652 lines
22 KiB
C
652 lines
22 KiB
C
#ifndef _BGC_VECTOR2_H_INCLUDED_
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#define _BGC_VECTOR2_H_INCLUDED_
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#include <math.h>
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#include "./utilities.h"
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#include "./types.h"
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#include "./angle.h"
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// =================== Reset ==================== //
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inline void bgc_fp32_vector2_reset(BGC_FP32_Vector2* const vector)
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{
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vector->x = 0.0f;
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vector->y = 0.0f;
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}
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inline void bgc_fp64_vector2_reset(BGC_FP64_Vector2* const vector)
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{
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vector->x = 0.0;
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vector->y = 0.0;
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}
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// ==================== Set ===================== //
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inline void bgc_fp32_vector2_set_values(BGC_FP32_Vector2* const destination, const float x, const float y)
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{
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destination->x = x;
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destination->y = y;
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}
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inline void bgc_fp64_vector2_set_values(BGC_FP64_Vector2* const destination, const double x, const double y)
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{
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destination->x = x;
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destination->y = y;
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}
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// ================== Modulus =================== //
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inline float bgc_fp32_vector2_get_squared_length(const BGC_FP32_Vector2* const vector)
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{
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return vector->x * vector->x + vector->y * vector->y;
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}
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inline double bgc_fp64_vector2_get_squared_length(const BGC_FP64_Vector2* const vector)
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{
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return vector->x * vector->x + vector->y * vector->y;
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}
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inline float bgc_fp32_vector2_get_length(const BGC_FP32_Vector2* const vector)
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{
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return sqrtf(bgc_fp32_vector2_get_squared_length(vector));
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}
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inline double bgc_fp64_vector2_get_length(const BGC_FP64_Vector2* const vector)
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{
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return sqrt(bgc_fp64_vector2_get_squared_length(vector));
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}
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// ================= Comparison ================= //
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inline int bgc_fp32_vector2_is_zero(const BGC_FP32_Vector2* const vector)
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{
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return bgc_fp32_vector2_get_squared_length(vector) <= BGC_FP32_SQUARE_EPSILON;
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}
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inline int bgc_fp64_vector2_is_zero(const BGC_FP64_Vector2* const vector)
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{
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return bgc_fp64_vector2_get_squared_length(vector) <= BGC_FP64_SQUARE_EPSILON;
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}
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inline int bgc_fp32_vector2_is_unit(const BGC_FP32_Vector2* const vector)
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{
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return bgc_fp32_is_square_unit(bgc_fp32_vector2_get_squared_length(vector));
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}
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inline int bgc_fp64_vector2_is_unit(const BGC_FP64_Vector2* const vector)
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{
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return bgc_fp64_is_square_unit(bgc_fp64_vector2_get_squared_length(vector));
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}
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// ==================== Copy ==================== //
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inline void bgc_fp32_vector2_copy(BGC_FP32_Vector2* const destination, const BGC_FP32_Vector2* const source)
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{
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destination->x = source->x;
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destination->y = source->y;
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}
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inline void bgc_fp64_vector2_copy(BGC_FP64_Vector2* const destination, const BGC_FP64_Vector2* const source)
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{
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destination->x = source->x;
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destination->y = source->y;
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}
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// ==================== Swap ==================== //
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inline void bgc_fp32_vector2_swap(BGC_FP32_Vector2* const vector1, BGC_FP32_Vector2* const vector2)
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{
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const float x = vector2->x;
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const float y = vector2->y;
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vector2->x = vector1->x;
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vector2->y = vector1->y;
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vector1->x = x;
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vector1->y = y;
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}
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inline void bgc_fp64_vector2_swap(BGC_FP64_Vector2* const vector1, BGC_FP64_Vector2* const vector2)
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{
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const double x = vector2->x;
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const double y = vector2->y;
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vector2->x = vector1->x;
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vector2->y = vector1->y;
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vector1->x = x;
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vector1->y = y;
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}
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// ================== Convert =================== //
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inline void bgc_fp32_vector2_convert_to_fp64(BGC_FP64_Vector2* const destination, const BGC_FP32_Vector2* const source)
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{
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destination->x = source->x;
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destination->y = source->y;
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}
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inline void bgc_fp64_vector2_convert_to_fp32(BGC_FP32_Vector2* const destination, const BGC_FP64_Vector2* const source)
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{
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destination->x = (float)source->x;
