NanoBrain/NanoBrain-unitypackage
NanoBrain/NanoBrain-unitypackage
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Merge commit '595a7be03d5dbc8d4f7da28c55c676105ad91799' as 'Assets/NanoBrain'

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This commit is contained in:
Pascal Serrarens 2026-01-29 09:11:13 +01:00
commit e7dd1e50cb
140 changed files with 11552 additions and 8726 deletions
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using UnityEngine;
//[RequireComponent(typeof(NanoBrain))]
[RequireComponent(typeof(NanoBrainComponent))]
public class Boid : MonoBehaviour {
public static int BoundaryType = 1;
public static int BoidType = 2;
public static int BoidVelocityType =3;
public SwarmControl sc;
public Vector3 velocity = Vector3.zero;
public Vector3 acceleration = Vector3.zero;
protected Bounds innerBounds;
public NanoBrainComponent nanoBrain;
public Receptor boundaryReceptor;
public Receptor boidReceptor;
public Receptor boidVelocityReceptor;
public int id;
public Material red;
public Material gray;
void Awake() {
this.id = this.GetInstanceID();
nanoBrain = GetComponent<NanoBrainComponent>();
// boundaryReceptor = Receptor.GetReceptor(nanoBrain.brain, BoundaryType);
// boidReceptor = Receptor.GetReceptor(nanoBrain.brain, BoidType);
// boidVelocityReceptor = Receptor.GetReceptor(nanoBrain.brain, BoidVelocityType);
boundaryReceptor = Receptor.CreateReceptor(nanoBrain.brain, "Avoidance");
boundaryReceptor.name = "Boundary";
boidReceptor = Receptor.CreateReceptor(nanoBrain.brain, "Boid");
boidVelocityReceptor = Receptor.CreateReceptor(nanoBrain.brain, "Alignment");
sc = FindFirstObjectByType<SwarmControl>();
innerBounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth);
}
protected virtual void Update() {
Collider[] results = Physics.OverlapSphere(this.transform.position, sc.perceptionDistance);
foreach (Collider c in results) {
if (c as CapsuleCollider != null) {
Boid neighbour = c.GetComponentInParent<Boid>();
if (neighbour == null || neighbour == this)
continue;
int thingId = neighbour.GetInstanceID();
Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position);
float d = localPosition.magnitude;
if (d <= sc.separationDistance)
localPosition = localPosition.normalized * 0.01f;
else
localPosition = localPosition.normalized * (localPosition.magnitude - sc.separationDistance);
if (localPosition.sqrMagnitude > 0)
boidReceptor?.ProcessStimulus(thingId, localPosition, neighbour.name);
Vector3 localVelocity = this.transform.InverseTransformVector(neighbour.velocity);
if (localVelocity.sqrMagnitude > 0)
boidVelocityReceptor?.ProcessStimulus(thingId, localVelocity);
}
}
if (!innerBounds.Contains(this.transform.position)) {
Vector3 point = this.transform.position;
Vector3 pointOnBounds = innerBounds.ClosestPoint(point);
Vector3 desiredWorldSpace = (pointOnBounds - point).normalized * sc.speed;
Vector3 desiredLocalSpace = -this.transform.InverseTransformPoint(desiredWorldSpace);
boundaryReceptor.ProcessStimulus(777, desiredLocalSpace);
}
Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue);
this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity;
if (this.velocity.magnitude > 0)
this.velocity = this.velocity.normalized * sc.speed;
else
this.velocity = this.transform.forward * sc.speed;
//Debug.DrawRay(this.transform.position, this.velocity, Color.blue);
this.transform.position += this.velocity * Time.deltaTime;
if (this.velocity != Vector3.zero) {
Quaternion targetRotation = Quaternion.LookRotation(this.velocity);
transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 5f); // Adjust the speed of rotation
}
nanoBrain.brain.UpdateNuclei();
// Renderer renderer = GetComponentInChildren<Renderer>();
// results = Physics.OverlapSphere(this.transform.position, 0.1f);
// if (results.Length > 1) {
// // string s= this.name;
// // foreach (Collider c in results)
// // s += " " + c.transform.parent.gameObject.name;
// // Debug.Log(s);
// renderer.sharedMaterial = red;
// }
// else {
// renderer.sharedMaterial = gray;
// }
}
}

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using UnityEditor;
using UnityEngine;
[CustomEditor(typeof(SwarmControl))]
public class SwarmControl_Editor : Editor {
public override void OnInspectorGUI() {
EditorGUI.BeginChangeCheck();
DrawDefaultInspector();
if (EditorGUI.EndChangeCheck()) {
SwarmControl swarmControl = (SwarmControl)target;
ClusterPrefab[] nanoBrains = FindObjectsByType<ClusterPrefab>(FindObjectsSortMode.None);
foreach (ClusterPrefab brain in nanoBrains) {
NanoBrainComponent.UpdateWeight(brain, "Avoidance", swarmControl.avoidanceForce);
NanoBrainComponent.UpdateWeight(brain, "Cohesion", swarmControl.cohesionForce);
NanoBrainComponent.UpdateWeight(brain, "Separation", swarmControl.separationForce);
NanoBrainComponent.UpdateWeight(brain, "Alignment", swarmControl.alignmentForce);
}
Debug.Log("Updated weights");
}
}
// protected void UpdateWeight(NanoBrain brain, string name, float weight) {
// Nucleus root = brain.root;
// foreach (Synapse synapse in root.synapses) {
// if (synapse.nucleus.name == name) {
// synapse.weight = weight;
// }
// }
// }
}

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Assets/Scenes/Boids/Scripts/StationaryBoid.cs
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using UnityEngine;
public class StationaryBoid : Boid
{
protected override void Update()
{
Collider[] results = Physics.OverlapSphere(this.transform.position, sc.perceptionDistance);
foreach (Collider c in results)
{
if (c as CapsuleCollider != null)
{
Boid neighbour = c.GetComponentInParent<Boid>();
if (neighbour == null || neighbour == this)
continue;
int thingId = neighbour.GetInstanceID();
Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position);
float d = localPosition.magnitude;
if (d <= sc.separationDistance)
localPosition = localPosition.normalized * 0.01f;
else
localPosition = localPosition.normalized * (localPosition.magnitude - sc.separationDistance);
if (localPosition.sqrMagnitude > 0)
boidReceptor?.ProcessStimulus(thingId, localPosition, neighbour.name);
Vector3 localVelocity = this.transform.InverseTransformVector(neighbour.velocity);
if (localVelocity.sqrMagnitude > 0)
boidVelocityReceptor?.ProcessStimulus(thingId, localVelocity);
}
}
if (!innerBounds.Contains(this.transform.position))
{
Vector3 point = this.transform.position;
Vector3 pointOnBounds = innerBounds.ClosestPoint(point);
Vector3 desiredWorldSpace = (pointOnBounds - point).normalized * sc.speed;
Vector3 desiredLocalSpace = -this.transform.InverseTransformPoint(desiredWorldSpace);
boundaryReceptor.ProcessStimulus(777, desiredLocalSpace);
}
Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue);
this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity;
if (this.velocity.magnitude > 0)
this.velocity = this.velocity.normalized * sc.speed;
else
this.velocity = this.transform.forward * sc.speed;
//Debug.DrawRay(this.transform.position, this.velocity, Color.blue);
// this.transform.position += this.velocity * Time.deltaTime;
// if (this.velocity != Vector3.zero)
// {
// Quaternion targetRotation = Quaternion.LookRotation(this.velocity);
// transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 5f); // Adjust the speed of rotation
// }
nanoBrain.brain.UpdateNuclei();
// Renderer renderer = GetComponentInChildren<Renderer>();
// results = Physics.OverlapSphere(this.transform.position, 0.1f);
// if (results.Length > 1) {
// // string s= this.name;
// // foreach (Collider c in results)
// // s += " " + c.transform.parent.gameObject.name;
// // Debug.Log(s);
// renderer.sharedMaterial = red;
// }
// else {
// renderer.sharedMaterial = gray;
// }
}
}

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Assets/Scenes/Boids/Scripts/SwarmControl.cs
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using UnityEngine;
public class SwarmControl : MonoBehaviour
{
public float speed = 0.5f;
//public int neighbourCount = 0;
public float inertia = 0.1f;
public float alignmentForce = 0.0f;
public float cohesionForce = 10.0f;
public float separationForce = 5.0f;
public float avoidanceForce = 5.0f;
public float separationDistance = 0.5f;
// public float bodyForce = 20;
public float perceptionDistance = 1.0f;
//public float boundaryForce = 2.0f;
public Vector3 spaceSize = new (10, 10, 10);
public Vector3 boundaryWidth = Vector3.one * 1.0f;
}

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Assets/Scenes/Boids/Scripts/SwarmSpawner.cs
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using System.Collections;
using UnityEngine;
public class SwarmSpawn : MonoBehaviour {
public int count = 1;
public GameObject boidPrefab;
public Vector3 spawnAreaSize = new(0.5f, 0.5f, 0.5f); // Size of the area to spawn the prefab
public float minDelay = 1f; // Minimum delay between spawns
public float maxDelay = 5f; // Maximum delay between spawns
void Start() {
StartCoroutine(SpawnPrefab());
}
IEnumerator SpawnPrefab() {
for (int i = 0; i < count; i++) {
float delay = Random.Range(minDelay, maxDelay);
yield return new WaitForSeconds(delay);
// Generate a random local position within the specified area
Vector3 randomPosition = new Vector3(
Random.Range(-spawnAreaSize.x / 2, spawnAreaSize.x / 2),
Random.Range(-spawnAreaSize.y / 2, spawnAreaSize.y / 2),
Random.Range(-spawnAreaSize.z / 2, spawnAreaSize.z / 2)
);
// Instantiate the prefab at the random position relative to the spawner
GameObject boid = Instantiate(boidPrefab, transform.position + randomPosition, Random.rotation);
boid.name = "Boid " + i;
}
}
}

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guid: ec888ca5333d45a438f9f417fa5ce135

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userData:
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using System;
using System.Collections.Generic;
using UnityEngine;
using Unity.Mathematics;
using static Unity.Mathematics.math;
[System.Serializable]
public class Cluster : INucleus {
// The ScriptableObject asset from which the runtime object has been created
public readonly ClusterPrefab prefab;
public ClusterPrefab cluster { get; set; }
[SerializeField]
protected string _name;
public virtual string name {
get => _name;
set => _name = value;
}
// Hmm, a cluster instance can never be part of a scriptable object...(Cluster)
public Cluster(ClusterPrefab parent, ClusterPrefab prefab) {
this.prefab = prefab;
this.cluster = parent;
if (this.cluster != null)
this.cluster.nuclei.Add(this);
// foreach (IReceptor nucleus in this.prefab.nuclei) {
// IReceptor clone = nucleus.CloneTo(null);
// this.dynamicNuclei.Add(clone);
// }
}
public virtual IReceptor Clone() {
Neuron clone = new(this.cluster, this.name) {
array = this.array,
};
foreach (Synapse synapse in this.synapses) {
Synapse clonedSynapse = clone.AddSynapse(synapse.nucleus);
clonedSynapse.weight = synapse.weight;
}
foreach (INucleus receiver in this.receivers) {
clone.AddReceiver(receiver);
}
return clone;
}
// Not sure if this belongs here...
[SerializeReference]
private NucleusArray _array;
public NucleusArray array {
get { return _array; }
set { _array = value; }
}
#region Synapses
// class ClusterSynapse : Synapse {
// public IReceptor receptor;
// public ClusterSynapse(IReceptor nucleus, INucleus receptor, float weight = 1.0f) : base(nucleus, weight) {
// this.receptor = receptor;
// }
// }
[SerializeField]
private List<Synapse> _synapses = new();
public List<Synapse> synapses => _synapses;
public Synapse AddSynapse(IReceptor sendingNucleus) {
Synapse synapse = new(sendingNucleus); //, this.prefab.inputs[0]);
this._synapses.Add(synapse);
return synapse;
// else {
// INucleus receptor = (INucleus)this.prefab.nuclei.Find(nucleus => nucleus is INucleus n && nucleus.name == nucleusName);
// ClusterSynapse synapse = new(sendingNucleus, receptor);
// receptor.AddSynapse(sendingNucleus);
// }
// // Add synapse to which neuron?
// return null;
}
// Does this even exist already?
public void RemoveSynapse() {
}
#endregion Synapses
#region Receivers
[SerializeReference]
private List<INucleus> _receivers = new();
public List<INucleus> receivers {
get { return _receivers; }
set { _receivers = value; }
}
public virtual void AddReceiver(INucleus receivingNucleus) {
this._receivers.Add(receivingNucleus);
receivingNucleus.AddSynapse(this);
}
public void RemoveReceiver(INucleus receiverNucleus) {
this._receivers.RemoveAll(receiver => receiver == receiverNucleus);
receiverNucleus.synapses.RemoveAll(synapse => synapse.nucleus == this);
}
// public void AddReceiver(INucleus receivingNucleus) {
// int newLength = this._receivers.Count + 1;
// INucleus[] newReceivers = new INucleus[newLength];
// // Copy the existing receivers
// for (int ix = 0; ix < this._receivers.Count; ix++)
// newReceivers[ix] = this._receivers[ix];
// // Add the new receivers
// newReceivers[this._receivers.Count] = receivingNucleus;
// // Replace the receivers with the new receivers
// this._receivers = new(newReceivers);
// receivingNucleus.AddSynapse(this);
// }
// public void RemoveReceiver(INucleus receivingNucleus) {
// Debug.Log("Clusterinstance. remote receiver");
// int newLength = this._receivers.Count - 1;
// if (newLength < 0)
// // Array was empty, so we cannot remove anything
// return;
// INucleus[] newReceivers = new INucleus[newLength];
// int newIx = 0;
// // Copy all receivers except receivingNucleus
// for (int ix = 0; ix < this._receivers.Count; ix++) {
// if (this._receivers[ix] == receivingNucleus)
// // skip the receiver we want to remote
// continue;
// if (newIx >= newLength)
// // We want to copy more elements than expected
// // the receivingNucleus is not found
// // and the original array is returned
// return;
// newReceivers[newIx] = this._receivers[ix];
// newIx++;
// }
// this._receivers = new(newReceivers);
// }
#endregion Receivers
#region Runtime
[NonSerialized]
private int stale = 1000;
public bool isSleeping => lengthsq(this.outputValue) == 0;
[NonSerialized]
protected float3 _outputValue;
public virtual float3 outputValue {
get { return _outputValue; }
set {
this.stale = 0;
_outputValue = value;
}
}
#region Update
public virtual void UpdateState() {
UpdateState(new float3(0, 0, 0));
}
public void UpdateState(float3 inputValue) {
float3 sum = inputValue; // new(0, 0, 0);
//Applying the weight factgors
foreach (Synapse synapse in this.synapses) {
sum += synapse.weight * synapse.nucleus.outputValue;
}
// This does not work because the prefab nucleus does not have a state
this.prefab.inputs[0].UpdateState(sum);
}
public void UpdateNuclei() {
this.stale++;
if (this.stale > 2)
_outputValue = Vector3.zero;
foreach (IReceptor nucleus in this.prefab.nuclei)
nucleus.UpdateNuclei();
}
#endregion Update
#endregion Runtime
/*
[SerializeField]
private List<IReceptor> _dynamicNuclei;
public List<IReceptor> dynamicNuclei {// = new();
get {
if (_dynamicNuclei == null) {
this._dynamicNuclei = new();
foreach (IReceptor nucleus in this.prefab.nuclei) {
IReceptor clone = nucleus.CloneTo(null);
this._dynamicNuclei.Add(clone);
}
}
return this._dynamicNuclei;
}
}
public List<INucleus> _inputs = null;
public List<INucleus> inputs {
get {
this._inputs = new();
if (this.dynamicNuclei != null) {
foreach (IReceptor receptor in this.dynamicNuclei) {
if (receptor is INucleus nucleus)
this._inputs.Add(nucleus);
}
}
return this._inputs;
}
}
public INucleus output => this.dynamicNuclei[0] as INucleus;
public float3 outputValue => this.output.outputValue;
public IReceptor CloneTo(ClusterPrefab parent) {
Cluster clone = new(parent, this.prefab);
return clone;
}
public IReceptor Clone() {
Cluster clone = new(this.cluster, this.prefab);
return clone;
}
#region Properties
public string name {
get { return prefab.name; }
set { prefab.name = value; }
}
public bool isSleeping => lengthsq(this.outputValue) == 0;
public NucleusArray array { get; set; }
#endregion Properties
*/
}

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ClusterPrefab.cs Normal file
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using System.Collections.Generic;
using UnityEngine;
[CreateAssetMenu(menuName = "Passer/Cluster")]
public class ClusterPrefab : ScriptableObject {
//public virtual Cluster cluster {get;set;}
// The ScriptableObject asset from which the runtime object has been created
//public Cluster asset;
[SerializeReference]
public List<IReceptor> nuclei = new();
// public List<Cluster> subClusters = new();
// public void AddSubCluster(ClusterInstance subCluster) {
// this.nuclei.Add(subCluster);
// }
public virtual INucleus output => this.nuclei[0] as INucleus;
public List<INucleus> _inputs = null;
public virtual List<INucleus> inputs {
get {
if (this._inputs == null) {
this._inputs = new();
foreach (IReceptor receptor in this.nuclei) {
if (receptor is INucleus nucleus)
this._inputs.Add(nucleus);
}
}
return this._inputs;
}
}
// Call this function to ensure that there is at least one nucleus
// This is an invariant and should be ensured before the nucleus is used
// because output requires it.
public void EnsureInitialization() {
nuclei ??= new List<IReceptor>();
if (nuclei.Count == 0)
new Neuron(this, "Output"); // Every cluster should have at least 1 neuron
}
public void GarbageCollection() {
HashSet<INucleus> visitedNuclei = new();
MarkNuclei(visitedNuclei, this.output);
//Debug.Log($"Garbage collection found {visitedNuclei.Count} Nuclei");
this.nuclei.RemoveAll(nucleus => nucleus is INucleus n && visitedNuclei.Contains(n) == false);
}
public void MarkNuclei(HashSet<INucleus> visitedNuclei, INucleus nucleus) {
if (nucleus is null)
return;
visitedNuclei.Add(nucleus);
if (nucleus.synapses != null) {
HashSet<Synapse> visitedSynapses = new();
foreach (Synapse synapse in nucleus.synapses) {
if (synapse != null && synapse.nucleus != null) {
visitedSynapses.Add(synapse);
if (synapse.nucleus is INucleus synapse_nucleus)
MarkNuclei(visitedNuclei, synapse_nucleus);
}
}
nucleus.synapses.RemoveAll(synapse => visitedSynapses.Contains(synapse) == false);
}
if (nucleus.receivers != null) {
HashSet<INucleus> visitedReceivers = new();
foreach (INucleus receiver in nucleus.receivers) {
if (receiver != null && receiver != null) {
visitedReceivers.Add(receiver);
visitedNuclei.Add(receiver);
}
}
nucleus.receivers.RemoveAll(receiver => visitedReceivers.Contains(receiver) == false);
}
}
public virtual void UpdateNuclei() {
foreach (IReceptor nucleus in this.nuclei)
nucleus.UpdateNuclei();
}
}

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externalObjects: {} externalObjects: {}

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/*
using UnityEditor;
using UnityEngine;
using System.Linq;
using System.Collections.Generic;
public class NeuroidLayer {
public int ix = 0;
public List<Nucleus> neuroids = new();
}
public class GraphEditorWindow : EditorWindow {
private Nucleus currentNucleus;
private List<Neuroid> allNeuroids;
private Dictionary<Nucleus, Vector2Int> neuroidPositions = new();
private List<NeuroidLayer> layers = new();
private void OnEnable() {
EditorApplication.update += EditorUpdate;
Selection.selectionChanged += OnSelectionChange;
SelectNeuron();
}
private void AddToLayer(NeuroidLayer layer, Nucleus nucleus) {
layer.neuroids.Add(nucleus);
nucleus.layerIx = layer.ix;
// Store its position
Vector2Int neuroidPosition = new(layer.ix, layer.neuroids.Count - 1);
neuroidPositions[nucleus] = neuroidPosition;
}
private void BuildLayers() {
// A temporary list to track what's been added to layers
this.layers = new();
int layerIx = 0;
Nucleus selectedNucleus = this.currentNucleus;
if (selectedNucleus == null)
return;
NeuroidLayer currentLayer = new() { ix = layerIx };
//foreach (Nucleus outputNeuroid in selectedNucleus.receivers) {
foreach (Receiver receiver in selectedNucleus.receivers) {
Nucleus outputNeuroid = receiver.nucleus;
if (outputNeuroid != null) {
AddToLayer(currentLayer, outputNeuroid);
Debug.Log($"layer {layerIx} nucleus {outputNeuroid.name}");
}
}
if (currentLayer.neuroids.Count > 0) {
this.layers.Add(currentLayer);
layerIx++;
currentLayer = new() { ix = layerIx };
}
AddToLayer(currentLayer, selectedNucleus);
this.layers.Add(currentLayer);
Debug.Log($"layer {layerIx} nucleus {selectedNucleus.name}");
layerIx++;
currentLayer = new() { ix = layerIx };
int six = 0;
// foreach (Synapse synapse in selectedNucleus.synapses.Values) {
// Debug.Log($"Synapse {six}");
// Nucleus input = synapse.neuroid;
//foreach ((Nucleus input, Synapse synapse) in selectedNucleus.synapses) {
//foreach ((Nucleus input, float weight) in selectedNucleus.synapses) {
foreach (Synapse synapse in selectedNucleus.synapses) {
Nucleus input = synapse.nucleus;
if (input != null) {
AddToLayer(currentLayer, input);
Debug.Log($"layer {layerIx} nucleus {input.name}");
}
six++;
}
if (currentLayer.neuroids.Count > 0) {
this.layers.Add(currentLayer);
}
}
private void BuildLayers_old(List<Neuroid> neuroids) {
if (neuroids == null)
return;
// A temporary list to track what's been added to layers
this.layers = new();
HashSet<Neuroid> neuronVisited = new();
int layerIx = 0;
// While there are unvisited neuroid
while (neuroids.Any(neuroid => !neuronVisited.Contains(neuroid))) {
// Create the next layer
NeuroidLayer currentLayer = new() { ix = layerIx };
int neuroidIx = 0;
foreach (Neuroid neuroid in neuroids) {
// Skip neurons we already processed
if (neuronVisited.Contains(neuroid))
continue;
// if (neuroid.IsStale()) {
// Debug.Log($"neuron {neuroid.name} is stale {neuroid.stale}");
// neuronVisited.Add(neuroid);
// continue;
// }
// If the output neuroid is visited
// Note: this does not yet work for multiple outputs yet (see the use of First())
// if (neuroid.receivers.Count == 0 // make sure the root neuroids are processed directly
// || (neuronVisited.Contains(neuroid.receivers.First()) && neuroid.receivers.First().layerIx == layerIx - 1)) {
if (neuroid.receivers.Count == 0 // make sure the root neuroids are processed directly
|| (neuronVisited.Contains(neuroid.receivers.First().nucleus) && neuroid.receivers.First().nucleus.layerIx == layerIx - 1)) {
// Add it to the next layer
currentLayer.neuroids.Add(neuroid);
neuroid.layerIx = layerIx;
// Register it as visited
neuronVisited.Add(neuroid);
// Store its position
Vector2Int neuroidPosition = new(layerIx, neuroidIx);
neuroidPositions[neuroid] = neuroidPosition;
neuroidIx++;
Debug.Log($"Layer {layerIx} neuron {neuroidIx} name {neuroid.name}");
}
}
if (currentLayer.neuroids.Count > 0) {
this.layers.Add(currentLayer);
layerIx++;
}
}
}
private void OnDisable() {
EditorApplication.update -= EditorUpdate;
Selection.selectionChanged -= OnSelectionChange;
}
private void OnSelectionChange() {
SelectNeuron();
Repaint();
}
private void EditorUpdate() {
if (EditorApplication.isPlaying)
Repaint();
}
private void OnGUI() {
GUILayout.Label("Graph Visualizer", EditorStyles.boldLabel);
DrawGraph();
}
private void DrawGraph() {
if (currentNucleus == null)
return;
foreach (NeuroidLayer layer in layers)
DrawLayer(layer);
}
private void DrawLayer(NeuroidLayer layer) {
int column = layer.ix * 100;
int nodeCount = layer.neuroids.Count;
float maxValue = 0;
foreach (Nucleus nucleus in layer.neuroids) {
if (nucleus is Neuroid neuroid) {
float value = neuroid.outputValue.magnitude;
if (value > maxValue)
maxValue = value;
}
}
float spacing = 400f / nodeCount;
float margin = 100 + spacing / 2;
foreach (Nucleus layerNucleus in layer.neuroids) {
if (layerNucleus is Neuroid layerNeuroid) {
Vector2Int layerNeuroidPos = this.neuroidPositions[layerNeuroid];
Vector3 parentPos = new(100 + layerNeuroidPos.x * 100, margin + layerNeuroidPos.y * spacing, 0.1f);
int i = 0;
float inputSpacing = 400f / layerNeuroid.synapses.Count;
float inputMargin = 100 + inputSpacing / 2;
// foreach (Synapse synapse in layerNeuroid.synapses.Values) {
// if (synapse.neuroid != null) {
// if (this.neuroidPositions.ContainsKey(synapse.neuroid)) {
// Vector2Int inputNeuroidPos = this.neuroidPositions[synapse.neuroid];
//foreach ((Nucleus neuroid, Synapse synapse) in layerNeuroid.synapses) {
//foreach ((Nucleus neuroid, float weight) in layerNeuroid.synapses) {
foreach (Synapse synapse in layerNeuroid.synapses) {
Nucleus neuroid = synapse.nucleus;
float weight = synapse.weight;
if (neuroid != null) {
if (this.neuroidPositions.ContainsKey(neuroid)) {
Vector2Int inputNeuroidPos = this.neuroidPositions[neuroid];
if (inputNeuroidPos.x == layerNeuroidPos.x + 1) {
Vector3 pos = new(100 + inputNeuroidPos.x * 100, inputMargin + inputNeuroidPos.y * inputSpacing, 0.0f);
//float brightness = synapse.weight / 10.0f;
float brightness = weight / 10.0f;
Handles.color = new Color(brightness, brightness, brightness);
Handles.DrawLine(parentPos, pos);
}
}
}
}
float size = 20;
if (layerNeuroid.isSleeping)
Handles.color = Color.black;
else {
float brightness = layerNeuroid.outputValue.magnitude / maxValue;
Handles.color = new Color(brightness, brightness, brightness);
}
Handles.DrawSolidDisc(parentPos, Vector3.forward, size);
Vector3 labelPos = parentPos - Vector3.down * (size + 0.2f); // below disc along up axis
GUIStyle style = new GUIStyle(EditorStyles.label) {
alignment = TextAnchor.UpperCenter,
normal = { textColor = Color.white },
fontStyle = FontStyle.Bold
};
Handles.Label(labelPos, layerNeuroid.name, style);
Rect neuronRect = new(parentPos.x - size, parentPos.y - size, size * 2, size * 2);
Event e = Event.current;
if (e != null && neuronRect.Contains(e.mousePosition)) {
HandleMouseHover(layerNeuroid, neuronRect);
// Process click
if (e.type == EventType.MouseDown && e.button == 0) {
// Consume the event so the scene doesn't also handle it
e.Use();
HandleDiscClicked(layerNeuroid);
}
}
i++;
}
}
}
private void HandleMouseHover(Neuroid neuroid, Rect rect) {
GUIContent tooltip;
// if (neuroid is SensoryNeuroid sensoryNeuroid) {
// tooltip = new(
// $"{sensoryNeuroid.name}" +
// $"\nThing {sensoryNeuroid.receptor.thingType}" +
// $"\nValue: {neuroid.outputValue}");
// }
// else {
tooltip = new(
$"{neuroid.name}" +
$"\nsynapse count {neuroid.synapses.Count}" +
$"\nValue: {neuroid.outputValue}");
// }
Vector2 mousePosition = Event.current.mousePosition;
// Display tooltip with some offset
Vector2 tooltipSize = GUI.skin.box.CalcSize(tooltip);
Rect tooltipRect = new Rect(mousePosition.x + 10, mousePosition.y + 10, tooltipSize.x, tooltipSize.y);
GUI.Box(tooltipRect, tooltip);
}
private void HandleDiscClicked(Nucleus nucleus) {
this.currentNucleus = nucleus;
BuildLayers();
}
// Update node colors based on selected GameObjects
private void SelectNeuron() {
GameObject[] selectedObjects = Selection.gameObjects;
if (selectedObjects.Length == 0)
return;
GameObject selectedObject = selectedObjects[0];
Boid boid = selectedObject.GetComponent<Boid>();
if (boid == null)
return;
// Nucleus neuroid = boid.behaviour;
// this.currentNucleus = neuroid;
// if (neuroid == null)
// this.allNeuroids = new();
// else
// this.allNeuroids = neuroid.brain.neuroids;
// Debug.Log($"Neuroncount = {this.allNeuroids.Count}");
// BuildLayers();
// Debug.Log($"Layercount = {this.layers.Count}");
}
[MenuItem("Window/Neuroid Visualizer")]
public static void ShowWindow() {
GetWindow<GraphEditorWindow>("Neuroid Visualizer");
}
}
*/

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fileFormatVersion: 2
guid: 26e68838038ea5243ae57bc81f4db8a8

54
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using System.Collections.Generic;
using Unity.Mathematics;
public interface INucleus : IReceptor {
#region static struct
// Cluster
public ClusterPrefab cluster { get; }
// Senders
public List<Synapse> synapses { get; }
public Synapse AddSynapse(IReceptor sender);
public NucleusArray array { get; set; }
#endregion static struct
#region dynamic state
public void UpdateState();
public void UpdateState(float3 inputValue);
#endregion dynamic state
}
public interface IReceptor {
#region static
public string name { get; set; }
// Receivers
public List<INucleus> receivers { get; set; }
public void AddReceiver(INucleus receiver);
public void RemoveReceiver(INucleus receiverNucleus);
#endregion static
#region dynamic
// float3 to prepare for SIMD
public float3 outputValue { get; }
public void UpdateNuclei();
public bool isSleeping { get; }
#endregion dynamic
//public IReceptor CloneTo(ClusterPrefab parent);
public IReceptor Clone();
}

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guid: 6a8a0e8965cea660abff254cab8a4723

60
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nuclei:
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references:
version: 2
RefIds:
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type: {class: Neuron, ns: , asm: Assembly-CSharp}
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data:
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mainObjectFileID: 11400000 mainObjectFileID: 11400000

2
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@ -1,5 +1,5 @@
fileFormatVersion: 2 fileFormatVersion: 2
guid: 9c53962885c2c4f449125a979d6ad240 guid: d98555a675e8e5e879de17db950b55fe
folderAsset: yes folderAsset: yes
DefaultImporter: DefaultImporter:
externalObjects: {} externalObjects: {}

0
.editorconfig → LinearAlgebra/.editorconfig
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37
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name: Build and Run C# Unit Tests
on:
push:
branches:
- '**'
pull_request:
branches:
- '**'
jobs:
build-and-test:
runs-on: ubuntu-latest
steps:
- name: Checkout code
uses: actions/checkout@v2
- name: Setup .NET
uses: actions/setup-dotnet@v1
with:
dotnet-version: '8.0.x' # Specify the .NET SDK version
- name: Check Current Directory
run: pwd # Logs the current working directory
- name: List Files
run: ls -la # Lists all files in the current directory
- name: Restore Dependencies
run: dotnet restore ./LinearAlgebra-csharp.sln # Restore NuGet packages
- name: Build the Project
run: dotnet build ./LinearAlgebra-csharp.sln --configuration Release # Build the C# project
- name: Run Unit Tests
run: dotnet test ./test/LinearAlgebra_Test.csproj --configuration Release # Execute unit tests

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LinearAlgebra/.gitignore vendored Normal file
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DoxyGen/DoxyWarnLogfile.txt
.vscode/settings.json
**bin
**obj
**.meta

30
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Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 17
VisualStudioVersion = 17.5.2.0
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LinearAlgebra", "src\LinearAlgebra.csproj", "{ECB58727-0354-924D-AE7B-22F6B21097EB}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LinearAlgebra_Test", "test\LinearAlgebra_Test.csproj", "{715BB399-5FC4-2AC9-3757-177CA0C80774}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{ECB58727-0354-924D-AE7B-22F6B21097EB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{ECB58727-0354-924D-AE7B-22F6B21097EB}.Debug|Any CPU.Build.0 = Debug|Any CPU
{ECB58727-0354-924D-AE7B-22F6B21097EB}.Release|Any CPU.ActiveCfg = Release|Any CPU
{ECB58727-0354-924D-AE7B-22F6B21097EB}.Release|Any CPU.Build.0 = Release|Any CPU
{715BB399-5FC4-2AC9-3757-177CA0C80774}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{715BB399-5FC4-2AC9-3757-177CA0C80774}.Debug|Any CPU.Build.0 = Debug|Any CPU
{715BB399-5FC4-2AC9-3757-177CA0C80774}.Release|Any CPU.ActiveCfg = Release|Any CPU
{715BB399-5FC4-2AC9-3757-177CA0C80774}.Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {E93B8294-87D4-4887-83B7-182A623D5833}
EndGlobalSection
EndGlobal

