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Переход на парадигму Destination first в порядке параметров функий

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This commit is contained in:
Andrey Pokidov 2026-02-01 23:42:51 +07:00
parent f7e41645fe
commit 03627f4401
41 changed files with 1570 additions and 1978 deletions
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174
basic-geometry/quaternion.h
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@ -17,7 +17,7 @@ typedef struct {
// ==================== Reset =================== //
inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion * quaternion)
inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* quaternion)
{
quaternion->s0 = 0.0f;
quaternion->x1 = 0.0f;
@ -25,7 +25,7 @@ inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion * quaternion)
quaternion->x3 = 0.0f;
}
inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion * quaternion)
inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* quaternion)
{
quaternion->s0 = 0.0;
quaternion->x1 = 0.0;
@ -35,7 +35,7 @@ inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion * quaternion)
// ================= Make Unit ================== //
inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion * quaternion)
inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* quaternion)
{
quaternion->s0 = 1.0f;
quaternion->x1 = 0.0f;
@ -43,7 +43,7 @@ inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion * quaternion)
quaternion->x3 = 0.0f;
}
inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion * quaternion)
inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* quaternion)
{
quaternion->s0 = 1.0;
quaternion->x1 = 0.0;
@ -53,7 +53,7 @@ inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion * quaternion)
// ==================== Set ===================== //
inline void bgc_fp32_quaternion_make(const float s0, const float x1, const float x2, const float x3, BGC_FP32_Quaternion * quaternion)
inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* quaternion, const float s0, const float x1, const float x2, const float x3)
{
quaternion->s0 = s0;
quaternion->x1 = x1;
@ -61,7 +61,7 @@ inline void bgc_fp32_quaternion_make(const float s0, const float x1, const float
quaternion->x3 = x3;
}
inline void bgc_fp64_quaternion_make(const double s0, const double x1, const double x2, const double x3, BGC_FP64_Quaternion * quaternion)
inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* quaternion, const double s0, const double x1, const double x2, const double x3)
{
quaternion->s0 = s0;
quaternion->x1 = x1;
@ -119,7 +119,7 @@ inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* quaternion)
// ==================== Copy ==================== //
inline void bgc_fp32_quaternion_copy(const BGC_FP32_Quaternion* source, BGC_FP32_Quaternion* destination)
inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* destination, const BGC_FP32_Quaternion* source)
{
destination->s0 = source->s0;
destination->x1 = source->x1;
@ -127,7 +127,7 @@ inline void bgc_fp32_quaternion_copy(const BGC_FP32_Quaternion* source, BGC_FP32
destination->x3 = source->x3;
}
inline void bgc_fp64_quaternion_copy(const BGC_FP64_Quaternion* source, BGC_FP64_Quaternion* destination)
inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* destination, const BGC_FP64_Quaternion* source)
{
destination->s0 = source->s0;
destination->x1 = source->x1;
@ -175,15 +175,7 @@ inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64
// ================== Convert =================== //
inline void bgc_fp64_quaternion_convert_to_fp32(const BGC_FP64_Quaternion* source, BGC_FP32_Quaternion* destination)
{
destination->s0 = (float)source->s0;
destination->x1 = (float)source->x1;
destination->x2 = (float)source->x2;
destination->x3 = (float)source->x3;
}
inline void bgc_fp32_quaternion_convert_to_fp64(const BGC_FP32_Quaternion* source, BGC_FP64_Quaternion* destination)
inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* destination, const BGC_FP32_Quaternion* source)
{
destination->s0 = source->s0;
destination->x1 = source->x1;
@ -191,9 +183,17 @@ inline void bgc_fp32_quaternion_convert_to_fp64(const BGC_FP32_Quaternion* sourc
destination->x3 = source->x3;
}
inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* destination, const BGC_FP64_Quaternion* source)
{