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destination->y = (float)source->y;
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}
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// ==================== Add ===================== //
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inline void bgc_fp32_vector2_add(BGC_FP32_Vector2* const sum, const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2)
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{
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sum->x = vector1->x + vector2->x;
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sum->y = vector1->y + vector2->y;
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}
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inline void bgc_fp64_vector2_add(BGC_FP64_Vector2* const sum, const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2)
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{
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sum->x = vector1->x + vector2->x;
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sum->y = vector1->y + vector2->y;
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}
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// ================= Add Scaled ================= //
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inline void bgc_fp32_vector2_add_scaled(BGC_FP32_Vector2* const sum, const BGC_FP32_Vector2* const basic_vector, const BGC_FP32_Vector2* const scalable_vector, const float scale)
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{
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sum->x = basic_vector->x + scalable_vector->x * scale;
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sum->y = basic_vector->y + scalable_vector->y * scale;
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}
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inline void bgc_fp64_vector2_add_scaled(BGC_FP64_Vector2* const sum, const BGC_FP64_Vector2* const basic_vector, const BGC_FP64_Vector2* const scalable_vector, const double scale)
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{
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sum->x = basic_vector->x + scalable_vector->x * scale;
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sum->y = basic_vector->y + scalable_vector->y * scale;
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}
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// ================== Subtract ================== //
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inline void bgc_fp32_vector2_subtract(BGC_FP32_Vector2* const difference, const BGC_FP32_Vector2* const minuend, const BGC_FP32_Vector2* const subtrahend)
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{
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difference->x = minuend->x - subtrahend->x;
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difference->y = minuend->y - subtrahend->y;
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}
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inline void bgc_fp64_vector2_subtract(BGC_FP64_Vector2* const difference, const BGC_FP64_Vector2* const minuend, const BGC_FP64_Vector2* const subtrahend)
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{
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difference->x = minuend->x - subtrahend->x;
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difference->y = minuend->y - subtrahend->y;
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}
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// ============== Subtract Scaled =============== //
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inline void bgc_fp32_vector2_subtract_scaled(BGC_FP32_Vector2* const difference, const BGC_FP32_Vector2* const basic_vector, const BGC_FP32_Vector2* const scalable_vector, const float scale)
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{
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difference->x = basic_vector->x - scalable_vector->x * scale;
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difference->y = basic_vector->y - scalable_vector->y * scale;
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}
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inline void bgc_fp64_vector2_subtract_scaled(BGC_FP64_Vector2* const difference, const BGC_FP64_Vector2* const basic_vector, const BGC_FP64_Vector2* const scalable_vector, const double scale)
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{
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difference->x = basic_vector->x - scalable_vector->x * scale;
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difference->y = basic_vector->y - scalable_vector->y * scale;
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}
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// ================== Multiply ================== //
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inline void bgc_fp32_vector2_multiply_by_real_number(BGC_FP32_Vector2* const product, const BGC_FP32_Vector2* const multiplicand, const float multiplier)
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{
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product->x = multiplicand->x * multiplier;
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product->y = multiplicand->y * multiplier;
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}
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inline void bgc_fp64_vector2_multiply_by_real_number(BGC_FP64_Vector2* const product, const BGC_FP64_Vector2* const multiplicand, const double multiplier)
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{
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product->x = multiplicand->x * multiplier;
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product->y = multiplicand->y * multiplier;
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}
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// ============ Left Vector Product ============= //
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inline void bgc_fp32_vector2_multiply_by_matrix2x2(BGC_FP32_Vector2* const product, const BGC_FP32_Vector2* const vector, const BGC_FP32_Matrix2x2* const matrix)
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{
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const float x = vector->x * matrix->r1c1 + vector->y * matrix->r2c1;
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const float y = vector->x * matrix->r1c2 + vector->y * matrix->r2c2;
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product->x = x;
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product->y = y;
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}
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inline void bgc_fp64_vector2_multiply_by_matrix2x2(BGC_FP64_Vector2* const product, const BGC_FP64_Vector2* const vector, const BGC_FP64_Matrix2x2* const matrix)
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{
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const double x = vector->x * matrix->r1c1 + vector->y * matrix->r2c1;
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const double y = vector->x * matrix->r1c2 + vector->y * matrix->r2c2;
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product->x = x;
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product->y = y;
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}
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// ============ Left Vector Product ============= //
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inline void bgc_fp32_vector2_multiply_by_matrix3x2(BGC_FP32_Vector3* const product, const BGC_FP32_Vector2* const vector, const BGC_FP32_Matrix3x2* const matrix)
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{
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product->x = vector->x * matrix->r1c1 + vector->y * matrix->r2c1;
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product->y = vector->x * matrix->r1c2 + vector->y * matrix->r2c2;
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product->z = vector->x * matrix->r1c3 + vector->y * matrix->r2c3;
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}
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inline void bgc_fp64_vector2_multiply_by_matrix3x2(BGC_FP64_Vector3* const product, const BGC_FP64_Vector2* const vector, const BGC_FP64_Matrix3x2* const matrix)
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{
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product->x = vector->x * matrix->r1c1 + vector->y * matrix->r2c1;
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product->y = vector->x * matrix->r1c2 + vector->y * matrix->r2c2;