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using System;
namespace LinearAlgebra {
public struct AngleFloat {
public const float Rad2Deg = 360.0f / ((float)Math.PI * 2); //0.0174532924F;
public const float Deg2Rad = (float)Math.PI * 2 / 360.0f; //57.29578F;
private AngleFloat(float degrees) {
this.value = degrees;
}
private readonly float value;
public static AngleFloat Degrees(float degrees) {
// Reduce it to (-180..180]
if (float.IsFinite(degrees)) {
while (degrees < -180)
degrees += 360;
while (degrees >= 180)
degrees -= 360;
}
return new AngleFloat(degrees);
}
public static AngleFloat Radians(float radians) {
// Reduce it to (-pi..pi]
if (float.IsFinite(radians)) {
while (radians <= -Math.PI)
radians += 2 * (float)Math.PI;
while (radians > Math.PI)
radians -= 2 * (float)Math.PI;
}
return new AngleFloat(radians * Rad2Deg);
}
public static AngleFloat Revolutions(float revolutions) {
// reduce it to (-0.5 .. 0.5]
if (float.IsFinite(revolutions)) {
// Get the integer part
int integerPart = (int)revolutions;
// Get the decimal part
revolutions -= integerPart;
if (revolutions < -0.5)
revolutions += 1;
if (revolutions >= 0.5)
revolutions -= 1;
}
return new AngleFloat(revolutions * 360);
}
public readonly float inDegrees => this.value;
public readonly float inRadians => this.value * Deg2Rad;
public readonly float inRevolutions => this.value / 360.0f;
public override string ToString() {
return $"{this.inDegrees}\u00B0";
}
public static readonly AngleFloat zero = Degrees(0);
public static readonly AngleFloat deg90 = Degrees(90);
public static readonly AngleFloat deg180 = Degrees(180);
/// <summary>
/// Get the sign of the angle
/// </summary>
/// <param name="a">The angle</param>
/// <returns>-1 when the angle is negative, 1 when it is positive and 0 in all other cases</returns>
public static int Sign(AngleFloat a) {
if (a.value < 0)
return -1;
if (a.value > 0)
return 1;
return 0;
}
/// <summary>
/// Returns the magnitude of the angle
/// </summary>
/// <param name="a">The angle</param>
/// <returns>The positive magnitude of the angle</returns>
/// Negative values are negated to get a positive result
public static AngleFloat Abs(AngleFloat a) {
if (Sign(a) < 0)
return -a;
else
return a;
}
/// <summary>
/// Tests the equality of two angles
/// </summary>
/// <param name="a1"></param>
/// <param name="a2"></param>
/// <returns>True when the angles are equal, false otherwise</returns>
/// <remarks>The equality is determine within the limits of precision of a float</remarks>
public static bool operator ==(AngleFloat a1, AngleFloat a2) {
return a1.value == a2.value;
}
/// <summary>
/// Tests the inequality of two angles
/// </summary>
/// <param name="a1"></param>
/// <param name="a2"></param>
/// <returns>True when the angles are not equal, false otherwise</returns>
/// <remarks>The equality is determine within the limits of precision of a float</remarks>
public static bool operator !=(AngleFloat a1, AngleFloat a2) {
return a1.value != a2.value;
}
public override readonly bool Equals(object obj) {
if (obj is AngleFloat other) {
return this == other;
}
return false;
}
public override readonly int GetHashCode() {
return this.value.GetHashCode();
}
/// <summary>
/// Tests if the first angle is greater than the second
/// </summary>
/// <param name="a1"></param>
/// <param name="a2"></param>
/// <returns>True when a1 is greater than a2, False otherwise</returns>
public static bool operator >(AngleFloat a1, AngleFloat a2) {
return a1.value > a2.value;
}
/// <summary>
/// Tests if the first angle is greater than or equal to the second
/// </summary>
/// <param name="a1"></param>
/// <param name="a2"></param>
/// <returns>True when a1 is greater than or equal to a2, False otherwise</returns>
public static bool operator >=(AngleFloat a1, AngleFloat a2) {
return a1.value >= a2.value;
}
/// <summary>
/// Tests if the first angle is less than the second
/// </summary>
/// <param name="a1"></param>
/// <param name="a2"></param>
/// <returns>True when a1 is less than a2, False otherwise</returns>
public static bool operator <(AngleFloat a1, AngleFloat a2) {
return a1.value < a2.value;
}
/// <summary>
/// Tests if the first angle is less than or equal to the second
/// </summary>
/// <param name="a1"></param>
/// <param name="a2"></param>
/// <returns>True when a1 is less than or equal to a2, False otherwise</returns>
public static bool operator <=(AngleFloat a1, AngleFloat a2) {
return a1.value <= a2.value;
}
/// <summary>
/// Negate the angle
/// </summary>
/// <param name="a">The angle</param>
/// <returns>The negated angle</returns>
/// The negation of -180 is still -180 because the range is (-180..180]
public static AngleFloat operator -(AngleFloat a) {
AngleFloat r = new(-a.value);
return r;
}
/// <summary>
/// Subtract two angles
/// </summary>
/// <param name="a1">Angle 1</param>
/// <param name="a2">Angle 2</param>
/// <returns>The result of the subtraction</returns>
public static AngleFloat operator -(AngleFloat a1, AngleFloat a2) {
AngleFloat r = new(a1.value - a2.value);
return r;
}
/// <summary>
/// Add two angles
/// </summary>
/// <param name="a1">Angle 1</param>
/// <param name="a2">Angle 2</param>
/// <returns>The result of the addition</returns>
public static AngleFloat operator +(AngleFloat a1, AngleFloat a2) {
AngleFloat r = new(a1.value + a2.value);
return r;
}
/// <summary>
/// Multiplies the angle
/// </summary>
/// <param name="a">The angle to multiply</param>
/// <param name="factor">The factor by which the angle is multiplied</param>
/// <returns>The multiplied angle</returns>
public static AngleFloat operator *(AngleFloat a, float factor) {
return Degrees(a.inDegrees * factor);
}
public static AngleFloat operator *(float factor, AngleFloat a) {
return Degrees(factor * a.inDegrees);
}
/// <summary>
/// Clamp the angle between the given min and max values
/// </summary>
/// <param name="angle">The angle to clamp</param>
/// <param name="min">The minimum angle</param>
/// <param name="max">The maximum angle</param>
/// <returns>The clamped angle</returns>
/// Angles are normalized
public static float Clamp(AngleFloat angle, AngleFloat min, AngleFloat max) {
return Float.Clamp(angle.inDegrees, min.inDegrees, max.inDegrees);
}
/// @brief Calculates the cosine of an angle
/// @param angle The given angle
/// @return The cosine of the angle
public static float Cos(AngleFloat angle) {
return MathF.Cos(angle.inRadians);
}
/// @brief Calculates the sine of an angle
/// @param angle The given angle
/// @return The sine of the angle
public static float Sin(AngleFloat angle) {
return MathF.Sin(angle.inRadians);
}
/// @brief Calculates the tangent of an angle
/// @param angle The given angle
/// @return The tangent of the angle
public static float Tan(AngleFloat angle) {
return MathF.Tan(angle.inRadians);
}
/// @brief Calculates the arc cosine angle
/// @param f The value
/// @return The arc cosine for the given value
public static AngleFloat Acos(float f) {
return Radians(MathF.Acos(f));
}
/// @brief Calculates the arc sine angle
/// @param f The value
/// @return The arc sine for the given value
public static AngleFloat Asin(float f) {
return Radians(MathF.Asin(f));
}
/// @brief Calculates the arc tangent angle
/// @param f The value
/// @return The arc tangent for the given value
public static AngleFloat Atan(float f) {
return Radians(MathF.Atan(f));
}
/// @brief Calculates the tangent for the given values
/// @param y The vertical value
/// @param x The horizontal value
/// @return The tanget for the given values
/// Uses the y and x signs to compute the quadrant
public static AngleFloat Atan2(float y, float x) {
return Radians(MathF.Atan2(y, x));
}
/// <summary>
/// Rotate from one angle to the other with a maximum degrees
/// </summary>
/// <param name="fromAngle">Starting angle</param>
/// <param name="toAngle">Target angle</param>
/// <param name="maxAngle">Maximum angle to rotate</param>
/// <returns>The resulting angle</returns>
/// This function is compatible with radian and degrees angles
public static AngleFloat MoveTowards(AngleFloat fromAngle, AngleFloat toAngle, float maxDegrees) {
maxDegrees = Math.Max(0, maxDegrees); // filter out negative distances
AngleFloat d = toAngle - fromAngle;
float dDegrees = Abs(d).inDegrees;
d = Degrees(Float.Clamp(dDegrees, 0, maxDegrees));
if (Sign(d) < 0)
d = -d;
return fromAngle + d;
}
}
/// <summary>
/// %Angle utilities
/// </summary>
public static class Angles {
public const float pi = 3.1415927410125732421875F;
// public static float Rad2Deg = 360.0f / ((float)Math.PI * 2);
// public static float Deg2Rad = ((float)Math.PI * 2) / 360.0f;
/// <summary>
/// Determine the angle difference, result is a normalized angle
/// </summary>
/// <param name="a">First first angle</param>
/// <param name="b">The second angle</param>
/// <returns>the angle between the two angles</returns>
/// Angle values should be degrees
public static float Difference(float a, float b) {
float r = Normalize(b - a);
return r;
}
/// <summary>
/// Normalize an angle to the range -180 < angle <= 180
/// </summary>
/// <param name="angle">The angle to normalize</param>
/// <returns>The normalized angle in interval (-180..180] </returns>
/// Angle values should be in degrees
public static float Normalize(float angle) {
if (float.IsInfinity(angle))
return angle;
while (angle <= -180) angle += 360;
while (angle > 180) angle -= 360;
return angle;
}
/// <summary>
/// Map interval of angles between vectors [0..Pi] to interval [0..1]
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The resulting factor in interval [0..1]</returns>
/// Vectors a and b must be normalized
/// \deprecated Please use Vector2.ToFactor instead.
// [Obsolete("Please use Vector2.ToFactor instead.")]
// public static float ToFactor(Vector2Float v1, Vector2Float v2) {
// return (1 - Vector2Float.Dot(v1, v2)) / 2;
// }
}
}

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using System;
namespace LinearAlgebra {
class QR {
// QR Decomposition of a matrix A
public static (Matrix2 Q, Matrix2 R) Decomposition(Matrix2 A) {
int nRows = A.nRows;
int nCols = A.nCols;
float[,] Q = new float[nRows, nCols];
float[,] R = new float[nCols, nCols];
// Perform Gram-Schmidt orthogonalization
for (uint colIx = 0; colIx < nCols; colIx++) {
// Step 1: v = column(ix) of A
float[] v = new float[nRows];
for (int rowIx = 0; rowIx < nRows; rowIx++)
v[rowIx] = A.data[rowIx, colIx];
// Step 2: Subtract projections of v onto previous q's (orthogonalize)
for (uint colIx2 = 0; colIx2 < colIx; colIx2++) {
float dotProd = 0;
for (int i = 0; i < nRows; i++)
dotProd += Q[i, colIx2] * v[i];
for (int i = 0; i < nRows; i++)
v[i] -= dotProd * Q[i, colIx2];
}
// Step 3: Normalize v to get column(ix) of Q
float norm = 0;
for (int rowIx = 0; rowIx < nRows; rowIx++)
norm += v[rowIx] * v[rowIx];
norm = (float)Math.Sqrt(norm);
for (int rowIx = 0; rowIx < nRows; rowIx++)
Q[rowIx, colIx] = v[rowIx] / norm;
// Store the coefficients of R
for (int colIx2 = 0; colIx2 <= colIx; colIx2++) {
R[colIx2, colIx] = 0;
for (int k = 0; k < nRows; k++)
R[colIx2, colIx] += Q[k, colIx2] * A.data[k, colIx];
}
}
return (new Matrix2(Q), new Matrix2(R));
}
// Reduced QR Decomposition of a matrix A
public static (Matrix2 Q, Matrix2 R) ReducedDecomposition(Matrix2 A) {
int nRows = A.nRows;
int nCols = A.nCols;
float[,] Q = new float[nRows, nCols];
float[,] R = new float[nCols, nCols];
// Perform Gram-Schmidt orthogonalization
for (int colIx = 0; colIx < nCols; colIx++) {
// Step 1: v = column(colIx) of A
float[] columnIx = new float[nRows];
bool isZeroColumn = true;
for (int rowIx = 0; rowIx < nRows; rowIx++) {
columnIx[rowIx] = A.data[rowIx, colIx];
if (columnIx[rowIx] != 0)
isZeroColumn = false;
}
if (isZeroColumn) {
for (int rowIx = 0; rowIx < nRows; rowIx++)
Q[rowIx, colIx] = 0;
// Set corresponding R element to 0
R[colIx, colIx] = 0;
Console.WriteLine($"zero column {colIx}");
continue;
}
// Step 2: Subtract projections of v onto previous q's (orthogonalize)
for (int colIx2 = 0; colIx2 < colIx; colIx2++) {
// Compute the dot product of v and column(colIx2) of Q
float dotProduct = 0;
for (int rowIx2 = 0; rowIx2 < nRows; rowIx2++)
dotProduct += columnIx[rowIx2] * Q[rowIx2, colIx2];
// Subtract the projection from v
for (int rowIx2 = 0; rowIx2 < nRows; rowIx2++)
columnIx[rowIx2] -= dotProduct * Q[rowIx2, colIx2];
}
// Step 3: Normalize v to get column(colIx) of Q
float norm = 0;
for (int rowIx = 0; rowIx < nRows; rowIx++)
norm += columnIx[rowIx] * columnIx[rowIx];
if (norm == 0)
throw new Exception("invalid value");
norm = (float)Math.Sqrt(norm);
for (int rowIx = 0; rowIx < nRows; rowIx++)
Q[rowIx, colIx] = columnIx[rowIx] / norm;
// Here is where it deviates from the Full QR Decomposition !
// Step 4: Compute the row(colIx) of R
for (int colIx2 = colIx; colIx2 < nCols; colIx2++) {
float dotProduct = 0;
for (int rowIx2 = 0; rowIx2 < nRows; rowIx2++)
dotProduct += Q[rowIx2, colIx] * A.data[rowIx2, colIx2];
R[colIx, colIx2] = dotProduct;
}
}
if (!float.IsFinite(R[0, 0]))
throw new Exception("invalid value");
return (new Matrix2(Q), new Matrix2(R));
}
}
class SVD {
// According to ChatGPT, Mathnet uses Golub-Reinsch SVD algorithm
// 1. Bidiagonalization: The input matrix AA is reduced to a bidiagonal form using Golub-Kahan bidiagonalization.
// This process involves applying a sequence of Householder reflections to AA to create a bidiagonal matrix.
// This step reduces the complexity by making the matrix simpler while retaining the essential structure needed for SVD.
//
// 2. Diagonalization: Once the matrix is in bidiagonal form,
// the singular values are computed using an iterative process
// (typically involving QR factorization or Jacobi rotations) until convergence.
// This process diagonalizes the bidiagonal matrix and allows extraction of the singular values.
//
// 3. Computing UU and VTVT: After obtaining the singular values,
// the left singular vectors UU and right singular vectors VTVT are computed
// using the accumulated transformations (such as Householder reflections) from the bidiagonalization step.
// Bidiagnolizations through Householder transformations
public static (Matrix2 U1, Matrix2 B, Matrix2 V1) Bidiagonalization(Matrix2 A) {
int m = A.nRows; // Rows of A
int n = A.nCols; // Columns of A
float[,] U1 = new float[m, m]; // Left orthogonal matrix
float[,] V1 = new float[n, n]; // Right orthogonal matrix
float[,] B = A.Clone().data; // Copy A to B for transformation
// Initialize U1 and V1 as identity matrices
for (int i = 0; i < m; i++)
U1[i, i] = 1;
for (int i = 0; i < n; i++)
V1[i, i] = 1;
// Perform Householder reflections to create a bidiagonal matrix B
for (int j = 0; j < n; j++) {
// Step 1: Construct the Householder vector y
float[] y = new float[m - j];
for (int i = j; i < m; i++)
y[i - j] = B[i, j];
// Step 2: Compute the norm and scalar alpha
float norm = 0;
for (int i = 0; i < y.Length; i++)
norm += y[i] * y[i];
norm = (float)Math.Sqrt(norm);
if (B[j, j] > 0)
norm = -norm;
float alpha = (float)Math.Sqrt(0.5 * (norm * (norm - B[j, j])));
float r = (float)Math.Sqrt(0.5 * (norm * (norm + B[j, j])));
// Step 3: Apply the reflection to zero out below diagonal
for (int k = j; k < n; k++) {
float dot = 0;
for (int i = j; i < m; i++)
dot += y[i - j] * B[i, k];
dot /= r;
for (int i = j; i < m; i++)
B[i, k] -= 2 * dot * y[i - j];
}
// Step 4: Update U1 with the Householder reflection (U1 * Householder)
for (int i = j; i < m; i++)
U1[i, j] = y[i - j] / alpha;
// Step 5: Update V1 (storing the Householder vector y)
// Correct indexing: we only need to store part of y in V1 from index j to n
for (int i = j; i < n; i++)
V1[j, i] = B[j, i];
// Repeat steps for further columns if necessary
}
return (new Matrix2(U1), new Matrix2(B), new Matrix2(V1));
}
public static Matrix2 Bidiagonalize(Matrix2 A) {
int m = A.nRows; // Rows of A
int n = A.nCols; // Columns of A
float[,] B = A.Clone().data; // Copy A to B for transformation
// Perform Householder reflections to create a bidiagonal matrix B
for (int j = 0; j < n; j++) {
// Step 1: Construct the Householder vector y
float[] y = new float[m - j];
for (int i = j; i < m; i++)
y[i - j] = B[i, j];
// Step 2: Compute the norm and scalar alpha
float norm = 0;
for (int i = 0; i < y.Length; i++)
norm += y[i] * y[i];
norm = (float)Math.Sqrt(norm);
if (B[j, j] > 0)
norm = -norm;
float r = (float)Math.Sqrt(0.5 * (norm * (norm + B[j, j])));
// Step 3: Apply the reflection to zero out below diagonal
for (int k = j; k < n; k++) {
float dot = 0;
for (int i = j; i < m; i++)
dot += y[i - j] * B[i, k];
dot /= r;
for (int i = j; i < m; i++)
B[i, k] -= 2 * dot * y[i - j];
}
// Repeat steps for further columns if necessary
}
return new Matrix2(B);
}
// QR Iteration for diagonalization of a bidiagonal matrix B
public static (Matrix1 singularValues, Matrix2 U, Matrix2 Vt) QRIteration(Matrix2 B) {
int m = B.nRows;
int n = B.nCols;
Matrix2 U = new(m, m); // Left singular vectors (U)
Matrix2 Vt = new(n, n); // Right singular vectors (V^T)
float[] singularValues = new float[Math.Min(m, n)]; // Singular values
// Initialize U and Vt as identity matrices
for (int i = 0; i < m; i++)
U.data[i, i] = 1;
for (int i = 0; i < n; i++)
Vt.data[i, i] = 1;
// Perform QR iterations
float tolerance = 1e-7f; //1e-12f; for double
bool converged = false;
while (!converged) {
// Perform QR decomposition on the matrix B
(Matrix2 Q, Matrix2 R) = QR.Decomposition(B);
// Update B to be the product Q * R //R * Q
B = R * Q;
// Accumulate the transformations in U and Vt
U *= Q;
Vt *= R;
// Check convergence by looking at the off-diagonal elements of B
converged = true;
for (int i = 0; i < m - 1; i++) {
for (int j = i + 1; j < n; j++) {
if (Math.Abs(B.data[i, j]) > tolerance) {
converged = false;
break;
}
}
}
}
// Extract singular values (diagonal elements of B)
for (int i = 0; i < Math.Min(m, n); i++)
singularValues[i] = B.data[i, i];
return (new Matrix1(singularValues), U, Vt);
}
public static (Matrix2 U, Matrix1 S, Matrix2 Vt) Decomposition(Matrix2 A) {
if (A.nRows != A.nCols)
throw new ArgumentException("SVD: matrix A has to be square.");
Matrix2 B = Bidiagonalize(A);
(Matrix1 S, Matrix2 U, Matrix2 Vt) = QRIteration(B);
return (U, S, Vt);
}
}
}

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using System;
#if UNITY_5_3_OR_NEWER
using Vector3Float = UnityEngine.Vector3;
#endif
namespace LinearAlgebra
{
/// <summary>
/// A direction in 3D space
/// </summary>
/// A direction is represented using two angles:
/// * The horizontal angle ranging from -180 (inclusive) to 180 (exclusive)
/// degrees which is a rotation in the horizontal plane
/// * A vertical angle ranging from -90 (inclusive) to 90 (exclusive) degrees
/// which is the rotation in the up/down direction applied after the horizontal
/// rotation has been applied.
/// The angles are automatically normalized to stay within the abovenmentioned
/// ranges.
public struct Direction
{
/// @brief horizontal angle, range = (-180..180] degrees
public AngleFloat horizontal;
/// @brief vertical angle, range in degrees = (-90..90] degrees
public AngleFloat vertical;
/// <summary>
/// Create a new direction
/// </summary>
/// <param name="horizontal">The horizontal angle</param>
/// <param name="vertical">The vertical angle</param>
/// <remarks>The direction will be normalized automatically
/// to ensure the angles are within the allowed ranges</remarks>
public Direction(AngleFloat horizontal, AngleFloat vertical)
{
this.horizontal = horizontal;
this.vertical = vertical;
this.Normalize();
}
/// <summary>
/// Create a direction using angle values in degrees
/// </summary>
/// <param name="horizontal">The horizontal angle in degrees</param>
/// <param name="vertical">The vertical angle in degrees</param>
/// <returns>The direction</returns>
/// <remarks>The direction will be normalized automatically
/// to ensure the angles are within the allowed ranges</remarks>
public static Direction Degrees(float horizontal, float vertical)
{
Direction d = new()
{
horizontal = AngleFloat.Degrees(horizontal),
vertical = AngleFloat.Degrees(vertical)
};
d.Normalize();
return d;
}
/// <summary>
/// Create a direction using angle values in radians
/// </summary>
/// <param name="horizontal">The horizontal angle in radians</param>
/// <param name="vertical">The vertical angle in radians</param>
/// <returns>The direction</returns>
public static Direction Radians(float horizontal, float vertical)
{
Direction d = new()
{
horizontal = AngleFloat.Radians(horizontal),
vertical = AngleFloat.Radians(vertical)
};
d.Normalize();
return d;
}
public override readonly string ToString() {
return $"Direction(h: {this.horizontal}, v: {this.vertical})";
}
/// <summary>
/// A forward direction with zero for both angles
/// </summary>
public readonly static Direction forward = Degrees(0, 0);
/// <summary>
/// A backward direction with horizontal angle -180 and zero vertical
/// angle
/// </summary>
public readonly static Direction backward = Degrees(-180, 0);
/// <summary>
/// A upward direction with zero horizontal angle and vertical angle 90
/// </summary>
public readonly static Direction up = Degrees(0, 90);
/// <summary>
/// A downward direction with zero horizontal angle and vertical angle
/// -90
/// </summary>
public readonly static Direction down = Degrees(0, -90);
/// <summary>
/// A left-pointing direction with horizontal angle -90 and zero
/// vertical angle
/// </summary>
public readonly static Direction left = Degrees(-90, 0);
/// <summary>
/// A right-pointing direction with horizontal angle 90 and zero
/// vertical angle
/// </summary>
public readonly static Direction right = Degrees(90, 0);
private void Normalize()
{
if (this.vertical > AngleFloat.deg90 || this.vertical < -AngleFloat.deg90)
{
this.horizontal += AngleFloat.deg180;
this.vertical = AngleFloat.Degrees(180 - this.vertical.inDegrees);
}
}
#if UNITY_5_3_OR_NEWER
/// <summary>
/// Convert the direction into a carthesian vector
/// </summary>
/// <returns>The carthesian vector corresponding to this direction.</returns>
public readonly UnityEngine.Vector3 ToVector3() {
// Convert degrees to radians
float radH = this.horizontal.inRadians;
float radV = this.vertical.inRadians;
// Calculate Vector
float cosV = MathF.Cos(radV);
float sinV = MathF.Sin(radV);
float x = cosV * MathF.Sin(radH);
float y = sinV;
float z = cosV * MathF.Cos(radH);
return new UnityEngine.Vector3(x, y, z);
}
/// <summary>
/// Convert a carthesian vector into a direction
/// </summary>
/// <param name="v">The carthesian vector</param>
/// <returns>The direction</returns>
/// <remarks>Information about the length of the carthesian vector is not
/// included in this transformation</remarks>
public static Direction FromVector3(UnityEngine.Vector3 v) {
AngleFloat horizontal = AngleFloat.Atan2(v.x, v.z);
AngleFloat vertical = AngleFloat.deg90 - AngleFloat.Acos(v.y);
Direction d = new(horizontal, vertical);
return d;
}
#else
/// <summary>
/// Convert the direction into a carthesian vector
/// </summary>
/// <returns>The carthesian vector corresponding to this direction.</returns>
public readonly Vector3Float ToVector3() {
// Quaternion q = Quaternion.Euler(90 - this.vertical.inDegrees, this.horizontal.inDegrees, 0);
// Vector3Float v = q * Vector3Float.forward;
// return v;
float radH = this.horizontal.inRadians;
float radV = this.vertical.inRadians;
float cosV = MathF.Cos(radV);
float sinV = MathF.Sin(radV);
float horizontal = cosV * MathF.Sin(radH);
float vertical = sinV;
float depth = cosV * MathF.Cos(radH);
return new Vector3Float(horizontal, vertical, depth);
}
/// <summary>
/// Convert a carthesian vector into a direction
/// </summary>
/// <param name="v">The carthesian vector</param>
/// <returns>The direction</returns>
/// <remarks>Information about the length of the carthesian vector is not
/// included in this transformation</remarks>
public static Direction FromVector3(Vector3Float v)
{
AngleFloat horizontal = AngleFloat.Atan2(v.horizontal, v.depth);
AngleFloat vertical = AngleFloat.deg90 - AngleFloat.Acos(v.vertical);
Direction d = new(horizontal, vertical);
return d;
}
#endif
public static Direction operator -(Direction d) {
AngleFloat horizontal = d.horizontal + AngleFloat.deg180;
AngleFloat vertical = -d.vertical;
return new Direction(horizontal, vertical);
}
/// <summary>
/// Tests the equality of two directions
/// </summary>
/// <param name="d1"></param>
/// <param name="d2"></param>
/// <returns>True when the direction angles are equal, false otherwise.</returns>
public static bool operator ==(Direction d1, Direction d2)
{
bool horizontalEq = d1.horizontal == d2.horizontal;
bool verticalEq = d1.vertical == d2.vertical;
return horizontalEq && verticalEq;
}
/// <summary>
/// Tests the inequality of two directions
/// </summary>
/// <param name="d1"></param>
/// <param name="d2"></param>
/// <returns>True when the direction angles are not equal, false otherwise.</returns>
public static bool operator !=(Direction d1, Direction d2)
{
bool horizontalNEq = d1.horizontal != d2.horizontal;
bool verticalNEq = d1.vertical != d2.vertical;
return horizontalNEq || verticalNEq;
}
public override readonly bool Equals(object obj)
{
if (obj is not Direction d)
return false;
bool horizontalEq = this.horizontal == d.horizontal;
bool verticalEq = this.vertical == d.vertical;
return horizontalEq && verticalEq;
}
public override readonly int GetHashCode()
{
return HashCode.Combine(horizontal, vertical);
}
public static AngleFloat UnsignedAngle(Direction d1, Direction d2) {
// Convert angles from degrees to radians
float horizontal1Rad = d1.horizontal.inRadians;
float vertical1Rad = d1.vertical.inRadians;
float horizontal2Rad = d2.horizontal.inRadians;
float vertical2Rad = d2.vertical.inRadians;
// Calculate the cosine of the angle using the spherical law of cosines
float cosTheta = MathF.Sin(vertical1Rad) * MathF.Sin(vertical2Rad) +
MathF.Cos(vertical1Rad) * MathF.Cos(vertical2Rad) *
MathF.Cos(horizontal1Rad - horizontal2Rad);
// Clip cosTheta to the valid range for acos
cosTheta = Float.Clamp(cosTheta, -1.0f, 1.0f);
// Calculate the angle
AngleFloat angle = AngleFloat.Acos(cosTheta);
return angle;
}
}
}

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namespace LinearAlgebra {
/// <summary>
/// Float number utilities
/// </summary>
public class Float {
/// <summary>
/// The precision of float numbers
/// </summary>
public const float epsilon = 1E-05f;
/// <summary>
/// The square of the float number precision
/// </summary>
public const float sqrEpsilon = 1e-10f;
/// <summary>
/// Clamp the value between the given minimum and maximum values
/// </summary>
/// <param name="f">The value to clamp</param>
/// <param name="min">The minimum value</param>
/// <param name="max">The maximum value</param>
/// <returns>The clamped value</returns>
public static float Clamp(float f, float min, float max) {
if (f < min)
return min;
if (f > max)
return max;
return f;
}
/// <summary>
/// Clamp the value between to the interval [0..1]
/// </summary>
/// <param name="f">The value to clamp</param>
/// <returns>The clamped value</returns>
public static float Clamp01(float f) {
return Clamp(f, 0, 1);
}
}
}

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<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<GenerateAssemblyInfo>false</GenerateAssemblyInfo>
<GenerateTargetFrameworkAttribute>false</GenerateTargetFrameworkAttribute>
<TargetFramework>net8.0</TargetFramework>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.13.0" />
<PackageReference Include="NUnit" Version="3.13.2" />
</ItemGroup>
</Project>

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using System;
#if UNITY_5_3_OR_NEWER
using Vector3Float = UnityEngine.Vector3;
using Vector2Float = UnityEngine.Vector2;
using Quaternion = UnityEngine.Quaternion;
#endif
namespace LinearAlgebra {
public readonly struct Slice
{
public int start { get; }
public int stop { get; }
public Slice(int start, int stop)
{
this.start = start;
this.stop = stop;
}
}
public class Matrix2 {
public float[,] data { get; }
public int nRows => data.GetLength(0);
public int nCols => data.GetLength(1);
public Matrix2(int nRows, int nCols)
{
this.data = new float[nRows, nCols];
}
public Matrix2(float[,] data) {
this.data = data;
}
public Matrix2 Clone() {
float[,] data = new float[this.nRows, nCols];
for (int rowIx = 0; rowIx < this.nRows; rowIx++) {
for (int colIx = 0; colIx < this.nCols; colIx++)
data[rowIx, colIx] = this.data[rowIx, colIx];
}
return new Matrix2(data);
}
public static Matrix2 Zero(int nRows, int nCols)
{
return new Matrix2(nRows, nCols);
}
public static Matrix2 FromVector3(Vector3Float v) {
float[,] result = new float[3, 1];
result[0, 0] = v.horizontal;
result[1, 0] = v.vertical;
result[2, 0] = v.depth;
return new Matrix2(result);
}
public static Matrix2 Identity(int size)
{
return Diagonal(1, size);
}
public static Matrix2 Identity(int nRows, int nCols)
{
Matrix2 m = Zero(nRows, nCols);
m.FillDiagonal(1);
return m;
}
public static Matrix2 Diagonal(Matrix1 v) {
float[,] resultData = new float[v.size, v.size];
for (int ix = 0; ix < v.size; ix++)
resultData[ix, ix] = v.data[ix];
return new Matrix2(resultData);
}
public static Matrix2 Diagonal(float f, int size)
{
float[,] resultData = new float[size, size];
for (int ix = 0; ix < size; ix++)
resultData[ix, ix] = f;
return new Matrix2(resultData);
}
public void FillDiagonal(Matrix1 v)
{
int n = (int)Math.Min(Math.Min(this.nRows, this.nCols), v.size);
for (int ix = 0; ix < n; ix++)
this.data[ix, ix] = v.data[ix];
}
public void FillDiagonal(float f)
{
int n = Math.Min(this.nRows, this.nCols);
for (int ix = 0; ix < n; ix++)
this.data[ix, ix] = f;
}
public static Matrix2 SkewMatrix(Vector3Float v) {
float[,] result = new float[3, 3] {
{0, -v.depth, v.vertical},
{v.depth, 0, -v.horizontal},
{-v.vertical, v.horizontal, 0}
};
return new Matrix2(result);
}
public Matrix1 GetRow(int rowIx) {
float[] row = new float[this.nCols];
for (int colIx = 0; colIx < this.nCols; colIx++) {
row[colIx] = this.data[rowIx, colIx];
}
return new Matrix1(row);
}
#if UNITY_5_3_OR_NEWER
public UnityEngine.Vector3 GetRow3(int rowIx) {
int cols = this.nCols;
UnityEngine.Vector3 row = new() {
x = this.data[rowIx, 0],
y = this.data[rowIx, 1],
z = this.data[rowIx, 2]
};
return row;
}
#endif
public void SetRow(int rowIx, Matrix1 v) {
for (uint ix = 0; ix < v.size; ix++)
this.data[rowIx, ix] = v.data[ix];
}
public void SetRow3(int rowIx, Vector3Float v) {
this.data[rowIx, 0] = v.horizontal;
this.data[rowIx, 1] = v.vertical;
this.data[rowIx, 2] = v.depth;
}
public void SwapRows(int row1, int row2) {
for (uint ix = 0; ix < this.nCols; ix++) {
float temp = this.data[row1, ix];
this.data[row1, ix] = this.data[row2, ix];
this.data[row2, ix] = temp;
}
}
public Matrix1 GetColumn(int colIx)
{
float[] column = new float[this.nRows];
for (int i = 0; i < this.nRows; i++) {
column[i] = this.data[i, colIx];
}
return new Matrix1(column);
}
public void SetColumn(int colIx, Matrix1 v) {
for (uint ix = 0; ix < v.size; ix++)
this.data[ix, colIx] = v.data[ix];
}
public void SetColumn(int colIx, Vector3Float v) {
this.data[0, colIx] = v.horizontal;
this.data[1, colIx] = v.vertical;
this.data[2, colIx] = v.depth;
}
public static bool AllClose(Matrix2 A, Matrix2 B, float atol = 1e-08f) {
for (int i = 0; i < A.nRows; i++) {
for (int j = 0; j < A.nCols; j++) {
float d = MathF.Abs(A.data[i, j] - B.data[i, j]);
if (d > atol)
return false;
}
}
return true;
}
public Matrix2 Transpose() {
float[,] resultData = new float[this.nCols, this.nRows];
for (uint rowIx = 0; rowIx < this.nRows; rowIx++) {
for (uint colIx = 0; colIx < this.nCols; colIx++)
resultData[colIx, rowIx] = this.data[rowIx, colIx];
}
return new Matrix2(resultData);
// double checked code
}
public Matrix2 transposed {
get => Transpose();
}
public static Matrix2 operator -(Matrix2 m) {
float[,] result = new float[m.nRows, m.nCols];
for (int i = 0; i < m.nRows; i++) {
for (int j = 0; j < m.nCols; j++)
result[i, j] = -m.data[i, j];
}
return new Matrix2(result);
}
public static Matrix2 operator -(Matrix2 A, Matrix2 B) {
if (A.nRows != B.nRows || A.nCols != B.nCols)
throw new System.ArgumentException("Size of A must match size of B.");
float[,] result = new float[A.nRows, B.nCols];
for (int i = 0; i < A.nRows; i++) {
for (int j = 0; j < A.nCols; j++)
result[i, j] = A.data[i, j] - B.data[i, j];
}
return new Matrix2(result);
}
public static Matrix2 operator +(Matrix2 A, Matrix2 B) {
if (A.nRows != B.nRows || A.nCols != B.nCols)
throw new System.ArgumentException("Size of A must match size of B.");
float[,] result = new float[A.nRows, B.nCols];
for (int i = 0; i < A.nRows; i++) {
for (int j = 0; j < A.nCols; j++)
result[i, j] = A.data[i, j] + B.data[i, j];
}
return new Matrix2(result);
}
public static Matrix2 operator *(Matrix2 A, Matrix2 B) {
if (A.nCols != B.nRows)
throw new System.ArgumentException("Number of columns in A must match number of rows in B.");
float[,] result = new float[A.nRows, B.nCols];
for (int i = 0; i < A.nRows; i++) {
for (int j = 0; j < B.nCols; j++) {
float sum = 0.0f;
for (int k = 0; k < A.nCols; k++)
sum += A.data[i, k] * B.data[k, j];
result[i, j] = sum;
}
}
return new Matrix2(result);
// double checked code
}
public static Matrix1 operator *(Matrix2 A, Matrix1 v) {
float[] result = new float[A.nRows];
for (int i = 0; i < A.nRows; i++) {
for (int j = 0; j < A.nCols; j++) {
result[i] += A.data[i, j] * v.data[j];
}
}
return new Matrix1(result);
}
public static Vector3Float operator *(Matrix2 A, Vector3Float v) {
return new Vector3Float(
A.data[0, 0] * v.horizontal + A.data[0, 1] * v.vertical + A.data[0, 2] * v.depth,
A.data[1, 0] * v.horizontal + A.data[1, 1] * v.vertical + A.data[1, 2] * v.depth,
A.data[2, 0] * v.horizontal + A.data[2, 1] * v.vertical + A.data[2, 2] * v.depth
);
}
public static Matrix2 operator *(Matrix2 A, float s) {
float[,] result = new float[A.nRows, A.nCols];
for (int i = 0; i < A.nRows; i++) {
for (int j = 0; j < A.nCols; j++)
result[i, j] = A.data[i, j] * s;
}
return new Matrix2(result);
}
public static Matrix2 operator *(float s, Matrix2 A) {
return A * s;
}
public static Matrix2 operator /(Matrix2 A, float s) {
float[,] result = new float[A.nRows, A.nCols];
for (int i = 0; i < A.nRows; i++) {
for (int j = 0; j < A.nCols; j++)
result[i, j] = A.data[i, j] / s;
}
return new Matrix2(result);
}
public static Matrix2 operator /(float s, Matrix2 A) {
float[,] result = new float[A.nRows, A.nCols];
for (int i = 0; i < A.nRows; i++) {
for (int j = 0; j < A.nCols; j++)
result[i, j] = s / A.data[i, j];
}
return new Matrix2(result);
}
public Matrix2 GetRows(Slice slice) {
return GetRows(slice.start, slice.stop);
}
public Matrix2 GetRows(int from, int to) {
if (from < 0 || to >= this.nRows)
throw new System.ArgumentException("Slice index out of range.");
float[,] result = new float[to - from, this.nCols];
int resultRowIx = 0;
for (int rowIx = from; rowIx < to; rowIx++) {
for (int colIx = 0; colIx < this.nCols; colIx++)
result[resultRowIx, colIx] = this.data[rowIx, colIx];
resultRowIx++;
}
return new Matrix2(result);
}
public Matrix2 Slice(Slice slice)
{
return Slice(slice.start, slice.stop);
}
public Matrix2 Slice(int from, int to)
{
if (from < 0 || to >= this.nRows)
throw new System.ArgumentException("Slice index out of range.");
float[,] result = new float[to - from, this.nCols];
int resultRowIx = 0;
for (int rowIx = from; rowIx < to; rowIx++)
{
for (int colIx = 0; colIx < this.nCols; colIx++)
{
result[resultRowIx, colIx] = this.data[rowIx, colIx];
}
resultRowIx++;
}
return new Matrix2(result);
}
public Matrix2 Slice(Slice rowRange, Slice colRange) {
return Slice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop));
}
public Matrix2 Slice((int start, int stop) rowRange, (int start, int stop) colRange)
{
float[,] result = new float[rowRange.stop - rowRange.start, colRange.stop - colRange.start];
int resultRowIx = 0;
int resultColIx = 0;
for (int i = rowRange.start; i < rowRange.stop; i++)
{
for (int j = colRange.start; j < colRange.stop; j++)
result[resultRowIx, resultColIx] = this.data[i, j];
}
return new Matrix2(result);
}
public void UpdateSlice(Slice slice, Matrix2 m) {
UpdateSlice((slice.start, slice.stop), m);
}
public void UpdateSlice((int start, int stop) slice, Matrix2 m) {
// if (slice.start == slice.stop)
// Console.WriteLine("WARNING: no data is updates when start equals stop in a slice!");
int mRowIx = 0;
for (int rowIx = slice.start; rowIx < slice.stop; rowIx++, mRowIx++) {
for (int colIx = 0; colIx < this.nCols; colIx++)
this.data[rowIx, colIx] = m.data[mRowIx, colIx];
}
}
public void UpdateSlice(Slice rowRange, Slice colRange, Matrix2 m)
{
UpdateSlice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop), m);
}
public void UpdateSlice((int start, int stop) rowRange, (int start, int stop) colRange, Matrix2 m)
{
for (int i = rowRange.start; i < rowRange.stop; i++)
{
for (int j = colRange.start; j < colRange.stop; j++)
this.data[i, j] = m.data[i - rowRange.start, j - colRange.start];
}
}
public Matrix2 Inverse() {
Matrix2 A = this;
// unchecked
int n = A.nRows;
// Create an identity matrix of the same size as the original matrix
float[,] augmentedMatrix = new float[n, 2 * n];
for (int i = 0; i < n; i++) {
for (int j = 0; j < n; j++) {
augmentedMatrix[i, j] = A.data[i, j];
augmentedMatrix[i, j + n] = (i == j) ? 1 : 0; // Identity matrix
}
}
// Perform Gaussian elimination
for (int i = 0; i < n; i++) {
// Find the pivot row
float pivot = augmentedMatrix[i, i];
if (Math.Abs(pivot) < 1e-10) // Check for singular matrix
throw new InvalidOperationException("Matrix is singular and cannot be inverted.");
// Normalize the pivot row
for (int j = 0; j < 2 * n; j++)
augmentedMatrix[i, j] /= pivot;
// Eliminate the column below the pivot
for (int j = i + 1; j < n; j++) {
float factor = augmentedMatrix[j, i];
for (int k = 0; k < 2 * n; k++)
augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
}
}
// Back substitution
for (int i = n - 1; i >= 0; i--)
{
// Eliminate the column above the pivot
for (int j = i - 1; j >= 0; j--)
{
float factor = augmentedMatrix[j, i];
for (int k = 0; k < 2 * n; k++)
augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k];
}
}
// Extract the inverse matrix from the augmented matrix
float[,] inverse = new float[n, n];
for (int i = 0; i < n; i++) {
for (int j = 0; j < n; j++)
inverse[i, j] = augmentedMatrix[i, j + n];
}
return new Matrix2(inverse);
}
public float Determinant()
{
int n = this.nRows;
if (n != this.nCols)
throw new System.ArgumentException("Matrix must be square.");
if (n == 1)
return this.data[0, 0]; // Base case for 1x1 matrix
if (n == 2) // Base case for 2x2 matrix
return this.data[0, 0] * this.data[1, 1] - this.data[0, 1] * this.data[1, 0];
float det = 0;
for (int col = 0; col < n; col++)
det += (col % 2 == 0 ? 1 : -1) * this.data[0, col] * this.Minor(0, col).Determinant();
return det;
}
// Helper function to compute the minor of a matrix
private Matrix2 Minor(int rowToRemove, int colToRemove)
{
int n = this.nRows;
float[,] minor = new float[n - 1, n - 1];
int r = 0, c = 0;
for (int i = 0; i < n; i++) {
if (i == rowToRemove) continue;
c = 0;
for (int j = 0; j < n; j++) {
if (j == colToRemove) continue;
minor[r, c] = this.data[i, j];
c++;
}
r++;
}
return new Matrix2(minor);
}
public static Matrix2 DeleteRows(Matrix2 A, Slice rowRange) {
float[,] result = new float[A.nRows - (rowRange.stop - rowRange.start), A.nCols];
int resultRowIx = 0;
for (int i = 0; i < A.nRows; i++) {
if (i >= rowRange.start && i < rowRange.stop)
continue;
for (int j = 0; j < A.nCols; j++)
result[resultRowIx, j] = A.data[i, j];
resultRowIx++;
}
return new Matrix2(result);
}
internal static Matrix2 DeleteColumns(Matrix2 A, Slice colRange) {
float[,] result = new float[A.nRows, A.nCols - (colRange.stop - colRange.start)];
for (int i = 0; i < A.nRows; i++) {
int resultColIx = 0;
for (int j = 0; j < A.nCols; j++) {
if (j >= colRange.start && j < colRange.stop)
continue;
result[i, resultColIx++] = A.data[i, j];
}
}
return new Matrix2(result);
}
}
public class Matrix1
{
public float[] data { get; }
public int size => data.GetLength(0);
public Matrix1(int size)
{
this.data = new float[size];
}
public Matrix1(float[] data) {
this.data = data;
}
public static Matrix1 Zero(int size)
{
return new Matrix1(size);
}
public static Matrix1 FromVector2(Vector2Float v) {
float[] result = new float[2];
result[0] = v.horizontal;
result[1] = v.vertical;
return new Matrix1(result);
}
public static Matrix1 FromVector3(Vector3Float v) {
float[] result = new float[3];
result[0] = v.horizontal;
result[1] = v.vertical;
result[2] = v.depth;
return new Matrix1(result);
}
#if UNITY_5_3_OR_NEWER
public static Matrix1 FromQuaternion(Quaternion q) {
float[] result = new float[4];
result[0] = q.x;
result[1] = q.y;
result[2] = q.z;
result[3] = q.w;
return new Matrix1(result);
}
#endif
public Vector2Float vector2 {
get {
if (this.size != 2)
throw new System.ArgumentException("Matrix1 must be of size 2");
return new Vector2Float(this.data[0], this.data[1]);
}
}
public Vector3Float vector3 {
get {
if (this.size != 3)
throw new System.ArgumentException("Matrix1 must be of size 3");
return new Vector3Float(this.data[0], this.data[1], this.data[2]);
}
}
#if UNITY_5_3_OR_NEWER
public Quaternion quaternion {
get {
if (this.size != 4)
throw new System.ArgumentException("Matrix1 must be of size 4");
return new Quaternion(this.data[0], this.data[1], this.data[2], this.data[3]);
}
}
#endif
public Matrix1 Clone() {
float[] data = new float[this.size];
for (int rowIx = 0; rowIx < this.size; rowIx++)
data[rowIx] = this.data[rowIx];
return new Matrix1(data);
}
public float magnitude {
get {
float sum = 0;
foreach (var elm in data)
sum += elm;
return sum / data.Length;
}
}
public static Matrix1 operator +(Matrix1 A, Matrix1 B) {
if (A.size != B.size)
throw new System.ArgumentException("Size of A must match size of B.");
float[] result = new float[A.size];
for (int i = 0; i < A.size; i++) {
result[i] = A.data[i] + B.data[i];
}
return new Matrix1(result);
}
public Matrix2 Transpose() {
float[,] r = new float[1, this.size];
for (uint colIx = 0; colIx < this.size; colIx++)
r[1, colIx] = this.data[colIx];
return new Matrix2(r);
}
public static float Dot(Matrix1 a, Matrix1 b) {
if (a.size != b.size)
throw new System.ArgumentException("Vectors must be of the same length.");
float result = 0.0f;
for (int i = 0; i < a.size; i++) {
result += a.data[i] * b.data[i];
}
return result;
}
public static Matrix1 operator -(Matrix1 A, Matrix1 B) {
if (A.size != B.size)
throw new System.ArgumentException("Size of A must match size of B.");
float[] result = new float[A.size];
for (int i = 0; i < A.size; i++) {
result[i] = A.data[i] - B.data[i];
}
return new Matrix1(result);
}
public static Matrix1 operator *(Matrix1 A, float f)
{
float[] result = new float[A.size];
for (int i = 0; i < A.size; i++)
result[i] += A.data[i] * f;
return new Matrix1(result);
}
public static Matrix1 operator *(float f, Matrix1 A) {
return A * f;
}
public static Matrix1 operator /(Matrix1 A, float f) {
float[] result = new float[A.size];
for (int i = 0; i < A.size; i++)
result[i] = A.data[i] / f;
return new Matrix1(result);
}
public static Matrix1 operator /(float f, Matrix1 A) {
float[] result = new float[A.size];
for (int i = 0; i < A.size; i++)
result[i] = f / A.data[i];
return new Matrix1(result);
}
public Matrix1 Slice(Slice range)
{
return Slice(range.start, range.stop);
}
public Matrix1 Slice(int from, int to)
{
if (from < 0 || to >= this.size)
throw new System.ArgumentException("Slice index out of range.");
float[] result = new float[to - from];
int resultIx = 0;
for (int ix = from; ix < to; ix++)
result[resultIx++] = this.data[ix];
return new Matrix1(result);
}
public void UpdateSlice(Slice slice, Matrix1 v) {
int vIx = 0;
for (int ix = slice.start; ix < slice.stop; ix++, vIx++)
this.data[ix] = v.data[vIx];
}
}
}

