Продолжение переименования
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19 changed files with 457 additions and 421 deletions
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@ -35,7 +35,7 @@ inline void quaternion_reset_fp64(quaternion_fp64_t * quaternion)
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// ================== Set Unit ================== //
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inline void quaternion_fp32_set_identity(quaternion_fp32_t * quaternion)
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inline void quaternion_set_to_identity_fp32(quaternion_fp32_t * 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 quaternion_fp32_set_identity(quaternion_fp32_t * quaternion)
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quaternion->x3 = 0.0f;
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}
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inline void quaternion_fp64_set_identity(quaternion_fp64_t * quaternion)
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inline void quaternion_set_to_identity_fp64(quaternion_fp64_t * 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 quaternion_fp64_set_identity(quaternion_fp64_t * quaternion)
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// ==================== Set ===================== //
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inline void quaternion_fp32_set_values(const float s0, const float x1, const float x2, const float x3, quaternion_fp32_t * quaternion)
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inline void quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, quaternion_fp32_t * quaternion)
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{
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quaternion->s0 = s0;
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quaternion->x1 = x1;
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@ -61,7 +61,7 @@ inline void quaternion_fp32_set_values(const float s0, const float x1, const flo
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quaternion->x3 = x3;
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}
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inline void quaternion_fp64_set_values(const double s0, const double x1, const double x2, const double x3, quaternion_fp64_t * quaternion)
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inline void quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, quaternion_fp64_t * quaternion)
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{
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quaternion->s0 = s0;
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quaternion->x1 = x1;
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@ -127,7 +127,7 @@ inline void quaternion_swap_fp64(quaternion_fp64_t* quarternion1, quaternion_fp6
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// ============= Copy to twin type ============== //
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inline void quaternion_fp32_set_from_fp64(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
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inline void quaternion_convert_fp64_to_fp32(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
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{
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result->s0 = (float) quaternion->s0;
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result->x1 = (float) quaternion->x1;
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@ -135,7 +135,7 @@ inline void quaternion_fp32_set_from_fp64(const quaternion_fp64_t* quaternion, q
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result->x3 = (float) quaternion->x3;
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}
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inline void quaternion_fp64_set_from_fp32(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
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inline void quaternion_convert_fp32_to_fp64(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
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{
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result->s0 = quaternion->s0;
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result->x1 = quaternion->x1;
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@ -145,14 +145,14 @@ inline void quaternion_fp64_set_from_fp32(const quaternion_fp32_t* quaternion, q
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// ================= Inversion ================== //
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inline void quaternion_fp32_conjugate(quaternion_fp32_t* quaternion)
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inline void quaternion_conjugate_fp32(quaternion_fp32_t* quaternion)
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{
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quaternion->x1 = -quaternion->x1;
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quaternion->x2 = -quaternion->x2;
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quaternion->x3 = -quaternion->x3;
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}
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inline void quaternion_fp64_conjugate(quaternion_fp64_t* quaternion)
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inline void quaternion_conjugate_fp64(quaternion_fp64_t* quaternion)
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{
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quaternion->x1 = -quaternion->x1;
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quaternion->x2 = -quaternion->x2;
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@ -161,7 +161,7 @@ inline void quaternion_fp64_conjugate(quaternion_fp64_t* quaternion)
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// ================ Set Conjugate =============== //
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inline void quaternion_fp32_set_conjugate(const quaternion_fp32_t* quaternion, quaternion_fp32_t* result)
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inline void quaternion_set_conjugate_fp32(const quaternion_fp32_t* quaternion, quaternion_fp32_t* result)
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{
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result->s0 = quaternion->s0;
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result->x1 = -quaternion->x1;
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@ -169,7 +169,7 @@ inline void quaternion_fp32_set_conjugate(const quaternion_fp32_t* quaternion, q
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result->x3 = -quaternion->x3;
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}
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inline void quaternion_fp64_set_conjugate(const quaternion_fp64_t* quaternion, quaternion_fp64_t* result)
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inline void quaternion_set_conjugate_fp64(const quaternion_fp64_t* quaternion, quaternion_fp64_t* result)
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{
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result->s0 = quaternion->s0;
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result->x1 = -quaternion->x1;
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@ -179,7 +179,7 @@ inline void quaternion_fp64_set_conjugate(const quaternion_fp64_t* quaternion, q
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// ================ Set Conjugate =============== //
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inline void quaternion_fp32_set_conjugate_fp64(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
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inline void quaternion_set_conjugate_fp64_to_fp32(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
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{
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result->s0 = (float) quaternion->s0;
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result->x1 = (float) -quaternion->x1;
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@ -187,7 +187,7 @@ inline void quaternion_fp32_set_conjugate_fp64(const quaternion_fp64_t* quaterni
