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Updated namespace

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This commit is contained in:
Pascal Serrarens 2025-03-07 15:20:05 +01:00
parent 9ad1ec24d0
commit efa9ba8522
13 changed files with 808 additions and 586 deletions
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6
.gitignore vendored Normal file
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@ -0,0 +1,6 @@
DoxyGen/DoxyWarnLogfile.txt
.vscode/settings.json
**bin
**obj
**.meta
*.sln

21
src/Angle.cs
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@ -1,11 +1,13 @@
using System;
namespace Passer.LinearAlgebra {
namespace LinearAlgebra
{
/// <summary>
/// %Angle utilities
/// </summary>
public static class Angle {
public static class Angle
{
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;
@ -21,7 +23,8 @@ namespace Passer.LinearAlgebra {
/// <param name="max">The maximum angle</param>
/// <returns>The clamped angle</returns>
/// Angles are normalized
public static float Clamp(float angle, float min, float max) {
public static float Clamp(float angle, float min, float max)
{
float normalizedAngle = Normalize(angle);
return Float.Clamp(normalizedAngle, min, max);
}
@ -33,7 +36,8 @@ namespace Passer.LinearAlgebra {
/// <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) {
public static float Difference(float a, float b)
{
float r = Normalize(b - a);
return r;
}
@ -44,7 +48,8 @@ namespace Passer.LinearAlgebra {
/// <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) {
public static float Normalize(float angle)
{
if (float.IsInfinity(angle))
return angle;
@ -61,7 +66,8 @@ namespace Passer.LinearAlgebra {
/// <param name="maxAngle">Maximum angle to rotate</param>
/// <returns>The resulting angle</returns>
/// This function is compatible with radian and degrees angles
public static float MoveTowards(float fromAngle, float toAngle, float maxAngle) {
public static float MoveTowards(float fromAngle, float toAngle, float maxAngle)
{
float d = toAngle - fromAngle;
d = Normalize(d);
d = Math.Sign(d) * Float.Clamp(Math.Abs(d), 0, maxAngle);
@ -77,7 +83,8 @@ namespace Passer.LinearAlgebra {
/// Vectors a and b must be normalized
/// \deprecated Please use Vector2.ToFactor instead.
[Obsolete("Please use Vector2.ToFactor instead.")]
public static float ToFactor(Vector2 v1, Vector2 v2) {
public static float ToFactor(Vector2 v1, Vector2 v2)
{
return (1 - Vector2.Dot(v1, v2)) / 2;
}

18
src/Direction.cs
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@ -1,14 +1,18 @@
namespace Passer.LinearAlgebra {
namespace LinearAlgebra
{
public class Direction {
public class Direction
{
public float horizontal;
public float vertical;
public Direction() {
public Direction()
{
horizontal = 0;
vertical = 0;
}
public Direction(float horizontal, float vertical) {
public Direction(float horizontal, float vertical)
{
this.horizontal = horizontal;
this.vertical = vertical;
//Normalize();
@ -21,8 +25,10 @@ namespace Passer.LinearAlgebra {
public readonly static Direction left = new Direction(-90, 0);
public readonly static Direction right = new Direction(90, 0);
public void Normalize() {
if (this.vertical > 90 || this.vertical < -90) {
public void Normalize()
{
if (this.vertical > 90 || this.vertical < -90)
{
this.horizontal += 180;
this.vertical = 180 - this.vertical;
}

12
src/Float.cs
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@ -1,9 +1,11 @@
namespace Passer.LinearAlgebra {
namespace LinearAlgebra
{
/// <summary>
/// Float number utilities
/// </summary>
public class Float {
public class Float
{
/// <summary>
/// The precision of float numbers
/// </summary>
@ -20,7 +22,8 @@ namespace Passer.LinearAlgebra {
/// <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) {
public static float Clamp(float f, float min, float max)
{
if (f < min)
return min;
if (f > max)
@ -33,7 +36,8 @@ namespace Passer.LinearAlgebra {
/// </summary>
/// <param name="f">The value to clamp</param>
/// <returns>The clamped value</returns>
public static float Clamp01(float f) {
public static float Clamp01(float f)
{
return Clamp(f, 0, 1);
}
}

