521 lines
17 KiB
C
521 lines
17 KiB
C
#ifndef _BGC_VECTOR3_H_
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#define _BGC_VECTOR3_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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// ================== Vector3 =================== //
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typedef struct
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{
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float x1, x2, x3;
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} BgcVector3FP32;
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typedef struct
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{
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double x1, x2, x3;
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} BgcVector3FP64;
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// =================== Reset ==================== //
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inline void bgc_vector3_reset_fp32(BgcVector3FP32* 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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vector->x3 = 0.0f;
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}
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inline void bgc_vector3_reset_fp64(BgcVector3FP64* 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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vector->x3 = 0.0;
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}
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// ==================== Set ===================== //
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inline void bgc_vector3_set_values_fp32(const float x1, const float x2, const float x3, BgcVector3FP32* to)
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{
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to->x1 = x1;
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to->x2 = x2;
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to->x3 = x3;
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}
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inline void bgc_vector3_set_values_fp64(const double x1, const double x2, const double x3, BgcVector3FP64* to)
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{
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to->x1 = x1;
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to->x2 = x2;
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to->x3 = x3;
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}
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// ==================== Copy ==================== //
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inline void bgc_vector3_copy_fp32(const BgcVector3FP32* from, BgcVector3FP32* to)
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{
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to->x1 = from->x1;
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to->x2 = from->x2;
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to->x3 = from->x3;
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}
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inline void bgc_vector3_copy_fp64(const BgcVector3FP64* from, BgcVector3FP64* to)
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{
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to->x1 = from->x1;
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to->x2 = from->x2;
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to->x3 = from->x3;
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}
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// ================== Convert =================== //
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inline void bgc_vector3_convert_fp64_to_fp32(const BgcVector3FP64* from, BgcVector3FP32* to)
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{
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to->x1 = (float) from->x1;
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to->x2 = (float) from->x2;
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to->x3 = (float) from->x3;
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}
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inline void bgc_vector3_convert_fp32_to_fp64(const BgcVector3FP32* from, BgcVector3FP64* to)
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{
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to->x1 = from->x1;
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to->x2 = from->x2;
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to->x3 = from->x3;
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}
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// ==================== Swap ==================== //
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inline void bgc_vector3_swap_fp32(BgcVector3FP32* vector1, BgcVector3FP32* 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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const float x3 = vector2->x3;
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vector2->x1 = vector1->x1;
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vector2->x2 = vector1->x2;
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vector2->x3 = vector1->x3;
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vector1->x1 = x1;
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vector1->x2 = x2;
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vector1->x3 = x3;
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}
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inline void bgc_vector3_swap_fp64(BgcVector3FP64* vector1, BgcVector3FP64* 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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const double x3 = vector2->x3;
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vector2->x1 = vector1->x1;
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vector2->x2 = vector1->x2;
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vector2->x3 = vector1->x3;
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vector1->x1 = x1;
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vector1->x2 = x2;
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vector1->x3 = x3;
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}
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// ==================== Invert ================== //
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inline void bgc_vector3_invert_fp32(BgcVector3FP32* 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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vector->x3 = -vector->x3;
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}
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inline void bgc_vector3_invert_fp64(BgcVector3FP64* 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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vector->x3 = -vector->x3;
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}
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// ================ Make Inverted =============== //
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inline void bgc_vector3_set_inverted_fp32(const BgcVector3FP32* vector, BgcVector3FP32* result)
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{
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result->x1 = -vector->x1;
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result->x2 = -vector->x2;
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result->x3 = -vector->x3;
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}
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inline void bgc_vector3_set_inverted_fp64(const BgcVector3FP64* vector, BgcVector3FP64* result)
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{
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result->x1 = -vector->x1;
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result->x2 = -vector->x2;
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result->x3 = -vector->x3;
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}
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// ============== Make Inverted Twin ============ //
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inline void bgc_vector3_set_inverted_fp32_to_fp64(const BgcVector3FP32* vector, BgcVector3FP64* result)
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{
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result->x1 = -vector->x1;
