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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@ -13,32 +13,32 @@
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typedef struct {
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const float s0, x1, x2, x3;
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} bgc_versor_fp32_t;
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} BgcVersorFP32;
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typedef struct {
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const double s0, x1, x2, x3;
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} bgc_versor_fp64_t;
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} BgcVersorFP64;
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// ================= Dark Twins ================= //
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typedef struct {
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float s0, x1, x2, x3;
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} _bgc_dark_twin_versor_fp32_t;
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} _BgcDarkTwinVersorFP32;
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typedef struct {
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double s0, x1, x2, x3;
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} _bgc_dark_twin_versor_fp64_t;
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} _BgcDarkTwinVersorFP64;
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// ================= Constants ================== //
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extern const bgc_versor_fp32_t BGC_IDLE_VERSOR_FP32;
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extern const bgc_versor_fp64_t BGC_IDLE_VERSOR_FP64;
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extern const BgcVersorFP32 BGC_IDLE_VERSOR_FP32;
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extern const BgcVersorFP64 BGC_IDLE_VERSOR_FP64;
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// =================== Reset ==================== //
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inline void bgc_versor_reset_fp32(bgc_versor_fp32_t* versor)
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inline void bgc_versor_reset_fp32(BgcVersorFP32* versor)
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{
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_bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)versor;
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)versor;
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twin->s0 = 1.0f;
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twin->x1 = 0.0f;
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@ -46,9 +46,9 @@ inline void bgc_versor_reset_fp32(bgc_versor_fp32_t* versor)
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twin->x3 = 0.0f;
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}
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inline void bgc_versor_reset_fp64(bgc_versor_fp64_t* versor)
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inline void bgc_versor_reset_fp64(BgcVersorFP64* versor)
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{
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_bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)versor;
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)versor;
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twin->s0 = 1.0;
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twin->x1 = 0.0;
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@ -58,9 +58,9 @@ inline void bgc_versor_reset_fp64(bgc_versor_fp64_t* versor)
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// ==================== Set ===================== //
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inline void bgc_versor_set_values_fp32(const float s0, const float x1, const float x2, const float x3, bgc_versor_fp32_t* versor)
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inline void bgc_versor_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcVersorFP32* versor)
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{
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_bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)versor;
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)versor;
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twin->s0 = s0;
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twin->x1 = x1;
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@ -89,9 +89,9 @@ inline void bgc_versor_set_values_fp32(const float s0, const float x1, const flo
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twin->x3 *= multiplier;
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}
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inline void bgc_versor_set_values_fp64(const double s0, const double x1, const double x2, const double x3, bgc_versor_fp64_t* versor)
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inline void bgc_versor_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcVersorFP64* versor)
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{