290
src/Matrix.cs
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@ -1,48 +1,58 @@
using System;
using System.Diagnostics;
using Passer.LinearAlgebra;
#if UNITY_5_3_OR_NEWER
using Vector3Float = UnityEngine.Vector3;
using Vector2Float = UnityEngine.Vector2;
using Quaternion = UnityEngine.Quaternion;
#endif
public readonly struct Slice {
namespace LinearAlgebra
{
public readonly struct Slice
{
public uint start { get; }
public uint stop { get; }
public Slice(uint start, uint stop) {
public Slice(uint start, uint stop)
{
this.start = start;
this.stop = stop;
}
}
}
public class Matrix2 {
public class Matrix2
{
public float[,] data { get; }
public uint nRows => (uint)data.GetLength(0);
public uint nCols => (uint)data.GetLength(1);
public Matrix2(uint nRows, uint nCols) {
public Matrix2(uint nRows, uint nCols)
{
this.data = new float[nRows, nCols];
}
public Matrix2(float[,] data) {
public Matrix2(float[,] data)
{
this.data = data;
}
public Matrix2 Clone() {
public Matrix2 Clone()
{
float[,] data = new float[this.nRows, nCols];
for (int rowIx = 0; rowIx < this.nRows; rowIx++) {
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(uint nRows, uint nCols) {
public static Matrix2 Zero(uint nRows, uint nCols)
{
return new Matrix2(nRows, nCols);
}
public static Matrix2 FromVector3(Vector3Float v) {
public static Matrix2 FromVector3(Vector3Float v)
{
float[,] result = new float[3, 1];
result[0, 0] = v.x;
result[1, 0] = v.y;
@ -50,39 +60,46 @@ public class Matrix2 {
return new Matrix2(result);
}
public static Matrix2 Identity(uint size) {
public static Matrix2 Identity(uint size)
{
return Diagonal(1, size);
}
public static Matrix2 Identity(uint nRows, uint nCols) {
public static Matrix2 Identity(uint nRows, uint nCols)
{
Matrix2 m = Zero(nRows, nCols);
m.FillDiagonal(1);
return m;
}
public static Matrix2 Diagonal(Matrix1 v) {
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, uint size) {
public static Matrix2 Diagonal(float f, uint 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) {
public void FillDiagonal(Matrix1 v)
{
uint n = 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) {
public void FillDiagonal(float f)
{
uint 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) {
public static Matrix2 SkewMatrix(Vector3Float v)
{
float[,] result = new float[3, 3] {
{0, -v.z, v.y},
{v.z, 0, -v.x},
@ -102,27 +119,34 @@ public class Matrix2 {
return row;
}
#endif
public void SetRow(int rowIx, Matrix1 v) {
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) {
public void SetRow3(int rowIx, Vector3Float v)
{
this.data[rowIx, 0] = v.x;
this.data[rowIx, 1] = v.y;
this.data[rowIx, 2] = v.z;
}
public Matrix1 GetColumn(int colIx) {
public Matrix1 GetColumn(int colIx)
{
float[] column = new float[this.nRows];
for (int i = 0; i < this.nRows; i++) {
for (int i = 0; i < this.nRows; i++)
{
column[i] = this.data[i, colIx];
}
return new Matrix1(column);
}
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++) {
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;
@ -131,63 +155,75 @@ public class Matrix2 {
return true;
}
public Matrix2 Transpose() {
public Matrix2 Transpose()
{
float[,] resultData = new float[this.nCols, this.nRows];
for (uint rowIx = 0; rowIx < this.nRows; rowIx++) {
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 {
public Matrix2 transposed
{
get => Transpose();
}
public static Matrix2 operator -(Matrix2 m) {
public static Matrix2 operator -(Matrix2 m)
{
float[,] result = new float[m.nRows, m.nCols];
for (int i = 0; i < m.nRows; i++) {
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) {
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 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) {
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 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) {
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++) {
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];
@ -200,11 +236,14 @@ public class Matrix2 {
// double checked code
}
public static Matrix1 operator *(Matrix2 A, Matrix1 v) {
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++) {
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];
}
}
@ -212,7 +251,8 @@ public class Matrix2 {
return new Matrix1(result);
}
public static Vector3Float operator *(Matrix2 A, Vector3Float v) {
public static Vector3Float operator *(Matrix2 A, Vector3Float v)
{
return new Vector3Float(
A.data[0, 0] * v.x + A.data[0, 1] * v.y + A.data[0, 2] * v.z,
A.data[1, 0] * v.x + A.data[1, 1] * v.y + A.data[1, 2] * v.z,
@ -220,34 +260,41 @@ public class Matrix2 {
);
}
public static Matrix2 operator *(Matrix2 A, float 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 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) {
public static Matrix2 operator *(float s, Matrix2 A)
{
return A * s;
}
public static Matrix2 operator /(Matrix2 A, float 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 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) {
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 i = 0; i < A.nRows; i++)
{
for (int j = 0; j < A.nCols; j++)
result[i, j] = s / A.data[i, j];
}
@ -255,17 +302,21 @@ public class Matrix2 {
return new Matrix2(result);
}
public Matrix2 Slice(Slice slice) {
public Matrix2 Slice(Slice slice)
{
return Slice(slice.start, slice.stop);
}
public Matrix2 Slice(uint from, uint to) {
public Matrix2 Slice(uint from, uint 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 (uint rowIx = from; rowIx < to; rowIx++) {
for (int colIx = 0; colIx < this.nCols; colIx++) {
for (uint rowIx = from; rowIx < to; rowIx++)
{
for (int colIx = 0; colIx < this.nCols; colIx++)
{
result[resultRowIx, colIx] = this.data[rowIx, colIx];
}
resultRowIx++;
@ -273,55 +324,67 @@ public class Matrix2 {
return new Matrix2(result);
}
public Matrix2 Slice(Slice rowRange, Slice colRange) {
public Matrix2 Slice(Slice rowRange, Slice colRange)
{
return Slice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop));
}
