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Изменение полей версора на константные / Making versor's fields constant

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This commit is contained in:
Andrey Pokidov 2024-11-21 14:12:51 +07:00
parent e7616ae80c
commit 23fcdc2c28
10 changed files with 423 additions and 425 deletions
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1
Geometry.workspace.layout
View file

@ -2,5 +2,4 @@
<CodeBlocks_workspace_layout_file> <CodeBlocks_workspace_layout_file>
<FileVersion major="1" minor="0" /> <FileVersion major="1" minor="0" />
<ActiveProject path="dev/geometry-dev.cbp" /> <ActiveProject path="dev/geometry-dev.cbp" />
<PreferredTarget name="Release" />
</CodeBlocks_workspace_layout_file> </CodeBlocks_workspace_layout_file>

26
dev/geometry-dev.depend
View file

@ -1,5 +1,5 @@
# depslib dependency file v1.0 # depslib dependency file v1.0
1731995770 source:/home/andrey/Projects/Private/C/Geometry/dev/main.c 1732169779 source:/home/andrey/Projects/Private/C/Geometry/dev/main.c
<stdio.h> <stdio.h>
<stdlib.h> <stdlib.h>
<math.h> <math.h>
@ -21,18 +21,18 @@
"quaternion.h" "quaternion.h"
"versor.h" "versor.h"
1730476002 /home/andrey/Projects/Private/C/Geometry/src/basis.h 1732094620 /home/andrey/Projects/Private/C/Geometry/src/basis.h
1730392488 /home/andrey/Projects/Private/C/Geometry/src/angle.h 1732096335 /home/andrey/Projects/Private/C/Geometry/src/angle.h
<math.h> <math.h>
"basis.h" "basis.h"
1731673023 /home/andrey/Projects/Private/C/Geometry/src/vector2.h 1732095049 /home/andrey/Projects/Private/C/Geometry/src/vector2.h
"basis.h" "basis.h"
"angle.h" "angle.h"
<math.h> <math.h>
1731673331 /home/andrey/Projects/Private/C/Geometry/src/vector3.h 1732095097 /home/andrey/Projects/Private/C/Geometry/src/vector3.h
"basis.h" "basis.h"
"angle.h" "angle.h"
<math.h> <math.h>
@ -42,12 +42,12 @@
"angle.h" "angle.h"
<math.h> <math.h>
1731673308 /home/andrey/Projects/Private/C/Geometry/src/matrix2x2.h 1732095748 /home/andrey/Projects/Private/C/Geometry/src/matrix2x2.h
"angle.h" "angle.h"
"vector2.h" "vector2.h"
"matrixes.h" "matrixes.h"
1731906002 /home/andrey/Projects/Private/C/Geometry/src/matrix3x3.h 1732095414 /home/andrey/Projects/Private/C/Geometry/src/matrix3x3.h
"vector3.h" "vector3.h"
"matrixes.h" "matrixes.h"
@ -61,12 +61,12 @@
"vector2.h" "vector2.h"
"matrix2x2.h" "matrix2x2.h"
1730355414 /home/andrey/Projects/Private/C/Geometry/src/rotation3.h 1732095748 /home/andrey/Projects/Private/C/Geometry/src/rotation3.h
"basis.h" "basis.h"
"angle.h" "angle.h"
"vector3.h" "vector3.h"
1731995858 /home/andrey/Projects/Private/C/Geometry/src/versor.h 1732169837 /home/andrey/Projects/Private/C/Geometry/src/versor.h
<stdint.h> <stdint.h>
"basis.h" "basis.h"
"vector3.h" "vector3.h"
@ -107,19 +107,19 @@
"versor.h" "versor.h"
"affine_map3.h" "affine_map3.h"
1731906002 /home/andrey/Projects/Private/C/Geometry/src/matrixes.h 1732094620 /home/andrey/Projects/Private/C/Geometry/src/matrixes.h
1731906002 /home/andrey/Projects/Private/C/Geometry/src/matrix2x3.h 1732095530 /home/andrey/Projects/Private/C/Geometry/src/matrix2x3.h
"vector2.h" "vector2.h"
"vector3.h" "vector3.h"
"matrixes.h" "matrixes.h"
1731906002 /home/andrey/Projects/Private/C/Geometry/src/matrix3x2.h 1732095530 /home/andrey/Projects/Private/C/Geometry/src/matrix3x2.h
"vector2.h" "vector2.h"
"vector3.h" "vector3.h"
"matrixes.h" "matrixes.h"
1731407834 /home/andrey/Projects/Private/C/Geometry/src/quaternion.h 1732095234 /home/andrey/Projects/Private/C/Geometry/src/quaternion.h
<math.h> <math.h>
"basis.h" "basis.h"
"matrix3x3.h" "matrix3x3.h"

