Переименование проектов и оптимизация вычислений / Renaming of projects and optimization of computations

BasicGeometry.Net.sln

@@ -3,11 +3,11 @@ Microsoft Visual Studio Solution File, Format Version 12.00
 # Visual Studio Version 17
 VisualStudioVersion = 17.0.31903.59
 MinimumVisualStudioVersion = 10.0.40219.1
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BGC", "BGC\BGC.csproj", "{D1869DF0-7B61-4B6F-8C66-6EEF3916FE0A}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BasicGeometry", "BasicGeometry\BasicGeometry.csproj", "{D1869DF0-7B61-4B6F-8C66-6EEF3916FE0A}"
 EndProject
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BGCDev", "BGCDev\BGCDev.csproj", "{3D09FF57-02E6-449D-9DE7-0843633FCBA0}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BasicGeometryDev", "BasicGeometryDev\BasicGeometryDev.csproj", "{3D09FF57-02E6-449D-9DE7-0843633FCBA0}"
 EndProject
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BGCTest", "BGCTest\BGCTest.csproj", "{51A07B27-43FF-4A12-AEC1-50D32EDA3815}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BasicGeometryTest", "BasicGeometryTest\BasicGeometryTest.csproj", "{51A07B27-43FF-4A12-AEC1-50D32EDA3815}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution

BasicGeometry/Angle.cs

@@ -20,7 +20,7 @@
  * Date: 1 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public enum AngleUnit
     {

BasicGeometry/FP32Angle.cs

@@ -21,7 +21,7 @@ using System;
  * Date: 1 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public static class FP32Angle
     {

BasicGeometry/FP32Degrees.cs

@@ -4,7 +4,7 @@
  * Date: 18 Nov 2024
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public class FP32Degrees
     {

BasicGeometry/FP32Matrix2x2.cs

@@ -21,29 +21,16 @@ using System;
  * Date: 10 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP32Matrix2x2
     {
-        public float r1c1, r1c2;
+        public float r1c1 = 0.0f, r1c2 = 0.0f;
-
+        public float r2c1 = 0.0f, r2c2 = 0.0f;
-        public float r2c1, r2c2;
-
-        public FP32Matrix2x2()
-        {
-            this.r1c1 = 0.0f;
-            this.r1c2 = 0.0f;
-
-            this.r2c1 = 0.0f;
-            this.r2c2 = 0.0f;
-        }
 
         public FP32Matrix2x2(float d1, float d2)
         {
             this.r1c1 = d1;
-            this.r1c2 = 0.0f;
-
-            this.r2c1 = 0.0f;
             this.r2c2 = d2;
         }
 
@@ -96,11 +83,13 @@ namespace BGC
             float r2c1 = -this.r2c1;
             float r2c2 =  this.r1c1;
 
-            this.r1c1 = r1c1 / determinant;
+            float multiplier = 1.0f / determinant;
-            this.r1c2 = r1c2 / determinant;
 
-            this.r2c1 = r2c1 / determinant;
+            this.r1c1 = r1c1 * multiplier;
-            this.r2c2 = r2c2 / determinant;
+            this.r1c2 = r1c2 * multiplier;
+
+            this.r2c1 = r2c1 * multiplier;
+            this.r2c2 = r2c2 * multiplier;
 
             return true;
         }
@@ -181,11 +170,13 @@ namespace BGC
             float r2c1 = -matrix.r2c1;
             float r2c2 =  matrix.r1c1;
 
-            this.r1c1 = r1c1 / determinant;
+            float multiplier = 1.0f / determinant;
-            this.r1c2 = r1c2 / determinant;
 
-            this.r2c1 = r2c1 / determinant;
+            this.r1c1 = r1c1 * multiplier;
-            this.r2c2 = r2c2 / determinant;
+            this.r1c2 = r1c2 * multiplier;
+
+            this.r2c1 = r2c1 * multiplier;
+            this.r2c2 = r2c2 * multiplier;
 
             return true;
         }
@@ -252,11 +243,7 @@ namespace BGC
 
         public static void Divide(in FP32Matrix2x2 dividend, float divisor, out FP32Matrix2x2 quotient)
         {
-            quotient.r1c1 = dividend.r1c1 / divisor;
+            Multiply(dividend, 1.0f / divisor, out quotient);
-            quotient.r1c2 = dividend.r1c2 / divisor;
-
-            quotient.r2c1 = dividend.r2c1 / divisor;
-            quotient.r2c2 = dividend.r2c2 / divisor;
         }
 
         public static void GetRightProduct(in FP32Matrix2x2 matrix, in FP32Vector2 vector, out FP32Vector2 result)