public Matrix2 Slice((uint start, uint stop) rowRange, (uint start, uint stop) colRange) {
public Matrix2 Slice((uint start, uint stop) rowRange, (uint start, uint stop) colRange)
{
float[,] result = new float[rowRange.stop - rowRange.start, colRange.stop - colRange.start];
uint resultRowIx = 0;
uint resultColIx = 0;
for (uint i = rowRange.start; i < rowRange.stop; i++) {
for (uint i = rowRange.start; i < rowRange.stop; i++)
{
for (uint 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) {
public void UpdateSlice(Slice slice, Matrix2 m)
{
int mRowIx = 0;
for (uint rowIx = slice.start; rowIx < slice.stop; rowIx++, mRowIx++) {
for (uint 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) {
public void UpdateSlice(Slice rowRange, Slice colRange, Matrix2 m)
{
UpdateSlice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop), m);
}
public void UpdateSlice((uint start, uint stop) rowRange, (uint start, uint stop) colRange, Matrix2 m) {
for (uint i = rowRange.start; i < rowRange.stop; i++) {
public void UpdateSlice((uint start, uint stop) rowRange, (uint start, uint stop) colRange, Matrix2 m)
{
for (uint i = rowRange.start; i < rowRange.stop; i++)
{
for (uint j = colRange.start; j < colRange.stop; j++)
this.data[i, j] = m.data[i - rowRange.start, j - colRange.start];
}
}
public Matrix2 Inverse() {
public Matrix2 Inverse()
{
Matrix2 A = this;
// unchecked
uint 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++) {
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++) {
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
@ -332,7 +395,8 @@ public class Matrix2 {
augmentedMatrix[i, j] /= pivot;
// Eliminate the column below the pivot
for (int j = i + 1; j < n; j++) {
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];
@ -340,9 +404,11 @@ public class Matrix2 {
}
// Back substitution
for (uint i = n - 1; i >= 0; i--) {
for (uint i = n - 1; i >= 0; i--)
{
// Eliminate the column above the pivot
for (uint j = i - 1; j >= 0; j--) {
for (uint 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];
@ -351,7 +417,8 @@ public class Matrix2 {
// Extract the inverse matrix from the augmented matrix
float[,] inverse = new float[n, n];
for (int i = 0; i < n; i++) {
for (int i = 0; i < n; i++)
{
for (int j = 0; j < n; j++)
inverse[i, j] = augmentedMatrix[i, j + n];
}
@ -359,7 +426,8 @@ public class Matrix2 {
return new Matrix2(inverse);
}
public float Determinant() {
public float Determinant()
{
uint n = this.nRows;
if (n != this.nCols)
throw new System.ArgumentException("Matrix must be square.");
@ -378,16 +446,19 @@ public class Matrix2 {
}
// Helper function to compute the minor of a matrix
private Matrix2 Minor(int rowToRemove, int colToRemove) {
private Matrix2 Minor(int rowToRemove, int colToRemove)
{
uint n = this.nRows;
float[,] minor = new float[n - 1, n - 1];
int r = 0, c = 0;
for (int i = 0; i < n; i++) {
for (int i = 0; i < n; i++)
{
if (i == rowToRemove) continue;
c = 0;
for (int j = 0; j < n; j++) {
for (int j = 0; j < n; j++)
{
if (j == colToRemove) continue;
minor[r, c] = this.data[i, j];
@ -398,33 +469,39 @@ public class Matrix2 {
return new Matrix2(minor);
}
}
}
public class Matrix1 {
public class Matrix1
{
public float[] data { get; }
public uint size => (uint)data.GetLength(0);
public Matrix1(uint size) {
public Matrix1(uint size)
{
this.data = new float[size];
}
public Matrix1(float[] data) {
public Matrix1(float[] data)
{
this.data = data;
}
public static Matrix1 Zero(uint size) {
public static Matrix1 Zero(uint size)
{
return new Matrix1(size);
}
public static Matrix1 FromVector2(Vector2Float v) {
public static Matrix1 FromVector2(Vector2Float v)
{
float[] result = new float[2];
result[0] = v.x;
result[1] = v.y;
return new Matrix1(result);
}
public static Matrix1 FromVector3(Vector3Float v) {
public static Matrix1 FromVector3(Vector3Float v)
{
float[] result = new float[3];
result[0] = v.x;
result[1] = v.y;
@ -443,15 +520,19 @@ public class Matrix1 {
}
#endif
public Vector2Float vector2 {
get {
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 {
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]);
@ -468,7 +549,8 @@ public class Matrix1 {
}
#endif
public Matrix1 Clone() {
public Matrix1 Clone()
{
float[] data = new float[this.size];
for (int rowIx = 0; rowIx < this.size; rowIx++)
data[rowIx] = this.data[rowIx];
@ -476,27 +558,32 @@ public class Matrix1 {
}
public float magnitude {
get {
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) {
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++) {
for (int i = 0; i < A.size; i++)
{
result[i] = A.data[i] + B.data[i];
}
return new Matrix1(result);
}
public Matrix2 Transpose() {
public Matrix2 Transpose()
{
float[,] r = new float[1, this.size];
for (uint colIx = 0; colIx < this.size; colIx++)
r[1, colIx] = this.data[colIx];
@ -504,18 +591,21 @@ public class Matrix1 {
return new Matrix2(r);
}
public static float Dot(Matrix1 a, Matrix1 b) {
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++) {
for (int i = 0; i < a.size; i++)
{
result += a.data[i] * b.data[i];
}
return result;
}
public static Matrix1 operator *(Matrix1 A, float f) {
public static Matrix1 operator *(Matrix1 A, float f)
{
float[] result = new float[A.size];
for (int i = 0; i < A.size; i++)
@ -523,14 +613,17 @@ public class Matrix1 {
return new Matrix1(result);
}
public static Matrix1 operator *(float f, Matrix1 A) {
public static Matrix1 operator *(float f, Matrix1 A)
{
return A * f;
}
public Matrix1 Slice(Slice range) {
public Matrix1 Slice(Slice range)
{
return Slice(range.start, range.stop);
}
public Matrix1 Slice(uint from, uint to) {
public Matrix1 Slice(uint from, uint to)
{
if (from < 0 || to >= this.size)
throw new System.ArgumentException("Slice index out of range.");
@ -541,9 +634,12 @@ public class Matrix1 {
return new Matrix1(result);
}
public void UpdateSlice(Slice slice, Matrix1 v) {
public void UpdateSlice(Slice slice, Matrix1 v)
{
int vIx = 0;
for (uint ix = slice.start; ix < slice.stop; ix++, vIx++)
this.data[ix] = v.data[vIx];
}
}
}