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_bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)versor;
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)versor;
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twin->s0 = s0;
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twin->x1 = x1;
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@ -122,9 +122,9 @@ inline void bgc_versor_set_values_fp64(const double s0, const double x1, const d
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// ==================== Copy ==================== //
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inline void bgc_versor_copy_fp32(const bgc_versor_fp32_t* from, bgc_versor_fp32_t* to)
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inline void bgc_versor_copy_fp32(const BgcVersorFP32* from, BgcVersorFP32* to)
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{
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_bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)to;
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)to;
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twin->s0 = from->s0;
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twin->x1 = from->x1;
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@ -132,9 +132,9 @@ inline void bgc_versor_copy_fp32(const bgc_versor_fp32_t* from, bgc_versor_fp32_
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twin->x3 = from->x3;
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}
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inline void bgc_versor_copy_fp64(const bgc_versor_fp64_t* from, bgc_versor_fp64_t* to)
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inline void bgc_versor_copy_fp64(const BgcVersorFP64* from, BgcVersorFP64* to)
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{
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_bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)to;
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)to;
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twin->s0 = from->s0;
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twin->x1 = from->x1;
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@ -144,21 +144,21 @@ inline void bgc_versor_copy_fp64(const bgc_versor_fp64_t* from, bgc_versor_fp64_
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// ==================== Swap ==================== //
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inline void bgc_versor_swap_fp32(bgc_versor_fp32_t* versor1, bgc_versor_fp32_t* versor2)
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inline void bgc_versor_swap_fp32(BgcVersorFP32* versor1, BgcVersorFP32* versor2)
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{
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const float s0 = versor1->s0;
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const float x1 = versor1->x1;
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const float x2 = versor1->x2;
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const float x3 = versor1->x3;
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_bgc_dark_twin_versor_fp32_t* twin1 = (_bgc_dark_twin_versor_fp32_t*)versor1;
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_BgcDarkTwinVersorFP32* twin1 = (_BgcDarkTwinVersorFP32*)versor1;
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twin1->s0 = versor2->s0;
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twin1->x1 = versor2->x1;
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twin1->x2 = versor2->x2;
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twin1->x3 = versor2->x3;
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_bgc_dark_twin_versor_fp32_t* twin2 = (_bgc_dark_twin_versor_fp32_t*)versor2;
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_BgcDarkTwinVersorFP32* twin2 = (_BgcDarkTwinVersorFP32*)versor2;
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twin2->s0 = s0;
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twin2->x1 = x1;
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@ -166,21 +166,21 @@ inline void bgc_versor_swap_fp32(bgc_versor_fp32_t* versor1, bgc_versor_fp32_t*
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twin2->x3 = x3;
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}
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inline void bgc_versor_swap_fp64(bgc_versor_fp64_t* versor1, bgc_versor_fp64_t* versor2)
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inline void bgc_versor_swap_fp64(BgcVersorFP64* versor1, BgcVersorFP64* versor2)
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{
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const double s0 = versor1->s0;
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const double x1 = versor1->x1;
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const double x2 = versor1->x2;
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const double x3 = versor1->x3;
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_bgc_dark_twin_versor_fp64_t* twin1 = (_bgc_dark_twin_versor_fp64_t*)versor1;
