I was always very impressed by the floating point routines in BBC Basic (also on the 6502). Anyone know who wrote those, and if they were derived from this work

I was always very impressed by the floating point routines in BBC Basic (also on the 6502). Anyone know who wrote those, and if they were derived from this work by Rankin and Wozniak? BBC Basic is the best all-round Basic of its era that I know of, with rich control flow features, proper recursion and built-in assembler. But I don't know how much was original work from Acorn and how much was borrowed from elsewhere. Are there any other 8-bit Basics that are especially good?