2
src/Quat32.cs
View File

@ -1,6 +1,6 @@
using System;
namespace Passer.LinearAlgebra
namespace LinearAlgebra
{
public class Quat32
{

10
src/Quaternion.cs
View File

@ -2,15 +2,19 @@ using System;
#if UNITY_5_3_OR_NEWER
using Quaternion = UnityEngine.Quaternion;
#endif
namespace Passer.LinearAlgebra {
public class QuaternionOf<T> {
namespace LinearAlgebra
{
public class QuaternionOf<T>
{
public T x;
public T y;
public T z;
public T w;
public QuaternionOf(T x, T y, T z, T w) {
public QuaternionOf(T x, T y, T z, T w)
{
this.x = x;
this.y = y;
this.z = z;

23
src/Spherical.cs
View File

@ -3,35 +3,42 @@ using System;
using Vector3Float = UnityEngine.Vector3;
#endif
namespace Passer.LinearAlgebra {
public class Spherical {
namespace LinearAlgebra
{
public class Spherical
{
public float distance;
public Direction direction;
public static Spherical zero = new Spherical(0, 0, 0);
public static Spherical forward = new Spherical(1, 0, 0);
public Spherical(float distance, float horizontal, float vertical) {
public Spherical(float distance, float horizontal, float vertical)
{
this.distance = distance;
this.direction = new Direction(horizontal, vertical);
}
public Spherical(float distance, Direction direction) {
public Spherical(float distance, Direction direction)
{
this.distance = distance;
this.direction = direction;
}
public static Spherical FromVector3(Vector3Float v) {
public static Spherical FromVector3(Vector3Float v)
{
float distance = v.magnitude;
if (distance == 0.0f)
return new Spherical(distance, 0, 0);
else {
else
{
float verticalAngle = (float)((Angle.pi / 2 - Math.Acos(v.y / distance)) * Angle.Rad2Deg);
float horizontalAngle = (float) Math.Atan2(v.x, v.z) * Angle.Rad2Deg;
float horizontalAngle = (float)Math.Atan2(v.x, v.z) * Angle.Rad2Deg;
return new Spherical(distance, horizontalAngle, verticalAngle);
}
}
public Vector3Float ToVector3() {
public Vector3Float ToVector3()
{
float verticalRad = (Angle.pi / 2) - this.direction.vertical * Angle.Deg2Rad;
float horizontalRad = this.direction.horizontal * Angle.Deg2Rad;
float cosVertical = (float)Math.Cos(verticalRad);

