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Реорганизация проекта (в процессе)

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This commit is contained in:
Andrey Pokidov 2025-02-13 01:19:59 +07:00
commit 1695d9efd2
15 changed files with 687 additions and 652 deletions
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9
BasicGeometry/Matrix2x2FP32.cs
View file

@ -59,8 +59,7 @@ namespace BasicGeometry
public readonly bool IsSingular() public readonly bool IsSingular()
{ {
float determinant = this.GetDeterminant(); return UtilityFP32.IsZero(this.GetDeterminant());
return -UtilityFP32.EPSYLON <= determinant && determinant <= UtilityFP32.EPSYLON;
} }
public void Transpose() public void Transpose()
@ -72,7 +71,7 @@ namespace BasicGeometry
{ {
float determinant = this.GetDeterminant(); float determinant = this.GetDeterminant();
if (-UtilityFP32.EPSYLON <= determinant && determinant <= UtilityFP32.EPSYLON) if (UtilityFP32.IsZero(determinant))
{ {
return false; return false;
} }
@ -121,7 +120,7 @@ namespace BasicGeometry
this.r2c2 = d2; this.r2c2 = d2;
} }
public void SetValues(in Matrix2x2FP32 matrix) public void Set(in Matrix2x2FP32 matrix)
{ {
this.r1c1 = matrix.r1c1; this.r1c1 = matrix.r1c1;
this.r1c2 = matrix.r1c2; this.r1c2 = matrix.r1c2;
@ -130,7 +129,7 @@ namespace BasicGeometry
this.r2c2 = matrix.r2c2; this.r2c2 = matrix.r2c2;
} }
public void SetValues(in Matrix2x2FP64 matrix) public void Set(in Matrix2x2FP64 matrix)
{ {
this.r1c1 = (float)matrix.r1c1; this.r1c1 = (float)matrix.r1c1;
this.r1c2 = (float)matrix.r1c2; this.r1c2 = (float)matrix.r1c2;

11
BasicGeometry/Matrix2x2FP64.cs
View file

@ -59,8 +59,7 @@ namespace BasicGeometry
public readonly bool IsSingular() public readonly bool IsSingular()
{ {
double determinant = this.GetDeterminant(); return UtilityFP64.IsZero(this.GetDeterminant());
return -UtilityFP64.EPSYLON <= determinant && determinant <= UtilityFP64.EPSYLON;
} }
public void Transpose() public void Transpose()
@ -72,7 +71,7 @@ namespace BasicGeometry
{ {
double determinant = this.GetDeterminant(); double determinant = this.GetDeterminant();
if (-UtilityFP64.EPSYLON <= determinant && determinant <= UtilityFP64.EPSYLON) if (UtilityFP64.IsZero(determinant))
{ {
return false; return false;
} }
@ -121,7 +120,7 @@ namespace BasicGeometry
this.r2c2 = d2; this.r2c2 = d2;
} }
public void SetValues(in Matrix2x2FP64 matrix) public void Set(in Matrix2x2FP64 matrix)
{ {
this.r1c1 = matrix.r1c1; this.r1c1 = matrix.r1c1;
this.r1c2 = matrix.r1c2; this.r1c2 = matrix.r1c2;
@ -130,7 +129,7 @@ namespace BasicGeometry
this.r2c2 = matrix.r2c2; this.r2c2 = matrix.r2c2;
} }
public void SetValues(in Matrix2x2FP32 matrix) public void Set(in Matrix2x2FP32 matrix)
{ {
this.r1c1 = matrix.r1c1; this.r1c1 = matrix.r1c1;
this.r1c2 = matrix.r1c2; this.r1c2 = matrix.r1c2;
@ -159,7 +158,7 @@ namespace BasicGeometry
{ {
double determinant = matrix.GetDeterminant(); double determinant = matrix.GetDeterminant();
if (-UtilityFP64.EPSYLON <= determinant && determinant <= UtilityFP64.EPSYLON) if (UtilityFP64.IsZero(determinant))
{ {
return false; return false;
} }

161
BasicGeometry/Matrix3x3FP32.cs
View file

@ -75,8 +75,7 @@ namespace BasicGeometry
public readonly bool IsSingular() public readonly bool IsSingular()
{ {
float determinant = this.GetDeterminant(); return UtilityFP32.IsZero(this.GetDeterminant());
return -UtilityFP32.EPSYLON <= determinant && determinant <= UtilityFP32.EPSYLON;
} }
public void Transpose() public void Transpose()
@ -90,7 +89,8 @@ namespace BasicGeometry
{ {
float determinant = this.GetDeterminant(); float determinant = this.GetDeterminant();
if (-UtilityFP32.EPSYLON <= determinant && determinant <= UtilityFP32.EPSYLON) { if (UtilityFP32.IsZero(determinant))
{
return false; return false;
} }
@ -168,7 +168,7 @@ namespace BasicGeometry
this.r2c3 = d3; this.r2c3 = d3;
} }
public void SetValues(in Matrix3x3FP32 matrix) public void Set(in Matrix3x3FP32 matrix)
{ {
this.r1c1 = matrix.r1c1; this.r1c1 = matrix.r1c1;
this.r1c2 = matrix.r1c2; this.r1c2 = matrix.r1c2;
@ -183,7 +183,7 @@ namespace BasicGeometry
this.r3c3 = matrix.r3c3; this.r3c3 = matrix.r3c3;
} }
public void SetValues(in Matrix3x3FP64 matrix) public void Set(in Matrix3x3FP64 matrix)
{ {
this.r1c1 = (float)matrix.r1c1; this.r1c1 = (float)matrix.r1c1;
this.r1c2 = (float)matrix.r1c2; this.r1c2 = (float)matrix.r1c2;
@ -198,69 +198,6 @@ namespace BasicGeometry
this.r3c3 = (float)matrix.r3c3; this.r3c3 = (float)matrix.r3c3;
} }
public void SetTransposedOf(in Matrix3x3FP32 matrix)
{
this.r1c1 = matrix.r1c1;
this.r2c2 = matrix.r2c2;
this.r3c3 = matrix.r3c3;
(this.r1c2, this.r2c1) = (matrix.r2c1, matrix.r1c2);
(this.r1c3, this.r3c1) = (matrix.r3c1, matrix.r1c3);
(this.r2c3, this.r3c2) = (matrix.r3c2, matrix.r2c3);
}
public void SetTransposedOf(in Matrix3x3FP64 matrix)
{
this.r1c1 = (float)matrix.r1c1;
this.r1c2 = (float)matrix.r2c1;
this.r1c3 = (float)matrix.r3c1;
this.r2c1 = (float)matrix.r1c2;
this.r2c2 = (float)matrix.r2c2;
this.r2c3 = (float)matrix.r3c2;
this.r3c1 = (float)matrix.r1c3;
this.r3c2 = (float)matrix.r2c3;
this.r3c3 = (float)matrix.r3c3;
}
public bool SetInvertedOf(in Matrix3x3FP32 matrix)
{
float determinant = matrix.GetDeterminant();
if (-UtilityFP32.EPSYLON <= determinant && determinant <= UtilityFP32.EPSYLON) {
return false;
}
float r1c1 = matrix.r2c2 * matrix.r3c3 - matrix.r2c3 * matrix.r3c2;
float r1c2 = matrix.r1c3 * matrix.r3c2 - matrix.r1c2 * matrix.r3c3;
float r1c3 = matrix.r1c2 * matrix.r2c3 - matrix.r1c3 * matrix.r2c2;
float r2c1 = matrix.r2c3 * matrix.r3c1 - matrix.r2c1 * matrix.r3c3;
float r2c2 = matrix.r1c1 * matrix.r3c3 - matrix.r1c3 * matrix.r3c1;
float r2c3 = matrix.r1c3 * matrix.r2c1 - matrix.r1c1 * matrix.r2c3;
float r3c1 = matrix.r2c1 * matrix.r3c2 - matrix.r2c2 * matrix.r3c1;
float r3c2 = matrix.r1c2 * matrix.r3c1 - matrix.r1c1 * matrix.r3c2;
float r3c3 = matrix.r1c1 * matrix.r2c2 - matrix.r1c2 * matrix.r2c1;
float mutiplier = 1.0f / determinant;
this.r1c1 = r1c1 * mutiplier;
this.r1c2 = r1c2 * mutiplier;
this.r1c3 = r1c3 * mutiplier;
this.r2c1 = r2c1 * mutiplier;
this.r2c2 = r2c2 * mutiplier;
this.r2c3 = r2c3 * mutiplier;
this.r3c1 = r3c1 * mutiplier;
this.r3c2 = r3c2 * mutiplier;
this.r3c3 = r3c3 * mutiplier;
return true;
}
public void SetRow1(float c1, float c2, float c3) public void SetRow1(float c1, float c2, float c3)
{ {
this.r1c1 = c1; this.r1c1 = c1;
@ -303,19 +240,53 @@ namespace BasicGeometry
this.r3c3 = r3; this.r3c3 = r3;
} }
public void AppendScaled(in Matrix3x3FP32 matrix, float scale) public static void MakeTransposed(in Matrix3x3FP64 matrix, out Matrix3x3FP64 transposed)
{ {
this.r1c1 += matrix.r1c1* scale; transposed.r1c1 = matrix.r1c1;
this.r1c2 += matrix.r1c2* scale; transposed.r2c2 = matrix.r2c2;
this.r1c3 += matrix.r1c3* scale; transposed.r3c3 = matrix.r3c3;
this.r2c1 += matrix.r2c1* scale; (transposed.r1c2, transposed.r2c1) = (matrix.r2c1, matrix.r1c2);
this.r2c2 += matrix.r2c2* scale; (transposed.r1c3, transposed.r3c1) = (matrix.r3c1, matrix.r1c3);
this.r2c3 += matrix.r2c3* scale; (transposed.r2c3, transposed.r3c2) = (matrix.r3c2, matrix.r2c3);
}
this.r3c1 += matrix.r3c1* scale; public static bool MakeInverted(in Matrix3x3FP32 matrix, out Matrix3x3FP32 inverted)
this.r3c2 += matrix.r3c2* scale; {
this.r3c3 += matrix.r3c3* scale; float determinant = matrix.GetDeterminant();
if (UtilityFP32.IsZero(determinant)) {
LoadZero(out inverted);
return false;
}
float r1c1 = matrix.r2c2 * matrix.r3c3 - matrix.r2c3 * matrix.r3c2;
float r1c2 = matrix.r1c3 * matrix.r3c2 - matrix.r1c2 * matrix.r3c3;
float r1c3 = matrix.r1c2 * matrix.r2c3 - matrix.r1c3 * matrix.r2c2;
float r2c1 = matrix.r2c3 * matrix.r3c1 - matrix.r2c1 * matrix.r3c3;
float r2c2 = matrix.r1c1 * matrix.r3c3 - matrix.r1c3 * matrix.r3c1;
float r2c3 = matrix.r1c3 * matrix.r2c1 - matrix.r1c1 * matrix.r2c3;
float r3c1 = matrix.r2c1 * matrix.r3c2 - matrix.r2c2 * matrix.r3c1;
float r3c2 = matrix.r1c2 * matrix.r3c1 - matrix.r1c1 * matrix.r3c2;
float r3c3 = matrix.r1c1 * matrix.r2c2 - matrix.r1c2 * matrix.r2c1;
float mutiplier = 1.0f / determinant;
inverted.r1c1 = r1c1 * mutiplier;
inverted.r1c2 = r1c2 * mutiplier;
inverted.r1c3 = r1c3 * mutiplier;
inverted.r2c1 = r2c1 * mutiplier;
inverted.r2c2 = r2c2 * mutiplier;
inverted.r2c3 = r2c3 * mutiplier;
inverted.r3c1 = r3c1 * mutiplier;
inverted.r3c2 = r3c2 * mutiplier;
inverted.r3c3 = r3c3 * mutiplier;
return true;
} }
public static void Add(in Matrix3x3FP32 matrix1, in Matrix3x3FP32 matrix2, out Matrix3x3FP32 sum) public static void Add(in Matrix3x3FP32 matrix1, in Matrix3x3FP32 matrix2, out Matrix3x3FP32 sum)
@ -333,6 +304,21 @@ namespace BasicGeometry
sum.r3c3 = matrix1.r3c3 + matrix2.r3c3; sum.r3c3 = matrix1.r3c3 + matrix2.r3c3;
} }
public static void AddScaled(in Matrix3x3FP32 basicMatrix, in Matrix3x3FP32 scalableMatrix, float scale, out Matrix3x3FP32 sum)
{
sum.r1c1 = basicMatrix.r1c1 + scalableMatrix.r1c1 * scale;
sum.r1c2 = basicMatrix.r1c2 + scalableMatrix.r1c2 * scale;
sum.r1c3 = basicMatrix.r1c3 + scalableMatrix.r1c3 * scale;
sum.r2c1 = basicMatrix.r2c1 + scalableMatrix.r2c1 * scale;
sum.r2c2 = basicMatrix.r2c2 + scalableMatrix.r2c2 * scale;
sum.r2c3 = basicMatrix.r2c3 + scalableMatrix.r2c3 * scale;
sum.r3c1 = basicMatrix.r3c1 + scalableMatrix.r3c1 * scale;
sum.r3c2 = basicMatrix.r3c2 + scalableMatrix.r3c2 * scale;
sum.r3c3 = basicMatrix.r3c3 + scalableMatrix.r3c3 * scale;
}
public static void Subtract(in Matrix3x3FP32 minuend, in Matrix3x3FP32 subtrahend, out Matrix3x3FP32 difference) public static void Subtract(in Matrix3x3FP32 minuend, in Matrix3x3FP32 subtrahend, out Matrix3x3FP32 difference)
{ {
difference.r1c1 = minuend.r1c1 - subtrahend.r1c1; difference.r1c1 = minuend.r1c1 - subtrahend.r1c1;
@ -348,6 +334,21 @@ namespace BasicGeometry
difference.r3c3 = minuend.r3c3 - subtrahend.r3c3; difference.r3c3 = minuend.r3c3 - subtrahend.r3c3;
} }
public static void SubtractScaled(in Matrix3x3FP32 basicMatrix, in Matrix3x3FP32 scalableMatrix, float scale, out Matrix3x3FP32 difference)
{
difference.r1c1 = basicMatrix.r1c1 - scalableMatrix.r1c1 * scale;
difference.r1c2 = basicMatrix.r1c2 - scalableMatrix.r1c2 * scale;
difference.r1c3 = basicMatrix.r1c3 - scalableMatrix.r1c3 * scale;
difference.r2c1 = basicMatrix.r2c1 - scalableMatrix.r2c1 * scale;
difference.r2c2 = basicMatrix.r2c2 - scalableMatrix.r2c2 * scale;
difference.r2c3 = basicMatrix.r2c3 - scalableMatrix.r2c3 * scale;
difference.r3c1 = basicMatrix.r3c1 - scalableMatrix.r3c1 * scale;
difference.r3c2 = basicMatrix.r3c2 - scalableMatrix.r3c2 * scale;
difference.r3c3 = basicMatrix.r3c3 - scalableMatrix.r3c3 * scale;
}
public static void Multiply(in Matrix3x3FP32 multiplicand, float multiplier, out Matrix3x3FP32 product) public static void Multiply(in Matrix3x3FP32 multiplicand, float multiplier, out Matrix3x3FP32 product)
{ {
product.r1c1 = multiplicand.r1c1 * multiplier; product.r1c1 = multiplicand.r1c1 * multiplier;
@ -368,7 +369,7 @@ namespace BasicGeometry
Multiply(dividend, 1.0f / divisor, out quotient); Multiply(dividend, 1.0f / divisor, out quotient);
} }
public static void GetRightProduct(in Matrix3x3FP32 matrix, in Vector3FP32 vector, out Vector3FP32 result) public static void RightProduct(in Matrix3x3FP32 matrix, in Vector3FP32 vector, out Vector3FP32 result)
{ {
float x1 = matrix.r1c1 * vector.x1 + matrix.r1c2 * vector.x2 + matrix.r1c3 * vector.x3; float x1 = matrix.r1c1 * vector.x1 + matrix.r1c2 * vector.x2 + matrix.r1c3 * vector.x3;
float x2 = matrix.r2c1 * vector.x1 + matrix.r2c2 * vector.x2 + matrix.r2c3 * vector.x3; float x2 = matrix.r2c1 * vector.x1 + matrix.r2c2 * vector.x2 + matrix.r2c3 * vector.x3;
@ -379,7 +380,7 @@ namespace BasicGeometry
result.x3 = x3; result.x3 = x3;
} }
public static void GetLeftProduct(in Vector3FP32 vector, in Matrix3x3FP32 matrix, out Vector3FP32 result) public static void LeftProduct(in Vector3FP32 vector, in Matrix3x3FP32 matrix, out Vector3FP32 result)
{ {
float x1 = vector.x1 * matrix.r1c1 + vector.x2 * matrix.r2c1 + vector.x3 * matrix.r3c1; float x1 = vector.x1 * matrix.r1c1 + vector.x2 * matrix.r2c1 + vector.x3 * matrix.r3c1;
float x2 = vector.x1 * matrix.r1c2 + vector.x2 * matrix.r2c2 + vector.x3 * matrix.r3c2; float x2 = vector.x1 * matrix.r1c2 + vector.x2 * matrix.r2c2 + vector.x3 * matrix.r3c2;

