Исправление функции, которая находит трёхмерных поворот между двумя парами векторов
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7 changed files with 705 additions and 467 deletions
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@ -5,6 +5,7 @@
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#include "utilities.h"
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#include "angle.h"
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#include "vector3.h"
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#include "matrix3x3.h"
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typedef struct {
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@ -247,7 +248,7 @@ inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const
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// ================== Multiply ================== //
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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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inline void bgc_fp32_quaternion_multiply_by_quaternion(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 +261,7 @@ inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const
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product->x3 = x3;
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}
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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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inline void bgc_fp64_quaternion_multiply_by_quaternion(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 +274,7 @@ inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const
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product->x3 = x3;
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}
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inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
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inline void bgc_fp32_quaternion_multiply_by_conjugate(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->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
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@ -286,7 +287,7 @@ inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* pr
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product->x3 = x3;
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}
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inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
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inline void bgc_fp64_quaternion_multiply_by_conjugate(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->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
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@ -299,7 +300,7 @@ inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* pr
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product->x3 = x3;
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}
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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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inline void bgc_fp32_quaternion_multiply_by_number(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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@ -307,7 +308,7 @@ inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC
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product->x3 = multiplicand->x3 * multipier;
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}
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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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inline void bgc_fp64_quaternion_multiply_by_number(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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@ -317,12 +318,12 @@ inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC
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// =================== Divide =================== //
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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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inline int bgc_fp32_quaternion_divide_by_quaternion(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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if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
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return 0;
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return BGC_FAILED;
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}
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const float s0 = (divident->s0 * divisor->s0 + divident->x1 * divisor->x1) + (divident->x2 * divisor->x2 + divident->x3 * divisor->x3);
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@ -337,15 +338,15 @@ inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BG
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quotient->x2 = x2 * multiplicand;
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quotient->x3 = x3 * multiplicand;
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return 1;
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return BGC_SUCCESS;
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}
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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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inline int bgc_fp64_quaternion_divide_by_quaternion(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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if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
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return 0;
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return BGC_FAILED;
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}
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const double s0 = (divident->s0 * divisor->s0 + divident->x1 * divisor->x1) + (divident->x2 * divisor->x2 + divident->x3 * divisor->x3);
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@ -360,17 +361,17 @@ inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BG
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quotient->x2 = x2 * multiplicand;
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quotient->x3 = x3 * multiplicand;
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return 1;
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return BGC_SUCCESS;
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}
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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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inline void bgc_fp32_quaternion_divide_by_number(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor)
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{
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bgc_fp32_quaternion_multiply(quotient, dividend, 1.0f / divisor);
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bgc_fp32_quaternion_multiply_by_number(quotient, dividend, 1.0f / divisor);
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}
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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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inline void bgc_fp64_quaternion_divide_by_number(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor)
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{
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bgc_fp64_quaternion_multiply(quotient, dividend, 1.0 / divisor);
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bgc_fp64_quaternion_multiply_by_number(quotient, dividend, 1.0 / divisor);
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}
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// ================ Mean of Two ================= //
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@ -504,7 +505,7 @@ inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const B
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const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
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return 0;
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return BGC_FAILED;
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}
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const float multiplicand = 1.0f / square_modulus;
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@ -514,7 +515,7 @@ inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const B
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inverse->x2 = -quaternion->x2 * multiplicand;
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inverse->x3 = -quaternion->x3 * multiplicand;
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return 1;
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const BGC_FP64_Quaternion* quaternion)
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@ -522,7 +523,7 @@ inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const B
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const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
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return 0;
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return BGC_FAILED;
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}
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const double multiplicand = 1.0 / square_modulus;
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@ -532,7 +533,7 @@ inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const B