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result->x3 = (float) -quaternion->x3;
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}
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inline void quaternion_fp64_set_conjugate_fp32(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
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inline void quaternion_set_conjugate_fp32_to_fp64(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
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{
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result->s0 = quaternion->s0;
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result->x1 = -quaternion->x1;
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@ -221,7 +221,7 @@ inline double quaternion_get_modulus_fp64(const quaternion_fp64_t* quaternion)
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// =============== Normalization ================ //
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inline int quaternion_fp32_normalize(quaternion_fp32_t* quaternion)
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inline int quaternion_normalize_fp32(quaternion_fp32_t* quaternion)
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{
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const float square_modulus = quaternion_get_square_modulus_fp32(quaternion);
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@ -244,7 +244,7 @@ inline int quaternion_fp32_normalize(quaternion_fp32_t* quaternion)
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return 1;
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}
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inline int quaternion_fp64_normalize(quaternion_fp64_t* quaternion)
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inline int quaternion_normalize_fp64(quaternion_fp64_t* quaternion)
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{
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const double square_modulus = quaternion_get_square_modulus_fp64(quaternion);
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@ -269,7 +269,7 @@ inline int quaternion_fp64_normalize(quaternion_fp64_t* quaternion)
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// ============ Make Rotation Matrix ============ //
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inline void quaternion_fp32_get_rotation_matrix(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
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inline void quaternion_get_rotation_matrix_fp32(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
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{
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const float s0s0 = quaternion->s0 * quaternion->s0;
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const float x1x1 = quaternion->x1 * quaternion->x1;
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@ -280,7 +280,7 @@ inline void quaternion_fp32_get_rotation_matrix(const quaternion_fp32_t* quatern
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if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON)
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{
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matrix3x3_fp32_set_to_identity(matrix);
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matrix3x3_set_to_identity_fp32(matrix);
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return;
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}
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@ -307,7 +307,7 @@ inline void quaternion_fp32_get_rotation_matrix(const quaternion_fp32_t* quatern
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matrix->r1c3 = corrector2 * (x1x3 + s0x2);
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}
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inline void quaternion_fp64_get_rotation_matrix(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
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inline void quaternion_get_rotation_matrix_fp64(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
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{
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const double s0s0 = quaternion->s0 * quaternion->s0;
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const double x1x1 = quaternion->x1 * quaternion->x1;
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@ -318,7 +318,7 @@ inline void quaternion_fp64_get_rotation_matrix(const quaternion_fp64_t* quatern
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if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON)
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{
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matrix3x3_fp64_set_to_identity(matrix);
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matrix3x3_set_to_identity_fp64(matrix);
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return;
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}
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@ -347,7 +347,7 @@ inline void quaternion_fp64_get_rotation_matrix(const quaternion_fp64_t* quatern
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// ============ Make Reverse Matrix ============= //
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inline void quaternion_fp32_get_reverse_matrix(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
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inline void quaternion_get_reverse_matrix_fp32(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
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{
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const float s0s0 = quaternion->s0 * quaternion->s0;
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const float x1x1 = quaternion->x1 * quaternion->x1;
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@ -358,7 +358,7 @@ inline void quaternion_fp32_get_reverse_matrix(const quaternion_fp32_t* quaterni
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if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON)
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{
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matrix3x3_fp32_set_to_identity(matrix);
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matrix3x3_set_to_identity_fp32(matrix);
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return;
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}
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@ -385,7 +385,7 @@ inline void quaternion_fp32_get_reverse_matrix(const quaternion_fp32_t* quaterni
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matrix->r1c3 = corrector2 * (x1x3 - s0x2);
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}
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inline void quaternion_fp64_get_reverse_matrix(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
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inline void quaternion_get_reverse_matrix_fp64(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
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{
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const double s0s0 = quaternion->s0 * quaternion->s0;
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const double x1x1 = quaternion->x1 * quaternion->x1;
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@ -396,7 +396,7 @@ inline void quaternion_fp64_get_reverse_matrix(const quaternion_fp64_t* quaterni
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if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON)
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{
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matrix3x3_fp64_set_to_identity(matrix);
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matrix3x3_set_to_identity_fp64(matrix);
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return;
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}
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@ -425,7 +425,7 @@ inline void quaternion_fp64_get_reverse_matrix(const quaternion_fp64_t* quaterni
