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Продолжение переименования типов и функций

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This commit is contained in:
Andrey Pokidov 2025-01-14 19:25:04 +07:00
parent 605afabd94
commit 3b6efaafa9
25 changed files with 768 additions and 916 deletions
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104
basic-geometry/quaternion.h
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@ -9,15 +9,15 @@
typedef struct {
float s0, x1, x2, x3;
} fp32_quaternion_t;
} quaternion_fp32_t;
typedef struct {
double s0, x1, x2, x3;
} fp64_quaternion_t;
} quaternion_fp64_t;
// ==================== Reset =================== //
static inline void fp32_quaternion_reset(fp32_quaternion_t * quaternion)
inline void quaternion_reset_fp32(quaternion_fp32_t * quaternion)
{
quaternion->s0 = 0.0f;
quaternion->x1 = 0.0f;
@ -25,7 +25,7 @@ static inline void fp32_quaternion_reset(fp32_quaternion_t * quaternion)
quaternion->x3 = 0.0f;
}
static inline void fp64_quaternion_reset(fp64_quaternion_t * quaternion)
inline void quaternion_reset_fp64(quaternion_fp64_t * quaternion)
{
quaternion->s0 = 0.0;
quaternion->x1 = 0.0;
@ -35,7 +35,7 @@ static inline void fp64_quaternion_reset(fp64_quaternion_t * quaternion)
// ================== Set Unit ================== //
static inline void fp32_quaternion_set_identity(fp32_quaternion_t * quaternion)
inline void quaternion_fp32_set_identity(quaternion_fp32_t * quaternion)
{
quaternion->s0 = 1.0f;
quaternion->x1 = 0.0f;
@ -43,7 +43,7 @@ static inline void fp32_quaternion_set_identity(fp32_quaternion_t * quaternion)
quaternion->x3 = 0.0f;
}
static inline void fp64_quaternion_set_identity(fp64_quaternion_t * quaternion)
inline void quaternion_fp64_set_identity(quaternion_fp64_t * quaternion)
{
quaternion->s0 = 1.0;
quaternion->x1 = 0.0;
@ -53,7 +53,7 @@ static inline void fp64_quaternion_set_identity(fp64_quaternion_t * quaternion)
// ==================== Set ===================== //
static inline void fp32_quaternion_set_values(const float s0, const float x1, const float x2, const float x3, fp32_quaternion_t * quaternion)
inline void quaternion_fp32_set_values(const float s0, const float x1, const float x2, const float x3, quaternion_fp32_t * quaternion)
{
quaternion->s0 = s0;
quaternion->x1 = x1;
@ -61,7 +61,7 @@ static inline void fp32_quaternion_set_values(const float s0, const float x1, co
quaternion->x3 = x3;
}
static inline void fp64_quaternion_set_values(const double s0, const double x1, const double x2, const double x3, fp64_quaternion_t * quaternion)
inline void quaternion_fp64_set_values(const double s0, const double x1, const double x2, const double x3, quaternion_fp64_t * quaternion)
{
quaternion->s0 = s0;
quaternion->x1 = x1;
@ -71,7 +71,7 @@ static inline void fp64_quaternion_set_values(const double s0, const double x1,
// ==================== Copy ==================== //
static inline void fp32_quaternion_copy(const fp32_quaternion_t* from, fp32_quaternion_t* to)
inline void quaternion_copy_fp32(const quaternion_fp32_t* from, quaternion_fp32_t* to)
{
to->s0 = from->s0;
to->x1 = from->x1;
@ -79,7 +79,7 @@ static inline void fp32_quaternion_copy(const fp32_quaternion_t* from, fp32_quat
to->x3 = from->x3;
}
static inline void fp64_quaternion_copy(const fp64_quaternion_t* from, fp64_quaternion_t* to)
inline void quaternion_copy_fp64(const quaternion_fp64_t* from, quaternion_fp64_t* to)
{
to->s0 = from->s0;
to->x1 = from->x1;