destination->s0 = (float)source->s0;
destination->x1 = (float)source->x1;
destination->x2 = (float)source->x2;
destination->x3 = (float)source->x3;
}
// ==================== Add ===================== //
inline void bgc_fp32_quaternion_add(const BGC_FP32_Quaternion * quaternion1, const BGC_FP32_Quaternion * quaternion2, BGC_FP32_Quaternion * sum)
inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
{
sum->s0 = quaternion1->s0 + quaternion2->s0;
sum->x1 = quaternion1->x1 + quaternion2->x1;
@ -201,7 +201,7 @@ inline void bgc_fp32_quaternion_add(const BGC_FP32_Quaternion * quaternion1, con
sum->x3 = quaternion1->x3 + quaternion2->x3;
}
inline void bgc_fp64_quaternion_add(const BGC_FP64_Quaternion * quaternion1, const BGC_FP64_Quaternion * quaternion2, BGC_FP64_Quaternion * sum)
inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
{
sum->s0 = quaternion1->s0 + quaternion2->s0;
sum->x1 = quaternion1->x1 + quaternion2->x1;
@ -211,7 +211,7 @@ inline void bgc_fp64_quaternion_add(const BGC_FP64_Quaternion * quaternion1, con
// ================= Add Scaled ================= //
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)
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)
{
sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
@ -219,7 +219,7 @@ inline void bgc_fp32_quaternion_add_scaled(const BGC_FP32_Quaternion * basic_qua
sum->x3 = basic_quaternion->x3 + scalable_quaternion->x3 * scale;
}
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)
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)
{
sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
@ -229,7 +229,7 @@ inline void bgc_fp64_quaternion_add_scaled(const BGC_FP64_Quaternion * basic_qua
// ================== Subtract ================== //
inline void bgc_fp32_quaternion_subtract(const BGC_FP32_Quaternion * minuend, const BGC_FP32_Quaternion * subtrahend, BGC_FP32_Quaternion * difference)
inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* minuend, const BGC_FP32_Quaternion* subtrahend)
{
difference->s0 = minuend->s0 - subtrahend->s0;
difference->x1 = minuend->x1 - subtrahend->x1;
@ -237,7 +237,7 @@ inline void bgc_fp32_quaternion_subtract(const BGC_FP32_Quaternion * minuend, co
difference->x3 = minuend->x3 - subtrahend->x3;
}
inline void bgc_fp64_quaternion_subtract(const BGC_FP64_Quaternion * minuend, const BGC_FP64_Quaternion * subtrahend, BGC_FP64_Quaternion * difference)
inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* minuend, const BGC_FP64_Quaternion* subtrahend)
{
difference->s0 = minuend->s0 - subtrahend->s0;
difference->x1 = minuend->x1 - subtrahend->x1;
@ -247,7 +247,7 @@ inline void bgc_fp64_quaternion_subtract(const BGC_FP64_Quaternion * minuend, co
// ================== Multiply ================== //
inline void bgc_fp32_quaternion_get_product(const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right, BGC_FP32_Quaternion* product)
inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
{
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);
@ -260,7 +260,7 @@ inline void bgc_fp32_quaternion_get_product(const BGC_FP32_Quaternion* left, con
product->x3 = x3;
}
inline void bgc_fp64_quaternion_get_product(const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right, BGC_FP64_Quaternion* product)
inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
{
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);
@ -273,7 +273,7 @@ inline void bgc_fp64_quaternion_get_product(const BGC_FP64_Quaternion* left, con
product->x3 = x3;
}
inline void bgc_fp32_quaternion_multiply(const BGC_FP32_Quaternion* multiplicand, const float multipier, BGC_FP32_Quaternion* product)
inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier)
{
product->s0 = multiplicand->s0 * multipier;
product->x1 = multiplicand->x1 * multipier;
@ -281,7 +281,7 @@ inline void bgc_fp32_quaternion_multiply(const BGC_FP32_Quaternion* multiplicand
product->x3 = multiplicand->x3 * multipier;
}
inline void bgc_fp64_quaternion_multiply(const BGC_FP64_Quaternion* multiplicand, const double multipier, BGC_FP64_Quaternion* product)
inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier)
{
product->s0 = multiplicand->s0 * multipier;
product->x1 = multiplicand->x1 * multipier;
@ -291,7 +291,7 @@ inline void bgc_fp64_quaternion_multiply(const BGC_FP64_Quaternion* multiplicand
// =================== Divide =================== //