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// ==================== Add ===================== //
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inline void quaternion_fp32_add(const quaternion_fp32_t * quaternion1, const quaternion_fp32_t * quaternion2, quaternion_fp32_t * result)
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inline void quaternion_add_fp32(const quaternion_fp32_t * quaternion1, const quaternion_fp32_t * quaternion2, quaternion_fp32_t * result)
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{
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result->s0 = quaternion1->s0 + quaternion2->s0;
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result->x1 = quaternion1->x1 + quaternion2->x1;
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@ -433,7 +433,7 @@ inline void quaternion_fp32_add(const quaternion_fp32_t * quaternion1, const qua
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result->x3 = quaternion1->x3 + quaternion2->x3;
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}
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inline void quaternion_fp64_add(const quaternion_fp64_t * quaternion1, const quaternion_fp64_t * quaternion2, quaternion_fp64_t * result)
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inline void quaternion_add_fp64(const quaternion_fp64_t * quaternion1, const quaternion_fp64_t * quaternion2, quaternion_fp64_t * result)
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{
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result->s0 = quaternion1->s0 + quaternion2->s0;
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result->x1 = quaternion1->x1 + quaternion2->x1;
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@ -443,7 +443,7 @@ inline void quaternion_fp64_add(const quaternion_fp64_t * quaternion1, const qua
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// ================== Subtract ================== //
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inline void quaternion_fp32_subtract(const quaternion_fp32_t * minuend, const quaternion_fp32_t * subtrahend, quaternion_fp32_t * difference)
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inline void quaternion_subtract_fp32(const quaternion_fp32_t * minuend, const quaternion_fp32_t * subtrahend, quaternion_fp32_t * difference)
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{
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difference->s0 = minuend->s0 - subtrahend->s0;
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difference->x1 = minuend->x1 - subtrahend->x1;
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@ -451,7 +451,7 @@ inline void quaternion_fp32_subtract(const quaternion_fp32_t * minuend, const qu
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difference->x3 = minuend->x3 - subtrahend->x3;
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}
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inline void quaternion_fp64_subtract(const quaternion_fp64_t * minuend, const quaternion_fp64_t * subtrahend, quaternion_fp64_t * difference)
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inline void quaternion_subtract_fp64(const quaternion_fp64_t * minuend, const quaternion_fp64_t * subtrahend, quaternion_fp64_t * difference)
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{
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difference->s0 = minuend->s0 - subtrahend->s0;
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difference->x1 = minuend->x1 - subtrahend->x1;
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@ -461,7 +461,7 @@ inline void quaternion_fp64_subtract(const quaternion_fp64_t * minuend, const qu
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// =============== Multiplication =============== //
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inline void quaternion_fp32_multiply(const quaternion_fp32_t* multiplicand, const float multipier, quaternion_fp32_t* product)
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inline void quaternion_multiply_fp32(const quaternion_fp32_t* multiplicand, const float multipier, quaternion_fp32_t* product)
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{
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product->s0 = multiplicand->s0 * multipier;
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product->x1 = multiplicand->x1 * multipier;
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@ -469,7 +469,7 @@ inline void quaternion_fp32_multiply(const quaternion_fp32_t* multiplicand, cons
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product->x3 = multiplicand->x3 * multipier;
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}
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inline void quaternion_fp64_multiply(const quaternion_fp64_t* multiplicand, const double multipier, quaternion_fp64_t* product)
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inline void quaternion_multiply_fp64(const quaternion_fp64_t* multiplicand, const double multipier, quaternion_fp64_t* product)
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{
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product->s0 = multiplicand->s0 * multipier;
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product->x1 = multiplicand->x1 * multipier;
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@ -479,19 +479,19 @@ inline void quaternion_fp64_multiply(const quaternion_fp64_t* multiplicand, cons
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// ================== Division ================== //
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inline void quaternion_fp32_divide(const quaternion_fp32_t* dividend, const float divisor, quaternion_fp32_t* quotient)
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inline void quaternion_divide_fp32(const quaternion_fp32_t* dividend, const float divisor, quaternion_fp32_t* quotient)
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{
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quaternion_fp32_multiply(dividend, 1.0f / divisor, quotient);
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quaternion_multiply_fp32(dividend, 1.0f / divisor, quotient);
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}
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inline void quaternion_fp64_divide(const quaternion_fp64_t* dividend, const double divisor, quaternion_fp64_t* quotient)
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{
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quaternion_fp64_multiply(dividend, 1.0 / divisor, quotient);
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quaternion_multiply_fp64(dividend, 1.0 / divisor, quotient);
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}
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// ================== Product =================== //
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inline void quaternion_fp32_get_product(const quaternion_fp32_t* left, const quaternion_fp32_t* right, quaternion_fp32_t* product)
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inline void quaternion_get_product_fp32(const quaternion_fp32_t* left, const quaternion_fp32_t* right, quaternion_fp32_t* product)
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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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@ -504,7 +504,7 @@ inline void quaternion_fp32_get_product(const quaternion_fp32_t* left, const qua
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product->x3 = x3;
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}
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inline void quaternion_fp64_get_product(const quaternion_fp64_t* left, const quaternion_fp64_t* right, quaternion_fp64_t* product)
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inline void quaternion_get_product_fp64(const quaternion_fp64_t* left, const quaternion_fp64_t* right, quaternion_fp64_t* product)
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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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