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product->z = vector->x * matrix->r1c3 + vector->y * matrix->r2c3;
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}
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// =================== Divide =================== //
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inline int bgc_fp32_vector2_divide_by_real_number(BGC_FP32_Vector2* const quotient, const BGC_FP32_Vector2* const dividend, const float divisor)
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{
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if (bgc_fp32_is_zero(divisor) || isnan(divisor)) {
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return BGC_FAILURE;
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}
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bgc_fp32_vector2_multiply_by_real_number(quotient, dividend, 1.0f / divisor);
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_vector2_divide_by_real_number(BGC_FP64_Vector2* const quotient, const BGC_FP64_Vector2* const dividend, const double divisor)
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{
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if (bgc_fp64_is_zero(divisor) || isnan(divisor)) {
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return BGC_FAILURE;
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}
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bgc_fp64_vector2_multiply_by_real_number(quotient, dividend, 1.0 / divisor);
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return BGC_SUCCESS;
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}
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// ================ Mean of Two ================= //
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inline void bgc_fp32_vector2_get_mean2(BGC_FP32_Vector2* const mean, const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2)
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{
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mean->x = (vector1->x + vector2->x) * 0.5f;
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mean->y = (vector1->y + vector2->y) * 0.5f;
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}
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inline void bgc_fp64_vector2_get_mean2(BGC_FP64_Vector2* const mean, const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2)
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{
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mean->x = (vector1->x + vector2->x) * 0.5;
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mean->y = (vector1->y + vector2->y) * 0.5;
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}
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// =============== Mean of Three ================ //
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inline void bgc_fp32_vector2_get_mean3(BGC_FP32_Vector2* const mean, const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2, const BGC_FP32_Vector2* const vector3)
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{
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mean->x = (vector1->x + vector2->x + vector3->x) * BGC_FP32_ONE_THIRD;
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mean->y = (vector1->y + vector2->y + vector3->y) * BGC_FP32_ONE_THIRD;
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}
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inline void bgc_fp64_vector2_get_mean3(BGC_FP64_Vector2* const mean, const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2, const BGC_FP64_Vector2* const vector3)
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{
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mean->x = (vector1->x + vector2->x + vector3->x) * BGC_FP64_ONE_THIRD;
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mean->y = (vector1->y + vector2->y + vector3->y) * BGC_FP64_ONE_THIRD;
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}
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// =================== Linear =================== //
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inline void bgc_fp32_vector2_interpolate(BGC_FP32_Vector2* const interpolation, const BGC_FP32_Vector2* const first, const BGC_FP32_Vector2* const second, const float phase)
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{
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const float counter_phase = 1.0f - phase;
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interpolation->x = first->x * counter_phase + second->x * phase;
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interpolation->y = first->y * counter_phase + second->y * phase;
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}
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inline void bgc_fp64_vector2_interpolate(BGC_FP64_Vector2* const interpolation, const BGC_FP64_Vector2* const first, const BGC_FP64_Vector2* const second, const double phase)
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{
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const double counter_phase = 1.0 - phase;
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interpolation->x = first->x * counter_phase + second->x * phase;
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interpolation->y = first->y * counter_phase + second->y * phase;
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}
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// ================== Negative ================== //
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inline void bgc_fp32_vector2_revert(BGC_FP32_Vector2* const vector)
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{
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vector->x = -vector->x;
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vector->y = -vector->y;
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}
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inline void bgc_fp64_vector2_revert(BGC_FP64_Vector2* const vector)
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{
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vector->x = -vector->x;
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vector->y = -vector->y;
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}
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inline void bgc_fp32_vector2_get_reverse(BGC_FP32_Vector2* const reverse, const BGC_FP32_Vector2* const vector)
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{
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reverse->x = -vector->x;
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reverse->y = -vector->y;
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}
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inline void bgc_fp64_vector2_get_reverse(BGC_FP64_Vector2* const reverse, const BGC_FP64_Vector2* const vector)
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{
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reverse->x = -vector->x;
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reverse->y = -vector->y;
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}
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// ================= Normalize ================== //
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inline int bgc_fp32_vector2_normalize(BGC_FP32_Vector2* const vector)
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{
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const float square_modulus = bgc_fp32_vector2_get_squared_length(vector);
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
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return BGC_FAILURE;
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}
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if (bgc_fp32_is_square_unit(square_modulus)) {
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return BGC_SUCCESS;
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}
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const float multiplier = sqrtf(1.0f / square_modulus);
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vector->x *= multiplier;
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vector->y *= multiplier;
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_vector2_normalize(BGC_FP64_Vector2* const vector)
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{
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const double square_modulus = bgc_fp64_vector2_get_squared_length(vector);
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
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return BGC_FAILURE;
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}