157
BasicGeometry/Matrix3x3FP64.cs
View file

@ -75,8 +75,7 @@ namespace BasicGeometry
public readonly bool IsSingular() public readonly bool IsSingular()
{ {
double determinant = this.GetDeterminant(); return UtilityFP64.IsZero(this.GetDeterminant());
return -UtilityFP64.EPSYLON <= determinant && determinant <= UtilityFP64.EPSYLON;
} }
public void Transpose() public void Transpose()
@ -90,7 +89,8 @@ namespace BasicGeometry
{ {
double determinant = this.GetDeterminant(); double determinant = this.GetDeterminant();
if (-UtilityFP64.EPSYLON <= determinant && determinant <= UtilityFP64.EPSYLON) { if (UtilityFP64.IsZero(determinant))
{
return false; return false;
} }
@ -168,7 +168,7 @@ namespace BasicGeometry
this.r2c3 = d3; this.r2c3 = d3;
} }
public void SetValues(Matrix3x3FP64 matrix) public void Set(Matrix3x3FP64 matrix)
{ {
this.r1c1 = matrix.r1c1; this.r1c1 = matrix.r1c1;
this.r1c2 = matrix.r1c2; this.r1c2 = matrix.r1c2;
@ -183,7 +183,7 @@ namespace BasicGeometry
this.r3c3 = matrix.r3c3; this.r3c3 = matrix.r3c3;
} }
public void SetValues(Matrix3x3FP32 matrix) public void Set(Matrix3x3FP32 matrix)
{ {
this.r1c1 = matrix.r1c1; this.r1c1 = matrix.r1c1;
this.r1c2 = matrix.r1c2; this.r1c2 = matrix.r1c2;
@ -198,65 +198,6 @@ namespace BasicGeometry
this.r3c3 = matrix.r3c3; this.r3c3 = matrix.r3c3;
} }
public void SetTransposedOf(in Matrix3x3FP64 matrix)
{
this.r1c1 = matrix.r1c1;
this.r2c2 = matrix.r2c2;
this.r3c3 = matrix.r3c3;
(this.r1c2, this.r2c1) = (matrix.r2c1, matrix.r1c2);
(this.r1c3, this.r3c1) = (matrix.r3c1, matrix.r1c3);
(this.r2c3, this.r3c2) = (matrix.r3c2, matrix.r2c3);
}
public void SetTransposedOf(in Matrix3x3FP32 matrix)
{
this.r1c1 = matrix.r1c1;
this.r2c2 = matrix.r2c2;
this.r3c3 = matrix.r3c3;
(this.r1c2, this.r2c1) = (matrix.r2c1, matrix.r1c2);
(this.r1c3, this.r3c1) = (matrix.r3c1, matrix.r1c3);
(this.r2c3, this.r3c2) = (matrix.r3c2, matrix.r2c3);
}
public bool SetInvertedOf(in Matrix3x3FP64 matrix)
{
double determinant = matrix.GetDeterminant();
if (-UtilityFP64.EPSYLON <= determinant && determinant <= UtilityFP64.EPSYLON) {
return false;
}
double r1c1 = matrix.r2c2 * matrix.r3c3 - matrix.r2c3 * matrix.r3c2;
double r1c2 = matrix.r1c3 * matrix.r3c2 - matrix.r1c2 * matrix.r3c3;
double r1c3 = matrix.r1c2 * matrix.r2c3 - matrix.r1c3 * matrix.r2c2;
double r2c1 = matrix.r2c3 * matrix.r3c1 - matrix.r2c1 * matrix.r3c3;
double r2c2 = matrix.r1c1 * matrix.r3c3 - matrix.r1c3 * matrix.r3c1;
double r2c3 = matrix.r1c3 * matrix.r2c1 - matrix.r1c1 * matrix.r2c3;
double r3c1 = matrix.r2c1 * matrix.r3c2 - matrix.r2c2 * matrix.r3c1;
double r3c2 = matrix.r1c2 * matrix.r3c1 - matrix.r1c1 * matrix.r3c2;
double r3c3 = matrix.r1c1 * matrix.r2c2 - matrix.r1c2 * matrix.r2c1;
double mutiplier = 1.0 / determinant;
this.r1c1 = r1c1 * mutiplier;
this.r1c2 = r1c2 * mutiplier;
this.r1c3 = r1c3 * mutiplier;
this.r2c1 = r2c1 * mutiplier;
this.r2c2 = r2c2 * mutiplier;
this.r2c3 = r2c3 * mutiplier;
this.r3c1 = r3c1 * mutiplier;
this.r3c2 = r3c2 * mutiplier;
this.r3c3 = r3c3 * mutiplier;
return true;
}
public void SetRow1(double c1, double c2, double c3) public void SetRow1(double c1, double c2, double c3)
{ {
this.r1c1 = c1; this.r1c1 = c1;
@ -299,19 +240,53 @@ namespace BasicGeometry
this.r3c3 = r3; this.r3c3 = r3;
} }
public void AppendScaled(in Matrix3x3FP64 matrix, double scale) public static void MakeTransposed(in Matrix3x3FP64 matrix, out Matrix3x3FP64 transposed)
{ {
this.r1c1 += matrix.r1c1 * scale; transposed.r1c1 = matrix.r1c1;
this.r1c2 += matrix.r1c2 * scale; transposed.r2c2 = matrix.r2c2;
this.r1c3 += matrix.r1c3 * scale; transposed.r3c3 = matrix.r3c3;
this.r2c1 += matrix.r2c1 * scale; (transposed.r1c2, transposed.r2c1) = (matrix.r2c1, matrix.r1c2);
this.r2c2 += matrix.r2c2 * scale; (transposed.r1c3, transposed.r3c1) = (matrix.r3c1, matrix.r1c3);
this.r2c3 += matrix.r2c3 * scale; (transposed.r2c3, transposed.r3c2) = (matrix.r3c2, matrix.r2c3);
}
this.r3c1 += matrix.r3c1 * scale; public static bool MakeInverted(in Matrix3x3FP64 matrix, out Matrix3x3FP64 inverted)
this.r3c2 += matrix.r3c2 * scale; {
this.r3c3 += matrix.r3c3 * scale; double determinant = matrix.GetDeterminant();
if (UtilityFP64.IsZero(determinant)) {
LoadZero(out inverted);
return false;
}
double r1c1 = matrix.r2c2 * matrix.r3c3 - matrix.r2c3 * matrix.r3c2;
double r1c2 = matrix.r1c3 * matrix.r3c2 - matrix.r1c2 * matrix.r3c3;
double r1c3 = matrix.r1c2 * matrix.r2c3 - matrix.r1c3 * matrix.r2c2;
double r2c1 = matrix.r2c3 * matrix.r3c1 - matrix.r2c1 * matrix.r3c3;
double r2c2 = matrix.r1c1 * matrix.r3c3 - matrix.r1c3 * matrix.r3c1;
double r2c3 = matrix.r1c3 * matrix.r2c1 - matrix.r1c1 * matrix.r2c3;
double r3c1 = matrix.r2c1 * matrix.r3c2 - matrix.r2c2 * matrix.r3c1;
double r3c2 = matrix.r1c2 * matrix.r3c1 - matrix.r1c1 * matrix.r3c2;
double r3c3 = matrix.r1c1 * matrix.r2c2 - matrix.r1c2 * matrix.r2c1;
double mutiplier = 1.0 / determinant;
inverted.r1c1 = r1c1 * mutiplier;
inverted.r1c2 = r1c2 * mutiplier;
inverted.r1c3 = r1c3 * mutiplier;
inverted.r2c1 = r2c1 * mutiplier;
inverted.r2c2 = r2c2 * mutiplier;
inverted.r2c3 = r2c3 * mutiplier;
inverted.r3c1 = r3c1 * mutiplier;
inverted.r3c2 = r3c2 * mutiplier;
inverted.r3c3 = r3c3 * mutiplier;
return true;
} }
public static void Add(in Matrix3x3FP64 matrix1, in Matrix3x3FP64 matrix2, out Matrix3x3FP64 sum) public static void Add(in Matrix3x3FP64 matrix1, in Matrix3x3FP64 matrix2, out Matrix3x3FP64 sum)
@ -329,6 +304,21 @@ namespace BasicGeometry
sum.r3c3 = matrix1.r3c3 + matrix2.r3c3; sum.r3c3 = matrix1.r3c3 + matrix2.r3c3;
} }
public static void AddScaled(in Matrix3x3FP64 basicMatrix, in Matrix3x3FP64 scalableMatrix, double scale, out Matrix3x3FP64 sum)
{
sum.r1c1 = basicMatrix.r1c1 + scalableMatrix.r1c1 * scale;
sum.r1c2 = basicMatrix.r1c2 + scalableMatrix.r1c2 * scale;
sum.r1c3 = basicMatrix.r1c3 + scalableMatrix.r1c3 * scale;
sum.r2c1 = basicMatrix.r2c1 + scalableMatrix.r2c1 * scale;
sum.r2c2 = basicMatrix.r2c2 + scalableMatrix.r2c2 * scale;
sum.r2c3 = basicMatrix.r2c3 + scalableMatrix.r2c3 * scale;
sum.r3c1 = basicMatrix.r3c1 + scalableMatrix.r3c1 * scale;
sum.r3c2 = basicMatrix.r3c2 + scalableMatrix.r3c2 * scale;
sum.r3c3 = basicMatrix.r3c3 + scalableMatrix.r3c3 * scale;
}
public static void Subtract(in Matrix3x3FP64 minuend, in Matrix3x3FP64 subtrahend, out Matrix3x3FP64 difference) public static void Subtract(in Matrix3x3FP64 minuend, in Matrix3x3FP64 subtrahend, out Matrix3x3FP64 difference)
{ {
difference.r1c1 = minuend.r1c1 - subtrahend.r1c1; difference.r1c1 = minuend.r1c1 - subtrahend.r1c1;
@ -344,6 +334,21 @@ namespace BasicGeometry
difference.r3c3 = minuend.r3c3 - subtrahend.r3c3; difference.r3c3 = minuend.r3c3 - subtrahend.r3c3;
} }
public static void SubtractScaled(in Matrix3x3FP64 basicMatrix, in Matrix3x3FP64 scalableMatrix, double scale, out Matrix3x3FP64 difference)
{
difference.r1c1 = basicMatrix.r1c1 - scalableMatrix.r1c1 * scale;
difference.r1c2 = basicMatrix.r1c2 - scalableMatrix.r1c2 * scale;
difference.r1c3 = basicMatrix.r1c3 - scalableMatrix.r1c3 * scale;
difference.r2c1 = basicMatrix.r2c1 - scalableMatrix.r2c1 * scale;
difference.r2c2 = basicMatrix.r2c2 - scalableMatrix.r2c2 * scale;
difference.r2c3 = basicMatrix.r2c3 - scalableMatrix.r2c3 * scale;
difference.r3c1 = basicMatrix.r3c1 - scalableMatrix.r3c1 * scale;
difference.r3c2 = basicMatrix.r3c2 - scalableMatrix.r3c2 * scale;
difference.r3c3 = basicMatrix.r3c3 - scalableMatrix.r3c3 * scale;
}
public static void Multiply(in Matrix3x3FP64 multiplicand, double multiplier, out Matrix3x3FP64 product) public static void Multiply(in Matrix3x3FP64 multiplicand, double multiplier, out Matrix3x3FP64 product)
{ {
product.r1c1 = multiplicand.r1c1 * multiplier; product.r1c1 = multiplicand.r1c1 * multiplier;
@ -364,7 +369,7 @@ namespace BasicGeometry
Multiply(dividend, 1.0 / divisor, out quotient); Multiply(dividend, 1.0 / divisor, out quotient);
} }
public static void GetRightProduct(in Matrix3x3FP64 matrix, in Vector3FP64 vector, out Vector3FP64 result) public static void RightProduct(in Matrix3x3FP64 matrix, in Vector3FP64 vector, out Vector3FP64 result)
{ {
double x1 = matrix.r1c1 * vector.x1 + matrix.r1c2 * vector.x2 + matrix.r1c3 * vector.x3; double x1 = matrix.r1c1 * vector.x1 + matrix.r1c2 * vector.x2 + matrix.r1c3 * vector.x3;
double x2 = matrix.r2c1 * vector.x1 + matrix.r2c2 * vector.x2 + matrix.r2c3 * vector.x3; double x2 = matrix.r2c1 * vector.x1 + matrix.r2c2 * vector.x2 + matrix.r2c3 * vector.x3;
@ -375,7 +380,7 @@ namespace BasicGeometry
result.x3 = x3; result.x3 = x3;
} }
public static void GetLeftProduct(in Vector3FP64 vector, in Matrix3x3FP64 matrix, out Vector3FP64 result) public static void LeftProduct(in Vector3FP64 vector, in Matrix3x3FP64 matrix, out Vector3FP64 result)
{ {
double x1 = vector.x1 * matrix.r1c1 + vector.x2 * matrix.r2c1 + vector.x3 * matrix.r3c1; double x1 = vector.x1 * matrix.r1c1 + vector.x2 * matrix.r2c1 + vector.x3 * matrix.r3c1;
double x2 = vector.x1 * matrix.r1c2 + vector.x2 * matrix.r2c2 + vector.x3 * matrix.r3c2; double x2 = vector.x1 * matrix.r1c2 + vector.x2 * matrix.r2c2 + vector.x3 * matrix.r3c2;