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using System;
namespace LinearAlgebra {
public class Quat32 {
public float x;
public float y;
public float z;
public float w;
public Quat32() {
this.x = 0;
this.y = 0;
this.z = 0;
this.w = 1;
}
public Quat32(float x, float y, float z, float w) {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
}
public static Quat32 FromSwingTwist(SwingTwist s) {
Quat32 q32 = Quat32.Euler(-s.swing.vertical.inDegrees, s.swing.horizontal.inDegrees, s.twist.inDegrees);
return q32;
}
public static Quat32 Euler(float yaw, float pitch, float roll) {
float rollOver2 = roll * AngleFloat.Deg2Rad * 0.5f;
float sinRollOver2 = (float)Math.Sin((float)rollOver2);
float cosRollOver2 = (float)Math.Cos((float)rollOver2);
float pitchOver2 = pitch * 0.5f;
float sinPitchOver2 = (float)Math.Sin((float)pitchOver2);
float cosPitchOver2 = (float)Math.Cos((float)pitchOver2);
float yawOver2 = yaw * 0.5f;
float sinYawOver2 = (float)Math.Sin((float)yawOver2);
float cosYawOver2 = (float)Math.Cos((float)yawOver2);
Quat32 result = new Quat32() {
w = cosYawOver2 * cosPitchOver2 * cosRollOver2 +
sinYawOver2 * sinPitchOver2 * sinRollOver2,
x = sinYawOver2 * cosPitchOver2 * cosRollOver2 +
cosYawOver2 * sinPitchOver2 * sinRollOver2,
y = cosYawOver2 * sinPitchOver2 * cosRollOver2 -
sinYawOver2 * cosPitchOver2 * sinRollOver2,
z = cosYawOver2 * cosPitchOver2 * sinRollOver2 -
sinYawOver2 * sinPitchOver2 * cosRollOver2
};
return result;
}
public void ToAngles(out float right, out float up, out float forward) {
float test = this.x * this.y + this.z * this.w;
if (test > 0.499f) { // singularity at north pole
right = 0;
up = 2 * (float)Math.Atan2(this.x, this.w) * AngleFloat.Rad2Deg;
forward = 90;
return;
//return Vector3(0, 2 * (float)atan2(this.x, this.w) * Angle.Rad2Deg, 90);
}
else if (test < -0.499f) { // singularity at south pole
right = 0;
up = -2 * (float)Math.Atan2(this.x, this.w) * AngleFloat.Rad2Deg;
forward = -90;
return;
//return Vector3(0, -2 * (float)atan2(this.x, this.w) * Angle.Rad2Deg, -90);
}
else {
float sqx = this.x * this.x;
float sqy = this.y * this.y;
float sqz = this.z * this.z;
right = (float)Math.Atan2(2 * this.x * this.w - 2 * this.y * this.z, 1 - 2 * sqx - 2 * sqz) * AngleFloat.Rad2Deg;
up = (float)Math.Atan2(2 * this.y * this.w - 2 * this.x * this.z, 1 - 2 * sqy - 2 * sqz) * AngleFloat.Rad2Deg;
forward = (float)Math.Asin(2 * test) * AngleFloat.Rad2Deg;
return;
// return Vector3(
// atan2f(2 * this.x * this.w - 2 * this.y * this.z, 1 - 2 * sqx - 2 * sqz) *
// Rad2Deg,
// atan2f(2 * this.y * this.w - 2 * this.x * this.z, 1 - 2 * sqy - 2 * sqz) *
// Rad2Deg,
// asinf(2 * test) * Angle.Rad2Deg);
}
}
}
}

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using System;
#if UNITY_5_3_OR_NEWER
using Quaternion = UnityEngine.Quaternion;
#endif
namespace LinearAlgebra {
#if UNITY_5_3_OR_NEWER
public class QuaternionExtensions {
public static Quaternion Reflect(Quaternion q) {
return new(-q.x, -q.y, -q.z, q.w);
}
public static Matrix2 ToRotationMatrix(Quaternion q) {
float w = q.x, x = q.y, y = q.z, z = q.w;
float[,] result = new float[,]
{
{ 1 - 2 * (y * y + z * z), 2 * (x * y - w * z), 2 * (x * z + w * y) },
{ 2 * (x * y + w * z), 1 - 2 * (x * x + z * z), 2 * (y * z - w * x) },
{ 2 * (x * z - w * y), 2 * (y * z + w * x), 1 - 2 * (x * x + y * y) }
};
return new Matrix2(result);
}
public static Quaternion FromRotationMatrix(Matrix2 m) {
float trace = m.data[0, 0] + m.data[1, 1] + m.data[2, 2];
float w, x, y, z;
if (trace > 0) {
float s = 0.5f / (float)Math.Sqrt(trace + 1.0f);
w = 0.25f / s;
x = (m.data[2, 1] - m.data[1, 2]) * s;
y = (m.data[0, 2] - m.data[2, 0]) * s;
z = (m.data[1, 0] - m.data[0, 1]) * s;
}
else {
if (m.data[0, 0] > m.data[1, 1] && m.data[0, 0] > m.data[2, 2]) {
float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[0, 0] - m.data[1, 1] - m.data[2, 2]);
w = (m.data[2, 1] - m.data[1, 2]) / s;
x = 0.25f * s;
y = (m.data[0, 1] + m.data[1, 0]) / s;
z = (m.data[0, 2] + m.data[2, 0]) / s;
}
else if (m.data[1, 1] > m.data[2, 2]) {
float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[1, 1] - m.data[0, 0] - m.data[2, 2]);
w = (m.data[0, 2] - m.data[2, 0]) / s;
x = (m.data[0, 1] + m.data[1, 0]) / s;
y = 0.25f * s;
z = (m.data[1, 2] + m.data[2, 1]) / s;
}
else {
float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[2, 2] - m.data[0, 0] - m.data[1, 1]);
w = (m.data[1, 0] - m.data[0, 1]) / s;
x = (m.data[0, 2] + m.data[2, 0]) / s;
y = (m.data[1, 2] + m.data[2, 1]) / s;
z = 0.25f * s;
}
}
return new Quaternion(x, y, z, w);
}
}
#else
public struct Quaternion {
public float x;
public float y;
public float z;
public float w;
/// <summary>
/// create a new quaternion with the given values
/// </summary>
/// <param name="x">x component</param>
/// <param name="y">y component</param>
/// <param name="z">z component</param>
/// <param name="w">w component</param>
public Quaternion(float x, float y, float z, float w) {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
}
/// <summary>
/// An identity quaternion
/// </summary>
public static readonly Quaternion identity = new(0, 0, 0, 1);
private readonly Vector3Float xyz => new(x, y, z);
private readonly float magnitude => MathF.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
private readonly float sqrMagnitude => x * x + y * y + z * z + w * w;
/// <summary>
/// Convert to unit quaternion
/// </summary>
/// This will preserve the orientation,
/// but ensures that it is a unit quaternion.
public readonly Quaternion normalized {
get {
float length = this.magnitude;
Quaternion q = new(this.x / length, this.y / length, this.z / length, this.w / length);
return q;
}
}
/// <summary>
/// Convert to unity quaternion
/// </summary>
/// <param name="q">The quaternion to convert</param>
/// <returns>A unit quaternion</returns>
/// This will preserve the orientation,
/// but ensures that it is a unit quaternion.
public static Quaternion Normalize(Quaternion q) {
return q.normalized;
}
/// <summary>
/// Convert to euler angles
/// </summary>
/// <param name="q">The quaternion to convert</param>
/// <returns>A vector containing euler angles</returns>
/// The euler angles performed in the order: Z, X, Y
public static Vector3Float ToAngles(Quaternion q) {
// Extract Euler angles in Unity order (X = pitch, Y = yaw, Z = roll), returned in degrees as (x,pitch),(y,yaw),(z,roll)
// Handle singularities/gimbal lock
float test = 2f * (q.w * q.x - q.y * q.z);
// clamp
if (test >= 1f) test = 1f;
if (test <= -1f) test = -1f;
float pitch = MathF.Asin(test); // X
float roll = MathF.Atan2(2f * (q.w * q.z + q.x * q.y),
1f - 2f * (q.x * q.x + q.z * q.z)); // Z
float yaw = MathF.Atan2(2f * (q.w * q.y + q.x * q.z),
1f - 2f * (q.y * q.y + q.x * q.x)); // Y
const float rad2deg = 180f / MathF.PI;
return new Vector3Float(pitch * rad2deg, yaw * rad2deg, roll * rad2deg);
// float test = q.x * q.y + q.z * q.w;
// if (test > 0.499f) // singularity at north pole
// return new Vector3Float(0, 2 * MathF.Atan2(q.x, q.w) * AngleFloat.Rad2Deg, 90);
// else if (test < -0.499f) // singularity at south pole
// return new Vector3Float(0, -2 * MathF.Atan2(q.x, q.w) * AngleFloat.Rad2Deg, -90);
// else {
// float sqx = q.x * q.x;
// float sqy = q.y * q.y;
// float sqz = q.z * q.z;
// return new Vector3Float(
// MathF.Atan2(2 * q.x * q.w - 2 * q.y * q.z, 1 - 2 * sqx - 2 * sqz) *
// AngleFloat.Rad2Deg,
// MathF.Atan2(2 * q.y * q.w - 2 * q.x * q.z, 1 - 2 * sqy - 2 * sqz) *
// AngleFloat.Rad2Deg,
// MathF.Asin(2 * test) * AngleFloat.Rad2Deg);
// }
}
/// <summary>
/// Create a rotation from euler angles
/// </summary>
/// <param name="x">The angle around the right axis</param>
/// <param name="y">The angle around the upward axis</param>
/// <param name="z">The angle around the forward axis</param>
/// <returns>The resulting quaternion</returns>
/// Rotation are appied in the order Z, X, Y.
public static Quaternion Euler(float x, float y, float z) {
return Quaternion.Euler(new Vector3Float(x, y, z));
}
/// <summary>
/// Create a rotation from a vector containing euler angles
/// </summary>
/// <param name="eulerAngles">Vector with the euler angles</param>
/// <returns>The resulting quaternion</returns>
/// Rotation are appied in the order Z, X, Y.
public static Quaternion Euler(Vector3Float angles) {
Vector3Float euler = angles * AngleFloat.Deg2Rad;
float cx = MathF.Cos(euler.horizontal * 0.5f);
float sx = MathF.Sin(euler.horizontal * 0.5f);
float cy = MathF.Cos(euler.vertical * 0.5f);
float sy = MathF.Sin(euler.vertical * 0.5f);
float cz = MathF.Cos(euler.depth * 0.5f);
float sz = MathF.Sin(euler.depth * 0.5f);
// Unity uses intrinsic Z, then X, then Y -> q = Qy * Qx * Qz
Quaternion q;
q.w = cy * cx * cz + sy * sx * sz;
q.x = cy * sx * cz + sy * cx * sz;
q.y = sy * cx * cz - cy * sx * sz;
q.z = cy * cx * sz - sy * sx * cz;
return q;
}
/// <summary>
/// Multiply two quaternions
/// </summary>
/// <param name="q1"></param>
/// <param name="q2"></param>
/// <returns>The resulting rotation</returns>
public static Quaternion operator *(Quaternion q1, Quaternion q2) {
return new Quaternion(
q1.x * q2.w + q1.y * q2.z - q1.z * q2.y + q1.w * q2.x,
-q1.x * q2.z + q1.y * q2.w + q1.z * q2.x + q1.w * q2.y,
q1.x * q2.y - q1.y * q2.x + q1.z * q2.w + q1.w * q2.z,
-q1.x * q2.x - q1.y * q2.y - q1.z * q2.z + q1.w * q2.w);
}
/// <summary>
/// Rotate a vector using this quaterion
/// </summary>
/// <param name="q">The rotation</param>
/// <param name="v">The vector to rotate</param>
/// <returns>The rotated vector</returns>
public static Vector3Float operator *(Quaternion q, Vector3Float v) {
float num = q.x * 2;
float num2 = q.y * 2;
float num3 = q.z * 2;
float num4 = q.x * num;
float num5 = q.y * num2;
float num6 = q.z * num3;
float num7 = q.x * num2;
float num8 = q.x * num3;
float num9 = q.y * num3;
float num10 = q.w * num;
float num11 = q.w * num2;
float num12 = q.w * num3;
float px = v.horizontal;
float py = v.vertical;
float pz = v.depth;
float rx =
(1 - (num5 + num6)) * px + (num7 - num12) * py + (num8 + num11) * pz;
float ry =
(num7 + num12) * px + (1 - (num4 + num6)) * py + (num9 - num10) * pz;
float rz =
(num8 - num11) * px + (num9 + num10) * py + (1 - (num4 + num5)) * pz;
Vector3Float result = new(rx, ry, rz);
return result;
}
/// <summary>
/// The inverse of quaterion
/// </summary>
/// <param name="quaternion">The quaternion for which the inverse is
/// needed</param> <returns>The inverted quaternion</returns>
public static Quaternion Inverse(Quaternion q) {
float n = MathF.Sqrt(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
return new Quaternion(-q.x / n, -q.y / n, -q.z / n, q.w / n);
}
/// <summary>
/// A rotation which looks in the given direction
/// </summary>
/// <param name="forward">The look direction</param>
/// <param name="upwards">The up direction</param>
/// <returns>The look rotation</returns>
public static Quaternion LookRotation(Vector3Float forward, Vector3Float up) {
Vector3Float nForward = forward.normalized;
Vector3Float nRight = Vector3Float.Normalize(Vector3Float.Cross(up, nForward));
Vector3Float nUp = Vector3Float.Cross(nForward, nRight);
float m00 = nRight.horizontal; // x;
float m01 = nRight.vertical; // y;
float m02 = nRight.depth; // z;
float m10 = nUp.horizontal; // x;
float m11 = nUp.vertical; // y;
float m12 = nUp.depth; // z;
float m20 = nForward.horizontal; // x;
float m21 = nForward.vertical; // y;
float m22 = nForward.depth; // z;
float num8 = (m00 + m11) + m22;
float x, y, z, w;
if (num8 > 0) {
float num = MathF.Sqrt(num8 + 1);
w = num * 0.5f;
num = 0.5f / num;
x = (m12 - m21) * num;
y = (m20 - m02) * num;
z = (m01 - m10) * num;
return new Quaternion(x, y, z, w);
}
if ((m00 >= m11) && (m00 >= m22)) {
float num7 = MathF.Sqrt(((1 + m00) - m11) - m22);
float num4 = 0.5F / num7;
x = 0.5f * num7;
y = (m01 + m10) * num4;
z = (m02 + m20) * num4;
w = (m12 - m21) * num4;
return new Quaternion(x, y, z, w);
}
if (m11 > m22) {
float num6 = MathF.Sqrt(((1 + m11) - m00) - m22);
float num3 = 0.5F / num6;
x = (m10 + m01) * num3;
y = 0.5F * num6;
z = (m21 + m12) * num3;
w = (m20 - m02) * num3;
return new Quaternion(x, y, z, w);
}
float num5 = MathF.Sqrt(((1 + m22) - m00) - m11);
float num2 = 0.5F / num5;
x = (m20 + m02) * num2;
y = (m21 + m12) * num2;
z = 0.5F * num5;
w = (m01 - m10) * num2;
return new Quaternion(x, y, z, w);
}
/// <summary>
/// Creates a quaternion with the given forward direction with up =
/// Vector3::up
/// </summary>
/// <param name="forward">The look direction</param>
/// <returns>The rotation for this direction</returns>
/// For the rotation, Vector::up is used for the up direction.
/// Note: if the forward direction == Vector3::up, the result is
/// Quaternion::identity
public static Quaternion LookRotation(Vector3Float forward) {
Vector3Float up = new(0, 1, 0);
return LookRotation(forward, up);
}
/// <summary>
/// Calculat the rotation from on vector to another
/// </summary>
/// <param name="fromDirection">The from direction</param>
/// <param name="toDirection">The to direction</param>
/// <returns>The rotation from the first to the second vector</returns>
public static Quaternion FromToRotation(Vector3Float fromDirection, Vector3Float toDirection) {
Vector3Float axis = Vector3Float.Cross(fromDirection, toDirection);
axis = axis.normalized;
AngleFloat angle = Vector3Float.SignedAngle(fromDirection, toDirection, axis);
Quaternion rotation = AngleAxis(angle, axis);
return rotation;
}
/// <summary>
/// Rotate form one orientation to anther with a maximum amount of degrees
/// </summary>
/// <param name="from">The from rotation</param>
/// <param name="to">The destination rotation</param>
/// <param name="maxDegreesDelta">The maximum amount of degrees to
/// rotate</param> <returns>The possibly limited rotation</returns>
public static Quaternion RotateTowards(Quaternion from, Quaternion to,
float maxDegreesDelta) {
float num = Quaternion.UnsignedAngle(from, to);
if (num == 0) {
return to;
}
float t = MathF.Min(1, maxDegreesDelta / num);
return SlerpUnclamped(from, to, t);
}
/// <summary>
/// Convert an angle/axis representation to a quaternion
/// </summary>
/// <param name="angle">The angle</param>
/// <param name="axis">The axis</param>
/// <returns>The resulting quaternion</returns>
public static Quaternion AngleAxis(AngleFloat angle, Vector3Float axis) {
if (axis.sqrMagnitude == 0.0f)
return Quaternion.identity;
float radians = angle.inRadians;
radians *= 0.5f;
Vector3Float axis2 = axis * MathF.Sin(radians);
float x = axis2.horizontal; // x;
float y = axis2.vertical; // y;
float z = axis2.depth; // z;
float w = MathF.Cos(radians);
return new Quaternion(x, y, z, w).normalized;
}
/// <summary>
/// Convert this quaternion to angle/axis representation
/// </summary>
/// <param name="angle">A pointer to the angle for the result</param>
/// <param name="axis">A pointer to the axis for the result</param>
public readonly void ToAngleAxis(out AngleFloat angle, out Vector3Float axis) {
Quaternion q1 = (MathF.Abs(this.w) > 1.0f) ? this.normalized : this;
angle = AngleFloat.Radians(2.0f * MathF.Acos(q1.w)); // angle
float den = MathF.Sqrt(1.0F - q1.w * q1.w);
if (den > 0.0001f) {
axis = Vector3Float.Normalize(q1.xyz / den);
}
else {
// This occurs when the angle is zero.
// Not a problem: just set an arbitrary normalized axis.
axis = Vector3Float.right;
}
}
/// <summary>
/// Get the angle between two orientations
/// </summary>
/// <param name="orientation1">The first orientation</param>
/// <param name="orientation2">The second orientation</param>
/// <returns>The smallest angle in degrees between the two
/// orientations</returns>
public static float UnsignedAngle(Quaternion q1, Quaternion q2) {
// float f = Dot(q1, q2);
// return MathF.Acos(MathF.Min(MathF.Abs(f), 1)) * 2 * AngleFloat.Rad2Deg;
float dot = q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
dot = MathF.Min(MathF.Max(dot, -1f), 1f);
return 2f * MathF.Acos(MathF.Abs(dot)) * (180f / MathF.PI);
}
/// <summary>
/// Sherical lerp between two rotations
/// </summary>
/// <param name="rotation1">The first rotation</param>
/// <param name="rotation2">The second rotation</param>
/// <param name="factor">The factor between 0 and 1.</param>
/// <returns>The resulting rotation</returns>
/// A factor 0 returns rotation1, factor1 returns rotation2.
public static Quaternion Slerp(Quaternion a,
Quaternion b, float t) {
if (t > 1)
t = 1;
if (t < 0)
t = 0;
return SlerpUnclamped(a, b, t);
}
/// <summary>
/// Unclamped sherical lerp between two rotations
/// </summary>
/// <param name="rotation1">The first rotation</param>
/// <param name="rotation2">The second rotation</param>
/// <param name="factor">The factor</param>
/// <returns>The resulting rotation</returns>
/// A factor 0 returns rotation1, factor1 returns rotation2.
/// Values outside the 0..1 range will result in extrapolated rotations
public static Quaternion SlerpUnclamped(Quaternion a,
Quaternion b, float t) {
// if either input is zero, return the other.
if (a.sqrMagnitude == 0.0f) {
if (b.sqrMagnitude == 0.0f) {
return identity;
}
return b;
}
else if (b.sqrMagnitude == 0.0f) {
return a;
}
Vector3Float axyz = a.xyz;
Vector3Float bxyz = b.xyz;
float cosHalfAngle = a.w * b.w + Vector3Float.Dot(axyz, bxyz);
Quaternion b2 = b;
if (cosHalfAngle >= 1.0f || cosHalfAngle <= -1.0f) {
// angle = 0.0f, so just return one input.
return a;
}
else if (cosHalfAngle < 0.0f) {
b2.x = -b.x;
b2.y = -b.y;
b2.z = -b.z;
b2.w = -b.w;
cosHalfAngle = -cosHalfAngle;
}
float blendA;
float blendB;
if (cosHalfAngle < 0.99f) {
// do proper slerp for big angles
float halfAngle = MathF.Acos(cosHalfAngle);
float sinHalfAngle = MathF.Sin(halfAngle);
float oneOverSinHalfAngle = 1.0F / sinHalfAngle;
blendA = MathF.Sin(halfAngle * (1.0F - t)) * oneOverSinHalfAngle;
blendB = MathF.Sin(halfAngle * t) * oneOverSinHalfAngle;
}
else {
// do lerp if angle is really small.
blendA = 1.0f - t;
blendB = t;
}
Vector3Float v = axyz * blendA + b2.xyz * blendB;
Quaternion result =
new(v.horizontal, v.vertical, v.depth, blendA * a.w + blendB * b2.w);
if (result.sqrMagnitude > 0.0f)
return result.normalized;
else
return Quaternion.identity;
}
/// <summary>
/// Convert this quaternion to angle/axis representation
/// </summary>
/// <param name="angle">A pointer to the angle for the result</param>
/// <param name="axis">A pointer to the axis for the result</param>
public readonly void ToAngleAxis(out float angle, out Vector3Float axis) {
ToAxisAngleRad(this, out axis, out angle);
angle *= AngleFloat.Rad2Deg;
}
private static void ToAxisAngleRad(Quaternion q,
out Vector3Float axis,
out float angle) {
Quaternion q1 = (MathF.Abs(q.w) > 1.0f) ? Quaternion.Normalize(q) : q;
angle = 2.0f * MathF.Acos(q1.w); // angle
float den = MathF.Sqrt(1.0F - q1.w * q1.w);
if (den > 0.0001f) {
axis = (q1.xyz / den).normalized;
}
else {
// This occurs when the angle is zero.
// Not a problem: just set an arbitrary normalized axis.
axis = new Vector3Float(1, 0, 0);
}
}
/// <summary>
/// Returns the angle of around the give axis for a rotation
/// </summary>
/// <param name="axis">The axis around which the angle should be
/// computed</param> <param name="rotation">The source rotation</param>
/// <returns>The signed angle around the axis</returns>
public static float GetAngleAround(Vector3Float axis, Quaternion rotation) {
Quaternion secondaryRotation = GetRotationAround(axis, rotation);
secondaryRotation.ToAngleAxis(out float rotationAngle, out Vector3Float rotationAxis);
// Do the axis point in opposite directions?
if (Vector3Float.Dot(axis, rotationAxis) < 0)
rotationAngle = -rotationAngle;
return rotationAngle;
}
/// <summary>
/// Returns the rotation limited around the given axis
/// </summary>
/// <param name="axis">The axis which which the rotation should be
/// limited</param> <param name="rotation">The source rotation</param>
/// <returns>The rotation around the given axis</returns>
public static Quaternion GetRotationAround(Vector3Float axis, Quaternion rotation) {
Vector3Float ra = new(rotation.x, rotation.y, rotation.z); // rotation axis
Vector3Float p = Vector3Float.Project(
ra, axis); // return projection ra on to axis (parallel component)
Quaternion twist = new(p.horizontal, p.vertical, p.depth, rotation.w);
twist = Normalize(twist);
return twist;
}
/// <summary>
/// Swing-twist decomposition of a rotation
/// </summary>
/// <param name="axis">The base direction for the decomposition</param>
/// <param name="q">The source rotation</param>
/// <param name="swing">A pointer to the quaternion for the swing
/// result</param> <param name="twist">A pointer to the quaternion for the
/// twist result</param>
static void GetSwingTwist(Vector3Float axis, Quaternion q,
out Quaternion swing, out Quaternion twist) {
twist = GetRotationAround(axis, q);
swing = q * Inverse(twist);
}
/// <summary>
/// Calculate the dot product of two quaternions
/// </summary>
/// <param name="rotation1">The first rotation</param>
/// <param name="rotation2">The second rotation</param>
/// <returns></returns>
public static float Dot(Quaternion q1, Quaternion q2) {
return q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
}
}
#endif
}

