673 lines
23 KiB
C
673 lines
23 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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} BGC_FP32_Vector3;
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typedef struct
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{
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double x1, x2, x3;
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} BGC_FP64_Vector3;
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// =================== Reset ==================== //
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inline void bgc_fp32_vector3_reset(BGC_FP32_Vector3* 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_fp64_vector3_reset(BGC_FP64_Vector3* 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_fp32_vector3_make(const float x1, const float x2, const float x3, BGC_FP32_Vector3* destination)
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{
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destination->x1 = x1;
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destination->x2 = x2;
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destination->x3 = x3;
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}
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inline void bgc_fp64_vector3_make(const double x1, const double x2, const double x3, BGC_FP64_Vector3* destination)
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{
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destination->x1 = x1;
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destination->x2 = x2;
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destination->x3 = x3;
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}
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// ================== Modulus =================== //
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inline float bgc_fp32_vector3_get_square_modulus(const BGC_FP32_Vector3* 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_fp64_vector3_get_square_modulus(const BGC_FP64_Vector3* 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_fp32_vector3_get_modulus(const BGC_FP32_Vector3* vector)
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{
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return sqrtf(bgc_fp32_vector3_get_square_modulus(vector));
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}
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inline double bgc_fp64_vector3_get_modulus(const BGC_FP64_Vector3* vector)
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{
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return sqrt(bgc_fp64_vector3_get_square_modulus(vector));
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}
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// ================= Comparison ================= //
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inline int bgc_fp32_vector3_is_zero(const BGC_FP32_Vector3* vector)
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{
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return bgc_fp32_vector3_get_square_modulus(vector) <= BGC_FP32_SQUARE_EPSYLON;
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}
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inline int bgc_fp64_vector3_is_zero(const BGC_FP64_Vector3* vector)
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{
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return bgc_fp64_vector3_get_square_modulus(vector) <= BGC_FP64_SQUARE_EPSYLON;
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}
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inline int bgc_fp32_vector3_is_unit(const BGC_FP32_Vector3* vector)
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{
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return bgc_fp32_is_square_unit(bgc_fp32_vector3_get_square_modulus(vector));
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}
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inline int bgc_fp64_vector3_is_unit(const BGC_FP64_Vector3* vector)
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{
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return bgc_fp64_is_square_unit(bgc_fp64_vector3_get_square_modulus(vector));
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}
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// ==================== Copy ==================== //
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inline void bgc_fp32_vector3_copy(const BGC_FP32_Vector3* source, BGC_FP32_Vector3* destination)
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{
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destination->x1 = source->x1;
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destination->x2 = source->x2;
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destination->x3 = source->x3;
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}
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inline void bgc_fp64_vector3_copy(const BGC_FP64_Vector3* source, BGC_FP64_Vector3* destination)
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{
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destination->x1 = source->x1;
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destination->x2 = source->x2;
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destination->x3 = source->x3;
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}
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// ==================== Swap ==================== //
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inline void bgc_fp32_vector3_swap(BGC_FP32_Vector3* vector1, BGC_FP32_Vector3* 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_fp64_vector3_swap(BGC_FP64_Vector3* vector1, BGC_FP64_Vector3* 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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// ================== Convert =================== //
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inline void bgc_fp64_vector3_convert_to_fp32(const BGC_FP64_Vector3* source, BGC_FP32_Vector3* destination)
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{
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destination->x1 = (float)source->x1;
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destination->x2 = (float)source->x2;
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destination->x3 = (float)source->x3;