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if (bgc_fp64_is_square_unit(square_modulus)) {
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return BGC_SUCCESS;
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}
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const double multiplier = sqrt(1.0 / square_modulus);
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vector->x *= multiplier;
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vector->y *= multiplier;
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return BGC_SUCCESS;
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}
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inline int bgc_fp32_vector2_get_normalized(BGC_FP32_Vector2* const normalized, const BGC_FP32_Vector2* const vector)
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{
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const float square_modulus = bgc_fp32_vector2_get_squared_length(vector);
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
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bgc_fp32_vector2_reset(normalized);
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return BGC_FAILURE;
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}
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if (bgc_fp32_is_square_unit(square_modulus)) {
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bgc_fp32_vector2_copy(normalized, vector);
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return BGC_SUCCESS;
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}
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bgc_fp32_vector2_multiply_by_real_number(normalized, vector, sqrtf(1.0f / square_modulus));
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_vector2_get_normalized(BGC_FP64_Vector2* const normalized, const BGC_FP64_Vector2* const vector)
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{
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const double square_modulus = bgc_fp64_vector2_get_squared_length(vector);
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
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bgc_fp64_vector2_reset(normalized);
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return BGC_FAILURE;
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}
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if (bgc_fp64_is_square_unit(square_modulus)) {
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bgc_fp64_vector2_copy(normalized, vector);
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return BGC_SUCCESS;
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}
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bgc_fp64_vector2_multiply_by_real_number(normalized, vector, sqrt(1.0 / square_modulus));
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return BGC_SUCCESS;
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}
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// ============= Get Scalar Product ============= //
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inline float bgc_fp32_vector2_get_dot_product(const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2)
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{
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return vector1->x * vector2->x + vector1->y * vector2->y;
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}
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inline double bgc_fp64_vector2_get_dot_product(const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2)
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{
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return vector1->x * vector2->x + vector1->y * vector2->y;
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}
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// ============= Get Cross Product ============== //
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inline float bgc_fp32_vector2_get_cross_product(const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2)
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{
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return vector1->x * vector2->y - vector1->y * vector2->x;
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}
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inline double bgc_fp64_vector2_get_cross_product(const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2)
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{
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return vector1->x * vector2->y - vector1->y * vector2->x;
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}
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// ================= Get Angle ================== //
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float bgc_fp32_vector2_get_angle(const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2, const int angle_unit);
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double bgc_fp64_vector2_get_angle(const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2, const int angle_unit);
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// ============= Get Square Distance ============ //
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inline float bgc_fp32_vector2_get_square_distance(const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2)
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{
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const float dx = vector1->x - vector2->x;
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const float dy = vector1->y - vector2->y;
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return dx * dx + dy * dy;
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}
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inline double bgc_fp64_vector2_get_square_distance(const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2)
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{
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const double dx = vector1->x - vector2->x;
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const double dy = vector1->y - vector2->y;
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return dx * dx + dy * dy;
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}
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// ================== Distance ================== //
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inline float bgc_fp32_vector2_get_distance(const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2)
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{
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return sqrtf(bgc_fp32_vector2_get_square_distance(vector1, vector2));
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}
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inline double bgc_fp64_vector2_get_distance(const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2)
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{
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return sqrt(bgc_fp64_vector2_get_square_distance(vector1, vector2));
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}
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// ============== Are Close Enough ============== //
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inline int bgc_fp32_vector2_are_close_enough(const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2, const float distance_limit)
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{
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return bgc_fp32_vector2_get_square_distance(vector1, vector2) <= distance_limit * distance_limit;
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}
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inline int bgc_fp64_vector2_are_close_enough(const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2, const double distance_limit)
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{
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return bgc_fp64_vector2_get_square_distance(vector1, vector2) <= distance_limit * distance_limit;
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}
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// ================== Are Close ================= //
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inline int bgc_fp32_vector2_are_close(const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2)
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{
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const float square_modulus1 = bgc_fp32_vector2_get_squared_length(vector1);
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const float square_modulus2 = bgc_fp32_vector2_get_squared_length(vector2);