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result->x2 = -vector->x2;
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result->x3 = -vector->x3;
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}
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inline void bgc_vector3_set_inverted_fp64_to_fp32(const BgcVector3FP64* vector, BgcVector3FP32* result)
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{
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result->x1 = (float) -vector->x1;
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result->x2 = (float) -vector->x2;
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result->x3 = (float) -vector->x3;
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}
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// =================== Module =================== //
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inline float bgc_vector3_get_square_modulus_fp32(const BgcVector3FP32* vector)
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{
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return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3;
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}
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inline double bgc_vector3_get_square_modulus_fp64(const BgcVector3FP64* vector)
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{
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return vector->x1 * vector->x1 + vector->x2 * vector->x2 + vector->x3 * vector->x3;
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}
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inline float bgc_vector3_get_modulus_fp32(const BgcVector3FP32* vector)
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{
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return sqrtf(bgc_vector3_get_square_modulus_fp32(vector));
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}
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inline double bgc_vector3_get_modulus_fp64(const BgcVector3FP64* vector)
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{
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return sqrt(bgc_vector3_get_square_modulus_fp64(vector));
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}
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// ================= Comparison ================= //
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inline int bgc_vector3_is_zero_fp32(const BgcVector3FP32* vector)
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{
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return bgc_vector3_get_square_modulus_fp32(vector) <= BGC_SQUARE_EPSYLON_FP32;
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}
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inline int bgc_vector3_is_zero_fp64(const BgcVector3FP64* vector)
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{
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return bgc_vector3_get_square_modulus_fp64(vector) <= BGC_SQUARE_EPSYLON_FP64;
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}
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inline int bgc_vector3_is_unit_fp32(const BgcVector3FP32* vector)
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{
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const float square_modulus = bgc_vector3_get_square_modulus_fp32(vector);
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return 1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32;
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}
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inline int bgc_vector3_is_unit_fp64(const BgcVector3FP64* vector)
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{
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const double square_modulus = bgc_vector3_get_square_modulus_fp64(vector);
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return 1.0f - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP64;
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}
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// ==================== Add ===================== //
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inline void bgc_vector3_add_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, BgcVector3FP32* 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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sum->x3 = vector1->x3 + vector2->x3;
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}
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inline void bgc_vector3_add_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, BgcVector3FP64* 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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sum->x3 = vector1->x3 + vector2->x3;
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}
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// ================= Add scaled ================= //
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inline void bgc_vector3_add_scaled_fp32(const BgcVector3FP32* basic_vector, const BgcVector3FP32* scalable_vector, const float scale, BgcVector3FP32* result)
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{
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result->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
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result->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
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result->x3 = basic_vector->x3 + scalable_vector->x3 * scale;
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}
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inline void bgc_vector3_add_scaled_fp64(const BgcVector3FP64* basic_vector, const BgcVector3FP64* scalable_vector, const double scale, BgcVector3FP64* result)
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{
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result->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
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result->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
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result->x3 = basic_vector->x3 + scalable_vector->x3 * scale;
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}
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// ================ Subtraction ================= //
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inline void bgc_vector3_subtract_fp32(const BgcVector3FP32* minuend, const BgcVector3FP32* subtrahend, BgcVector3FP32* 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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difference->x3 = minuend->x3 - subtrahend->x3;
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}
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inline void bgc_vector3_subtract_fp64(const BgcVector3FP64* minuend, const BgcVector3FP64* subtrahend, BgcVector3FP64* 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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difference->x3 = minuend->x3 - subtrahend->x3;
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}
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// =============== Multiplication =============== //
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inline void bgc_vector3_multiply_fp32(const BgcVector3FP32* multiplicand, const float multiplier, BgcVector3FP32* 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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product->x3 = multiplicand->x3 * multiplier;
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}
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inline void bgc_vector3_multiply_fp64(const BgcVector3FP64* multiplicand, const double multiplier, BgcVector3FP64* 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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product->x3 = multiplicand->x3 * multiplier;
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}
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// ================== Division ================== //
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inline void bgc_vector3_divide_fp32(const BgcVector3FP32* dividend, const float divisor, BgcVector3FP32* quotient)
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{
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bgc_vector3_multiply_fp32(dividend, 1.0f / divisor, quotient);