2
src/SwingTwist.cs
View File

@ -1,4 +1,4 @@
namespace Passer.LinearAlgebra
namespace LinearAlgebra
{
public class SwingTwist

114
src/Vector2.cs
View File

@ -1,50 +1,63 @@
using System;
using System.Numerics;
namespace Passer.LinearAlgebra {
namespace LinearAlgebra
{
public class Vector2Of<T> where T : IComparable<T> {
public class Vector2Of<T> where T : IComparable<T>
{
public T x;
public T y;
public Vector2Of(T x, T y) {
public Vector2Of(T x, T y)
{
this.x = x;
this.y = y;
}
}
public class Vector2Int : Vector2Of<int> {
public class Vector2Int : Vector2Of<int>
{
public Vector2Int(int x, int y) : base(x, y) { }
public static Vector2Int operator -(Vector2Int v1, Vector2Int v2) {
public static Vector2Int operator -(Vector2Int v1, Vector2Int v2)
{
return new Vector2Int(v1.x - v2.x, v1.y - v2.y);
}
public float magnitude {
get {
public float magnitude
{
get
{
return (float)Math.Sqrt(this.x * this.x + this.y * this.y);
}
}
public static float Distance(Vector2Int v1, Vector2Int v2) {
public static float Distance(Vector2Int v1, Vector2Int v2)
{
return (v1 - v2).magnitude;
}
}
public class Vector2Float : Vector2Of<float> {
public class Vector2Float : Vector2Of<float>
{
public Vector2Float(float x, float y) : base(x, y) { }
public static Vector2Float operator -(Vector2Float v1, Vector2Float v2) {
public static Vector2Float operator -(Vector2Float v1, Vector2Float v2)
{
return new Vector2Float(v1.x - v2.x, v1.y - v2.y);
}
public float magnitude {
get {
public float magnitude
{
get
{
return (float)Math.Sqrt(this.x * this.x + this.y * this.y);
}
}
public static float Distance(Vector2Float v1, Vector2Float v2) {
public static float Distance(Vector2Float v1, Vector2Float v2)
{
return (v1 - v2).magnitude;
}
}
@ -52,7 +65,8 @@ namespace Passer.LinearAlgebra {
/// <summary>
/// 2-dimensional vectors
/// </summary>
public struct Vector2 : IEquatable<Vector2> {
public struct Vector2 : IEquatable<Vector2>
{
/// <summary>
/// The right axis of the vector
@ -69,7 +83,8 @@ namespace Passer.LinearAlgebra {
/// </summary>
/// <param name="x">x axis value</param>
/// <param name="y">y axis value</param>
public Vector2(float x, float y) {
public Vector2(float x, float y)
{
this.x = x;
this.y = y;
}
@ -114,8 +129,10 @@ namespace Passer.LinearAlgebra {
/// 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 float sqrMagnitude {
get {
public float sqrMagnitude
{
get
{
float d = x * x + y * y;
return d;
}
@ -125,8 +142,10 @@ namespace Passer.LinearAlgebra {
/// The length of this vector
/// </summary>
/// <returns>The length of this vector</returns>
public float magnitude {
get {
public float magnitude
{
get
{
float d = (float)Math.Sqrt(x * x + y * y);
return d;
}
@ -136,8 +155,10 @@ namespace Passer.LinearAlgebra {
/// Convert the vector to a length of a 1
/// </summary>
/// <returns>The vector with length 1</returns>
public Vector2 normalized {
get {
public Vector2 normalized
{
get
{
float l = magnitude;
Vector2 v = zero;
if (l > Float.epsilon)
@ -152,7 +173,8 @@ namespace Passer.LinearAlgebra {
/// <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 Vector2 operator +(Vector2 v1, Vector2 v2) {
public static Vector2 operator +(Vector2 v1, Vector2 v2)
{
Vector2 v = new Vector2(v1.x + v2.x, v1.y + v2.y);
return v;
}
@ -163,7 +185,8 @@ namespace Passer.LinearAlgebra {
/// <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 Vector2 operator -(Vector2 v1, Vector2 v2) {
public static Vector2 operator -(Vector2 v1, Vector2 v2)
{
Vector2 v = new Vector2(v1.x - v2.x, v1.y - v2.y);
return v;
}
@ -174,7 +197,8 @@ namespace Passer.LinearAlgebra {
/// <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 Vector2 operator -(Vector2 v1) {