@ -89,7 +89,7 @@ static inline void fp64_quaternion_copy(const fp64_quaternion_t* from, fp64_quat
// ==================== Swap ==================== //
static inline void fp32_quaternion_swap(fp32_quaternion_t* quarternion1, fp32_quaternion_t* quarternion2)
inline void quaternion_swap_fp32(quaternion_fp32_t* quarternion1, quaternion_fp32_t* quarternion2)
{
const float s0 = quarternion2->s0;
const float x1 = quarternion2->x1;
@ -107,7 +107,7 @@ static inline void fp32_quaternion_swap(fp32_quaternion_t* quarternion1, fp32_qu
quarternion1->x3 = x3;
}
static inline void fp64_quaternion_swap(fp64_quaternion_t* quarternion1, fp64_quaternion_t* quarternion2)
inline void quaternion_swap_fp64(quaternion_fp64_t* quarternion1, quaternion_fp64_t* quarternion2)
{
const double s0 = quarternion2->s0;
const double x1 = quarternion2->x1;
@ -127,7 +127,7 @@ static inline void fp64_quaternion_swap(fp64_quaternion_t* quarternion1, fp64_qu
// ============= Copy to twin type ============== //
static inline void fp32_quaternion_set_from_fp64(const fp64_quaternion_t* quaternion, fp32_quaternion_t* result)
inline void quaternion_fp32_set_from_fp64(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
{
result->s0 = (float) quaternion->s0;
result->x1 = (float) quaternion->x1;
@ -135,7 +135,7 @@ static inline void fp32_quaternion_set_from_fp64(const fp64_quaternion_t* quater
result->x3 = (float) quaternion->x3;
}
static inline void fp64_quaternion_set_from_fp32(const fp32_quaternion_t* quaternion, fp64_quaternion_t* result)
inline void quaternion_fp64_set_from_fp32(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
{
result->s0 = quaternion->s0;
result->x1 = quaternion->x1;
@ -145,14 +145,14 @@ static inline void fp64_quaternion_set_from_fp32(const fp32_quaternion_t* quater
// ================= Inversion ================== //
static inline void fp32_quaternion_conjugate(fp32_quaternion_t* quaternion)
inline void quaternion_fp32_conjugate(quaternion_fp32_t* quaternion)
{
quaternion->x1 = -quaternion->x1;
quaternion->x2 = -quaternion->x2;
quaternion->x3 = -quaternion->x3;
}
static inline void fp64_quaternion_conjugate(fp64_quaternion_t* quaternion)
inline void quaternion_fp64_conjugate(quaternion_fp64_t* quaternion)
{
quaternion->x1 = -quaternion->x1;
quaternion->x2 = -quaternion->x2;
@ -161,7 +161,7 @@ static inline void fp64_quaternion_conjugate(fp64_quaternion_t* quaternion)
// ================ Set Conjugate =============== //
static inline void fp32_quaternion_set_conjugate(const fp32_quaternion_t* quaternion, fp32_quaternion_t* result)
inline void quaternion_fp32_set_conjugate(const quaternion_fp32_t* quaternion, quaternion_fp32_t* result)
{
result->s0 = quaternion->s0;
result->x1 = -quaternion->x1;
@ -169,7 +169,7 @@ static inline void fp32_quaternion_set_conjugate(const fp32_quaternion_t* quater
result->x3 = -quaternion->x3;
}
static inline void fp64_quaternion_set_conjugate(const fp64_quaternion_t* quaternion, fp64_quaternion_t* result)
inline void quaternion_fp64_set_conjugate(const quaternion_fp64_t* quaternion, quaternion_fp64_t* result)
{
result->s0 = quaternion->s0;
result->x1 = -quaternion->x1;
@ -179,7 +179,7 @@ static inline void fp64_quaternion_set_conjugate(const fp64_quaternion_t* quater
// ================ Set Conjugate =============== //
static inline void fp32_quaternion_set_conjugate_fp64(const fp64_quaternion_t* quaternion, fp32_quaternion_t* result)
inline void quaternion_fp32_set_conjugate_fp64(const quaternion_fp64_t* quaternion, quaternion_fp32_t* result)
{