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const float square_distance = bgc_fp32_vector2_get_square_distance(vector1, vector2);
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if (square_modulus1 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT) {
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return square_distance <= BGC_FP32_SQUARE_EPSILON;
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}
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return square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus2;
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}
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inline int bgc_fp64_vector2_are_close(const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2)
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{
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const double square_modulus1 = bgc_fp64_vector2_get_squared_length(vector1);
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const double square_modulus2 = bgc_fp64_vector2_get_squared_length(vector2);
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const double square_distance = bgc_fp64_vector2_get_square_distance(vector1, vector2);
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if (square_modulus1 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT) {
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return square_distance <= BGC_FP64_SQUARE_EPSILON;
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}
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return square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus2;
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}
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// ================== Parallel ================== //
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inline int bgc_fp32_vector2_are_parallel(const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2)
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{
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const float square_modulus1 = bgc_fp32_vector2_get_squared_length(vector1);
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if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON) {
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return 1;
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}
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const float square_modulus2 = bgc_fp32_vector2_get_squared_length(vector2);
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if (square_modulus2 <= BGC_FP32_SQUARE_EPSILON) {
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return 1;
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}
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const float cross_product = bgc_fp32_vector2_get_cross_product(vector1, vector2);
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return cross_product * cross_product <= BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2;
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}
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inline int bgc_fp64_vector2_are_parallel(const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2)
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{
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const double square_modulus1 = bgc_fp64_vector2_get_squared_length(vector1);
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if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON) {
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return 1;
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}
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const double square_modulus2 = bgc_fp64_vector2_get_squared_length(vector2);
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if (square_modulus2 <= BGC_FP64_SQUARE_EPSILON) {
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return 1;
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}
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const double cross_product = bgc_fp64_vector2_get_cross_product(vector1, vector2);
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return cross_product * cross_product <= BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2;
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}
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// ================= Orthogonal ================= //
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inline int bgc_fp32_vector2_are_orthogonal(const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2)
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{
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const float square_modulus1 = bgc_fp32_vector2_get_squared_length(vector1);
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if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON) {
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return 1;
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}
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const float square_modulus2 = bgc_fp32_vector2_get_squared_length(vector2);
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|
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if (square_modulus2 <= BGC_FP32_SQUARE_EPSILON) {
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return 1;
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}
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const float scalar_product = bgc_fp32_vector2_get_dot_product(vector1, vector2);
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return scalar_product * scalar_product <= BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2;
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}
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inline int bgc_fp64_vector2_are_orthogonal(const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2)
|
|
{
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const double square_modulus1 = bgc_fp64_vector2_get_squared_length(vector1);
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if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON) {
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return 1;
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}
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const double square_modulus2 = bgc_fp64_vector2_get_squared_length(vector2);
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|
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if (square_modulus2 <= BGC_FP64_SQUARE_EPSILON) {
|
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return 1;
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}
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const double scalar_product = bgc_fp64_vector2_get_dot_product(vector1, vector2);
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|
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return scalar_product * scalar_product <= BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2;
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}
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|
|
|
|
// ================== Attitude ================== //
|
|
|
|
inline int bgc_fp32_vector2_get_attitude(const BGC_FP32_Vector2* const vector1, const BGC_FP32_Vector2* const vector2)
|
|
{
|
|
const float square_modulus1 = bgc_fp32_vector2_get_squared_length(vector1);
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|
const float square_modulus2 = bgc_fp32_vector2_get_squared_length(vector2);
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|
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if (square_modulus1 <= BGC_FP32_SQUARE_EPSILON || square_modulus2 <= BGC_FP32_SQUARE_EPSILON) {
|
|
return BGC_ATTITUDE_ZERO;
|
|
}
|
|
|
|
const float square_limit = BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2;
|
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|
|
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_fp32_vector2_get_cross_product(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_fp64_vector2_get_attitude(const BGC_FP64_Vector2* const vector1, const BGC_FP64_Vector2* const vector2)
|
|
{
|
|
const double square_modulus1 = bgc_fp64_vector2_get_squared_length(vector1);
|
|
const double square_modulus2 = bgc_fp64_vector2_get_squared_length(vector2);
|
|
|
|
if (square_modulus1 <= BGC_FP64_SQUARE_EPSILON || square_modulus2 <= BGC_FP64_SQUARE_EPSILON) {
|
|
return BGC_ATTITUDE_ZERO;
|
|
}
|
|
|
|
const double square_limit = BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2;
|
|
|
|
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_fp64_vector2_get_cross_product(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
|