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inverse->x2 = -quaternion->x2 * multiplicand;
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inverse->x3 = -quaternion->x3 * multiplicand;
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return 1;
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return BGC_SUCCESS;
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}
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inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* quaternion)
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@ -552,11 +553,11 @@ inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion)
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const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
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if (bgc_fp32_is_square_unit(square_modulus)) {
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return 1;
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return BGC_SUCCESS;
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}
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
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return 0;
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return BGC_FAILED;
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}
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const float multiplier = sqrtf(1.0f / square_modulus);
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@ -566,7 +567,7 @@ inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion)
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quaternion->x2 *= multiplier;
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quaternion->x3 *= multiplier;
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return 1;
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
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@ -574,11 +575,11 @@ inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
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const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
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if (bgc_fp64_is_square_unit(square_modulus)) {
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return 1;
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return BGC_SUCCESS;
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}
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
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return 0;
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return BGC_FAILED;
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}
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const double multiplier = sqrt(1.0 / square_modulus);
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@ -588,7 +589,7 @@ inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
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quaternion->x2 *= multiplier;
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quaternion->x3 *= multiplier;
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return 1;
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return BGC_SUCCESS;
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}
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inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion)
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@ -597,16 +598,16 @@ inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, c
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if (bgc_fp32_is_square_unit(square_modulus)) {
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bgc_fp32_quaternion_copy(normalized, quaternion);
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return 1;
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return BGC_SUCCESS;
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}
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
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bgc_fp32_quaternion_reset(normalized);
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return 0;
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return BGC_FAILED;
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}
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bgc_fp32_quaternion_multiply(normalized, quaternion, sqrtf(1.0f / square_modulus));
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return 1;
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bgc_fp32_quaternion_multiply_by_number(normalized, quaternion, sqrtf(1.0f / square_modulus));
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion)
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@ -615,16 +616,16 @@ inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, c
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if (bgc_fp64_is_square_unit(square_modulus)) {
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bgc_fp64_quaternion_copy(normalized, quaternion);
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return 1;
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return BGC_SUCCESS;
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}
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
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bgc_fp64_quaternion_reset(normalized);
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return 0;
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return BGC_FAILED;
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}
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bgc_fp64_quaternion_multiply(normalized, quaternion, sqrt(1.0 / square_modulus));
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return 1;
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bgc_fp64_quaternion_multiply_by_number(normalized, quaternion, sqrt(1.0 / square_modulus));
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return BGC_SUCCESS;
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}
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// =============== Get Exponation =============== //
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@ -633,6 +634,182 @@ int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP3
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int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent);
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// ============== Raw Turn Vector3 ============== //
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// An internal function
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inline void _bgc_fp32_quaternion_turn_vector_roughly(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
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{
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const float tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
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const float tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
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const float tx3 = 2.0f * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
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const float x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
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const float x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
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const float x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
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turned_vector->x1 = x1;
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turned_vector->x2 = x2;
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turned_vector->x3 = x3;
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}
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// An internal function
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inline void _bgc_fp64_quaternion_turn_vector_roughly(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
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{
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const double tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
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const double tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
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const double tx3 = 2.0f * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
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const double x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
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const double x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
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const double x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
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turned_vector->x1 = x1;
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turned_vector->x2 = x2;
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turned_vector->x3 = x3;
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}
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// ========= Raw Turn Vector3 Backwards ========= //
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// An internal function
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inline void _bgc_fp32_quaternion_turn_vector_back_roughly(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
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{
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const float tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
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const float tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
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const float tx3 = 2.0f * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
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const float x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
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const float x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
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const float x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
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turned_vector->x1 = x1;
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turned_vector->x2 = x2;
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turned_vector->x3 = x3;
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}
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// An internal function
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inline void _bgc_fp64_quaternion_turn_vector_back_roughly(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
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{
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const double tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
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const double tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
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const double tx3 = 2.0f * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
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const double x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
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const double x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
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const double x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
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turned_vector->x1 = x1;
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turned_vector->x2 = x2;
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||||
turned_vector->x3 = x3;
|
||||
}
|
||||
|
||||
// ================ Turn Vector3 ================ //
|
||||
|
||||
inline int bgc_fp32_quaternion_turn_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
|
||||
{
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (square_modulus < BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
|
||||
return BGC_FAILED;
|
||||
}
|
||||
|
||||
const float multiplier = 2.0f / square_modulus;
|
||||
|
||||
const float tx1 = multiplier * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
|
||||
const float tx2 = multiplier * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
|
||||
const float tx3 = multiplier * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
|
||||
|
||||
const float x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
|
||||
const float x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
|
||||
const float x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
|
||||
|
||||
turned_vector->x1 = x1;
|
||||
turned_vector->x2 = x2;
|
||||
turned_vector->x3 = x3;
|
||||
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
inline int bgc_fp64_quaternion_turn_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
|
||||
{
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (square_modulus < BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
|
||||
return BGC_FAILED;
|
||||
}
|
||||
|
||||
const double multiplier = 2.0 / square_modulus;
|
||||
|
||||
const double tx1 = multiplier * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
|
||||
const double tx2 = multiplier * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
|
||||
const double tx3 = multiplier * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
|
||||
|
||||
const double x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
|
||||
const double x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
|
||||
const double x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
|
||||
|
||||
turned_vector->x1 = x1;
|
||||
turned_vector->x2 = x2;
|
||||
turned_vector->x3 = x3;
|
||||
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
// =========== Turn Vector3 Backwards =========== //
|
||||
|
||||
inline int bgc_fp32_quaternion_turn_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
|
||||
{
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (square_modulus < BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
|
||||
return BGC_FAILED;
|
||||
}
|
||||
|
||||
const float multiplier = 2.0f / square_modulus;
|
||||
|
||||
const float tx1 = multiplier * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
|
||||
const float tx2 = multiplier * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
|
||||
const float tx3 = multiplier * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
|
||||
|
||||
const float x1 = (original_vector->x1 - tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
|
||||
const float x2 = (original_vector->x2 - tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
|
||||
const float x3 = (original_vector->x3 - tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
|
||||
|
||||
turned_vector->x1 = x1;
|
||||
turned_vector->x2 = x2;
|
||||
turned_vector->x3 = x3;
|
||||
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
inline int bgc_fp64_quaternion_turn_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
|
||||
{
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (square_modulus < BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
|
||||
return BGC_FAILED;
|
||||
}
|
||||
|
||||
const double multiplier = 2.0 / square_modulus;
|
||||
|
||||
const double tx1 = multiplier * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
|
||||
const double tx2 = multiplier * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
|
||||
const double tx3 = multiplier * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
|
||||
|
||||
const double x1 = (original_vector->x1 - tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
|
||||
const double x2 = (original_vector->x2 - tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
|
||||
const double x3 = (original_vector->x3 - tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
|
||||
|
||||
turned_vector->x1 = x1;
|
||||
turned_vector->x2 = x2;
|
||||
turned_vector->x3 = x3;
|
||||
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
// ============ Get Rotation Matrix ============= //
|
||||
|
||||
inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion)
|
||||
|
|
@ -647,7 +824,7 @@ inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation,
|
|||
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus))
|
||||
{
|
||||
bgc_fp32_matrix3x3_make_identity(rotation);
|
||||
return 0;
|
||||
return BGC_FAILED;
|
||||
}
|
||||
|
||||
const float corrector1 = 1.0f / square_modulus;
|
||||
|
|
@ -673,7 +850,7 @@ inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation,
|
|||
rotation->r3c2 = corrector2 * (x2x3 + s0x1);
|
||||
rotation->r1c3 = corrector2 * (x1x3 + s0x2);
|
||||
|
||||
return 1;
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion)
|
||||
|
|
@ -688,7 +865,7 @@ inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation,
|
|||
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus))
|
||||
{
|
||||
bgc_fp64_matrix3x3_make_identity(rotation);
|
||||
return 0;
|
||||
return BGC_FAILED;
|
||||
}
|
||||
|
||||
const double corrector1 = 1.0f / square_modulus;
|
||||
|
|
@ -714,7 +891,7 @@ inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation,
|
|||
rotation->r3c2 = corrector2 * (x2x3 + s0x1);
|
||||
rotation->r1c3 = corrector2 * (x1x3 + s0x2);
|
||||
|
||||
return 1;
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
// ============= Get Reverse Matrix ============= //
|
||||
|
|
@ -731,7 +908,7 @@ inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, c
|
|||
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus))
|
||||
{
|
||||
bgc_fp32_matrix3x3_make_identity(reverse);
|
||||
return 0;
|
||||
return BGC_FAILED;
|
||||
}
|
||||
|
||||
const float corrector1 = 1.0f / square_modulus;
|
||||
|
|
@ -757,7 +934,7 @@ inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, c
|
|||
reverse->r3c2 = corrector2 * (x2x3 - s0x1);
|
||||
reverse->r1c3 = corrector2 * (x1x3 - s0x2);
|
||||
|
||||
return 1;
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion)
|
||||
|
|
@ -772,7 +949,7 @@ inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, c
|
|||
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus))
|
||||
{
|
||||
bgc_fp64_matrix3x3_make_identity(reverse);
|
||||
return 0;
|
||||
return BGC_FAILED;
|
||||
}
|
||||
|
||||
const double corrector1 = 1.0f / square_modulus;
|
||||
|
|
@ -805,22 +982,22 @@ inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, c
|
|||
|
||||
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(reverse, quaternion)) {
|
||||
if (bgc_fp32_quaternion_get_reverse_matrix(reverse, quaternion) == BGC_SUCCESS) {
|
||||
bgc_fp32_matrix3x3_get_transposed(rotation, reverse);
|
||||
return 1;
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
return 0;
|
||||
return BGC_FAILED;
|
||||
}
|
||||
|
||||
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(reverse, quaternion)) {
|
||||
if (bgc_fp64_quaternion_get_reverse_matrix(reverse, quaternion) == BGC_SUCCESS) {
|
||||
bgc_fp64_matrix3x3_get_transposed(rotation, reverse);
|
||||
return 1;
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
return 0;
|
||||
return BGC_FAILED;
|
||||
}
|
||||
|
||||
// ================== Are Close ================= //
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue