From 82810e3be897f434bc4cb41e4ad31eb9e384c384 Mon Sep 17 00:00:00 2001
From: BurksBuilds <92557438+BurksEngineering@users.noreply.github.com>
Date: Tue, 18 Apr 2023 11:27:06 -0400
Subject: [PATCH] v0.3.34

Cross product adjustments and optimizations
Implements #2
Implements #4
---
 .../POUs/Functions/Vector3_CrossProduct.TcPOU | 26 ++++++++++++
 TcTransform/TcTransform/POUs/Vector3.TcPOU    | 16 +------
 TcTransform/TcTransform/TcTransform.plcproj   |  8 +++-
 .../TcTransform/Version/Global_Version.TcGVL  |  2 +-
 .../TESTs/FB_Vector3_Test.TcPOU               | 42 ++++++++++++++++++-
 .../TcTransformTest/TcTransformTest.plcproj   |  2 +-
 6 files changed, 77 insertions(+), 19 deletions(-)
 create mode 100644 TcTransform/TcTransform/POUs/Functions/Vector3_CrossProduct.TcPOU

diff --git a/TcTransform/TcTransform/POUs/Functions/Vector3_CrossProduct.TcPOU b/TcTransform/TcTransform/POUs/Functions/Vector3_CrossProduct.TcPOU
new file mode 100644
index 0000000..29e2f6d
--- /dev/null
+++ b/TcTransform/TcTransform/POUs/Functions/Vector3_CrossProduct.TcPOU
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.9">
+  <POU Name="Vector3_CrossProduct" Id="{990310ce-9c42-010b-20d8-ae0eb67dd696}" SpecialFunc="None">
+    <Declaration><![CDATA[//Specialized, optimized version of the generic vector cross product specifically for vector 3
+//Thanks to captain-yoshi for the algorithm and idea
+//see https://github.com/BurksEngineering/TcTransform/issues/4
+FUNCTION Vector3_CrossProduct
+VAR_IN_OUT CONSTANT
+    A : Vector3;
+    B : Vector3;
+END_VAR
+VAR_IN_OUT
+    Res : Vector3;
+END_VAR]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[// Complexity : 6M+3A
+Res.SetI(0, A.GetI(1)*B.GetI(2) - A.GetI(2)*B.GetI(1));
+Res.SetI(1, A.GetI(2)*B.GetI(0) - A.GetI(0)*B.GetI(2));
+Res.SetI(2, A.GetI(0)*B.GetI(1) - A.GetI(1)*B.GetI(0));]]></ST>
+    </Implementation>
+    <LineIds Name="Vector3_CrossProduct">
+      <LineId Id="30" Count="2" />
+      <LineId Id="7" Count="0" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/TcTransform/TcTransform/POUs/Vector3.TcPOU b/TcTransform/TcTransform/POUs/Vector3.TcPOU
index 34b2634..2c077d0 100644
--- a/TcTransform/TcTransform/POUs/Vector3.TcPOU
+++ b/TcTransform/TcTransform/POUs/Vector3.TcPOU
@@ -79,14 +79,9 @@ GetReversed.Reverse();]]></ST>
 METHOD PUBLIC GetVector3CrossProduct : Vector3
 VAR_INPUT
 	M_V : Vector3;
-END_VAR
-VAR
-	Vs : ARRAY[0..1] OF POINTER TO Matrix;
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[Vs[0] := THIS;
-Vs[1] := ADR(M_V);
-Vector_CrossProduct(GetVector3CrossProduct,Vs);]]></ST>
+        <ST><![CDATA[Vector3_CrossProduct(This^,M_V,GetVector3CrossProduct);]]></ST>
       </Implementation>
     </Method>
     <Method Name="GetVector3Difference" Id="{a8cdd625-bd8e-03da-2caa-b18f9cf600a9}" FolderPath="Getters\">