4
dev/geometry-dev.layout
View file

@ -2,9 +2,9 @@
<CodeBlocks_layout_file> <CodeBlocks_layout_file>
<FileVersion major="1" minor="0" /> <FileVersion major="1" minor="0" />
<ActiveTarget name="Release" /> <ActiveTarget name="Release" />
<File name="main.c" open="0" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="main.c" open="1" top="1" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="3793" topLine="116" /> <Cursor1 position="1168" topLine="46" />
</Cursor> </Cursor>
</File> </File>
</CodeBlocks_layout_file> </CodeBlocks_layout_file>

2
dev/main.c
View file

@ -52,7 +52,7 @@ BgFP32Versor * make_random_versors(const unsigned int amount)
void print_versor(const BgFP32Versor* versor) void print_versor(const BgFP32Versor* versor)
{ {
printf("(%f, %f, %f, %f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3); printf("(%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
} }
void print_vector(const BgFP32Vector3* vector) void print_vector(const BgFP32Vector3* vector)

172
src/geometry.layout
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@ -2,9 +2,29 @@
<CodeBlocks_layout_file> <CodeBlocks_layout_file>
<FileVersion major="1" minor="0" /> <FileVersion major="1" minor="0" />
<ActiveTarget name="Debug" /> <ActiveTarget name="Debug" />
<File name="matrix2x3.h" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="geometry.h" open="0" top="0" tabpos="8" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="1596" topLine="0" /> <Cursor1 position="316" topLine="0" />
</Cursor>
</File>
<File name="rotation3.c" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="128" topLine="0" />
</Cursor>
</File>
<File name="vector3.c" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1765" topLine="0" />
</Cursor>
</File>
<File name="matrix2x2.h" open="0" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="2008" topLine="63" />
</Cursor>
</File>
<File name="matrix3x3.c" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="4343" topLine="67" />
</Cursor> </Cursor>
</File> </File>
<File name="angle.c" open="0" top="0" tabpos="7" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="angle.c" open="0" top="0" tabpos="7" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
@ -12,49 +32,9 @@
<Cursor1 position="0" topLine="0" /> <Cursor1 position="0" topLine="0" />
</Cursor> </Cursor>
</File> </File>
<File name="quaternion.h" open="0" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="matrixes.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="1849" topLine="187" /> <Cursor1 position="4418" topLine="54" />
</Cursor>
</File>
<File name="matrix2x2.c" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="24" topLine="0" />
</Cursor>
</File>
<File name="matrix2x2.h" open="1" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="13404" topLine="440" />
</Cursor>
</File>
<File name="vector2.h" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="556" topLine="12" />
</Cursor>
</File>
<File name="vector2.c" open="1" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="24" topLine="0" />
</Cursor>
</File>
<File name="versor.c" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="504" topLine="0" />
</Cursor>
</File>
<File name="rotation3.c" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="154" topLine="0" />
</Cursor>
</File>
<File name="versor.h" open="0" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="27" topLine="0" />
</Cursor>
</File>
<File name="basis.h" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="103" topLine="0" />
</Cursor> </Cursor>
</File> </File>
<File name="basis.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="basis.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
@ -62,49 +42,79 @@
<Cursor1 position="20" topLine="0" /> <Cursor1 position="20" topLine="0" />
</Cursor> </Cursor>
</File> </File>
<File name="vector3.h" open="1" top="0" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="0" topLine="0" />
</Cursor>
</File>
<File name="quaternion.h" open="1" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="4195" topLine="122" />
</Cursor>
</File>
<File name="vector2.c" open="0" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1765" topLine="17" />
</Cursor>
</File>
<File name="angle.h" open="0" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="angle.h" open="0" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="1082" topLine="0" /> <Cursor1 position="12295" topLine="509" />
</Cursor> </Cursor>
</File> </File>
<File name="matrix3x2.h" open="0" top="0" tabpos="7" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="matrix2x2.c" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="897" topLine="52" />
</Cursor>
</File>
<File name="quaternion.c" open="0" top="0" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="6789" topLine="145" />
</Cursor>
</File>
<File name="matrix3x3.h" open="1" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="17612" topLine="537" />
</Cursor>
</File>
<File name="geometry.h" open="0" top="0" tabpos="8" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="316" topLine="0" />
</Cursor>
</File>
<File name="vector3.h" open="1" top="1" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="15169" topLine="102" />
</Cursor>
</File>
<File name="rotation3.h" open="0" top="0" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
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</Cursor>
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<File name="matrix3x3.c" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="23" topLine="72" />
</Cursor>
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<File name="vector3.c" open="1" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="24" topLine="0" /> <Cursor1 position="24" topLine="0" />
</Cursor> </Cursor>
</File> </File>
<File name="versor.h" open="1" top="1" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="3483" topLine="119" />
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<File name="matrix3x2.h" open="0" top="0" tabpos="7" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="2291" topLine="280" />
</Cursor>
</File>
<File name="vector2.h" open="0" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="2044" topLine="216" />
</Cursor>
</File>
<File name="versor.c" open="1" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1316" topLine="90" />
</Cursor>
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<Cursor>
<Cursor1 position="0" topLine="99" />
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<Cursor1 position="1382" topLine="6" />
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<Cursor1 position="2817" topLine="324" />
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<File name="quaternion.c" open="1" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1596" topLine="2" />
</Cursor>
</File>
<File name="matrixes.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="11981" topLine="205" />
</Cursor>
</File>
</CodeBlocks_layout_file> </CodeBlocks_layout_file>