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}
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inline void bgc_fp32_vector3_convert_to_fp64(const BGC_FP32_Vector3* source, BGC_FP64_Vector3* destination)
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{
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destination->x1 = source->x1;
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destination->x2 = source->x2;
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destination->x3 = source->x3;
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}
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// ==================== Add ===================== //
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inline void bgc_fp32_vector3_add(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, BGC_FP32_Vector3* 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_fp64_vector3_add(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, BGC_FP64_Vector3* 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_fp32_vector3_add_scaled(const BGC_FP32_Vector3* basic_vector, const BGC_FP32_Vector3* scalable_vector, const float scale, BGC_FP32_Vector3* sum)
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{
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sum->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
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sum->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
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sum->x3 = basic_vector->x3 + scalable_vector->x3 * scale;
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}
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inline void bgc_fp64_vector3_add_scaled(const BGC_FP64_Vector3* basic_vector, const BGC_FP64_Vector3* scalable_vector, const double scale, BGC_FP64_Vector3* sum)
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{
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sum->x1 = basic_vector->x1 + scalable_vector->x1 * scale;
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sum->x2 = basic_vector->x2 + scalable_vector->x2 * scale;
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sum->x3 = basic_vector->x3 + scalable_vector->x3 * scale;
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}
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// ================== Subtract ================== //
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inline void bgc_fp32_vector3_subtract(const BGC_FP32_Vector3* minuend, const BGC_FP32_Vector3* subtrahend, BGC_FP32_Vector3* 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_fp64_vector3_subtract(const BGC_FP64_Vector3* minuend, const BGC_FP64_Vector3* subtrahend, BGC_FP64_Vector3* 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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// ================== Multiply ================== //
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inline void bgc_fp32_vector3_multiply(const BGC_FP32_Vector3* multiplicand, const float multiplier, BGC_FP32_Vector3* 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_fp64_vector3_multiply(const BGC_FP64_Vector3* multiplicand, const double multiplier, BGC_FP64_Vector3* 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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// =================== Divide =================== //
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inline void bgc_fp32_vector3_divide(const BGC_FP32_Vector3* dividend, const float divisor, BGC_FP32_Vector3* quotient)
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{
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bgc_fp32_vector3_multiply(dividend, 1.0f / divisor, quotient);
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}
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inline void bgc_fp64_vector3_divide(const BGC_FP64_Vector3* dividend, const double divisor, BGC_FP64_Vector3* quotient)
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{
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bgc_fp64_vector3_multiply(dividend, 1.0 / divisor, quotient);
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}
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// ================== Average2 ================== //
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inline void bgc_fp32_vector3_get_middle2(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, BGC_FP32_Vector3* middle)
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{
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middle->x1 = (vector1->x1 + vector2->x1) * 0.5f;
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middle->x2 = (vector1->x2 + vector2->x2) * 0.5f;
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middle->x3 = (vector1->x3 + vector2->x3) * 0.5f;
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}
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inline void bgc_fp64_vector3_get_middle2(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, BGC_FP64_Vector3* middle)
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{
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middle->x1 = (vector1->x1 + vector2->x1) * 0.5;
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middle->x2 = (vector1->x2 + vector2->x2) * 0.5;
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middle->x3 = (vector1->x3 + vector2->x3) * 0.5;
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}
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// ================== Average3 ================== //
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inline void bgc_fp32_vector3_get_middle3(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3, BGC_FP32_Vector3* middle)
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{
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middle->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP32_ONE_THIRD;
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middle->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP32_ONE_THIRD;
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middle->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_FP32_ONE_THIRD;
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}
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inline void bgc_fp64_vector3_get_middle3(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3, BGC_FP64_Vector3* middle)