@@ -173,10 +168,7 @@ VAR
 	Vs : ARRAY[0..1] OF POINTER TO MATRIX;
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[Vs[0] := ADR(A);
-Vs[1] := ADR(B);
-
-Vector_CrossProduct(THIS^,Vs);]]></ST>
+        <ST><![CDATA[Vector3_CrossProduct(A,B,This^);]]></ST>
       </Implementation>
     </Method>
     <Method Name="SetFromComponents" Id="{cfb8f7f5-c7d4-45fd-bf85-30fd34a78de9}" FolderPath="Setters\">
@@ -321,7 +313,6 @@ END_VAR
       <LineId Id="5" Count="1" />
     </LineIds>
     <LineIds Name="Vector3.GetVector3CrossProduct">
-      <LineId Id="17" Count="1" />
       <LineId Id="10" Count="0" />
     </LineIds>
     <LineIds Name="Vector3.GetVector3Difference">
@@ -346,9 +337,6 @@ END_VAR
       <LineId Id="12" Count="0" />
     </LineIds>
     <LineIds Name="Vector3.SetAsCrossProduct">
-      <LineId Id="10" Count="0" />
-      <LineId Id="12" Count="0" />
-      <LineId Id="11" Count="0" />
       <LineId Id="5" Count="0" />
     </LineIds>
     <LineIds Name="Vector3.SetFromComponents">
diff --git a/TcTransform/TcTransform/TcTransform.plcproj b/TcTransform/TcTransform/TcTransform.plcproj
index 5a46707..cadab8f 100644
--- a/TcTransform/TcTransform/TcTransform.plcproj
+++ b/TcTransform/TcTransform/TcTransform.plcproj
@@ -18,7 +18,7 @@
     <Company>Burks Engineering</Company>
     <Released>false</Released>
     <Title>TcTransform</Title>
-    <ProjectVersion>0.3.34</ProjectVersion>
+    <ProjectVersion>0.3.36</ProjectVersion>
     <LibraryCategories>
       <LibraryCategory xmlns="">
         <Id>{d5875a41-817d-44f3-8af7-6c59eaddc95f}</Id>
@@ -63,6 +63,7 @@
     <Folder Include="POUs" />
     <Folder Include="POUs\AngleSequence" />
     <Folder Include="POUs\AngleSequence\MatrixAccessors" />
+    <Folder Include="POUs\Functions" />
     <Folder Include="Version" />
   </ItemGroup>
   <ItemGroup>
@@ -99,6 +100,9 @@
     <Compile Include="POUs\ATAN2.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="POUs\Functions\Vector3_CrossProduct.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="POUs\HMatrix.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -119,7 +123,7 @@
   </ItemGroup>
   <ItemGroup>
     <PlaceholderResolution Include="TcMatrix">
-      <Resolution>TcMatrix, 1.4.2 (Burks Engineering)</Resolution>
+      <Resolution>TcMatrix, 1.4.3 (Burks Engineering)</Resolution>
     </PlaceholderResolution>
   </ItemGroup>
   <ProjectExtensions>
diff --git a/TcTransform/TcTransform/Version/Global_Version.TcGVL b/TcTransform/TcTransform/Version/Global_Version.TcGVL
index 3a108eb..eebfa9f 100644
--- a/TcTransform/TcTransform/Version/Global_Version.TcGVL
+++ b/TcTransform/TcTransform/Version/Global_Version.TcGVL
@@ -7,7 +7,7 @@
 // This function has been automatically generated from the project information.
