Удаление избыточных функций, добавление функций для комплексных чисел и кватернионов
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21 changed files with 976 additions and 1158 deletions
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@ -119,20 +119,20 @@ inline int bgc_quaternion_is_unit_fp64(const BgcQuaternionFP64* quaternion)
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// ==================== Copy ==================== //
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inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* from, BgcQuaternionFP32* to)
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inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* source, BgcQuaternionFP32* destination)
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{
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to->s0 = from->s0;
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to->x1 = from->x1;
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to->x2 = from->x2;
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to->x3 = from->x3;
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destination->s0 = source->s0;
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destination->x1 = source->x1;
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destination->x2 = source->x2;
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destination->x3 = source->x3;
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}
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inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* from, BgcQuaternionFP64* to)
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inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* source, BgcQuaternionFP64* destination)
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{
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to->s0 = from->s0;
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to->x1 = from->x1;
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to->x2 = from->x2;
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to->x3 = from->x3;
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destination->s0 = source->s0;
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destination->x1 = source->x1;
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destination->x2 = source->x2;
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destination->x3 = source->x3;
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}
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// ==================== Swap ==================== //
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@ -175,119 +175,127 @@ inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuatern
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// ================== Convert =================== //
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inline void bgc_quaternion_convert_fp64_to_fp32(const BgcQuaternionFP64* quaternion, BgcQuaternionFP32* result)
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inline void bgc_quaternion_convert_fp64_to_fp32(const BgcQuaternionFP64* source, BgcQuaternionFP32* destination)
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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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result->x2 = (float) quaternion->x2;
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result->x3 = (float) quaternion->x3;
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destination->s0 = (float)source->s0;
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destination->x1 = (float)source->x1;
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destination->x2 = (float)source->x2;
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destination->x3 = (float)source->x3;
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}
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inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* quaternion, BgcQuaternionFP64* result)
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inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* source, BgcQuaternionFP64* destination)
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{
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result->s0 = quaternion->s0;
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result->x1 = quaternion->x1;
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result->x2 = quaternion->x2;
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result->x3 = quaternion->x3;
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destination->s0 = source->s0;
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destination->x1 = source->x1;
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destination->x2 = source->x2;
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destination->x3 = source->x3;
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}
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// ================= Conjugate ================== //
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inline void bgc_quaternion_conjugate_fp32(BgcQuaternionFP32* quaternion)
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inline void bgc_quaternion_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* conjugate)
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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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conjugate->s0 = quaternion->s0;
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conjugate->x1 = -quaternion->x1;
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conjugate->x2 = -quaternion->x2;
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conjugate->x3 = -quaternion->x3;
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}
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inline void bgc_quaternion_conjugate_fp64(BgcQuaternionFP64* quaternion)
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inline void bgc_quaternion_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* conjugate)
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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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conjugate->s0 = quaternion->s0;
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conjugate->x1 = -quaternion->x1;
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conjugate->x2 = -quaternion->x2;
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conjugate->x3 = -quaternion->x3;
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}
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// =================== Invert =================== //
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inline int bgc_quaternion_invert_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* inverted)
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{
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const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion);
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
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return 0;
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}
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const float multiplicand = 1.0f / square_modulus;
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inverted->s0 = quaternion->s0 * multiplicand;
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inverted->x1 = -quaternion->x1 * multiplicand;
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inverted->x2 = -quaternion->x2 * multiplicand;
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inverted->x3 = -quaternion->x3 * multiplicand;
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return 1;
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}
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inline int bgc_quaternion_invert_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* inverted)
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{
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const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion);
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
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return 0;
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}
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const double multiplicand = 1.0 / square_modulus;
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inverted->s0 = quaternion->s0 * multiplicand;
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inverted->x1 = -quaternion->x1 * multiplicand;
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inverted->x2 = -quaternion->x2 * multiplicand;
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inverted->x3 = -quaternion->x3 * multiplicand;
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return 1;
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}
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// ================= Normalize ================== //
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inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion)
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inline int bgc_quaternion_normalize_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* normalized)
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{
