497 lines
17 KiB
C
497 lines
17 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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#include <basic-geometry.h>
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#ifdef _WIN64
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#include <windows.h>
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#else
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#include <time.h>
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#endif // _WINDOWS_
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typedef struct {
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BGC_FP32_Versor versor1, versor2, result;
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} structure_fp32_t;
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structure_fp32_t* allocate_structures(const unsigned int amount)
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{
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return calloc(amount, sizeof(structure_fp32_t));
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}
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structure_fp32_t* make_structures(const unsigned int amount)
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{
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structure_fp32_t* list = allocate_structures(amount);
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if (list == 0) {
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return 0;
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}
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const float multiplier = 2.0f / RAND_MAX;
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for (unsigned int i = 0; i < amount; i++) {
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bgc_fp32_versor_make(
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rand() * multiplier - 1.0f,
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rand() * multiplier - 1.0f,
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rand() * multiplier - 1.0f,
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rand() * multiplier - 1.0f,
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&list[i].versor1
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);
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bgc_fp32_versor_make(
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rand() * multiplier - 1.0f,
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rand() * multiplier - 1.0f,
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rand() * multiplier - 1.0f,
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rand() * multiplier - 1.0f,
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&list[i].versor2
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);
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bgc_fp32_versor_reset(&list[i].result);
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}
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return list;
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}
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void print_versor_fp32(const BGC_FP32_Versor* versor)
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{
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printf("Versor (s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3);
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}
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void print_versor_fp64(const BGC_FP64_Versor* versor)
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{
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printf("Versor (s0 = %0.20f, x1 = %0.20f, x2 = %0.20f, x3 = %0.20f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3);
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}
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void print_vector_fp32(const BGC_FP32_Vector3* vector)
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{
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printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, bgc_fp32_vector3_get_modulus(vector));
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}
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void print_vector_fp64(const BGC_FP64_Vector3* vector)
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{
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printf("(%lf, %lf, %lf) / %lf\n", vector->x1, vector->x2, vector->x3, bgc_fp64_vector3_get_modulus(vector));
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}
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void list_work(const uint_fast32_t amount, structure_fp32_t* list)
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{
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for (uint_fast32_t j = 0; j < 1000; j++) {
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for (uint_fast32_t i = 0; i < amount; i++) {
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bgc_fp32_versor_combine(&list[i].versor1, &list[i].versor1, &list[i].result);
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}
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}
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}
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/*
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int main()
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{
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const unsigned int amount = 1000000;
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structure_fp32_t* list = make_structures(amount);
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#ifdef _WIN64
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ULONGLONG start, end;
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start = GetTickCount64();
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srand((unsigned int)(start & 0xfffffff));
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start = GetTickCount64();
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#else
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struct timespec start, end;
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clock_gettime(0, &start);
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srand((unsigned int)(start.tv_nsec & 0xfffffff));
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clock_gettime(CLOCK_REALTIME, &start);
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#endif // _WIN64
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list_work(amount, list);
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#ifdef _WIN64
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end = GetTickCount64();
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printf("Time: %lld\n", end - start);
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#else
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clock_gettime(CLOCK_REALTIME, &end);
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printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
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#endif // _WIN64
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print_versor_fp32(&list[10].versor1);
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print_versor_fp32(&list[10].versor2);
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print_versor_fp32(&list[10].result);
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free(list);
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return 0;
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}
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*/
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/*
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int main() {
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BGC_FP32_Complex complex, exponent, result;
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bgc_fp32_complex_make(0, 1, &complex);
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bgc_fp32_complex_make(4, 0, &exponent);
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bgc_fp32_complex_get_exponation(&complex, exponent.real, exponent.imaginary, &result);
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printf("(%f, %f) ^ (%f, %f) = (%f, %f)\n", complex.real, complex.imaginary, exponent.real, exponent.imaginary, result.real, result.imaginary);
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return 0;
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}
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*/
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/*
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int main() {
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BGC_FP32_Versor start = { 1.0f, 0.0f, 0.0f, 0.0f };
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BGC_FP32_Versor end = { 0.0f, 1.0f, 0.0f, 0.0f };