66
BasicGeometry/QuaternionFP32.cs
View file

@ -30,24 +30,24 @@ namespace BasicGeometry
this.x3 = (float)quaternion.x3; this.x3 = (float)quaternion.x3;
} }
public readonly float GetSquareModule() public readonly float GetSquareModulus()
{ {
return this.s0 * this.s0 + this.x1 * this.x1 + (this.x2 * this.x2 + this.x3 * this.x3); return this.s0 * this.s0 + this.x1 * this.x1 + (this.x2 * this.x2 + this.x3 * this.x3);
} }
public readonly float GetModule() public readonly float GetModulus()
{ {
return MathF.Sqrt(this.GetSquareModule()); return MathF.Sqrt(this.GetSquareModulus());
} }
public readonly bool IsZero() public readonly bool IsZero()
{ {
return this.GetSquareModule() <= UtilityFP32.SQUARE_EPSYLON; return this.GetSquareModulus() <= UtilityFP32.SQUARE_EPSYLON;
} }
public readonly bool IsUnit() public readonly bool IsUnit()
{ {
return UtilityFP32.IsSqareValueUnit(this.GetSquareModule()); return UtilityFP32.IsSqareUnit(this.GetSquareModulus());
} }
public void Reset() public void Reset()
@ -81,7 +81,7 @@ namespace BasicGeometry
this.x3 = x3; this.x3 = x3;
} }
public void SetValues(in QuaternionFP32 quaternion) public void Set(in QuaternionFP32 quaternion)
{ {
this.s0 = quaternion.s0; this.s0 = quaternion.s0;
this.x1 = quaternion.x1; this.x1 = quaternion.x1;
@ -97,12 +97,12 @@ namespace BasicGeometry
this.x3 = (float)quaternion.x3; this.x3 = (float)quaternion.x3;
} }
public void SetConjugateOf(in QuaternionFP32 quaternion) public static void MakeConjugate(in QuaternionFP32 quaternion, out QuaternionFP32 conjugate)
{ {
this.s0 = quaternion.s0; conjugate.s0 = quaternion.s0;
this.x1 = -quaternion.x1; conjugate.x1 = -quaternion.x1;
this.x2 = -quaternion.x2; conjugate.x2 = -quaternion.x2;
this.x3 = -quaternion.x3; conjugate.x3 = -quaternion.x3;
} }
public readonly void MakeRotationMatrix(out Matrix3x3FP32 matrix) public readonly void MakeRotationMatrix(out Matrix3x3FP32 matrix)
@ -112,16 +112,15 @@ namespace BasicGeometry
float x2x2 = this.x2 * this.x2; float x2x2 = this.x2 * this.x2;
float x3x3 = this.x3 * this.x3; float x3x3 = this.x3 * this.x3;
float squareModule = (s0s0 + x1x1) + (x2x2 + x3x3); float squareModulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (squareModule <= UtilityFP32.SQUARE_EPSYLON) if (squareModulus <= UtilityFP32.SQUARE_EPSYLON)
{ {
Matrix3x3FP32.LoadIdentity(out matrix); Matrix3x3FP32.LoadIdentity(out matrix);
return; return;
} }
float corrector1 = 1.0f / squareModule; float corrector1 = 1.0f / squareModulus;
float corrector2 = 2.0f * corrector1;
float s0x1 = this.s0 * this.x1; float s0x1 = this.s0 * this.x1;
float s0x2 = this.s0 * this.x2; float s0x2 = this.s0 * this.x2;
@ -130,6 +129,8 @@ namespace BasicGeometry
float x1x3 = this.x1 * this.x3; float x1x3 = this.x1 * this.x3;
float x2x3 = this.x2 * this.x3; float x2x3 = this.x2 * this.x3;
float corrector2 = 2.0f * corrector1;
matrix.r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3)); matrix.r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
matrix.r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3)); matrix.r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
matrix.r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2)); matrix.r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
@ -150,16 +151,15 @@ namespace BasicGeometry
float x2x2 = this.x2 * this.x2; float x2x2 = this.x2 * this.x2;
float x3x3 = this.x3 * this.x3; float x3x3 = this.x3 * this.x3;
float squareModule = (s0s0 + x1x1) + (x2x2 + x3x3); float squareModulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (squareModule <= UtilityFP32.SQUARE_EPSYLON) if (squareModulus <= UtilityFP32.SQUARE_EPSYLON)
{ {
Matrix3x3FP32.LoadIdentity(out matrix); Matrix3x3FP32.LoadIdentity(out matrix);
return; return;
} }
float corrector1 = 1.0f / squareModule; float corrector1 = 1.0f / squareModulus;
float corrector2 = 2.0f * corrector1;
float s0x1 = this.s0 * this.x1; float s0x1 = this.s0 * this.x1;
float s0x2 = this.s0 * this.x2; float s0x2 = this.s0 * this.x2;
@ -168,6 +168,8 @@ namespace BasicGeometry
float x1x3 = this.x1 * this.x3; float x1x3 = this.x1 * this.x3;
float x2x3 = this.x2 * this.x3; float x2x3 = this.x2 * this.x3;
float corrector2 = 2.0f * corrector1;
matrix.r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3)); matrix.r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
matrix.r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3)); matrix.r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
matrix.r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2)); matrix.r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
@ -199,15 +201,33 @@ namespace BasicGeometry
public static void Multiply(in QuaternionFP32 left, in QuaternionFP32 right, out QuaternionFP32 product) public static void Multiply(in QuaternionFP32 left, in QuaternionFP32 right, out QuaternionFP32 product)
{ {
float s0 = (left.s0 * right.s0 - left.x1 * right.x1) - (left.x2 * right.x2 + left.x3 * right.x3); float s0 = left.s0 * right.s0 - left.x1 * right.x1 - (left.x2 * right.x2 + left.x3 * right.x3);
float x1 = (left.x1 * right.s0 + left.s0 * right.x1) - (left.x3 * right.x2 - left.x2 * right.x3); float x1 = left.x1 * right.s0 + left.s0 * right.x1 - (left.x3 * right.x2 - left.x2 * right.x3);
float x2 = (left.x2 * right.s0 + left.s0 * right.x2) - (left.x1 * right.x3 - left.x3 * right.x1); float x2 = left.x2 * right.s0 + left.s0 * right.x2 - (left.x1 * right.x3 - left.x3 * right.x1);
float x3 = (left.x3 * right.s0 + left.s0 * right.x3) - (left.x2 * right.x1 - left.x1 * right.x2); float x3 = left.x3 * right.s0 + left.s0 * right.x3 - (left.x2 * right.x1 - left.x1 * right.x2);
product.s0 = s0; product.s0 = s0;
product.x1 = x1; product.x1 = x1;
product.x2 = x2; product.x2 = x2;
product.x3 = x3; product.x3 = x3;
} }
public static bool AreClose(QuaternionFP32 quaternion1, QuaternionFP32 quaternion2)
{
float ds0 = quaternion1.s0 - quaternion2.s0;
float dx1 = quaternion1.x1 - quaternion2.x1;
float dx2 = quaternion1.x2 - quaternion2.x2;
float dx3 = quaternion1.x3 - quaternion2.x3;
float squareModulus1 = quaternion1.GetSquareModulus();
float squareModulus2 = quaternion2.GetSquareModulus();
float squareDistance = (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3);
if (squareModulus1 <= UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT || squareModulus2 <= UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT) {
return squareDistance <= UtilityFP32.SQUARE_EPSYLON;
}
return squareDistance <= UtilityFP32.SQUARE_EPSYLON * squareModulus1 && squareDistance <= UtilityFP32.SQUARE_EPSYLON * squareModulus2;
}
} }
} }