8
src/quaternion.c
View file

@ -2,7 +2,7 @@
// ============ Make Rotation Matrix ============ // // ============ Make Rotation Matrix ============ //
void bg_fp32_quaternion_make_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix) void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
{ {
const float s0s0 = quaternion->s0 * quaternion->s0; const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1; const float x1x1 = quaternion->x1 * quaternion->x1;
@ -40,7 +40,7 @@ void bg_fp32_quaternion_make_rotation_matrix(const BgFP32Quaternion* quaternion,
matrix->r1c3 = corrector2 * (x1x3 + s0x2); matrix->r1c3 = corrector2 * (x1x3 + s0x2);
} }
void bg_fp64_quaternion_make_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix) void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix)
{ {
const double s0s0 = quaternion->s0 * quaternion->s0; const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1; const double x1x1 = quaternion->x1 * quaternion->x1;
@ -80,7 +80,7 @@ void bg_fp64_quaternion_make_rotation_matrix(const BgFP64Quaternion* quaternion,
// ============ Make Reverse Matrix ============= // // ============ Make Reverse Matrix ============= //
void bg_fp32_quaternion_make_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix) void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
{ {
const float s0s0 = quaternion->s0 * quaternion->s0; const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1; const float x1x1 = quaternion->x1 * quaternion->x1;
@ -118,7 +118,7 @@ void bg_fp32_quaternion_make_reverse_matrix(const BgFP32Quaternion* quaternion,
matrix->r1c3 = corrector2 * (x1x3 - s0x2); matrix->r1c3 = corrector2 * (x1x3 - s0x2);
} }
void bg_fp64_quaternion_make_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix) void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix)
{ {
const double s0s0 = quaternion->s0 * quaternion->s0; const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1; const double x1x1 = quaternion->x1 * quaternion->x1;

8
src/quaternion.h
View file

@ -158,15 +158,15 @@ static inline void bg_fp64_quaternion_set_conjugate_fp32(const BgFP32Quaternion*
// ============ Make Rotation Matrix ============ // // ============ Make Rotation Matrix ============ //
void bg_fp32_quaternion_make_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix); void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix);
void bg_fp64_quaternion_make_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix); void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix);
// ============ Make Reverse Matrix ============= // // ============ Make Reverse Matrix ============= //
void bg_fp32_quaternion_make_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix); void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix);
void bg_fp64_quaternion_make_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix); void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix);
// ==================== Add ===================== // // ==================== Add ===================== //