public static Vector2 operator -(Vector2 v1)
{
Vector2 v = new Vector2(-v1.x, -v1.y);
return v;
}
@ -186,7 +210,8 @@ namespace Passer.LinearAlgebra {
/// <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 Vector2 operator *(Vector2 v1, float f) {
public static Vector2 operator *(Vector2 v1, float f)
{
Vector2 v = new Vector2(v1.x * f, v1.y * f);
return v;
}
@ -198,7 +223,8 @@ namespace Passer.LinearAlgebra {
/// <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 Vector2 operator *(float f, Vector2 v1) {
public static Vector2 operator *(float f, Vector2 v1)
{
Vector2 v = new Vector2(f * v1.x, f * v1.y);
return v;
}
@ -210,7 +236,8 @@ namespace Passer.LinearAlgebra {
/// <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 Vector2 operator /(Vector2 v1, float f) {
public static Vector2 operator /(Vector2 v1, float f)
{
Vector2 v = new Vector2(v1.x / f, v1.y / f);
return v;
}
@ -227,7 +254,8 @@ namespace Passer.LinearAlgebra {
/// </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 bool Equals(object obj) {
public override bool Equals(object obj)
{
if (!(obj is Vector2 v))
return false;
@ -243,7 +271,8 @@ namespace Passer.LinearAlgebra {
/// 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 ==(Vector2 v1, Vector2 v2) {
public static bool operator ==(Vector2 v1, Vector2 v2)
{
return (v1.x == v2.x && v1.y == v2.y);
}
@ -256,7 +285,8 @@ namespace Passer.LinearAlgebra {
/// 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 !=(Vector2 v1, Vector2 v2) {
public static bool operator !=(Vector2 v1, Vector2 v2)
{
return (v1.x != v2.x || v1.y != v2.y);
}
@ -264,7 +294,8 @@ namespace Passer.LinearAlgebra {
/// Get an hash code for the vector
/// </summary>
/// <returns>The hash code</returns>
public override int GetHashCode() {
public override int GetHashCode()
{
return (x, y).GetHashCode();
}
@ -274,7 +305,8 @@ namespace Passer.LinearAlgebra {
/// <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(Vector2 v1, Vector2 v2) {
public static float Distance(Vector2 v1, Vector2 v2)
{
float x = v1.x - v2.x;
float y = v1.y - v2.y;
float d = (float)Math.Sqrt(x * x + y * y);
@ -287,7 +319,8 @@ namespace Passer.LinearAlgebra {
/// <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(Vector2 v1, Vector2 v2) {
public static float Dot(Vector2 v1, Vector2 v2)
{
return v1.x * v2.x + v1.y * v2.y;
}
@ -301,7 +334,8 @@ namespace Passer.LinearAlgebra {
/// 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 Vector2 Lerp(Vector2 v1, Vector2 v2, float f) {
public static Vector2 Lerp(Vector2 v1, Vector2 v2, float f)
{
Vector2 v = v1 + (v2 - v1) * f;
return v;
}
@ -313,7 +347,8 @@ namespace Passer.LinearAlgebra {
/// <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(Vector2 from, Vector2 to) {
public static float SignedAngle(Vector2 from, Vector2 to)
{
//float sign = Math.Sign(v1.y * v2.x - v1.x * v2.y);
//return Vector2.Angle(v1, v2) * sign;
@ -336,13 +371,15 @@ namespace Passer.LinearAlgebra {
/// <param name="v1">The vector to rotate</param>
/// <param name="angle">The angle in degrees</param>
/// <returns></returns>
public static Vector2 Rotate(Vector2 v1, float angle) {
public static Vector2 Rotate(Vector2 v1, float angle)
{
float sin = (float)Math.Sin(angle * Angle.Deg2Rad);
float cos = (float)Math.Cos(angle * Angle.Deg2Rad);
float tx = v1.x;
float ty = v1.y;
Vector2 v = new Vector2() {
Vector2 v = new Vector2()
{
x = (cos * tx) - (sin * ty),
y = (sin * tx) + (cos * ty)
};
@ -356,7 +393,8 @@ namespace Passer.LinearAlgebra {
/// <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(Vector2 v1, Vector2 v2) {
public static float ToFactor(Vector2 v1, Vector2 v2)
{
return (1 - Vector2.Dot(v1, v2)) / 2;
}
}