69
BasicGeometry/QuaternionFP64.cs
View file

@ -1,5 +1,4 @@
using System; using System;
using System.Numerics;
namespace BasicGeometry namespace BasicGeometry
{ {
@ -31,24 +30,24 @@ namespace BasicGeometry
this.x3 = quaternion.x3; this.x3 = quaternion.x3;
} }
public readonly double GetSquareModule() public readonly double GetSquareModulus()
{ {
return this.s0 * this.s0 + this.x1 * this.x1 + (this.x2 * this.x2 + this.x3 * this.x3); return this.s0 * this.s0 + this.x1 * this.x1 + (this.x2 * this.x2 + this.x3 * this.x3);
} }
public readonly double GetModule() public readonly double GetModulus()
{ {
return Math.Sqrt(this.GetSquareModule()); return Math.Sqrt(this.GetSquareModulus());
} }
public readonly bool IsZero() public readonly bool IsZero()
{ {
return this.GetSquareModule() <= UtilityFP64.SQUARE_EPSYLON; return this.GetSquareModulus() <= UtilityFP64.SQUARE_EPSYLON;
} }
public readonly bool IsUnit() public readonly bool IsUnit()
{ {
return UtilityFP64.IsSqareValueUnit(this.GetSquareModule()); return UtilityFP64.IsSqareUnit(this.GetSquareModulus());
} }
public void Reset() public void Reset()
@ -82,7 +81,7 @@ namespace BasicGeometry
this.x3 = x3; this.x3 = x3;
} }
public void SetValues(in QuaternionFP32 quaternion) public void Set(in QuaternionFP32 quaternion)
{ {
this.s0 = quaternion.s0; this.s0 = quaternion.s0;
this.x1 = quaternion.x1; this.x1 = quaternion.x1;
@ -90,7 +89,7 @@ namespace BasicGeometry
this.x3 = quaternion.x3; this.x3 = quaternion.x3;
} }
public void SetValues(in QuaternionFP64 quaternion) public void Set(in QuaternionFP64 quaternion)
{ {
this.s0 = quaternion.s0; this.s0 = quaternion.s0;
this.x1 = quaternion.x1; this.x1 = quaternion.x1;
@ -98,12 +97,12 @@ namespace BasicGeometry
this.x3 = quaternion.x3; this.x3 = quaternion.x3;
} }
public void SetConjugateOf(in QuaternionFP64 quaternion) public static void MakeConjugate(in QuaternionFP64 quaternion, out QuaternionFP64 conjugate)
{ {
this.s0 = quaternion.s0; conjugate.s0 = quaternion.s0;
this.x1 = -quaternion.x1; conjugate.x1 = -quaternion.x1;
this.x2 = -quaternion.x2; conjugate.x2 = -quaternion.x2;
this.x3 = -quaternion.x3; conjugate.x3 = -quaternion.x3;
} }
public readonly void MakeRotationMatrix(out Matrix3x3FP64 matrix) public readonly void MakeRotationMatrix(out Matrix3x3FP64 matrix)
@ -113,16 +112,15 @@ namespace BasicGeometry
double x2x2 = this.x2 * this.x2; double x2x2 = this.x2 * this.x2;
double x3x3 = this.x3 * this.x3; double x3x3 = this.x3 * this.x3;
double squareModule = (s0s0 + x1x1) + (x2x2 + x3x3); double squareModulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (squareModule <= UtilityFP64.SQUARE_EPSYLON) if (squareModulus <= UtilityFP64.SQUARE_EPSYLON || !double.IsFinite(squareModulus))
{ {
Matrix3x3FP64.LoadIdentity(out matrix); Matrix3x3FP64.LoadIdentity(out matrix);
return; return;
} }
double corrector1 = 1.0 / squareModule; double corrector1 = 1.0 / squareModulus;
double corrector2 = 2.0 * corrector1;
double s0x1 = this.s0 * this.x1; double s0x1 = this.s0 * this.x1;
double s0x2 = this.s0 * this.x2; double s0x2 = this.s0 * this.x2;
@ -131,6 +129,8 @@ namespace BasicGeometry
double x1x3 = this.x1 * this.x3; double x1x3 = this.x1 * this.x3;
double x2x3 = this.x2 * this.x3; double x2x3 = this.x2 * this.x3;
double corrector2 = 2.0 * corrector1;
matrix.r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3)); matrix.r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
matrix.r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3)); matrix.r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
matrix.r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2)); matrix.r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
@ -151,16 +151,15 @@ namespace BasicGeometry
double x2x2 = this.x2 * this.x2; double x2x2 = this.x2 * this.x2;
double x3x3 = this.x3 * this.x3; double x3x3 = this.x3 * this.x3;
double squareModule = (s0s0 + x1x1) + (x2x2 + x3x3); double squareModulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (squareModule <= UtilityFP64.SQUARE_EPSYLON) if (squareModulus <= UtilityFP64.SQUARE_EPSYLON || !double.IsFinite(squareModulus))
{ {
Matrix3x3FP64.LoadIdentity(out matrix); Matrix3x3FP64.LoadIdentity(out matrix);
return; return;
} }
double corrector1 = 1.0 / squareModule; double corrector1 = 1.0 / squareModulus;
double corrector2 = 2.0 * corrector1;
double s0x1 = this.s0 * this.x1; double s0x1 = this.s0 * this.x1;
double s0x2 = this.s0 * this.x2; double s0x2 = this.s0 * this.x2;
@ -169,6 +168,8 @@ namespace BasicGeometry
double x1x3 = this.x1 * this.x3; double x1x3 = this.x1 * this.x3;
double x2x3 = this.x2 * this.x3; double x2x3 = this.x2 * this.x3;
double corrector2 = 2.0 * corrector1;
matrix.r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3)); matrix.r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
matrix.r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3)); matrix.r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
matrix.r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2)); matrix.r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
@ -200,15 +201,33 @@ namespace BasicGeometry
public static void Multiply(in QuaternionFP64 left, in QuaternionFP64 right, out QuaternionFP64 product) public static void Multiply(in QuaternionFP64 left, in QuaternionFP64 right, out QuaternionFP64 product)
{ {
double s0 = (left.s0 * right.s0 - left.x1 * right.x1) - (left.x2 * right.x2 + left.x3 * right.x3); double s0 = left.s0 * right.s0 - left.x1 * right.x1 - (left.x2 * right.x2 + left.x3 * right.x3);
double x1 = (left.x1 * right.s0 + left.s0 * right.x1) - (left.x3 * right.x2 - left.x2 * right.x3); double x1 = left.x1 * right.s0 + left.s0 * right.x1 - (left.x3 * right.x2 - left.x2 * right.x3);
double x2 = (left.x2 * right.s0 + left.s0 * right.x2) - (left.x1 * right.x3 - left.x3 * right.x1); double x2 = left.x2 * right.s0 + left.s0 * right.x2 - (left.x1 * right.x3 - left.x3 * right.x1);
double x3 = (left.x3 * right.s0 + left.s0 * right.x3) - (left.x2 * right.x1 - left.x1 * right.x2); double x3 = left.x3 * right.s0 + left.s0 * right.x3 - (left.x2 * right.x1 - left.x1 * right.x2);
product.s0 = s0; product.s0 = s0;
product.x1 = x1; product.x1 = x1;
product.x2 = x2; product.x2 = x2;
product.x3 = x3; product.x3 = x3;
} }
public static bool AreClose(QuaternionFP32 quaternion1, QuaternionFP32 quaternion2)
{
double ds0 = quaternion1.s0 - quaternion2.s0;
double dx1 = quaternion1.x1 - quaternion2.x1;
double dx2 = quaternion1.x2 - quaternion2.x2;
double dx3 = quaternion1.x3 - quaternion2.x3;
double squareModulus1 = quaternion1.GetSquareModulus();
double squareModulus2 = quaternion2.GetSquareModulus();
double squareDistance = (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3);
if (squareModulus1 <= UtilityFP64.EPSYLON_EFFECTIVENESS_LIMIT || squareModulus2 <= UtilityFP64.EPSYLON_EFFECTIVENESS_LIMIT) {
return squareDistance <= UtilityFP64.SQUARE_EPSYLON;
}
return squareDistance <= UtilityFP64.SQUARE_EPSYLON * squareModulus1 && squareDistance <= UtilityFP64.SQUARE_EPSYLON * squareModulus2;
}
} }
} }

2
BasicGeometry/UtilityFP32.cs
View file

@ -26,7 +26,7 @@ namespace BasicGeometry
return (1.0f - EPSYLON) <= value && value <= (1.0f + EPSYLON); return (1.0f - EPSYLON) <= value && value <= (1.0f + EPSYLON);
} }
public static bool IsSqareValueUnit(float square) public static bool IsSqareUnit(float square)
{ {
return (1.0f - 2.0f * EPSYLON) <= square && square <= (1.0f + 2.0f * EPSYLON); return (1.0f - 2.0f * EPSYLON) <= square && square <= (1.0f + 2.0f * EPSYLON);
} }

2
BasicGeometry/UtilityFP64.cs
View file

@ -26,7 +26,7 @@ namespace BasicGeometry
return (1.0 - EPSYLON) <= value && value <= (1.0 + EPSYLON); return (1.0 - EPSYLON) <= value && value <= (1.0 + EPSYLON);
} }
public static bool IsSqareValueUnit(double square) public static bool IsSqareUnit(double square)
{ {
return (1.0 - 2.0 * EPSYLON) <= square && square <= (1.0 + 2.0 * EPSYLON); return (1.0 - 2.0 * EPSYLON) <= square && square <= (1.0 + 2.0 * EPSYLON);
} }

44
BasicGeometry/Vector2FP32.cs
View file

@ -48,32 +48,32 @@ namespace BasicGeometry
this.x2 = (float)vector.x2; this.x2 = (float)vector.x2;
} }
public readonly float GetSquareModule() public readonly float GetSquareModulus()
{ {
return this.x1 * this.x1 + this.x2 * this.x2; return this.x1 * this.x1 + this.x2 * this.x2;
} }
public readonly float GetModule() public readonly float GetModulus()
{ {
return MathF.Sqrt(this.GetSquareModule()); return MathF.Sqrt(this.GetSquareModulus());
} }
public int Normalize() public int Normalize()
{ {
float squareModule = this.GetSquareModule(); float squareModulus = this.GetSquareModulus();
if (UtilityFP32.IsSqareValueUnit(squareModule)) if (UtilityFP32.IsSqareUnit(squareModulus))
{ {
return 1; return 1;
} }
if (squareModule <= UtilityFP32.SQUARE_EPSYLON) if (squareModulus <= UtilityFP32.SQUARE_EPSYLON)
{ {
this.Reset(); this.Reset();
return 0; return 0;
} }
float multiplier = MathF.Sqrt(1.0f / squareModule); float multiplier = MathF.Sqrt(1.0f / squareModulus);
this.x1 *= multiplier; this.x1 *= multiplier;
this.x2 *= multiplier; this.x2 *= multiplier;
@ -89,12 +89,12 @@ namespace BasicGeometry
public readonly bool IsZero() public readonly bool IsZero()
{ {
return this.GetSquareModule() <= UtilityFP32.SQUARE_EPSYLON; return this.GetSquareModulus() <= UtilityFP32.SQUARE_EPSYLON;
} }
public readonly bool IsUnit() public readonly bool IsUnit()
{ {
return UtilityFP32.IsSqareValueUnit(this.GetSquareModule()); return UtilityFP32.IsSqareUnit(this.GetSquareModulus());
} }
public void Reset() public void Reset()
@ -191,21 +191,21 @@ namespace BasicGeometry
public static float GetAngle(in Vector2FP32 vector1, in Vector2FP32 vector2, AngleUnit unit) public static float GetAngle(in Vector2FP32 vector1, in Vector2FP32 vector2, AngleUnit unit)
{ {
float squareModule1 = vector1.GetSquareModule(); float squareModulus1 = vector1.GetSquareModulus();
if (squareModule1 <= UtilityFP32.SQUARE_EPSYLON) if (squareModulus1 <= UtilityFP32.SQUARE_EPSYLON)
{ {
return 0.0f; return 0.0f;
} }
float squareModule2 = vector2.GetSquareModule(); float squareModulus2 = vector2.GetSquareModulus();
if (squareModule2 <= UtilityFP32.SQUARE_EPSYLON) if (squareModulus2 <= UtilityFP32.SQUARE_EPSYLON)
{ {
return 0.0f; return 0.0f;
} }
float cosine = Vector2FP32.GetScalarProduct(vector1, vector2) / MathF.Sqrt(squareModule1 * squareModule2); float cosine = Vector2FP32.GetScalarProduct(vector1, vector2) / MathF.Sqrt(squareModulus1 * squareModulus2);
if (1.0f - UtilityFP32.EPSYLON <= cosine) if (1.0f - UtilityFP32.EPSYLON <= cosine)
{ {
@ -235,22 +235,22 @@ namespace BasicGeometry
public static bool AreEqual(in Vector2FP32 vector1, in Vector2FP32 vector2) public static bool AreEqual(in Vector2FP32 vector1, in Vector2FP32 vector2)
{ {
float squareModule1 = vector1.GetSquareModule(); float squareModulus1 = vector1.GetSquareModulus();
float squareModule2 = vector2.GetSquareModule(); float squareModulus2 = vector2.GetSquareModulus();
float squareModule3 = GetSquareDistance(vector1, vector2); float squareModulus3 = GetSquareDistance(vector1, vector2);
// 2.0f means dimension amount // 2.0f means dimension amount
if (squareModule1 < UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT || squareModule2 < UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT) if (squareModulus1 < UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT || squareModulus2 < UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT)
{ {
return squareModule3 < (2.0f * UtilityFP32.SQUARE_EPSYLON); return squareModulus3 < (2.0f * UtilityFP32.SQUARE_EPSYLON);
} }
if (squareModule1 <= squareModule2) if (squareModulus1 <= squareModulus2)
{ {
return squareModule3 <= (2.0f * UtilityFP32.SQUARE_EPSYLON) * squareModule2; return squareModulus3 <= (2.0f * UtilityFP32.SQUARE_EPSYLON) * squareModulus2;
} }
return squareModule3 <= (2.0f * UtilityFP32.SQUARE_EPSYLON) * squareModule1; return squareModulus3 <= (2.0f * UtilityFP32.SQUARE_EPSYLON) * squareModulus1;
} }
} }
} }

