Переход на парадигму Destination first в порядке параметров функий
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41 changed files with 1570 additions and 1978 deletions
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@ -17,7 +17,7 @@ typedef struct {
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// ==================== Reset =================== //
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inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion * quaternion)
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inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* 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_fp32_quaternion_reset(BGC_FP32_Quaternion * quaternion)
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quaternion->x3 = 0.0f;
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}
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inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion * quaternion)
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inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* 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_fp64_quaternion_reset(BGC_FP64_Quaternion * quaternion)
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// ================= Make Unit ================== //
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inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion * quaternion)
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inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* 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_fp32_quaternion_make_unit(BGC_FP32_Quaternion * quaternion)
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quaternion->x3 = 0.0f;
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}
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inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion * quaternion)
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inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* 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_fp64_quaternion_make_unit(BGC_FP64_Quaternion * quaternion)
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// ==================== Set ===================== //
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inline void bgc_fp32_quaternion_make(const float s0, const float x1, const float x2, const float x3, BGC_FP32_Quaternion * quaternion)
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inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* quaternion, const float s0, const float x1, const float x2, const float x3)
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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_fp32_quaternion_make(const float s0, const float x1, const float
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quaternion->x3 = x3;
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}
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inline void bgc_fp64_quaternion_make(const double s0, const double x1, const double x2, const double x3, BGC_FP64_Quaternion * quaternion)
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inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* quaternion, const double s0, const double x1, const double x2, const double x3)
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{
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quaternion->s0 = s0;
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quaternion->x1 = x1;
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@ -119,7 +119,7 @@ inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* quaternion)
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// ==================== Copy ==================== //
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inline void bgc_fp32_quaternion_copy(const BGC_FP32_Quaternion* source, BGC_FP32_Quaternion* destination)
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inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* destination, const BGC_FP32_Quaternion* source)
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{
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destination->s0 = source->s0;
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destination->x1 = source->x1;
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@ -127,7 +127,7 @@ inline void bgc_fp32_quaternion_copy(const BGC_FP32_Quaternion* source, BGC_FP32
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destination->x3 = source->x3;
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}
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inline void bgc_fp64_quaternion_copy(const BGC_FP64_Quaternion* source, BGC_FP64_Quaternion* destination)
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inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* destination, const BGC_FP64_Quaternion* source)
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{
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destination->s0 = source->s0;
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destination->x1 = source->x1;
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@ -175,15 +175,7 @@ inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64
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// ================== Convert =================== //
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inline void bgc_fp64_quaternion_convert_to_fp32(const BGC_FP64_Quaternion* source, BGC_FP32_Quaternion* destination)
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{
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destination->s0 = (float)source->s0;
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destination->x1 = (float)source->x1;
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destination->x2 = (float)source->x2;
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destination->x3 = (float)source->x3;
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}
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inline void bgc_fp32_quaternion_convert_to_fp64(const BGC_FP32_Quaternion* source, BGC_FP64_Quaternion* destination)
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inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* destination, const BGC_FP32_Quaternion* source)
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{
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destination->s0 = source->s0;
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destination->x1 = source->x1;
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@ -191,9 +183,17 @@ inline void bgc_fp32_quaternion_convert_to_fp64(const BGC_FP32_Quaternion* sourc