BasicGeometry/FP32Matrix2x3.cs

@@ -20,25 +20,13 @@ using System;
  * Author: Andrey Pokidov
  * Date: 11 Nov 2024
  */
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP32Matrix2x3
     {
-        public float r1c1, r1c2;
+        public float r1c1 = 0.0f, r1c2 = 0.0f;
-        public float r2c1, r2c2;
+        public float r2c1 = 0.0f, r2c2 = 0.0f;
-        public float r3c1, r3c2;
+        public float r3c1 = 0.0f, r3c2 = 0.0f;
-    
-        public FP32Matrix2x3()
-        {
-            this.r1c1 = 0.0f;
-            this.r1c2 = 0.0f;
-        
-            this.r2c1 = 0.0f;
-            this.r2c2 = 0.0f;
-        
-            this.r3c1 = 0.0f;
-            this.r3c2 = 0.0f;
-        }
     
         public FP32Matrix2x3(in FP32Matrix2x3 matrix)
         {
@@ -230,14 +218,7 @@ namespace BGC
 
         public static void Divide(in FP32Matrix2x3 dividend, float divisor, out FP32Matrix2x3 quotient)
         {
-            quotient.r1c1 = dividend.r1c1 / divisor;
+            Multiply(dividend, 1.0f / divisor, out quotient);
-            quotient.r1c2 = dividend.r1c2 / divisor;
-
-            quotient.r2c1 = dividend.r2c1 / divisor;
-            quotient.r2c2 = dividend.r2c2 / divisor;
-
-            quotient.r3c1 = dividend.r3c1 / divisor;
-            quotient.r3c2 = dividend.r3c2 / divisor;
         }
 
         public static void GetRightProduct(in FP32Matrix2x3 matrix, in FP32Vector2 vector, out FP32Vector3 result)

BasicGeometry/FP32Matrix3x2.cs

@@ -18,23 +18,12 @@
  * Author: Andrey Pokidov
  * Date: 11 Nov 2024
  */
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP32Matrix3x2
     {
-        public float r1c1, r1c2, r1c3;
+        public float r1c1 = 0.0f, r1c2 = 0.0f, r1c3 = 0.0f;
-        public float r2c1, r2c2, r2c3;
+        public float r2c1 = 0.0f, r2c2 = 0.0f, r2c3 = 0.0f;
-
-        public FP32Matrix3x2()
-        {
-            this.r1c1 = 0.0f;
-            this.r1c2 = 0.0f;
-            this.r1c3 = 0.0f;
-
-            this.r2c1 = 0.0f;
-            this.r2c2 = 0.0f;
-            this.r2c3 = 0.0f;
-        }
 
         public FP32Matrix3x2(in FP32Matrix3x2 matrix)
         {
@@ -213,13 +202,7 @@ namespace BGC
 
         public static void Divide(in FP32Matrix3x2 dividend, float divisor, out FP32Matrix3x2 quotient)
         {
-            quotient.r1c1 = dividend.r1c1 / divisor;
+            Multiply(dividend, 1.0f / divisor, out quotient);
-            quotient.r1c2 = dividend.r1c2 / divisor;
-            quotient.r1c3 = dividend.r1c3 / divisor;
-
-            quotient.r2c1 = dividend.r2c1 / divisor;
-            quotient.r2c2 = dividend.r2c2 / divisor;
-            quotient.r2c3 = dividend.r2c3 / divisor;
         }
 
         public static void GetRightProduct(in FP32Matrix3x2 matrix, in FP32Vector3 vector, out FP32Vector2 result)

BasicGeometry/FP32Matrix3x3.cs

@@ -21,43 +21,18 @@ using System;
  * Date: 10 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP32Matrix3x3
     {
-        public float r1c1, r1c2, r1c3;
+        public float r1c1 = 0.0f, r1c2 = 0.0f, r1c3 = 0.0f;
-
+        public float r2c1 = 0.0f, r2c2 = 0.0f, r2c3 = 0.0f;
-        public float r2c1, r2c2, r2c3;
+        public float r3c1 = 0.0f, r3c2 = 0.0f, r3c3 = 0.0f;
-
-        public float r3c1, r3c2, r3c3;
-
-        public FP32Matrix3x3()
-        {
-            this.r1c1 = 0.0f;
-            this.r1c2 = 0.0f;
-            this.r1c3 = 0.0f;
-
-            this.r2c1 = 0.0f;
-            this.r2c2 = 0.0f;
-            this.r2c3 = 0.0f;
-
-            this.r3c1 = 0.0f;
-            this.r3c2 = 0.0f;
-            this.r3c3 = 0.0f;
-        }
 
         public FP32Matrix3x3(float d1, float d2, float d3)
         {
             this.r1c1 = d1;
-            this.r1c2 = 0.0f;
-            this.r1c3 = 0.0f;
-
-            this.r2c1 = 0.0f;
             this.r2c2 = d2;
-            this.r2c3 = 0.0f;
-
-            this.r3c1 = 0.0f;
-            this.r3c2 = 0.0f;
             this.r3c3 = d3;
         }
 
@@ -131,17 +106,19 @@ namespace BGC
             float r3c2 = this.r1c2 * this.r3c1 - this.r1c1 * this.r3c2;
             float r3c3 = this.r1c1 * this.r2c2 - this.r1c2 * this.r2c1;
 