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using System;
using System.Collections.Generic;
#if UNITY_5_3_OR_NEWER
using Vector3 = UnityEngine.Vector3;
#endif
namespace LinearAlgebra {
/// <summary>
/// A spherical vector
/// </summary>
/// <remark>This is a struct such that it is a value type and cannot be null
public struct Spherical {
/// <summary>
/// Create a spherical vector
/// </summary>
/// <param name="distance">The distance in meters</param>
/// <param name="direction">The direction of the vector</param>
public Spherical(float distance, Direction direction) {
if (distance > 0) {
this.distance = distance;
this.direction = direction;
}
else {
this.distance = -distance;
this.direction = -direction;
}
}
/// <summary>
/// Create spherical vector. All given angles are in degrees
/// </summary>
/// <param name="distance">The distance in meters</param>
/// <param name="horizontal">The horizontal angle in degrees</param>
/// <param name="vertical">The vertical angle in degrees</param>
/// <returns></returns>
public static Spherical Degrees(float distance, float horizontal, float vertical) {
Direction direction = Direction.Degrees(horizontal, vertical);
Spherical s = new(distance, direction);
return s;
}
public static Spherical Radians(float distance, float horizontal, float vertical) {
Direction direction = Direction.Radians(horizontal, vertical);
Spherical s = new(distance, direction);
return s;
}
/// <summary>
/// The distance in meters
/// </summary>
/// @remark The distance should never be negative
public float distance;
/// <summary>
/// The direction of the vector
/// </summary>
public Direction direction;
/// <summary>
/// A spherical vector with zero degree angles and distance
/// </summary>
public readonly static Spherical zero = new(0, Direction.forward);
/// <summary>
/// A normalized forward-oriented vector
/// </summary>
public readonly static Spherical forward = new(1, Direction.forward);
#if UNITY_5_3_OR_NEWER
public static Spherical FromVector3(Vector3 v) {
float distance = v.magnitude;
Direction direction = Direction.FromVector3(v / distance);
return new Spherical(distance, direction);
}
public readonly Vector3 ToVector3() {
Vector3 v = this.direction.ToVector3();
v *= this.distance;
return v;
}
#else
public static Spherical FromVector3(Vector3Float v) {
float distance = v.magnitude;
if (distance == 0.0f)
return Spherical.zero;
else {
float verticalAngle = (float)(Math.PI / 2 - Math.Acos(v.vertical / distance)) * AngleFloat.Rad2Deg;
float horizontalAngle = (float)Math.Atan2(v.horizontal, v.depth) * AngleFloat.Rad2Deg;
return Degrees(distance, horizontalAngle, verticalAngle);
}
}
public readonly Vector3Float ToVector3() {
// float verticalRad = (AngleFloat.deg90 - this.direction.vertical).inRadians;
// float horizontalRad = this.direction.horizontal.inRadians;
// float cosVertical = (float)Math.Cos(verticalRad);
// float sinVertical = (float)Math.Sin(verticalRad);
// float cosHorizontal = (float)Math.Cos(horizontalRad);
// float sinHorizontal = (float)Math.Sin(horizontalRad);
// float x = this.distance * sinVertical * sinHorizontal;
// float y = this.distance * cosVertical;
// float z = this.distance * sinVertical * cosHorizontal;
// Vector3Float v = new(x, y, z);
Vector3Float v = this.direction.ToVector3();
v *= this.distance;
return v;
}
#endif
public override readonly string ToString() {
return $"Spherical({this.distance}, h: {this.direction.horizontal}, v: {this.direction.vertical})";
}
public readonly float magnitude => this.distance;
public Spherical normalized {
get {
Spherical r = new() {
distance = 1,
direction = this.direction
};
return r;
}
}
public static Spherical operator +(Spherical s1, Spherical s2) {
// let's do it the easy way...
// using vars to be compatible with both unity (Vector3) and native (Vector3Float)
var v1 = s1.ToVector3();
var v2 = s2.ToVector3();
var v = v1 + v2;
Spherical r = FromVector3(v);
return r;
}
public static Spherical operator *(Spherical v, float d) {
Spherical r = new(v.distance * d, v.direction);
return r;
}
public static bool operator ==(Spherical v1, Spherical v2) {
return (v1.distance == v2.distance && v1.direction == v2.direction);
}
public static bool operator !=(Spherical v1, Spherical v2) {
return (v1.distance != v2.distance || v1.direction != v2.direction);
}
public override readonly bool Equals(object o) {
if (o is Spherical s)
return this == s;
return false;
}
public override readonly int GetHashCode() {
return HashCode.Combine(this.distance, this.direction);
}
public static float Distance(Spherical v1, Spherical v2) {
// Convert degrees to radians
float thetaARadians = v1.direction.horizontal.inRadians;
float phiARadians = v1.direction.vertical.inRadians;// DegreesToRadians(phiA);
float thetaBRadians = v2.direction.horizontal.inRadians; // DegreesToRadians(thetaB);
float phiBRadians = v2.direction.vertical.inRadians; // DegreesToRadians(phiB);
// Calculate sine and cosine values
float sinPhiA = MathF.Sin(phiARadians);
float cosPhiA = MathF.Cos(phiARadians);
float sinPhiB = MathF.Sin(phiBRadians);
float cosPhiB = MathF.Cos(phiBRadians);
// Calculate the cosine of the difference in azimuthal angles
float cosThetaDifference = MathF.Cos(thetaARadians - thetaBRadians);
// Apply the spherical law of cosines
float distance = MathF.Sqrt(
v1.distance * v1.distance +
v2.distance * v2.distance -
2 * v1.distance * v2.distance * (sinPhiA * sinPhiB * cosThetaDifference + cosPhiA * cosPhiB)
);
return distance;
}
public static Spherical Average(Spherical v1, Spherical v2) {
const float EPS = 1e-6f;
// Angles in radians
float a1 = v1.direction.horizontal.inRadians;
float a2 = v2.direction.horizontal.inRadians;
float e1 = v1.direction.vertical.inRadians;
float e2 = v2.direction.vertical.inRadians;
// Fast path: exactly same direction (allowing wrap for azimuth) -> preserve exact angles
bool sameAz = MathF.Abs(MathF.IEEERemainder(a1 - a2, MathF.PI * 2f)) < EPS;
bool sameEl = MathF.Abs(e1 - e2) < EPS;
if (sameAz && sameEl) {
// Distances may differ; average distance but keep exact angles from v1
float rAvgExact = 0.5f * (v1.distance + v2.distance);
return new Spherical(rAvgExact, v1.direction);
}
// Horizontal unit-circle sum
float cx = MathF.Cos(a1) + MathF.Cos(a2);
float cy = MathF.Sin(a1) + MathF.Sin(a2);
// Vertical as z = sin(el)
float z1 = MathF.Sin(e1);
float z2 = MathF.Sin(e2);
float cz = z1 + z2;
// Magnitude of summed unit-direction vectors
float sumX = cx;
float sumY = cy;
float sumZ = cz;
float magSum = MathF.Sqrt(sumX * sumX + sumY * sumY + sumZ * sumZ);
// If the two direction unit-vectors cancel (or nearly), return zero distance.
if (magSum < EPS) {
return Spherical.Radians(0f, 0f, 0f);
}
// Normalized averaged direction components
float ux = sumX / magSum;
float uy = sumY / magSum;
float uz = sumZ / magSum;
// Compute averaged angles from normalized vector
float azAvgRad = MathF.Atan2(uy, ux);
float elAvgRad = MathF.Asin(Float.Clamp(uz, -1f, 1f));
// Average distance (arithmetic mean)
float rAvg = 0.5f * (v1.distance + v2.distance);
return Spherical.Radians(rAvg, azAvgRad, elAvgRad);
}
public static Spherical Sum(List<Spherical> vectors) {
if (vectors == null || vectors.Count == 0)
throw new ArgumentException("vectors must contain at least one element", nameof(vectors));
#if UNITY_5_3_OR_NEWER
Vector3 sum = Vector3.zero;
#else
Vector3Float sum = Vector3Float.zero;
#endif
foreach (Spherical v in vectors)
sum += v.ToVector3();
return FromVector3(sum);
}
public static Spherical Average(List<Spherical> vectors) {
if (vectors == null || vectors.Count == 0)
throw new ArgumentException("vectors must contain at least one element", nameof(vectors));
#if UNITY_5_3_OR_NEWER
Vector3 sum = Vector3.zero;
#else
Vector3Float sum = Vector3Float.zero;
#endif
int n = 0;
foreach (Spherical v in vectors) {
sum += v.ToVector3();
n++;
}
var avg = sum / n;
// if (avg.sqrMagnitude == 0f)
// return new Spherical(0f, new Direction(AngleFloat.Radians(0f), AngleFloat.Radians(0f)));
// else
return FromVector3(avg);
}
}
}

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// #if !UNITY_5_3_OR_NEWER
// using UnityEngine;
// #endif
namespace LinearAlgebra {
/// <summary>
/// An orientation using swing and twist angles
/// </summary>
/// <param name="swing">The swing rotation</param>
/// <param name="twist">The twist rotation</param>
public struct SwingTwist {
public Direction swing;
public AngleFloat twist;
public SwingTwist(Direction swing, AngleFloat twist) {
this.swing = swing;
this.twist = twist;
}
/// <summary>
/// Create a swing/twist rotation using angles in degrees
/// </summary>
/// <param name="horizontalSwing">The swing angle in the horizontal plane in degrees</param>
/// <param name="verticalSwing">The swing angle in the vertical plan in degrees</param>
/// <param name="twist">The twist angle in degrees</param>
/// <returns>The swing/twist rotation</returns>
public static SwingTwist Degrees(float horizontalSwing, float verticalSwing, float twist) {
Direction swing = Direction.Degrees(horizontalSwing, verticalSwing);
AngleFloat twistAngle = AngleFloat.Degrees(twist);
SwingTwist s = new(swing, twistAngle);
return s;
}
/// <summary>
/// Create a swing/twist rotation using angles in degrees
/// </summary>
/// <param name="horizontalSwing">The swing angle in the horizontal plane in degrees</param>
/// <param name="verticalSwing">The swing angle in the vertical plan in degrees</param>
/// <param name="twist">The twist angle in degrees</param>
/// <returns>The swing/twist rotation</returns>
public static SwingTwist Radians(float horizontalSwing, float verticalSwing, float twist) {
Direction swing = Direction.Radians(horizontalSwing, verticalSwing);
AngleFloat twistAngle = AngleFloat.Radians(twist);
SwingTwist s = new(swing, twistAngle);
return s;
}
#if UNITY_5_3_OR_NEWER
/// <summary>
/// A zero angle rotation
/// </summary>
public static readonly SwingTwist zero = Degrees(0, 0, 0);
public Spherical ToAngleAxis() {
UnityEngine.Quaternion q = this.ToQuaternion();
q.ToAngleAxis(out float angle, out UnityEngine.Vector3 axis);
Direction direction = Direction.FromVector3(axis);
Spherical r = new(angle, direction);
return r;
}
public static SwingTwist FromAngleAxis(Spherical r) {
UnityEngine.Vector3 vectorAxis = r.direction.ToVector3();
UnityEngine.Quaternion q = UnityEngine.Quaternion.AngleAxis(r.distance, vectorAxis);
return FromQuaternion(q);
}
/// <summary>
/// Convert a quaternion in a swing/twist rotation
/// </summary>
/// <param name="q">The quaternion to convert</param>
/// <returns>The swing/twist rotation</returns>
public static SwingTwist FromQuaternion(UnityEngine.Quaternion q) {
UnityEngine.Vector3 angles = q.eulerAngles;
SwingTwist r = Degrees(angles.y, -angles.x, -angles.z);
return r;
}
public UnityEngine.Quaternion ToQuaternion() {
UnityEngine.Quaternion q = UnityEngine.Quaternion.Euler(this.swing.vertical.inDegrees,
this.swing.horizontal.inDegrees,
this.twist.inDegrees);
return q;
}
#else
/// <summary>
/// A zero angle rotation
/// </summary>
public static readonly SwingTwist zero = Degrees(0, 0, 0);
public Spherical ToAngleAxis() {
LinearAlgebra.Quaternion q = this.ToQuaternion();
q.ToAngleAxis(out float angle, out Vector3Float axis);
Direction direction = Direction.FromVector3(axis);
Spherical r = new(angle, direction);
return r;
}
public static SwingTwist FromAngleAxis(Spherical r) {
Vector3Float vectorAxis = r.direction.ToVector3();
LinearAlgebra.Quaternion q = LinearAlgebra.Quaternion.AngleAxis(AngleFloat.Degrees(r.distance), vectorAxis);
return FromQuaternion(q);
}
/// <summary>
/// Convert a quaternion in a swing/twist rotation
/// </summary>
/// <param name="q">The quaternion to convert</param>
/// <returns>The swing/twist rotation</returns>
public static SwingTwist FromQuaternion(LinearAlgebra.Quaternion q) {
Vector3Float v = LinearAlgebra.Quaternion.ToAngles(q);
SwingTwist r = Degrees(v.vertical, v.horizontal, v.depth);
return r;
}
public LinearAlgebra.Quaternion ToQuaternion() {
LinearAlgebra.Quaternion q = LinearAlgebra.Quaternion.Euler(this.swing.vertical.inDegrees,
this.swing.horizontal.inDegrees,
this.twist.inDegrees);
return q;
}
public static SwingTwist FromQuat32(Quat32 q32) {
q32.ToAngles(out float right, out float up, out float forward);
SwingTwist r = Degrees(up, right, forward);
return r;
}
#endif
}
}

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using System;
using System.Numerics;
namespace LinearAlgebra {
/*
public struct Vector2Int {
public int horizontal;
public int vertical;
public Vector2Int(int horizontal, int vertical) {
this.horizontal = horizontal;
this.vertical = vertical;
}
/// <summary>
/// A vector with zero for all axis
/// </summary>
public static readonly Vector2Int zero = new(0, 0);
/// <summary>
/// A vector with values (1, 1)
/// </summary>
public static readonly Vector2Int one = new(1, 1);
/// <summary>
/// A vector with values (0, 1)
/// </summary>
public static readonly Vector2Int up = new(0, 1);
/// <summary>
/// A vector with values (0, -1)
/// </summary>
public static readonly Vector2Int down = new(0, -1);
/// <summary>
/// A vector with values (0, 1)
/// </summary>
public static readonly Vector2Int forward = new(0, 1);
/// <summary>
/// A vector with values (0, -1)
/// </summary>
public static readonly Vector2Int back = new(0, -1);
/// <summary>
/// A vector3 with values (-1, 0)
/// </summary>
public static readonly Vector2Int left = new(-1, 0);
/// <summary>
/// A vector with values (1, 0)
/// </summary>
public static readonly Vector2Int right = new(1, 0);
/// <summary>
/// Tests if the vector has equal values as the given vector
/// </summary>
/// <param name="v1">The vector to compare to</param>
/// <returns><em>true</em> if the vector values are equal</returns>
public readonly bool Equals(Vector2Int v) => this.horizontal == v.horizontal && vertical == v.vertical;
/// <summary>
/// Tests if the vector is equal to the given object
/// </summary>
/// <param name="obj">The object to compare to</param>
/// <returns><em>false</em> when the object is not a Vector2 or does not have equal values</returns>
public override readonly bool Equals(object obj) {
if (obj is not Vector2Int v)
return false;
return (this.horizontal == v.horizontal && this.vertical == v.vertical);
}
/// <summary>
/// Tests if the two vectors have equal values
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns><em>true</em>when the vectors have equal values</returns>
/// Note that this uses a Float equality check which cannot be not exact in all cases.
/// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon
/// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
public static bool operator ==(Vector2Int v1, Vector2Int v2) {
return (v1.horizontal == v2.horizontal && v1.vertical == v2.vertical);
}
/// <summary>
/// Tests if two vectors have different values
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns><em>true</em>when the vectors have different values</returns>
/// Note that this uses a Float equality check which cannot be not exact in all case.
/// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon.
/// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
public static bool operator !=(Vector2Int v1, Vector2Int v2) {
return (v1.horizontal != v2.horizontal || v1.vertical != v2.vertical);
}
public readonly float magnitude {
get {
int h = this.horizontal;
int v = this.vertical;
return MathF.Sqrt(h * h + v * v);
}
}
public static float MagnitudeOf(Vector2Int v) {
return v.magnitude;
}
public static Vector2Int operator -(Vector2Int v1, Vector2Int v2) {
return new Vector2Int(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical);
}
public static Vector2Int operator +(Vector2Int v1, Vector2Int v2) {
return new Vector2Int(v1.horizontal + v2.horizontal, v1.vertical + v2.vertical);
}
public static float Distance(Vector2Int v1, Vector2Int v2) {
return (v1 - v2).magnitude;
}
}
public struct Vector2Float {
public float horizontal;
public float vertical;
public Vector2Float(float horizontal, float vertical) {
this.horizontal = horizontal;
this.vertical = vertical;
}
public readonly float magnitude {
get {
float h = this.horizontal;
float v = this.vertical;
return MathF.Sqrt(h * h + v * v);
}
}
public static Vector2Float operator -(Vector2Float v1, Vector2Float v2) {
return new Vector2Float(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical);
}
public static float Distance(Vector2Float v1, Vector2Float v2) {
return (v1 - v2).magnitude;
}
}
*/
/// <summary>
/// 2-dimensional vectors
/// </summary>
public struct Vector2Float {
/// <summary>
/// The right axis of the vector
/// </summary>
public float horizontal; // left/right
/// <summary>
/// The upward/forward axis of the vector
/// </summary>
public float vertical; // forward/backward
// directions are to be inline with Vector3 as much as possible...
/// <summary>
/// Create a new 2-dimensional vector
/// </summary>
/// <param name="x">x axis value</param>
/// <param name="y">y axis value</param>
public Vector2Float(float x, float y) {
this.horizontal = x;
this.vertical = y;
}
/// <summary>
/// Convert a Vector2Int into a Vector2Float
/// </summary>
/// <param name="v">The Vector2Int</param>
public Vector2Float(Vector2Int v) {
this.horizontal = v.horizontal;
this.vertical = v.vertical;
}
/// <summary>
/// A vector with zero for all axis
/// </summary>
public static readonly Vector2Float zero = new Vector2Float(0, 0);
/// <summary>
/// A vector with values (1, 1)
/// </summary>
public static readonly Vector2Float one = new Vector2Float(1, 1);
/// <summary>
/// A vector with values (0, 1)
/// </summary>
public static readonly Vector2Float up = new Vector2Float(0, 1);
/// <summary>
/// A vector with values (0, -1)
/// </summary>
public static readonly Vector2Float down = new Vector2Float(0, -1);
/// <summary>
/// A vector with values (0, 1)
/// </summary>
public static readonly Vector2Float forward = new Vector2Float(0, 1);
/// <summary>
/// A vector with values (0, -1)
/// </summary>
public static readonly Vector2Float back = new Vector2Float(0, -1);
/// <summary>
/// A vector3 with values (-1, 0)
/// </summary>
public static readonly Vector2Float left = new Vector2Float(-1, 0);
/// <summary>
/// A vector with values (1, 0)
/// </summary>
public static readonly Vector2Float right = new Vector2Float(1, 0);
/// <summary>
/// The squared length of this vector
/// </summary>
/// <returns>The squared length</returns>
/// The squared length is computationally simpler than the real length.
/// Think of Pythagoras A^2 + B^2 = C^2.
/// This leaves out the calculation of the squared root of C.
public readonly float sqrMagnitude => horizontal * horizontal + vertical * vertical;
public static float SqrMagnitudeOf(Vector2Float v) {
return v.sqrMagnitude;
}
/// <summary>
/// The length of this vector
/// </summary>
/// <returns>The length of this vector</returns>
public readonly float magnitude => MathF.Sqrt(horizontal * horizontal + vertical * vertical);
public static float MagnitudeOf(Vector2Float v) {
return v.magnitude;
}
/// <summary>
/// Convert the vector to a length of a 1
/// </summary>
/// <returns>The vector with length 1</returns>
public Vector2Float normalized {
get {
float l = magnitude;
Vector2Float v = zero;
if (l > Float.epsilon)
v = this / l;
return v;
}
}
public static Vector2Float Normalize(Vector2Float v) {
return v.normalized;
}
/// <summary>
/// Add two vectors
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The result of adding the two vectors</returns>
public static Vector2Float operator +(Vector2Float v1, Vector2Float v2) {
Vector2Float v = new Vector2Float(v1.horizontal + v2.horizontal, v1.vertical + v2.vertical);
return v;
}
/// <summary>
/// Subtract two vectors
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The result of adding the two vectors</returns>
public static Vector2Float operator -(Vector2Float v1, Vector2Float v2) {
Vector2Float v = new Vector2Float(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical);
return v;
}
/// <summary>
/// Negate the vector
/// </summary>
/// <param name="v1">The vector to negate</param>
/// <returns>The negated vector</returns>
/// This will result in a vector pointing in the opposite direction
public static Vector2Float operator -(Vector2Float v1) {
Vector2Float v = new Vector2Float(-v1.horizontal, -v1.vertical);
return v;
}
/// <summary>
/// Scale a vector uniformly down
/// </summary>
/// <param name="v">The vector to scale</param>
/// <param name="f">The scaling factor</param>
/// <returns>The scaled vector</returns>
/// Each component of the vector will be devided by the same factor.
public static Vector2Float operator /(Vector2Float v, float f) {
Vector2Float r = new(v.horizontal / f, v.vertical / f);
return r;
}
/// <summary>
/// Scale a vector uniformly up
/// </summary>
/// <param name="v1">The vector to scale</param>
/// <param name="f">The scaling factor</param>
/// <returns>The scaled vector</returns>
/// Each component of the vector will be multipled with the same factor.
public static Vector2Float operator *(Vector2Float v1, float f) {
Vector2Float v = new Vector2Float(v1.horizontal * f, v1.vertical * f);
return v;
}
/// <summary>
/// Scale a vector uniformly up
/// </summary>
/// <param name="f">The scaling factor</param>
/// <param name="v1">The vector to scale</param>
/// <returns>The scaled vector</returns>
/// Each component of the vector will be multipled with the same factor.
public static Vector2Float operator *(float f, Vector2Float v1) {
Vector2Float v = new Vector2Float(f * v1.horizontal, f * v1.vertical);
return v;
}
/// @brief Scale the vector using another vector
/// @param v1 The vector to scale
/// @param v2 A vector with the scaling factors
/// @return The scaled vector
/// @remark Each component of the vector v1 will be multiplied with the
/// matching component from the scaling vector v2.
public static Vector2Float Scale(Vector2Float v1, Vector2Float v2) {
return new Vector2Float(v1.horizontal * v2.horizontal, v1.vertical * v2.vertical);
}
/// <summary>
/// Tests if the vector has equal values as the given vector
/// </summary>
/// <param name="v1">The vector to compare to</param>
/// <returns><em>true</em> if the vector values are equal</returns>
//public readonly bool Equals(Vector2Float v1) => horizontal == v1.horizontal && vertical == v1.vertical;
/// <summary>
/// Tests if the two vectors have equal values
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns><em>true</em>when the vectors have equal values</returns>
/// Note that this uses a Float equality check which cannot be not exact in all cases.
/// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon
/// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
public static bool operator ==(Vector2Float v1, Vector2Float v2) {
return (v1.horizontal == v2.horizontal && v1.vertical == v2.vertical);
}
/// <summary>
/// Tests if two vectors have different values
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns><em>true</em>when the vectors have different values</returns>
/// Note that this uses a Float equality check which cannot be not exact in all case.
/// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon.
/// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
public static bool operator !=(Vector2Float v1, Vector2Float v2) {
return (v1.horizontal != v2.horizontal || v1.vertical != v2.vertical);
}
/// <summary>
/// Tests if the vector is equal to the given object
/// </summary>
/// <param name="obj">The object to compare to</param>
/// <returns><em>false</em> when the object is not a Vector2 or does not have equal values</returns>
public override readonly bool Equals(object obj) {
if (obj is not Vector2Float v)
return false;
return (horizontal == v.horizontal && vertical == v.vertical);
}
/// <summary>
/// Get an hash code for the vector
/// </summary>
/// <returns>The hash code</returns>
public override readonly int GetHashCode() {
return HashCode.Combine(horizontal, vertical);
}
/// <summary>
/// Get the distance between two vectors
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The distance between the two vectors</returns>
public static float Distance(Vector2Float v1, Vector2Float v2) {
float x = v1.horizontal - v2.horizontal;
float y = v1.vertical - v2.vertical;
float d = (float)Math.Sqrt(x * x + y * y);
return d;
}
/// <summary>
/// The dot product of two vectors
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The dot product of the two vectors</returns>
public static float Dot(Vector2Float v1, Vector2Float v2) {
return v1.horizontal * v2.horizontal + v1.vertical * v2.vertical;
}
/// <summary>
/// Calculate the signed angle between two vectors.
/// </summary>
/// <param name="from">The starting vector</param>
/// <param name="to">The ending vector</param>
/// <param name="axis">The axis to rotate around</param>
/// <returns>The signed angle in degrees</returns>
public static float SignedAngle(Vector2Float from, Vector2Float to) {
//float sign = Math.Sign(v1.y * v2.x - v1.x * v2.y);
//return Vector2.Angle(v1, v2) * sign;
float sqrMagFrom = from.sqrMagnitude;
float sqrMagTo = to.sqrMagnitude;
if (sqrMagFrom == 0 || sqrMagTo == 0)
return 0;
//if (!isfinite(sqrMagFrom) || !isfinite(sqrMagTo))
// return nanf("");
float angleFrom = (float)Math.Atan2(from.vertical, from.horizontal);
float angleTo = (float)Math.Atan2(to.vertical, to.horizontal);
return -(angleTo - angleFrom) * AngleFloat.Rad2Deg;
}
public static float UnsignedAngle(Vector2Float from, Vector2Float to) {
return MathF.Abs(SignedAngle(from, to));
}
/// <summary>
/// Rotates the vector with the given angle
/// </summary>
/// <param name="v1">The vector to rotate</param>
/// <param name="angle">The angle in degrees</param>
/// <returns></returns>
public static Vector2Float Rotate(Vector2Float v1, AngleFloat angle) {
float sin = (float)Math.Sin(angle.inRadians);
float cos = (float)Math.Cos(angle.inRadians);
// float sin = AngleFloat.Sin(angle);
// float cos = AngleFloat.Cos(angle);
float tx = v1.horizontal;
float ty = v1.vertical;
Vector2Float v = new Vector2Float() {
horizontal = (cos * tx) - (sin * ty),
vertical = (sin * tx) + (cos * ty)
};
return v;
}
/// <summary>
/// Lerp between two vectors
/// </summary>
/// <param name="v1">The from vector</param>
/// <param name="v2">The to vector</param>
/// <param name="f">The interpolation distance [0..1]</param>
/// <returns>The lerped vector</returns>
/// The factor f is unclamped. Value 0 matches the *v1* vector, Value 1
/// matches the *v2* vector Value -1 is *v1* vector minus the difference
/// between *v1* and *v2* etc.
public static Vector2Float Lerp(Vector2Float v1, Vector2Float v2, float f) {
Vector2Float v = v1 + (v2 - v1) * f;
return v;
}
/// <summary>
/// Map interval of angles between vectors [0..Pi] to interval [0..1]
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The resulting factor in interval [0..1]</returns>
/// Vectors a and b must be normalized
public static float ToFactor(Vector2Float v1, Vector2Float v2) {
return (1 - Vector2Float.Dot(v1, v2)) / 2;
}
}
}

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using System;
namespace LinearAlgebra {
public struct Vector2Int {
public int horizontal;
public int vertical;
public Vector2Int(int horizontal, int vertical) {
this.horizontal = horizontal;
this.vertical = vertical;
}
/// <summary>
/// A vector with zero for all axis
/// </summary>
public static readonly Vector2Int zero = new(0, 0);
/// <summary>
/// A vector with values (1, 1)
/// </summary>
public static readonly Vector2Int one = new(1, 1);
/// <summary>
/// A vector with values (0, 1)
/// </summary>
public static readonly Vector2Int up = new(0, 1);
/// <summary>
/// A vector with values (0, -1)
/// </summary>
public static readonly Vector2Int down = new(0, -1);
/// <summary>
/// A vector with values (0, 1)
/// </summary>
public static readonly Vector2Int forward = new(0, 1);
/// <summary>
/// A vector with values (0, -1)
/// </summary>
public static readonly Vector2Int back = new(0, -1);
/// <summary>
/// A vector3 with values (-1, 0)
/// </summary>
public static readonly Vector2Int left = new(-1, 0);
/// <summary>
/// A vector with values (1, 0)
/// </summary>
public static readonly Vector2Int right = new(1, 0);
/*
/// <summary>
/// Get an hash code for the vector
/// </summary>
/// <returns>The hash code</returns>
public override int GetHashCode() {
return (this.horizontal, this.vertical).GetHashCode();
}
/// <summary>
/// Tests if the vector has equal values as the given vector
/// </summary>
/// <param name="v1">The vector to compare to</param>
/// <returns><em>true</em> if the vector values are equal</returns>
public readonly bool Equals(Vector2Int v) => this.horizontal == v.horizontal && vertical == v.vertical;
*/
/// <summary>
/// Tests if the two vectors have equal values
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns><em>true</em>when the vectors have equal values</returns>
/// Note that this uses a Float equality check which cannot be not exact in all cases.
/// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon
/// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
public static bool operator ==(Vector2Int v1, Vector2Int v2) {
return (v1.horizontal == v2.horizontal && v1.vertical == v2.vertical);
}
/// <summary>
/// Tests if two vectors have different values
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns><em>true</em>when the vectors have different values</returns>
/// Note that this uses a Float equality check which cannot be not exact in all case.
/// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon.
/// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon
public static bool operator !=(Vector2Int v1, Vector2Int v2) {
return (v1.horizontal != v2.horizontal || v1.vertical != v2.vertical);
}
/// <summary>
/// Tests if the vector is equal to the given object
/// </summary>
/// <param name="obj">The object to compare to</param>
/// <returns><em>false</em> when the object is not a Vector2 or does not have equal values</returns>
public override readonly bool Equals(object obj) {
if (obj is not Vector2Int v)
return false;
return (this.horizontal == v.horizontal && this.vertical == v.vertical);
}
/// <summary>
/// Get an hash code for the vector
/// </summary>
/// <returns>The hash code</returns>
public override readonly int GetHashCode() {
return HashCode.Combine(horizontal, vertical);
}
public readonly float sqrMagnitude => this.horizontal * this.horizontal + this.vertical * this.vertical;
public static float SqrMagnitudeOf(Vector2Int v) {
return v.sqrMagnitude;
}
public readonly float magnitude =>
MathF.Sqrt(this.horizontal * this.horizontal + this.vertical * this.vertical);
public static float MagnitudeOf(Vector2Int v) {
return v.magnitude;
}
/// @brief Convert the vector to a length of 1
/// @return The vector normalized to a length of 1
public readonly Vector2Float normalized {
get {
float l = magnitude;
Vector2Float v = Vector2Float.zero;
if (l > Float.epsilon)
v = new Vector2Float(this) / l;
return v;
}
}
/// @brief Convert the vector to a length of 1
/// @param v The vector to convert
/// @return The vector normalized to a length of 1
public static Vector2Float Normalize(Vector2Int v) {
float num = v.magnitude;
Vector2Float result = Vector2Float.zero;
if (num > Float.epsilon)
result = new Vector2Float(v) / num;
return result;
}
public static Vector2Int operator -(Vector2Int v) {
return new Vector2Int(-v.horizontal, -v.vertical);
}
public static Vector2Int operator -(Vector2Int v1, Vector2Int v2) {
return new Vector2Int(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical);
}
public static Vector2Int operator +(Vector2Int v1, Vector2Int v2) {
return new Vector2Int(v1.horizontal + v2.horizontal, v1.vertical + v2.vertical);
}
public static Vector2Int operator /(Vector2Int v, int f) {
return new Vector2Int(v.horizontal / f, v.vertical / f);
}
public static Vector2Int operator *(Vector2Int v1, int d) {
return new Vector2Int(v1.horizontal * d, v1.vertical * d);
}
public static Vector2Int operator *(int d, Vector2Int v1) {
return new Vector2Int(d * v1.horizontal, d * v1.vertical);
}
public static Vector2Int Scale(Vector2Int v1, Vector2Int v2) {
return new Vector2Int(v1.horizontal * v2.horizontal, v1.vertical * v2.vertical);
}
/// @brief The dot product of two vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The dot product of the two vectors
public static int Dot(Vector2Int v1, Vector2Int v2) {
return v1.horizontal * v2.horizontal + v1.vertical * v2.vertical;
}
public static float Distance(Vector2Int v1, Vector2Int v2) {
return (v1 - v2).magnitude;
}
}
}

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//#if !UNITY_5_3_OR_NEWER
using System;
namespace LinearAlgebra {
/*
public struct Vector3Float {
public float horizontal;
public float vertical;
public float depth;
public Vector3Float(float horizontal, float vertical, float depth) {
this.horizontal = horizontal;
this.vertical = vertical;
this.depth = depth;
}
/// <summary>
/// A vector with zero for all axis
/// </summary>
public static readonly Vector3Float zero = new(0, 0, 0);
public readonly float magnitude {
get => (float)Math.Sqrt(this.horizontal * this.horizontal + this.vertical * this.vertical + this.depth * this.depth);
}
/// <summary>
/// Convert the vector to a length of a 1
/// </summary>
/// <returns>The vector with length 1</returns>
public readonly Vector3Float normalized {
get {
float l = magnitude;
Vector3Float v = zero;
if (l > Float.epsilon)
v = this / l;
return v;
}
}
public static Vector3Float operator *(Vector3Float v, float f) {
Vector3Float r = new(v.horizontal * f, v.vertical * f, v.depth * f);
return r;
}
public static Vector3Float operator /(Vector3Float v, float f) {
Vector3Float r = new(v.horizontal / f, v.vertical / f, v.depth / f);
return r;
}
public static float Dot(Vector3Float v1, Vector3Float v2) {
return v1.horizontal * v2.horizontal + v1.vertical * v2.vertical +
v1.depth * v2.depth;
}
const float epsilon = 1E-05f;
public static Vector3Float Project(Vector3Float v, Vector3Float n) {
float sqrMagnitude = Dot(n, n);
if (sqrMagnitude < epsilon)
return zero;
else {
float dot = Dot(v, n);
Vector3Float r = n * dot;
r /= sqrMagnitude;
return r;
}
}
}
*/
/// <summary>
/// 3-dimensional vectors
/// </summary>
/// This uses the right-handed coordinate system.
public struct Vector3Float {
/// <summary>
/// The right axis of the vector
/// </summary>
public float horizontal; //> left/right
/// <summary>
/// The upward axis of the vector
/// </summary>
public float vertical; //> up/down
/// <summary>
/// The forward axis of the vector
/// </summary>
public float depth; //> forward/backward
/// <summary>
/// Create a new 3-dimensional vector
/// </summary>
/// <param name="horizontal">x axis value</param>
/// <param name="vertical">y axis value</param>
/// <param name="depth">z axis value</param>
public Vector3Float(float horizontal, float vertical, float depth) {
this.horizontal = horizontal;
this.vertical = vertical;
this.depth = depth;
}
public Vector3Float(Vector3Int v) {
this.horizontal = v.horizontal;
this.vertical = v.vertical;
this.depth = v.depth;
}
public static Vector3Float FromSpherical(Spherical s) {
float verticalRad = (AngleFloat.deg90 - s.direction.vertical).inRadians;
float horizontalRad = s.direction.horizontal.inRadians;
float cosVertical = MathF.Cos(verticalRad);
float sinVertical = MathF.Sin(verticalRad);
float cosHorizontal = MathF.Cos(horizontalRad);
float sinHorizontal = MathF.Sin(horizontalRad);
float horizontal = s.distance * sinVertical * sinHorizontal;
float vertical = s.distance * cosVertical;
float depth = s.distance * sinVertical * cosHorizontal;
return new Vector3Float(horizontal, vertical, depth);
}
public override string ToString() {
return $"({this.horizontal}, {this.vertical}, {this.depth})";
}
/// <summary>
/// A vector with zero for all axis
/// </summary>
public static readonly Vector3Float zero = new Vector3Float(0, 0, 0);
/// <summary>
/// A vector with one for all axis
/// </summary>
public static readonly Vector3Float one = new Vector3Float(1, 1, 1);
/// <summary>
/// A Vector3Float with values (-1, 0, 0)
/// </summary>
public static readonly Vector3Float left = new Vector3Float(-1, 0, 0);
/// <summary>
/// A vector with values (1, 0, 0)
/// </summary>
public static readonly Vector3Float right = new Vector3Float(1, 0, 0);
/// <summary>
/// A vector with values (0, -1, 0)
/// </summary>
public static readonly Vector3Float down = new Vector3Float(0, -1, 0);
/// <summary>
/// A vector with values (0, 1, 0)
/// </summary>
public static readonly Vector3Float up = new Vector3Float(0, 1, 0);
/// <summary>
/// A vector with values (0, 0, -1)
/// </summary>
public static readonly Vector3Float back = new Vector3Float(0, -1, 0);
/// <summary>
/// A vector with values (0, 0, 1)
/// </summary>
public static readonly Vector3Float forward = new Vector3Float(0, 1, 0);
/// @brief The vector length
/// @return The vector length
public readonly float magnitude => MathF.Sqrt(horizontal * horizontal + vertical * vertical + depth * depth);
/// <summary>
/// The vector length
/// </summary>
/// <param name="v">The vector for which you need the length</param>
/// <returns>The vector length</returns>
public static float MagnitudeOf(Vector3Float v) {
return v.magnitude;
}
/// @brief The squared vector length
/// @return The squared vector length
/// @remark The squared length is computationally simpler than the real
/// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the
/// calculation of the squared root of C.
public readonly float sqrMagnitude => (horizontal * horizontal + vertical * vertical + depth * depth);
/// <summary>
/// The squared vector length
/// </summary>
/// <param name="v">The vector for which you need the squared length</param>
/// <returns>The squared vector length</returns>
/// <remarks>The squared length is computationally simpler than the real
/// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the
/// calculation of the squared root of C.</remarks>
public static float SqrMagnitudeOf(Vector3Float v) {
return v.sqrMagnitude;
}
/// @brief Convert the vector to a length of 1
/// @return The vector normalized to a length of 1
public readonly Vector3Float normalized {
get {
float l = magnitude;
Vector3Float v = zero;
if (l > Float.epsilon)
v = this / l;
return v;
}
}
/// @brief Convert the vector to a length of 1
/// @param v The vector to convert
/// @return The vector normalized to a length of 1
public static Vector3Float Normalize(Vector3Float v) {
float num = v.magnitude;
Vector3Float result = zero;
if (num > Float.epsilon)
result = v / num;
return result;
}
/// <summary>
/// Negate te vector such that it points in the opposite direction
/// </summary>
/// <param name="v1"></param>
/// <returns>The negated vector</returns>
public static Vector3Float operator -(Vector3Float v1) {
Vector3Float v = new(-v1.horizontal, -v1.vertical, -v1.depth);
return v;
}
/// <summary>
/// Subtract two vectors
/// </summary>
/// <param name="v1"></param>
/// <param name="v2"></param>
/// <returns>The result of the subtraction</returns>
public static Vector3Float operator -(Vector3Float v1, Vector3Float v2) {
Vector3Float v = new(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical, v1.depth - v2.depth);
return v;
}
/// <summary>
/// Add two vectors
/// </summary>
/// <param name="v1"></param>
/// <param name="v2"></param>
/// <returns>The result of the addition</returns>
public static Vector3Float operator +(Vector3Float v1, Vector3Float v2) {
Vector3Float v = new(v1.horizontal + v2.horizontal, v1.vertical + v2.vertical, v1.depth + v2.depth);
return v;
}
/// @brief Scale the vector using another vector
/// @param v1 The vector to scale
/// @param v2 A vector with the scaling factors
/// @return The scaled vector
/// @remark Each component of the vector v1 will be multiplied with the
/// matching component from the scaling vector v2.
public static Vector3Float Scale(Vector3Float v1, Vector3Float v2) {
return new Vector3Float(v1.horizontal * v2.horizontal, v1.vertical * v2.vertical, v1.depth * v2.depth);
}
public static Vector3Float operator *(Vector3Float v1, float d) {
Vector3Float v = new(v1.horizontal * d, v1.vertical * d, v1.depth * d);
return v;
}
public static Vector3Float operator *(float d, Vector3Float v1) {
Vector3Float v = new(d * v1.horizontal, d * v1.vertical, d * v1.depth);
return v;
}
public static Vector3Float operator /(Vector3Float v1, float d) {
Vector3Float v = new(v1.horizontal / d, v1.vertical / d, v1.depth / d);
return v;
}
//public bool Equals(Vector3Float v) => (horizontal == v.horizontal && vertical == v.vertical && depth == v.depth);
public static bool operator ==(Vector3Float v1, Vector3Float v2) {
return (v1.horizontal == v2.horizontal && v1.vertical == v2.vertical && v1.depth == v2.depth);
}
public static bool operator !=(Vector3Float v1, Vector3Float v2) {
return (v1.horizontal != v2.horizontal || v1.vertical != v2.vertical || v1.depth != v2.depth);
}
public override readonly bool Equals(object obj) {
if (obj is not Vector3Float v)
return false;
return (horizontal == v.horizontal && vertical == v.vertical && depth == v.depth);
}
public override readonly int GetHashCode() {
return HashCode.Combine(horizontal, vertical, depth);
}
/// @brief The distance between two vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The distance between the two vectors
public static float Distance(Vector3Float v1, Vector3Float v2) {
return (v2 - v1).magnitude;
}
/// @brief The dot product of two vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The dot product of the two vectors
public static float Dot(Vector3Float v1, Vector3Float v2) {
return v1.horizontal * v2.horizontal + v1.vertical * v2.vertical + v1.depth * v2.depth;
}
/// @brief The cross product of two vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The cross product of the two vectors
public static Vector3Float Cross(Vector3Float v1, Vector3Float v2) {
return new Vector3Float(v1.vertical * v2.depth - v1.depth * v2.vertical, v1.depth * v2.horizontal - v1.horizontal * v2.depth,
v1.horizontal * v2.vertical - v1.vertical * v2.horizontal);
}
/// @brief Project the vector on another vector
/// @param v The vector to project
/// @param n The normal vecto to project on
/// @return The projected vector
public static Vector3Float Project(Vector3Float v, Vector3Float n) {
float sqrMagnitude = Dot(n, n);
if (sqrMagnitude < Float.epsilon)
return zero;
else {
float dot = Dot(v, n);
Vector3Float r = n * dot / sqrMagnitude;
return r;
}
}
/// @brief Project the vector on a plane defined by a normal orthogonal to the
/// plane.
/// @param v The vector to project
/// @param n The normal of the plane to project on
/// @return Teh projected vector
public static Vector3Float ProjectOnPlane(Vector3Float v, Vector3Float n) {
Vector3Float r = v - Project(v, n);
return r;
}
/// @brief The angle between two vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The angle between the two vectors
/// @remark This reterns an unsigned angle which is the shortest distance
/// between the two vectors. Use Vector3::SignedAngle if a signed angle is
/// needed.
public static AngleFloat UnsignedAngle(Vector3Float v1, Vector3Float v2) {
float denominator = MathF.Sqrt(v1.sqrMagnitude * v2.sqrMagnitude);
if (denominator < Float.epsilon)
return AngleFloat.zero;
float dot = Dot(v1, v2);
float fraction = dot / denominator;
if (float.IsNaN(fraction))
return AngleFloat.Degrees(
fraction); // short cut to returning NaN universally
float cdot = Float.Clamp(fraction, -1.0f, 1.0f);
float r = MathF.Acos(cdot);
return AngleFloat.Radians(r);
}
/// @brief The signed angle between two vectors
/// @param v1 The starting vector
/// @param v2 The ending vector
/// @param axis The axis to rotate around
/// @return The signed angle between the two vectors
public static AngleFloat SignedAngle(Vector3Float v1, Vector3Float v2,
Vector3Float axis) {
// angle in [0,180]
AngleFloat angle = UnsignedAngle(v1, v2);
Vector3Float cross = Cross(v1, v2);
float b = Dot(axis, cross);
float signd = b < 0 ? -1.0F : (b > 0 ? 1.0F : 0.0F);
// angle in [-179,180]
AngleFloat signed_angle = angle * signd;
return signed_angle;
}
/// @brief Lerp (linear interpolation) between two vectors
/// @param v1 The starting vector
/// @param v2 The ending vector
/// @param f The interpolation distance
/// @return The lerped vector
/// @remark The factor f is unclamped. Value 0 matches the vector *v1*, Value
/// 1 matches vector *v2*. Value -1 is vector *v1* minus the difference
/// between *v1* and *v2* etc.
public static Vector3Float Lerp(Vector3Float v1, Vector3Float v2, float f) {
Vector3Float v = v1 + (v2 - v1) * f;
return v;
}
}
}
//#endif