result->s0 = (float) quaternion->s0;
result->x1 = (float) -quaternion->x1;
@ -187,7 +187,7 @@ static inline void fp32_quaternion_set_conjugate_fp64(const fp64_quaternion_t* q
result->x3 = (float) -quaternion->x3;
}
static inline void fp64_quaternion_set_conjugate_fp32(const fp32_quaternion_t* quaternion, fp64_quaternion_t* result)
inline void quaternion_fp64_set_conjugate_fp32(const quaternion_fp32_t* quaternion, quaternion_fp64_t* result)
{
result->s0 = quaternion->s0;
result->x1 = -quaternion->x1;
@ -197,40 +197,40 @@ static inline void fp64_quaternion_set_conjugate_fp32(const fp32_quaternion_t* q
// ============= Get Square Modulus ============= //
static inline float fp32_quaternion_get_square_modulus(const fp32_quaternion_t* quaternion)
inline float quaternion_get_square_modulus_fp32(const quaternion_fp32_t* quaternion)
{
return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
}
static inline double fp64_quaternion_get_square_modulus(const fp64_quaternion_t* quaternion)
inline double quaternion_get_square_modulus_fp64(const quaternion_fp64_t* quaternion)
{
return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
}
// ================ Get Modulus ================= //
static inline float fp32_quaternion_get_modulus(const fp32_quaternion_t* quaternion)
inline float quaternion_get_modulus_fp32(const quaternion_fp32_t* quaternion)
{
return sqrtf(fp32_quaternion_get_square_modulus(quaternion));
return sqrtf(quaternion_get_square_modulus_fp32(quaternion));
}
static inline double fp64_quaternion_get_modulus(const fp64_quaternion_t* quaternion)
inline double quaternion_get_modulus_fp64(const quaternion_fp64_t* quaternion)
{
return sqrt(fp64_quaternion_get_square_modulus(quaternion));
return sqrt(quaternion_get_square_modulus_fp64(quaternion));
}
// =============== Normalization ================ //
static inline int fp32_quaternion_normalize(fp32_quaternion_t* quaternion)
inline int quaternion_fp32_normalize(quaternion_fp32_t* quaternion)
{
const float square_modulus = fp32_quaternion_get_square_modulus(quaternion);
const float square_modulus = quaternion_get_square_modulus_fp32(quaternion);
if (1.0f - FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + FP32_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= FP32_SQUARE_EPSYLON) {
fp32_quaternion_reset(quaternion);
quaternion_reset_fp32(quaternion);
return 0;
}
@ -244,16 +244,16 @@ static inline int fp32_quaternion_normalize(fp32_quaternion_t* quaternion)
return 1;
}
static inline int fp64_quaternion_normalize(fp64_quaternion_t* quaternion)
inline int quaternion_fp64_normalize(quaternion_fp64_t* quaternion)
{
const double square_modulus = fp64_quaternion_get_square_modulus(quaternion);
const double square_modulus = quaternion_get_square_modulus_fp64(quaternion);
if (1.0 - FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + FP64_TWO_EPSYLON) {
return 1;
}
if (square_modulus <= FP32_SQUARE_EPSYLON) {
fp64_quaternion_reset(quaternion);
quaternion_reset_fp64(quaternion);
return 0;
}
@ -269,7 +269,7 @@ static inline int fp64_quaternion_normalize(fp64_quaternion_t* quaternion)
// ============ Make Rotation Matrix ============ //
static inline void fp32_quaternion_get_rotation_matrix(const fp32_quaternion_t* quaternion, fp32_matrix3x3_t* matrix)
inline void quaternion_fp32_get_rotation_matrix(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
@ -280,7 +280,7 @@ static inline void fp32_quaternion_get_rotation_matrix(const fp32_quaternion_t*
if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON)