44
BasicGeometry/Vector2FP64.cs
View file

@ -48,32 +48,32 @@ namespace BasicGeometry
this.x2 = vector.x2; this.x2 = vector.x2;
} }
public readonly double GetSquareModule() public readonly double GetSquareModulus()
{ {
return this.x1 * this.x1 + this.x2 * this.x2; return this.x1 * this.x1 + this.x2 * this.x2;
} }
public readonly double GetModule() public readonly double GetModulus()
{ {
return Math.Sqrt(this.GetSquareModule()); return Math.Sqrt(this.GetSquareModulus());
} }
public int Normalize() public int Normalize()
{ {
double squareModule = this.GetSquareModule(); double squareModulus = this.GetSquareModulus();
if (UtilityFP64.IsSqareValueUnit(squareModule)) if (UtilityFP64.IsSqareUnit(squareModulus))
{ {
return 1; return 1;
} }
if (squareModule <= UtilityFP64.SQUARE_EPSYLON) if (squareModulus <= UtilityFP64.SQUARE_EPSYLON)
{ {
this.Reset(); this.Reset();
return 0; return 0;
} }
double multiplier = Math.Sqrt(1.0 / squareModule); double multiplier = Math.Sqrt(1.0 / squareModulus);
this.x1 *= multiplier; this.x1 *= multiplier;
this.x2 *= multiplier; this.x2 *= multiplier;
@ -89,12 +89,12 @@ namespace BasicGeometry
public readonly bool IsZero() public readonly bool IsZero()
{ {
return this.GetSquareModule() <= UtilityFP64.SQUARE_EPSYLON; return this.GetSquareModulus() <= UtilityFP64.SQUARE_EPSYLON;
} }
public readonly bool IsUnit() public readonly bool IsUnit()
{ {
return UtilityFP64.IsSqareValueUnit(this.GetSquareModule()); return UtilityFP64.IsSqareUnit(this.GetSquareModulus());
} }
public void Reset() public void Reset()
@ -191,21 +191,21 @@ namespace BasicGeometry
public static double GetAngle(in Vector2FP64 vector1, in Vector2FP64 vector2, AngleUnit unit) public static double GetAngle(in Vector2FP64 vector1, in Vector2FP64 vector2, AngleUnit unit)
{ {
double squareModule1 = vector1.GetSquareModule(); double squareModulus1 = vector1.GetSquareModulus();
if (squareModule1 <= UtilityFP64.SQUARE_EPSYLON) if (squareModulus1 <= UtilityFP64.SQUARE_EPSYLON)
{ {
return 0.0; return 0.0;
} }
double squareModule2 = vector2.GetSquareModule(); double squareModulus2 = vector2.GetSquareModulus();
if (squareModule2 <= UtilityFP64.SQUARE_EPSYLON) if (squareModulus2 <= UtilityFP64.SQUARE_EPSYLON)
{ {
return 0.0; return 0.0;
} }
double cosine = Vector2FP64.GetScalarProduct(vector1, vector2) / Math.Sqrt(squareModule1 * squareModule2); double cosine = Vector2FP64.GetScalarProduct(vector1, vector2) / Math.Sqrt(squareModulus1 * squareModulus2);
if (1.0 - UtilityFP64.EPSYLON <= cosine) if (1.0 - UtilityFP64.EPSYLON <= cosine)
{ {
@ -235,22 +235,22 @@ namespace BasicGeometry
public static bool AreEqual(in Vector2FP64 vector1, in Vector2FP64 vector2) public static bool AreEqual(in Vector2FP64 vector1, in Vector2FP64 vector2)
{ {
double squareModule1 = vector1.GetSquareModule(); double squareModulus1 = vector1.GetSquareModulus();
double squareModule2 = vector2.GetSquareModule(); double squareModulus2 = vector2.GetSquareModulus();
double squareModule3 = GetSquareDistance(vector1, vector2); double squareModulus3 = GetSquareDistance(vector1, vector2);
// 2.0 means dimension amount // 2.0 means dimension amount
if (squareModule1 < UtilityFP64.EPSYLON_EFFECTIVENESS_LIMIT || squareModule2 < UtilityFP64.EPSYLON_EFFECTIVENESS_LIMIT) if (squareModulus1 < UtilityFP64.EPSYLON_EFFECTIVENESS_LIMIT || squareModulus2 < UtilityFP64.EPSYLON_EFFECTIVENESS_LIMIT)
{ {
return squareModule3 < (2.0 * UtilityFP64.SQUARE_EPSYLON); return squareModulus3 < (2.0 * UtilityFP64.SQUARE_EPSYLON);
} }
if (squareModule1 <= squareModule2) if (squareModulus1 <= squareModulus2)
{ {
return squareModule3 <= (2.0 * UtilityFP64.SQUARE_EPSYLON) * squareModule2; return squareModulus3 <= (2.0 * UtilityFP64.SQUARE_EPSYLON) * squareModulus2;
} }
return squareModule3 <= (2.0 * UtilityFP64.SQUARE_EPSYLON) * squareModule1; return squareModulus3 <= (2.0 * UtilityFP64.SQUARE_EPSYLON) * squareModulus1;
} }
} }
} }

45
BasicGeometry/Vector3FP32.cs
View file

@ -52,32 +52,32 @@ namespace BasicGeometry
this.x3 = (float)vector.x3; this.x3 = (float)vector.x3;
} }
public readonly float GetSquareModule() public readonly float GetSquareModulus()
{ {
return this.x1 * this.x1 + this.x2 * this.x2 + this.x3 * this.x3; return this.x1 * this.x1 + this.x2 * this.x2 + this.x3 * this.x3;
} }
public readonly float GetModule() public readonly float GetModulus()
{ {
return MathF.Sqrt(this.GetSquareModule()); return MathF.Sqrt(this.GetSquareModulus());
} }
public int Normalize() public int Normalize()
{ {
float squareModule = this.GetSquareModule(); float squareModulus = this.GetSquareModulus();
if (UtilityFP32.IsSqareValueUnit(squareModule)) if (UtilityFP32.IsSqareUnit(squareModulus))
{ {
return 1; return 1;
} }
if (squareModule <= UtilityFP32.SQUARE_EPSYLON) if (squareModulus <= UtilityFP32.SQUARE_EPSYLON)
{ {
this.Reset(); this.Reset();
return 0; return 0;
} }
float multiplier = MathF.Sqrt(1.0f / squareModule); float multiplier = MathF.Sqrt(1.0f / squareModulus);
this.x1 *= multiplier; this.x1 *= multiplier;
this.x2 *= multiplier; this.x2 *= multiplier;
@ -95,12 +95,12 @@ namespace BasicGeometry
public readonly bool IsZero() public readonly bool IsZero()
{ {
return this.GetSquareModule() <= UtilityFP32.SQUARE_EPSYLON; return this.GetSquareModulus() <= UtilityFP32.SQUARE_EPSYLON;
} }
public readonly bool IsUnit() public readonly bool IsUnit()
{ {
return UtilityFP32.IsSqareValueUnit(this.GetSquareModule()); return UtilityFP32.IsSqareUnit(this.GetSquareModulus());
} }
public void Reset() public void Reset()
@ -233,21 +233,21 @@ namespace BasicGeometry
public static float GetAngle(in Vector3FP32 vector1, in Vector3FP32 vector2, AngleUnit unit) public static float GetAngle(in Vector3FP32 vector1, in Vector3FP32 vector2, AngleUnit unit)
{ {
float squareModule1 = vector1.GetSquareModule(); float squareModulus1 = vector1.GetSquareModulus();
if (squareModule1 <= UtilityFP32.SQUARE_EPSYLON) if (squareModulus1 <= UtilityFP32.SQUARE_EPSYLON)
{ {
return 0.0f; return 0.0f;
} }
float squareModule2 = vector2.GetSquareModule(); float squareModulus2 = vector2.GetSquareModulus();
if (squareModule2 <= UtilityFP32.SQUARE_EPSYLON) if (squareModulus2 <= UtilityFP32.SQUARE_EPSYLON)
{ {
return 0.0f; return 0.0f;
} }
float cosine = Vector3FP32.GetScalarProduct(vector1, vector2) / MathF.Sqrt(squareModule1 * squareModule2); float cosine = Vector3FP32.GetScalarProduct(vector1, vector2) / MathF.Sqrt(squareModulus1 * squareModulus2);
if (1.0f - UtilityFP32.EPSYLON <= cosine) if (1.0f - UtilityFP32.EPSYLON <= cosine)
{ {
@ -278,22 +278,17 @@ namespace BasicGeometry
public static bool AreEqual(in Vector3FP32 vector1, in Vector3FP32 vector2) public static bool AreEqual(in Vector3FP32 vector1, in Vector3FP32 vector2)
{ {
float squareModule1 = vector1.GetSquareModule(); float squareModulus1 = vector1.GetSquareModulus();
float squareModule2 = vector2.GetSquareModule(); float squareModulus2 = vector2.GetSquareModulus();
float squareModule3 = GetSquareDistance(vector1, vector2); float squareDistance = GetSquareDistance(vector1, vector2);
// 3.0f means dimension amount // 3.0f means dimension amount
if (squareModule1 < UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT || squareModule2 < UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT) if (squareModulus1 <= UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT || squareModulus2 <= UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT)
{ {
return squareModule3 < (3.0f * UtilityFP32.SQUARE_EPSYLON); return squareDistance <= UtilityFP32.SQUARE_EPSYLON;
} }
if (squareModule1 <= squareModule2) return squareDistance <= UtilityFP32.SQUARE_EPSYLON * squareModulus1 && squareDistance <= UtilityFP32.SQUARE_EPSYLON * squareModulus2;
{
return squareModule3 <= (3.0f * UtilityFP32.SQUARE_EPSYLON) * squareModule2;
}
return squareModule3 <= (3.0f * UtilityFP32.SQUARE_EPSYLON) * squareModule1;
} }
} }
} }

