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This commit is contained in:
Andrey Pokidov 2025-02-25 12:39:50 +07:00
parent 15b9e8a4a2
commit 08c1e6d148
20 changed files with 215 additions and 216 deletions
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28
basic-geometry/quaternion.h
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@ -255,9 +255,9 @@ inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion)
return 1;
}
// =============== Make Conjugate =============== //
// =============== Get Conjugate ================ //
inline void bgc_quaternion_make_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* conjugate)
inline void bgc_quaternion_get_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* conjugate)
{
conjugate->s0 = quaternion->s0;
conjugate->x1 = -quaternion->x1;
@ -265,7 +265,7 @@ inline void bgc_quaternion_make_conjugate_fp32(const BgcQuaternionFP32* quaterni
conjugate->x3 = -quaternion->x3;
}
inline void bgc_quaternion_make_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* conjugate)
inline void bgc_quaternion_get_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* conjugate)
{
conjugate->s0 = quaternion->s0;
conjugate->x1 = -quaternion->x1;
@ -273,15 +273,15 @@ inline void bgc_quaternion_make_conjugate_fp64(const BgcQuaternionFP64* quaterni
conjugate->x3 = -quaternion->x3;
}
// ============== Make Normalized =============== //
// =============== Get Normalized =============== //
inline int bgc_quaternion_make_normalized_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* normalized)
inline int bgc_quaternion_get_normalized_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* normalized)
{
bgc_quaternion_copy_fp32(quaternion, normalized);
return bgc_quaternion_normalize_fp32(normalized);
}
inline int bgc_quaternion_make_normalized_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* normalized)
inline int bgc_quaternion_get_normalized_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* normalized)
{
bgc_quaternion_copy_fp64(quaternion, normalized);
return bgc_quaternion_normalize_fp64(normalized);
@ -289,7 +289,7 @@ inline int bgc_quaternion_make_normalized_fp64(const BgcQuaternionFP64* quaterni
// ================== Product =================== //
inline void bgc_quaternion_make_product_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product)
inline void bgc_quaternion_get_product_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product)
{
const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@ -302,7 +302,7 @@ inline void bgc_quaternion_make_product_fp32(const BgcQuaternionFP32* left, cons
product->x3 = x3;
}
inline void bgc_quaternion_make_product_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* product)
inline void bgc_quaternion_get_product_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* product)
{
const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@ -315,9 +315,9 @@ inline void bgc_quaternion_make_product_fp64(const BgcQuaternionFP64* left, cons
product->x3 = x3;
}
// ============ Make Rotation Matrix ============ //
// ============ Get Rotation Matrix ============= //
inline void bgc_quaternion_make_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation)
inline void bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
@ -356,7 +356,7 @@ inline void bgc_quaternion_make_rotation_matrix_fp32(const BgcQuaternionFP32* qu
rotation->r1c3 = corrector2 * (x1x3 + s0x2);
}
inline void bgc_quaternion_make_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation)
inline void bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;
@ -395,9 +395,9 @@ inline void bgc_quaternion_make_rotation_matrix_fp64(const BgcQuaternionFP64* qu
rotation->r1c3 = corrector2 * (x1x3 + s0x2);
}
// ============ Make Reverse Matrix ============= //
// ============= Get Reverse Matrix ============= //
inline void bgc_quaternion_make_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* reverse)
inline void bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* reverse)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
@ -436,7 +436,7 @@ inline void bgc_quaternion_make_reverse_matrix_fp32(const BgcQuaternionFP32* qua
reverse->r1c3 = corrector2 * (x1x3 - s0x2);
}
inline void bgc_quaternion_make_reverse_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* reverse)
inline void bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* reverse)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;