Переименование типов на на общепринятый формат, отказ от суффикса _t, так как он зарезервирован POSIX
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26 changed files with 574 additions and 571 deletions
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@ -9,15 +9,15 @@
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typedef struct {
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float s0, x1, x2, x3;
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} bgc_quaternion_fp32_t;
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} BgcQuaternionFP32;
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typedef struct {
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double s0, x1, x2, x3;
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} bgc_quaternion_fp64_t;
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} BgcQuaternionFP64;
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// ==================== Reset =================== //
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inline void bgc_quaternion_reset_fp32(bgc_quaternion_fp32_t * quaternion)
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inline void bgc_quaternion_reset_fp32(BgcQuaternionFP32 * quaternion)
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{
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quaternion->s0 = 0.0f;
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quaternion->x1 = 0.0f;
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@ -25,7 +25,7 @@ inline void bgc_quaternion_reset_fp32(bgc_quaternion_fp32_t * quaternion)
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quaternion->x3 = 0.0f;
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}
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inline void bgc_quaternion_reset_fp64(bgc_quaternion_fp64_t * quaternion)
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inline void bgc_quaternion_reset_fp64(BgcQuaternionFP64 * quaternion)
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{
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quaternion->s0 = 0.0;
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quaternion->x1 = 0.0;
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@ -35,7 +35,7 @@ inline void bgc_quaternion_reset_fp64(bgc_quaternion_fp64_t * quaternion)
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// ================== Set Unit ================== //
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inline void bgc_quaternion_set_to_identity_fp32(bgc_quaternion_fp32_t * quaternion)
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inline void bgc_quaternion_set_to_identity_fp32(BgcQuaternionFP32 * quaternion)
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{
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quaternion->s0 = 1.0f;
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quaternion->x1 = 0.0f;
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@ -43,7 +43,7 @@ inline void bgc_quaternion_set_to_identity_fp32(bgc_quaternion_fp32_t * quaterni
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quaternion->x3 = 0.0f;
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}
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inline void bgc_quaternion_set_to_identity_fp64(bgc_quaternion_fp64_t * quaternion)
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inline void bgc_quaternion_set_to_identity_fp64(BgcQuaternionFP64 * quaternion)
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{
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quaternion->s0 = 1.0;
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quaternion->x1 = 0.0;
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@ -53,7 +53,7 @@ inline void bgc_quaternion_set_to_identity_fp64(bgc_quaternion_fp64_t * quaterni
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// ==================== Set ===================== //
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inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, bgc_quaternion_fp32_t * quaternion)
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inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcQuaternionFP32 * quaternion)
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{
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quaternion->s0 = s0;
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quaternion->x1 = x1;
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@ -61,7 +61,7 @@ inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const
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quaternion->x3 = x3;
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}
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inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, bgc_quaternion_fp64_t * quaternion)
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inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcQuaternionFP64 * quaternion)
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{
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quaternion->s0 = s0;
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quaternion->x1 = x1;
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@ -71,7 +71,7 @@ inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, con
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// ==================== Copy ==================== //
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inline void bgc_quaternion_copy_fp32(const bgc_quaternion_fp32_t* from, bgc_quaternion_fp32_t* to)
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inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* from, BgcQuaternionFP32* to)
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{
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to->s0 = from->s0;
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to->x1 = from->x1;
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@ -79,7 +79,7 @@ inline void bgc_quaternion_copy_fp32(const bgc_quaternion_fp32_t* from, bgc_quat
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to->x3 = from->x3;
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}
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inline void bgc_quaternion_copy_fp64(const bgc_quaternion_fp64_t* from, bgc_quaternion_fp64_t* to)
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inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* from, BgcQuaternionFP64* to)
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{
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to->s0 = from->s0;
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to->x1 = from->x1;
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@ -89,7 +89,7 @@ inline void bgc_quaternion_copy_fp64(const bgc_quaternion_fp64_t* from, bgc_quat
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// ==================== Swap ==================== //
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inline void bgc_quaternion_swap_fp32(bgc_quaternion_fp32_t* quarternion1, bgc_quaternion_fp32_t* quarternion2)
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inline void bgc_quaternion_swap_fp32(BgcQuaternionFP32* quarternion1, BgcQuaternionFP32* quarternion2)
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{
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const float s0 = quarternion2->s0;
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const float x1 = quarternion2->x1;
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@ -107,7 +107,7 @@ inline void bgc_quaternion_swap_fp32(bgc_quaternion_fp32_t* quarternion1, bgc_qu
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quarternion1->x3 = x3;
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}
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inline void bgc_quaternion_swap_fp64(bgc_quaternion_fp64_t* quarternion1, bgc_quaternion_fp64_t* quarternion2)
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inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuaternionFP64* quarternion2)
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{
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const double s0 = quarternion2->s0;
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const double x1 = quarternion2->x1;
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@ -127,7 +127,7 @@ inline void bgc_quaternion_swap_fp64(bgc_quaternion_fp64_t* quarternion1, bgc_qu
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// ============= Copy to twin type ============== //
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inline void bgc_quaternion_convert_fp64_to_fp32(const bgc_quaternion_fp64_t* quaternion, bgc_quaternion_fp32_t* result)
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inline void bgc_quaternion_convert_fp64_to_fp32(const BgcQuaternionFP64* quaternion, BgcQuaternionFP32* result)
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{
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result->s0 = (float) quaternion->s0;
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result->x1 = (float) quaternion->x1;
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@ -135,7 +135,7 @@ inline void bgc_quaternion_convert_fp64_to_fp32(const bgc_quaternion_fp64_t* qua
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result->x3 = (float) quaternion->x3;
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}
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inline void bgc_quaternion_convert_fp32_to_fp64(const bgc_quaternion_fp32_t* quaternion, bgc_quaternion_fp64_t* result)
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inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* quaternion, BgcQuaternionFP64* result)
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{
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result->s0 = quaternion->s0;
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result->x1 = quaternion->x1;
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@ -145,14 +145,14 @@ inline void bgc_quaternion_convert_fp32_to_fp64(const bgc_quaternion_fp32_t* qua
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// ================= Inversion ================== //
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inline void bgc_quaternion_conjugate_fp32(bgc_quaternion_fp32_t* quaternion)
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inline void bgc_quaternion_conjugate_fp32(BgcQuaternionFP32* quaternion)
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{
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quaternion->x1 = -quaternion->x1;
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quaternion->x2 = -quaternion->x2;
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quaternion->x3 = -quaternion->x3;
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}
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inline void bgc_quaternion_conjugate_fp64(bgc_quaternion_fp64_t* quaternion)
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inline void bgc_quaternion_conjugate_fp64(BgcQuaternionFP64* quaternion)
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{
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quaternion->x1 = -quaternion->x1;
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quaternion->x2 = -quaternion->x2;
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@ -161,7 +161,7 @@ inline void bgc_quaternion_conjugate_fp64(bgc_quaternion_fp64_t* quaternion)
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// ================ Set Conjugate =============== //
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inline void bgc_quaternion_set_conjugate_fp32(const bgc_quaternion_fp32_t* quaternion, bgc_quaternion_fp32_t* result)
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inline void bgc_quaternion_set_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* result)
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{
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result->s0 = quaternion->s0;
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result->x1 = -quaternion->x1;
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@ -169,7 +169,7 @@ inline void bgc_quaternion_set_conjugate_fp32(const bgc_quaternion_fp32_t* quate
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result->x3 = -quaternion->x3;
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}
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inline void bgc_quaternion_set_conjugate_fp64(const bgc_quaternion_fp64_t* quaternion, bgc_quaternion_fp64_t* result)
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inline void bgc_quaternion_set_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* result)
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{
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result->s0 = quaternion->s0;
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result->x1 = -quaternion->x1;
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@ -179,7 +179,7 @@ inline void bgc_quaternion_set_conjugate_fp64(const bgc_quaternion_fp64_t* quate
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// ================ Set Conjugate =============== //
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inline void bgc_quaternion_set_conjugate_fp64_to_fp32(const bgc_quaternion_fp64_t* quaternion, bgc_quaternion_fp32_t* result)
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inline void bgc_quaternion_set_conjugate_fp64_to_fp32(const BgcQuaternionFP64* quaternion, BgcQuaternionFP32* result)
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{
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result->s0 = (float) quaternion->s0;
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result->x1 = (float) -quaternion->x1;
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@ -187,7 +187,7 @@ inline void bgc_quaternion_set_conjugate_fp64_to_fp32(const bgc_quaternion_fp64_
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result->x3 = (float) -quaternion->x3;
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}
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inline void bgc_quaternion_set_conjugate_fp32_to_fp64(const bgc_quaternion_fp32_t* quaternion, bgc_quaternion_fp64_t* result)
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inline void bgc_quaternion_set_conjugate_fp32_to_fp64(const BgcQuaternionFP32* quaternion, BgcQuaternionFP64* result)
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{
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result->s0 = quaternion->s0;
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result->x1 = -quaternion->x1;
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@ -197,31 +197,31 @@ inline void bgc_quaternion_set_conjugate_fp32_to_fp64(const bgc_quaternion_fp32_
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// ============= Get Square Modulus ============= //
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inline float bgc_quaternion_get_square_modulus_fp32(const bgc_quaternion_fp32_t* quaternion)
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inline float bgc_quaternion_get_square_modulus_fp32(const BgcQuaternionFP32* quaternion)
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{
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return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
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}
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inline double bgc_quaternion_get_square_modulus_fp64(const bgc_quaternion_fp64_t* quaternion)
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inline double bgc_quaternion_get_square_modulus_fp64(const BgcQuaternionFP64* quaternion)
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{
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return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
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}
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// ================ Get Modulus ================= //
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inline float bgc_quaternion_get_modulus_fp32(const bgc_quaternion_fp32_t* quaternion)
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inline float bgc_quaternion_get_modulus_fp32(const BgcQuaternionFP32* quaternion)
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{
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return sqrtf(bgc_quaternion_get_square_modulus_fp32(quaternion));
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}
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inline double bgc_quaternion_get_modulus_fp64(const bgc_quaternion_fp64_t* quaternion)
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inline double bgc_quaternion_get_modulus_fp64(const BgcQuaternionFP64* quaternion)
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{
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return sqrt(bgc_quaternion_get_square_modulus_fp64(quaternion));
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}
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// =============== Normalization ================ //
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inline int bgc_quaternion_normalize_fp32(bgc_quaternion_fp32_t* quaternion)
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inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion)
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{
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const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion);
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@ -244,7 +244,7 @@ inline int bgc_quaternion_normalize_fp32(bgc_quaternion_fp32_t* quaternion)
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return 1;
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}
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inline int bgc_quaternion_normalize_fp64(bgc_quaternion_fp64_t* quaternion)
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inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion)
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{
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const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion);
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@ -269,7 +269,7 @@ inline int bgc_quaternion_normalize_fp64(bgc_quaternion_fp64_t* quaternion)
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// ============ Make Rotation Matrix ============ //
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inline void bgc_quaternion_get_rotation_matrix_fp32(const bgc_quaternion_fp32_t* quaternion, bgc_matrix3x3_fp32_t* matrix)
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inline void bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* matrix)