46
BasicGeometry/Vector3FP64.cs
View file

@ -52,33 +52,33 @@ namespace BasicGeometry
this.x3 = vector.x3; this.x3 = vector.x3;
} }
public readonly double GetSquareModule() public readonly double GetSquareModulus()
{ {
return this.x1 * this.x1 + this.x2 * this.x2 + this.x3 * this.x3; return this.x1 * this.x1 + this.x2 * this.x2 + this.x3 * this.x3;
} }
public readonly double GetModule() public readonly double GetModulus()
{ {
return Math.Sqrt(this.GetSquareModule()); return Math.Sqrt(this.GetSquareModulus());
} }
public int Normalize() public int Normalize()
{ {
double squareModule = this.GetSquareModule(); double squareModulus = this.GetSquareModulus();
if (UtilityFP64.IsSqareValueUnit(squareModule)) if (UtilityFP64.IsSqareUnit(squareModulus))
{ {
return 1; return 1;
} }
if (squareModule <= UtilityFP64.SQUARE_EPSYLON) if (squareModulus <= UtilityFP64.SQUARE_EPSYLON)
{ {
this.Reset(); this.Reset();
return 0; return 0;
} }
double multiplier = Math.Sqrt(1.0 / squareModule); double multiplier = Math.Sqrt(1.0 / squareModulus);
this.x1 *= multiplier; this.x1 *= multiplier;
this.x2 *= multiplier; this.x2 *= multiplier;
@ -96,12 +96,12 @@ namespace BasicGeometry
public readonly bool IsZero() public readonly bool IsZero()
{ {
return this.GetSquareModule() <= UtilityFP64.SQUARE_EPSYLON; return this.GetSquareModulus() <= UtilityFP64.SQUARE_EPSYLON;
} }
public readonly bool IsUnit() public readonly bool IsUnit()
{ {
return UtilityFP64.IsSqareValueUnit(this.GetSquareModule()); return UtilityFP64.IsSqareUnit(this.GetSquareModulus());
} }
public void Reset() public void Reset()
@ -234,21 +234,21 @@ namespace BasicGeometry
public static double GetAngle(in Vector3FP64 vector1, in Vector3FP64 vector2, AngleUnit unit) public static double GetAngle(in Vector3FP64 vector1, in Vector3FP64 vector2, AngleUnit unit)
{ {
double squareModule1 = vector1.GetSquareModule(); double squareModulus1 = vector1.GetSquareModulus();
if (squareModule1 <= UtilityFP64.SQUARE_EPSYLON) if (squareModulus1 <= UtilityFP64.SQUARE_EPSYLON)
{ {
return 0.0; return 0.0;
} }
double squareModule2 = vector2.GetSquareModule(); double squareModulus2 = vector2.GetSquareModulus();
if (squareModule2 <= UtilityFP64.SQUARE_EPSYLON) if (squareModulus2 <= UtilityFP64.SQUARE_EPSYLON)
{ {
return 0.0; return 0.0;
} }
double cosine = Vector3FP64.GetScalarProduct(vector1, vector2) / Math.Sqrt(squareModule1 * squareModule2); double cosine = Vector3FP64.GetScalarProduct(vector1, vector2) / Math.Sqrt(squareModulus1 * squareModulus2);
if (1.0 - UtilityFP64.EPSYLON <= cosine) if (1.0 - UtilityFP64.EPSYLON <= cosine)
{ {
@ -279,22 +279,16 @@ namespace BasicGeometry
public static bool AreEqual(in Vector3FP64 vector1, in Vector3FP64 vector2) public static bool AreEqual(in Vector3FP64 vector1, in Vector3FP64 vector2)
{ {
double squareModule1 = vector1.GetSquareModule(); double squareModulus1 = vector1.GetSquareModulus();
double squareModule2 = vector2.GetSquareModule(); double squareModulus2 = vector2.GetSquareModulus();
double squareModule3 = GetSquareDistance(vector1, vector2); double squareDistance = GetSquareDistance(vector1, vector2);
// 3.0 means dimension amount if (squareModulus1 <= UtilityFP64.EPSYLON_EFFECTIVENESS_LIMIT || squareModulus2 <= UtilityFP64.EPSYLON_EFFECTIVENESS_LIMIT)
if (squareModule1 < UtilityFP64.EPSYLON_EFFECTIVENESS_LIMIT || squareModule2 < UtilityFP64.EPSYLON_EFFECTIVENESS_LIMIT)
{ {
return squareModule3 < (3.0 * UtilityFP64.SQUARE_EPSYLON); return squareDistance <= UtilityFP64.SQUARE_EPSYLON;
} }
if (squareModule1 <= squareModule2) return squareDistance <= UtilityFP64.SQUARE_EPSYLON * squareModulus1 && squareDistance <= UtilityFP64.SQUARE_EPSYLON * squareModulus2;
{
return squareModule3 <= (3.0 * UtilityFP64.SQUARE_EPSYLON) * squareModule2;
}
return squareModule3 <= (3.0 * UtilityFP64.SQUARE_EPSYLON) * squareModule1;
} }
} }
} }

347
BasicGeometry/VersorFP32.cs
View file

@ -30,7 +30,17 @@ namespace BasicGeometry
public VersorFP32(float s0, float x1, float x2, float x3) public VersorFP32(float s0, float x1, float x2, float x3)
{ {
LoadValues(s0, x1, x2, x3, out this); this.s0 = s0;
this.x1 = x1;
this.x2 = x2;
this.x3 = x3;
float squareModulus = this.s0 * this.s0 + this.x1 * this.x1 + (this.x2 * this.x2 + this.x3 * this.x3);
if (!UtilityFP32.IsSqareUnit(squareModulus))
{
this.Normalize(squareModulus);
}
} }
public VersorFP32(in VersorFP32 versor) public VersorFP32(in VersorFP32 versor)
@ -47,6 +57,13 @@ namespace BasicGeometry
this.x1 = (float)versor.GetX1(); this.x1 = (float)versor.GetX1();
this.x2 = (float)versor.GetX2(); this.x2 = (float)versor.GetX2();
this.x3 = (float)versor.GetX3(); this.x3 = (float)versor.GetX3();
float squareModulus = this.s0 * this.s0 + this.x1 * this.x1 + (this.x2 * this.x2 + this.x3 * this.x3);
if (!UtilityFP32.IsSqareUnit(squareModulus))
{
this.Normalize(squareModulus);
}
} }
public readonly float GetScalar() public readonly float GetScalar()
@ -69,6 +86,20 @@ namespace BasicGeometry
return this.x3; return this.x3;
} }
public readonly float GetAngle(AngleUnit unit)
{
if (this.s0 <= -(1.0f - UtilityFP32.EPSYLON) || 1.0f - UtilityFP32.EPSYLON <= this.s0) {
return 0.0f;
}
if (UtilityFP32.IsZero(this.s0))
{
return AngleFP32.GetHalfCircle(unit);
}
return RadianFP32.ToUnits(2.0f * MathF.Acos(this.s0), unit);
}
public readonly bool IsIdle() public readonly bool IsIdle()
{ {
return this.s0 <= -(1.0f - UtilityFP32.EPSYLON) || (1.0f - UtilityFP32.EPSYLON) <= this.s0; return this.s0 <= -(1.0f - UtilityFP32.EPSYLON) || (1.0f - UtilityFP32.EPSYLON) <= this.s0;
@ -84,7 +115,8 @@ namespace BasicGeometry
public void Shorten() public void Shorten()
{ {
if (this.s0 < 0.0f) { if (this.s0 < 0.0f)
{
this.s0 = -this.s0; this.s0 = -this.s0;
this.x1 = -this.x1; this.x1 = -this.x1;
this.x2 = -this.x2; this.x2 = -this.x2;
@ -99,76 +131,6 @@ namespace BasicGeometry
this.x3 = -this.x3; this.x3 = -this.x3;
} }
public readonly float GetAngle(AngleUnit unit)
{
if (this.s0 <= -(1.0f - UtilityFP32.EPSYLON) || 1.0f - UtilityFP32.EPSYLON <= this.s0) {
return 0.0f;
}
if (UtilityFP32.IsZero(this.s0))
{
return AngleFP32.GetHalfCircle(unit);
}
return RadianFP32.ToUnits(2.0f * MathF.Acos(this.s0), unit);
}
public readonly void MakeRotationMatrix(out Matrix3x3FP32 matrix)
{
float s0s0 = this.s0 * this.s0;
float x1x1 = this.x1 * this.x1;
float x2x2 = this.x1 * this.x2;
float x3x3 = this.x1 * this.x3;
float s0x1 = 2.0f * this.s0 * this.x1;
float s0x2 = 2.0f * this.s0 * this.x2;
float s0x3 = 2.0f * this.s0 * this.x3;
float x1x2 = 2.0f * this.x1 * this.x2;
float x1x3 = 2.0f * this.x1 * this.x3;
float x2x3 = 2.0f * this.x2 * this.x3;
matrix.r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix.r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix.r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix.r1c2 = x1x2 - s0x3;
matrix.r2c3 = x2x3 - s0x1;
matrix.r3c1 = x1x3 - s0x2;
matrix.r2c1 = x1x2 + s0x3;
matrix.r3c2 = x2x3 + s0x1;
matrix.r1c3 = x1x3 + s0x2;
}
public readonly void MakeReverseMatrix(out Matrix3x3FP32 matrix)
{
float s0s0 = this.s0 * this.s0;
float x1x1 = this.x1 * this.x1;
float x2x2 = this.x1 * this.x2;
float x3x3 = this.x1 * this.x3;
float s0x1 = 2.0f * this.s0 * this.x1;
float s0x2 = 2.0f * this.s0 * this.x2;
float s0x3 = 2.0f * this.s0 * this.x3;
float x1x2 = 2.0f * this.x1 * this.x2;
float x1x3 = 2.0f * this.x1 * this.x3;
float x2x3 = 2.0f * this.x2 * this.x3;
matrix.r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix.r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix.r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix.r1c2 = x1x2 + s0x3;
matrix.r2c3 = x2x3 + s0x1;
matrix.r3c1 = x1x3 + s0x2;
matrix.r2c1 = x1x2 - s0x3;
matrix.r3c2 = x2x3 - s0x1;
matrix.r1c3 = x1x3 - s0x2;
}
public void SetValues(float s0, float x1, float x2, float x3) public void SetValues(float s0, float x1, float x2, float x3)
{ {
this.s0 = s0; this.s0 = s0;
@ -176,15 +138,15 @@ namespace BasicGeometry
this.x2 = x2; this.x2 = x2;
this.x3 = x3; this.x3 = x3;
float squareModule = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); float squareModulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