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_BgcDarkTwinVersorFP64* twin1 = (_BgcDarkTwinVersorFP64*)versor1;
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twin1->s0 = versor2->s0;
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twin1->x1 = versor2->x1;
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twin1->x2 = versor2->x2;
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twin1->x3 = versor2->x3;
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_bgc_dark_twin_versor_fp64_t* twin2 = (_bgc_dark_twin_versor_fp64_t*)versor2;
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_BgcDarkTwinVersorFP64* twin2 = (_BgcDarkTwinVersorFP64*)versor2;
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twin2->s0 = s0;
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twin2->x1 = x1;
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@ -190,49 +190,49 @@ inline void bgc_versor_swap_fp64(bgc_versor_fp64_t* versor1, bgc_versor_fp64_t*
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// =============== Set Crude Turn =============== //
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void bgc_versor_set_crude_turn_fp32(const float x1, const float x2, const float x3, const float angle, const bgc_angle_unit_t unit, bgc_versor_fp32_t* result);
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void bgc_versor_set_crude_turn_fp32(const float x1, const float x2, const float x3, const float angle, const BgcAngleUnitEnum unit, BgcVersorFP32* result);
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void bgc_versor_set_crude_turn_fp64(const double x1, const double x2, const double x3, const double angle, const bgc_angle_unit_t unit, bgc_versor_fp64_t* result);
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void bgc_versor_set_crude_turn_fp64(const double x1, const double x2, const double x3, const double angle, const BgcAngleUnitEnum unit, BgcVersorFP64* result);
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// ================== Set Turn ================== //
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inline void bgc_versor_set_turn_fp32(const bgc_vector3_fp32_t* axis, const float angle, const bgc_angle_unit_t unit, bgc_versor_fp32_t* result)
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inline void bgc_versor_set_turn_fp32(const BgcVector3FP32* axis, const float angle, const BgcAngleUnitEnum unit, BgcVersorFP32* result)
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{
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bgc_versor_set_crude_turn_fp32(axis->x1, axis->x2, axis->x3, angle, unit, result);
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}
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inline void bgc_versor_set_turn_fp64(const bgc_vector3_fp32_t* axis, const double angle, const bgc_angle_unit_t unit, bgc_versor_fp64_t* result)
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inline void bgc_versor_set_turn_fp64(const BgcVector3FP32* axis, const double angle, const BgcAngleUnitEnum unit, BgcVersorFP64* result)
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{
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bgc_versor_set_crude_turn_fp64(axis->x1, axis->x2, axis->x3, angle, unit, result);
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}
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// ================ Set Rotation ================ //
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inline void bgc_versor_set_rotation_fp32(const bgc_rotation3_fp32_t* rotation, bgc_versor_fp32_t* result)
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inline void bgc_versor_set_rotation_fp32(const BgcRotation3FP32* rotation, BgcVersorFP32* result)
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{
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bgc_versor_set_crude_turn_fp32(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BGC_ANGLE_UNIT_RADIANS, result);
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}
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inline void bgc_versor_set_rotation_fp64(const bgc_rotation3_fp64_t* rotation, bgc_versor_fp64_t* result)
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inline void bgc_versor_set_rotation_fp64(const BgcRotation3FP64* rotation, BgcVersorFP64* result)
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{
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bgc_versor_set_crude_turn_fp64(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BGC_ANGLE_UNIT_RADIANS, result);
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}
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// ================= Comparison ================= //
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inline int bgc_versor_is_idle_fp32(const bgc_versor_fp32_t* versor)
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inline int bgc_versor_is_idle_fp32(const BgcVersorFP32* versor)
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{
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return 1.0f - BGC_EPSYLON_FP32 <= versor->s0 || versor->s0 <= -(1.0 - BGC_EPSYLON_FP32);
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}
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inline int bgc_versor_is_idle_fp64(const bgc_versor_fp64_t* versor)
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inline int bgc_versor_is_idle_fp64(const BgcVersorFP64* versor)
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{
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return 1.0 - BGC_EPSYLON_FP64 <= versor->s0 || versor->s0 <= -(1.0 - BGC_EPSYLON_FP64);
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}
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// ============= Copy to twin type ============== //
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inline void bgc_versor_convert_fp64_to_fp32(const bgc_versor_fp64_t* versor, bgc_versor_fp32_t* result)
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inline void bgc_versor_convert_fp64_to_fp32(const BgcVersorFP64* versor, BgcVersorFP32* result)
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{
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bgc_versor_set_values_fp32(
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(float) versor->s0,
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@ -243,7 +243,7 @@ inline void bgc_versor_convert_fp64_to_fp32(const bgc_versor_fp64_t* versor, bgc
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);
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}
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inline void bgc_versor_convert_fp32_to_fp64(const bgc_versor_fp32_t* versor, bgc_versor_fp64_t* result)
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inline void bgc_versor_convert_fp32_to_fp64(const BgcVersorFP32* versor, BgcVersorFP64* result)
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{
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bgc_versor_set_values_fp64(
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versor->s0,
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@ -256,26 +256,26 @@ inline void bgc_versor_convert_fp32_to_fp64(const bgc_versor_fp32_t* versor, bgc
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// ================== Shorten =================== //
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inline void bgc_versor_shorten_fp32(bgc_versor_fp32_t* versor)
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inline void bgc_versor_shorten_fp32(BgcVersorFP32* versor)
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{
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if (versor->s0 >= 0.0f) {
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return;
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}
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_bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)versor;
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)versor;
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twin->s0 = -versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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}
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inline void bgc_versor_shorten_fp64(bgc_versor_fp64_t* versor)
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inline void bgc_versor_shorten_fp64(BgcVersorFP64* versor)
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{
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if (versor->s0 >= 0.0f) {
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return;
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}
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_bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)versor;
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)versor;
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twin->s0 = -versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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@ -284,9 +284,9 @@ inline void bgc_versor_shorten_fp64(bgc_versor_fp64_t* versor)
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// ================== Shorten =================== //
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inline void bgc_versor_set_shortened_fp32(const bgc_versor_fp32_t* versor, bgc_versor_fp32_t* shortened)
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inline void bgc_versor_set_shortened_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened)
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{
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_bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)shortened;
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)shortened;
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if (versor->s0 >= 0.0f) {
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twin->x1 = versor->s0;
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@ -302,9 +302,9 @@ inline void bgc_versor_set_shortened_fp32(const bgc_versor_fp32_t* versor, bgc_v
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twin->x3 = -versor->x3;
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}
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inline void bgc_versor_set_shortened_fp64(const bgc_versor_fp64_t* versor, bgc_versor_fp64_t* shortened)
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inline void bgc_versor_set_shortened_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened)
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{
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_bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)shortened;
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)shortened;
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if (versor->s0 >= 0.0) {
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twin->x1 = versor->s0;
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@ -322,17 +322,17 @@ inline void bgc_versor_set_shortened_fp64(const bgc_versor_fp64_t* versor, bgc_v
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// ================= Inversion ================== //
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inline void bgc_versor_invert_fp32(bgc_versor_fp32_t* versor)
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inline void bgc_versor_invert_fp32(BgcVersorFP32* versor)
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{
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_bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)versor;
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)versor;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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}
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inline void bgc_versor_invert_fp64(bgc_versor_fp64_t* versor)
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inline void bgc_versor_invert_fp64(BgcVersorFP64* versor)
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{
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_bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)versor;
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)versor;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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@ -340,18 +340,18 @@ inline void bgc_versor_invert_fp64(bgc_versor_fp64_t* versor)
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// ================ Set Inverted ================ //
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inline void bgc_versor_set_inverted_fp32(const bgc_versor_fp32_t* versor, bgc_versor_fp32_t* to)
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inline void bgc_versor_set_inverted_fp32(const BgcVersorFP32* versor, BgcVersorFP32* to)
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{
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_bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)to;
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)to;
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twin->s0 = versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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}
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inline void bgc_versor_set_inverted_fp64(const bgc_versor_fp64_t* versor, bgc_versor_fp64_t* to)
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inline void bgc_versor_set_inverted_fp64(const BgcVersorFP64* versor, BgcVersorFP64* to)
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{
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_bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)to;
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)to;
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twin->s0 = versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
|
||||
|
|
@ -360,7 +360,7 @@ inline void bgc_versor_set_inverted_fp64(const bgc_versor_fp64_t* versor, bgc_ve
|
|||
|
||||
// ================ Set Inverted ================ //
|
||||
|
||||
inline void bgc_versor_set_inverted_fp64_to_fp32(const bgc_versor_fp64_t* versor, bgc_versor_fp32_t* to)
|
||||
inline void bgc_versor_set_inverted_fp64_to_fp32(const BgcVersorFP64* versor, BgcVersorFP32* to)
|
||||
{
|
||||
bgc_versor_set_values_fp32(
|
||||
(float) versor->s0,
|
||||
|
|
@ -371,7 +371,7 @@ inline void bgc_versor_set_inverted_fp64_to_fp32(const bgc_versor_fp64_t* versor
|
|||
);
|
||||
}
|
||||
|
||||
inline void bgc_versor_set_inverted_fp32_to_fp64(const bgc_versor_fp32_t* versor, bgc_versor_fp64_t* to)
|
||||
inline void bgc_versor_set_inverted_fp32_to_fp64(const BgcVersorFP32* versor, BgcVersorFP64* to)
|
||||
{
|
||||
bgc_versor_set_values_fp64(
|
||||
versor->s0,
|
||||
|
|
@ -384,7 +384,7 @@ inline void bgc_versor_set_inverted_fp32_to_fp64(const bgc_versor_fp32_t* versor
|
|||
|
||||
// ================ Combination ================= //
|
||||
|
||||
inline void bgc_versor_combine_fp32(const bgc_versor_fp32_t* second, const bgc_versor_fp32_t* first, bgc_versor_fp32_t* result)
|
||||
inline void bgc_versor_combine_fp32(const BgcVersorFP32* second, const BgcVersorFP32* first, BgcVersorFP32* result)
|
||||
{
|
||||
const float s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
|
||||
const float x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
|
||||
|
|
@ -393,7 +393,7 @@ inline void bgc_versor_combine_fp32(const bgc_versor_fp32_t* second, const bgc_v
|
|||
|
||||
const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