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const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion);
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if (bgc_is_sqare_unit_fp32(square_modulus)) {
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bgc_quaternion_copy_fp32(quaternion, normalized);
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return 1;
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}
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
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bgc_quaternion_reset_fp32(quaternion);
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return 0;
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}
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const float multiplier = sqrtf(1.0f / square_modulus);
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quaternion->s0 *= multiplier;
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quaternion->x1 *= multiplier;
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quaternion->x2 *= multiplier;
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quaternion->x3 *= multiplier;
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normalized->s0 = quaternion->s0 * multiplier;
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normalized->x1 = quaternion->x1 * multiplier;
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normalized->x2 = quaternion->x2 * multiplier;
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normalized->x3 = quaternion->x3 * multiplier;
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return 1;
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}
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inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion)
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inline int bgc_quaternion_normalize_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* normalized)
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{
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const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion);
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if (bgc_is_sqare_unit_fp64(square_modulus)) {
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bgc_quaternion_copy_fp64(quaternion, normalized);
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return 1;
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}
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
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bgc_quaternion_reset_fp64(quaternion);
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return 0;
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}
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const double multiplier = sqrt(1.0 / square_modulus);
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quaternion->s0 *= multiplier;
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quaternion->x1 *= multiplier;
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quaternion->x2 *= multiplier;
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quaternion->x3 *= multiplier;
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normalized->s0 *= multiplier;
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normalized->x1 *= multiplier;
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normalized->x2 *= multiplier;
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normalized->x3 *= multiplier;
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return 1;
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}
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// =============== Get Conjugate ================ //
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inline void bgc_quaternion_get_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* conjugate)
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{
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conjugate->s0 = quaternion->s0;
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conjugate->x1 = -quaternion->x1;
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conjugate->x2 = -quaternion->x2;
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conjugate->x3 = -quaternion->x3;
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}
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inline void bgc_quaternion_get_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* conjugate)
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{
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conjugate->s0 = quaternion->s0;
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conjugate->x1 = -quaternion->x1;
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conjugate->x2 = -quaternion->x2;
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conjugate->x3 = -quaternion->x3;
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}
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// =============== Get Normalized =============== //
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inline int bgc_quaternion_get_normalized_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* normalized)
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{
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bgc_quaternion_copy_fp32(quaternion, normalized);
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return bgc_quaternion_normalize_fp32(normalized);
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}
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inline int bgc_quaternion_get_normalized_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* normalized)
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{
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bgc_quaternion_copy_fp64(quaternion, normalized);
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return bgc_quaternion_normalize_fp64(normalized);
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}
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// ================== Product =================== //
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// ================ Get Product ================= //
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inline void bgc_quaternion_get_product_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product)
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{
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@ -315,164 +323,52 @@ inline void bgc_quaternion_get_product_fp64(const BgcQuaternionFP64* left, const
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product->x3 = x3;
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}
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// ============ Get Rotation Matrix ============= //
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// ================= Get Ratio ================== //
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inline void bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation)
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inline int bgc_quaternion_get_ratio_fp32(const BgcQuaternionFP32* divident, const BgcQuaternionFP32* divisor, BgcQuaternionFP32* quotient)
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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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const float x2x2 = quaternion->x2 * quaternion->x2;
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const float x3x3 = quaternion->x3 * quaternion->x3;
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const float square_modulus = bgc_quaternion_get_square_modulus_fp32(divisor);
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const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus)
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{
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bgc_matrix3x3_set_to_identity_fp32(rotation);
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return;
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
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return 0;
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}
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const float corrector1 = 1.0f / square_modulus;
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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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const float x1 = (divident->x1 * divisor->s0 + divident->x3 * divisor->x2) - (divident->s0 * divisor->x1 + divident->x2 * divisor->x3);
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const float x2 = (divident->x2 * divisor->s0 + divident->x1 * divisor->x3) - (divident->s0 * divisor->x2 + divident->x3 * divisor->x1);
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const float x3 = (divident->x3 * divisor->s0 + divident->x2 * divisor->x1) - (divident->s0 * divisor->x3 + divident->x1 * divisor->x2);
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const float s0x1 = quaternion->s0 * quaternion->x1;
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const float s0x2 = quaternion->s0 * quaternion->x2;
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const float s0x3 = quaternion->s0 * quaternion->x3;
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const float x1x2 = quaternion->x1 * quaternion->x2;
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const float x1x3 = quaternion->x1 * quaternion->x3;