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BGC_FP32_Versor result;
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bgc_fp32_versor_spherical_interpolation(&start, &end, 0.5f, &result);
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printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
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return 0;
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}
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*/
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void test_basis_difference_fp32()
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{
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BGC_FP32_Vector3 initial_primary, initial_auxiliary;
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BGC_FP32_Vector3 final_primary, final_auxiliary;
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BGC_FP32_Versor turn;
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// No turn
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_auxiliary);
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bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nNo turn:\n");
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print_versor_fp32(&turn);
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// Turn around (1, 1, 0) axis on 180 degrees
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &final_auxiliary);
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bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
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print_versor_fp32(&turn);
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// 180 degree turn
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(-1.0f, 0.0f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_auxiliary);
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bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n180 degree turn around (0, 1, 0):\n");
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print_versor_fp32(&turn);
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// 90 degree turn around x3 axis
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bgc_fp32_vector3_make(2.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(0.0f, 3.1f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(0.0f, 10.0f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(-1.0f, 0.0f, 0.0f, &final_auxiliary);
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bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n90 degree turn around (0, 0, 1):\n");
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print_versor_fp32(&turn);
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// Unorthogonal pairs turn at 90 degrees around x3 axis
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bgc_fp32_vector3_make(2.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(-2.0f, 3.1f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(0.0f, 10.0f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(-1.0f, 5.0f, 0.0f, &final_auxiliary);
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bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
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print_versor_fp32(&turn);
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// Zero vectors
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bgc_fp32_vector3_make(0.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_auxiliary);
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int code;
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code = bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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if (code >= 0) {
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printf("\nZero vectors: this cannot be!\n");
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print_versor_fp32(&turn);
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}
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else {
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printf("\nZero vector validation works fine\n");
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}
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// Parallel vectors
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(2.0f, 0.0f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_auxiliary);
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code = bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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if (code >= 0) {
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printf("\nParallel vectors: this cannot be!\n");
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print_versor_fp32(&turn);
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}
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else {
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printf("\nParallelism validation works fine\n");
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}
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// Small angle turn (about 1 degree):
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(0.999848f, 0.017452f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(-0.017452f, 0.999848f, 0.0f, &final_auxiliary);
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bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nSmall angle turn (about 1 degree):\n");
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print_versor_fp32(&turn);
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// About 179 degrees turn
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(-0.999848f, -0.017452f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(0.017452f, -0.999848f, 0.0f, &final_auxiliary);
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bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nAbout 179 degrees turn:\n");
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print_versor_fp32(&turn);
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// 120 degrees around (-1, -1, 1)
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(0.0f, 0.0f, -1.0f, &final_auxiliary);
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bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n120 degees turn:\n");
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print_versor_fp32(&turn);
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// About 1 degree turn difference between initial_primary and initial_auxiliary directions
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(0.999848f, 0.017452f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(-1.0f, 0.0f, 0.0f, &final_auxiliary);
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bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
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print_versor_fp32(&turn);
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// About 0.01 degree turn difference between initial_primary and initial_auxiliary directions
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_fp32_vector3_make(1.0f, 0.000001f, 0.0f, &initial_auxiliary);
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bgc_fp32_vector3_make(0.0f, -1.0f, 0.0f, &final_primary);
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bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &final_auxiliary);
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bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
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print_versor_fp32(&turn);
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}
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void test_basis_difference_fp64()
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{
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BGC_FP64_Vector3 initial_primary, initial_auxiliary;
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BGC_FP64_Vector3 final_primary, final_auxiliary;
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BGC_FP64_Versor turn;
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// No turn
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bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
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bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_fp64_vector3_make(1.0, 0.0, 0.0, &final_primary);
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bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_auxiliary);
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bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nNo turn:\n");
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print_versor_fp64(&turn);
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// Turn around (1, 1, 0) axis on 180 degrees