 VAR_GLOBAL CONSTANT
 	{attribute 'const_non_replaced'}
-	stLibVersion_TcTransform : ST_LibVersion := (iMajor := 0, iMinor := 3, iBuild := 34, iRevision := 0, nFlags := 0, sVersion := '0.3.34');
+	stLibVersion_TcTransform : ST_LibVersion := (iMajor := 0, iMinor := 3, iBuild := 36, iRevision := 0, nFlags := 0, sVersion := '0.3.36');
 END_VAR
 ]]></Declaration>
   </GVL>
diff --git a/TcTransformTest/TcTransformTest/TESTs/FB_Vector3_Test.TcPOU b/TcTransformTest/TcTransformTest/TESTs/FB_Vector3_Test.TcPOU
index 89b234c..2e91819 100644
--- a/TcTransformTest/TcTransformTest/TESTs/FB_Vector3_Test.TcPOU
+++ b/TcTransformTest/TcTransformTest/TESTs/FB_Vector3_Test.TcPOU
@@ -13,6 +13,7 @@ END_VAR
       <ST><![CDATA[WhenSetExpectValuesRetained();
 WhenReversedExpectValuesReversed();
 WhenCrossedExpectVectorOrthogonal();
+WhenParallelCrossedExpectCleared();
 WhenDottedExpectResult();]]></ST>
     </Implementation>
     <Method Name="WhenCrossedExpectVectorOrthogonal" Id="{77217c58-9dca-41bd-bf6e-dd652b36e1c1}">
@@ -61,6 +62,30 @@ Dot := V1.GetVector3DotProduct(V2);
 // @TEST-ASSERT
 AssertTrue(Dot = 14,'dot product did not work');
 
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="WhenParallelCrossedExpectCleared" Id="{26b6e7b2-0fd1-05df-0e33-19e6d7a942cd}">
+      <Declaration><![CDATA[METHOD PRIVATE WhenParallelCrossedExpectCleared
+VAR_INPUT
+END_VAR
+VAR
+	V1 : Vector3;
+	V2 : Vector3;
+	V3 : Vector3;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('WhenParallelCrossedExpectCleared');
+
+// @TEST-RUN
+V1.SetFromComponents(1,0,0);
+V2.SetFromComponents(1,0,0);
+V3 := V1.GetVector3CrossProduct(V2);
+
+// @TEST-ASSERT
+AssertTrue(V3.IsCleared,'parallel cross product is not zero');
+
 TEST_FINISHED();]]></ST>
       </Implementation>
     </Method>
@@ -117,7 +142,9 @@ TEST_FINISHED();]]></ST>
       </Implementation>
     </Method>
     <LineIds Name="FB_Vector3_Test">
-      <LineId Id="9" Count="3" />
+      <LineId Id="9" Count="2" />
+      <LineId Id="20" Count="0" />
+      <LineId Id="12" Count="0" />
     </LineIds>
     <LineIds Name="FB_Vector3_Test.WhenCrossedExpectVectorOrthogonal">
       <LineId Id="5" Count="0" />
@@ -145,6 +172,19 @@ TEST_FINISHED();]]></ST>
       <LineId Id="24" Count="0" />
       <LineId Id="23" Count="0" />
     </LineIds>
+    <LineIds Name="FB_Vector3_Test.WhenParallelCrossedExpectCleared">
+      <LineId Id="5" Count="0" />
+      <LineId Id="7" Count="0" />
+      <LineId Id="6" Count="0" />
+      <LineId Id="10" Count="0" />
+      <LineId Id="17" Count="0" />
+      <LineId Id="21" Count="0" />
+      <LineId Id="18" Count="0" />
+      <LineId Id="11" Count="0" />
+      <LineId Id="19" Count="0" />
+      <LineId Id="24" Count="0" />
+      <LineId Id="23" Count="0" />
+    </LineIds>
     <LineIds Name="FB_Vector3_Test.WhenReversedExpectValuesReversed">
       <LineId Id="5" Count="0" />
       <LineId Id="7" Count="0" />
diff --git a/TcTransformTest/TcTransformTest/TcTransformTest.plcproj b/TcTransformTest/TcTransformTest/TcTransformTest.plcproj
index 2f7fd0d..1418ed2 100644
--- a/TcTransformTest/TcTransformTest/TcTransformTest.plcproj
+++ b/TcTransformTest/TcTransformTest/TcTransformTest.plcproj
@@ -75,7 +75,7 @@
   </ItemGroup>
   <ItemGroup>
     <PlaceholderResolution Include="TcMatrix">
-      <Resolution>TcMatrix, * (Burks Engineering)</Resolution>
+      <Resolution>TcMatrix, 1.4.3 (Burks Engineering)</Resolution>
     </PlaceholderResolution>
     <PlaceholderResolution Include="TcUnit">
       <Resolution>TcUnit, * (www.tcunit.org)</Resolution>