92
src/versor.c
View file

Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -7,51 +7,45 @@ const BgFP32Versor BG_FP32_IDLE_VERSOR = { 1.0f, 0.0f, 0.0f, 0.0f };
const BgFP64Versor BG_FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 }; const BgFP64Versor BG_FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 };
void __bg_fp32_versor_normalize(const float square_module, BgFP32Versor* versor) void __bg_fp32_versor_normalize(const float square_module, __BgFP32VersorDarkTwin* twin)
{ {
if (square_module <= BG_FP32_SQUARE_EPSYLON) { if (square_module <= BG_FP32_SQUARE_EPSYLON || (twin->x1 * twin->x1 + twin->x2 * twin->x2 + twin->x3 * twin->x3) <= BG_FP32_SQUARE_EPSYLON * square_module) {
bg_fp32_versor_reset(versor); twin->s0 = 1.0f;
return; twin->x1 = 0.0f;
} twin->x2 = 0.0f;
twin->x3 = 0.0f;
if ((versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3) <= BG_FP32_SQUARE_EPSYLON * square_module) {
bg_fp32_versor_reset(versor);
return; return;
} }
const float module = sqrtf(square_module); const float module = sqrtf(square_module);
versor->_s0 /= module; twin->s0 /= module;
versor->_x1 /= module; twin->x1 /= module;
versor->_x2 /= module; twin->x2 /= module;
versor->_x3 /= module; twin->x3 /= module;
} }
void __bg_fp64_versor_normalize(const double square_module, BgFP64Versor* versor) void __bg_fp64_versor_normalize(const double square_module, __BgFP64VersorDarkTwin* twin)
{ {
if (square_module <= BG_FP64_SQUARE_EPSYLON) { if (square_module <= BG_FP64_SQUARE_EPSYLON || (twin->x1 * twin->x1 + twin->x2 * twin->x2 + twin->x3 * twin->x3) <= BG_FP64_SQUARE_EPSYLON * square_module) {
bg_fp64_versor_reset(versor); twin->s0 = 1.0;
return; twin->x1 = 0.0;
} twin->x2 = 0.0;
twin->x3 = 0.0;
const double square_vector = versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3;
if (square_vector <= BG_FP64_SQUARE_EPSYLON * square_module) {
bg_fp64_versor_reset(versor);
return; return;
} }
const double module = sqrt(square_module); const double module = sqrt(square_module);
versor->_s0 /= module; twin->s0 /= module;
versor->_x1 /= module; twin->x1 /= module;
versor->_x2 /= module; twin->x2 /= module;
versor->_x3 /= module; twin->x3 /= module;
} }
// ==================== Make ==================== // // =============== Set Crude Turn =============== //
void bg_fp32_versor_make_from_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Versor* result) void bg_fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Versor* result)
{ {
const float square_vector = x1 * x1 + x2 * x2 + x3 * x3; const float square_vector = x1 * x1 + x2 * x2 + x3 * x3;
@ -71,16 +65,10 @@ void bg_fp32_versor_make_from_crude_turn(const float x1, const float x2, const f
const float multiplier = sine / sqrtf(square_vector); const float multiplier = sine / sqrtf(square_vector);
bg_fp32_versor_set_values( bg_fp32_versor_set_values(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
cosf(half_angle),
x1 * multiplier,
x2 * multiplier,
x3 * multiplier,
result
);
} }
void bg_fp64_versor_make_from_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Versor* result) void bg_fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Versor* result)
{ {
const double square_vector = x1 * x1 + x2 * x2 + x3 * x3; const double square_vector = x1 * x1 + x2 * x2 + x3 * x3;
@ -100,13 +88,7 @@ void bg_fp64_versor_make_from_crude_turn(const double x1, const double x2, const
const double multiplier = sine / sqrt(square_vector); const double multiplier = sine / sqrt(square_vector);
bg_fp64_versor_set_values( bg_fp64_versor_set_values(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
cos(half_angle),
x1 * multiplier,
x2 * multiplier,
x3 * multiplier,
result
);
} }
// ================= Rotation3 ================== // // ================= Rotation3 ================== //
@ -117,20 +99,20 @@ void bg_fp32_versor_get_rotation(const BgFP32Versor* versor, BgFP32Rotation3* re
return; return;
} }
if (versor->_s0 <= -(1.0f - BG_FP32_EPSYLON) || 1.0f - BG_FP32_EPSYLON <= versor->_s0) { if (versor->s0 <= -(1.0f - BG_FP32_EPSYLON) || 1.0f - BG_FP32_EPSYLON <= versor->s0) {
bg_fp32_rotation_reset(result); bg_fp32_rotation_reset(result);
return; return;
} }