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}
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inline void bgc_vector3_divide_fp64(const BgcVector3FP64* dividend, const double divisor, BgcVector3FP64* quotient)
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{
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bgc_vector3_multiply_fp64(dividend, 1.0 / divisor, quotient);
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}
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// ================== Average2 ================== //
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inline void bgc_vector3_mean_of_two_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, BgcVector3FP32* result)
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{
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result->x1 = (vector1->x1 + vector2->x1) * 0.5f;
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result->x2 = (vector1->x2 + vector2->x2) * 0.5f;
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result->x3 = (vector1->x3 + vector2->x3) * 0.5f;
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}
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inline void bgc_vector3_mean_of_two_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, BgcVector3FP64* result)
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{
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result->x1 = (vector1->x1 + vector2->x1) * 0.5;
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result->x2 = (vector1->x2 + vector2->x2) * 0.5;
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result->x3 = (vector1->x3 + vector2->x3) * 0.5;
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}
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// ================== Average3 ================== //
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inline void bgc_vector3_mean_of_three_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcVector3FP32* vector3, BgcVector3FP32* result)
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{
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result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP32;
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result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP32;
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result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP32;
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}
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inline void bgc_vector3_mean_of_three_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcVector3FP64* vector3, BgcVector3FP64* result)
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{
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result->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP64;
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result->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP64;
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result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP64;
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}
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// =============== Scalar Product =============== //
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inline float bgc_vector3_scalar_product_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2)
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{
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return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
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}
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inline double bgc_vector3_scalar_product_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2)
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{
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return vector1->x1 * vector2->x1 + vector1->x2 * vector2->x2 + vector1->x3 * vector2->x3;
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}
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// =============== Triple Product =============== //
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inline float bgc_vector3_triple_product_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcVector3FP32* vector3)
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{
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return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2)
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+ vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3)
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+ vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1);
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}
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inline double bgc_vector3_triple_product_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcVector3FP64* vector3)
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{
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return vector1->x1 * (vector2->x2 * vector3->x3 - vector2->x3 * vector3->x2)
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+ vector1->x2 * (vector2->x3 * vector3->x1 - vector2->x1 * vector3->x3)
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+ vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1);
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}
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// =============== Cross Product ================ //
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inline void bgc_vector3_cross_product_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, BgcVector3FP32* result)
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{
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const float x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
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const float x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
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const float x3 = vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
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result->x1 = x1;
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result->x2 = x2;
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result->x3 = x3;
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}
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inline void bgc_vector3_cross_product_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, BgcVector3FP64* result)
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{
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const double x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
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const double x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
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const double x3 = vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
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result->x1 = x1;
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result->x2 = x2;
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result->x3 = x3;
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}
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// ============ Double Cross Product ============ //
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inline void bgc_vector3_double_cross_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcVector3FP32* vector3, BgcVector3FP32* result)
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{
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const float ac = bgc_vector3_scalar_product_fp32(vector1, vector3);
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const float ab = bgc_vector3_scalar_product_fp32(vector1, vector2);
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result->x1 = vector2->x1 * ac - vector3->x1 * ab;
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result->x2 = vector2->x2 * ac - vector3->x2 * ab;
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result->x3 = vector2->x3 * ac - vector3->x3 * ab;
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}
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inline void bgc_vector3_double_cross_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcVector3FP64* vector3, BgcVector3FP64* result)
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{
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const double ac = bgc_vector3_scalar_product_fp64(vector1, vector3);
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const double ab = bgc_vector3_scalar_product_fp64(vector1, vector2);
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result->x1 = vector2->x1 * ac - vector3->x1 * ab;
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result->x2 = vector2->x2 * ac - vector3->x2 * ab;
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result->x3 = vector2->x3 * ac - vector3->x3 * ab;
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}
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// =============== Normalization ================ //
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inline int bgc_vector3_normalize_fp32(BgcVector3FP32* vector)
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{
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const float square_modulus = bgc_vector3_get_square_modulus_fp32(vector);
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if (1.0f - BGC_TWO_EPSYLON_FP32 <= square_modulus && square_modulus <= 1.0f + BGC_TWO_EPSYLON_FP32) {
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return 1;
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}
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) {
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bgc_vector3_reset_fp32(vector);
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return 0;
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}
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bgc_vector3_multiply_fp32(vector, sqrtf(1.0f / square_modulus), vector);
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return 1;
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}
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inline int bgc_vector3_normalize_fp64(BgcVector3FP64* vector)
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{
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const double square_modulus = bgc_vector3_get_square_modulus_fp64(vector);
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if (1.0 - BGC_TWO_EPSYLON_FP64 <= square_modulus && square_modulus <= 1.0 + BGC_TWO_EPSYLON_FP64) {
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return 1;
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}
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP64) {
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bgc_vector3_reset_fp64(vector);
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return 0;
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}
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bgc_vector3_multiply_fp64(vector, sqrt(1.0 / square_modulus), vector);
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return 1;
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}
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// =============== Set Normalized =============== //
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inline int bgc_vector3_set_normalized_fp32(const BgcVector3FP32* vector, BgcVector3FP32* result)
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{
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bgc_vector3_copy_fp32(vector, result);
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return bgc_vector3_normalize_fp32(result);
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}
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inline int bgc_vector3_set_normalized_fp64(const BgcVector3FP64* vector, BgcVector3FP64* result)
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{
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bgc_vector3_copy_fp64(vector, result);
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return bgc_vector3_normalize_fp64(result);
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}
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// =================== Angle ==================== //
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float bgc_vector3_get_angle_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcAngleUnitEnum unit);
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double bgc_vector3_get_angle_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcAngleUnitEnum unit);
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// =============== Square Distance ============== //
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inline float bgc_vector3_get_square_distance_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* 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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const float dx3 = (vector1->x3 - vector2->x3);
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return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
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}
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inline double bgc_vector3_get_square_distance_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* 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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const double dx3 = (vector1->x3 - vector2->x3);
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return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
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}
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// ================== Distance ================== //
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inline float bgc_vector3_get_distance_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2)
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{
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return sqrtf(bgc_vector3_get_square_distance_fp32(vector1, vector2));
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}
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inline double bgc_vector3_get_distance_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2)
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{
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return sqrt(bgc_vector3_get_square_distance_fp64(vector1, vector2));
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}
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// ================== Are Equal ================= //
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inline int bgc_vector3_are_equal_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2)
|
|
{
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const float square_modulus1 = bgc_vector3_get_square_modulus_fp32(vector1);
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const float square_modulus2 = bgc_vector3_get_square_modulus_fp32(vector2);
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const float square_modulus3 = bgc_vector3_get_square_distance_fp32(vector1, vector2);
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|
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// 3.0f means dimension amount
|
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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_modulus3 < (3.0f * BGC_SQUARE_EPSYLON_FP32);
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}
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|
|
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if (square_modulus1 <= square_modulus2) {
|
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return square_modulus3 <= (3.0f * BGC_SQUARE_EPSYLON_FP32) * square_modulus2;
|
|
}
|
|
|
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return square_modulus3 <= (3.0f * BGC_SQUARE_EPSYLON_FP32) * square_modulus1;
|
|
}
|
|
|
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inline int bgc_vector3_are_equal_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* 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_modulus3 = bgc_vector3_get_square_distance_fp64(vector1, vector2);
|
|
|
|
// 3.0 means dimension amount
|
|
if (square_modulus1 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 < BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) {
|
|
return square_modulus3 < (3.0 * BGC_SQUARE_EPSYLON_FP64);
|
|
}
|
|
|
|
if (square_modulus1 <= square_modulus2) {
|
|
return square_modulus3 <= (3.0 * BGC_SQUARE_EPSYLON_FP64) * square_modulus2;
|
|
}
|
|
|
|
return square_modulus3 <= (3.0 * BGC_SQUARE_EPSYLON_FP64) * square_modulus1;
|
|
}
|
|
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|
#endif
|