if (!UtilityFP32.IsSqareValueUnit(squareModule)) if (!UtilityFP32.IsSqareUnit(squareModulus))
{ {
this.Normalize(squareModule); this.Normalize(squareModulus);
} }
} }
public void SetValues(in VersorFP32 versor) public void Set(in VersorFP32 versor)
{ {
this.s0 = versor.s0; this.s0 = versor.s0;
this.x1 = versor.x1; this.x1 = versor.x1;
@ -192,95 +154,20 @@ namespace BasicGeometry
this.x3 = versor.x3; this.x3 = versor.x3;
} }
public void SetValues(in VersorFP64 versor) public void Set(in VersorFP64 versor)
{ {
this.SetValues( this.SetValues((float) versor.GetScalar(), (float) versor.GetX1(), (float) versor.GetX2(), (float) versor.GetX3());
(float) versor.GetScalar(),
(float) versor.GetX1(),
(float) versor.GetX2(),
(float) versor.GetX3());
} }
public void SetInverted(in VersorFP32 versor) private void Normalize(float squareModulus)
{ {
this.s0 = versor.s0; if (squareModulus <= UtilityFP32.SQUARE_EPSYLON || !float.IsFinite(squareModulus))
this.x1 = -versor.x1;
this.x2 = -versor.x2;
this.x3 = -versor.x3;
}
public void SetInverted(in VersorFP64 versor)
{
this.SetValues(
(float)versor.GetScalar(),
(float)-versor.GetX1(),
(float)-versor.GetX2(),
(float)-versor.GetX3());
}
public void SetShortened(in VersorFP32 versor)
{
if (versor.s0 < 0.0f)
{
this.s0 = -versor.s0;
this.x1 = -versor.x1;
this.x2 = -versor.x2;
this.x3 = -versor.x3;
}
else
{
this.s0 = versor.s0;
this.x1 = versor.x1;
this.x2 = versor.x2;
this.x3 = versor.x3;
}
}
public void SetShortened(in VersorFP64 versor)
{
this.SetValues(versor);
this.Shorten();
}
public readonly void Turn(in Vector3FP32 vector, out Vector3FP32 result)
{
float tx1 = 2.0f * (this.x2 * vector.x3 - this.x3 * vector.x2);
float tx2 = 2.0f * (this.x3 * vector.x1 - this.x1 * vector.x3);
float tx3 = 2.0f * (this.x1 * vector.x2 - this.x2 * vector.x1);
float x1 = (vector.x1 + tx1 * this.s0) + (this.x2 * tx3 - this.x3 * tx2);
float x2 = (vector.x2 + tx2 * this.s0) + (this.x3 * tx1 - this.x1 * tx3);
float x3 = (vector.x3 + tx3 * this.s0) + (this.x1 * tx2 - this.x2 * tx1);
result.x1 = x1;
result.x2 = x2;
result.x3 = x3;
}
public readonly void TurnBack(in Vector3FP32 vector, out Vector3FP32 result)
{
float tx1 = 2.0f * (this.x2 * vector.x3 - this.x3 * vector.x2);
float tx2 = 2.0f * (this.x3 * vector.x1 - this.x1 * vector.x3);
float tx3 = 2.0f * (this.x1 * vector.x2 - this.x2 * vector.x1);
float x1 = (vector.x1 - tx1 * this.s0) + (this.x2 * tx3 - this.x3 * tx2);
float x2 = (vector.x2 - tx2 * this.s0) + (this.x3 * tx1 - this.x1 * tx3);
float x3 = (vector.x3 - tx3 * this.s0) + (this.x1 * tx2 - this.x2 * tx1);
result.x1 = x1;
result.x2 = x2;
result.x3 = x3;
}
private void Normalize(float squareModule)
{
if (squareModule <= UtilityFP32.SQUARE_EPSYLON)
{ {
this.Reset(); this.Reset();
return; return;
} }
float multiplier = MathF.Sqrt(1.0f / squareModule); float multiplier = MathF.Sqrt(1.0f / squareModulus);
this.s0 *= multiplier; this.s0 *= multiplier;
this.x1 *= multiplier; this.x1 *= multiplier;
@ -295,39 +182,149 @@ namespace BasicGeometry
float x2 = second.x2 * first.s0 + second.s0 * first.x2 - (second.x1 * first.x3 - second.x3 * first.x1); float x2 = second.x2 * first.s0 + second.s0 * first.x2 - (second.x1 * first.x3 - second.x3 * first.x1);
float x3 = second.x3 * first.s0 + second.s0 * first.x3 - (second.x2 * first.x1 - second.x1 * first.x2); float x3 = second.x3 * first.s0 + second.s0 * first.x3 - (second.x2 * first.x1 - second.x1 * first.x2);
float squareModule = s0 * s0 + x1 * x1 + (x2 * x2 + x3 * x3); float squareModulus = s0 * s0 + x1 * x1 + (x2 * x2 + x3 * x3);
result.s0 = s0; result.s0 = s0;
result.x1 = x1; result.x1 = x1;
result.x2 = x2; result.x2 = x2;
result.x3 = x3; result.x3 = x3;
if (!UtilityFP32.IsSqareValueUnit(squareModule)) if (!UtilityFP32.IsSqareUnit(squareModulus))
{ {
result.Normalize(squareModule); result.Normalize(squareModulus);
} }
} }
public static void LoadIdle(out VersorFP32 versor) public static void MakeInverted(in VersorFP32 versor, out VersorFP32 conjugate)
{ {
versor.s0 = 1.0f; conjugate.s0 = versor.s0;
versor.x1 = 0.0f; conjugate.x1 = -versor.x1;
versor.x2 = 0.0f; conjugate.x2 = -versor.x2;
versor.x3 = 0.0f; conjugate.x3 = -versor.x3;
} }
public static void LoadValues(float s0, float x1, float x2, float x3, out VersorFP32 versor)
{
versor.s0 = s0;
versor.x1 = x1;
versor.x2 = x2;
versor.x3 = x3;
float squareModule = s0 * s0 + x1 * x1 + (x2 * x2 + x3 * x3); public static void MakeShortened(in VersorFP32 versor, out VersorFP32 shortened)
{
if (!UtilityFP32.IsSqareValueUnit(squareModule)) if (versor.s0 < 0.0f) {
shortened.s0 = -versor.s0;
shortened.x1 = -versor.x1;
shortened.x2 = -versor.x2;
shortened.x3 = -versor.x3;
}
else {
shortened.s0 = versor.s0;
shortened.x1 = versor.x1;
shortened.x2 = versor.x2;
shortened.x3 = versor.x3;
}
}
public static void MakeRotationMatrix(in VersorFP32 versor, out Matrix3x3FP32 matrix)
{
float s0s0 = versor.s0 * versor.s0;
float x1x1 = versor.x1 * versor.x1;
float x2x2 = versor.x1 * versor.x2;
float x3x3 = versor.x1 * versor.x3;
float s0x1 = 2.0f * versor.s0 * versor.x1;
float s0x2 = 2.0f * versor.s0 * versor.x2;
float s0x3 = 2.0f * versor.s0 * versor.x3;
float x1x2 = 2.0f * versor.x1 * versor.x2;
float x1x3 = 2.0f * versor.x1 * versor.x3;
float x2x3 = 2.0f * versor.x2 * versor.x3;
matrix.r1c1 = s0s0 + x1x1 - (x2x2 + x3x3);
matrix.r2c2 = s0s0 + x2x2 - (x1x1 + x3x3);
matrix.r3c3 = s0s0 + x3x3 - (x1x1 + x2x2);
matrix.r1c2 = x1x2 - s0x3;
matrix.r2c3 = x2x3 - s0x1;
matrix.r3c1 = x1x3 - s0x2;
matrix.r2c1 = x1x2 + s0x3;
matrix.r3c2 = x2x3 + s0x1;
matrix.r1c3 = x1x3 + s0x2;
}
public static void MakeReverseMatrix(in VersorFP32 versor, out Matrix3x3FP32 matrix)
{
float s0s0 = versor.s0 * versor.s0;
float x1x1 = versor.x1 * versor.x1;
float x2x2 = versor.x1 * versor.x2;
float x3x3 = versor.x1 * versor.x3;
float s0x1 = 2.0f * versor.s0 * versor.x1;
float s0x2 = 2.0f * versor.s0 * versor.x2;
float s0x3 = 2.0f * versor.s0 * versor.x3;
float x1x2 = 2.0f * versor.x1 * versor.x2;
float x1x3 = 2.0f * versor.x1 * versor.x3;
float x2x3 = 2.0f * versor.x2 * versor.x3;
matrix.r1c1 = s0s0 + x1x1 - (x2x2 + x3x3);
matrix.r2c2 = s0s0 + x2x2 - (x1x1 + x3x3);
matrix.r3c3 = s0s0 + x3x3 - (x1x1 + x2x2);
matrix.r1c2 = x1x2 + s0x3;
matrix.r2c3 = x2x3 + s0x1;
matrix.r3c1 = x1x3 + s0x2;
matrix.r2c1 = x1x2 - s0x3;
matrix.r3c2 = x2x3 - s0x1;
matrix.r1c3 = x1x3 - s0x2;
}
public static void Turn(in VersorFP32 versor, in Vector3FP32 vector, out Vector3FP32 result)
{
float tx1 = 2.0f * (versor.x2 * vector.x3 - versor.x3 * vector.x2);
float tx2 = 2.0f * (versor.x3 * vector.x1 - versor.x1 * vector.x3);
float tx3 = 2.0f * (versor.x1 * vector.x2 - versor.x2 * vector.x1);
float x1 = vector.x1 + tx1 * versor.s0 + (versor.x2 * tx3 - versor.x3 * tx2);
float x2 = vector.x2 + tx2 * versor.s0 + (versor.x3 * tx1 - versor.x1 * tx3);
float x3 = vector.x3 + tx3 * versor.s0 + (versor.x1 * tx2 - versor.x2 * tx1);
result.x1 = x1;
result.x2 = x2;
result.x3 = x3;
}
public static void TurnBack(in VersorFP32 versor, in Vector3FP32 vector, out Vector3FP32 result)
{
float tx1 = 2.0f * (versor.x2 * vector.x3 - versor.x3 * vector.x2);
float tx2 = 2.0f * (versor.x3 * vector.x1 - versor.x1 * vector.x3);
float tx3 = 2.0f * (versor.x1 * vector.x2 - versor.x2 * vector.x1);
float x1 = vector.x1 - tx1 * versor.s0 + (versor.x2 * tx3 - versor.x3 * tx2);
float x2 = vector.x2 - tx2 * versor.s0 + (versor.x3 * tx1 - versor.x1 * tx3);
float x3 = vector.x3 - tx3 * versor.s0 + (versor.x1 * tx2 - versor.x2 * tx1);
result.x1 = x1;
result.x2 = x2;
result.x3 = x3;
}
public static void LoadIdentity(out VersorFP32 result)
{
result.s0 = 1.0f;
result.x1 = 0.0f;
result.x2 = 0.0f;
result.x3 = 0.0f;
}
public static void LoadValues(float s0, float x1, float x2, float x3, out VersorFP32 result)
{
float squareModulus = s0 * s0 + x1 * x1 + (x2 * x2 + x3 * x3);
result.s0 = s0;
result.x1 = x1;
result.x2 = x2;
result.x3 = x3;
if (!UtilityFP32.IsSqareUnit(squareModulus))
{ {
versor.Normalize(squareModule); result.Normalize(squareModulus);
} }
} }
} }