-            this.r1c1 = r1c1 / determinant;
+            float mutiplier = 1.0f / determinant;
-            this.r1c2 = r1c2 / determinant;
-            this.r1c3 = r1c3 / determinant;
 
-            this.r2c1 = r2c1 / determinant;
+            this.r1c1 = r1c1 * mutiplier;
-            this.r2c2 = r2c2 / determinant;
+            this.r1c2 = r1c2 * mutiplier;
-            this.r2c3 = r2c3 / determinant;
+            this.r1c3 = r1c3 * mutiplier;
 
-            this.r3c1 = r3c1 / determinant;
+            this.r2c1 = r2c1 * mutiplier;
-            this.r3c2 = r3c2 / determinant;
+            this.r2c2 = r2c2 * mutiplier;
-            this.r3c3 = r3c3 / determinant;
+            this.r2c3 = r2c3 * mutiplier;
+
+            this.r3c1 = r3c1 * mutiplier;
+            this.r3c2 = r3c2 * mutiplier;
+            this.r3c3 = r3c3 * mutiplier;
 
             return true;
         }
@@ -267,17 +244,19 @@ namespace BGC
             float r3c2 = matrix.r1c2 * matrix.r3c1 - matrix.r1c1 * matrix.r3c2;
             float r3c3 = matrix.r1c1 * matrix.r2c2 - matrix.r1c2 * matrix.r2c1;
 
-            this.r1c1 = r1c1 / determinant;
+            float mutiplier = 1.0f / determinant;
-            this.r1c2 = r1c2 / determinant;
-            this.r1c3 = r1c3 / determinant;
 
-            this.r2c1 = r2c1 / determinant;
+            this.r1c1 = r1c1 * mutiplier;
-            this.r2c2 = r2c2 / determinant;
+            this.r1c2 = r1c2 * mutiplier;
-            this.r2c3 = r2c3 / determinant;
+            this.r1c3 = r1c3 * mutiplier;
 
-            this.r3c1 = r3c1 / determinant;
+            this.r2c1 = r2c1 * mutiplier;
-            this.r3c2 = r3c2 / determinant;
+            this.r2c2 = r2c2 * mutiplier;
-            this.r3c3 = r3c3 / determinant;
+            this.r2c3 = r2c3 * mutiplier;
+
+            this.r3c1 = r3c1 * mutiplier;
+            this.r3c2 = r3c2 * mutiplier;
+            this.r3c3 = r3c3 * mutiplier;
 
             return true;
         }
@@ -386,17 +365,7 @@ namespace BGC
 
         public static void Divide(in FP32Matrix3x3 dividend, float divisor, out FP32Matrix3x3 quotient)
         {
-            quotient.r1c1 = dividend.r1c1 / divisor;
+            Multiply(dividend, 1.0f / divisor, out quotient);
-            quotient.r1c2 = dividend.r1c2 / divisor;
-            quotient.r1c3 = dividend.r1c3 / divisor;
-
-            quotient.r2c1 = dividend.r2c1 / divisor;
-            quotient.r2c2 = dividend.r2c2 / divisor;
-            quotient.r2c3 = dividend.r2c3 / divisor;
-
-            quotient.r3c1 = dividend.r3c1 / divisor;
-            quotient.r3c2 = dividend.r3c2 / divisor;
-            quotient.r3c3 = dividend.r3c3 / divisor;
         }
 
         public static void GetRightProduct(in FP32Matrix3x3 matrix, in FP32Vector3 vector, out FP32Vector3 result)

BasicGeometry/FP32MatrixProduct.cs

@@ -20,7 +20,7 @@ using System;
  * Author: Andrey Pokidov
  * Date: 11 Nov 2024
  */
-namespace BGC
+namespace BasicGeometry
 {
     public class FP32MatrixProduct
     {

BasicGeometry/FP32Quaternion.cs

@@ -1,10 +1,10 @@
 using System;
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP32Quaternion
     {
-        public float s0, x1, x2, x3;
+        public float s0 = 0.0f, x1 = 0.0f, x2 = 0.0f, x3 = 0.0f;
 
         public FP32Quaternion(float s0, float x1, float x2, float x3)
         {

BasicGeometry/FP32Radians.cs

@@ -4,7 +4,7 @@
  * Date: 18 Nov 2024
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public class FP32Radians
     {

BasicGeometry/FP32Rotation3.cs

@@ -21,11 +21,11 @@ using System;
  * Date: 2 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP32Rotation3
     {
-        private float angle;
+        private float angle = 0.0f;
 
         private FP32Vector3 axis;
 

BasicGeometry/FP32Turns.cs

@@ -4,7 +4,7 @@
  * Date: 18 Nov 2024
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public class FP32Turns
     {

BasicGeometry/FP32Utility.cs

@@ -1,6 +1,6 @@
 using System;
 
-namespace BGC
+namespace BasicGeometry
 {
     public class FP32Utility
     {

BasicGeometry/FP32Vector2.cs

@@ -21,14 +21,14 @@ using System;
  * Date: 1 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP32Vector2
     {
         public static readonly FP32Vector2 ZERO = new FP32Vector2(0.0f, 0.0f);
 