inline int bgc_fp32_quaternion_get_ratio(const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor, BGC_FP32_Quaternion* quotient)
inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor)
{
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(divisor);
@ -314,7 +314,7 @@ inline int bgc_fp32_quaternion_get_ratio(const BGC_FP32_Quaternion* divident, co
return 1;
}
inline int bgc_fp64_quaternion_get_ratio(const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor, BGC_FP64_Quaternion* quotient)
inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor)
{
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(divisor);
@ -337,55 +337,55 @@ inline int bgc_fp64_quaternion_get_ratio(const BGC_FP64_Quaternion* divident, co
return 1;
}
inline void bgc_fp32_quaternion_divide(const BGC_FP32_Quaternion* dividend, const float divisor, BGC_FP32_Quaternion* quotient)
inline void bgc_fp32_quaternion_divide(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor)
{
bgc_fp32_quaternion_multiply(dividend, 1.0f / divisor, quotient);
bgc_fp32_quaternion_multiply(quotient, dividend, 1.0f / divisor);
}
inline void bgc_fp64_quaternion_divide(const BGC_FP64_Quaternion* dividend, const double divisor, BGC_FP64_Quaternion* quotient)
inline void bgc_fp64_quaternion_divide(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor)
{
bgc_fp64_quaternion_multiply(dividend, 1.0 / divisor, quotient);
bgc_fp64_quaternion_multiply(quotient, dividend, 1.0 / divisor);
}
// ================ Mean of Two ================= //
inline void bgc_fp32_quaternion_get_mean2(const BGC_FP32_Quaternion* vector1, const BGC_FP32_Quaternion* vector2, BGC_FP32_Quaternion* mean)
inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
{
mean->s0 = (vector1->s0 + vector2->s0) * 0.5f;
mean->x1 = (vector1->x1 + vector2->x1) * 0.5f;
mean->x2 = (vector1->x2 + vector2->x2) * 0.5f;
mean->x3 = (vector1->x3 + vector2->x3) * 0.5f;
mean->s0 = (quaternion1->s0 + quaternion2->s0) * 0.5f;
mean->x1 = (quaternion1->x1 + quaternion2->x1) * 0.5f;
mean->x2 = (quaternion1->x2 + quaternion2->x2) * 0.5f;
mean->x3 = (quaternion1->x3 + quaternion2->x3) * 0.5f;
}
inline void bgc_fp64_quaternion_get_mean2(const BGC_FP64_Quaternion* vector1, const BGC_FP64_Quaternion* vector2, BGC_FP64_Quaternion* mean)
inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
{
mean->s0 = (vector1->s0 + vector2->s0) * 0.5f;
mean->x1 = (vector1->x1 + vector2->x1) * 0.5f;
mean->x2 = (vector1->x2 + vector2->x2) * 0.5f;
mean->x3 = (vector1->x3 + vector2->x3) * 0.5f;
mean->s0 = (quaternion1->s0 + quaternion2->s0) * 0.5f;
mean->x1 = (quaternion1->x1 + quaternion2->x1) * 0.5f;
mean->x2 = (quaternion1->x2 + quaternion2->x2) * 0.5f;
mean->x3 = (quaternion1->x3 + quaternion2->x3) * 0.5f;
}
// =============== Mean of Three ================ //
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)
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)
{
mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_FP32_ONE_THIRD;
mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP32_ONE_THIRD;
mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP32_ONE_THIRD;
mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_FP32_ONE_THIRD;
mean->s0 = (quaternion1->s0 + quaternion2->s0 + quaternion3->s0) * BGC_FP32_ONE_THIRD;
mean->x1 = (quaternion1->x1 + quaternion2->x1 + quaternion3->x1) * BGC_FP32_ONE_THIRD;
mean->x2 = (quaternion1->x2 + quaternion2->x2 + quaternion3->x2) * BGC_FP32_ONE_THIRD;
mean->x3 = (quaternion1->x3 + quaternion2->x3 + quaternion3->x3) * BGC_FP32_ONE_THIRD;
}
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)
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)
{
mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_FP64_ONE_THIRD;
mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP64_ONE_THIRD;
mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP64_ONE_THIRD;
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 =================== //
inline int bgc_fp32_quaternion_get_inverse(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Quaternion* inverse)
inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const BGC_FP32_Quaternion* quaternion)
{
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
@ -491,7 +491,7 @@ inline int bgc_fp32_quaternion_get_inverse(const BGC_FP32_Quaternion* quaternion
return 1;
}