335
BasicGeometry/VersorFP64.cs
View file

@ -14,7 +14,6 @@
* limitations under the License. * limitations under the License.
*/ */
/* /*
* Author: Andrey Pokidov * Author: Andrey Pokidov
* Date: 20 Oct 2024 * Date: 20 Oct 2024
@ -31,7 +30,17 @@ namespace BasicGeometry
public VersorFP64(double s0, double x1, double x2, double x3) public VersorFP64(double s0, double x1, double x2, double x3)
{ {
LoadValues(s0, x1, x2, x3, out this); this.s0 = s0;
this.x1 = x1;
this.x2 = x2;
this.x3 = x3;
double squareModulus = this.s0 * this.s0 + this.x1 * this.x1 + (this.x2 * this.x2 + this.x3 * this.x3);
if (!UtilityFP64.IsSqareUnit(squareModulus))
{
this.Normalize(squareModulus);
}
} }
public VersorFP64(in VersorFP64 versor) public VersorFP64(in VersorFP64 versor)
@ -44,7 +53,17 @@ namespace BasicGeometry
public VersorFP64(in VersorFP32 versor) public VersorFP64(in VersorFP32 versor)
{ {
LoadValues(versor.GetScalar(), versor.GetX1(), versor.GetX2(), versor.GetX3(), out this); this.s0 = versor.GetScalar();
this.x1 = versor.GetX1();
this.x2 = versor.GetX2();
this.x3 = versor.GetX3();
double squareModulus = this.s0 * this.s0 + this.x1 * this.x1 + (this.x2 * this.x2 + this.x3 * this.x3);
if (!UtilityFP64.IsSqareUnit(squareModulus))
{
this.Normalize(squareModulus);
}
} }
public readonly double GetScalar() public readonly double GetScalar()
@ -67,7 +86,21 @@ namespace BasicGeometry
return this.x3; return this.x3;
} }
public readonly bool IsIdle() public readonly double GetAngle(AngleUnit unit)
{
if (this.s0 <= -(1.0 - UtilityFP64.EPSYLON) || 1.0 - UtilityFP64.EPSYLON <= this.s0) {
return 0.0;
}
if (UtilityFP64.IsZero(this.s0))
{
return AngleFP64.GetHalfCircle(unit);
}
return RadianFP64.ToUnits(2.0 * Math.Acos(this.s0), unit);
}
public readonly bool IsIdentity()
{ {
return this.s0 <= -(1.0 - UtilityFP64.EPSYLON) || (1.0 - UtilityFP64.EPSYLON) <= this.s0; return this.s0 <= -(1.0 - UtilityFP64.EPSYLON) || (1.0 - UtilityFP64.EPSYLON) <= this.s0;
} }
@ -98,39 +131,112 @@ namespace BasicGeometry
this.x3 = -this.x3; this.x3 = -this.x3;
} }
public readonly double GetAngle(AngleUnit unit) public void SetValues(double s0, double x1, double x2, double x3)
{ {
if (this.s0 <= -(1.0 - UtilityFP64.EPSYLON) || 1.0 - UtilityFP64.EPSYLON <= this.s0) { this.s0 = s0;
return 0.0; this.x1 = x1;
} this.x2 = x2;
this.x3 = x3;
if (UtilityFP64.IsZero(this.s0))
double squareModulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
if (!UtilityFP64.IsSqareUnit(squareModulus))
{ {
return AngleFP64.GetHalfCircle(unit); this.Normalize(squareModulus);
} }
return RadianFP64.ToUnits(2.0 * Math.Acos(this.s0), unit);
} }
public readonly void MakeRotationMatrix(out Matrix3x3FP64 matrix) public void Set(in VersorFP64 versor)
{ {
double s0s0 = this.s0 * this.s0; this.s0 = versor.s0;
double x1x1 = this.x1 * this.x1; this.x1 = versor.x1;
double x2x2 = this.x1 * this.x2; this.x2 = versor.x2;
double x3x3 = this.x1 * this.x3; this.x3 = versor.x3;
}
public void Set(in VersorFP32 versor)
{
this.SetValues(versor.GetScalar(), versor.GetX1(), versor.GetX2(), versor.GetX3());
}
double s0x1 = 2.0 * this.s0 * this.x1; private void Normalize(double squareModulus)
double s0x2 = 2.0 * this.s0 * this.x2; {
double s0x3 = 2.0 * this.s0 * this.x3; if (squareModulus <= UtilityFP64.SQUARE_EPSYLON || !double.IsFinite(squareModulus))
{
this.Reset();
return;
}
double x1x2 = 2.0 * this.x1 * this.x2; double multiplier = Math.Sqrt(1.0 / squareModulus);
double x1x3 = 2.0 * this.x1 * this.x3;
double x2x3 = 2.0 * this.x2 * this.x3;
matrix.r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); this.s0 *= multiplier;
matrix.r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); this.x1 *= multiplier;
matrix.r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); this.x2 *= multiplier;
this.x3 *= multiplier;
}
public static void Combine(in VersorFP64 second, in VersorFP64 first, out VersorFP64 result)
{
double s0 = second.s0 * first.s0 - second.x1 * first.x1 - (second.x2 * first.x2 + second.x3 * first.x3);
double x1 = second.x1 * first.s0 + second.s0 * first.x1 - (second.x3 * first.x2 - second.x2 * first.x3);
double x2 = second.x2 * first.s0 + second.s0 * first.x2 - (second.x1 * first.x3 - second.x3 * first.x1);
double x3 = second.x3 * first.s0 + second.s0 * first.x3 - (second.x2 * first.x1 - second.x1 * first.x2);
double squareModulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
result.s0 = s0;
result.x1 = x1;
result.x2 = x2;
result.x3 = x3;
if (!UtilityFP64.IsSqareUnit(squareModulus))
{
result.Normalize(squareModulus);
}
}
public static void MakeInverted(in VersorFP64 versor, out VersorFP64 conjugate)
{
conjugate.s0 = versor.s0;
conjugate.x1 = -versor.x1;
conjugate.x2 = -versor.x2;
conjugate.x3 = -versor.x3;
}
public static void MakeShortened(in VersorFP64 versor, out VersorFP64 shortened)
{
if (versor.s0 < 0.0) {
shortened.s0 = -versor.s0;
shortened.x1 = -versor.x1;
shortened.x2 = -versor.x2;
shortened.x3 = -versor.x3;
}
else {
shortened.s0 = versor.s0;
shortened.x1 = versor.x1;
shortened.x2 = versor.x2;
shortened.x3 = versor.x3;
}
}
public static void MakeRotationMatrix(in VersorFP64 versor, out Matrix3x3FP64 matrix)
{
double s0s0 = versor.s0 * versor.s0;
double x1x1 = versor.x1 * versor.x1;
double x2x2 = versor.x1 * versor.x2;
double x3x3 = versor.x1 * versor.x3;
double s0x1 = 2.0 * versor.s0 * versor.x1;
double s0x2 = 2.0 * versor.s0 * versor.x2;
double s0x3 = 2.0 * versor.s0 * versor.x3;
double x1x2 = 2.0 * versor.x1 * versor.x2;
double x1x3 = 2.0 * versor.x1 * versor.x3;
double x2x3 = 2.0 * versor.x2 * versor.x3;
matrix.r1c1 = s0s0 + x1x1 - (x2x2 + x3x3);
matrix.r2c2 = s0s0 + x2x2 - (x1x1 + x3x3);
matrix.r3c3 = s0s0 + x3x3 - (x1x1 + x2x2);
matrix.r1c2 = x1x2 - s0x3; matrix.r1c2 = x1x2 - s0x3;
matrix.r2c3 = x2x3 - s0x1; matrix.r2c3 = x2x3 - s0x1;
@ -141,24 +247,24 @@ namespace BasicGeometry
matrix.r1c3 = x1x3 + s0x2; matrix.r1c3 = x1x3 + s0x2;
} }
public readonly void MakeReverseMatrix(out Matrix3x3FP64 matrix) public static void MakeReverseMatrix(in VersorFP64 versor, out Matrix3x3FP64 matrix)
{ {
double s0s0 = this.s0 * this.s0; double s0s0 = versor.s0 * versor.s0;
double x1x1 = this.x1 * this.x1; double x1x1 = versor.x1 * versor.x1;
double x2x2 = this.x1 * this.x2; double x2x2 = versor.x1 * versor.x2;
double x3x3 = this.x1 * this.x3; double x3x3 = versor.x1 * versor.x3;
double s0x1 = 2.0 * this.s0 * this.x1; double s0x1 = 2.0 * versor.s0 * versor.x1;
double s0x2 = 2.0 * this.s0 * this.x2; double s0x2 = 2.0 * versor.s0 * versor.x2;
double s0x3 = 2.0 * this.s0 * this.x3; double s0x3 = 2.0 * versor.s0 * versor.x3;
double x1x2 = 2.0 * this.x1 * this.x2; double x1x2 = 2.0 * versor.x1 * versor.x2;
double x1x3 = 2.0 * this.x1 * this.x3; double x1x3 = 2.0 * versor.x1 * versor.x3;
double x2x3 = 2.0 * this.x2 * this.x3; double x2x3 = 2.0 * versor.x2 * versor.x3;
matrix.r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); matrix.r1c1 = s0s0 + x1x1 - (x2x2 + x3x3);
matrix.r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); matrix.r2c2 = s0s0 + x2x2 - (x1x1 + x3x3);
matrix.r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2); matrix.r3c3 = s0s0 + x3x3 - (x1x1 + x2x2);
matrix.r1c2 = x1x2 + s0x3; matrix.r1c2 = x1x2 + s0x3;
matrix.r2c3 = x2x3 + s0x1; matrix.r2c3 = x2x3 + s0x1;
@ -169,157 +275,56 @@ namespace BasicGeometry
matrix.r1c3 = x1x3 - s0x2; matrix.r1c3 = x1x3 - s0x2;
} }
public void SetValues(double s0, double x1, double x2, double x3) public static void Turn(in VersorFP64 versor, in Vector3FP64 vector, out Vector3FP64 result)
{ {
this.s0 = s0; double tx1 = 2.0 * (versor.x2 * vector.x3 - versor.x3 * vector.x2);
this.x1 = x1; double tx2 = 2.0 * (versor.x3 * vector.x1 - versor.x1 * vector.x3);
this.x2 = x2; double tx3 = 2.0 * (versor.x1 * vector.x2 - versor.x2 * vector.x1);
this.x3 = x3;
double squareModule = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
if (!UtilityFP64.IsSqareValueUnit(squareModule))
{
this.Normalize(squareModule);
}
}
public void SetValues(in VersorFP64 versor) double x1 = vector.x1 + tx1 * versor.s0 + (versor.x2 * tx3 - versor.x3 * tx2);
{ double x2 = vector.x2 + tx2 * versor.s0 + (versor.x3 * tx1 - versor.x1 * tx3);
this.s0 = versor.s0; double x3 = vector.x3 + tx3 * versor.s0 + (versor.x1 * tx2 - versor.x2 * tx1);
this.x1 = versor.x1;
this.x2 = versor.x2;
this.x3 = versor.x3;
}
public void SetValues(in VersorFP32 versor)
{
this.SetValues(versor.GetScalar(), versor.GetX1(), versor.GetX2(), versor.GetX3());
}
public void SetShortened(in VersorFP64 versor)
{
if (versor.s0 < 0.0)
{
this.s0 = -versor.s0;
this.x1 = -versor.x1;
this.x2 = -versor.x2;
this.x3 = -versor.x3;
}
else
{
this.s0 = versor.s0;
this.x1 = versor.x1;
this.x2 = versor.x2;
this.x3 = versor.x3;
}
}
public void SetShortened(in VersorFP32 versor)
{
this.SetValues(versor);
this.Shorten();
}
public void SetInverted(in VersorFP64 versor)
{
this.s0 = versor.s0;
this.x1 = -versor.x1;
this.x2 = -versor.x2;
this.x3 = -versor.x3;
}
public void SetInverted(in VersorFP32 versor)
{
this.SetValues(versor.GetScalar(), -versor.GetX1(), -versor.GetX2(), -versor.GetX3());
}
public readonly void Turn(in Vector3FP64 vector, out Vector3FP64 result)
{
double tx1 = 2.0 * (this.x2 * vector.x3 - this.x3 * vector.x2);
double tx2 = 2.0 * (this.x3 * vector.x1 - this.x1 * vector.x3);
double tx3 = 2.0 * (this.x1 * vector.x2 - this.x2 * vector.x1);
double x1 = (vector.x1 + tx1 * this.s0) + (this.x2 * tx3 - this.x3 * tx2);
double x2 = (vector.x2 + tx2 * this.s0) + (this.x3 * tx1 - this.x1 * tx3);
double x3 = (vector.x3 + tx3 * this.s0) + (this.x1 * tx2 - this.x2 * tx1);
result.x1 = x1; result.x1 = x1;
result.x2 = x2; result.x2 = x2;
result.x3 = x3; result.x3 = x3;
} }
public readonly void TurnBack(in Vector3FP64 vector, out Vector3FP64 result) public static void TurnBack(in VersorFP64 versor, in Vector3FP64 vector, out Vector3FP64 result)
{ {
double tx1 = 2.0 * (this.x2 * vector.x3 - this.x3 * vector.x2); double tx1 = 2.0 * (versor.x2 * vector.x3 - versor.x3 * vector.x2);
double tx2 = 2.0 * (this.x3 * vector.x1 - this.x1 * vector.x3); double tx2 = 2.0 * (versor.x3 * vector.x1 - versor.x1 * vector.x3);
double tx3 = 2.0 * (this.x1 * vector.x2 - this.x2 * vector.x1); double tx3 = 2.0 * (versor.x1 * vector.x2 - versor.x2 * vector.x1);
double x1 = (vector.x1 - tx1 * this.s0) + (this.x2 * tx3 - this.x3 * tx2); double x1 = vector.x1 - tx1 * versor.s0 + (versor.x2 * tx3 - versor.x3 * tx2);
double x2 = (vector.x2 - tx2 * this.s0) + (this.x3 * tx1 - this.x1 * tx3); double x2 = vector.x2 - tx2 * versor.s0 + (versor.x3 * tx1 - versor.x1 * tx3);
double x3 = (vector.x3 - tx3 * this.s0) + (this.x1 * tx2 - this.x2 * tx1); double x3 = vector.x3 - tx3 * versor.s0 + (versor.x1 * tx2 - versor.x2 * tx1);
result.x1 = x1; result.x1 = x1;
result.x2 = x2; result.x2 = x2;
result.x3 = x3; result.x3 = x3;
} }
private void Normalize(double squareModule) public static void LoadIdentity(out VersorFP64 result)
{ {
if (squareModule <= UtilityFP64.SQUARE_EPSYLON || (this.x1 * this.x1 + this.x2 * this.x2 + this.x3 * this.x3) <= UtilityFP64.SQUARE_EPSYLON * squareModule) result.s0 = 1.0;
{ result.x1 = 0.0;
this.Reset(); result.x2 = 0.0;
return; result.x3 = 0.0;
}
double multiplier = Math.Sqrt(1.0 / squareModule);
this.s0 *= multiplier;
this.x1 *= multiplier;
this.x2 *= multiplier;
this.x3 *= multiplier;
} }
public static void Combine(in VersorFP64 second, in VersorFP64 first, out VersorFP64 result) public static void LoadValues(double s0, double x1, double x2, double x3, out VersorFP64 result)
{ {
double s0 = (second.s0 * first.s0 - second.x1 * first.x1) - (second.x2 * first.x2 + second.x3 * first.x3); double squareModulus = s0 * s0 + x1 * x1 + (x2 * x2 + x3 * x3);
double x1 = (second.x1 * first.s0 + second.s0 * first.x1) - (second.x3 * first.x2 - second.x2 * first.x3);
double x2 = (second.x2 * first.s0 + second.s0 * first.x2) - (second.x1 * first.x3 - second.x3 * first.x1);
double x3 = (second.x3 * first.s0 + second.s0 * first.x3) - (second.x2 * first.x1 - second.x1 * first.x2);
double squareModule = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
result.s0 = s0; result.s0 = s0;
result.x1 = x1; result.x1 = x1;
result.x2 = x2; result.x2 = x2;
result.x3 = x3; result.x3 = x3;
if (!UtilityFP64.IsSqareValueUnit(squareModule)) if (!UtilityFP64.IsSqareUnit(squareModulus))
{ {
result.Normalize(squareModule); result.Normalize(squareModulus);
}
}
public static void LoadIdle(out VersorFP64 versor)
{
versor.s0 = 1.0;
versor.x1 = 0.0;
versor.x2 = 0.0;
versor.x3 = 0.0;
}
public static void LoadValues(double s0, double x1, double x2, double x3, out VersorFP64 versor)
{
versor.s0 = s0;
versor.x1 = x1;
versor.x2 = x2;
versor.x3 = x3;
double squareModule = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
if (!UtilityFP64.IsSqareValueUnit(squareModule))
{
versor.Normalize(squareModule);
} }
} }
} }

1
BasicGeometryDev/Program.cs
View file

@ -2,6 +2,7 @@
using System; using System;
using System.ComponentModel; using System.ComponentModel;
using System.Diagnostics; using System.Diagnostics;
using System.Numerics;
using BasicGeometry; using BasicGeometry;
public static class Program public static class Program