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destination->x3 = source->x3;
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}
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inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* destination, const BGC_FP64_Quaternion* source)
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{
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destination->s0 = (float)source->s0;
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destination->x1 = (float)source->x1;
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destination->x2 = (float)source->x2;
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destination->x3 = (float)source->x3;
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}
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// ==================== Add ===================== //
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inline void bgc_fp32_quaternion_add(const BGC_FP32_Quaternion * quaternion1, const BGC_FP32_Quaternion * quaternion2, BGC_FP32_Quaternion * sum)
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inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
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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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@ -201,7 +201,7 @@ inline void bgc_fp32_quaternion_add(const BGC_FP32_Quaternion * quaternion1, con
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sum->x3 = quaternion1->x3 + quaternion2->x3;
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}
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inline void bgc_fp64_quaternion_add(const BGC_FP64_Quaternion * quaternion1, const BGC_FP64_Quaternion * quaternion2, BGC_FP64_Quaternion * sum)
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inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
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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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@ -211,7 +211,7 @@ inline void bgc_fp64_quaternion_add(const BGC_FP64_Quaternion * quaternion1, con
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// ================= Add Scaled ================= //
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inline void bgc_fp32_quaternion_add_scaled(const BGC_FP32_Quaternion * basic_quaternion, const BGC_FP32_Quaternion * scalable_quaternion, const float scale, BGC_FP32_Quaternion * sum)
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inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* basic_quaternion, const BGC_FP32_Quaternion* scalable_quaternion, const float scale)
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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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@ -219,7 +219,7 @@ inline void bgc_fp32_quaternion_add_scaled(const BGC_FP32_Quaternion * basic_qua
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sum->x3 = basic_quaternion->x3 + scalable_quaternion->x3 * scale;
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}
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inline void bgc_fp64_quaternion_add_scaled(const BGC_FP64_Quaternion * basic_quaternion, const BGC_FP64_Quaternion * scalable_quaternion, const double scale, BGC_FP64_Quaternion * sum)
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inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* basic_quaternion, const BGC_FP64_Quaternion* scalable_quaternion, const double scale)
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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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@ -229,7 +229,7 @@ inline void bgc_fp64_quaternion_add_scaled(const BGC_FP64_Quaternion * basic_qua
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// ================== Subtract ================== //
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inline void bgc_fp32_quaternion_subtract(const BGC_FP32_Quaternion * minuend, const BGC_FP32_Quaternion * subtrahend, BGC_FP32_Quaternion * difference)
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inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* minuend, const BGC_FP32_Quaternion* subtrahend)
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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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@ -237,7 +237,7 @@ inline void bgc_fp32_quaternion_subtract(const BGC_FP32_Quaternion * minuend, co
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difference->x3 = minuend->x3 - subtrahend->x3;
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}
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inline void bgc_fp64_quaternion_subtract(const BGC_FP64_Quaternion * minuend, const BGC_FP64_Quaternion * subtrahend, BGC_FP64_Quaternion * difference)
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inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* minuend, const BGC_FP64_Quaternion* subtrahend)
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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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@ -247,7 +247,7 @@ inline void bgc_fp64_quaternion_subtract(const BGC_FP64_Quaternion * minuend, co
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// ================== Multiply ================== //
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inline void bgc_fp32_quaternion_get_product(const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right, BGC_FP32_Quaternion* product)
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inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
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{
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const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
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const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
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@ -260,7 +260,7 @@ inline void bgc_fp32_quaternion_get_product(const BGC_FP32_Quaternion* left, con
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product->x3 = x3;
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}
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inline void bgc_fp64_quaternion_get_product(const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right, BGC_FP64_Quaternion* product)
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inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
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{
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const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