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{
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middle->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP64_ONE_THIRD;
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middle->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP64_ONE_THIRD;
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middle->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_FP64_ONE_THIRD;
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}
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// =================== Linear =================== //
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inline void bgc_fp32_vector3_interpolate(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const float phase, BGC_FP32_Vector3* interpolation)
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{
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const float counter_phase = 1.0f - phase;
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interpolation->x1 = vector1->x1 * counter_phase + vector2->x1 * phase;
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interpolation->x2 = vector1->x2 * counter_phase + vector2->x2 * phase;
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interpolation->x3 = vector1->x3 * counter_phase + vector2->x3 * phase;
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}
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inline void bgc_fp64_vector3_interpolate(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double phase, BGC_FP64_Vector3* interpolation)
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{
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const double counter_phase = 1.0 - phase;
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interpolation->x1 = vector1->x1 * counter_phase + vector2->x1 * phase;
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interpolation->x2 = vector1->x2 * counter_phase + vector2->x2 * phase;
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interpolation->x3 = vector1->x3 * counter_phase + vector2->x3 * phase;
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}
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// ================== Negative ================== //
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inline void bgc_fp32_vector3_revert(BGC_FP32_Vector3* 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_fp64_vector3_revert(BGC_FP64_Vector3* 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_fp32_vector3_get_reverse(const BGC_FP32_Vector3* vector, BGC_FP32_Vector3* reverse)
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{
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reverse->x1 = -vector->x1;
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reverse->x2 = -vector->x2;
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reverse->x3 = -vector->x3;
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}
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inline void bgc_fp64_vector3_get_reverse(const BGC_FP64_Vector3* vector, BGC_FP64_Vector3* reverse)
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{
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reverse->x1 = -vector->x1;
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reverse->x2 = -vector->x2;
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reverse->x3 = -vector->x3;
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}
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// ================= Normalize ================== //
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inline int bgc_fp32_vector3_normalize(BGC_FP32_Vector3* vector)
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{
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const float square_modulus = bgc_fp32_vector3_get_square_modulus(vector);
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if (bgc_fp32_is_square_unit(square_modulus)) {
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return 1;
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}
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if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus)) {
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return 0;
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}
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const float multiplier = sqrtf(1.0f / square_modulus);
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vector->x1 *= multiplier;
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vector->x2 *= multiplier;
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vector->x3 *= multiplier;
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return 1;
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}
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inline int bgc_fp64_vector3_normalize(BGC_FP64_Vector3* vector)
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{
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const double square_modulus = bgc_fp64_vector3_get_square_modulus(vector);
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if (bgc_fp64_is_square_unit(square_modulus)) {
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return 1;
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}
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if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus)) {
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return 0;
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}
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const double multiplier = sqrt(1.0 / square_modulus);
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vector->x1 *= multiplier;
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vector->x2 *= multiplier;
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vector->x3 *= multiplier;
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return 1;
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}
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inline int bgc_fp32_vector3_get_normalized(const BGC_FP32_Vector3* vector, BGC_FP32_Vector3* normalized)
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{
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const float square_modulus = bgc_fp32_vector3_get_square_modulus(vector);
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if (bgc_fp32_is_square_unit(square_modulus)) {