{
fp32_matrix3x3_set_to_identity(matrix);
matrix3x3_fp32_set_to_identity(matrix);
return;
}
@ -307,7 +307,7 @@ static inline void fp32_quaternion_get_rotation_matrix(const fp32_quaternion_t*
matrix->r1c3 = corrector2 * (x1x3 + s0x2);
}
static inline void fp64_quaternion_get_rotation_matrix(const fp64_quaternion_t* quaternion, fp64_matrix3x3_t* matrix)
inline void quaternion_fp64_get_rotation_matrix(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;
@ -318,7 +318,7 @@ static inline void fp64_quaternion_get_rotation_matrix(const fp64_quaternion_t*
if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON)
{
fp64_matrix3x3_set_to_identity(matrix);
matrix3x3_fp64_set_to_identity(matrix);
return;
}
@ -347,7 +347,7 @@ static inline void fp64_quaternion_get_rotation_matrix(const fp64_quaternion_t*
// ============ Make Reverse Matrix ============= //
static inline void fp32_quaternion_get_reverse_matrix(const fp32_quaternion_t* quaternion, fp32_matrix3x3_t* matrix)
inline void quaternion_fp32_get_reverse_matrix(const quaternion_fp32_t* quaternion, matrix3x3_fp32_t* matrix)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
@ -358,7 +358,7 @@ static inline void fp32_quaternion_get_reverse_matrix(const fp32_quaternion_t* q
if (-FP32_EPSYLON <= square_modulus && square_modulus <= FP32_EPSYLON)
{
fp32_matrix3x3_set_to_identity(matrix);
matrix3x3_fp32_set_to_identity(matrix);
return;
}
@ -385,7 +385,7 @@ static inline void fp32_quaternion_get_reverse_matrix(const fp32_quaternion_t* q
matrix->r1c3 = corrector2 * (x1x3 - s0x2);
}
static inline void fp64_quaternion_get_reverse_matrix(const fp64_quaternion_t* quaternion, fp64_matrix3x3_t* matrix)
inline void quaternion_fp64_get_reverse_matrix(const quaternion_fp64_t* quaternion, matrix3x3_fp64_t* matrix)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;
@ -396,7 +396,7 @@ static inline void fp64_quaternion_get_reverse_matrix(const fp64_quaternion_t* q
if (-FP64_EPSYLON <= square_modulus && square_modulus <= FP64_EPSYLON)
{
fp64_matrix3x3_set_to_identity(matrix);
matrix3x3_fp64_set_to_identity(matrix);
return;
}
@ -425,7 +425,7 @@ static inline void fp64_quaternion_get_reverse_matrix(const fp64_quaternion_t* q
// ==================== Add ===================== //
static inline void fp32_quaternion_add(const fp32_quaternion_t * quaternion1, const fp32_quaternion_t * quaternion2, fp32_quaternion_t * result)
inline void quaternion_fp32_add(const quaternion_fp32_t * quaternion1, const quaternion_fp32_t * quaternion2, quaternion_fp32_t * result)
{
result->s0 = quaternion1->s0 + quaternion2->s0;
result->x1 = quaternion1->x1 + quaternion2->x1;
@ -433,7 +433,7 @@ static inline void fp32_quaternion_add(const fp32_quaternion_t * quaternion1, co
result->x3 = quaternion1->x3 + quaternion2->x3;
}
static inline void fp64_quaternion_add(const fp64_quaternion_t * quaternion1, const fp64_quaternion_t * quaternion2, fp64_quaternion_t * result)
inline void quaternion_fp64_add(const quaternion_fp64_t * quaternion1, const quaternion_fp64_t * quaternion2, quaternion_fp64_t * result)
{
result->s0 = quaternion1->s0 + quaternion2->s0;
result->x1 = quaternion1->x1 + quaternion2->x1;
@ -443,7 +443,7 @@ static inline void fp64_quaternion_add(const fp64_quaternion_t * quaternion1, co
// ================== Subtract ================== //
static inline void fp32_quaternion_subtract(const fp32_quaternion_t * minuend, const fp32_quaternion_t * subtrahend, fp32_quaternion_t * difference)