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const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
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@ -273,7 +273,7 @@ inline void bgc_fp64_quaternion_get_product(const BGC_FP64_Quaternion* left, con
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product->x3 = x3;
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}
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inline void bgc_fp32_quaternion_multiply(const BGC_FP32_Quaternion* multiplicand, const float multipier, BGC_FP32_Quaternion* product)
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inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier)
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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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@ -281,7 +281,7 @@ inline void bgc_fp32_quaternion_multiply(const BGC_FP32_Quaternion* multiplicand
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product->x3 = multiplicand->x3 * multipier;
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}
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inline void bgc_fp64_quaternion_multiply(const BGC_FP64_Quaternion* multiplicand, const double multipier, BGC_FP64_Quaternion* product)
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inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier)
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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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@ -291,7 +291,7 @@ inline void bgc_fp64_quaternion_multiply(const BGC_FP64_Quaternion* multiplicand
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// =================== Divide =================== //
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inline int bgc_fp32_quaternion_get_ratio(const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor, BGC_FP32_Quaternion* quotient)
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inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor)
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{
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const float square_modulus = bgc_fp32_quaternion_get_square_modulus(divisor);
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@ -314,7 +314,7 @@ inline int bgc_fp32_quaternion_get_ratio(const BGC_FP32_Quaternion* divident, co
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return 1;
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}
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inline int bgc_fp64_quaternion_get_ratio(const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor, BGC_FP64_Quaternion* quotient)
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inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor)
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{
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const double square_modulus = bgc_fp64_quaternion_get_square_modulus(divisor);
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@ -337,55 +337,55 @@ inline int bgc_fp64_quaternion_get_ratio(const BGC_FP64_Quaternion* divident, co
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return 1;
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}
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inline void bgc_fp32_quaternion_divide(const BGC_FP32_Quaternion* dividend, const float divisor, BGC_FP32_Quaternion* quotient)
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inline void bgc_fp32_quaternion_divide(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor)
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{
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bgc_fp32_quaternion_multiply(dividend, 1.0f / divisor, quotient);
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bgc_fp32_quaternion_multiply(quotient, dividend, 1.0f / divisor);
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}
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inline void bgc_fp64_quaternion_divide(const BGC_FP64_Quaternion* dividend, const double divisor, BGC_FP64_Quaternion* quotient)
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inline void bgc_fp64_quaternion_divide(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor)
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{
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bgc_fp64_quaternion_multiply(dividend, 1.0 / divisor, quotient);
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bgc_fp64_quaternion_multiply(quotient, dividend, 1.0 / divisor);
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}
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// ================ Mean of Two ================= //
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inline void bgc_fp32_quaternion_get_mean2(const BGC_FP32_Quaternion* vector1, const BGC_FP32_Quaternion* vector2, BGC_FP32_Quaternion* mean)
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inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
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{
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mean->s0 = (vector1->s0 + vector2->s0) * 0.5f;
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mean->x1 = (vector1->x1 + vector2->x1) * 0.5f;
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mean->x2 = (vector1->x2 + vector2->x2) * 0.5f;
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mean->x3 = (vector1->x3 + vector2->x3) * 0.5f;
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mean->s0 = (quaternion1->s0 + quaternion2->s0) * 0.5f;
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mean->x1 = (quaternion1->x1 + quaternion2->x1) * 0.5f;
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mean->x2 = (quaternion1->x2 + quaternion2->x2) * 0.5f;
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mean->x3 = (quaternion1->x3 + quaternion2->x3) * 0.5f;
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}
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inline void bgc_fp64_quaternion_get_mean2(const BGC_FP64_Quaternion* vector1, const BGC_FP64_Quaternion* vector2, BGC_FP64_Quaternion* mean)
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inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
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{
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mean->s0 = (vector1->s0 + vector2->s0) * 0.5f;
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mean->x1 = (vector1->x1 + vector2->x1) * 0.5f;
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mean->x2 = (vector1->x2 + vector2->x2) * 0.5f;
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mean->x3 = (vector1->x3 + vector2->x3) * 0.5f;