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const float x2x3 = quaternion->x2 * quaternion->x3;
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const float multiplicand = 1.0f / square_modulus;
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const float corrector2 = 2.0f * corrector1;
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quotient->s0 = s0 * multiplicand;
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quotient->x1 = x1 * multiplicand;
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quotient->x2 = x2 * multiplicand;
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quotient->x3 = x3 * multiplicand;
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rotation->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
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rotation->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
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rotation->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
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rotation->r1c2 = corrector2 * (x1x2 - s0x3);
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rotation->r2c3 = corrector2 * (x2x3 - s0x1);
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rotation->r3c1 = corrector2 * (x1x3 - s0x2);
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rotation->r2c1 = corrector2 * (x1x2 + s0x3);
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rotation->r3c2 = corrector2 * (x2x3 + s0x1);
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rotation->r1c3 = corrector2 * (x1x3 + s0x2);
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return 1;
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}
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inline void bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation)
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inline int bgc_quaternion_get_ratio_fp64(const BgcQuaternionFP64* divident, const BgcQuaternionFP64* divisor, BgcQuaternionFP64* quotient)
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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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const double x2x2 = quaternion->x2 * quaternion->x2;
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const double x3x3 = quaternion->x3 * quaternion->x3;
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const double square_modulus = bgc_quaternion_get_square_modulus_fp64(divisor);
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const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus)
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{
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bgc_matrix3x3_set_to_identity_fp64(rotation);
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return;
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
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return 0;
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}
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const double corrector1 = 1.0f / square_modulus;
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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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const double x1 = (divident->x1 * divisor->s0 + divident->x3 * divisor->x2) - (divident->s0 * divisor->x1 + divident->x2 * divisor->x3);
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const double x2 = (divident->x2 * divisor->s0 + divident->x1 * divisor->x3) - (divident->s0 * divisor->x2 + divident->x3 * divisor->x1);
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const double x3 = (divident->x3 * divisor->s0 + divident->x2 * divisor->x1) - (divident->s0 * divisor->x3 + divident->x1 * divisor->x2);
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const double s0x1 = quaternion->s0 * quaternion->x1;
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const double s0x2 = quaternion->s0 * quaternion->x2;
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const double s0x3 = quaternion->s0 * quaternion->x3;
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const double x1x2 = quaternion->x1 * quaternion->x2;
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const double x1x3 = quaternion->x1 * quaternion->x3;
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const double x2x3 = quaternion->x2 * quaternion->x3;
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const double multiplicand = 1.0 / square_modulus;
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const double corrector2 = 2.0f * corrector1;
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quotient->s0 = s0 * multiplicand;
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quotient->x1 = x1 * multiplicand;
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quotient->x2 = x2 * multiplicand;
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quotient->x3 = x3 * multiplicand;
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rotation->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
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rotation->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
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rotation->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
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rotation->r1c2 = corrector2 * (x1x2 - s0x3);
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rotation->r2c3 = corrector2 * (x2x3 - s0x1);
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rotation->r3c1 = corrector2 * (x1x3 - s0x2);
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rotation->r2c1 = corrector2 * (x1x2 + s0x3);
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rotation->r3c2 = corrector2 * (x2x3 + s0x1);
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rotation->r1c3 = corrector2 * (x1x3 + s0x2);
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}
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// ============= Get Reverse Matrix ============= //
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inline void bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* reverse)
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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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const float x2x2 = quaternion->x2 * quaternion->x2;
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const float x3x3 = quaternion->x3 * quaternion->x3;
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const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus)
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{
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bgc_matrix3x3_set_to_identity_fp32(reverse);
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return;
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}
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const float corrector1 = 1.0f / square_modulus;
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const float s0x1 = quaternion->s0 * quaternion->x1;
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const float s0x2 = quaternion->s0 * quaternion->x2;
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const float s0x3 = quaternion->s0 * quaternion->x3;
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const float x1x2 = quaternion->x1 * quaternion->x2;
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const float x1x3 = quaternion->x1 * quaternion->x3;
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const float x2x3 = quaternion->x2 * quaternion->x3;
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const float corrector2 = 2.0f * corrector1;
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reverse->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
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reverse->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
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reverse->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
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||||
|
||||
reverse->r1c2 = corrector2 * (x1x2 + s0x3);
|
||||
reverse->r2c3 = corrector2 * (x2x3 + s0x1);
|
||||
reverse->r3c1 = corrector2 * (x1x3 + s0x2);
|
||||
|
||||
reverse->r2c1 = corrector2 * (x1x2 - s0x3);
|
||||
reverse->r3c2 = corrector2 * (x2x3 - s0x1);
|
||||
reverse->r1c3 = corrector2 * (x1x3 - s0x2);
|
||||
}
|
||||
|
||||
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;
|
||||
const double x2x2 = quaternion->x2 * quaternion->x2;
|
||||
const double x3x3 = quaternion->x3 * quaternion->x3;
|
||||
|
||||
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus)
|
||||
{
|
||||
bgc_matrix3x3_set_to_identity_fp64(reverse);
|
||||
return;
|
||||
}
|
||||
|
||||
const double corrector1 = 1.0f / square_modulus;
|
||||
|
||||
const double s0x1 = quaternion->s0 * quaternion->x1;
|
||||
const double s0x2 = quaternion->s0 * quaternion->x2;
|
||||
const double s0x3 = quaternion->s0 * quaternion->x3;
|
||||
const double x1x2 = quaternion->x1 * quaternion->x2;
|
||||
const double x1x3 = quaternion->x1 * quaternion->x3;
|
||||
const double x2x3 = quaternion->x2 * quaternion->x3;
|
||||
|
||||
const double corrector2 = 2.0f * corrector1;
|
||||
|
||||
reverse->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
|
||||
reverse->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
|
||||