-        public float x1;
+        public float x1 = 0.0f;
-        public float x2;
+        public float x2 = 0.0f;
 
         public FP32Vector2(float x1, float x2)
         {
@@ -157,7 +157,7 @@ namespace BGC
             difference.x2 = minuend.x2 - subtrahend.x2;
         }
 
-        public static void Muliply(in FP32Vector2 multiplicand, float multiplier, out FP32Vector2 product)
+        public static void Multiply(in FP32Vector2 multiplicand, float multiplier, out FP32Vector2 product)
         {
             product.x1 = multiplicand.x1 * multiplier;
             product.x2 = multiplicand.x2 * multiplier;
@@ -165,8 +165,7 @@ namespace BGC
 
         public static void Divide(in FP32Vector2 dividend, float divisor, out FP32Vector2 quotient)
         {
-            quotient.x1 = dividend.x1 / divisor;
+            Multiply(dividend, 1.0f / divisor, out quotient);
-            quotient.x2 = dividend.x2 / divisor;
         }
 
         public static void GetMean2(in FP32Vector2 vector1, in FP32Vector2 vector2, out FP32Vector2 result)

BasicGeometry/FP32Vector3.cs

@@ -21,15 +21,15 @@ using System;
  * Date: 1 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP32Vector3
     {
         public static readonly FP32Vector3 ZERO = new FP32Vector3(0.0f, 0.0f, 0.0f);
 
-        public float x1;
+        public float x1 = 0.0f;
-        public float x2;
+        public float x2 = 0.0f;
-        public float x3;
+        public float x3 = 0.0f;
 
         public FP32Vector3(float x1, float x2, float x3)
         {
@@ -172,7 +172,7 @@ namespace BGC
             difference.x3 = minuend.x3 - subtrahend.x3;
         }
 
-        public static void Muliply(in FP32Vector3 multiplicand, float multiplier, out FP32Vector3 product)
+        public static void Multiply(in FP32Vector3 multiplicand, float multiplier, out FP32Vector3 product)
         {
             product.x1 = multiplicand.x1 * multiplier;
             product.x2 = multiplicand.x2 * multiplier;
@@ -181,9 +181,7 @@ namespace BGC
 
         public static void Divide(in FP32Vector3 dividend, float divisor, out FP32Vector3 quotient)
         {
-            quotient.x1 = dividend.x1 / divisor;
+            Multiply(dividend, 1.0f / divisor, out quotient);
-            quotient.x2 = dividend.x2 / divisor;
-            quotient.x3 = dividend.x3 / divisor;
         }
 
         public static void GetMean2(in FP32Vector3 vector1, in FP32Vector3 vector2, out FP32Vector3 result)

BasicGeometry/FP32Versor.cs

@@ -19,22 +19,14 @@
 * Date: 20 Oct 2024
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP32Versor
     {
-        private float s0;
+        private float s0 = 1.0f;
-        private float x1;
+        private float x1 = 0.0f;
-        private float x2;
+        private float x2 = 0.0f;
-        private float x3;
+        private float x3 = 0.0f;
-
-        public FP32Versor()
-        {
-            this.s0 = 1.0f;
-            this.x1 = 0.0f;
-            this.x2 = 0.0f;
-            this.x3 = 0.0f;
-        }
 
         public FP32Versor(float s0, float x1, float x2, float x3)
         {
@@ -178,12 +170,6 @@ namespace BGC
             
             if (1.0f - FP32Utility.TWO_EPSYLON <= squareModule && squareModule <= 1.0f + FP32Utility.TWO_EPSYLON)
             {
-                if (-1.0f + FP32Utility.EPSYLON < s0)
-                {
-                    return;
-                }
-
-                this.Reset();
                 return;
             }
 
@@ -254,18 +240,18 @@ namespace BGC
 
         private void Normalize(float squareModule)
         {
-            if (squareModule <= FP32Utility.SQUARE_EPSYLON || (this.x1 * this.x1 + this.x2 * this.x2 + this.x3 * this.x3) <= FP32Utility.SQUARE_EPSYLON * squareModule)
+            if (squareModule <= FP32Utility.SQUARE_EPSYLON)
             {
                 this.Reset();
                 return;
             }
 
-            float module = MathF.Sqrt(squareModule);
+            float multiplier = MathF.Sqrt(1.0f / squareModule);
 
-            this.s0 /= module;
+            this.s0 *= multiplier;
-            this.x1 /= module;
+            this.x1 *= multiplier;
-            this.x2 /= module;
+            this.x2 *= multiplier;
-            this.x3 /= module;
+            this.x3 *= multiplier;
         }
 
         public static void Combine(in FP32Versor second, in FP32Versor first, out FP32Versor result)
@@ -282,10 +268,12 @@ namespace BGC
             result.x2 = x2;
             result.x3 = x3;
 