|
||||
|
||||
_bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)result;
|
||||
_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)result;
|
||||
|
||||
twin->s0 = s0;
|
||||
twin->x1 = x1;
|
||||
|
|
@ -412,7 +412,7 @@ inline void bgc_versor_combine_fp32(const bgc_versor_fp32_t* second, const bgc_v
|
|||
twin->x3 *= multiplier;
|
||||
}
|
||||
|
||||
inline void bgc_versor_combine_fp64(const bgc_versor_fp64_t* second, const bgc_versor_fp64_t* first, bgc_versor_fp64_t* result)
|
||||
inline void bgc_versor_combine_fp64(const BgcVersorFP64* second, const BgcVersorFP64* first, BgcVersorFP64* result)
|
||||
{
|
||||
const double s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
|
||||
const double x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
|
||||
|
|
@ -421,7 +421,7 @@ inline void bgc_versor_combine_fp64(const bgc_versor_fp64_t* second, const bgc_v
|
|||
|
||||
const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
|
||||
|
||||
_bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)result;
|
||||
_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)result;
|
||||
|
||||
twin->s0 = s0;
|
||||
twin->x1 = x1;
|
||||
|
|
@ -442,7 +442,7 @@ inline void bgc_versor_combine_fp64(const bgc_versor_fp64_t* second, const bgc_v
|
|||
|
||||
// ============ Combination of three ============ //
|
||||
|
||||
inline void bgc_versor_combine3_fp32(const bgc_versor_fp32_t* third, const bgc_versor_fp32_t* second, const bgc_versor_fp32_t* first, bgc_versor_fp32_t* result)
|
||||
inline void bgc_versor_combine3_fp32(const BgcVersorFP32* third, const BgcVersorFP32* second, const BgcVersorFP32* first, BgcVersorFP32* result)
|
||||
{
|
||||
const float s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
|
||||
const float x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
|
||||
|
|
@ -456,7 +456,7 @@ inline void bgc_versor_combine3_fp32(const bgc_versor_fp32_t* third, const bgc_v
|
|||
|
||||
const float square_modulus = (s0b * s0b + x1b * x1b) + (x2b * x2b + x3b * x3b);
|
||||
|
||||
_bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)result;
|
||||
_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)result;
|
||||
|
||||
twin->s0 = s0b;
|
||||
twin->x1 = x1b;
|
||||
|
|
@ -475,7 +475,7 @@ inline void bgc_versor_combine3_fp32(const bgc_versor_fp32_t* third, const bgc_v
|
|||
twin->x3 *= multiplier;
|
||||
}
|
||||
|
||||
inline void bgc_versor_combine3_fp64(const bgc_versor_fp64_t* third, const bgc_versor_fp64_t* second, const bgc_versor_fp64_t* first, bgc_versor_fp64_t* result)
|
||||
inline void bgc_versor_combine3_fp64(const BgcVersorFP64* third, const BgcVersorFP64* second, const BgcVersorFP64* first, BgcVersorFP64* result)
|
||||
{
|
||||
const double s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
|
||||
const double x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
|
||||
|
|
@ -489,7 +489,7 @@ inline void bgc_versor_combine3_fp64(const bgc_versor_fp64_t* third, const bgc_v
|
|||
|
||||
const double square_modulus = (s0b * s0b + x1b * x1b) + (x2b * x2b + x3b * x3b);
|
||||
|
||||
_bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)result;
|
||||
_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)result;
|
||||
|
||||
twin->s0 = s0b;
|
||||
twin->x1 = x1b;
|
||||
|
|
@ -510,7 +510,7 @@ inline void bgc_versor_combine3_fp64(const bgc_versor_fp64_t* third, const bgc_v
|
|||
|
||||
// ================= Exclusion ================== //
|
||||
|
||||
inline void bgc_versor_exclude_fp32(const bgc_versor_fp32_t* basic, const bgc_versor_fp32_t* exclusion, bgc_versor_fp32_t* result)
|
||||
inline void bgc_versor_exclude_fp32(const BgcVersorFP32* basic, const BgcVersorFP32* exclusion, BgcVersorFP32* result)
|
||||
{
|
||||
const float s0 = (basic->s0 * exclusion->s0 + basic->x1 * exclusion->x1) + (basic->x2 * exclusion->x2 + basic->x3 * exclusion->x3);
|
||||
const float x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3);
|
||||
|
|
@ -519,7 +519,7 @@ inline void bgc_versor_exclude_fp32(const bgc_versor_fp32_t* basic, const bgc_ve
|
|||
|
||||
const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
|
||||
|
||||
_bgc_dark_twin_versor_fp32_t* twin = (_bgc_dark_twin_versor_fp32_t*)result;
|
||||
_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)result;
|
||||
|
||||
twin->s0 = s0;
|
||||
twin->x1 = x1;
|
||||
|
|
@ -538,7 +538,7 @@ inline void bgc_versor_exclude_fp32(const bgc_versor_fp32_t* basic, const bgc_ve
|
|||
twin->x3 *= multiplier;
|
||||
}
|
||||
|
||||
inline void bgc_versor_exclude_fp64(const bgc_versor_fp64_t* basic, const bgc_versor_fp64_t* exclusion, bgc_versor_fp64_t* result)
|
||||
inline void bgc_versor_exclude_fp64(const BgcVersorFP64* basic, const BgcVersorFP64* exclusion, BgcVersorFP64* result)
|
||||
{
|
||||
const double s0 = (basic->s0 * exclusion->s0 + basic->x1 * exclusion->x1) + (basic->x2 * exclusion->x2 + basic->x3 * exclusion->x3);
|
||||
const double x1 = (basic->x1 * exclusion->s0 - basic->s0 * exclusion->x1) + (basic->x3 * exclusion->x2 - basic->x2 * exclusion->x3);
|
||||
|
|
@ -547,7 +547,7 @@ inline void bgc_versor_exclude_fp64(const bgc_versor_fp64_t* basic, const bgc_ve