inline int bgc_fp64_quaternion_get_inverse(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Quaternion* inverse)
inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const BGC_FP64_Quaternion* quaternion)
{
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
@ -565,12 +565,12 @@ inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
return 1;
}
inline int bgc_fp32_quaternion_get_normalized(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Quaternion* normalized)
inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion)
{
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
if (bgc_fp32_is_square_unit(square_modulus)) {
bgc_fp32_quaternion_copy(quaternion, normalized);
bgc_fp32_quaternion_copy(normalized, quaternion);
return 1;
}
@ -579,16 +579,16 @@ inline int bgc_fp32_quaternion_get_normalized(const BGC_FP32_Quaternion* quatern
return 0;
}
bgc_fp32_quaternion_multiply(quaternion, sqrtf(1.0f / square_modulus), normalized);
bgc_fp32_quaternion_multiply(normalized, quaternion, sqrtf(1.0f / square_modulus));
return 1;
}
inline int bgc_fp64_quaternion_get_normalized(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Quaternion* normalized)
inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion)
{
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
if (bgc_fp64_is_square_unit(square_modulus)) {
bgc_fp64_quaternion_copy(quaternion, normalized);
bgc_fp64_quaternion_copy(normalized, quaternion);
return 1;
}
@ -597,19 +597,19 @@ inline int bgc_fp64_quaternion_get_normalized(const BGC_FP64_Quaternion* quatern
return 0;
}
bgc_fp64_quaternion_multiply(quaternion, sqrt(1.0 / square_modulus), normalized);
bgc_fp64_quaternion_multiply(normalized, quaternion, sqrt(1.0 / square_modulus));
return 1;
}
// =============== Get Exponation =============== //
int bgc_fp32_quaternion_get_exponation(const BGC_FP32_Quaternion* base, const float exponent, BGC_FP32_Quaternion* power);
int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP32_Quaternion* base, const float exponent);
int bgc_fp64_quaternion_get_exponation(const BGC_FP64_Quaternion* base, const double exponent, BGC_FP64_Quaternion* power);
int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent);
// ============ Get Rotation Matrix ============= //
inline int bgc_fp32_quaternion_get_rotation_matrix(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Matrix3x3* rotation)
inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
@ -650,7 +650,7 @@ inline int bgc_fp32_quaternion_get_rotation_matrix(const BGC_FP32_Quaternion* qu
return 1;
}
inline int bgc_fp64_quaternion_get_rotation_matrix(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Matrix3x3* rotation)
inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;
@ -693,7 +693,7 @@ inline int bgc_fp64_quaternion_get_rotation_matrix(const BGC_FP64_Quaternion* qu
// ============= Get Reverse Matrix ============= //
inline int bgc_fp32_quaternion_get_reverse_matrix(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Matrix3x3* reverse)
inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
@ -734,7 +734,7 @@ inline int bgc_fp32_quaternion_get_reverse_matrix(const BGC_FP32_Quaternion* qua
return 1;
}
inline int bgc_fp64_quaternion_get_reverse_matrix(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Matrix3x3* reverse)
inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;
@ -777,20 +777,20 @@ inline int bgc_fp64_quaternion_get_reverse_matrix(const BGC_FP64_Quaternion* qua
// ============= Get Both Matrixes ============== //
inline int bgc_fp32_quaternion_get_both_matrices(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse)
inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion)
{
if (bgc_fp32_quaternion_get_reverse_matrix(quaternion, reverse)) {
bgc_fp32_matrix3x3_get_transposed(reverse, rotation);
if (bgc_fp32_quaternion_get_reverse_matrix(reverse, quaternion)) {
bgc_fp32_matrix3x3_get_transposed(rotation, reverse);
return 1;
}
return 0;
}
inline int bgc_fp64_quaternion_get_both_matrices(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse)
inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion)
{
if (bgc_fp64_quaternion_get_reverse_matrix(quaternion, reverse)) {
bgc_fp64_matrix3x3_get_transposed(reverse, rotation);
if (bgc_fp64_quaternion_get_reverse_matrix(reverse, quaternion)) {
bgc_fp64_matrix3x3_get_transposed(rotation, reverse);
return 1;
}