(vector1);
|
|
const double square_modulus2 = bgc_vector2_get_square_modulus_fp64(vector2);
|
|
|
|
if (square_modulus1 <= BGC_SQUARE_EPSYLON_FP64 || square_modulus2 <= BGC_SQUARE_EPSYLON_FP64) {
|
|
return BGC_ATTITUDE_ZERO;
|
|
}
|
|
|
|
const double square_limit = BGC_SQUARE_EPSYLON_FP64 * square_modulus1 * square_modulus2;
|
|
|
|
const double scalar_product = bgc_vector2_get_scalar_product_fp64(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);
|
|
|
|
if (cross_product * cross_product > square_limit) {
|
|
return BGC_ATTITUDE_ANY;
|
|
}
|
|
|
|
return scalar_product > 0.0 ? BGC_ATTITUDE_CO_DIRECTIONAL : BGC_ATTITUDE_COUNTER_DIRECTIONAL;
|
|
}
|
|
|
|
#endif
|