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bgc_fp32_vector3_copy(vector, normalized);
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return 1;
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}
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if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus)) {
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bgc_fp32_vector3_reset(normalized);
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return 0;
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}
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bgc_fp32_vector3_multiply(vector, sqrtf(1.0f / square_modulus), normalized);
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return 1;
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}
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inline int bgc_fp64_vector3_get_normalized(const BGC_FP64_Vector3* vector, BGC_FP64_Vector3* normalized)
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{
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const double square_modulus = bgc_fp64_vector3_get_square_modulus(vector);
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if (bgc_fp64_is_square_unit(square_modulus)) {
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bgc_fp64_vector3_copy(vector, normalized);
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return 1;
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}
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if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus)) {
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bgc_fp64_vector3_reset(normalized);
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return 0;
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}
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bgc_fp64_vector3_multiply(vector, sqrt(1.0 / square_modulus), normalized);
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return 1;
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}
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// =============== Scalar Product =============== //
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inline float bgc_fp32_vector3_get_dot_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* 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_fp64_vector3_get_dot_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* 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_fp32_vector3_get_triple_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* 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_fp64_vector3_get_triple_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* 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_fp32_vector3_get_cross_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, BGC_FP32_Vector3* product)
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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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product->x1 = x1;
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product->x2 = x2;
|
|
product->x3 = x3;
|
|
}
|
|
|
|
inline void bgc_fp64_vector3_get_cross_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, BGC_FP64_Vector3* product)
|
|
{
|
|
const double x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
|
|
const double x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
|
|
const double x3 = vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
|
|
|
|
product->x1 = x1;
|
|
product->x2 = x2;
|
|
product->x3 = x3;
|
|
}
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|
|
|
// ============ Double Cross Product ============ //
|
|
|
|
inline void bgc_fp32_vector3_get_double_cross(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3, BGC_FP32_Vector3* product)
|
|
{
|
|
const float ac = bgc_fp32_vector3_get_dot_product(vector1, vector3);
|
|
const float ab = bgc_fp32_vector3_get_dot_product(vector1, vector2);
|
|
|
|
product->x1 = vector2->x1 * ac - vector3->x1 * ab;
|
|
product->x2 = vector2->x2 * ac - vector3->x2 * ab;
|
|
product->x3 = vector2->x3 * ac - vector3->x3 * ab;
|
|
}
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|
|
|
inline void bgc_fp64_vector3_get_double_cross(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3, BGC_FP64_Vector3* product)
|
|
{
|
|
const double ac = bgc_fp64_vector3_get_dot_product(vector1, vector3);
|
|
const double ab = bgc_fp64_vector3_get_dot_product(vector1, vector2);
|
|
|
|
product->x1 = vector2->x1 * ac - vector3->x1 * ab;
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|
product->x2 = vector2->x2 * ac - vector3->x2 * ab;
|
|
product->x3 = vector2->x3 * ac - vector3->x3 * ab;
|
|
}
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|
|
|
// =================== Angle ==================== //
|
|
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float bgc_fp32_vector3_get_angle(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const int angle_unit);
|
|
|
|
double bgc_fp64_vector3_get_angle(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const int angle_unit);
|
|
|
|
// =============== Square Distance ============== //
|
|
|
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inline float bgc_fp32_vector3_get_square_distance(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2)
|
|
{
|
|
const float dx1 = (vector1->x1 - vector2->x1);
|
|
const float dx2 = (vector1->x2 - vector2->x2);
|
|
const float dx3 = (vector1->x3 - vector2->x3);
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|
|
|
return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
|
|
}
|
|
|
|
inline double bgc_fp64_vector3_get_square_distance(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2)
|
|
{
|
|
const double dx1 = (vector1->x1 - vector2->x1);
|
|
const double dx2 = (vector1->x2 - vector2->x2);
|
|
const double dx3 = (vector1->x3 - vector2->x3);
|
|
|
|
return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
|
|
}
|
|
|
|
// ================== Distance ================== //
|
|
|
|
inline float bgc_fp32_vector3_get_distance(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2)
|
|
{
|
|
return sqrtf(bgc_fp32_vector3_get_square_distance(vector1, vector2));
|
|
}
|
|
|
|
inline double bgc_fp64_vector3_get_distance(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2)
|
|
{
|
|
return sqrt(bgc_fp64_vector3_get_square_distance(vector1, vector2));
|
|
}
|
|
|
|
// ============== Are Close Enough ============== //