75
src/Vector3.cs
View File

@ -1,13 +1,16 @@
#if !UNITY_5_3_OR_NEWER
using System;
namespace Passer.LinearAlgebra {
public class Vector3Of<T> {
namespace LinearAlgebra
{
public class Vector3Of<T>
{
public T x;
public T y;
public T z;
public Vector3Of(T x, T y, T z) {
public Vector3Of(T x, T y, T z)
{
this.x = x;
this.y = y;
this.z = z;
@ -18,13 +21,16 @@ namespace Passer.LinearAlgebra {
// }
}
public class Vector3Int : Vector3Of<int> {
public class Vector3Int : Vector3Of<int>
{
public Vector3Int(int x, int y, int z) : base(x, y, z) { }
}
public class Vector3Float : Vector3Of<float> {
public class Vector3Float : Vector3Of<float>
{
public Vector3Float(float x, float y, float z) : base(x, y, z) { }
public float magnitude {
public float magnitude
{
get => (float)Math.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
}
}
@ -33,7 +39,8 @@ namespace Passer.LinearAlgebra {
/// 3-dimensional vectors
/// </summary>
/// This uses the right-handed coordinate system.
public struct Vector3 : IEquatable<Vector3> {
public struct Vector3 : IEquatable<Vector3>
{
/// <summary>
/// The right axis of the vector
@ -54,7 +61,8 @@ namespace Passer.LinearAlgebra {
/// <param name="x">x axis value</param>
/// <param name="y">y axis value</param>
/// <param name="z">z axis value</param>
public Vector3(float x, float y, float z) {
public Vector3(float x, float y, float z)
{
this.x = x;
this.y = y;
this.z = z;
@ -93,15 +101,19 @@ namespace Passer.LinearAlgebra {
/// </summary>
public static readonly Vector3 forward = new Vector3(0, 1, 0);
public float magnitude {
get {
public float magnitude
{
get
{
float d = (float)Math.Sqrt(x * x + y * y);
return d;
}
}
public Vector3 normalized {
get {
public Vector3 normalized
{
get
{
float l = magnitude;
Vector3 v = zero;
if (l > Float.epsilon)
@ -110,66 +122,79 @@ namespace Passer.LinearAlgebra {
}
}
public static Vector3 operator +(Vector3 v1, Vector3 v2) {
public static Vector3 operator +(Vector3 v1, Vector3 v2)
{
Vector3 v = new Vector3(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
return v;
}
public static Vector3 operator -(Vector3 v1, Vector3 v2) {
public static Vector3 operator -(Vector3 v1, Vector3 v2)
{
Vector3 v = new Vector3(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
return v;
}
public static Vector3 operator -(Vector3 v1) {
public static Vector3 operator -(Vector3 v1)
{
Vector3 v = new Vector3(-v1.x, -v1.y, -v1.z);
return v;
}
public static Vector3 operator *(Vector3 v1, float d) {
public static Vector3 operator *(Vector3 v1, float d)
{
Vector3 v = new Vector3(v1.x * d, v1.y * d, v1.z * d);
return v;
}
public static Vector3 operator *(float d, Vector3 v1) {
public static Vector3 operator *(float d, Vector3 v1)
{
Vector3 v = new Vector3(d * v1.x, d * v1.y, d * v1.z);
return v;
}
public static Vector3 operator /(Vector3 v1, float d) {
public static Vector3 operator /(Vector3 v1, float d)
{
Vector3 v = new Vector3(v1.x / d, v1.y / d, v1.z / d);
return v;
}
public bool Equals(Vector3 v) => (x == v.x && y == v.y && z == v.z);
public override bool Equals(object obj) {
public override bool Equals(object obj)
{
if (!(obj is Vector3 v))
return false;
return (x == v.x && y == v.y && z == v.z);
}
public static bool operator ==(Vector3 v1, Vector3 v2) {
public static bool operator ==(Vector3 v1, Vector3 v2)
{
return (v1.x == v2.x && v1.y == v2.y && v1.z == v2.z);
}
public static bool operator !=(Vector3 v1, Vector3 v2) {
public static bool operator !=(Vector3 v1, Vector3 v2)
{
return (v1.x != v2.x || v1.y != v2.y || v1.z != v2.z);
}
public override int GetHashCode() {
public override int GetHashCode()
{
return (x, y, z).GetHashCode();
}
public static float Distance(Vector3 v1, Vector3 v2) {
public static float Distance(Vector3 v1, Vector3 v2)
{
return (v2 - v1).magnitude;
}
public static float Dot(Vector3 v1, Vector3 v2) {
public static float Dot(Vector3 v1, Vector3 v2)
{
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
}
public static Vector3 Lerp(Vector3 v1, Vector3 v2, float f) {
public static Vector3 Lerp(Vector3 v1, Vector3 v2, float f)
{
Vector3 v = v1 + (v2 - v1) * f;
return v;
}