inline void quaternion_fp32_subtract(const quaternion_fp32_t * minuend, const quaternion_fp32_t * subtrahend, quaternion_fp32_t * difference)
{
difference->s0 = minuend->s0 - subtrahend->s0;
difference->x1 = minuend->x1 - subtrahend->x1;
@ -451,7 +451,7 @@ static inline void fp32_quaternion_subtract(const fp32_quaternion_t * minuend, c
difference->x3 = minuend->x3 - subtrahend->x3;
}
static inline void fp64_quaternion_subtract(const fp64_quaternion_t * minuend, const fp64_quaternion_t * subtrahend, fp64_quaternion_t * difference)
inline void quaternion_fp64_subtract(const quaternion_fp64_t * minuend, const quaternion_fp64_t * subtrahend, quaternion_fp64_t * difference)
{
difference->s0 = minuend->s0 - subtrahend->s0;
difference->x1 = minuend->x1 - subtrahend->x1;
@ -461,7 +461,7 @@ static inline void fp64_quaternion_subtract(const fp64_quaternion_t * minuend, c
// =============== Multiplication =============== //
static inline void fp32_quaternion_multiply(const fp32_quaternion_t* multiplicand, const float multipier, fp32_quaternion_t* product)
inline void quaternion_fp32_multiply(const quaternion_fp32_t* multiplicand, const float multipier, quaternion_fp32_t* product)
{
product->s0 = multiplicand->s0 * multipier;
product->x1 = multiplicand->x1 * multipier;
@ -469,7 +469,7 @@ static inline void fp32_quaternion_multiply(const fp32_quaternion_t* multiplican
product->x3 = multiplicand->x3 * multipier;
}
static inline void fp64_quaternion_multiply(const fp64_quaternion_t* multiplicand, const double multipier, fp64_quaternion_t* product)
inline void quaternion_fp64_multiply(const quaternion_fp64_t* multiplicand, const double multipier, quaternion_fp64_t* product)
{
product->s0 = multiplicand->s0 * multipier;
product->x1 = multiplicand->x1 * multipier;
@ -479,19 +479,19 @@ static inline void fp64_quaternion_multiply(const fp64_quaternion_t* multiplican
// ================== Division ================== //
static inline void fp32_quaternion_divide(const fp32_quaternion_t* dividend, const float divisor, fp32_quaternion_t* quotient)
inline void quaternion_fp32_divide(const quaternion_fp32_t* dividend, const float divisor, quaternion_fp32_t* quotient)
{
fp32_quaternion_multiply(dividend, 1.0f / divisor, quotient);
quaternion_fp32_multiply(dividend, 1.0f / divisor, quotient);
}
static inline void fp64_quaternion_divide(const fp64_quaternion_t* dividend, const double divisor, fp64_quaternion_t* quotient)
inline void quaternion_fp64_divide(const quaternion_fp64_t* dividend, const double divisor, quaternion_fp64_t* quotient)
{
fp64_quaternion_multiply(dividend, 1.0 / divisor, quotient);
quaternion_fp64_multiply(dividend, 1.0 / divisor, quotient);
}
// ================== Product =================== //
static inline void fp32_quaternion_get_product(const fp32_quaternion_t* left, const fp32_quaternion_t* right, fp32_quaternion_t* product)
inline void quaternion_fp32_get_product(const quaternion_fp32_t* left, const quaternion_fp32_t* right, quaternion_fp32_t* product)
{
const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@ -504,7 +504,7 @@ static inline void fp32_quaternion_get_product(const fp32_quaternion_t* left, co
product->x3 = x3;
}
static inline void fp64_quaternion_get_product(const fp64_quaternion_t* left, const fp64_quaternion_t* right, fp64_quaternion_t* product)
inline void quaternion_fp64_get_product(const quaternion_fp64_t* left, const quaternion_fp64_t* right, quaternion_fp64_t* product)
{
const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);