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//#if !UNITY_5_3_OR_NEWER
using System;
namespace LinearAlgebra {
/// <summary>
/// 3-dimensional vectors
/// </summary>
/// This uses the right-handed coordinate system.
/// <remarks>
/// Create a new 3-dimensional vector
/// </remarks>
/// <param name="horizontal">x axis value</param>
/// <param name="vertical">y axis value</param>
/// <param name="depth">z axis value</param>
public struct Vector3Int {
/// <summary>
/// The right axis of the vector
/// </summary>
public int horizontal; //> left/right
/// <summary>
/// The upward axis of the vector
/// </summary>
public int vertical; //> up/down
/// <summary>
/// The forward axis of the vector
/// </summary>
public int depth; //> forward/backward
public Vector3Int(int horizontal, int vertical, int depth) {
this.horizontal = horizontal;
this.vertical = vertical;
this.depth = depth;
}
/// <summary>
/// A vector with zero for all axis
/// </summary>
public static readonly Vector3Int zero = new(0, 0, 0);
/// <summary>
/// A vector with one for all axis
/// </summary>
public static readonly Vector3Int one = new(1, 1, 1);
/// <summary>
/// A Vector3Int with values (-1, 0, 0)
/// </summary>
public static readonly Vector3Int left = new(-1, 0, 0);
/// <summary>
/// A vector with values (1, 0, 0)
/// </summary>
public static readonly Vector3Int right = new(1, 0, 0);
/// <summary>
/// A vector with values (0, -1, 0)
/// </summary>
public static readonly Vector3Int down = new(0, -1, 0);
/// <summary>
/// A vector with values (0, 1, 0)
/// </summary>
public static readonly Vector3Int up = new(0, 1, 0);
/// <summary>
/// A vector with values (0, 0, -1)
/// </summary>
public static readonly Vector3Int back = new(0, -1, 0);
/// <summary>
/// A vector with values (0, 0, 1)
/// </summary>
public static readonly Vector3Int forward = new(0, 1, 0);
/// @brief The vector length
/// @return The vector length
public readonly float magnitude => MathF.Sqrt(horizontal * horizontal + vertical * vertical + depth * depth);
/// <summary>
/// The vector length
/// </summary>
/// <param name="v">The vector for which you need the length</param>
/// <returns>The vector length</returns>
public static float MagnitudeOf(Vector3Int v) {
return v.magnitude;
}
/// @brief The squared vector length
/// @return The squared vector length
/// @remark The squared length is computationally simpler than the real
/// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the
/// calculation of the squared root of C.
public readonly float sqrMagnitude => (horizontal * horizontal + vertical * vertical + depth * depth);
/// <summary>
/// The squared vector length
/// </summary>
/// <param name="v">The vector for which you need the squared length</param>
/// <returns>The squared vector length</returns>
/// <remarks>The squared length is computationally simpler than the real
/// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the
/// calculation of the squared root of C.</remarks>
public static float SqrMagnitudeOf(Vector3Int v) {
return v.sqrMagnitude;
}
/// @brief Convert the vector to a length of 1
/// @return The vector normalized to a length of 1
public readonly Vector3Float normalized {
get {
float l = magnitude;
Vector3Float v = Vector3Float.zero;
if (l > Float.epsilon)
v = new Vector3Float(this) / l;
return v;
}
}
/// @brief Convert the vector to a length of 1
/// @param v The vector to convert
/// @return The vector normalized to a length of 1
public static Vector3Float Normalize(Vector3Int v) {
float num = v.magnitude;
Vector3Float result = Vector3Float.zero;
if (num > Float.epsilon)
result = new Vector3Float(v) / num;
return result;
}
/// <summary>
/// Negate te vector such that it points in the opposite direction
/// </summary>
/// <param name="v1"></param>
/// <returns>The negated vector</returns>
public static Vector3Int operator -(Vector3Int v1) {
Vector3Int v = new(-v1.horizontal, -v1.vertical, -v1.depth);
return v;
}
/// <summary>
/// Subtract two vectors
/// </summary>
/// <param name="v1"></param>
/// <param name="v2"></param>
/// <returns>The result of the subtraction</returns>
public static Vector3Int operator -(Vector3Int v1, Vector3Int v2) {
Vector3Int v = new(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical, v1.depth - v2.depth);
return v;
}
/// <summary>
/// Add two vectors
/// </summary>
/// <param name="v1"></param>
/// <param name="v2"></param>
/// <returns>The result of the addition</returns>
public static Vector3Int operator +(Vector3Int v1, Vector3Int v2) {
Vector3Int v = new(v1.horizontal + v2.horizontal, v1.vertical + v2.vertical, v1.depth + v2.depth);
return v;
}
/// @brief Scale the vector using another vector
/// @param v1 The vector to scale
/// @param v2 A vector with the scaling factors
/// @return The scaled vector
/// @remark Each component of the vector v1 will be multiplied with the
/// matching component from the scaling vector v2.
public static Vector3Int Scale(Vector3Int v1, Vector3Int v2) {
return new Vector3Int(v1.horizontal * v2.horizontal, v1.vertical * v2.vertical, v1.depth * v2.depth);
}
public static Vector3Int operator *(Vector3Int v1, int d) {
Vector3Int v = new(v1.horizontal * d, v1.vertical * d, v1.depth * d);
return v;
}
public static Vector3Int operator *(int d, Vector3Int v1) {
Vector3Int v = new(d * v1.horizontal, d * v1.vertical, d * v1.depth);
return v;
}
public static Vector3Int operator /(Vector3Int v1, int d) {
Vector3Int v = new(v1.horizontal / d, v1.vertical / d, v1.depth / d);
return v;
}
public bool Equals(Vector3Int v) => (horizontal == v.horizontal && vertical == v.vertical && depth == v.depth);
public override bool Equals(object obj) {
if (!(obj is Vector3Int v))
return false;
return (horizontal == v.horizontal && vertical == v.vertical && depth == v.depth);
}
public static bool operator ==(Vector3Int v1, Vector3Int v2) {
return (v1.horizontal == v2.horizontal && v1.vertical == v2.vertical && v1.depth == v2.depth);
}
public static bool operator !=(Vector3Int v1, Vector3Int v2) {
return (v1.horizontal != v2.horizontal || v1.vertical != v2.vertical || v1.depth != v2.depth);
}
public override int GetHashCode() {
return (horizontal, vertical, depth).GetHashCode();
}
/// @brief The distance between two vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The distance between the two vectors
public static float Distance(Vector3Int v1, Vector3Int v2) {
return (v2 - v1).magnitude;
}
/// @brief The dot product of two vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The dot product of the two vectors
public static float Dot(Vector3Int v1, Vector3Int v2) {
return v1.horizontal * v2.horizontal + v1.vertical * v2.vertical + v1.depth * v2.depth;
}
/// @brief The cross product of two vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The cross product of the two vectors
public static Vector3Int Cross(Vector3Int v1, Vector3Int v2) {
return new Vector3Int(v1.vertical * v2.depth - v1.depth * v2.vertical, v1.depth * v2.horizontal - v1.horizontal * v2.depth,
v1.horizontal * v2.vertical - v1.vertical * v2.horizontal);
}
/// @brief The angle between two vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The angle between the two vectors
/// @remark This reterns an unsigned angle which is the shortest distance
/// between the two vectors. Use Vector3::SignedAngle if a signed angle is
/// needed.
public static AngleFloat UnsignedAngle(Vector3Int v1, Vector3Int v2) {
float denominator = MathF.Sqrt(v1.sqrMagnitude * v2.sqrMagnitude);
if (denominator < Float.epsilon)
return AngleFloat.zero;
float dot = Dot(v1, v2);
float fraction = dot / denominator;
if (float.IsNaN(fraction))
return AngleFloat.Degrees(
fraction); // short cut to returning NaN universally
float cdot = Float.Clamp(fraction, -1.0f, 1.0f);
float r = MathF.Acos(cdot);
return AngleFloat.Radians(r);
}
/// @brief The signed angle between two vectors
/// @param v1 The starting vector
/// @param v2 The ending vector
/// @param axis The axis to rotate around
/// @return The signed angle between the two vectors
public static AngleFloat SignedAngle(Vector3Int v1, Vector3Int v2,
Vector3Int axis) {
// angle in [0,180]
AngleFloat angle = UnsignedAngle(v1, v2);
Vector3Int cross = Cross(v1, v2);
float b = Dot(axis, cross);
float signd = b < 0 ? -1.0F : (b > 0 ? 1.0F : 0.0F);
// angle in [-179,180]
AngleFloat signed_angle = angle * signd;
return signed_angle;
}
}
}
//#endif

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using System;
namespace LinearAlgebra {
public class float16 {
//
// FILE: float16.cpp
// AUTHOR: Rob Tillaart
// VERSION: 0.1.8
// PURPOSE: library for Float16s for Arduino
// URL: http://en.wikipedia.org/wiki/Half-precision_floating-point_format
ushort _value;
public float16() { _value = 0; }
public float16(float f) {
//_value = f32tof16(f);
_value = F32ToF16__(f);
}
public float toFloat() {
return f16tof32(_value);
}
public ushort GetBinary() { return _value; }
public void SetBinary(ushort value) { _value = value; }
//////////////////////////////////////////////////////////
//
// EQUALITIES
//
/*
bool float16::operator ==(const float16 &f) { return (_value == f._value); }
bool float16::operator !=(const float16 &f) { return (_value != f._value); }
bool float16::operator >(const float16 &f) {
if ((_value & 0x8000) && (f._value & 0x8000))
return _value < f._value;
if (_value & 0x8000)
return false;
if (f._value & 0x8000)
return true;
return _value > f._value;
}
bool float16::operator >=(const float16 &f) {
if ((_value & 0x8000) && (f._value & 0x8000))
return _value <= f._value;
if (_value & 0x8000)
return false;
if (f._value & 0x8000)
return true;
return _value >= f._value;
}
bool float16::operator <(const float16 &f) {
if ((_value & 0x8000) && (f._value & 0x8000))
return _value > f._value;
if (_value & 0x8000)
return true;
if (f._value & 0x8000)
return false;
return _value < f._value;
}
bool float16::operator <=(const float16 &f) {
if ((_value & 0x8000) && (f._value & 0x8000))
return _value >= f._value;
if (_value & 0x8000)
return true;
if (f._value & 0x8000)
return false;
return _value <= f._value;
}
//////////////////////////////////////////////////////////
//
// NEGATION
//
float16 float16::operator -() {
float16 f16;
f16.setBinary(_value ^ 0x8000);
return f16;
}
//////////////////////////////////////////////////////////
//
// MATH
//
float16 float16::operator +(const float16 &f) {
return float16(this->toDouble() + f.toDouble());
}
float16 float16::operator -(const float16 &f) {
return float16(this->toDouble() - f.toDouble());
}
float16 float16::operator *(const float16 &f) {
return float16(this->toDouble() * f.toDouble());
}
float16 float16::operator /(const float16 &f) {
return float16(this->toDouble() / f.toDouble());
}
float16 & float16::operator+=(const float16 &f) {
*this = this->toDouble() + f.toDouble();
return *this;
}
float16 & float16::operator-=(const float16 &f) {
*this = this->toDouble() - f.toDouble();
return *this;
}
float16 & float16::operator*=(const float16 &f) {
*this = this->toDouble() * f.toDouble();
return *this;
}
float16 & float16::operator/=(const float16 &f) {
*this = this->toDouble() / f.toDouble();
return *this;
}
//////////////////////////////////////////////////////////
//
// MATH HELPER FUNCTIONS
//
int float16::sign() {
if (_value & 0x8000)
return -1;
if (_value & 0xFFFF)
return 1;
return 0;
}
bool float16::isZero() { return ((_value & 0x7FFF) == 0x0000); }
bool float16::isNaN() {
if ((_value & 0x7C00) != 0x7C00)
return false;
if ((_value & 0x03FF) == 0x0000)
return false;
return true;
}
bool float16::isInf() { return ((_value == 0x7C00) || (_value == 0xFC00)); }
*/
//////////////////////////////////////////////////////////
//
// CORE CONVERSION
//
float f16tof32(ushort _value) {
//ushort sgn;
ushort man;
int exp;
float f;
//Debug.Log($"{_value}");
bool sgn = (_value & 0x8000) > 0;
exp = (_value & 0x7C00) >> 10;
man = (ushort)(_value & 0x03FF);
//Debug.Log($"{sgn} {exp} {man}");
// ZERO
if ((_value & 0x7FFF) == 0) {
return sgn ? -0 : 0;
}
// NAN & INF
if (exp == 0x001F) {
if (man == 0)
return sgn ? float.NegativeInfinity : float.PositiveInfinity; //-INFINITY : INFINITY;
else
return float.NaN; // NAN;
}
// SUBNORMAL/NORMAL
if (exp == 0)
f = 0;
else
f = 1;
// PROCESS MANTISSE
for (int i = 9; i >= 0; i--) {
f *= 2;
if ((man & (1 << i)) != 0)
f = f + 1;
}
//Debug.Log($"{f}");
f = f * (float)Math.Pow(2.0f, exp - 25);
if (exp == 0) {
f = f * (float)Math.Pow(2.0f, -13); // 5.96046447754e-8;
}
//Debug.Log($"{f}");
return sgn ? -f : f;
}
public static uint SingleToInt32Bits(float value) {
byte[] bytes = BitConverter.GetBytes(value);
if (BitConverter.IsLittleEndian)
Array.Reverse(bytes); // If the system is little-endian, reverse the byte order
return BitConverter.ToUInt32(bytes, 0);
}
public ushort F32ToF16__(float f) {
uint t = BitConverter.ToUInt32(BitConverter.GetBytes(f), 0);
ushort man = (ushort)((t & 0x007FFFFF) >> 12);
int exp = (int)((t & 0x7F800000) >> 23);
bool sgn = (t & 0x80000000) != 0;
// handle 0
if ((t & 0x7FFFFFFF) == 0) {
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// denormalized float32 does not fit in float16
if (exp == 0x00) {
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// handle infinity & NAN
if (exp == 0x00FF) {
if (man != 0)
return 0xFE00; // NAN
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
}
// normal numbers
exp = exp - 127 + 15;
// overflow does not fit => INF
if (exp > 30) {
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
}
// subnormal numbers
if (exp < -38) {
return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ?
}
if (exp <= 0) // subnormal
{
man >>= (exp + 14);
// rounding
man++;
man >>= 1;
if (sgn)
return (ushort)(0x8000 | man);
return man;
}
// normal
// TODO rounding
exp <<= 10;
man++;
man >>= 1;
if (sgn)
return (ushort)(0x8000 | exp | man);
return (ushort)(exp | man);
}
//This function is faulty!!!!
ushort f32tof16(float f) {
//uint t = *(uint*)&f;
//uint t = (uint)BitConverter.SingleToInt32Bits(f);
uint t = SingleToInt32Bits(f);
// man bits = 10; but we keep 11 for rounding
ushort man = (ushort)((t & 0x007FFFFF) >> 12);
short exp = (short)((t & 0x7F800000) >> 23);
bool sgn = (t & 0x80000000) != 0;
// handle 0
if ((t & 0x7FFFFFFF) == 0) {
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// denormalized float32 does not fit in float16
if (exp == 0x00) {
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// handle infinity & NAN
if (exp == 0x00FF) {
if (man != 0)
return 0xFE00; // NAN
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
}
// normal numbers
exp = (short)(exp - 127 + 15);
// overflow does not fit => INF
if (exp > 30) {
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
}
// subnormal numbers
if (exp < -38) {
return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ?
}
if (exp <= 0) // subnormal
{
man >>= (exp + 14);
// rounding
man++;
man >>= 1;
if (sgn)
return (ushort)(0x8000 | man);
return man;
}
// normal
// TODO rounding
exp <<= 10;
man++;
man >>= 1;
ushort uexp = (ushort)exp;
if (sgn)
return (ushort)(0x8000 | uexp | man);
return (ushort)(uexp | man);
}
// -- END OF FILE --
}
}

501
LinearAlgebra/test/AngleTest.cs Normal file
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@ -0,0 +1,501 @@
#if !UNITY_5_6_OR_NEWER
using System;
using System.Formats.Asn1;
using NUnit.Framework;
namespace LinearAlgebra.Test {
public class AngleTests {
[SetUp]
public void Setup() {
}
[Test]
public void Construct() {
// Degrees
float angle = 0.0f;
AngleFloat a = AngleFloat.Degrees(angle);
Assert.AreEqual(angle, a.inDegrees);
angle = -180.0f;
a = AngleFloat.Degrees(angle);
Assert.AreEqual(angle, a.inDegrees);
angle = 270.0f;
a = AngleFloat.Degrees(angle);
Assert.AreEqual(-90, a.inDegrees);
angle = -270.0f;
a = AngleFloat.Degrees(angle);
Assert.AreEqual(90, a.inDegrees);
// Radians
angle = 0.0f;
a = AngleFloat.Radians(angle);
Assert.AreEqual(angle, a.inRadians);
angle = (float)-Math.PI;
a = AngleFloat.Radians(angle);
Assert.AreEqual(angle, a.inRadians);
angle = (float)Math.PI * 1.5f;
a = AngleFloat.Radians(angle);
Assert.AreEqual(-Math.PI * 0.5f, a.inRadians, 1.0E-05F);
// Revolutions
angle = 0.0f;
a = AngleFloat.Revolutions(angle);
Assert.AreEqual(angle, a.inRevolutions);
angle = -0.5f;
a = AngleFloat.Revolutions(angle);
Assert.AreEqual(angle, a.inRevolutions);
angle = 0.75f;
a = AngleFloat.Revolutions(angle);
Assert.AreEqual(-0.25f, a.inRevolutions);
}
[Test]
public void Revolutions() {
AngleFloat a;
// Test zero
a = AngleFloat.Revolutions(0.0f);
Assert.AreEqual(0.0f, a.inRevolutions);
// Test positive values within range
a = AngleFloat.Revolutions(0.25f);
Assert.AreEqual(0.25f, a.inRevolutions);
a = AngleFloat.Revolutions(0.5f);
Assert.AreEqual(-0.5f, a.inRevolutions);
// Test negative values within range
a = AngleFloat.Revolutions(-0.25f);
Assert.AreEqual(-0.25f, a.inRevolutions);
a = AngleFloat.Revolutions(-0.5f);
Assert.AreEqual(-0.5f, a.inRevolutions);
// Test values outside range (positive)
a = AngleFloat.Revolutions(1.0f);
Assert.AreEqual(0.0f, a.inRevolutions);
a = AngleFloat.Revolutions(1.25f);
Assert.AreEqual(0.25f, a.inRevolutions);
a = AngleFloat.Revolutions(1.75f);
Assert.AreEqual(-0.25f, a.inRevolutions);
// Test values outside range (negative)
a = AngleFloat.Revolutions(-1.0f);
Assert.AreEqual(0.0f, a.inRevolutions);
a = AngleFloat.Revolutions(-1.25f);
Assert.AreEqual(-0.25f, a.inRevolutions);
a = AngleFloat.Revolutions(-1.75f);
Assert.AreEqual(0.25f, a.inRevolutions);
// Test infinity
a = AngleFloat.Revolutions(float.PositiveInfinity);
Assert.AreEqual(float.PositiveInfinity, a.inRevolutions);
a = AngleFloat.Revolutions(float.NegativeInfinity);
Assert.AreEqual(float.NegativeInfinity, a.inRevolutions);
}
[Test]
public void Equality() {
// Test equality operator
Assert.IsTrue(AngleFloat.Degrees(90) == AngleFloat.Degrees(90), "90 == 90");
Assert.IsFalse(AngleFloat.Degrees(90) == AngleFloat.Degrees(45), "90 == 45");
Assert.IsTrue(AngleFloat.Degrees(0) == AngleFloat.Degrees(0), "0 == 0");
Assert.IsTrue(AngleFloat.Degrees(-180) == AngleFloat.Degrees(-180), "-180 == -180");
// Test inequality operator
Assert.IsTrue(AngleFloat.Degrees(90) != AngleFloat.Degrees(45), "90 != 45");
Assert.IsFalse(AngleFloat.Degrees(90) != AngleFloat.Degrees(90), "90 != 90");
Assert.IsTrue(AngleFloat.Degrees(0) != AngleFloat.Degrees(1), "0 != 1");
// Test greater than operator
Assert.IsTrue(AngleFloat.Degrees(90) > AngleFloat.Degrees(45), "90 > 45");
Assert.IsFalse(AngleFloat.Degrees(45) > AngleFloat.Degrees(90), "45 > 90");
Assert.IsFalse(AngleFloat.Degrees(90) > AngleFloat.Degrees(90), "90 > 90");
// Test greater than or equal operator
Assert.IsTrue(AngleFloat.Degrees(90) >= AngleFloat.Degrees(45), "90 >= 45");
Assert.IsTrue(AngleFloat.Degrees(90) >= AngleFloat.Degrees(90), "90 >= 90");
Assert.IsFalse(AngleFloat.Degrees(45) >= AngleFloat.Degrees(90), "45 >= 90");
// Test less than operator
Assert.IsTrue(AngleFloat.Degrees(45) < AngleFloat.Degrees(90), "45 < 90");
Assert.IsFalse(AngleFloat.Degrees(90) < AngleFloat.Degrees(45), "90 < 45");
Assert.IsFalse(AngleFloat.Degrees(90) < AngleFloat.Degrees(90), "90 < 90");
// Test less than or equal operator
Assert.IsTrue(AngleFloat.Degrees(45) <= AngleFloat.Degrees(90), "45 <= 90");
Assert.IsTrue(AngleFloat.Degrees(90) <= AngleFloat.Degrees(90), "90 <= 90");
Assert.IsFalse(AngleFloat.Degrees(90) <= AngleFloat.Degrees(45), "90 <= 45");
}
// [Test]
// public void Normalize() {
// float r = 0;
// r = Angle.Normalize(90);
// Assert.AreEqual(r, 90, "Normalize 90");
// r = Angle.Normalize(-90);
// Assert.AreEqual(r, -90, "Normalize -90");
// r = Angle.Normalize(270);
// Assert.AreEqual(r, -90, "Normalize 270");
// r = Angle.Normalize(270 + 360);
// Assert.AreEqual(r, -90, "Normalize 270+360");
// r = Angle.Normalize(-270);
// Assert.AreEqual(r, 90, "Normalize -270");
// r = Angle.Normalize(-270 - 360);
// Assert.AreEqual(r, 90, "Normalize -270-360");
// r = Angle.Normalize(0);
// Assert.AreEqual(r, 0, "Normalize 0");
// r = Angle.Normalize(float.PositiveInfinity);
// Assert.AreEqual(r, float.PositiveInfinity, "Normalize INFINITY");
// r = Angle.Normalize(float.NegativeInfinity);
// Assert.AreEqual(r, float.NegativeInfinity, "Normalize INFINITY");
// }
[Test]
public void Clamp() {
float r = 0;
r = AngleFloat.Clamp(AngleFloat.Degrees(1), AngleFloat.Degrees(0), AngleFloat.Degrees(2));
Assert.AreEqual(1, r, "Clamp 1 0 2");
r = AngleFloat.Clamp(AngleFloat.Degrees(-1), AngleFloat.Degrees(0), AngleFloat.Degrees(2));
Assert.AreEqual(0, r, "Clamp -1 0 2");
r = AngleFloat.Clamp(AngleFloat.Degrees(3), AngleFloat.Degrees(0), AngleFloat.Degrees(2));
Assert.AreEqual(2, r, "Clamp 3 0 2");
r = AngleFloat.Clamp(AngleFloat.Degrees(1), AngleFloat.Degrees(0), AngleFloat.Degrees(0));
Assert.AreEqual(0, r, "Clamp 1 0 0");
r = AngleFloat.Clamp(AngleFloat.Degrees(0), AngleFloat.Degrees(0), AngleFloat.Degrees(0));
Assert.AreEqual(0, r, "Clamp 0 0 0");
r = AngleFloat.Clamp(AngleFloat.Degrees(0), AngleFloat.Degrees(1), AngleFloat.Degrees(-1));
Assert.AreEqual(1, r, "Clamp 0 1 -1");
r = AngleFloat.Clamp(AngleFloat.Degrees(1), AngleFloat.Degrees(0), AngleFloat.Degrees(float.PositiveInfinity));
Assert.AreEqual(1, r, "Clamp 1 0 INFINITY");
r = AngleFloat.Clamp(AngleFloat.Degrees(1), AngleFloat.Degrees(float.NegativeInfinity), AngleFloat.Degrees(1));
Assert.AreEqual(1, r, "Clamp 1 -INFINITY 1");
}
[Test]
public void Cos() {
// Test zero
Assert.AreEqual(1.0f, AngleFloat.Cos(AngleFloat.Degrees(0)), 1.0E-05F, "Cos(0°)");
// Test 90 degrees
Assert.AreEqual(0.0f, AngleFloat.Cos(AngleFloat.Degrees(90)), 1.0E-05F, "Cos(90°)");
// Test 180 degrees
Assert.AreEqual(-1.0f, AngleFloat.Cos(AngleFloat.Degrees(180)), 1.0E-05F, "Cos(180°)");
// Test 270 degrees
Assert.AreEqual(0.0f, AngleFloat.Cos(AngleFloat.Degrees(270)), 1.0E-05F, "Cos(270°)");
// Test 45 degrees
Assert.AreEqual(MathF.Sqrt(2) / 2, AngleFloat.Cos(AngleFloat.Degrees(45)), 1.0E-05F, "Cos(45°)");
// Test negative angle
Assert.AreEqual(1.0f, AngleFloat.Cos(AngleFloat.Degrees(-360)), 1.0E-05F, "Cos(-360°)");
// Test using radians
Assert.AreEqual(1.0f, AngleFloat.Cos(AngleFloat.Radians(0)), 1.0E-05F, "Cos(0 rad)");
Assert.AreEqual(0.0f, AngleFloat.Cos(AngleFloat.Radians((float)Math.PI / 2)), 1.0E-05F, "Cos(π/2)");
Assert.AreEqual(-1.0f, AngleFloat.Cos(AngleFloat.Radians((float)Math.PI)), 1.0E-05F, "Cos(π)");
}
[Test]
public void Sin() {
// Test zero
Assert.AreEqual(0.0f, AngleFloat.Sin(AngleFloat.Degrees(0)), 1.0E-05F, "Sin(0°)");
// Test 90 degrees
Assert.AreEqual(1.0f, AngleFloat.Sin(AngleFloat.Degrees(90)), 1.0E-05F, "Sin(90°)");
// Test 180 degrees
Assert.AreEqual(0.0f, AngleFloat.Sin(AngleFloat.Degrees(180)), 1.0E-05F, "Sin(180°)");
// Test 270 degrees
Assert.AreEqual(-1.0f, AngleFloat.Sin(AngleFloat.Degrees(270)), 1.0E-05F, "Sin(270°)");
// Test 45 degrees
Assert.AreEqual(MathF.Sqrt(2) / 2, AngleFloat.Sin(AngleFloat.Degrees(45)), 1.0E-05F, "Sin(45°)");
// Test negative angle
Assert.AreEqual(0.0f, AngleFloat.Sin(AngleFloat.Degrees(-360)), 1.0E-05F, "Sin(-360°)");
// Test using radians
Assert.AreEqual(0.0f, AngleFloat.Sin(AngleFloat.Radians(0)), 1.0E-05F, "Sin(0 rad)");
Assert.AreEqual(1.0f, AngleFloat.Sin(AngleFloat.Radians((float)Math.PI / 2)), 1.0E-05F, "Sin(π/2)");
Assert.AreEqual(0.0f, AngleFloat.Sin(AngleFloat.Radians((float)Math.PI)), 1.0E-05F, "Sin(π)");
}
[Test]
public void Tan() {
// Test zero
Assert.AreEqual(0.0f, AngleFloat.Tan(AngleFloat.Degrees(0)), 1.0E-05F, "Tan(0°)");
// Test 45 degrees
Assert.AreEqual(1.0f, AngleFloat.Tan(AngleFloat.Degrees(45)), 1.0E-05F, "Tan(45°)");
// Test -45 degrees
Assert.AreEqual(-1.0f, AngleFloat.Tan(AngleFloat.Degrees(-45)), 1.0E-05F, "Tan(-45°)");
// Test using radians
Assert.AreEqual(0.0f, AngleFloat.Tan(AngleFloat.Radians(0)), 1.0E-05F, "Tan(0 rad)");
Assert.AreEqual(1.0f, AngleFloat.Tan(AngleFloat.Radians((float)Math.PI / 4)), 1.0E-05F, "Tan(π/4)");
}
[Test]
public void Acos() {
// Test 1 (0 degrees)
Assert.AreEqual(0.0f, AngleFloat.Acos(1.0f).inRadians, 1.0E-05F, "Acos(1)");
// Test 0 (90 degrees or π/2 radians)
Assert.AreEqual((float)Math.PI / 2, AngleFloat.Acos(0.0f).inRadians, 1.0E-05F, "Acos(0)");
// Test -1 (-180 degrees or π radians)
Assert.AreEqual((float)-Math.PI, AngleFloat.Acos(-1.0f).inRadians, 1.0E-05F, "Acos(-1)");
// Test 0.5 (60 degrees or π/3 radians)
Assert.AreEqual((float)Math.PI / 3, AngleFloat.Acos(0.5f).inRadians, 1.0E-05F, "Acos(0.5)");
// Test sqrt(2)/2 (45 degrees or π/4 radians)
Assert.AreEqual((float)Math.PI / 4, AngleFloat.Acos(MathF.Sqrt(2) / 2).inRadians, 1.0E-05F, "Acos(√2/2)");
}
[Test]
public void Asin() {
// Test 0 (0 degrees)
Assert.AreEqual(0.0f, AngleFloat.Asin(0.0f).inRadians, 1.0E-05F, "Asin(0)");
// Test 1 (90 degrees or π/2 radians)
Assert.AreEqual((float)Math.PI / 2, AngleFloat.Asin(1.0f).inRadians, 1.0E-05F, "Asin(1)");
// Test -1 (-90 degrees or -π/2 radians)
Assert.AreEqual(-(float)Math.PI / 2, AngleFloat.Asin(-1.0f).inRadians, 1.0E-05F, "Asin(-1)");
// Test 0.5 (30 degrees or π/6 radians)
Assert.AreEqual((float)Math.PI / 6, AngleFloat.Asin(0.5f).inRadians, 1.0E-05F, "Asin(0.5)");
// Test sqrt(2)/2 (45 degrees or π/4 radians)
Assert.AreEqual((float)Math.PI / 4, AngleFloat.Asin(MathF.Sqrt(2) / 2).inRadians, 1.0E-05F, "Asin(√2/2)");
}
[Test]
public void Atan() {
// Test zero
Assert.AreEqual(0.0f, AngleFloat.Atan(0.0f).inRadians, 1.0E-05F, "Atan(0)");
// Test 1 (45 degrees or π/4 radians)
Assert.AreEqual((float)Math.PI / 4, AngleFloat.Atan(1.0f).inRadians, 1.0E-05F, "Atan(1)");
// Test -1 (-45 degrees or -π/4 radians)
Assert.AreEqual(-(float)Math.PI / 4, AngleFloat.Atan(-1.0f).inRadians, 1.0E-05F, "Atan(-1)");
// Test sqrt(3) (60 degrees or π/3 radians)
Assert.AreEqual((float)Math.PI / 3, AngleFloat.Atan(MathF.Sqrt(3)).inRadians, 1.0E-05F, "Atan(√3)");
// Test 1/sqrt(3) (30 degrees or π/6 radians)
Assert.AreEqual((float)Math.PI / 6, AngleFloat.Atan(1.0f / MathF.Sqrt(3)).inRadians, 1.0E-05F, "Atan(1/√3)");
// Test positive infinity
Assert.AreEqual((float)Math.PI / 2, AngleFloat.Atan(float.PositiveInfinity).inRadians, 1.0E-05F, "Atan(+∞)");
// Test negative infinity
Assert.AreEqual(-(float)Math.PI / 2, AngleFloat.Atan(float.NegativeInfinity).inRadians, 1.0E-05F, "Atan(-∞)");
}
[Test]
public void Atan2() {
// Test basic quadrant I
Assert.AreEqual((float)Math.PI / 4, AngleFloat.Atan2(1.0f, 1.0f).inRadians, 1.0E-05F, "Atan2(1, 1)");
// Test quadrant II
Assert.AreEqual(3 * (float)Math.PI / 4, AngleFloat.Atan2(1.0f, -1.0f).inRadians, 1.0E-05F, "Atan2(1, -1)");
// Test quadrant III
Assert.AreEqual(-(float)Math.PI * 0.75f, AngleFloat.Atan2(-1.0f, -1.0f).inRadians, 1.0E-05F, "Atan2(-1, -1)");
// Test quadrant IV
Assert.AreEqual(-(float)Math.PI / 4, AngleFloat.Atan2(-1.0f, 1.0f).inRadians, 1.0E-05F, "Atan2(-1, 1)");
// Test positive x-axis
Assert.AreEqual(0.0f, AngleFloat.Atan2(0.0f, 1.0f).inRadians, 1.0E-05F, "Atan2(0, 1)");
// Test positive y-axis
Assert.AreEqual((float)Math.PI / 2, AngleFloat.Atan2(1.0f, 0.0f).inRadians, 1.0E-05F, "Atan2(1, 0)");
// Test negative y-axis
Assert.AreEqual(-(float)Math.PI / 2, AngleFloat.Atan2(-1.0f, 0.0f).inRadians, 1.0E-05F, "Atan2(-1, 0)");
// Test origin
Assert.AreEqual(0.0f, AngleFloat.Atan2(0.0f, 0.0f).inRadians, 1.0E-05F, "Atan2(0, 0)");
// Test with different magnitudes
Assert.AreEqual((float)Math.PI / 3, AngleFloat.Atan2(MathF.Sqrt(3), 1.0f).inRadians, 1.0E-05F, "Atan2(√3, 1)");
// Test negative x-axis
Assert.AreEqual((float)-Math.PI, AngleFloat.Atan2(0.0f, -1.0f).inRadians, 1.0E-05F, "Atan2(0, -1)");
}
[Test]
public void Multiplication() {
AngleFloat r = AngleFloat.zero;
// Angle * float
r = AngleFloat.Degrees(90) * 2;
Assert.AreEqual(-180, r.inDegrees, "Multiply 90 * 2");
r = AngleFloat.Degrees(45) * 0.5f;
Assert.AreEqual(22.5f, r.inDegrees, "Multiply 45 * 0.5");
r = AngleFloat.Degrees(90) * 0;
Assert.AreEqual(0, r.inDegrees, "Multiply 90 * 0");
r = AngleFloat.Degrees(-90) * 2;
Assert.AreEqual(-180, r.inDegrees, "Multiply -90 * 2");
r = AngleFloat.Degrees(270) * 2;
Assert.AreEqual(-180, r.inDegrees, "Multiply 270 * 2 (normalized)");
// float * Angle
r = 2 * AngleFloat.Degrees(90);
Assert.AreEqual(-180, r.inDegrees, "Multiply 2 * 90");
r = 0.5f * AngleFloat.Degrees(45);
Assert.AreEqual(22.5, r.inDegrees, "Multiply 0.5 * 45");
r = 0 * AngleFloat.Degrees(90);
Assert.AreEqual(0, r.inDegrees, "Multiply 0 * 90");
r = 2 * AngleFloat.Degrees(-90);
Assert.AreEqual(-180, r.inDegrees, "Multiply 2 * -90");
// Negative factor
r = AngleFloat.Degrees(90) * -1;
Assert.AreEqual(-90, r.inDegrees, "Multiply 90 * -1");
r = -1 * AngleFloat.Degrees(90);
Assert.AreEqual(-90, r.inDegrees, "Multiply -1 * 90");
}
[Test]
public void MoveTowards() {
AngleFloat r = AngleFloat.zero;
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), 30);
Assert.AreEqual(30, r.inDegrees, "MoveTowards 0 90 30");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), 90);
Assert.AreEqual(90, r.inDegrees, "MoveTowards 0 90 90");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), 180);
Assert.AreEqual(90, r.inDegrees, "MoveTowards 0 90 180");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), 270);
Assert.AreEqual(90, r.inDegrees, "MoveTowrads 0 90 270");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), -30);
Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 90 -30");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(-90), -30);
Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 -90 -30");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(-90), -90);
Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 -90 -90");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(-90), -180);
Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 -90 -180");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(-90), -270);
Assert.AreEqual(0, r.inDegrees, "MoveTowrads 0 -90 -270");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), 0);
Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 90 0");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(0), 0);
Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 0 0");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(0), 30);
Assert.AreEqual(0, r.inDegrees, "MoveTowrads 0 0 30");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), float.PositiveInfinity);
Assert.AreEqual(90, r.inDegrees, "MoveTowards 0 90 INFINITY");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(float.PositiveInfinity), 30);
Assert.AreEqual(30, r.inDegrees, "MoveTowrads 0 INFINITY 30");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(-90), float.NegativeInfinity);
Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 -90 -INFINITY");
r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(float.NegativeInfinity), -30);
Assert.AreEqual(0, r.inDegrees, "MoveTowrads 0 -INFINITY -30");
}
[Test]
public void Difference() {
float r = 0;
r = Angles.Difference(0, 90);
Assert.AreEqual(90, r, "Difference 0 90");
r = Angles.Difference(0, -90);
Assert.AreEqual(-90, r, "Difference 0 -90");
r = Angles.Difference(0, 270);
Assert.AreEqual(-90, r, "Difference 0 270");
r = Angles.Difference(0, -270);
Assert.AreEqual(90, r, "Difference 0 -270");
r = Angles.Difference(90, 0);
Assert.AreEqual(-90, r, "Difference 90 0");
r = Angles.Difference(-90, 0);
Assert.AreEqual(90, r, "Difference -90 0");
r = Angles.Difference(0, 0);
Assert.AreEqual(0, r, "Difference 0 0");
r = Angles.Difference(90, 90);
Assert.AreEqual(0, r, "Difference 90 90");
r = Angles.Difference(0, float.PositiveInfinity);
Assert.AreEqual(float.PositiveInfinity, r, "Difference 0 INFINITY");
r = Angles.Difference(0, float.NegativeInfinity);
Assert.AreEqual(float.NegativeInfinity, r, "Difference 0 -INFINITY");
r = Angles.Difference(float.NegativeInfinity, float.PositiveInfinity);
Assert.AreEqual(float.PositiveInfinity, r, "Difference -INFINITY INFINITY");
}
}
}
#endif