-            if (squareModule < 1.0f - FP32Utility.TWO_EPSYLON || 1.0f + FP32Utility.TWO_EPSYLON < squareModule)
+            if (1.0f - FP32Utility.TWO_EPSYLON <= squareModule && squareModule <= 1.0f + FP32Utility.TWO_EPSYLON)
             {
-                result.Normalize(squareModule);
+                return;
             }
+
+            result.Normalize(squareModule);
         }
 
         public static void LoadIdle(out FP32Versor versor)
@@ -307,12 +295,6 @@ namespace BGC
             
             if (1.0f - FP32Utility.TWO_EPSYLON <= squareModule && squareModule <= 1.0f + FP32Utility.TWO_EPSYLON)
             {
-                if (-1.0f + FP32Utility.EPSYLON < s0)
-                {
-                    return;
-                }
-
-                versor.Reset();
                 return;
             }
 

BasicGeometry/FP64Angle.cs

@@ -21,7 +21,7 @@ using System;
  * Date: 1 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public static class FP64Angle
     {

BasicGeometry/FP64Degrees.cs

@@ -4,7 +4,7 @@
  * Date: 18 Nov 2024
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public class FP64Degrees
     {

BasicGeometry/FP64Matrix2x2.cs

@@ -21,29 +21,16 @@ using System;
  * Date: 10 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP64Matrix2x2
     {
-        public double r1c1, r1c2;
+        public double r1c1 = 0.0, r1c2 = 0.0;
-
+        public double r2c1 = 0.0, r2c2 = 0.0;
-        public double r2c1, r2c2;
-
-        public FP64Matrix2x2()
-        {
-            this.r1c1 = 0.0;
-            this.r1c2 = 0.0;
-
-            this.r2c1 = 0.0;
-            this.r2c2 = 0.0;
-        }
 
         public FP64Matrix2x2(double d1, double d2)
         {
             this.r1c1 = d1;
-            this.r1c2 = 0.0;
-
-            this.r2c1 = 0.0;
             this.r2c2 = d2;
         }
 
@@ -96,11 +83,13 @@ namespace BGC
             double r2c1 = -this.r2c1;
             double r2c2 =  this.r1c1;
 
-            this.r1c1 = r1c1 / determinant;
+            double multiplier = 1.0 / determinant;
-            this.r1c2 = r1c2 / determinant;
 
-            this.r2c1 = r2c1 / determinant;
+            this.r1c1 = r1c1 * multiplier;
-            this.r2c2 = r2c2 / determinant;
+            this.r1c2 = r1c2 * multiplier;
+
+            this.r2c1 = r2c1 * multiplier;
+            this.r2c2 = r2c2 * multiplier;
 
             return true;
         }
@@ -181,11 +170,13 @@ namespace BGC
             double r2c1 = -matrix.r2c1;
             double r2c2 =  matrix.r1c1;
 
-            this.r1c1 = r1c1 / determinant;
+            double multiplier = 1.0 / determinant;
-            this.r1c2 = r1c2 / determinant;
 
-            this.r2c1 = r2c1 / determinant;
+            this.r1c1 = r1c1 * multiplier;
-            this.r2c2 = r2c2 / determinant;
+            this.r1c2 = r1c2 * multiplier;
+
+            this.r2c1 = r2c1 * multiplier;
+            this.r2c2 = r2c2 * multiplier;
 
             return true;
         }
@@ -252,11 +243,7 @@ namespace BGC
 
         public static void Divide(in FP64Matrix2x2 dividend, double divisor, out FP64Matrix2x2 quotient)
         {
-            quotient.r1c1 = dividend.r1c1 / divisor;
+            Multiply(dividend, 1.0 / divisor, out quotient);
-            quotient.r1c2 = dividend.r1c2 / divisor;
-
-            quotient.r2c1 = dividend.r2c1 / divisor;
-            quotient.r2c2 = dividend.r2c2 / divisor;
         }
 
         public static void GetRightProduct(in FP64Matrix2x2 matrix, in FP64Vector2 vector, out FP64Vector2 result)

BasicGeometry/FP64Matrix2x3.cs

@@ -20,25 +20,13 @@ using System;
  * Author: Andrey Pokidov
  * Date: 11 Nov 2024
  */
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP64Matrix2x3
     {
-        public double r1c1, r1c2;
+        public double r1c1 = 0.0, r1c2 = 0.0;
-        public double r2c1, r2c2;
+        public double r2c1 = 0.0, r2c2 = 0.0;
-        public double r3c1, r3c2;
+        public double r3c1 = 0.0, r3c2 = 0.0;
-    
-        public FP64Matrix2x3()
-        {
-            this.r1c1 = 0.0;
-            this.r1c2 = 0.0;
-        
-            this.r2c1 = 0.0;
-            this.r2c2 = 0.0;
-        
-            this.r3c1 = 0.0;
-            this.r3c2 = 0.0;
-        }
     
         public FP64Matrix2x3(in FP64Matrix2x3 matrix)
         {
@@ -230,14 +218,7 @@ namespace BGC
 
         public static void Divide(in FP64Matrix2x3 dividend, double divisor, out FP64Matrix2x3 quotient)
         {
-            quotient.r1c1 = dividend.r1c1 / divisor;
+            Multiply(dividend, 1.0 / divisor, out quotient);
-            quotient.r1c2 = dividend.r1c2 / divisor;
-
-            quotient.r2c1 = dividend.r2c1 / divisor;
-            quotient.r2c2 = dividend.r2c2 / divisor;
-
-            quotient.r3c1 = dividend.r3c1 / divisor;
-            quotient.r3c2 = dividend.r3c2 / divisor;
         }
 
         public static void GetRightProduct(in FP64Matrix2x3 matrix, in FP64Vector2 vector, out FP64Vector3 result)