|
|
|
|
inline int bgc_fp32_vector3_are_close_enough(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const float distance_limit)
|
|
{
|
|
return bgc_fp32_vector3_get_square_distance(vector1, vector2) <= distance_limit * distance_limit;
|
|
}
|
|
|
|
inline int bgc_fp64_vector3_are_close_enough(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const double distance_limit)
|
|
{
|
|
return bgc_fp64_vector3_get_square_distance(vector1, vector2) <= distance_limit * distance_limit;
|
|
}
|
|
|
|
// ================== Are Close ================= //
|
|
|
|
inline int bgc_fp32_vector3_are_close(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2)
|
|
{
|
|
const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1);
|
|
const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2);
|
|
const float square_distance = bgc_fp32_vector3_get_square_distance(vector1, vector2);
|
|
|
|
if (square_modulus1 <= BGC_FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
|
|
return square_distance <= BGC_FP32_SQUARE_EPSYLON;
|
|
}
|
|
|
|
return square_distance <= BGC_FP32_SQUARE_EPSYLON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSYLON * square_modulus2;
|
|
}
|
|
|
|
inline int bgc_fp64_vector3_are_close(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2)
|
|
{
|
|
const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1);
|
|
const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2);
|
|
const double square_distance = bgc_fp64_vector3_get_square_distance(vector1, vector2);
|
|
|
|
if (square_modulus1 <= BGC_FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
|
|
return square_distance <= BGC_FP64_SQUARE_EPSYLON;
|
|
}
|
|
|
|
return square_distance <= BGC_FP64_SQUARE_EPSYLON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSYLON * square_modulus2;
|
|
}
|
|
|
|
// ================== Parallel ================== //
|
|
|
|
inline int bgc_fp32_vector3_are_parallel(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2)
|
|
{
|
|
const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1);
|
|
const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2);
|
|
|
|
if (square_modulus1 <= BGC_FP32_SQUARE_EPSYLON || square_modulus2 <= BGC_FP32_SQUARE_EPSYLON) {
|
|
return 1;
|
|
}
|
|
|
|
BGC_FP32_Vector3 product;
|
|
|
|
bgc_fp32_vector3_get_cross_product(vector1, vector2, &product);
|
|
|
|
return bgc_fp32_vector3_get_square_modulus(&product) <= BGC_FP32_SQUARE_EPSYLON * square_modulus1 * square_modulus2;
|
|
}
|
|
|
|
inline int bgc_fp64_vector3_are_parallel(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2)
|
|
{
|
|
const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1);
|
|
const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2);
|
|
|
|
if (square_modulus1 <= BGC_FP64_SQUARE_EPSYLON || square_modulus2 <= BGC_FP64_SQUARE_EPSYLON) {
|
|
return 1;
|
|
}
|
|
|
|
BGC_FP64_Vector3 product;
|
|
|
|
bgc_fp64_vector3_get_cross_product(vector1, vector2, &product);
|
|
|
|
return bgc_fp64_vector3_get_square_modulus(&product) <= BGC_FP64_SQUARE_EPSYLON * square_modulus1 * square_modulus2;
|
|
}
|
|
|
|
// ================= Orthogonal ================= //
|
|
|
|
inline int bgc_fp32_vector3_are_orthogonal(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2)
|
|
{
|
|
const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1);
|
|
const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2);
|
|
|
|
if (square_modulus1 <= BGC_FP32_SQUARE_EPSYLON || square_modulus2 <= BGC_FP32_SQUARE_EPSYLON) {
|
|
return 1;
|
|
}
|
|
|
|
const float scalar_product = bgc_fp32_vector3_get_dot_product(vector1, vector2);
|
|
|
|
return scalar_product * scalar_product <= BGC_FP32_SQUARE_EPSYLON * square_modulus1 * square_modulus2;
|
|
}
|
|
|
|
inline int bgc_fp64_vector3_are_orthogonal(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2)
|
|
{
|
|
const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1);
|
|
const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2);
|
|
|
|
if (square_modulus1 <= BGC_FP64_SQUARE_EPSYLON || square_modulus2 <= BGC_FP64_SQUARE_EPSYLON) {
|
|
return 1;
|
|
}
|
|
|
|
const double scalar_product = bgc_fp64_vector3_get_dot_product(vector1, vector2);
|
|
|
|
return scalar_product * scalar_product <= BGC_FP64_SQUARE_EPSYLON * square_modulus1 * square_modulus2;
|
|
}
|
|
|
|
// ================== Attitude ================== //
|
|
|
|
inline int bgc_fp32_vector3_get_attitude(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2)
|
|
{
|
|
const float square_modulus1 = bgc_fp32_vector3_get_square_modulus(vector1);
|
|
const float square_modulus2 = bgc_fp32_vector3_get_square_modulus(vector2);
|
|
|
|
if (square_modulus1 <= BGC_FP32_SQUARE_EPSYLON || square_modulus2 <= BGC_FP32_SQUARE_EPSYLON) {
|
|
return BGC_ATTITUDE_ZERO;
|
|
}
|
|
|
|
const float square_limit = BGC_FP32_SQUARE_EPSYLON * square_modulus1 * square_modulus2;
|
|
|
|
const float scalar_product = bgc_fp32_vector3_get_dot_product(vector1, vector2);
|
|
|
|
if (scalar_product * scalar_product <= square_limit) {
|
|
return BGC_ATTITUDE_ORTHOGONAL;
|
|
}
|
|
|
|
BGC_FP32_Vector3 product;
|
|
|
|
bgc_fp32_vector3_get_cross_product(vector1, vector2, &product);
|
|
|
|
if (bgc_fp32_vector3_get_square_modulus(&product) > square_limit) {
|
|
return BGC_ATTITUDE_ANY;
|
|
}
|
|
|
|
return scalar_product > 0.0f ? BGC_ATTITUDE_CO_DIRECTIONAL : BGC_ATTITUDE_COUNTER_DIRECTIONAL;
|
|
}
|
|
|
|
inline int bgc_fp64_vector3_get_attitude(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2)
|
|
{
|
|
const double square_modulus1 = bgc_fp64_vector3_get_square_modulus(vector1);
|
|
const double square_modulus2 = bgc_fp64_vector3_get_square_modulus(vector2);
|
|
|
|
if (square_modulus1 <= BGC_FP64_SQUARE_EPSYLON || square_modulus2 <= BGC_FP64_SQUARE_EPSYLON) {
|
|
return BGC_ATTITUDE_ZERO;
|
|
}
|
|
|
|
const double square_limit = BGC_FP64_SQUARE_EPSYLON * square_modulus1 * square_modulus2;
|
|
|
|
const double scalar_product = bgc_fp64_vector3_get_dot_product(vector1, vector2);
|
|
|
|
if (scalar_product * scalar_product <= square_limit) {
|
|
return BGC_ATTITUDE_ORTHOGONAL;
|
|
}
|
|
|
|
BGC_FP64_Vector3 product;
|
|
|
|
bgc_fp64_vector3_get_cross_product(vector1, vector2, &product);
|
|
|
|
if (bgc_fp64_vector3_get_square_modulus(&product) > square_limit) {
|
|
return BGC_ATTITUDE_ANY;
|
|
}
|
|
|
|
return scalar_product > 0.0 ? BGC_ATTITUDE_CO_DIRECTIONAL : BGC_ATTITUDE_COUNTER_DIRECTIONAL;
|
|
}
|
|
|
|
#endif
|