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#if !UNITY_5_6_OR_NEWER
using System;
using NUnit.Framework;
namespace LinearAlgebra.Test {
public class DirectionTest {
[Test]
public void RadiansForward() {
Direction d = Direction.Radians(0, 0);
Assert.AreEqual(0, d.horizontal.inDegrees, 0.0001f);
Assert.AreEqual(0, d.vertical.inDegrees, 0.0001f);
}
[Test]
public void RadiansUp() {
Direction d = Direction.Radians(0, (float)Math.PI / 2);
Assert.AreEqual(0, d.horizontal.inDegrees, 0.0001f);
Assert.AreEqual(90, d.vertical.inDegrees, 0.0001f);
}
[Test]
public void RadiansDown() {
Direction d = Direction.Radians(0, -(float)Math.PI / 2);
Assert.AreEqual(0, d.horizontal.inDegrees, 0.0001f);
Assert.AreEqual(-90, d.vertical.inDegrees, 0.0001f);
}
[Test]
public void RadiansArbitrary() {
Direction d = Direction.Radians((float)Math.PI / 4, (float)Math.PI / 6);
Assert.AreEqual(45, d.horizontal.inDegrees, 0.0001f);
Assert.AreEqual(30, d.vertical.inDegrees, 0.0001f);
}
[Test]
public void DegreesNormalize1() {
Direction d = Direction.Degrees(112, 91);
Assert.AreEqual(-68, d.horizontal.inDegrees, 0.0001f);
Assert.AreEqual(89, d.vertical.inDegrees, 0.0001f);
}
[Test]
public void RadiansEquivalentToDegreesConversion() {
Direction d1 = Direction.Radians((float)Math.PI / 3, (float)Math.PI / 4);
Direction d2 = Direction.Degrees(60, 45);
Assert.AreEqual(d1.horizontal.inDegrees, d2.horizontal.inDegrees, 0.0001f);
Assert.AreEqual(d1.vertical.inDegrees, d2.vertical.inDegrees, 0.0001f);
}
[Test]
public void ToVector3Forward() {
Direction d = Direction.forward;
Vector3Float v = d.ToVector3();
Assert.AreEqual(0, v.horizontal, 0.0001f);
Assert.AreEqual(0, v.vertical, 0.0001f);
Assert.AreEqual(1, v.depth, 0.0001f);
}
[Test]
public void ToVector3Up() {
Direction d = Direction.up;
Vector3Float v = d.ToVector3();
Assert.AreEqual(0, v.horizontal, 0.0001f);
Assert.AreEqual(1, v.vertical, 0.0001f);
Assert.AreEqual(0, v.depth, 0.0001f);
}
[Test]
public void ToVector3Down() {
Direction d = Direction.down;
Vector3Float v = d.ToVector3();
Assert.AreEqual(0, v.horizontal, 0.0001f);
Assert.AreEqual(-1, v.vertical, 0.0001f);
Assert.AreEqual(0, v.depth, 0.0001f);
}
[Test]
public void ToVector3Left() {
Direction d = Direction.left;
Vector3Float v = d.ToVector3();
Assert.AreEqual(-1, v.horizontal, 0.0001f);
Assert.AreEqual(0, v.vertical, 0.0001f);
Assert.AreEqual(0, v.depth, 0.0001f);
}
[Test]
public void FromVector3Forward() {
Vector3Float v = new(0, 0, 1);
Direction d = Direction.FromVector3(v);
Assert.AreEqual(0, d.horizontal.inDegrees, 0.0001f);
Assert.AreEqual(0, d.vertical.inDegrees, 0.0001f);
}
[Test]
public void ToVector3AndBack() {
Direction d1 = Direction.Degrees(45, 30);
Vector3Float v = d1.ToVector3();
Direction d2 = Direction.FromVector3(v);
Assert.AreEqual(d1.horizontal.inDegrees, d2.horizontal.inDegrees, 0.0001f);
Assert.AreEqual(d1.vertical.inDegrees, d2.vertical.inDegrees, 0.0001f);
}
[Test]
public void ToVector3AndBack2() {
Direction d1 = Direction.Degrees(-135, 85);
Vector3Float v = d1.ToVector3();
Direction d2 = Direction.FromVector3(v);
Assert.AreEqual(d1.horizontal.inDegrees, d2.horizontal.inDegrees, 0.0001f);
Assert.AreEqual(d1.vertical.inDegrees, d2.vertical.inDegrees, 0.0001f);
}
[Test]
public void Compare() {
Direction d1 = Direction.Degrees(45, 135);
Direction d2 = new(AngleFloat.Degrees(45), AngleFloat.Degrees(135));
bool r;
r = d1 == d2;
Assert.True(r);
Assert.AreEqual(d1, d2);
}
[Test]
public void NotEqualWithDifferentHorizontal() {
Direction d1 = Direction.Degrees(45, 30);
Direction d2 = Direction.Degrees(90, 30);
Assert.True(d1 != d2);
}
[Test]
public void NotEqualWithDifferentVertical() {
Direction d1 = Direction.Degrees(45, 30);
Direction d2 = Direction.Degrees(45, 60);
Assert.True(d1 != d2);
}
[Test]
public void NotEqualWithDifferentBoth() {
Direction d1 = Direction.Degrees(45, 30);
Direction d2 = Direction.Degrees(90, 60);
Assert.True(d1 != d2);
}
[Test]
public void NotEqualWithSameValues() {
Direction d1 = Direction.Degrees(45, 30);
Direction d2 = Direction.Degrees(45, 30);
Assert.False(d1 != d2);
}
[Test]
public void EqualsWithSameValues() {
Direction d1 = Direction.Degrees(45, 30);
Direction d2 = Direction.Degrees(45, 30);
Assert.True(d1.Equals(d2));
}
[Test]
public void EqualsWithDifferentHorizontal() {
Direction d1 = Direction.Degrees(45, 30);
Direction d2 = Direction.Degrees(90, 30);
Assert.False(d1.Equals(d2));
}
[Test]
public void EqualsWithDifferentVertical() {
Direction d1 = Direction.Degrees(45, 30);
Direction d2 = Direction.Degrees(45, 60);
Assert.False(d1.Equals(d2));
}
[Test]
public void EqualsWithDifferentBoth() {
Direction d1 = Direction.Degrees(45, 30);
Direction d2 = Direction.Degrees(90, 60);
Assert.False(d1.Equals(d2));
}
[Test]
public void EqualsWithNonDirectionObject() {
Direction d = Direction.Degrees(45, 30);
Assert.False(d.Equals("not a direction"));
}
[Test]
public void EqualsWithNull() {
Direction d = Direction.Degrees(45, 30);
Assert.False(d.Equals(null));
}
[Test]
public void EqualsWithZeros() {
Direction d1 = Direction.forward;
Direction d2 = Direction.Degrees(0, 0);
Assert.True(d1.Equals(d2));
}
[Test]
public void HashCode() {
Direction d1 = Direction.Degrees(45, 30);
Direction d2 = Direction.Degrees(45, 30);
Assert.AreEqual(d1.GetHashCode(), d2.GetHashCode());
d1 = Direction.Degrees(45, 30);
d2 = Direction.Degrees(90, 30);
Assert.AreNotEqual(d1.GetHashCode(), d2.GetHashCode());
d1 = Direction.Degrees(45, 30);
d2 = Direction.Degrees(45, 60);
Assert.AreNotEqual(d1.GetHashCode(), d2.GetHashCode());
Direction d = Direction.Degrees(45, 30);
int hash1 = d.GetHashCode();
int hash2 = d.GetHashCode();
Assert.AreEqual(hash1, hash2);
d1 = Direction.forward;
d2 = Direction.Degrees(0, 0);
Assert.AreEqual(d1.GetHashCode(), d2.GetHashCode());
}
};
}
#endif

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LinearAlgebra/test/LinearAlgebra_Test.csproj Normal file
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<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net8.0</TargetFramework>
<IsPackable>false</IsPackable>
<IsTestProject>true</IsTestProject>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.13.0" />
<PackageReference Include="NUnit" Version="3.13.2" />
<PackageReference Include="NUnit3TestAdapter" Version="3.17.0" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\src\LinearAlgebra.csproj" />
</ItemGroup>
</Project>

185
LinearAlgebra/test/QuaternionTest.cs Normal file
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#if !UNITY_5_6_OR_NEWER
using NUnit.Framework;
namespace LinearAlgebra.Test {
public class QuaternionTest {
[SetUp]
public void Setup() {
}
[Test]
public void Normalize() {
Quaternion q1 = new(0, 0, 0, 1);
Quaternion r = Quaternion.identity;
r = q1.normalized;
Assert.AreEqual(r, q1, "q.normalized 0 0 0 1");
r = Quaternion.Normalize(q1);
Assert.AreEqual(r, q1, "q.normalized 0 0 0 1");
}
[Test]
public void ToAngles() {
Quaternion q1 = new(0, 0, 0, 1);
Vector3Float v = Vector3Float.zero;
v = Quaternion.ToAngles(q1);
Assert.AreEqual(v, new Vector3Float(0, 0, 0), "ToAngles 0 0 0 1");
q1 = new(1, 0, 0, 0);
v = Quaternion.ToAngles(q1);
Assert.AreEqual(0, v.horizontal, "1 0 0 0 H");
Assert.AreEqual(180, v.vertical, "1 0 0 0 V");
Assert.AreEqual(180, v.depth, "1 0 0 0 D");
}
[Test]
public void Multiplication() {
Quaternion q1 = new(0, 0, 0, 1);
Quaternion q2 = new(1, 0, 0, 0);
Quaternion r;
r = q1 * q2;
Assert.AreEqual(r, new Quaternion(1, 0, 0, 0), "0 0 0 1 * 1 0 0 0 ");
}
[Test]
public void MultiplicationVector() {
Quaternion q1 = new(0, 0, 0, 1);
Vector3Float v1 = new(0, 1, 0);
Vector3Float r;
r = q1 * v1;
Assert.AreEqual(r, new Vector3Float(0, 1, 0), "0 0 0 1 * Vector 0 1 0");
q1 = new(1, 0, 0, 0);
r = q1 * v1;
Assert.AreEqual(r, new Vector3Float(0, -1, 0), "1 0 0 0 * Vector 0 1 0");
}
[Test]
public void Equality() {
Quaternion q1 = new(0, 0, 0, 1);
Quaternion q2 = new(1, 0, 0, 0);
Assert.AreNotEqual(q1, q2, "0 0 0 1 == 1 0 0 0");
q2 = new(0, 0, 0, 1);
Assert.AreEqual(q1, q2, "0 0 0 1 == 1 0 0 0");
}
[Test, Ignore("ToDo")]
public void Inverse() { }
[Test, Ignore("ToDo")]
public void LookRotation() { }
[Test, Ignore("ToDo")]
public void FromToRotation() { }
[Test, Ignore("ToDo")]
public void RotateTowards() { }
[Test, Ignore("ToDo")]
public void AngleAxis() { }
[Test, Ignore("ToDo")]
public void Angle() { }
[Test, Ignore("ToDo")]
public void Slerp() { }
[Test, Ignore("ToDo")]
public void SlerpUnclamped() { }
[Test]
public void Euler() {
Vector3Float v1 = new(0, 0, 0);
Quaternion q;
q = Quaternion.Euler(v1);
Assert.AreEqual(q, Quaternion.identity, "Euler Vector 0 0 0");
q = Quaternion.Euler(0, 0, 0);
Assert.AreEqual(q, Quaternion.identity, "Euler 0 0 0");
v1 = new(90, 90, -90);
q = Quaternion.Euler(v1);
Assert.AreEqual(q, new Quaternion(0, 0.707106709F, -0.707106709F, 0), "Euler Vector 90 90 -90");
q = Quaternion.Euler(90, 90, -90);
Assert.AreEqual(q, new Quaternion(0, 0.707106709F, -0.707106709F, 0), "Euler 90 90 -90");
}
[Test]
public void EulerToAngles() {
Vector3Float v;
Quaternion q;
Quaternion r;
//v = new(0, 0, 0);
q = Quaternion.Euler(0, 0 , 0);
v = Quaternion.ToAngles(q);
r = Quaternion.Euler(v);
Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f, "0 0 0");
q = Quaternion.Euler(-45, -30, -15);
v = Quaternion.ToAngles(q);
r = Quaternion.Euler(v);
Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f, "-45, -30, -15");
// Gimball lock
// q = Quaternion.Euler(90, 90, -90);
// v = Quaternion.ToAngles(q);
// r = Quaternion.Euler(v);
// Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f, "0 0 0");
}
[Test]
public void GetAngleAround() {
Vector3Float v1 = new(0, 1, 0);
Quaternion q1 = new(0, 0, 0, 1);
float f = Quaternion.GetAngleAround(v1, q1);
Assert.AreEqual(f, 0, "GetAngleAround 0 1 0 , 0 0 0 1");
q1 = new(0, 0.707106709F, -0.707106709F, 0);
f = Quaternion.GetAngleAround(v1, q1);
Assert.AreEqual(f, 180, "GetAngleAround 0 1 0 , 0 0.7 -0.7 0");
v1 = new(0, 0, 0);
f = Quaternion.GetAngleAround(v1, q1);
Assert.IsTrue(float.IsNaN(f), "GetAngleAround 0 0 0 , 0 0.7 -0.7 0");
}
[Test]
public void GetRotationAround() {
Vector3Float v1 = new(0, 1, 0);
Quaternion q1 = new(0, 0, 0, 1);
Quaternion q = Quaternion.GetRotationAround(v1, q1);
Assert.AreEqual(q, new Quaternion(0, 0, 0, 1), "GetRotationAround 0 1 0 , 0 0 0 1");
q1 = new(0, 0.707106709F, -0.707106709F, 0);
q = Quaternion.GetRotationAround(v1, q1);
Assert.AreEqual(q, new Quaternion(0, 1, 0, 0), "GetRotationAround 0 1 0 , 0 0.7 -0.7 0");
v1 = new(0, 0, 0);
q = Quaternion.GetRotationAround(v1, q1);
bool r = float.IsNaN(q.x) && float.IsNaN(q.y) && float.IsNaN(q.z) && float.IsNaN(q.w);
Assert.IsTrue(r, "GetRotationAround 0 0 0 , 0 0.7 -0.7 0");
}
[Test, Ignore("ToDo")]
public void GetSwingTwist() { }
[Test, Ignore("ToDo")]
public void Dot() { }
}
}
#endif

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//#if !UNITY_5_6_OR_NEWER
using System;
using System.Collections.Generic;
using NUnit.Framework;
namespace LinearAlgebra.Test {
public class SphericalTest {
[SetUp]
public void Setup() {
}
[Test]
public void FromVector3() {
#if UNITY_5_6_OR_NEWER
UnityEngine.Vector3 v = new(0, 0, 1);
#else
Vector3Float v = new(0, 0, 1);
#endif
Spherical s = Spherical.FromVector3(v);
Assert.AreEqual(1.0f, s.distance, "s.distance 0 0 1");
Assert.AreEqual(0.0f, s.direction.horizontal.inDegrees, "s.hor 0 0 1");
Assert.AreEqual(0.0f, s.direction.vertical.inDegrees, 1.0E-05F, "s.vert 0 0 1");
v = new(0, 1, 0);
s = Spherical.FromVector3(v);
Assert.AreEqual(1.0f, s.distance, "s.distance 0 1 0");
Assert.AreEqual(0.0f, s.direction.horizontal.inDegrees, "s.hor 0 1 0");
Assert.AreEqual(90.0f, s.direction.vertical.inDegrees, "s.vert 0 1 0");
v = new(1, 0, 0);
s = Spherical.FromVector3(v);
Assert.AreEqual(1.0f, s.distance, "s.distance 1 0 0");
Assert.AreEqual(90.0f, s.direction.horizontal.inDegrees, "s.hor 1 0 0");
Assert.AreEqual(0.0f, s.direction.vertical.inDegrees, 1.0E-05F, "s.vert 1 0 0");
}
[Test]
public void Addition() {
Spherical v1 = Spherical.Degrees(1, 45, 0);
Spherical v2 = Spherical.zero;
Spherical r = Spherical.zero;
r = v1 + v2;
Assert.AreEqual(v1.distance, r.distance, 1.0E-05F, "Addition(0,0,0)");
r = v1;
r += v2;
Assert.AreEqual(v1.distance, r.distance, 1.0E-05F, "Addition(0,0,0)");
v2 = Spherical.Degrees(1, 0, 90);
r = v1 + v2;
Assert.AreEqual(Math.Sqrt(2), r.distance, 1.0E-05F, "Addition(1 0 90)");
Assert.AreEqual(45.0f, r.direction.horizontal.inDegrees, 1e-5f, "Addition(1 0 90)");
Assert.AreEqual(45.0f, r.direction.vertical.inDegrees, 1.0E-05F, "Addition(1 0 90)");
}
[Test]
public void Average2_IdenticalVectors() {
Direction dir = Direction.Radians(MathF.PI / 4f, MathF.PI / 6f);
Spherical v = new(2.5f, dir);
Spherical avg = Spherical.Average(v, v);
Assert.AreEqual(2.5f, avg.distance, 1e-5f);
Assert.AreEqual(dir.horizontal, avg.direction.horizontal);
Assert.AreEqual(dir.vertical, avg.direction.vertical);
}
[Test]
public void Average2_OppositeUnitVectors() {
// Two opposite vectors: same distance, horizontal opposite (pi apart), same vertical
Spherical v1 = Spherical.Radians(1f, 0f, 0f);
Spherical v2 = Spherical.Radians(1f, MathF.PI, 0f);
Spherical avg = Spherical.Average(v1, v2);
Assert.AreEqual(0f, avg.distance, 1e-4f);
// When distance is zero, angles may be undefined; allow any angle but ensure near-zero magnitude
}
[Test]
public void Average2_WeightedByDistance() {
// Two vectors same direction but different distances -> weighted average distance
Direction dir = Direction.Radians(MathF.PI / 3f, MathF.PI / 4f);
Spherical a = new(1f, dir);
Spherical b = new(3f, dir);
Spherical avg = Spherical.Average(a, b);
// average distance should be (1+3)/2 = 2
Assert.AreEqual(2f, avg.distance, 1e-5f);
Assert.AreEqual(dir.horizontal.inRadians, avg.direction.horizontal.inRadians, 1e-5f);
Assert.AreEqual(dir.vertical.inRadians, avg.direction.vertical.inRadians, 1e-5f);
}
[Test]
public void Average2_OppositeButNotExact_NotZero() {
// Nearly opposite but not exact; expect a valid averaged direction and averaged distance
Direction d1 = Direction.Radians(0f, 0f);
Direction d2 = Direction.Radians(MathF.PI - 1e-3f, 0.0f); // slight offset
Spherical v1 = new(2.0f, d1);
Spherical v2 = new(4.0f, d2);
Spherical avg = Spherical.Average(v1, v2);
// Distance is arithmetic mean
Assert.AreEqual(3.0f, avg.distance, 1e-5f);
// Averaged azimuth should be near +pi/2 or -pi/2? we can check it's not NaN and unit-vector properties hold
float ux = MathF.Cos(avg.direction.horizontal.inRadians) * MathF.Cos(avg.direction.vertical.inRadians);
float uy = MathF.Sin(avg.direction.horizontal.inRadians) * MathF.Cos(avg.direction.vertical.inRadians);
float uz = MathF.Sin(avg.direction.vertical.inRadians);
float mag = MathF.Sqrt(ux * ux + uy * uy + uz * uz);
Assert.IsTrue(mag > 0.999f && mag < 1.001f);
}
[Test]
public void Average2_BasicAverageDirectionAndDistance() {
// Two different directions not cancelling: expect vector-average result
Direction d1 = Direction.Radians(MathF.PI / 6f, MathF.PI / 12f); // 30°, 15°
Direction d2 = Direction.Radians(MathF.PI / 3f, MathF.PI / 18f); // 60°, 10°
Spherical v1 = new(2.0f, d1);
Spherical v2 = new(4.0f, d2);
Spherical avg = Spherical.Average(v1, v2);
// Distance is arithmetic mean
Assert.AreEqual(3.0f, avg.distance, 1e-5f);
// Check averaged unit-vector equals normalized sum of unit vectors computed here
float a1 = d1.horizontal.inRadians;
float a2 = d2.horizontal.inRadians;
float e1 = d1.vertical.inRadians;
float e2 = d2.vertical.inRadians;
float cx = MathF.Cos(a1) + MathF.Cos(a2);
float cy = MathF.Sin(a1) + MathF.Sin(a2);
float z1 = MathF.Sin(e1);
float z2 = MathF.Sin(e2);
float cz = z1 + z2;
float mag = MathF.Sqrt(cx * cx + cy * cy + cz * cz);
Assert.IsTrue(mag > 1e-6f);
float ux = cx / mag;
float uy = cy / mag;
float uz = cz / mag;
// Reconstruct direction from avg result
float uxAvg = MathF.Cos(avg.direction.horizontal.inRadians) * MathF.Cos(avg.direction.vertical.inRadians);
float uyAvg = MathF.Sin(avg.direction.horizontal.inRadians) * MathF.Cos(avg.direction.vertical.inRadians);
float uzAvg = MathF.Sin(avg.direction.vertical.inRadians);
Assert.AreEqual(ux, uxAvg, 1e-4f);
Assert.AreEqual(uy, uyAvg, 1e-4f);
Assert.AreEqual(uz, uzAvg, 1e-4f);
}
[Test]
public void Average_IdenticalVectors() {
var dir = Direction.Radians(MathF.PI / 4f, MathF.PI / 6f);
var v = new Spherical(2.5f, dir);
var list = new List<Spherical> { v, v, v };
var avg = Spherical.Average(list);
Assert.AreEqual(2.5f, avg.distance, 1e-5f);
Assert.AreEqual(dir.horizontal, avg.direction.horizontal);
Assert.AreEqual(dir.vertical, avg.direction.vertical);
}
[Test]
public void Average_SingleElement() {
Spherical s = Spherical.Radians(1.234f, 0.3f, -0.7f);
Spherical avg = Spherical.Average(new List<Spherical> { s });
Assert.AreEqual(s.distance, avg.distance, 1e-5f);
Assert.AreEqual(s.direction.horizontal.inRadians, avg.direction.horizontal.inRadians, 1e-5f);
Assert.AreEqual(s.direction.vertical.inRadians, avg.direction.vertical.inRadians, 1e-5f);
}
[Test]
public void Average_OppositeUnitVectors() {
// Two opposite vectors: same distance, horizontal opposite (pi apart), same vertical
Spherical v1 = Spherical.Radians(1f, 0f, 0f);
Spherical v2 = Spherical.Radians(1f, MathF.PI, 0f);
Spherical avg = Spherical.Average(new List<Spherical> { v1, v2 });
Assert.AreEqual(0f, avg.distance, 1e-4f);
// When distance is zero, angles may be undefined; allow any angle but ensure near-zero magnitude
}
[Test]
public void Average_WeightedByDistance() {
// Two vectors same direction but different distances -> weighted average distance
Direction dir = Direction.Radians(MathF.PI / 3f, MathF.PI / 4f);
Spherical a = new(1f, dir);
Spherical b = new(3f, dir);
Spherical avg = Spherical.Average(new List<Spherical> { a, b });
// average distance should be (1+3)/2 = 2
Assert.AreEqual(2f, avg.distance, 1e-5f);
Assert.AreEqual(dir.horizontal.inRadians, avg.direction.horizontal.inRadians, 1e-5f);
Assert.AreEqual(dir.vertical.inRadians, avg.direction.vertical.inRadians, 1e-5f);
}
[Test]
public void Average_AxisSymmetricAroundVertical() {
// Four vectors around azimuth 0, pi/2, pi, 3pi/2 at same elevation (vertical) angle phi
float phi = MathF.PI / 6f; // elevation from horizontal plane
var dirs = new List<Spherical> {
new(1f, Direction.Radians(0f, phi)),
new(1f, Direction.Radians(MathF.PI/2, phi)),
new(1f, Direction.Radians(MathF.PI, phi)),
new(1f, Direction.Radians(3*MathF.PI/2, phi))
};
Spherical avg = Spherical.Average(dirs);
// rAvg should equal r * sin(elevation) = sin(phi)
Assert.AreEqual(MathF.Sin(phi), avg.distance, 1e-4f);
// vertical angle undefined when horizontal xy components cancel; allow any angle but ensure r matches
}
[Test]
public void Average_AxisSymmetricAroundVertical2() {
// Four vectors around azimuth 0, pi/2, pi, 3pi/2 at same polar angle from vertical (alpha)
float alpha = MathF.PI / 6f; // polar angle from vertical
float elevation = MathF.PI / 2f - alpha; // convert polar-from-vertical to elevation
var dirs = new List<Spherical> {
new(1f, Direction.Radians(0f, elevation)),
new(1f, Direction.Radians(MathF.PI/2, elevation)),
new(1f, Direction.Radians(MathF.PI, elevation)),
new(1f, Direction.Radians(3*MathF.PI/2, elevation))
};
Spherical avg = Spherical.Average(dirs);
// rAvg should equal r * sin(elevation) which equals cos(alpha)
Assert.AreEqual(MathF.Cos(alpha), avg.distance, 1e-4f);
}
[Test]
public void Average_CompareWithVector3() {
// Four vectors around azimuth 0, pi/2, pi, 3pi/2 at same polar angle from vertical (alpha)
float alpha = MathF.PI / 6f; // polar angle from vertical
float elevation = MathF.PI / 2f - alpha; // convert polar-from-vertical to elevation
List<Spherical> dirs = new List<Spherical> {
new(1f, Direction.Radians(0f, elevation)),
new(2f, Direction.Radians(MathF.PI/2, elevation+1)),
new(3f, Direction.Radians(MathF.PI, elevation+2)),
new(4f, Direction.Radians(3*MathF.PI/2, elevation+3))
};
Spherical avg = Spherical.Average(dirs);
#if UNITY_5_3_OR_NEWER
UnityEngine.Vector3 r = UnityEngine.Vector3.zero;
#else
Vector3Float r = Vector3Float.zero;
#endif
foreach (Spherical dir in dirs) {
r += dir.ToVector3();
}
r = r / 4;
Spherical avg2 = Spherical.FromVector3(r);
Assert.AreEqual(avg, avg2);
}
}
}
//#endif

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#if !UNITY_5_6_OR_NEWER
using NUnit.Framework;
namespace LinearAlgebra.Test {
[TestFixture]
public class SwingTwistTest {
[Test]
public void Degrees_CreatesSwingTwistWithDegreeAngles() {
SwingTwist st = SwingTwist.Degrees(45, 30, 15);
Assert.IsNotNull(st);
Assert.AreEqual(45, st.swing.horizontal.inDegrees, 0.01f);
Assert.AreEqual(30, st.swing.vertical.inDegrees, 0.01f);
Assert.AreEqual(15, st.twist.inDegrees, 0.01f);
}
[Test]
public void Radians_CreatesSwingTwistWithRadianAngles() {
float pi = (float)System.Math.PI;
SwingTwist st = SwingTwist.Radians(pi / 4, pi / 6, pi / 12);
Assert.IsNotNull(st);
Assert.AreEqual(45, st.swing.horizontal.inDegrees, 0.01f);
Assert.AreEqual(30, st.swing.vertical.inDegrees, 0.01f);
Assert.AreEqual(15, st.twist.inDegrees, 0.01f);
}
[Test]
public void Zero_CreatesZeroRotation() {
SwingTwist st = SwingTwist.zero;
Assert.AreEqual(0, st.swing.horizontal.inDegrees, 0.01f);
Assert.AreEqual(0, st.swing.vertical.inDegrees, 0.01f);
Assert.AreEqual(0, st.twist.inDegrees, 0.01f);
}
[Test]
public void QuaternionTest() {
Quaternion q;
SwingTwist s;
Quaternion r;
q = Quaternion.identity;
s = SwingTwist.FromQuaternion(q);
r = s.ToQuaternion();
Assert.AreEqual(q, r);
q = Quaternion.Euler(90, 0, 0);
s = SwingTwist.FromQuaternion(q);
Assert.AreEqual(0, s.swing.horizontal.inDegrees, 10e-2f);
Assert.AreEqual(90, s.swing.vertical.inDegrees, 10e-2f);
Assert.AreEqual(0, s.twist.inDegrees, 0.01f);
r = s.ToQuaternion();
Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);
q = Quaternion.Euler(0, 90, 0);
s = SwingTwist.FromQuaternion(q);
Assert.AreEqual(90, s.swing.horizontal.inDegrees,10e-2f);
Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f);
Assert.AreEqual(0, s.twist.inDegrees, 0.01f);
r = s.ToQuaternion();
Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);
q = Quaternion.Euler(0, 0, 90);
s = SwingTwist.FromQuaternion(q);
Assert.AreEqual(0, s.swing.horizontal.inDegrees, 0.01f);
Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f);
Assert.AreEqual(90, s.twist.inDegrees, 0.01f);
r = s.ToQuaternion();
Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);
q = Quaternion.Euler(0, 180, 0);
s = SwingTwist.FromQuaternion(q);
Assert.AreEqual(-180, s.swing.horizontal.inDegrees, 0.01f);
Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f);
Assert.AreEqual(0, s.twist.inDegrees, 0.01f);
r = s.ToQuaternion();
Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);
q = Quaternion.Euler(0, 135, 0);
s = SwingTwist.FromQuaternion(q);
Assert.AreEqual(135, s.swing.horizontal.inDegrees, 0.01f);
Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f);
Assert.AreEqual(0, s.twist.inDegrees, 0.01f);
r = s.ToQuaternion();
Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);
q = Quaternion.Euler(60, 45, 30);
s = SwingTwist.FromQuaternion(q);
Assert.AreEqual(45, s.swing.horizontal.inDegrees, 0.01f);
Assert.AreEqual(60, s.swing.vertical.inDegrees, 0.01f);
Assert.AreEqual(30, s.twist.inDegrees, 0.01f);
// r = s.ToQuaternion();
// Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);
// q = Quaternion.Euler(-45, -30, -15);
// s = SwingTwist.FromQuaternion(q);
// Assert.AreEqual(-30, s.swing.horizontal.inDegrees, 0.01f);
// Assert.AreEqual(-45, s.swing.vertical.inDegrees, 0.01f);
// Assert.AreEqual(-15, s.twist.inDegrees, 0.01f);
// r = s.ToQuaternion();
// Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);
// q = Quaternion.Euler(180, 180, 180);
// s = SwingTwist.FromQuaternion(q);
// Assert.AreEqual(-180, s.swing.horizontal.inDegrees, 0.01f);
// Assert.AreEqual(-180, s.swing.vertical.inDegrees, 0.01f);
// Assert.AreEqual(-180, s.twist.inDegrees, 0.01f);
// r = s.ToQuaternion();
// Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f);
}
[Test]
public void ToAngleAxis_ConvertsToSpherical() {
SwingTwist st = SwingTwist.Degrees(45, 30, 15);
Spherical s = st.ToAngleAxis();
Assert.IsNotNull(s);
}
[Test]
public void FromAngleAxis_ConvertsFromSpherical() {
Spherical s = new(90, Direction.Degrees(45, 0));
SwingTwist st = SwingTwist.FromAngleAxis(s);
Assert.IsNotNull(st);
}
}
}
#endif