BasicGeometry/FP64Matrix3x2.cs

@@ -20,23 +20,12 @@ using System;
  * Author: Andrey Pokidov
  * Date: 11 Nov 2024
  */
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP64Matrix3x2
     {
-        public double r1c1, r1c2, r1c3;
+        public double r1c1 = 0.0, r1c2 = 0.0, r1c3 = 0.0;
-        public double r2c1, r2c2, r2c3;
+        public double r2c1 = 0.0, r2c2 = 0.0, r2c3 = 0.0;
-
-        public FP64Matrix3x2()
-        {
-            this.r1c1 = 0.0;
-            this.r1c2 = 0.0;
-            this.r1c3 = 0.0;
-
-            this.r2c1 = 0.0;
-            this.r2c2 = 0.0;
-            this.r2c3 = 0.0;
-        }
 
         public FP64Matrix3x2(in FP64Matrix3x2 matrix)
         {
@@ -216,13 +205,7 @@ namespace BGC
 
         public static void Divide(in FP64Matrix3x2 dividend, double divisor, out FP64Matrix3x2 quotient)
         {
-            quotient.r1c1 = dividend.r1c1 / divisor;
+            Multiply(dividend, 1.0 / divisor, out quotient);
-            quotient.r1c2 = dividend.r1c2 / divisor;
-            quotient.r1c3 = dividend.r1c3 / divisor;
-
-            quotient.r2c1 = dividend.r2c1 / divisor;
-            quotient.r2c2 = dividend.r2c2 / divisor;
-            quotient.r2c3 = dividend.r2c3 / divisor;
         }
 
         public static void GetRightProduct(in FP64Matrix3x2 matrix, in FP64Vector3 vector, out FP64Vector2 result)

BasicGeometry/FP64Matrix3x3.cs

@@ -21,43 +21,18 @@ using System;
  * Date: 10 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP64Matrix3x3
     {
-        public double r1c1, r1c2, r1c3;
+        public double r1c1 = 0.0, r1c2 = 0.0, r1c3 = 0.0;
-
+        public double r2c1 = 0.0, r2c2 = 0.0, r2c3 = 0.0;
-        public double r2c1, r2c2, r2c3;
+        public double r3c1 = 0.0, r3c2 = 0.0, r3c3 = 0.0;
-
-        public double r3c1, r3c2, r3c3;
-
-        public FP64Matrix3x3()
-        {
-            this.r1c1 = 0.0;
-            this.r1c2 = 0.0;
-            this.r1c3 = 0.0;
-
-            this.r2c1 = 0.0;
-            this.r2c2 = 0.0;
-            this.r2c3 = 0.0;
-
-            this.r3c1 = 0.0;
-            this.r3c2 = 0.0;
-            this.r3c3 = 0.0;
-        }
 
         public FP64Matrix3x3(double d1, double d2, double d3)
         {
             this.r1c1 = d1;
-            this.r1c2 = 0.0;
-            this.r1c3 = 0.0;
-
-            this.r2c1 = 0.0;
             this.r2c2 = d2;
-            this.r2c3 = 0.0;
-
-            this.r3c1 = 0.0;
-            this.r3c2 = 0.0;
             this.r3c3 = d3;
         }
 
@@ -131,17 +106,19 @@ namespace BGC
             double r3c2 = this.r1c2 * this.r3c1 - this.r1c1 * this.r3c2;
             double r3c3 = this.r1c1 * this.r2c2 - this.r1c2 * this.r2c1;
 
-            this.r1c1 = r1c1 / determinant;
+            double mutiplier = 1.0 / determinant;
-            this.r1c2 = r1c2 / determinant;
-            this.r1c3 = r1c3 / determinant;
 
-            this.r2c1 = r2c1 / determinant;
+            this.r1c1 = r1c1 * mutiplier;
-            this.r2c2 = r2c2 / determinant;
+            this.r1c2 = r1c2 * mutiplier;
-            this.r2c3 = r2c3 / determinant;
+            this.r1c3 = r1c3 * mutiplier;
 
-            this.r3c1 = r3c1 / determinant;
+            this.r2c1 = r2c1 * mutiplier;
-            this.r3c2 = r3c2 / determinant;
+            this.r2c2 = r2c2 * mutiplier;
-            this.r3c3 = r3c3 / determinant;
+            this.r2c3 = r2c3 * mutiplier;
+
+            this.r3c1 = r3c1 * mutiplier;
+            this.r3c2 = r3c2 * mutiplier;
+            this.r3c3 = r3c3 * mutiplier;
 
             return true;
         }
@@ -263,17 +240,19 @@ namespace BGC
             double r3c2 = matrix.r1c2 * matrix.r3c1 - matrix.r1c1 * matrix.r3c2;
             double r3c3 = matrix.r1c1 * matrix.r2c2 - matrix.r1c2 * matrix.r2c1;
 
-            this.r1c1 = r1c1 / determinant;
+            double mutiplier = 1.0 / determinant;
-            this.r1c2 = r1c2 / determinant;
-            this.r1c3 = r1c3 / determinant;
 
-            this.r2c1 = r2c1 / determinant;
+            this.r1c1 = r1c1 * mutiplier;
-            this.r2c2 = r2c2 / determinant;
+            this.r1c2 = r1c2 * mutiplier;
-            this.r2c3 = r2c3 / determinant;
+            this.r1c3 = r1c3 * mutiplier;
 
-            this.r3c1 = r3c1 / determinant;
+            this.r2c1 = r2c1 * mutiplier;
-            this.r3c2 = r3c2 / determinant;
+            this.r2c2 = r2c2 * mutiplier;
-            this.r3c3 = r3c3 / determinant;
+            this.r2c3 = r2c3 * mutiplier;
+
+            this.r3c1 = r3c1 * mutiplier;
+            this.r3c2 = r3c2 * mutiplier;
+            this.r3c3 = r3c3 * mutiplier;
 
             return true;
         }
@@ -382,17 +361,7 @@ namespace BGC
 
         public static void Divide(in FP64Matrix3x3 dividend, double divisor, out FP64Matrix3x3 quotient)
         {
-            quotient.r1c1 = dividend.r1c1 / divisor;
+            Multiply(dividend, 1.0 / divisor, out quotient);
-            quotient.r1c2 = dividend.r1c2 / divisor;
-            quotient.r1c3 = dividend.r1c3 / divisor;
-
-            quotient.r2c1 = dividend.r2c1 / divisor;
-            quotient.r2c2 = dividend.r2c2 / divisor;
-            quotient.r2c3 = dividend.r2c3 / divisor;
-
-            quotient.r3c1 = dividend.r3c1 / divisor;
-            quotient.r3c2 = dividend.r3c2 / divisor;
-            quotient.r3c3 = dividend.r3c3 / divisor;
         }
 
         public static void GetRightProduct(in FP64Matrix3x3 matrix, in FP64Vector3 vector, out FP64Vector3 result)

BasicGeometry/FP64MatrixProduct.cs

@@ -20,7 +20,7 @@ using System;
  * Author: Andrey Pokidov
  * Date: 11 Nov 2024
  */
-namespace BGC
+namespace BasicGeometry
 {
     public class FP64MatrixProduct
     {

BasicGeometry/FP64Quaternion.cs

@@ -1,11 +1,11 @@
 using System;
 using System.Numerics;
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP64Quaternion
     {
-        public double s0, x1, x2, x3;
+        public double s0 = 0.0, x1 = 0.0, x2 = 0.0, x3 = 0.0;
 
         public FP64Quaternion(double s0, double x1, double x2, double x3)
         {

BasicGeometry/FP64Radians.cs

@@ -4,7 +4,7 @@
  * Date: 18 Nov 2024
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public class FP64Radians
     {

BasicGeometry/FP64Turns.cs

@@ -4,7 +4,7 @@
  * Date: 18 Nov 2024
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public class FP64Turns
     {

BasicGeometry/FP64Utility.cs

@@ -1,6 +1,6 @@
 using System;
 
-namespace BGC
+namespace BasicGeometry
 {
     public class FP64Utility
     {

BasicGeometry/FP64Vector2.cs

@@ -21,14 +21,14 @@ using System;
  * Date: 1 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP64Vector2
     {
         public static readonly FP64Vector2 ZERO = new FP64Vector2(0.0, 0.0);
 
-        public double x1;
+        public double x1 = 0.0;
-        public double x2;
+        public double x2 = 0.0;
 
         public FP64Vector2(double x1, double x2)
         {
@@ -157,7 +157,7 @@ namespace BGC
             difference.x2 = minuend.x2 - subtrahend.x2;
         }
 
-        public static void Muliply(in FP64Vector2 multiplicand, double multiplier, out FP64Vector2 product)
+        public static void Multiply(in FP64Vector2 multiplicand, double multiplier, out FP64Vector2 product)
         {
             product.x1 = multiplicand.x1 * multiplier;
             product.x2 = multiplicand.x2 * multiplier;
@@ -165,8 +165,7 @@ namespace BGC
 
         public static void Divide(in FP64Vector2 dividend, double divisor, out FP64Vector2 quotient)
         {
-            quotient.x1 = dividend.x1 / divisor;
+            Multiply(dividend, 1.0 / divisor, out quotient);
-            quotient.x2 = dividend.x2 / divisor;
         }
 
         public static void GetMean2(in FP64Vector2 vector1, in FP64Vector2 vector2, out FP64Vector2 result)

BasicGeometry/FP64Vector3.cs

@@ -21,15 +21,15 @@ using System;
  * Date: 1 Feb 2019
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP64Vector3
     {
         public static readonly FP64Vector3 ZERO = new FP64Vector3(0.0, 0.0, 0.0);
 
-        public double x1;
+        public double x1 = 0.0;
-        public double x2;
+        public double x2 = 0.0;
-        public double x3;
+        public double x3 = 0.0;
 
         public FP64Vector3(double x1, double x2, double x3)
         {
@@ -172,7 +172,7 @@ namespace BGC
             difference.x3 = minuend.x3 - subtrahend.x3;
         }
 
-        public static void Muliply(in FP64Vector3 multiplicand, double multiplier, out FP64Vector3 product)
+        public static void Multiply(in FP64Vector3 multiplicand, double multiplier, out FP64Vector3 product)
         {
             product.x1 = multiplicand.x1 * multiplier;
             product.x2 = multiplicand.x2 * multiplier;
@@ -181,9 +181,7 @@ namespace BGC
 
         public static void Divide(in FP64Vector3 dividend, double divisor, out FP64Vector3 quotient)
         {
-            quotient.x1 = dividend.x1 / divisor;
+            Multiply(dividend, 1.0 / divisor, out quotient);
-            quotient.x2 = dividend.x2 / divisor;
-            quotient.x3 = dividend.x3 / divisor;
         }
 
         public static void GetMean2(in FP64Vector3 vector1, in FP64Vector3 vector2, out FP64Vector3 result)

BasicGeometry/FP64Versor.cs

@@ -20,22 +20,14 @@
  * Date: 20 Oct 2024
  */
 
-namespace BGC
+namespace BasicGeometry
 {
     public struct FP64Versor
     {
-        private double s0;
+        private double s0 = 1.0;
-        private double x1;
+        private double x1 = 0.0;
-        private double x2;
+        private double x2 = 0.0;
-        private double x3;
+        private double x3 = 0.0;
-
-        public FP64Versor()
-        {
-            this.s0 = 1.0;
-            this.x1 = 0.0;
-            this.x2 = 0.0;
-            this.x3 = 0.0;
-        }
 
         public FP64Versor(double s0, double x1, double x2, double x3)
         {
@@ -182,12 +174,6 @@ namespace BGC
             
             if (1.0 - FP64Utility.TWO_EPSYLON <= squareModule && squareModule <= 1.0 + FP64Utility.TWO_EPSYLON)
             {
-                if (-1.0 + FP64Utility.EPSYLON < s0)
-                {
-                    return;
-                }
-
-                this.Reset();
                 return;
             }
 
@@ -290,10 +276,12 @@ namespace BGC
             result.x2 = x2;
             result.x3 = x3;
 
-            if (squareModule < 1.0 - FP64Utility.TWO_EPSYLON || 1.0 + FP64Utility.TWO_EPSYLON < squareModule)
+            if (1.0 - FP64Utility.TWO_EPSYLON <= squareModule && squareModule <= 1.0 + FP64Utility.TWO_EPSYLON)
             {
-                result.Normalize(squareModule);
+                return;
             }
+
+            result.Normalize(squareModule);
         }
 
         public static void LoadIdle(out FP64Versor versor)
@@ -315,12 +303,6 @@ namespace BGC
             
             if (1.0 - FP64Utility.TWO_EPSYLON <= squareModule && squareModule <= 1.0 + FP64Utility.TWO_EPSYLON)
             {
-                if (-1.0 + FP64Utility.EPSYLON < s0)
-                {
-                    return;
-                }
-
-                versor.Reset();
                 return;
             }
 

BasicGeometryDev/BasicGeometryDev.csproj

@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <ProjectReference Include="..\BGC\BGC.csproj" />
+    <ProjectReference Include="..\BasicGeometry\BasicGeometry.csproj" />
   </ItemGroup>
 
 </Project>

BasicGeometryDev/Program.cs

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

BasicGeometryTest/BasicGeometryTest.csproj

@@ -12,7 +12,7 @@
     <PackageReference Include="MSTest.TestAdapter" Version="2.2.7" />
     <PackageReference Include="MSTest.TestFramework" Version="2.2.7" />
     <PackageReference Include="coverlet.collector" Version="3.1.0" />
-    <ProjectReference Include="..\BGC\BGC.csproj" />
+    <ProjectReference Include="..\BasicGeometry\BasicGeometry.csproj" />
   </ItemGroup>
 
 </Project>

BasicGeometryTest/F32Vector2Test.cs

@@ -3,9 +3,9 @@ using Microsoft.VisualStudio.TestTools.UnitTesting;
 using System;
 using System.IO;
 
-using BGC;
+using BasicGeometry;
 
-namespace BGCTest
+namespace BasicGeometryTest
 {
     [TestClass]
     public class FP32Vector2Test