66
src/float16.cs
View File

@ -1,8 +1,10 @@
using System;
namespace Passer.LinearAlgebra {
namespace LinearAlgebra
{
public class float16 {
public class float16
{
//
// FILE: float16.cpp
// AUTHOR: Rob Tillaart
@ -14,12 +16,14 @@ namespace Passer.LinearAlgebra {
public float16() { _value = 0; }
public float16(float f) {
public float16(float f)
{
//_value = f32tof16(f);
_value = F32ToF16__(f);
}
public float toFloat() {
public float toFloat()
{
return f16tof32(_value);
}
@ -153,7 +157,8 @@ namespace Passer.LinearAlgebra {
//
// CORE CONVERSION
//
float f16tof32(ushort _value) {
float f16tof32(ushort _value)
{
//ushort sgn;
ushort man;
int exp;
@ -168,11 +173,13 @@ namespace Passer.LinearAlgebra {
//Debug.Log($"{sgn} {exp} {man}");
// ZERO
if ((_value & 0x7FFF) == 0) {
if ((_value & 0x7FFF) == 0)
{
return sgn ? -0 : 0;
}
// NAN & INF
if (exp == 0x001F) {
if (exp == 0x001F)
{
if (man == 0)
return sgn ? float.NegativeInfinity : float.PositiveInfinity; //-INFINITY : INFINITY;
else
@ -186,43 +193,50 @@ namespace Passer.LinearAlgebra {
f = 1;
// PROCESS MANTISSE
for (int i = 9; i >= 0; i--) {
for (int i = 9; i >= 0; i--)
{
f *= 2;
if ((man & (1 << i)) != 0)
f = f + 1;
}
//Debug.Log($"{f}");
f = f * (float)Math.Pow(2.0f, exp - 25);
if (exp == 0) {
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) {
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) {
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) {
if ((t & 0x7FFFFFFF) == 0)
{
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// denormalized float32 does not fit in float16
if (exp == 0x00) {
if (exp == 0x00)
{
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// handle infinity & NAN
if (exp == 0x00FF) {
if (exp == 0x00FF)
{
if (man != 0)
return 0xFE00; // NAN
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
@ -231,11 +245,13 @@ namespace Passer.LinearAlgebra {
// normal numbers
exp = exp - 127 + 15;
// overflow does not fit => INF
if (exp > 30) {
if (exp > 30)
{
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
}
// subnormal numbers
if (exp < -38) {
if (exp < -38)
{
return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ?
}
if (exp <= 0) // subnormal
@ -260,7 +276,8 @@ namespace Passer.LinearAlgebra {
}
//This function is faulty!!!!
ushort f32tof16(float f) {
ushort f32tof16(float f)
{
//uint t = *(uint*)&f;
//uint t = (uint)BitConverter.SingleToInt32Bits(f);
uint t = SingleToInt32Bits(f);
@ -270,15 +287,18 @@ namespace Passer.LinearAlgebra {
bool sgn = (t & 0x80000000) != 0;
// handle 0
if ((t & 0x7FFFFFFF) == 0) {
if ((t & 0x7FFFFFFF) == 0)
{
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// denormalized float32 does not fit in float16
if (exp == 0x00) {
if (exp == 0x00)
{
return sgn ? (ushort)0x8000 : (ushort)0x0000;
}
// handle infinity & NAN
if (exp == 0x00FF) {
if (exp == 0x00FF)
{
if (man != 0)
return 0xFE00; // NAN
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
@ -287,11 +307,13 @@ namespace Passer.LinearAlgebra {
// normal numbers
exp = (short)(exp - 127 + 15);
// overflow does not fit => INF
if (exp > 30) {
if (exp > 30)
{
return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF
}
// subnormal numbers
if (exp < -38) {
if (exp < -38)
{
return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ?
}
if (exp <= 0) // subnormal

25
test/AngleTest.cs
View File

@ -1,12 +1,17 @@
#if NUNIT
using NUnit.Framework;
using Passer.LinearAlgebra;
namespace LinearAlgebraTest {
public class AngleTest {
namespace LinearAlgebra.Test
{
public class Tests
{
[SetUp]
public void Setup()
{
}
[Test]
public void Normalize() {
public void Test_Normalize()
{
float r = 0;
r = Angle.Normalize(90);
@ -38,7 +43,8 @@ namespace LinearAlgebraTest {
}
[Test]
public void Clamp() {
public void Clamp()
{
float r = 0;
r = Angle.Clamp(1, 0, 2);
@ -67,7 +73,8 @@ namespace LinearAlgebraTest {
}
[Test]
public void Difference() {
public void Difference()
{
float r = 0;
r = Angle.Difference(0, 90);
@ -105,7 +112,8 @@ namespace LinearAlgebraTest {
}
[Test]
public void MoveTowards() {
public void MoveTowards()
{
float r = 0;
r = Angle.MoveTowards(0, 90, 30);
@ -159,4 +167,3 @@ namespace LinearAlgebraTest {
}
}
}
#endif