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bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
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bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_primary);
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bgc_fp64_vector3_make(1.0, 0.0, 0.0, &final_auxiliary);
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bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
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print_versor_fp64(&turn);
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// 180 degree turn
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bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
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bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_fp64_vector3_make(-1.0, 0.0, 0.0, &final_primary);
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bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_auxiliary);
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bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n180 degree turn around (0, 1, 0):\n");
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print_versor_fp64(&turn);
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// 90 degree turn around x3 axis
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bgc_fp64_vector3_make(2.0, 0.0, 0.0, &initial_primary);
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bgc_fp64_vector3_make(0.0, 3.1, 0.0, &initial_auxiliary);
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bgc_fp64_vector3_make(0.0, 10.0, 0.0, &final_primary);
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bgc_fp64_vector3_make(-1.0, 0.0, 0.0, &final_auxiliary);
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bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n90 degree turn around (0, 0, 1):\n");
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print_versor_fp64(&turn);
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// Unorthogonal pairs turn at 90 degrees around x3 axis
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bgc_fp64_vector3_make(2.0, 0.0, 0.0, &initial_primary);
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bgc_fp64_vector3_make(-2.0, 3.1, 0.0, &initial_auxiliary);
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bgc_fp64_vector3_make(0.0, 10.0, 0.0, &final_primary);
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bgc_fp64_vector3_make(-1.0, 5.0, 0.0, &final_auxiliary);
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bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
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print_versor_fp64(&turn);
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// Zero vectors
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bgc_fp64_vector3_make(0.0, 0.0, 0.0, &initial_primary);
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bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_fp64_vector3_make(1.0, 0.0, 0.0, &final_primary);
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bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_auxiliary);
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int code;
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code = bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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if (code >= 0) {
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printf("\nZero vectors: this cannot be!\n");
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print_versor_fp64(&turn);
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}
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else {
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printf("\nZero vector validation works fine\n");
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}
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// Parallel vectors
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bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
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bgc_fp64_vector3_make(2.0, 0.0, 0.0, &initial_auxiliary);
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bgc_fp64_vector3_make(1.0, 0.0, 0.0, &final_primary);
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bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_auxiliary);
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code = bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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|
|
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if (code >= 0) {
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printf("\nParallel vectors: this cannot be!\n");
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print_versor_fp64(&turn);
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}
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else {
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printf("\nParallelism validation works fine\n");
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}
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|
|
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// Small angle turn (about 1 degree):
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bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
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bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
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|
|
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bgc_fp64_vector3_make(0.999848, 0.017452, 0.0, &final_primary);
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bgc_fp64_vector3_make(-0.017452, 0.999848, 0.0, &final_auxiliary);
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|
|
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bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
|
|
|
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printf("\nSmall angle turn (about 1 degree):\n");
|
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print_versor_fp64(&turn);
|
|
|
|
// About 179 degrees turn
|
|
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
|
|
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
|
|
|
|
bgc_fp64_vector3_make(-0.999848, -0.017452, 0.0, &final_primary);
|
|
bgc_fp64_vector3_make(0.017452, -0.999848, 0.0, &final_auxiliary);
|
|
|
|
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
|
|
|
|
printf("\nAbout 179 degrees turn:\n");
|
|
print_versor_fp64(&turn);
|
|
|
|
// 120 degrees around (-1, -1, 1)
|
|
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
|
|
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
|
|
|
|
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_primary);
|
|
bgc_fp64_vector3_make(0.0, 0.0, -1.0, &final_auxiliary);
|
|
|
|
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
|
|
|
|
printf("\n120 degees turn:\n");
|
|
print_versor_fp64(&turn);
|
|
|
|
|
|
// About 1 degree turn difference between initial_primary and initial_auxiliary directions
|
|
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
|
|
bgc_fp64_vector3_make(0.999848, 0.017452, 0.0, &initial_auxiliary);
|
|
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_primary);
|
|
bgc_fp64_vector3_make(-1.0, 0.0, 0.0, &final_auxiliary);
|
|
|
|
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
|
|
|
|
printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
|
|
print_versor_fp64(&turn);
|
|
|
|
// About 0.001 degree turn difference between initial_primary and initial_auxiliary directions
|
|
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
|
|
bgc_fp64_vector3_make(1.0, 0.000001, 0.0, &initial_auxiliary);
|
|
bgc_fp64_vector3_make(0.0, -1.0, 0.0, &final_primary);
|
|
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &final_auxiliary);
|
|
|
|
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
|
|
|
|
printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
|
|
print_versor_fp64(&turn);
|
|
}
|
|
|
|
#include "affine3.h"
|
|
|
|
int main()
|
|
{
|
|
//BGC_FP32_Versor start = { 1.0f, 0.0f, 0.0f, 0.0f };
|
|
//BGC_FP32_Versor end = { 0.0f, 1.0f, 0.0f, 0.0f };
|
|
/*
|
|
BGC_FP32_Versor start = { 1.0f, 0.0f, 0.0f, 0.0f };
|
|
BGC_FP32_Versor end = { 0.9999f, 0.01414f, 0.0f, 0.0f };
|
|
BGC_FP32_Slerp slerp;
|
|
BGC_FP32_Versor result;
|
|
bgc_fp32_slerp_make_full(&start, &end, &slerp);
|
|
bgc_fp32_slerp_get_phase_versor(&slerp, 0.5f, &result);
|
|
|
|
print_versor_fp32(&result);
|
|
*/
|
|
//test_basis_difference_fp64();
|
|
|
|
printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
|
|
|
|
printf("sizeof(BGC_FP32_Affine3) = %zu\n", sizeof(BGC_FP32_Affine3));
|
|
//printf("offsetof(shift) = %zu\n", offsetof(BGC_FP32_Affine3, shift));
|
|
printf("sizeof(BGC_FP32_Matrix3x3) = %zu\n", sizeof(BGC_FP32_Matrix3x3));
|
|
|
|
return 0;
|
|
}
|