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#if !UNITY_5_6_OR_NEWER
using NUnit.Framework;
namespace LinearAlgebra.Test {
using Vector2 = Vector2Float;
public class Vector2FloatTest {
[SetUp]
public void Setup() {
}
[Test]
public void FromPolar() {
}
[Test]
public void Equality() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
Assert.IsFalse(v1 == v2, "4 5 == 1 2");
Assert.IsTrue(v1 != v2, "4 5 != 1 2");
v2 = new(4, 5);
Assert.IsTrue(v1 == v2, "4 5 == 4 5");
Assert.IsFalse(v1 != v2, "4 5 != 4 5");
}
[Test]
public void Magnitude() {
Vector2 v = new(1, 2);
float m = 0;
m = v.magnitude;
Assert.AreEqual(m, 2.236068F, "v.magnitude 1 2");
m = Vector2.MagnitudeOf(v);
Assert.AreEqual(m, 2.236068F, "MagnitudeOf 1 2");
v = new(-1, -2);
m = v.magnitude;
Assert.AreEqual(m, 2.236068F, "v.magnitude -1 -2");
v = new(0, 0);
m = v.magnitude;
Assert.AreEqual(m, 0, "v.magnitude 0 0");
}
[Test]
public void SqrMagnitude() {
Vector2 v = new(1, 2);
float m = 0;
m = v.sqrMagnitude;
Assert.AreEqual(m, 5, "v.sqrMagnitude 1 2");
m = Vector2.SqrMagnitudeOf(v);
Assert.AreEqual(m, 5, "SqrMagnitudeOf 1 2");
v = new(-1, -2);
m = v.sqrMagnitude;
Assert.AreEqual(m, 5, "v.sqrMagnitude -1 -2");
v = new(0, 0);
m = v.sqrMagnitude;
Assert.AreEqual(m, 0, "v.sqrMagnitude 0 0");
}
[Test]
public void Distance() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
float f = 0;
f = Vector2.Distance(v1, v2);
Assert.AreEqual(f, 4.24264002f, 1.0E-05F, "Distance(4 5, 1 2)");
v2 = new(-1, -2);
f = Vector2.Distance(v1, v2);
Assert.AreEqual(f, 8.602325F, "Distance(4 5, 1 2)");
v2 = new(0, 0);
f = Vector2.Distance(v1, v2);
Assert.AreEqual(f, 6.403124F, 1.0E-05F, "Distance(4 5, 1 2)");
}
[Test]
public void Normalize() {
Vector2 v = new(0, 3);
Vector2Float r;
r = v.normalized;
Assert.AreEqual(0, r.horizontal, "normalized 0 3 H");
Assert.AreEqual(1, r.vertical, "normalized 0 3 V");
r = Vector2.Normalize(v);
Assert.AreEqual(0, r.horizontal, "Normalize 0 3 H");
Assert.AreEqual(1, r.vertical, "Normalize 0 3 V");
v = new(0, -3);
r = v.normalized;
Assert.AreEqual(0, r.horizontal, "normalized 0 -3 H");
Assert.AreEqual(-1, r.vertical, "normalized 0 -3 V");
v = new(0, 0);
r = v.normalized;
Assert.AreEqual(0, r.horizontal, "normalized 0 0 H");
Assert.AreEqual(0, r.vertical, "normalized 0 0 V");
}
[Test]
public void Negate() {
Vector2 v = new(4, 5);
Vector2 r;
r = -v;
Assert.AreEqual(-4, r.horizontal, "- 4 5 H");
Assert.AreEqual(-5, r.vertical, "- 4 5 V");
v = new(-4, -5);
r = -v;
Assert.AreEqual(4, r.horizontal, "- -4 -5 H");
Assert.AreEqual(5, r.vertical, "- -4 -5 V");
v = new(0, 0);
r = -v;
Assert.AreEqual(0, r.horizontal, "- 0 0 H");
Assert.AreEqual(0, r.vertical, "- 0 0 V");
}
[Test]
public void Subtract() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
Vector2 r = Vector2.zero;
r = v1 - v2;
Assert.IsTrue(r == new Vector2(3, 3), "4 5 - 1 2");
v2 = new(-1, -2);
r = v1 - v2;
Assert.IsTrue(r == new Vector2(5, 7), "4 5 - -1 -2");
v2 = new(4, 5);
r = v1 - v2;
Assert.IsTrue(r == new Vector2(0, 0), "4 5 - 4 5");
r = v1;
r -= v2;
Assert.AreEqual(r, new Vector2(0, 0), "4 5 - 4 5");
v2 = new(0, 0);
r = v1 - v2;
Assert.AreEqual(r, new Vector2(4, 5), "4 5 - 0 0");
r -= v2;
Assert.AreEqual(r, new Vector2(4, 5), "4 5 - 0 0");
}
[Test]
public void Addition() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
Vector2 r = Vector2.zero;
r = v1 + v2;
Assert.IsTrue(r == new Vector2(5, 7), "4 5 + 1 2");
v2 = new(-1, -2);
r = v1 + v2;
Assert.IsTrue(r == new Vector2(3, 3), "4 5 + -1 -2");
r = v1;
r += v2;
Assert.AreEqual(r, new Vector2(3, 3), "4 5 + -1 -2");
v2 = new(0, 0);
r = v1 + v2;
Assert.AreEqual(r, new Vector2(4, 5), "4 5 + 0 0");
r += v2;
Assert.AreEqual(r, new Vector2(4, 5), "4 5 + 0 0");
}
[Test]
public void Scale() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
Vector2 r;
r = Vector2.Scale(v1, v2);
Assert.AreEqual(4, r.horizontal, "Scale 4 5 , 1 2 H");
Assert.AreEqual(10, r.vertical, "Scale 4 5 , 1 2 V");
v2 = new(-1, -2);
r = Vector2.Scale(v1, v2);
Assert.AreEqual(-4, r.horizontal, "Scale 4 5 , -1 -2 H");
Assert.AreEqual(-10, r.vertical, "Scale 4 5 , -1 -2 V");
v2 = new(0, 0);
r = Vector2.Scale(v1, v2);
Assert.AreEqual(0, r.horizontal, "Scale 4 5 , 0 0 H");
Assert.AreEqual(0, r.vertical, "Scale 4 5 , 0 0 V");
}
[Test]
public void Multiply() {
Vector2 v1 = new(4, 5);
int f = 3;
Vector2 r;
r = v1 * f;
Assert.AreEqual(12, r.horizontal, "4 5 * 3 H");
Assert.AreEqual(15, r.vertical, "4 5 * 3 V");
r = f * v1;
Assert.AreEqual(12, r.horizontal, "3 * 4 5 H");
Assert.AreEqual(15, r.vertical, "3 * 4 5 V");
f = -3;
r = v1 * f;
Assert.AreEqual(-12, r.horizontal, "4 5 * -3 H");
Assert.AreEqual(-15, r.vertical, "4 5 * -3 V");
f = 0;
r = v1 * f;
Assert.AreEqual(0, r.horizontal, "4 5 * 0 H");
Assert.AreEqual(0, r.vertical, "4 5 * 0 V");
}
[Test]
public void Divide() {
Vector2 v1 = new(4, 5);
float f = 2;
Vector2 r;
r = v1 / f;
Assert.AreEqual(2, r.horizontal, "4 5 / 2 H");
Assert.AreEqual(2.5, r.vertical, "4 5 / 2 V");
f = -2;
r = v1 / f;
Assert.AreEqual(-2, r.horizontal, "4 5 / -2 H");
Assert.AreEqual(-2.5, r.vertical, "4 5 / -2 V");
f = 0;
r = v1 / f;
Assert.AreEqual(float.PositiveInfinity, r.horizontal, "4 5 / 0 H");
Assert.AreEqual(float.PositiveInfinity, r.vertical, "4 5 / 0 V");
}
[Test]
public void Dot() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
float f;
f = Vector2.Dot(v1, v2);
Assert.AreEqual(14, f, "Dot(4 5, 1 2)");
v2 = new(-1, -2);
f = Vector2.Dot(v1, v2);
Assert.AreEqual(-14, f, "Dot(4 5, -1 -2)");
v2 = new(0, 0);
f = Vector2.Dot(v1, v2);
Assert.AreEqual(0, f, "Dot(4 5, 0 0)");
}
[Test]
public void SignedAngle() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
float f;
f = Vector2.SignedAngle(v1, v2);
Assert.AreEqual(-12.094758f, f);
v2 = new(-1, -2);
f = Vector2.SignedAngle(v1, v2);
Assert.AreEqual(167.905228f, f);
v2 = new(0, 0);
f = Vector2.SignedAngle(v1, v2);
Assert.AreEqual(0, f);
v1 = new(0, 1);
v2 = new(1, 0);
f = Vector2.SignedAngle(v1, v2);
Assert.AreEqual(90, f);
v1 = new(0, 1);
v2 = new(0, -1);
f = Vector2.SignedAngle(v1, v2);
Assert.AreEqual(180, f);
}
[Test]
public void UnsignedAngle() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
float f;
f = Vector2.UnsignedAngle(v1, v2);
Assert.AreEqual(12.094758f, f);
v2 = new(-1, -2);
f = Vector2.UnsignedAngle(v1, v2);
Assert.AreEqual(167.905228f, f);
v2 = new(0, 0);
f = Vector2.UnsignedAngle(v1, v2);
Assert.AreEqual(0, f);
v1 = new(0, 1);
v2 = new(1, 0);
f = Vector2.UnsignedAngle(v1, v2);
Assert.AreEqual(90, f);
v1 = new(0, 1);
v2 = new(0, -1);
f = Vector2.UnsignedAngle(v1, v2);
Assert.AreEqual(180, f);
}
[Test]
public void Rotate() {
Vector2 v1 = new(1, 2);
Vector2 r;
r = Vector2.Rotate(v1, AngleFloat.Degrees(0));
Assert.AreEqual(0, Vector2.Distance(r, v1));
r = Vector2.Rotate(v1, AngleFloat.Degrees(180));
Assert.AreEqual(0, Vector2.Distance(r, new Vector2(-1, -2)), 1.0e-06);
r = Vector2.Rotate(v1, AngleFloat.Degrees(-90));
Assert.AreEqual(0, Vector2.Distance(r, new Vector2(2, -1)), 1.0e-06);
r = Vector2.Rotate(v1, AngleFloat.Degrees(270));
Assert.AreEqual(0, Vector2.Distance(r, new Vector2(2, -1)), 1.0e-06);
}
[Test]
public void Lerp() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
Vector2 r;
r = Vector2.Lerp(v1, v2, 0);
Assert.AreEqual(0, Vector2.Distance(r, v1), 0);
r = Vector2.Lerp(v1, v2, 1);
Assert.AreEqual(0, Vector2.Distance(r, v2), 0);
r = Vector2.Lerp(v1, v2, 0.5f);
Assert.AreEqual(0, Vector2.Distance(r, new Vector2(2.5f, 3.5f)), 0);
r = Vector2.Lerp(v1, v2, -1);
Assert.AreEqual(0, Vector2.Distance(r, new Vector2(7, 8)), 0);
r = Vector2.Lerp(v1, v2, 2);
Assert.AreEqual(0, Vector2.Distance(r, new Vector2(-2, -1)), 0);
}
}
}
#endif

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#if !UNITY_5_6_OR_NEWER
using NUnit.Framework;
namespace LinearAlgebra.Test {
using Vector2 = Vector2Int;
public class Vector2IntTest {
[SetUp]
public void Setup() {
}
[Test]
public void FromPolar() {
}
[Test]
public void Equality() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
Assert.IsFalse(v1 == v2, "4 5 == 1 2");
Assert.IsTrue(v1 != v2, "4 5 != 1 2");
v2 = new(4, 5);
Assert.IsTrue(v1 == v2, "4 5 == 4 5");
Assert.IsFalse(v1 != v2, "4 5 != 4 5");
}
[Test]
public void Magnitude() {
Vector2 v = new(1, 2);
float m = 0;
m = v.magnitude;
Assert.AreEqual(m, 2.236068F, "v.magnitude 1 2");
m = Vector2.MagnitudeOf(v);
Assert.AreEqual(m, 2.236068F, "MagnitudeOf 1 2");
v = new(-1, -2);
m = v.magnitude;
Assert.AreEqual(m, 2.236068F, "v.magnitude -1 -2");
v = new(0, 0);
m = v.magnitude;
Assert.AreEqual(m, 0, "v.magnitude 0 0");
}
[Test]
public void SqrMagnitude() {
Vector2 v = new(1, 2);
float m = 0;
m = v.sqrMagnitude;
Assert.AreEqual(m, 5, "v.sqrMagnitude 1 2");
m = Vector2.SqrMagnitudeOf(v);
Assert.AreEqual(m, 5, "SqrMagnitudeOf 1 2");
v = new(-1, -2);
m = v.sqrMagnitude;
Assert.AreEqual(m, 5, "v.sqrMagnitude -1 -2");
v = new(0, 0);
m = v.sqrMagnitude;
Assert.AreEqual(m, 0, "v.sqrMagnitude 0 0");
}
[Test]
public void Distance() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
float f = 0;
f = Vector2.Distance(v1, v2);
Assert.AreEqual(f, 4.24264002f, 1.0E-05F, "Distance(4 5, 1 2)");
v2 = new(-1, -2);
f = Vector2.Distance(v1, v2);
Assert.AreEqual(f, 8.602325F, "Distance(4 5, 1 2)");
v2 = new(0, 0);
f = Vector2.Distance(v1, v2);
Assert.AreEqual(f, 6.403124F, 1.0E-05F, "Distance(4 5, 1 2)");
}
[Test]
public void Normalize() {
Vector2 v = new(0, 3);
Vector2Float r;
r = v.normalized;
Assert.AreEqual(0, r.horizontal, "normalized 0 3 H");
Assert.AreEqual(1, r.vertical, "normalized 0 3 V");
r = Vector2.Normalize(v);
Assert.AreEqual(0, r.horizontal, "Normalize 0 3 H");
Assert.AreEqual(1, r.vertical, "Normalize 0 3 V");
v = new(0, -3);
r = v.normalized;
Assert.AreEqual(0, r.horizontal, "normalized 0 -3 H");
Assert.AreEqual(-1, r.vertical, "normalized 0 -3 V");
v = new(0, 0);
r = v.normalized;
Assert.AreEqual(0, r.horizontal, "normalized 0 0 H");
Assert.AreEqual(0, r.vertical, "normalized 0 0 V");
}
[Test]
public void Negate() {
Vector2 v = new(4, 5);
Vector2 r;
r = -v;
Assert.AreEqual(-4, r.horizontal, "- 4 5 H");
Assert.AreEqual(-5, r.vertical, "- 4 5 V");
v = new(-4, -5);
r = -v;
Assert.AreEqual(4, r.horizontal, "- -4 -5 H");
Assert.AreEqual(5, r.vertical, "- -4 -5 V");
v = new(0, 0);
r = -v;
Assert.AreEqual(0, r.horizontal, "- 0 0 H");
Assert.AreEqual(0, r.vertical, "- 0 0 V");
}
[Test]
public void Subtract() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
Vector2 r = Vector2.zero;
r = v1 - v2;
Assert.IsTrue(r == new Vector2(3, 3), "4 5 - 1 2");
v2 = new(-1, -2);
r = v1 - v2;
Assert.IsTrue(r == new Vector2(5, 7), "4 5 - -1 -2");
v2 = new(4, 5);
r = v1 - v2;
Assert.IsTrue(r == new Vector2(0, 0), "4 5 - 4 5");
r = v1;
r -= v2;
Assert.AreEqual(r, new Vector2(0, 0), "4 5 - 4 5");
v2 = new(0, 0);
r = v1 - v2;
Assert.AreEqual(r, new Vector2(4, 5), "4 5 - 0 0");
r -= v2;
Assert.AreEqual(r, new Vector2(4, 5), "4 5 - 0 0");
}
[Test]
public void Addition() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
Vector2 r = Vector2.zero;
r = v1 + v2;
Assert.IsTrue(r == new Vector2(5, 7), "4 5 + 1 2");
v2 = new(-1, -2);
r = v1 + v2;
Assert.IsTrue(r == new Vector2(3, 3), "4 5 + -1 -2");
r = v1;
r += v2;
Assert.AreEqual(r, new Vector2(3, 3), "4 5 + -1 -2");
v2 = new(0, 0);
r = v1 + v2;
Assert.AreEqual(r, new Vector2(4, 5), "4 5 + 0 0");
r += v2;
Assert.AreEqual(r, new Vector2(4, 5), "4 5 + 0 0");
}
[Test]
public void Scale() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
Vector2 r;
r = Vector2.Scale(v1, v2);
Assert.AreEqual(4, r.horizontal, "Scale 4 5 , 1 2 H");
Assert.AreEqual(10, r.vertical, "Scale 4 5 , 1 2 V");
v2 = new(-1, -2);
r = Vector2.Scale(v1, v2);
Assert.AreEqual(-4, r.horizontal, "Scale 4 5 , -1 -2 H");
Assert.AreEqual(-10, r.vertical, "Scale 4 5 , -1 -2 V");
v2 = new(0, 0);
r = Vector2.Scale(v1, v2);
Assert.AreEqual(0, r.horizontal, "Scale 4 5 , 0 0 H");
Assert.AreEqual(0, r.vertical, "Scale 4 5 , 0 0 V");
}
[Test]
public void Multiply() {
Vector2 v1 = new(4, 5);
int f = 3;
Vector2 r;
r = v1 * f;
Assert.AreEqual(12, r.horizontal, "4 5 * 3 H");
Assert.AreEqual(15, r.vertical, "4 5 * 3 V");
r = f * v1;
Assert.AreEqual(12, r.horizontal, "3 * 4 5 H");
Assert.AreEqual(15, r.vertical, "3 * 4 5 V");
f = -3;
r = v1 * f;
Assert.AreEqual(-12, r.horizontal, "4 5 * -3 H");
Assert.AreEqual(-15, r.vertical, "4 5 * -3 V");
f = 0;
r = v1 * f;
Assert.AreEqual(0, r.horizontal, "4 5 * 0 H");
Assert.AreEqual(0, r.vertical, "4 5 * 0 V");
}
[Test]
public void Divide() {
Vector2 v1 = new(4, 5);
int f = 2;
Vector2 r;
r = v1 / f;
Assert.AreEqual(2, r.horizontal, "4 5 / 2 H");
Assert.AreEqual(2, r.vertical, "4 5 / 2 V");
f = -2;
r = v1 / f;
Assert.AreEqual(-2, r.horizontal, "4 5 / -2 H");
Assert.AreEqual(-2, r.vertical, "4 5 / -2 V");
Assert.Throws<System.DivideByZeroException>(() => {
f = 0;
r = v1 / f;
Assert.AreEqual(float.PositiveInfinity, r.horizontal, "4 5 / 0 H");
Assert.AreEqual(float.PositiveInfinity, r.vertical, "4 5 / 0 V");
});
}
[Test]
public void Dot() {
Vector2 v1 = new(4, 5);
Vector2 v2 = new(1, 2);
int f;
f = Vector2.Dot(v1, v2);
Assert.AreEqual(14, f, "Dot(4 5, 1 2)");
v2 = new(-1, -2);
f = Vector2.Dot(v1, v2);
Assert.AreEqual(-14, f, "Dot(4 5, -1 -2)");
v2 = new(0, 0);
f = Vector2.Dot(v1, v2);
Assert.AreEqual(0, f, "Dot(4 5, 0 0)");
}
}
}
#endif

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LinearAlgebra/test/Vector3FloatTest.cs Normal file
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#if !UNITY_5_6_OR_NEWER
using NUnit.Framework;
namespace LinearAlgebra.Test {
using Vector3 = Vector3Float;
public class Vector3FloatTest {
[Test]
public void FromSpherical() {
Vector3 v = new(0, 0, 1);
Spherical s = Spherical.FromVector3(v);
Vector3 r = Vector3.FromSpherical(s);
Assert.AreEqual(0, r.horizontal, "0 0 1");
Assert.AreEqual(0, r.vertical, 1.0e-06, "0 0 1");
Assert.AreEqual(1, r.depth, "0 0 1");
v = new(0, 1, 0);
s = Spherical.FromVector3(v);
r = Vector3.FromSpherical(s);
Assert.AreEqual(0, r.horizontal, "0 0 1");
Assert.AreEqual(1, r.vertical, "0 0 1");
Assert.AreEqual(0, r.depth, 1.0e-06, "0 0 1");
v = new(1, 0, 0);
s = Spherical.FromVector3(v);
r = Vector3.FromSpherical(s);
Assert.AreEqual(1, r.horizontal, "0 0 1");
Assert.AreEqual(0, r.vertical, 1.0e-06, "0 0 1");
Assert.AreEqual(0, r.depth, 1.0e-06, "0 0 1");
}
[Test]
public void Magnitude() {
Vector3 v = new(1, 2, 3);
float m = 0;
m = v.magnitude;
Assert.AreEqual(3.7416575f, m, "magnitude 1 2 3");
m = Vector3.MagnitudeOf(v);
Assert.AreEqual(3.7416575f, m, "MagnitudeOf 1 2 3");
v = new(-1, -2, -3);
m = v.magnitude;
Assert.AreEqual(3.7416575f, m, "magnitude -1 -2 -3");
v = new(0, 0, 0);
m = v.magnitude;
Assert.AreEqual(0, m, "magnitude 0 0 0");
// Infinity tests are still missing
}
[Test]
public void SqrMagnitude() {
Vector3 v = new(1, 2, 3);
float m = 0;
m = v.sqrMagnitude;
Assert.AreEqual(14, m, "sqrMagnitude 1 2 3");
m = Vector3.SqrMagnitudeOf(v);
Assert.AreEqual(14, m, "SqrMagnitudeOf 1 2 3");
v = new(-1, -2, -3);
m = v.sqrMagnitude;
Assert.AreEqual(14, m, "sqrMagnitude -1 -2 -3");
v = new(0, 0, 0);
m = v.sqrMagnitude;
Assert.AreEqual(0, m, "sqrMagnitude 0 0 0");
// Infinity tests are still missing
}
[Test]
public void Normalize() {
Vector3 v = new(0, 2, 0);
Vector3 r;
r = v.normalized;
Assert.AreEqual(new Vector3(0, 1, 0), r, "normalized 0 2 0");
r = Vector3.Normalize(v);
Assert.AreEqual(new Vector3(0, 1, 0), r, "Normalize 0 2 0");
v = new(0, -2, 0);
r = v.normalized;
Assert.AreEqual(new Vector3(0, -1, 0), r, "normalized 0 -2 0");
v = new(0, 0, 0);
r = v.normalized;
Assert.AreEqual(new Vector3(0, 0, 0), r, "normalized 0 0 0");
v = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
r = v.normalized;
Assert.IsTrue(float.IsNaN(r.horizontal), "normalized infinity infinity infinity");
Assert.IsTrue(float.IsNaN(r.vertical), "normalized infinity infinity infinity");
Assert.IsTrue(float.IsNaN(r.depth), "normalized infinity infinity infinity");
v = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
r = v.normalized;
Assert.IsTrue(float.IsNaN(r.horizontal), "normalized -infinity -infinity -infinity");
Assert.IsTrue(float.IsNaN(r.vertical), "normalized -infinity -infinity -infinity");
Assert.IsTrue(float.IsNaN(r.depth), "normalized -infinity -infinity -infinity");
}
[Test]
public void Negate() {
Vector3 v = new(4, 5, 6);
Vector3 r;
r = -v;
Assert.AreEqual(-4, r.horizontal, "- 4 5 6 H");
Assert.AreEqual(-5, r.vertical, "- 4 5 6 V");
Assert.AreEqual(-6, r.depth, "- 4 5 6 D");
v = new(-4, -5, -6);
r = -v;
Assert.AreEqual(4, r.horizontal, "- -4 -5 -6 H");
Assert.AreEqual(5, r.vertical, "- -4 -5 -6 V");
Assert.AreEqual(6, r.depth, "- -4 -5 -6 D");
v = new(0, 0, 0);
r = -v;
Assert.AreEqual(new Vector3(0, 0, 0), r, "- 0 0 0");
Assert.AreEqual(0, r.horizontal, "- 0 0 0 H");
Assert.AreEqual(0, r.vertical, "- 0 0 0 V");
Assert.AreEqual(0, r.depth, "- 0 0 0 D");
v = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
r = -v;
Assert.AreEqual(new Vector3(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity), r, "- inifinty infinity infinity");
v = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
r = -v;
Assert.AreEqual(new Vector3(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity), r, "- -inifinty -infinity -infinity");
}
[Test]
public void Subtract() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r = Vector3.zero;
r = v1 - v2;
Assert.IsTrue(r == new Vector3(3, 3, 3), "4 5 6 - 1 2 3");
v2 = new(-1, -2, -3);
r = v1 - v2;
Assert.IsTrue(r == new Vector3(5, 7, 9), "4 5 6 - -1 -2 -3");
v2 = new(4, 5, 6);
r = v1 - v2;
Assert.IsTrue(r == new Vector3(0, 0, 0), "4 5 6 - 4 5 6");
r = v1;
r -= v2;
Assert.AreEqual(r, new Vector3(0, 0, 0), "4 5 6 - 4 5 6");
v2 = new(0, 0, 0);
r = v1 - v2;
Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 - 0 0 0");
r -= v2;
Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 - 0 0 0");
// Infinity tests are still missing
}
[Test]
public void Addition() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r = Vector3.zero;
r = v1 + v2;
Assert.IsTrue(r == new Vector3(5, 7, 9), "4 5 6 + 1 2 3");
v2 = new(-1, -2, -3);
r = v1 + v2;
Assert.IsTrue(r == new Vector3(3, 3, 3), "4 5 6 + -1 -2 -3");
r = v1;
r += v2;
Assert.AreEqual(r, new Vector3(3, 3, 3), "4 5 6 + -1 -2 -3");
v2 = new(0, 0, 0);
r = v1 + v2;
Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 + 0 0 0");
r += v2;
Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 + 0 0 0");
// Infinity tests are still missing
}
[Test]
public void Scale() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r;
r = Vector3.Scale(v1, v2);
Assert.AreEqual(4, r.horizontal, "Scale 4 5 6 , 1 2 3 H");
Assert.AreEqual(10, r.vertical, "Scale 4 5 6 , 1 2 3 V");
Assert.AreEqual(18, r.depth, "Scale 4 5 6 , 1 2 3 D");
v2 = new(-1, -2, -3);
r = Vector3.Scale(v1, v2);
Assert.AreEqual(-4, r.horizontal, "Scale 4 5 6 , -1 -2 -3 H");
Assert.AreEqual(-10, r.vertical, "Scale 4 5 6 , -1 -2 -3 V");
Assert.AreEqual(-18, r.depth, "Scale 4 5 6 , -1 -2 -3 D");
v2 = new(0, 0, 0);
r = Vector3.Scale(v1, v2);
Assert.AreEqual(0, r.horizontal, "Scale 4 5 6 , 0 0 0 H");
Assert.AreEqual(0, r.vertical, "Scale 4 5 6 , 0 0 0 V");
Assert.AreEqual(0, r.depth, "Scale 4 5 6 , 0 0 0 D");
v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
r = Vector3.Scale(v1, v2);
Assert.AreEqual(float.PositiveInfinity, r.horizontal, "Scale 4 5 6 , inf inf inf H");
Assert.AreEqual(float.PositiveInfinity, r.vertical, "Scale 4 5 6 , inf inf inf V");
Assert.AreEqual(float.PositiveInfinity, r.depth, "Scale 4 5 6 , inf inf inf D");
v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
r = Vector3.Scale(v1, v2);
Assert.AreEqual(float.NegativeInfinity, r.horizontal, "Scale 4 5 6 , -inf -inf -inf H");
Assert.AreEqual(float.NegativeInfinity, r.vertical, "Scale 4 5 6 , -inf -inf -inf V");
Assert.AreEqual(float.NegativeInfinity, r.depth, "Scale 4 5 6 , -inf -inf -inf D");
}
[Test]
public void Multiply() {
Vector3 v1 = new(4, 5, 6);
float f = 3;
Vector3 r;
r = v1 * f;
Assert.AreEqual(12, r.horizontal, "4 5 6 * 3 H");
Assert.AreEqual(15, r.vertical, "4 5 6 * 3 V");
Assert.AreEqual(18, r.depth, "4 5 6 * 3 D");
f = -3;
r = v1 * f;
Assert.AreEqual(-12, r.horizontal, "4 5 6 * -3 H");
Assert.AreEqual(-15, r.vertical, "4 5 6 * -3 V");
Assert.AreEqual(-18, r.depth, "4 5 6 * -3 D");
f = 0;
r = v1 * f;
Assert.AreEqual(0, r.horizontal, "4 5 6 * 0 H");
Assert.AreEqual(0, r.vertical, "4 5 6 * 0 V");
Assert.AreEqual(0, r.depth, "4 5 6 * 0 D");
f = float.PositiveInfinity;
r = v1 * f;
Assert.AreEqual(float.PositiveInfinity, r.horizontal, "4 5 6 * inf H");
Assert.AreEqual(float.PositiveInfinity, r.vertical, "4 5 6 * inf V");
Assert.AreEqual(float.PositiveInfinity, r.depth, "4 5 6 * inf D");
f = float.NegativeInfinity;
r = v1 * f;
Assert.AreEqual(float.NegativeInfinity, r.horizontal, "4 5 6 * -inf H");
Assert.AreEqual(float.NegativeInfinity, r.vertical, "4 5 6 * -inf V");
Assert.AreEqual(float.NegativeInfinity, r.depth, "4 5 6 * -inf D");
}
[Test]
public void Divide() {
Vector3 v1 = new(4, 5, 6);
float f = 2;
Vector3 r;
r = v1 / f;
Assert.AreEqual(2, r.horizontal, "4 5 6 / 2 H");
Assert.AreEqual(2.5, r.vertical, "4 5 6 / 2 V");
Assert.AreEqual(3, r.depth, "4 5 6 / 2 D");
f = -2;
r = v1 / f;
Assert.AreEqual(-2, r.horizontal, "4 5 6 / -2 H");
Assert.AreEqual(-2.5, r.vertical, "4 5 6 / -2 V");
Assert.AreEqual(-3, r.depth, "4 5 6 / -2 D");
f = 0;
r = v1 / f;
Assert.AreEqual(float.PositiveInfinity, r.horizontal, "4 5 6 / 0 H");
Assert.AreEqual(float.PositiveInfinity, r.vertical, "4 5 6 / 0 V");
Assert.AreEqual(float.PositiveInfinity, r.depth, "4 5 6 / 0 D");
f = float.PositiveInfinity;
r = v1 / f;
Assert.AreEqual(0, r.horizontal, "4 5 6 / inf H");
Assert.AreEqual(0, r.vertical, "4 5 6 / inf V");
Assert.AreEqual(0, r.depth, "4 5 6 / inf D");
f = float.NegativeInfinity;
r = v1 / f;
Assert.AreEqual(0, r.horizontal, "4 5 6 / -inf H");
Assert.AreEqual(0, r.vertical, "4 5 6 / -inf V");
Assert.AreEqual(0, r.depth, "4 5 6 / -inf D");
}
[Test]
public void Dot() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
float f;
f = Vector3.Dot(v1, v2);
Assert.AreEqual(32, f, "Dot(4 5 6, 1 2 3)");
v2 = new(-1, -2, -3);
f = Vector3.Dot(v1, v2);
Assert.AreEqual(-32, f, "Dot(4 5 6, -1 -2 -3)");
v2 = new(0, 0, 0);
f = Vector3.Dot(v1, v2);
Assert.AreEqual(0, f, "Dot(4 5 6, 0 0 0)");
v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
f = Vector3.Dot(v1, v2);
Assert.AreEqual(float.PositiveInfinity, f, "Dot(4 5 6, inf inf inf)");
v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
f = Vector3.Dot(v1, v2);
Assert.AreEqual(float.NegativeInfinity, f, "Dot(4 5 6, -inf -inf -inf)");
}
[Test]
public void Equality() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
bool r;
r = v1 == v2;
Assert.IsFalse(r, "4 5 6 == 1 2 3");
v2 = new(4, 5, 6);
r = v1 == v2;
Assert.IsTrue(r, "4 5 6 == 4 5 6");
v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
r = v1 == v2;
Assert.IsFalse(r, "4 5 6 == inf inf inf");
v1 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
r = v1 == v2;
Assert.IsFalse(r, "-inf -inf -inf == inf inf inf");
}
[Test]
public void Distance() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
float f;
f = Vector3.Distance(v1, v2);
Assert.AreEqual(5.19615221F, f, "Distance(4 5 6, 1 2 3)");
v2 = new(-1, -2, -3);
f = Vector3.Distance(v1, v2);
Assert.AreEqual(12.4498997F, f, "Distance(4 5 6, -1 -2 -3)");
v2 = new(0, 0, 0);
f = Vector3.Distance(v1, v2);
Assert.AreEqual(v1.magnitude, f, "Distance(4 5 6, 0 0 0)");
v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
f = Vector3.Distance(v1, v2);
Assert.AreEqual(float.PositiveInfinity, f, "Distance(4 5 6, inf inf inf)");
v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
f = Vector3.Distance(v1, v2);
Assert.AreEqual(float.PositiveInfinity, f, "Distance(4 5 6, -inf -inf -inf)");
}
[Test]
public void Cross() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r;
r = Vector3.Cross(v1, v2);
Assert.AreEqual(3, r.horizontal, "Cross(4 5 6, 1 2 3) H");
Assert.AreEqual(-6, r.vertical, "Cross(4 5 6, 1 2 3) V");
Assert.AreEqual(3, r.depth, "Cross(4 5 6, 1 2 3) D");
v2 = new(-1, -2, -3);
r = Vector3.Cross(v1, v2);
Assert.AreEqual(-3, r.horizontal, "Cross(4 5 6, -1 -2 -3) H");
Assert.AreEqual(6, r.vertical, "Cross(4 5 6, -1 -2 -3) V");
Assert.AreEqual(-3, r.depth, "Cross(4 5 6, -1 -2 -3) D");
v2 = new(0, 0, 0);
r = Vector3.Cross(v1, v2);
Assert.AreEqual(0, r.horizontal, "Cross(4 5 6, 0 0 0) H");
Assert.AreEqual(0, r.vertical, "Cross(4 5 6, 0 0 0) V");
Assert.AreEqual(0, r.depth, "Cross(4 5 6, 0 0 0) D");
v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
r = Vector3.Cross(v1, v2);
Assert.IsTrue(float.IsNaN(r.horizontal), "Cross(4 5 6, inf inf inf) H");
Assert.IsTrue(float.IsNaN(r.vertical), "Cross(4 5 6, inf inf inf) V");
Assert.IsTrue(float.IsNaN(r.depth), "Cross(4 5 6, inf inf inf) D");
v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
r = Vector3.Cross(v1, v2);
Assert.IsTrue(float.IsNaN(r.horizontal), "Cross(4 5 6, -inf -inf -inf) H");
Assert.IsTrue(float.IsNaN(r.vertical), "Cross(4 5 6, -inf -inf -inf) V");
Assert.IsTrue(float.IsNaN(r.depth), "Cross(4 5 6, -inf -inf -inf) D");
}
[Test]
public void Project() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r;
r = Vector3.Project(v1, v2);
Assert.AreEqual(2.28571439F, r.horizontal, "Project(4 5 6, 1 2 3) H");
Assert.AreEqual(4.57142878F, r.vertical, "Project(4 5 6, 1 2 3) V");
Assert.AreEqual(6.85714293F, r.depth, "Project(4 5 6, 1 2 3) D");
v2 = new(-1, -2, -3);
r = Vector3.Project(v1, v2);
Assert.AreEqual(2.28571439F, r.horizontal, "Project(4 5 6, -1 -2 -3) H");
Assert.AreEqual(4.57142878F, r.vertical, "Project(4 5 6, -1 -2 -3) V");
Assert.AreEqual(6.85714293F, r.depth, "Project(4 5 6, -1 -2 -3) D");
v2 = new(0, 0, 0);
r = Vector3.Project(v1, v2);
Assert.AreEqual(0, r.horizontal, "Project(4 5 6, 0 0 0) H");
Assert.AreEqual(0, r.vertical, "Project(4 5 6, 0 0 0) V");
Assert.AreEqual(0, r.depth, "Project(4 5 6, 0 0 0) D");
r = Vector3.Project(v2, v1);
Assert.AreEqual(0, r.horizontal, "Project(0 0 0, 4 5 6) H");
Assert.AreEqual(0, r.vertical, "Project(0 0 0, 4 5 6) V");
Assert.AreEqual(0, r.depth, "Project(0 0 0, 4 5 6) D");
v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
r = Vector3.Project(v1, v2);
Assert.IsTrue(float.IsNaN(r.horizontal), "Project(4 5 6, inf inf inf) H");
Assert.IsTrue(float.IsNaN(r.vertical), "Project(4 5 6, inf inf inf) V");
Assert.IsTrue(float.IsNaN(r.depth), "Project(4 5 6, inf inf inf) D");
v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
r = Vector3.Project(v1, v2);
Assert.IsTrue(float.IsNaN(r.horizontal), "Project(4 5 6, -inf -inf -inf) H");
Assert.IsTrue(float.IsNaN(r.vertical), "Project(4 5 6, -inf -inf -inf) V");
Assert.IsTrue(float.IsNaN(r.depth), "Project(4 5 6, -inf -inf -inf) D");
}
[Test]
public void ProjectOnPlane() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r;
r = Vector3.ProjectOnPlane(v1, v2);
Assert.AreEqual(1.71428561F, r.horizontal, "ProjectOnPlane(4 5 6, 1 2 3) H");
Assert.AreEqual(0.428571224F, r.vertical, "ProjectOnPlane(4 5 6, 1 2 3) V");
Assert.AreEqual(-0.857142925F, r.depth, "ProjectOnPlane(4 5 6, 1 2 3) D");
v2 = new(-1, -2, -3);
r = Vector3.ProjectOnPlane(v1, v2);
Assert.AreEqual(1.71428561F, r.horizontal, "ProjectOnPlane(4 5 6, -1 -2 -3) H");
Assert.AreEqual(0.428571224F, r.vertical, "ProjectOnPlane(4 5 6, -1 -2 -3) V");
Assert.AreEqual(-0.857142925F, r.depth, "ProjectOnPlane(4 5 6, -1 -2 -3) D");
v2 = new(0, 0, 0);
r = Vector3.ProjectOnPlane(v1, v2);
Assert.AreEqual(4, r.horizontal, "ProjectOnPlane(4 5 6, 0 0 0) H");
Assert.AreEqual(5, r.vertical, "ProjectOnPlane(4 5 6, 0 0 0) V");
Assert.AreEqual(6, r.depth, "ProjectOnPlane(4 5 6, 0 0 0) D");
r = Vector3.ProjectOnPlane(v2, v1);
Assert.AreEqual(0, r.horizontal, "ProjectOnPlane(0 0 0, 4 5 6) H");
Assert.AreEqual(0, r.vertical, "ProjectOnPlane(0 0 0, 4 5 6) V");
Assert.AreEqual(0, r.depth, "ProjectOnPlane(0 0 0, 4 5 6) D");
v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
r = Vector3.ProjectOnPlane(v1, v2);
Assert.IsTrue(float.IsNaN(r.horizontal), "ProjectOnPlane(4 5 6, inf inf inf) H");
Assert.IsTrue(float.IsNaN(r.vertical), "ProjectOnPlane(4 5 6, inf inf inf) V");
Assert.IsTrue(float.IsNaN(r.depth), "ProjectOnPlane(4 5 6, inf inf inf) D");
v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
r = Vector3.ProjectOnPlane(v1, v2);
Assert.IsTrue(float.IsNaN(r.horizontal), "ProjectOnPlane(4 5 6, -inf -inf -inf) H");
Assert.IsTrue(float.IsNaN(r.vertical), "ProjectOnPlane(4 5 6, -inf -inf -inf) V");
Assert.IsTrue(float.IsNaN(r.depth), "ProjectOnPlane(4 5 6, -inf -inf -inf) D");
}
[Test]
public void UnsignedAngle() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
AngleFloat a;
a = Vector3.UnsignedAngle(v1, v2);
Assert.AreEqual(12.9331379F, a.inDegrees, "Angle(4 5 6, 1 2 3)");
v2 = new(-1, -2, -3);
a = Vector3.UnsignedAngle(v1, v2);
Assert.AreEqual(167.066849F, a.inDegrees, "Angle(4 5 6, -1 -2 -3)");
v2 = new(0, 0, 0);
a = Vector3.UnsignedAngle(v1, v2);
Assert.AreEqual(0, a.inDegrees, "Angle(4 5 6, 0 0 0)");
v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
a = Vector3.UnsignedAngle(v1, v2);
Assert.IsTrue(float.IsNaN(a.inDegrees), "Angle(4 5 6, inf inf inf)");
v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
a = Vector3.UnsignedAngle(v1, v2);
Assert.IsTrue(float.IsNaN(a.inDegrees), "Angle(4 5 6, inf inf inf)");
}
[Test]
public void SignedAngle() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 v3 = new(7, 8, -9);
AngleFloat a;
a = Vector3.SignedAngle(v1, v2, v3);
Assert.AreEqual(-12.9331379F, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, 7 8 -9)");
v2 = new(-1, -2, -3);
a = Vector3.SignedAngle(v1, v2, v3);
Assert.AreEqual(167.066849F, a.inDegrees, "SignedAngle(4 5 6, -1 -2 -3, 7 8 -9)");
v2 = new(0, 0, 0);
a = Vector3.SignedAngle(v1, v2, v3);
Assert.AreEqual(0, a.inDegrees, "SignedAngle(4 5 6, 0 0 0, 7 8 -9)");
v2 = new(1, 2, 3);
v3 = new(-7, -8, 9);
a = Vector3.SignedAngle(v1, v2, v3);
Assert.AreEqual(12.9331379F, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, -7 -8 9)");
v3 = new(0, 0, 0);
a = Vector3.SignedAngle(v1, v2, v3);
Assert.AreEqual(0, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, 0 0 0)");
v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
a = Vector3.SignedAngle(v1, v2, v3);
Assert.IsTrue(float.IsNaN(a.inDegrees), "SignedAngle(4 5 6, inf inf inf, 0 0 0)");
v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity);
a = Vector3.SignedAngle(v1, v2, v3);
Assert.IsTrue(float.IsNaN(a.inDegrees), "SignedAngle(4 5 6, -inf -inf -inf, 0 0 0)");
}
[Test]
public void Lerp() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r;
r = Vector3.Lerp(v1, v2, 0);
Assert.AreEqual(0, Vector3.Distance(r, v1), 0);
r = Vector3.Lerp(v1, v2, 1);
Assert.AreEqual(0, Vector3.Distance(r, v2), 0);
r = Vector3.Lerp(v1, v2, 0.5f);
Assert.AreEqual(0, Vector3.Distance(r, new Vector3(2.5f, 3.5f, 4.5f)), 0);
r = Vector3.Lerp(v1, v2, -1);
Assert.AreEqual(0, Vector3.Distance(r, new Vector3(7, 8, 9)), 0);
r = Vector3.Lerp(v1, v2, 2);
Assert.AreEqual(0, Vector3.Distance(r, new Vector3(-2, -1, 0)), 0);
}
}
}
#endif