|
|||
|
||||
const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
|
||||
|
||||
_bgc_dark_twin_versor_fp64_t* twin = (_bgc_dark_twin_versor_fp64_t*)result;
|
||||
_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)result;
|
||||
|
||||
twin->s0 = s0;
|
||||
twin->x1 = x1;
|
||||
|
|
@ -568,13 +568,13 @@ inline void bgc_versor_exclude_fp64(const bgc_versor_fp64_t* basic, const bgc_ve
|
|||
|
||||
// ================= Rotation3 ================== //
|
||||
|
||||
void bgc_versor_get_rotation_fp32(const bgc_versor_fp32_t* versor, bgc_rotation3_fp32_t* result);
|
||||
void bgc_versor_get_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32* result);
|
||||
|
||||
void bgc_versor_get_rotation_fp64(const bgc_versor_fp64_t* versor, bgc_rotation3_fp64_t* result);
|
||||
void bgc_versor_get_rotation_fp64(const BgcVersorFP64* versor, BgcRotation3FP64* result);
|
||||
|
||||
// =========== Make Rotation Matrix3x3 ========== //
|
||||
|
||||
inline void bgc_versor_make_rotation_matrix_fp32(const bgc_versor_fp32_t* versor, bgc_matrix3x3_fp32_t* matrix)
|
||||
inline void bgc_versor_make_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix)
|
||||
{
|
||||
const float s0s0 = versor->s0 * versor->s0;
|
||||
const float x1x1 = versor->x1 * versor->x1;
|
||||
|
|
@ -602,7 +602,7 @@ inline void bgc_versor_make_rotation_matrix_fp32(const bgc_versor_fp32_t* versor
|
|||
matrix->r1c3 = x1x3 + s0x2;
|
||||
}
|
||||
|
||||
inline void bgc_versor_make_rotation_matrix_fp64(const bgc_versor_fp64_t* versor, bgc_matrix3x3_fp64_t* matrix)
|
||||
inline void bgc_versor_make_rotation_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix)
|
||||
{
|
||||
const double s0s0 = versor->s0 * versor->s0;
|
||||
const double x1x1 = versor->x1 * versor->x1;
|
||||
|
|
@ -632,7 +632,7 @@ inline void bgc_versor_make_rotation_matrix_fp64(const bgc_versor_fp64_t* versor
|
|||
|
||||
// =========== Make Reverse Matrix3x3 =========== //
|
||||
|
||||
inline void bgc_versor_make_reverse_matrix_fp32(const bgc_versor_fp32_t* versor, bgc_matrix3x3_fp32_t* matrix)
|
||||
inline void bgc_versor_make_reverse_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix)
|
||||
{
|
||||
const float s0s0 = versor->s0 * versor->s0;
|
||||
const float x1x1 = versor->x1 * versor->x1;
|
||||
|
|
@ -660,7 +660,7 @@ inline void bgc_versor_make_reverse_matrix_fp32(const bgc_versor_fp32_t* versor,
|
|||
matrix->r1c3 = x1x3 - s0x2;
|
||||
}
|
||||
|
||||
inline void bgc_versor_make_reverse_matrix_fp64(const bgc_versor_fp64_t* versor, bgc_matrix3x3_fp64_t* matrix)
|
||||
inline void bgc_versor_make_reverse_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix)
|
||||
{
|
||||
const double s0s0 = versor->s0 * versor->s0;
|
||||
const double x1x1 = versor->x1 * versor->x1;
|
||||
|
|
@ -690,7 +690,7 @@ inline void bgc_versor_make_reverse_matrix_fp64(const bgc_versor_fp64_t* versor,
|
|||
|
||||
// ================ Turn Vector ================= //
|
||||
|
||||
inline void bgc_versor_turn_vector_fp32(const bgc_versor_fp32_t* versor, const bgc_vector3_fp32_t* vector, bgc_vector3_fp32_t* result)
|
||||
inline void bgc_versor_turn_vector_fp32(const BgcVersorFP32* versor, const BgcVector3FP32* vector, BgcVector3FP32* result)
|
||||
{
|
||||
const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
|
||||
const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
|
||||
|
|
@ -705,7 +705,7 @@ inline void bgc_versor_turn_vector_fp32(const bgc_versor_fp32_t* versor, const b
|
|||
result->x3 = x3;
|
||||
}
|
||||
|
||||
inline void bgc_versor_turn_vector_fp64(const bgc_versor_fp64_t* versor, const bgc_vector3_fp64_t* vector, bgc_vector3_fp64_t* result)
|
||||
inline void bgc_versor_turn_vector_fp64(const BgcVersorFP64* versor, const BgcVector3FP64* vector, BgcVector3FP64* result)
|
||||
{
|
||||
const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
|
||||
const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
|
||||
|
|
@ -722,7 +722,7 @@ inline void bgc_versor_turn_vector_fp64(const bgc_versor_fp64_t* versor, const b
|
|||
|
||||
// ============== Turn Vector Back ============== //
|
||||
|
||||
inline void bgc_versor_turn_vector_back_fp32(const bgc_versor_fp32_t* versor, const bgc_vector3_fp32_t* vector, bgc_vector3_fp32_t* result)
|
||||
inline void bgc_versor_turn_vector_back_fp32(const BgcVersorFP32* versor, const BgcVector3FP32* vector, BgcVector3FP32* result)
|
||||
{
|
||||
const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
|
||||
const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
|
||||
|
|
@ -737,7 +737,7 @@ inline void bgc_versor_turn_vector_back_fp32(const bgc_versor_fp32_t* versor, co
|
|||
result->x3 = x3;
|
||||
}
|
||||
|
||||
inline void bgc_versor_turn_vector_back_fp64(const bgc_versor_fp64_t* versor, const bgc_vector3_fp64_t* vector, bgc_vector3_fp64_t* result)
|
||||
inline void bgc_versor_turn_vector_back_fp64(const BgcVersorFP64* versor, const BgcVector3FP64* vector, BgcVector3FP64* result)
|
||||
{
|
||||
const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
|
||||
const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue