396 lines
12 KiB
C
396 lines
12 KiB
C
#ifndef _GEOMETRY_MATRIX2X2_H_
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#define _GEOMETRY_MATRIX2X2_H_
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#include "angle.h"
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#include "vector2.h"
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#include "matrixes.h"
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// =================== Reset ==================== //
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static inline void bg_fp32_matrix2x2_reset(BgFP32Matrix2x2* matrix)
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{
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matrix->r1c1 = 0.0f;
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matrix->r1c2 = 0.0f;
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matrix->r2c1 = 0.0f;
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matrix->r2c2 = 0.0f;
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}
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static inline void bg_fp64_matrix2x2_reset(BgFP64Matrix2x2* matrix)
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{
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matrix->r1c1 = 0.0;
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matrix->r1c2 = 0.0;
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matrix->r2c1 = 0.0;
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matrix->r2c2 = 0.0;
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}
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// ================== Identity ================== //
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static inline void bg_fp32_matrix2x2_set_to_identity(BgFP32Matrix2x2* matrix)
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{
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matrix->r1c1 = 1.0f;
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matrix->r1c2 = 0.0f;
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matrix->r2c1 = 0.0f;
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matrix->r2c2 = 1.0f;
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}
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static inline void bg_fp64_matrix2x2_set_to_identity(BgFP64Matrix2x2* matrix)
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{
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matrix->r1c1 = 1.0;
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matrix->r1c2 = 0.0;
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matrix->r2c1 = 0.0;
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matrix->r2c2 = 1.0;
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}
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// ================ Make Diagonal =============== //
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static inline void bg_fp32_matrix2x2_set_to_diagonal(const float d1, const float d2, BgFP32Matrix2x2* matrix)
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{
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matrix->r1c1 = d1;
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matrix->r1c2 = 0.0f;
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matrix->r2c1 = 0.0f;
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matrix->r2c2 = d2;
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}
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static inline void bg_fp64_matrix2x2_set_to_diagonal(const double d1, const double d2, BgFP64Matrix2x2* matrix)
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{
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matrix->r1c1 = d1;
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matrix->r1c2 = 0.0;
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matrix->r2c1 = 0.0;
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matrix->r2c2 = d2;
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}
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// ============== Rotation Matrix =============== //
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static inline void bg_fp32_matrix2x2_make_turn(const float angle, const angle_unit_t unit, BgFP32Matrix2x2* matrix)
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{
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const float radians = bg_fp32_angle_to_radians(angle, unit);
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const float cosine = cosf(radians);
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const float sine = sinf(radians);
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matrix->r1c1 = cosine;
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matrix->r1c2 = -sine;
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matrix->r2c1 = sine;
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matrix->r2c2 = cosine;
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}
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static inline void bg_fp64_matrix2x2_make_turn(const double angle, const angle_unit_t unit, BgFP64Matrix2x2* matrix)
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{
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const double radians = bg_fp64_angle_to_radians(angle, unit);
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const double cosine = cos(radians);
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const double sine = sin(radians);
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matrix->r1c1 = cosine;
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matrix->r1c2 = -sine;
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matrix->r2c1 = sine;
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matrix->r2c2 = cosine;
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}
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// ==================== Copy ==================== //
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static inline void bg_fp32_matrix2x2_copy(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to)
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{
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to->r1c1 = from->r1c1;
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to->r1c2 = from->r1c2;
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to->r2c1 = from->r2c1;
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to->r2c2 = from->r2c2;
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}
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static inline void bg_fp64_matrix2x2_copy(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to)
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{
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to->r1c1 = from->r1c1;
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to->r1c2 = from->r1c2;
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to->r2c1 = from->r2c1;
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to->r2c2 = from->r2c2;
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}
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// ============= Copy to twin type ============== //
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static inline void bg_fp32_matrix2x2_set_from_fp64(const BgFP64Matrix2x2* from, BgFP32Matrix2x2* to)
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{
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to->r1c1 = (float)from->r1c1;
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to->r1c2 = (float)from->r1c2;
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to->r2c1 = (float)from->r2c1;
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to->r2c2 = (float)from->r2c2;
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}
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static inline void bg_fp64_matrix2x2_set_from_fp32(const BgFP32Matrix2x2* from, BgFP64Matrix2x2* to)
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{
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to->r1c1 = from->r1c1;
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to->r1c2 = from->r1c2;
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to->r2c1 = from->r2c1;
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to->r2c2 = from->r2c2;
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}
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// ================ Determinant ================= //
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static inline float bg_fp32_matrix2x2_get_determinant(const BgFP32Matrix2x2* matrix)
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{
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return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
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}
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static inline double bg_fp64_matrix2x2_get_determinant(const BgFP64Matrix2x2* matrix)
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{
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return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
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}
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// ================== Singular ================== //
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static inline int bg_fp32_matrix2x2_is_singular(const BgFP32Matrix2x2* matrix)
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{
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const float determinant = bg_fp32_matrix2x2_get_determinant(matrix);
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return -BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON;
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}
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static inline int bg_fp64_matrix2x2_is_singular(const BgFP64Matrix2x2* matrix)
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{
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const double determinant = bg_fp64_matrix2x2_get_determinant(matrix);
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return -BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON;
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}
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// =============== Transposition ================ //
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static inline void bg_fp32_matrix2x2_transpose(BgFP32Matrix2x2* matrix)
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{
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const float tmp = matrix->r1c2;
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matrix->r1c2 = matrix->r2c1;
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matrix->r2c1 = tmp;
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}
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static inline void bg_fp64_matrix2x2_transpose(BgFP64Matrix2x2* matrix)
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{
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const double tmp = matrix->r1c2;
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matrix->r1c2 = matrix->r2c1;
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matrix->r2c1 = tmp;
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}
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// ================= Inversion ================== //
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int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix);
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int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix);
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// =============== Set Transposed =============== //
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static inline void bg_fp32_matrix2x2_set_transposed(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to)
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{
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float tmp = from->r1c2;
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to->r1c1 = from->r1c1;
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to->r1c2 = from->r2c1;
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to->r2c1 = tmp;
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to->r2c2 = from->r2c2;
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}
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static inline void bg_fp64_matrix2x2_set_transposed(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to)
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{
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double tmp = from->r1c2;
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to->r1c1 = from->r1c1;
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to->r1c2 = from->r2c1;
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to->r2c1 = tmp;
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to->r2c2 = from->r2c2;
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}
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// ================ Set Inverted ================ //
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int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to);
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int bg_fp64_matrix2x2_set_inverted(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to);
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// ================= Set Row 1 ================== //
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static inline void bg_fp32_matrix2x2_set_row1(const float c1, const float c2, BgFP32Matrix2x2* matrix)
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{
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matrix->r1c1 = c1;
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matrix->r1c2 = c2;
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}
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static inline void bg_fp64_matrix2x2_set_row1(const double c1, const double c2, BgFP64Matrix2x2* matrix)
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{
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matrix->r1c1 = c1;
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matrix->r1c2 = c2;
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}
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// ================= Set Row 2 ================== //
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static inline void bg_fp32_matrix2x2_set_row2(const float c1, const float c2, BgFP32Matrix2x2* matrix)
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{
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matrix->r2c1 = c1;
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matrix->r2c2 = c2;
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}
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static inline void bg_fp64_matrix2x2_set_row2(const double c1, const double c2, BgFP64Matrix2x2* matrix)
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{
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matrix->r2c1 = c1;
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matrix->r2c2 = c2;
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}
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// ================ Set Column 1 ================ //
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static inline void bg_fp32_matrix2x2_set_column1(const float r1, const float r2, BgFP32Matrix2x2* matrix)
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{
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matrix->r1c1 = r1;
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matrix->r2c1 = r2;
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}
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static inline void bg_fp64_matrix2x2_set_column1(const double r1, const double r2, BgFP64Matrix2x2* matrix)
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{
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matrix->r1c1 = r1;
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matrix->r2c1 = r2;
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}
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// ================ Set Column 2 ================ //
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static inline void bg_fp32_matrix2x2_set_column2(const float r1, const float r2, BgFP32Matrix2x2* matrix)
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{
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matrix->r1c2 = r1;
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matrix->r2c2 = r2;
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}
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static inline void bg_fp64_matrix2x2_set_column2(const double r1, const double r2, BgFP64Matrix2x2* matrix)
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{
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matrix->r1c2 = r1;
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matrix->r2c2 = r2;
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}
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// ================ Append scaled =============== //
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static inline void bg_fp32_matrix2x2_append_scaled(BgFP32Matrix2x2* basic_vector, const BgFP32Matrix2x2* scalable_vector, const float scale)
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{
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basic_vector->r1c1 += scalable_vector->r1c1 * scale;
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basic_vector->r1c2 += scalable_vector->r1c2 * scale;
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basic_vector->r2c1 += scalable_vector->r2c1 * scale;
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basic_vector->r2c2 += scalable_vector->r2c2 * scale;
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}
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static inline void bg_fp64_matrix2x2_append_scaled(BgFP64Matrix2x2* basic_vector, const BgFP64Matrix2x2* scalable_vector, const double scale)
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{
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basic_vector->r1c1 += scalable_vector->r1c1 * scale;
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basic_vector->r1c2 += scalable_vector->r1c2 * scale;
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basic_vector->r2c1 += scalable_vector->r2c1 * scale;
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basic_vector->r2c2 += scalable_vector->r2c2 * scale;
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}
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// ================== Addition ================== //
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static inline void bg_fp32_matrix2x2_add(const BgFP32Matrix2x2* matrix1, const BgFP32Matrix2x2* matrix2, BgFP32Matrix2x2* sum)
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{
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sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
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sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
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sum->r2c1 = matrix1->r2c1 + matrix2->r2c1;
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sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
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}
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static inline void bg_fp64_matrix2x2_add(const BgFP64Matrix2x2* matrix1, const BgFP64Matrix2x2* matrix2, BgFP64Matrix2x2* sum)
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{
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sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
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sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
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sum->r2c1 = matrix1->r2c1 + matrix2->r2c1;
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sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
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}
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// ================ Subtraction ================= //
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static inline void bg_fp32_matrix2x2_subtract(const BgFP32Matrix2x2* minuend, const BgFP32Matrix2x2* subtrahend, BgFP32Matrix2x2* difference)
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{
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difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
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difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
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difference->r2c1 = minuend->r2c1 - subtrahend->r2c1;
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difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
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}
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static inline void bg_fp64_matrix2x2_subtract(const BgFP64Matrix2x2* minuend, const BgFP64Matrix2x2* subtrahend, BgFP64Matrix2x2* difference)
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{
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difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
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difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
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difference->r2c1 = minuend->r2c1 - subtrahend->r2c1;
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difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
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}
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// =============== Multiplication =============== //
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static inline void bg_fp32_matrix2x2_multiply(const BgFP32Matrix2x2* multiplicand, const float multiplier, BgFP32Matrix2x2* product)
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{
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product->r1c1 = multiplicand->r1c1 * multiplier;
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product->r1c2 = multiplicand->r1c2 * multiplier;
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product->r2c1 = multiplicand->r2c1 * multiplier;
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product->r2c2 = multiplicand->r2c2 * multiplier;
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}
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static inline void bg_fp64_matrix2x2_multiply(const BgFP64Matrix2x2* multiplicand, const double multiplier, BgFP64Matrix2x2* product)
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{
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product->r1c1 = multiplicand->r1c1 * multiplier;
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product->r1c2 = multiplicand->r1c2 * multiplier;
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product->r2c1 = multiplicand->r2c1 * multiplier;
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product->r2c2 = multiplicand->r2c2 * multiplier;
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}
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// ================== Division ================== //
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static inline void bg_fp32_matrix2x2_divide(const BgFP32Matrix2x2* dividend, const float divisor, BgFP32Matrix2x2* quotient)
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{
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bg_fp32_matrix2x2_multiply(dividend, 1.0f / divisor, quotient);
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}
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static inline void bg_fp64_matrix2x2_divide(const BgFP64Matrix2x2* dividend, const double divisor, BgFP64Matrix2x2* quotient)
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{
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bg_fp64_matrix2x2_multiply(dividend, 1.0 / divisor, quotient);
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}
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// ============ Left Vector Product ============= //
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static inline void bg_fp32_matrix2x2_left_product(const BgFP32Vector2* vector, const BgFP32Matrix2x2* matrix, BgFP32Vector2* result)
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{
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const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
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const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
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result->x1 = x1;
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result->x2 = x2;
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}
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static inline void bg_fp64_matrix2x2_left_product(const BgFP64Vector2* vector, const BgFP64Matrix2x2* matrix, BgFP64Vector2* result)
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{
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const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
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const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
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result->x1 = x1;
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result->x2 = x2;
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}
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// ============ Right Vector Product ============ //
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static inline void bg_fp32_matrix2x2_right_product(const BgFP32Matrix2x2* matrix, const BgFP32Vector2* vector, BgFP32Vector2* result)
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{
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const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
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const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
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result->x1 = x1;
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result->x2 = x2;
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}
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static inline void bg_fp64_matrix2x2_right_product(const BgFP64Matrix2x2* matrix, const BgFP64Vector2* vector, BgFP64Vector2* result)
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{
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const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
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const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
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result->x1 = x1;
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result->x2 = x2;
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}
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#endif
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