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mean->s0 = (quaternion1->s0 + quaternion2->s0) * 0.5f;
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mean->x1 = (quaternion1->x1 + quaternion2->x1) * 0.5f;
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mean->x2 = (quaternion1->x2 + quaternion2->x2) * 0.5f;
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mean->x3 = (quaternion1->x3 + quaternion2->x3) * 0.5f;
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}
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// =============== Mean of Three ================ //
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inline void bgc_fp32_quaternion_get_mean3(const BGC_FP32_Quaternion* vector1, const BGC_FP32_Quaternion* vector2, const BGC_FP32_Quaternion* vector3, BGC_FP32_Quaternion* mean)
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inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const BGC_FP32_Quaternion* quaternion3)
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{
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mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_FP32_ONE_THIRD;
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mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP32_ONE_THIRD;
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mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP32_ONE_THIRD;
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mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_FP32_ONE_THIRD;
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mean->s0 = (quaternion1->s0 + quaternion2->s0 + quaternion3->s0) * BGC_FP32_ONE_THIRD;
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mean->x1 = (quaternion1->x1 + quaternion2->x1 + quaternion3->x1) * BGC_FP32_ONE_THIRD;
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mean->x2 = (quaternion1->x2 + quaternion2->x2 + quaternion3->x2) * BGC_FP32_ONE_THIRD;
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mean->x3 = (quaternion1->x3 + quaternion2->x3 + quaternion3->x3) * BGC_FP32_ONE_THIRD;
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}
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inline void bgc_fp64_quaternion_get_mean3(const BGC_FP64_Quaternion* vector1, const BGC_FP64_Quaternion* vector2, const BGC_FP64_Quaternion* vector3, BGC_FP64_Quaternion* mean)
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inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const BGC_FP64_Quaternion* quaternion3)
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{
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mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_FP64_ONE_THIRD;
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mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP64_ONE_THIRD;
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mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP64_ONE_THIRD;
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mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_FP64_ONE_THIRD;
|
||||
mean->s0 = (quaternion1->s0 + quaternion2->s0 + quaternion3->s0) * BGC_FP64_ONE_THIRD;
|
||||
mean->x1 = (quaternion1->x1 + quaternion2->x1 + quaternion3->x1) * BGC_FP64_ONE_THIRD;
|
||||
mean->x2 = (quaternion1->x2 + quaternion2->x2 + quaternion3->x2) * BGC_FP64_ONE_THIRD;
|
||||
mean->x3 = (quaternion1->x3 + quaternion2->x3 + quaternion3->x3) * BGC_FP64_ONE_THIRD;
|
||||
}
|
||||
|
||||
// ============ Linear Interpolation ============ //
|
||||
|
||||
inline void bgc_fp32_quaternion_interpolate(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase, BGC_FP32_Quaternion* interpolation)
|
||||
inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase)
|
||||
{
|
||||
const float counter_phase = 1.0f - phase;
|
||||
|
||||
|
|
@ -395,7 +395,7 @@ inline void bgc_fp32_quaternion_interpolate(const BGC_FP32_Quaternion* quaternio
|
|||
interpolation->x3 = quaternion1->x3 * counter_phase + quaternion2->x3 * phase;
|
||||
}
|
||||
|
||||
inline void bgc_fp64_quaternion_interpolate(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase, BGC_FP64_Quaternion* interpolation)
|
||||
inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase)
|
||||
{
|
||||
const double counter_phase = 1.0 - phase;
|
||||
|
||||
|
|
@ -421,7 +421,7 @@ inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion)
|
|||
quaternion->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
inline void bgc_fp32_quaternion_get_conjugate(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Quaternion* conjugate)
|
||||
inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* conjugate, const BGC_FP32_Quaternion* quaternion)
|
||||
{
|
||||
conjugate->s0 = quaternion->s0;
|
||||
conjugate->x1 = -quaternion->x1;
|
||||
|
|
@ -429,7 +429,7 @@ inline void bgc_fp32_quaternion_get_conjugate(const BGC_FP32_Quaternion* quatern
|
|||
conjugate->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
inline void bgc_fp64_quaternion_get_conjugate(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Quaternion* conjugate)
|
||||
inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* conjugate, const BGC_FP64_Quaternion* quaternion)
|
||||
{
|
||||
conjugate->s0 = quaternion->s0;
|
||||
conjugate->x1 = -quaternion->x1;
|
||||
|
|
@ -455,25 +455,25 @@ inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* quaternion)
|
|||
quaternion->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
inline void bgc_fp32_quaternion_get_reverse(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Quaternion* opposite)
|
||||
inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* reverse, const BGC_FP32_Quaternion* quaternion)
|
||||
{
|
||||
opposite->s0 = -quaternion->s0;
|
||||
opposite->x1 = -quaternion->x1;
|
||||
opposite->x2 = -quaternion->x2;
|
||||
opposite->x3 = -quaternion->x3;
|
||||
reverse->s0 = -quaternion->s0;
|
||||
reverse->x1 = -quaternion->x1;
|
||||
reverse->x2 = -quaternion->x2;
|
||||
reverse->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
inline void bgc_fp64_quaternion_get_reverse(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Quaternion* opposite)
|
||||
inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* reverse, const BGC_FP64_Quaternion* quaternion)
|
||||
{
|
||||
opposite->s0 = -quaternion->s0;
|
||||
opposite->x1 = -quaternion->x1;
|
||||
opposite->x2 = -quaternion->x2;
|
||||
opposite->x3 = -quaternion->x3;
|
||||
reverse->s0 = -quaternion->s0;
|
||||
reverse->x1 = -quaternion->x1;
|
||||
reverse->x2 = -quaternion->x2;
|
||||
reverse->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
// =================== Invert =================== //
|
||||
|
||||