349
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#if !UNITY_5_6_OR_NEWER
using NUnit.Framework;
namespace LinearAlgebra.Test {
using Vector3 = Vector3Int;
public class Vector3IntTest {
[Test]
public void Equality() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Assert.IsFalse(v1 == v2, "4 5 6 == 1 2 3");
Assert.IsTrue(v1 != v2, "4 5 6 != 1 2 3");
v2 = new(4, 5, 6);
Assert.IsTrue(v1 == v2, "4 5 6 == 4 5 6");
Assert.IsFalse(v1 != v2, "4 5 6 != 4 5 6");
}
[Test]
public void Magnitude() {
Vector3 v = new(1, 2, 3);
float m = 0;
m = v.magnitude;
Assert.AreEqual(3.7416575f, m, "magnitude 1 2 3");
m = Vector3.MagnitudeOf(v);
Assert.AreEqual(3.7416575f, m, "MagnitudeOf 1 2 3");
v = new(-1, -2, -3);
m = v.magnitude;
Assert.AreEqual(3.7416575f, m, "magnitude -1 -2 -3");
v = new(0, 0, 0);
m = v.magnitude;
Assert.AreEqual(0, m, "magnitude 0 0 0");
// Infinity tests are still missing
}
[Test]
public void SqrMagnitude() {
Vector3 v = new(1, 2, 3);
float m = 0;
m = v.sqrMagnitude;
Assert.AreEqual(14, m, "sqrMagnitude 1 2 3");
m = Vector3.SqrMagnitudeOf(v);
Assert.AreEqual(14, m, "SqrMagnitudeOf 1 2 3");
v = new(-1, -2, -3);
m = v.sqrMagnitude;
Assert.AreEqual(14, m, "sqrMagnitude -1 -2 -3");
v = new(0, 0, 0);
m = v.sqrMagnitude;
Assert.AreEqual(0, m, "sqrMagnitude 0 0 0");
// Infinity tests are still missing
}
[Test]
public void Distance() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
float f;
f = Vector3.Distance(v1, v2);
Assert.AreEqual(5.19615221F, f, "Distance(4 5 6, 1 2 3)");
v2 = new(-1, -2, -3);
f = Vector3.Distance(v1, v2);
Assert.AreEqual(12.4498997F, f, "Distance(4 5 6, -1 -2 -3)");
v2 = new(0, 0, 0);
f = Vector3.Distance(v1, v2);
Assert.AreEqual(v1.magnitude, f, "Distance(4 5 6, 0 0 0)");
}
[Test]
public void Normalize() {
Vector3 v = new(0, 2, 0);
Vector3Float r;
r = v.normalized;
//Assert.AreEqual(new Vector3(0, 1, 0), r, "normalized 0 2 0");
Assert.AreEqual(0, r.horizontal, "normalized 0 2 0");
Assert.AreEqual(1, r.vertical, "normalized 0 2 0");
Assert.AreEqual(0, r.depth, "normalized 0 2 0");
r = Vector3.Normalize(v);
Assert.AreEqual(new Vector3Float(0, 1, 0), r, "Normalize 0 2 0");
v = new(0, -2, 0);
r = v.normalized;
Assert.AreEqual(new Vector3Float(0, -1, 0), r, "normalized 0 -2 0");
v = new(0, 0, 0);
r = v.normalized;
Assert.AreEqual(new Vector3Float(0, 0, 0), r, "normalized 0 0 0");
}
[Test]
public void Negate() {
Vector3 v = new(4, 5, 6);
Vector3 r;
r = -v;
Assert.AreEqual(-4, r.horizontal, "- 4 5 6 H");
Assert.AreEqual(-5, r.vertical, "- 4 5 6 V");
Assert.AreEqual(-6, r.depth, "- 4 5 6 D");
v = new(-4, -5, -6);
r = -v;
Assert.AreEqual(4, r.horizontal, "- -4 -5 -6 H");
Assert.AreEqual(5, r.vertical, "- -4 -5 -6 V");
Assert.AreEqual(6, r.depth, "- -4 -5 -6 D");
v = new(0, 0, 0);
r = -v;
Assert.AreEqual(new Vector3(0, 0, 0), r, "- 0 0 0");
Assert.AreEqual(0, r.horizontal, "- 0 0 0 H");
Assert.AreEqual(0, r.vertical, "- 0 0 0 V");
Assert.AreEqual(0, r.depth, "- 0 0 0 D");
}
[Test]
public void Subtract() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r = Vector3.zero;
r = v1 - v2;
Assert.IsTrue(r == new Vector3(3, 3, 3), "4 5 6 - 1 2 3");
v2 = new(-1, -2, -3);
r = v1 - v2;
Assert.IsTrue(r == new Vector3(5, 7, 9), "4 5 6 - -1 -2 -3");
v2 = new(4, 5, 6);
r = v1 - v2;
Assert.IsTrue(r == new Vector3(0, 0, 0), "4 5 6 - 4 5 6");
r = v1;
r -= v2;
Assert.AreEqual(r, new Vector3(0, 0, 0), "4 5 6 - 4 5 6");
v2 = new(0, 0, 0);
r = v1 - v2;
Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 - 0 0 0");
r -= v2;
Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 - 0 0 0");
// Infinity tests are still missing
}
[Test]
public void Addition() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r = Vector3.zero;
r = v1 + v2;
Assert.IsTrue(r == new Vector3(5, 7, 9), "4 5 6 + 1 2 3");
v2 = new(-1, -2, -3);
r = v1 + v2;
Assert.IsTrue(r == new Vector3(3, 3, 3), "4 5 6 + -1 -2 -3");
r = v1;
r += v2;
Assert.AreEqual(r, new Vector3(3, 3, 3), "4 5 6 + -1 -2 -3");
v2 = new(0, 0, 0);
r = v1 + v2;
Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 + 0 0 0");
r += v2;
Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 + 0 0 0");
// Infinity tests are still missing
}
[Test]
public void Scale() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r;
r = Vector3.Scale(v1, v2);
Assert.AreEqual(4, r.horizontal, "Scale 4 5 6 , 1 2 3 H");
Assert.AreEqual(10, r.vertical, "Scale 4 5 6 , 1 2 3 V");
Assert.AreEqual(18, r.depth, "Scale 4 5 6 , 1 2 3 D");
v2 = new(-1, -2, -3);
r = Vector3.Scale(v1, v2);
Assert.AreEqual(-4, r.horizontal, "Scale 4 5 6 , -1 -2 -3 H");
Assert.AreEqual(-10, r.vertical, "Scale 4 5 6 , -1 -2 -3 V");
Assert.AreEqual(-18, r.depth, "Scale 4 5 6 , -1 -2 -3 D");
v2 = new(0, 0, 0);
r = Vector3.Scale(v1, v2);
Assert.AreEqual(0, r.horizontal, "Scale 4 5 6 , 0 0 0 H");
Assert.AreEqual(0, r.vertical, "Scale 4 5 6 , 0 0 0 V");
Assert.AreEqual(0, r.depth, "Scale 4 5 6 , 0 0 0 D");
}
[Test]
public void Multiply() {
Vector3 v1 = new(4, 5, 6);
int f = 3;
Vector3 r;
r = v1 * f;
Assert.AreEqual(12, r.horizontal, "4 5 6 * 3 H");
Assert.AreEqual(15, r.vertical, "4 5 6 * 3 V");
Assert.AreEqual(18, r.depth, "4 5 6 * 3 D");
r = f * v1;
Assert.AreEqual(12, r.horizontal, "3 * 4 5 6 H");
Assert.AreEqual(15, r.vertical, "3 * 4 5 6 V");
Assert.AreEqual(18, r.depth, "3 * 4 5 6 D");
f = -3;
r = v1 * f;
Assert.AreEqual(-12, r.horizontal, "4 5 6 * -3 H");
Assert.AreEqual(-15, r.vertical, "4 5 6 * -3 V");
Assert.AreEqual(-18, r.depth, "4 5 6 * -3 D");
f = 0;
r = v1 * f;
Assert.AreEqual(0, r.horizontal, "4 5 6 * 0 H");
Assert.AreEqual(0, r.vertical, "4 5 6 * 0 V");
Assert.AreEqual(0, r.depth, "4 5 6 * 0 D");
}
[Test]
public void Divide() {
Vector3 v1 = new(4, 5, 6);
int f = 2;
Vector3 r;
r = v1 / f;
Assert.AreEqual(2, r.horizontal, "4 5 6 / 2 H");
Assert.AreEqual(2, r.vertical, "4 5 6 / 2 V");
Assert.AreEqual(3, r.depth, "4 5 6 / 2 D");
f = -2;
r = v1 / f;
Assert.AreEqual(-2, r.horizontal, "4 5 6 / -2 H");
Assert.AreEqual(-2, r.vertical, "4 5 6 / -2 V");
Assert.AreEqual(-3, r.depth, "4 5 6 / -2 D");
Assert.Throws<System.DivideByZeroException>(() => {
f = 0;
r = v1 / f;
});
}
[Test]
public void Dot() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
float f;
f = Vector3.Dot(v1, v2);
Assert.AreEqual(32, f, "Dot(4 5 6, 1 2 3)");
v2 = new(-1, -2, -3);
f = Vector3.Dot(v1, v2);
Assert.AreEqual(-32, f, "Dot(4 5 6, -1 -2 -3)");
v2 = new(0, 0, 0);
f = Vector3.Dot(v1, v2);
Assert.AreEqual(0, f, "Dot(4 5 6, 0 0 0)");
}
[Test]
public void Cross() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 r;
r = Vector3.Cross(v1, v2);
Assert.AreEqual(3, r.horizontal, "Cross(4 5 6, 1 2 3) H");
Assert.AreEqual(-6, r.vertical, "Cross(4 5 6, 1 2 3) V");
Assert.AreEqual(3, r.depth, "Cross(4 5 6, 1 2 3) D");
v2 = new(-1, -2, -3);
r = Vector3.Cross(v1, v2);
Assert.AreEqual(-3, r.horizontal, "Cross(4 5 6, -1 -2 -3) H");
Assert.AreEqual(6, r.vertical, "Cross(4 5 6, -1 -2 -3) V");
Assert.AreEqual(-3, r.depth, "Cross(4 5 6, -1 -2 -3) D");
v2 = new(0, 0, 0);
r = Vector3.Cross(v1, v2);
Assert.AreEqual(0, r.horizontal, "Cross(4 5 6, 0 0 0) H");
Assert.AreEqual(0, r.vertical, "Cross(4 5 6, 0 0 0) V");
Assert.AreEqual(0, r.depth, "Cross(4 5 6, 0 0 0) D");
}
[Test]
public void UnsignedAngle() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
AngleFloat a;
a = Vector3.UnsignedAngle(v1, v2);
Assert.AreEqual(12.9331379F, a.inDegrees, "Angle(4 5 6, 1 2 3)");
v2 = new(-1, -2, -3);
a = Vector3.UnsignedAngle(v1, v2);
Assert.AreEqual(167.066849F, a.inDegrees, "Angle(4 5 6, -1 -2 -3)");
v2 = new(0, 0, 0);
a = Vector3.UnsignedAngle(v1, v2);
Assert.AreEqual(0, a.inDegrees, "Angle(4 5 6, 0 0 0)");
}
[Test]
public void SignedAngle() {
Vector3 v1 = new(4, 5, 6);
Vector3 v2 = new(1, 2, 3);
Vector3 v3 = new(7, 8, -9);
AngleFloat a;
a = Vector3.SignedAngle(v1, v2, v3);
Assert.AreEqual(-12.9331379F, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, 7 8 -9)");
v2 = new(-1, -2, -3);
a = Vector3.SignedAngle(v1, v2, v3);
Assert.AreEqual(167.066849F, a.inDegrees, "SignedAngle(4 5 6, -1 -2 -3, 7 8 -9)");
v2 = new(0, 0, 0);
a = Vector3.SignedAngle(v1, v2, v3);
Assert.AreEqual(0, a.inDegrees, "SignedAngle(4 5 6, 0 0 0, 7 8 -9)");
v2 = new(1, 2, 3);
v3 = new(-7, -8, 9);
a = Vector3.SignedAngle(v1, v2, v3);
Assert.AreEqual(12.9331379F, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, -7 -8 9)");
v3 = new(0, 0, 0);
a = Vector3.SignedAngle(v1, v2, v3);
Assert.AreEqual(0, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, 0 0 0)");
}
}
}
#endif

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MemoryCell.cs Normal file
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using System;
using UnityEngine;
using Unity.Mathematics;
using static Unity.Mathematics.math;
[Serializable]
public class MemoryCell : Neuron {
public MemoryCell(ClusterPrefab cluster, string name) : base(cluster, name) {}
#region Parameters
// Returns the memorized value weighted by time
// return lastValue * (current time - last time)
[SerializeField]
public bool deltaValue = false;
#endregion Parameters
#region State
private float3 _memorizedValue;
private float _memorizedTime;
public override void UpdateState() {
// A memorycell does not have an activation function
float3 result = new(0, 0, 0);
int n = 0;
//Applying the weight factgors
foreach (Synapse synapse in this.synapses) {
if (synapse.nucleus == this) {
float deltaTime = Time.time - this.lastTime;
synapse.weight = deltaTime;
}
result += synapse.weight * synapse.nucleus.outputValue;
if (lengthsq(synapse.nucleus.outputValue) != 0)
n++;
}
if (this.average)
result /= n;
UpdateResult(result);
}
public override void UpdateResult(Vector3 result) {
// output value is the previous value
if (this.deltaValue) {
float deltaTime = Time.time - this._memorizedTime;
this._outputValue = this._memorizedValue * deltaTime;
}
else
this._outputValue = this._memorizedValue;
// Store the result for the next time
this._memorizedValue = result;
this._memorizedTime = Time.time;
foreach (INucleus receiver in this.receivers)
receiver.UpdateState();
}
#endregion State
}

2
MemoryCell.cs.meta Normal file
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@ -0,0 +1,2 @@
fileFormatVersion: 2
guid: 29633aa3fe5cd9dcc8d886051f45d4d8

19
NanoBrain-Unity.code-workspace
View File

@ -1,19 +1,12 @@
{ {
"folders": [ "folders": [
{ {
"path": "." "path": "../.."
},
{
"name": "LinearAlgebra-csharp",
"path": "LinearAlgebra-csharp"
} }
], ],
"settings": { "settings": {}
"files.associations": {
"*.asset": "yaml",
"*.meta": "yaml",
"*.prefab": "yaml",
"*.unity": "yaml"
},
"dotnet.defaultSolution": "NanoBrain-Unity.sln",
"dotnet.server.useOmnisharp": true,
"omnisharp.useModernNet": false,
"dotnet.automaticallyCreateSolutionInWorkspace": false
}
} }

2
Assets/Scenes/Boids/Scripts/StationaryBoid.cs.meta → NanoBrain-Unity.code-workspace.meta
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@ -1,5 +1,5 @@
fileFormatVersion: 2 fileFormatVersion: 2
guid: c156ab45bfd15d213b1be7451d0c0151 guid: cfec45da5945b94d684a763d86b0dcf8
DefaultImporter: DefaultImporter:
externalObjects: {} externalObjects: {}
userData: userData:

4
NanoBrain-Unity.slnx
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@ -1,4 +0,0 @@
<Solution>
<Project Path="Assembly-CSharp.csproj" />
<Project Path="Assembly-CSharp-Editor.csproj" />
</Solution>

26
NanoBrain.sln
View File

@ -1,26 +0,0 @@

Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 15
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Assembly-CSharp", "Assembly-CSharp.csproj", "{421F1D6D-0E9B-E088-7112-FB87A00D7B68}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Assembly-CSharp-Editor", "Assembly-CSharp-Editor.csproj", "{4FC2AA99-AF4E-7981-91DB-25688AE496F4}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{421F1D6D-0E9B-E088-7112-FB87A00D7B68}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{421F1D6D-0E9B-E088-7112-FB87A00D7B68}.Debug|Any CPU.Build.0 = Debug|Any CPU
{421F1D6D-0E9B-E088-7112-FB87A00D7B68}.Release|Any CPU.ActiveCfg = Release|Any CPU
{421F1D6D-0E9B-E088-7112-FB87A00D7B68}.Release|Any CPU.Build.0 = Release|Any CPU
{4FC2AA99-AF4E-7981-91DB-25688AE496F4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{4FC2AA99-AF4E-7981-91DB-25688AE496F4}.Debug|Any CPU.Build.0 = Debug|Any CPU
{4FC2AA99-AF4E-7981-91DB-25688AE496F4}.Release|Any CPU.ActiveCfg = Release|Any CPU
{4FC2AA99-AF4E-7981-91DB-25688AE496F4}.Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
EndGlobal

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Neuroid.cs Normal file
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/*
using UnityEngine;
using Unity.Mathematics;
using static Unity.Mathematics.math;
[System.Serializable]
public class Neuroid : Neuron {
public bool average = false;
public Neuroid(Cluster brain, string name) : base(name) {
this.cluster = brain;
if (this.cluster != null) {
this.cluster.nuclei.Add(this);
}
else
Debug.LogError("No neuroid network");
}
public Neuroid(string name) : base(name) { }
public override INucleus Clone() {
Neuroid clone = new(this.name) {
cluster = this.cluster,
array = this.array,
curve = this.curve,
curvePreset = this.curvePreset,
curveMax = this.curveMax,
average = this.average
};
if (clone.cluster != null)
clone.cluster.nuclei.Add(clone);
foreach (Synapse synapse in this.synapses) {
Synapse clonedSynapse = clone.AddSynapse(synapse.nucleus);
clonedSynapse.weight = synapse.weight;
}
foreach (INucleus receiver in this.receivers) {
clone.AddReceiver(receiver);
}
return clone;
}
public override void UpdateState() {
float3 sum = new(0, 0, 0);
int n = 0;
//Applying the weight factgors
foreach (Synapse synapse in this.synapses) {
sum = sum + (synapse.weight * synapse.nucleus.outputValue);
if (lengthsq(synapse.nucleus.outputValue) != 0)
n++;
}
if (average)
sum /= n;
// Activation function
Vector3 result;
switch (this.curvePreset) {
case CurvePresets.Linear:
result = sum;
break;
case CurvePresets.Sqrt:
result = normalize(sum) * System.MathF.Sqrt(length(sum));
break;
case CurvePresets.Power:
result = normalize(sum) * System.MathF.Pow(length(sum), 2);
break;
case CurvePresets.Reciprocal:
result = normalize(sum) * (1 / length(sum));
break;
default:
float activatedValue = this.curve.Evaluate(length(sum));
result = normalize(sum) * activatedValue;
break;
}
UpdateResult(result);
}
}
*/

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Neuroid.cs.meta Normal file
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@ -0,0 +1,2 @@
fileFormatVersion: 2
guid: 771f64aec709af240a39b1d918bbc829

321
Neuron.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using UnityEditor;
using Unity.Mathematics;
using static Unity.Mathematics.math;
[Serializable]
public class Neuron : INucleus {
[SerializeField]
protected string _name;
public virtual string name {
get => _name;
set => _name = value;
}
[SerializeField]
private List<Synapse> _synapses = new();
public List<Synapse> synapses => _synapses;
[SerializeReference]
private List<INucleus> _receivers = new();
public List<INucleus> receivers {
get { return _receivers; }
set { _receivers = value; }
}
[SerializeReference]
private NucleusArray _array;
public NucleusArray array {
get { return _array; }
set { _array = value; }
}
#region Serialization
public enum CurvePresets {
Linear,
Power,
Sqrt,
Reciprocal,
Custom
}
[SerializeField]
private CurvePresets _curvePreset;
public CurvePresets curvePreset {
get { return _curvePreset; }
set {
_curvePreset = value;
this.curve = GenerateCurve();
}
}
public AnimationCurve curve;
public float curveMax = 1.0f;
#region Parameters
public bool average = false;
#endregion Parameters
public AnimationCurve GenerateCurve() {
switch (this.curvePreset) {
case CurvePresets.Linear:
this.curveMax = 1;
return Presets.Linear(1);
case CurvePresets.Power:
this.curveMax = 1;
return Presets.Power(2.0f, 1);
case CurvePresets.Sqrt:
this.curveMax = 1;
return Presets.Power(0.5f, 1);
case CurvePresets.Reciprocal:
this.curveMax = 1 / 0.01f * 1;
return Presets.Reciprocal(1);
default:
this.curveMax = 1;
return this.curve;
}
}
public virtual void Deserialize(Neuron nucleus) { }
#endregion Serialization
#region Runtime state (not serialized)
public ClusterPrefab cluster { get; set; }
#region Activation
public static class Presets {
private const int samples = 32;
public static AnimationCurve Linear(float weight) {
return AnimationCurve.Linear(0f, 0f, 1000f, weight * 1000);
}
public static AnimationCurve Power(float exponent, float weight) {
// build keyframes
Keyframe[] keys = new Keyframe[samples];
for (int i = 0; i < samples; i++) {
float t = i / (float)(samples - 1);
float v = Mathf.Pow(t, exponent) * weight;
keys[i] = new Keyframe(t, v);
}
AnimationCurve curve = new(keys);
// set tangent modes for each key to Auto (smooth). Use Linear if you prefer straight segments.
for (int i = 0; i < curve.length; i++) {
AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Auto);
AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Auto);
}
return curve;
}
public static AnimationCurve Reciprocal(float weight) {
int samples = 128;
float xMin = 0.001f;
float xMax = 1;
var keys = new Keyframe[samples];
for (int i = 0; i < samples; i++) {
float t = i / (float)(samples - 1);
float x = Mathf.Lerp(xMin, xMax, t);
float y = 1f / x * weight;
keys[i] = new Keyframe(x, y);
}
var curve = new AnimationCurve(keys);
for (int i = 0; i < curve.length; i++) {
AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Linear);
AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Linear);
}
return curve;
}
}
#endregion Activation
protected float3 _outputValue;
public virtual float3 outputValue {
get { return _outputValue; }
set {
this.stale = 0;
// this._isSleeping = false;
_outputValue = value;
}
}
[NonSerialized]
private int stale = 1000;
// private bool _isSleeping = false;
// public bool isSleeping => _isSleeping;
public bool isSleeping => lengthsq(this.outputValue) == 0;
public float lastTime { get; private set; }
public void UpdateNuclei() {
this.stale++;
// this._isSleeping = this.stale > 2;
// if (isSleeping)
if (this.stale > 2)
_outputValue = Vector3.zero;
}
#endregion Runtime state
public Neuron(ClusterPrefab parent, string name) {
this.cluster = parent;
this.name = name;
if (this.cluster != null) {
this.cluster.nuclei.Add(this);
}
// else
// Debug.LogError("No neuroid network");
}
// public Neuron(string name) {
// this._name = name;
// }
public virtual IReceptor CloneTo(ClusterPrefab parent) {
Neuron clone = new(parent, this.name) {
array = this.array,
curve = this.curve,
curvePreset = this.curvePreset,
curveMax = this.curveMax,
average = this.average
};
// if (clone.cluster != null)
// clone.cluster.nuclei.Add(clone);
foreach (Synapse synapse in this.synapses) {
Synapse clonedSynapse = clone.AddSynapse(synapse.nucleus);
clonedSynapse.weight = synapse.weight;
}
foreach (INucleus receiver in this.receivers) {
clone.AddReceiver(receiver);
}
return clone;
}
public virtual IReceptor Clone() {
Neuron clone = new(this.cluster, this.name) {
array = this.array,
curve = this.curve,
curvePreset = this.curvePreset,
curveMax = this.curveMax,
average = this.average
};
// if (clone.cluster != null)
// clone.cluster.nuclei.Add(clone);
foreach (Synapse synapse in this.synapses) {
Synapse clonedSynapse = clone.AddSynapse(synapse.nucleus);
clonedSynapse.weight = synapse.weight;
}
foreach (INucleus receiver in this.receivers) {
clone.AddReceiver(receiver);
}
return clone;
}
public virtual void AddReceiver(INucleus receivingNucleus) {
this._receivers.Add(receivingNucleus);
receivingNucleus.AddSynapse(this);
}
public void RemoveReceiver(INucleus receiverNucleus) {
this._receivers.RemoveAll(receiver => receiver == receiverNucleus);
receiverNucleus.synapses.RemoveAll(synapse => synapse.nucleus == this);
}
public static void Delete(INucleus nucleus) {
foreach (Synapse synapse in nucleus.synapses) {
if (synapse.nucleus is Neuron synapse_nucleus) {
if (synapse_nucleus._receivers.Count > 1) {
// there is another nucleus feeding into this input nucleus
synapse_nucleus._receivers.RemoveAll(r => r == nucleus);
}
else {
// No other links, delete it.
Neuron.Delete(synapse_nucleus);
}
}
}
foreach (INucleus receiver in nucleus.receivers) {
if (receiver != null && receiver.synapses != null)
receiver.synapses.RemoveAll(s => s.nucleus == nucleus);
}
if (nucleus.cluster != null) {
nucleus.cluster.nuclei.RemoveAll(n => n == nucleus);
nucleus.cluster.GarbageCollection();
}
}
public Synapse AddSynapse(IReceptor sendingNucleus) {
Synapse synapse = new(sendingNucleus);
this.synapses.Add(synapse);
return synapse;
}
public virtual void UpdateState() {
UpdateState(new float3(0, 0, 0));
}
public virtual void UpdateState(float3 inputValue) {
float3 sum = inputValue;//new(0, 0, 0);
int n = 0;
//Applying the weight factgors
foreach (Synapse synapse in this.synapses) {
if (synapse.nucleus == this) {
float deltaTime = Time.time - this.lastTime;
synapse.weight = deltaTime;
}
sum += synapse.weight * synapse.nucleus.outputValue;
// Perhaps synapses should be removed when the output value goes to 0....
if (lengthsq(synapse.nucleus.outputValue) != 0)
n++;
}
if (this.average && n > 0)
sum /= n;
// Activation function
Vector3 result;
switch (this.curvePreset) {
case CurvePresets.Linear:
result = sum;
break;
case CurvePresets.Sqrt:
result = normalize(sum) * System.MathF.Sqrt(length(sum));
break;
case CurvePresets.Power:
result = normalize(sum) * System.MathF.Pow(length(sum), 2);
break;
case CurvePresets.Reciprocal:
result = normalize(sum) * (1 / length(sum));
break;
default:
float activatedValue = this.curve.Evaluate(length(sum));
result = normalize(sum) * activatedValue;
break;
}
UpdateResult(result);
}
public virtual void UpdateResult(Vector3 result) {
// float d = Vector3.Distance(result, this.outputValue);
// if (d < 0.5f) {
// //Debug.Log($"insignificant update: {d}");
// return;
// }
this.outputValue = result;
this.lastTime = Time.time;
foreach (INucleus receiver in this.receivers)
receiver.UpdateState();
}
}

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using System.Linq;
using System.Collections.Generic;
using UnityEngine;
[System.Serializable]
public class NucleusArray {
[SerializeReference]
private INucleus[] _nuclei;
private ClusterPrefab[] _clusters;
public IEnumerable<INucleus> nuclei {
get {
// if (_nuclei == null)
// return _clusters;
// else if (_clusters == null)
return _nuclei;
// else
// return _nuclei.Concat(_clusters);
}
}
public string name;
public NucleusArray(INucleus nucleus) {
this.name = nucleus.name;
this._nuclei = new INucleus[1];
this._nuclei[0] = nucleus;
this._clusters = new ClusterPrefab[0];
}
public NucleusArray(ClusterPrefab cluster) {
this.name = cluster.name;
this._nuclei = new INucleus[0];
this._clusters = new ClusterPrefab[1];
this._clusters[0] = cluster;
}
public void AddNucleus() {
if (this._nuclei.Length == 0) {
Debug.LogError("Empty perceptoid array, cannot add");
return;
}
int newLength = this._nuclei.Length + 1;
INucleus[] newArray = new INucleus[newLength];
for (int i = 0; i < this._nuclei.Length; i++)
newArray[i] = this._nuclei[i];
if (this._nuclei[0] is INucleus nucleus)
newArray[newLength - 1] = (INucleus) nucleus.Clone();
this._nuclei = newArray;
}
public void RemoveNucleus() {
int newLength = this._nuclei.Length - 1;
if (newLength == 0) {
Debug.LogWarning("Perceptoid array cannot be empty");
return;
}
INucleus[] newPerceptei = new INucleus[newLength];
for (int i = 0; i < newLength; i++)
newPerceptei[i] = this._nuclei[i];
// Delete the last perception
Neuron.Delete(this._nuclei[newLength]);
this._nuclei = newPerceptei;
}
}

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/*
using UnityEngine;
[System.Serializable]
public class Perceptoid : Neuroid {
// A neuroid which has no neurons as input
// But receives value from a receptor
public NanoBrain brain;
public Receptor receptor;
public string baseName;
public int thingId;
//[SerializeField]
// Needs serialization!!!!
[SerializeReference]
public PercepteiArray array;
#region Serialization
[SerializeField]
public int thingType;
public override void Rebuild(NanoBrain brain) {
base.Rebuild(brain);
this.receptor = Receptor.GetReceptor(brain, thingType);
this.receptor.perceptei.Add(this);
if (string.IsNullOrEmpty(this.baseName))
this.baseName = this.name;
}
public override void Deserialize(Nucleus nucleus) {
base.Deserialize(nucleus);
if (nucleus is Perceptoid perceptoid)
this.receptor.thingType = perceptoid.thingType;
// Point all receivers to this perceptoid instead of the default nucleus
foreach (INucleus receiver in nucleus.receivers) {
foreach (Synapse synapse in receiver.synapses) {
if (synapse.nucleus == nucleus)
synapse.nucleus = this;
}
}
// Point all synapses to this perceptoid instead of the default nucleus
// foreach (Synapse synapse in nucleus.synapses) {
// foreach (INucleus r in synapse.nucleus.receivers) {
// if (r == nucleus)
// this.receiver = this;
// }
// }
// Copying disabled for now
// // Copy all the synapses
// this.synapses = nucleus.synapses;
// // Copy all receivers
// this.receivers = nucleus.receivers;
}
#endregion Serialization
public Perceptoid(NanoBrain brain, int thingType, string name = "sensor") : base(name) {
this.brain = brain;
this.cluster = brain.cluster;
if (this.cluster != null) {
brain.perceptei.Add(this);
}
else
Debug.LogError("No neuroid network");
this.nucleusType = nameof(Perceptoid);
this.name = name;
this.baseName = name;
this.thingType = thingType;
this.receptor = Receptor.GetReceptor(brain, thingType);
this.receptor.perceptei.Add(this);
this.array = new PercepteiArray(this);
}
public Perceptoid(PercepteiArray array) : base(array.name) {
this.array = array;
Perceptoid source = array.perceptei[0];
this.brain = source.brain;
this.cluster = source.cluster;
if (this.brain != null) {
this.brain.perceptei.Add(this);
}
else
Debug.LogError("No neuroid network");
this.nucleusType = nameof(Perceptoid);
this.name = source.baseName;
this.baseName = source.baseName;
this.thingType = source.thingType;
this.receptor = Receptor.GetReceptor(this.brain, this.thingType);
this.receptor.perceptei.Add(this);
}
public override void UpdateState() {
Vector3 result = this.receptor.localPosition;
UpdateResult(result);
}
}
*/

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