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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@ -114,24 +114,24 @@ inline void bgc_versor_set_rotation_fp64(const BgcRotation3FP64* rotation, BgcVe
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// ==================== Copy ==================== //
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inline void bgc_versor_copy_fp32(const BgcVersorFP32* from, BgcVersorFP32* to)
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inline void bgc_versor_copy_fp32(const BgcVersorFP32* source, BgcVersorFP32* destination)
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{
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)to;
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)destination;
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twin->s0 = from->s0;
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twin->x1 = from->x1;
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twin->x2 = from->x2;
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twin->x3 = from->x3;
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twin->s0 = source->s0;
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twin->x1 = source->x1;
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twin->x2 = source->x2;
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twin->x3 = source->x3;
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}
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inline void bgc_versor_copy_fp64(const BgcVersorFP64* from, BgcVersorFP64* to)
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inline void bgc_versor_copy_fp64(const BgcVersorFP64* source, BgcVersorFP64* destination)
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{
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)to;
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)destination;
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twin->s0 = from->s0;
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twin->x1 = from->x1;
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twin->x2 = from->x2;
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twin->x3 = from->x3;
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twin->s0 = source->s0;
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twin->x1 = source->x1;
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twin->x2 = source->x2;
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twin->x3 = source->x3;
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}
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// ==================== Swap ==================== //
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@ -194,51 +194,61 @@ inline int bgc_versor_is_identity_fp64(const BgcVersorFP64* versor)
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// ================== Convert =================== //
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inline void bgc_versor_convert_fp64_to_fp32(const BgcVersorFP64* versor, BgcVersorFP32* result)
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inline void bgc_versor_convert_fp64_to_fp32(const BgcVersorFP64* source, BgcVersorFP32* destination)
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{
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bgc_versor_set_values_fp32(
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(float) versor->s0,
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(float) versor->x1,
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(float) versor->x2,
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(float) versor->x3,
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result
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(float)source->s0,
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(float)source->x1,
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(float)source->x2,
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(float)source->x3,
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destination
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);
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}
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inline void bgc_versor_convert_fp32_to_fp64(const BgcVersorFP32* versor, BgcVersorFP64* result)
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inline void bgc_versor_convert_fp32_to_fp64(const BgcVersorFP32* source, BgcVersorFP64* destination)
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{
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bgc_versor_set_values_fp64(
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versor->s0,
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versor->x1,
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versor->x2,
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versor->x3,
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result
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source->s0,
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source->x1,
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source->x2,
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source->x3,
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destination
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);
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}
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// ================== Shorten =================== //
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inline void bgc_versor_shorten_fp32(BgcVersorFP32* versor)
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inline void bgc_versor_shorten_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened)
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{
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)shortened;
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if (versor->s0 >= 0.0f) {
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twin->x1 = versor->s0;
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twin->x1 = versor->x1;
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twin->x2 = versor->x2;
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twin->x3 = versor->x3;
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return;
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}
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)versor;
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twin->s0 = -versor->s0;
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twin->x1 = -versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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}
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inline void bgc_versor_shorten_fp64(BgcVersorFP64* versor)
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inline void bgc_versor_shorten_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened)
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{
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if (versor->s0 >= 0.0f) {
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)shortened;
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if (versor->s0 >= 0.0) {
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twin->x1 = versor->s0;
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twin->x1 = versor->x1;
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twin->x2 = versor->x2;
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twin->x3 = versor->x3;
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return;
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}
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)versor;
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twin->s0 = -versor->s0;
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twin->x1 = -versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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@ -246,17 +256,19 @@ inline void bgc_versor_shorten_fp64(BgcVersorFP64* versor)
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// =================== Invert =================== //
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inline void bgc_versor_invert_fp32(BgcVersorFP32* versor)
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inline void bgc_versor_invert_fp32(const BgcVersorFP32* versor, BgcVersorFP32* inverted)
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{
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)versor;
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)inverted;
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twin->s0 = versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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}
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inline void bgc_versor_invert_fp64(BgcVersorFP64* versor)
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inline void bgc_versor_invert_fp64(const BgcVersorFP64* versor, BgcVersorFP64* inverted)
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{
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)versor;
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)inverted;
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twin->s0 = versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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@ -326,64 +338,6 @@ void bgc_versor_get_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32*
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void bgc_versor_get_rotation_fp64(const BgcVersorFP64* versor, BgcRotation3FP64* result);
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// =============== Get Shortened ================ //
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inline void bgc_versor_get_shortened_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened)
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{
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)shortened;
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if (versor->s0 >= 0.0f) {
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twin->x1 = versor->s0;
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twin->x1 = versor->x1;
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twin->x2 = versor->x2;
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twin->x3 = versor->x3;
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return;
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}
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twin->x1 = -versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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}
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inline void bgc_versor_get_shortened_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened)
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{
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)shortened;
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if (versor->s0 >= 0.0) {
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twin->x1 = versor->s0;
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twin->x1 = versor->x1;
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twin->x2 = versor->x2;
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twin->x3 = versor->x3;
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return;
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}
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twin->x1 = -versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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}
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// ================ Get Inverted ================ //
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inline void bgc_versor_get_inverted_fp32(const BgcVersorFP32* versor, BgcVersorFP32* to)
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{
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_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)to;
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twin->s0 = versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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}
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inline void bgc_versor_get_inverted_fp64(const BgcVersorFP64* versor, BgcVersorFP64* to)
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{
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_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)to;
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twin->s0 = versor->s0;
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twin->x1 = -versor->x1;
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twin->x2 = -versor->x2;
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twin->x3 = -versor->x3;
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}
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// ============ Get Rotation Matrix ============= //
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inline void bgc_versor_get_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix)
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@ -505,13 +459,13 @@ inline void bgc_versor_get_reverse_matrix_fp64(const BgcVersorFP64* versor, BgcM
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inline void bgc_versor_get_both_matrixes_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse)
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{
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bgc_versor_get_reverse_matrix_fp32(versor, reverse);
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bgc_matrix3x3_get_transposed_fp32(reverse, rotation);
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bgc_matrix3x3_transpose_fp32(reverse, rotation);
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}
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inline void bgc_versor_get_both_matrixes_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse)
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{
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bgc_versor_get_reverse_matrix_fp64(versor, reverse);
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bgc_matrix3x3_get_transposed_fp64(reverse, rotation);
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bgc_matrix3x3_transpose_fp64(reverse, rotation);
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}
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// ================ Turn Vector ================= //
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