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{
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const float s0s0 = quaternion->s0 * quaternion->s0;
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const float x1x1 = quaternion->x1 * quaternion->x1;
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@ -307,7 +307,7 @@ inline void bgc_quaternion_get_rotation_matrix_fp32(const bgc_quaternion_fp32_t*
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matrix->r1c3 = corrector2 * (x1x3 + s0x2);
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}
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inline void bgc_quaternion_get_rotation_matrix_fp64(const bgc_quaternion_fp64_t* quaternion, bgc_matrix3x3_fp64_t* matrix)
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inline void bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* matrix)
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{
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const double s0s0 = quaternion->s0 * quaternion->s0;
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const double x1x1 = quaternion->x1 * quaternion->x1;
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@ -347,7 +347,7 @@ inline void bgc_quaternion_get_rotation_matrix_fp64(const bgc_quaternion_fp64_t*
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// ============ Make Reverse Matrix ============= //
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inline void bgc_quaternion_get_reverse_matrix_fp32(const bgc_quaternion_fp32_t* quaternion, bgc_matrix3x3_fp32_t* matrix)
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inline void bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* matrix)
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{
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const float s0s0 = quaternion->s0 * quaternion->s0;
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const float x1x1 = quaternion->x1 * quaternion->x1;
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@ -385,7 +385,7 @@ inline void bgc_quaternion_get_reverse_matrix_fp32(const bgc_quaternion_fp32_t*
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matrix->r1c3 = corrector2 * (x1x3 - s0x2);
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}
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inline void bgc_quaternion_get_reverse_matrix_fp64(const bgc_quaternion_fp64_t* quaternion, bgc_matrix3x3_fp64_t* matrix)
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inline void bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* matrix)
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{
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const double s0s0 = quaternion->s0 * quaternion->s0;
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const double x1x1 = quaternion->x1 * quaternion->x1;
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@ -425,7 +425,7 @@ inline void bgc_quaternion_get_reverse_matrix_fp64(const bgc_quaternion_fp64_t*
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// ==================== Add ===================== //
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inline void bgc_quaternion_add_fp32(const bgc_quaternion_fp32_t * quaternion1, const bgc_quaternion_fp32_t * quaternion2, bgc_quaternion_fp32_t * sum)
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inline void bgc_quaternion_add_fp32(const BgcQuaternionFP32 * quaternion1, const BgcQuaternionFP32 * quaternion2, BgcQuaternionFP32 * sum)
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{
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sum->s0 = quaternion1->s0 + quaternion2->s0;
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sum->x1 = quaternion1->x1 + quaternion2->x1;
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@ -433,7 +433,7 @@ inline void bgc_quaternion_add_fp32(const bgc_quaternion_fp32_t * quaternion1, c
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sum->x3 = quaternion1->x3 + quaternion2->x3;
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}
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inline void bgc_quaternion_add_fp64(const bgc_quaternion_fp64_t * quaternion1, const bgc_quaternion_fp64_t * quaternion2, bgc_quaternion_fp64_t * sum)
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inline void bgc_quaternion_add_fp64(const BgcQuaternionFP64 * quaternion1, const BgcQuaternionFP64 * quaternion2, BgcQuaternionFP64 * sum)
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{
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sum->s0 = quaternion1->s0 + quaternion2->s0;
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sum->x1 = quaternion1->x1 + quaternion2->x1;
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@ -443,7 +443,7 @@ inline void bgc_quaternion_add_fp64(const bgc_quaternion_fp64_t * quaternion1, c
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// ================= Add Scaled ================= //
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inline void bgc_quaternion_add_scaled_fp32(const bgc_quaternion_fp32_t * basic_quaternion, const bgc_quaternion_fp32_t * scalable_quaternion, const float scale, bgc_quaternion_fp32_t * sum)
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inline void bgc_quaternion_add_scaled_fp32(const BgcQuaternionFP32 * basic_quaternion, const BgcQuaternionFP32 * scalable_quaternion, const float scale, BgcQuaternionFP32 * sum)
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{
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sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
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sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
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@ -451,7 +451,7 @@ inline void bgc_quaternion_add_scaled_fp32(const bgc_quaternion_fp32_t * basic_q
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sum->x3 = basic_quaternion->x3 + scalable_quaternion->x3 * scale;
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}
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inline void bgc_quaternion_add_scaled_fp64(const bgc_quaternion_fp64_t * basic_quaternion, const bgc_quaternion_fp64_t * scalable_quaternion, const double scale, bgc_quaternion_fp64_t * sum)
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inline void bgc_quaternion_add_scaled_fp64(const BgcQuaternionFP64 * basic_quaternion, const BgcQuaternionFP64 * scalable_quaternion, const double scale, BgcQuaternionFP64 * sum)
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{
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sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
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sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
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@ -461,7 +461,7 @@ inline void bgc_quaternion_add_scaled_fp64(const bgc_quaternion_fp64_t * basic_q
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// ================== Subtract ================== //
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inline void bgc_quaternion_subtract_fp32(const bgc_quaternion_fp32_t * minuend, const bgc_quaternion_fp32_t * subtrahend, bgc_quaternion_fp32_t * difference)
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inline void bgc_quaternion_subtract_fp32(const BgcQuaternionFP32 * minuend, const BgcQuaternionFP32 * subtrahend, BgcQuaternionFP32 * difference)
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{
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difference->s0 = minuend->s0 - subtrahend->s0;
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difference->x1 = minuend->x1 - subtrahend->x1;
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@ -469,7 +469,7 @@ inline void bgc_quaternion_subtract_fp32(const bgc_quaternion_fp32_t * minuend,
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difference->x3 = minuend->x3 - subtrahend->x3;
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}
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inline void bgc_quaternion_subtract_fp64(const bgc_quaternion_fp64_t * minuend, const bgc_quaternion_fp64_t * subtrahend, bgc_quaternion_fp64_t * difference)
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inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64 * minuend, const BgcQuaternionFP64 * subtrahend, BgcQuaternionFP64 * difference)
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{
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difference->s0 = minuend->s0 - subtrahend->s0;
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difference->x1 = minuend->x1 - subtrahend->x1;
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@ -479,7 +479,7 @@ inline void bgc_quaternion_subtract_fp64(const bgc_quaternion_fp64_t * minuend,
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// =============== Multiplication =============== //
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inline void bgc_quaternion_multiply_fp32(const bgc_quaternion_fp32_t* multiplicand, const float multipier, bgc_quaternion_fp32_t* product)
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inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* multiplicand, const float multipier, BgcQuaternionFP32* product)
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{
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product->s0 = multiplicand->s0 * multipier;
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product->x1 = multiplicand->x1 * multipier;
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@ -487,7 +487,7 @@ inline void bgc_quaternion_multiply_fp32(const bgc_quaternion_fp32_t* multiplica
|
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product->x3 = multiplicand->x3 * multipier;
|
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}
|
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inline void bgc_quaternion_multiply_fp64(const bgc_quaternion_fp64_t* multiplicand, const double multipier, bgc_quaternion_fp64_t* product)
|
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inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* multiplicand, const double multipier, BgcQuaternionFP64* product)
|
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{
|
||||
product->s0 = multiplicand->s0 * multipier;
|
||||
product->x1 = multiplicand->x1 * multipier;
|
||||
|
|
@ -497,19 +497,19 @@ inline void bgc_quaternion_multiply_fp64(const bgc_quaternion_fp64_t* multiplica
|
|||
|
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// ================== Division ================== //
|
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|
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inline void bgc_quaternion_divide_fp32(const bgc_quaternion_fp32_t* dividend, const float divisor, bgc_quaternion_fp32_t* quotient)
|
||||
inline void bgc_quaternion_divide_fp32(const BgcQuaternionFP32* dividend, const float divisor, BgcQuaternionFP32* quotient)
|
||||
{
|
||||
bgc_quaternion_multiply_fp32(dividend, 1.0f / divisor, quotient);
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_divide_fp64(const bgc_quaternion_fp64_t* dividend, const double divisor, bgc_quaternion_fp64_t* quotient)
|
||||
inline void bgc_quaternion_divide_fp64(const BgcQuaternionFP64* dividend, const double divisor, BgcQuaternionFP64* quotient)
|
||||
{
|
||||
bgc_quaternion_multiply_fp64(dividend, 1.0 / divisor, quotient);
|
||||
}
|
||||
|
||||
// ================== Product =================== //
|
||||
|
||||
inline void bgc_quaternion_get_product_fp32(const bgc_quaternion_fp32_t* left, const bgc_quaternion_fp32_t* right, bgc_quaternion_fp32_t* product)
|
||||
inline void bgc_quaternion_get_product_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product)
|
||||
{
|
||||
const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
|
||||
const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
|
||||
|
|
@ -522,7 +522,7 @@ inline void bgc_quaternion_get_product_fp32(const bgc_quaternion_fp32_t* left, c
|
|||
product->x3 = x3;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_get_product_fp64(const bgc_quaternion_fp64_t* left, const bgc_quaternion_fp64_t* right, bgc_quaternion_fp64_t* product)
|
||||
inline void bgc_quaternion_get_product_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* product)
|
||||
{
|
||||
const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
|
||||
const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue