Большое переупорядочивание исходного кода
This commit is contained in:
Andrey Pokidov
parent
fffe2be43b
commit
43bf030295
26 changed files with 1225 additions and 1137 deletions
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@ -69,6 +69,54 @@ inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, con
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quaternion->x3 = x3;
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}
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// ============= Get Square Modulus ============= //
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inline float bgc_quaternion_get_square_modulus_fp32(const BgcQuaternionFP32* quaternion)
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{
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return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
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}
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inline double bgc_quaternion_get_square_modulus_fp64(const BgcQuaternionFP64* quaternion)
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{
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return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
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}
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// ================ Get Modulus ================= //
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inline float bgc_quaternion_get_modulus_fp32(const BgcQuaternionFP32* quaternion)
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{
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return sqrtf(bgc_quaternion_get_square_modulus_fp32(quaternion));
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}
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inline double bgc_quaternion_get_modulus_fp64(const BgcQuaternionFP64* quaternion)
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{
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return sqrt(bgc_quaternion_get_square_modulus_fp64(quaternion));
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}
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// ================== Is Zero =================== //
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inline int bgc_quaternion_is_zero_fp32(const BgcQuaternionFP32* quaternion)
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{
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return bgc_quaternion_get_square_modulus_fp32(quaternion) <= BGC_SQUARE_EPSYLON_FP32;
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}
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inline int bgc_quaternion_is_zero_fp64(const BgcQuaternionFP64* quaternion)
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{
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return bgc_quaternion_get_square_modulus_fp64(quaternion) <= BGC_SQUARE_EPSYLON_FP64;
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}
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// ================== Is Unit =================== //
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inline int bgc_quaternion_is_unit_fp32(const BgcQuaternionFP32* quaternion)
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{
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return bgc_is_sqare_unit_fp32(bgc_quaternion_get_square_modulus_fp32(quaternion));
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}
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inline int bgc_quaternion_is_unit_fp64(const BgcQuaternionFP64* quaternion)
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{
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return bgc_is_sqare_unit_fp64(bgc_quaternion_get_square_modulus_fp64(quaternion));
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}
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// ==================== Copy ==================== //
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inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* from, BgcQuaternionFP32* to)
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@ -125,7 +173,7 @@ inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuatern
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quarternion1->x3 = x3;
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}
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// ============= Copy to twin type ============== //
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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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{
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@ -143,7 +191,7 @@ inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* quatern
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result->x3 = quaternion->x3;
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}
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// ================= Inversion ================== //
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// ================= Conjugate ================== //
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inline void bgc_quaternion_conjugate_fp32(BgcQuaternionFP32* quaternion)
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{
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@ -159,101 +207,17 @@ inline void bgc_quaternion_conjugate_fp64(BgcQuaternionFP64* quaternion)
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quaternion->x3 = -quaternion->x3;
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}
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// ================ Set Conjugate =============== //
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inline void bgc_quaternion_set_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* result)
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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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}
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inline void bgc_quaternion_set_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* result)
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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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}
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// ================ Set Conjugate =============== //
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inline void bgc_quaternion_set_conjugate_fp64_to_fp32(const BgcQuaternionFP64* quaternion, BgcQuaternionFP32* result)
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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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}
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inline void bgc_quaternion_set_conjugate_fp32_to_fp64(const BgcQuaternionFP32* quaternion, BgcQuaternionFP64* result)
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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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}
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// ============= Get Square Modulus ============= //
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inline float bgc_quaternion_get_square_modulus_fp32(const BgcQuaternionFP32* quaternion)
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{
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return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
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}
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inline double bgc_quaternion_get_square_modulus_fp64(const BgcQuaternionFP64* quaternion)
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{
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return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
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}
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// ================ Get Modulus ================= //
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inline float bgc_quaternion_get_modulus_fp32(const BgcQuaternionFP32* quaternion)
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{
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return sqrtf(bgc_quaternion_get_square_modulus_fp32(quaternion));
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}
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inline double bgc_quaternion_get_modulus_fp64(const BgcQuaternionFP64* quaternion)
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{
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return sqrt(bgc_quaternion_get_square_modulus_fp64(quaternion));
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}
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// ================== Is Zero =================== //
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inline int bgc_quaternion_is_zero_fp32(const BgcQuaternionFP32* quaternion)
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{
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return bgc_quaternion_get_square_modulus_fp32(quaternion) <= BGC_SQUARE_EPSYLON_FP32;
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}
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inline int bgc_quaternion_is_zero_fp64(const BgcQuaternionFP64* quaternion)
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{
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return bgc_quaternion_get_square_modulus_fp64(quaternion) <= BGC_SQUARE_EPSYLON_FP64;
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}
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// ================== Is Unit =================== //
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inline int bgc_quaternion_is_unit_fp32(const BgcQuaternionFP32* quaternion)
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{
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return bgc_is_sqare_value_unit_fp32(bgc_quaternion_get_square_modulus_fp32(quaternion));
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}
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inline int bgc_quaternion_is_unit_fp64(const BgcQuaternionFP64* quaternion)
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{
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return bgc_is_sqare_value_unit_fp64(bgc_quaternion_get_square_modulus_fp64(quaternion));
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}
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// =============== Normalization ================ //
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// ================= Normalize ================== //
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inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion)
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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_value_unit_fp32(square_modulus)) {
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if (bgc_is_sqare_unit_fp32(square_modulus)) {
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return 1;
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}
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) {
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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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@ -272,11 +236,11 @@ inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion)
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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_value_unit_fp64(square_modulus)) {
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if (bgc_is_sqare_unit_fp64(square_modulus)) {
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return 1;
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}
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32) {
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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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@ -291,9 +255,69 @@ inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion)
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return 1;
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}
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// =============== Make Conjugate =============== //
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inline void bgc_quaternion_make_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_make_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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// ============== Make Normalized =============== //
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inline int bgc_quaternion_make_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_make_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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inline void bgc_quaternion_make_product_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product)
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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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const float x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
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const float x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
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product->s0 = s0;
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product->x1 = x1;
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product->x2 = x2;
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product->x3 = x3;
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}
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inline void bgc_quaternion_make_product_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* product)
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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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const double x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
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const double x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
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product->s0 = s0;
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product->x1 = x1;
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product->x2 = x2;
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product->x3 = x3;
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}
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// ============ Make Rotation Matrix ============ //
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inline void bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* matrix)
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inline void bgc_quaternion_make_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation)
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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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@ -302,14 +326,13 @@ inline void bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* qua
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const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
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if (bgc_is_zero_fp32(square_modulus))
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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(matrix);
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bgc_matrix3x3_set_to_identity_fp32(rotation);
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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 corrector2 = 2.0f * corrector1;
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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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@ -318,20 +341,22 @@ inline void bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* qua
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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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matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
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matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
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matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
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const float corrector2 = 2.0f * corrector1;
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matrix->r1c2 = corrector2 * (x1x2 - s0x3);
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matrix->r2c3 = corrector2 * (x2x3 - s0x1);
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matrix->r3c1 = corrector2 * (x1x3 - s0x2);
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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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matrix->r2c1 = corrector2 * (x1x2 + s0x3);
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matrix->r3c2 = corrector2 * (x2x3 + s0x1);
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matrix->r1c3 = corrector2 * (x1x3 + s0x2);
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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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inline void bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* matrix)
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inline void bgc_quaternion_make_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation)
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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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@ -340,14 +365,13 @@ inline void bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* qua
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const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
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if (bgc_is_zero_fp64(square_modulus))
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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(matrix);
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bgc_matrix3x3_set_to_identity_fp64(rotation);
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return;
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}
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const double corrector1 = 1.0f / square_modulus;
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const double corrector2 = 2.0f * corrector1;
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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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@ -356,22 +380,24 @@ inline void bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* qua
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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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matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
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matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
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matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
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const double corrector2 = 2.0f * corrector1;
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matrix->r1c2 = corrector2 * (x1x2 - s0x3);
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matrix->r2c3 = corrector2 * (x2x3 - s0x1);
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matrix->r3c1 = corrector2 * (x1x3 - s0x2);
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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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matrix->r2c1 = corrector2 * (x1x2 + s0x3);
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matrix->r3c2 = corrector2 * (x2x3 + s0x1);
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matrix->r1c3 = corrector2 * (x1x3 + s0x2);
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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);
|
||||
rotation->r3c2 = corrector2 * (x2x3 + s0x1);
|
||||
rotation->r1c3 = corrector2 * (x1x3 + s0x2);
|
||||
}
|
||||
|
||||
// ============ Make Reverse Matrix ============= //
|
||||
|
||||
inline void bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* matrix)
|
||||
inline void bgc_quaternion_make_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* reverse)
|
||||
{
|
||||
const float s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const float x1x1 = quaternion->x1 * quaternion->x1;
|
||||
|
|
@ -380,14 +406,13 @@ inline void bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quat
|
|||
|
||||
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
|
||||
if (-BGC_EPSYLON_FP32 <= square_modulus && square_modulus <= BGC_EPSYLON_FP32)
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus)
|
||||
{
|
||||
bgc_matrix3x3_set_to_identity_fp32(matrix);
|
||||
bgc_matrix3x3_set_to_identity_fp32(reverse);
|
||||
return;
|
||||
}
|
||||
|
||||
const float corrector1 = 1.0f / square_modulus;
|
||||
const float corrector2 = 2.0f * corrector1;
|
||||
|
||||
const float s0x1 = quaternion->s0 * quaternion->x1;
|
||||
const float s0x2 = quaternion->s0 * quaternion->x2;
|
||||
|
|
@ -396,20 +421,22 @@ inline void bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quat
|
|||
const float x1x3 = quaternion->x1 * quaternion->x3;
|
||||
const float x2x3 = quaternion->x2 * quaternion->x3;
|
||||
|
||||
matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
|
||||
matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
|
||||
matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
|
||||
const float corrector2 = 2.0f * corrector1;
|
||||
|
||||
matrix->r1c2 = corrector2 * (x1x2 + s0x3);
|
||||
matrix->r2c3 = corrector2 * (x2x3 + s0x1);
|
||||
matrix->r3c1 = corrector2 * (x1x3 + s0x2);
|
||||
reverse->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
|
||||
reverse->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
|
||||
reverse->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
|
||||
|
||||
matrix->r2c1 = corrector2 * (x1x2 - s0x3);
|
||||
matrix->r3c2 = corrector2 * (x2x3 - s0x1);
|
||||
matrix->r1c3 = corrector2 * (x1x3 - s0x2);
|
||||
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* matrix)
|
||||
inline void bgc_quaternion_make_reverse_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* reverse)
|
||||
{
|
||||
const double s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const double x1x1 = quaternion->x1 * quaternion->x1;
|
||||
|
|
@ -418,14 +445,13 @@ inline void bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quat
|
|||
|
||||
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
|
||||
if (-BGC_EPSYLON_FP64 <= square_modulus && square_modulus <= BGC_EPSYLON_FP64)
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus)
|
||||
{
|
||||
bgc_matrix3x3_set_to_identity_fp64(matrix);
|
||||
bgc_matrix3x3_set_to_identity_fp64(reverse);
|
||||
return;
|
||||
}
|
||||
|
||||
const double corrector1 = 1.0f / square_modulus;
|
||||
const double corrector2 = 2.0f * corrector1;
|
||||
|
||||
const double s0x1 = quaternion->s0 * quaternion->x1;
|
||||
const double s0x2 = quaternion->s0 * quaternion->x2;
|
||||
|
|
@ -434,17 +460,19 @@ inline void bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quat
|
|||
const double x1x3 = quaternion->x1 * quaternion->x3;
|
||||
const double x2x3 = quaternion->x2 * quaternion->x3;
|
||||
|
||||
matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
|
||||
matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
|
||||
matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
|
||||
const double corrector2 = 2.0f * corrector1;
|
||||
|
||||
matrix->r1c2 = corrector2 * (x1x2 + s0x3);
|
||||
matrix->r2c3 = corrector2 * (x2x3 + s0x1);
|
||||
matrix->r3c1 = corrector2 * (x1x3 + s0x2);
|
||||
reverse->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
|
||||
reverse->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
|
||||
reverse->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
|
||||
|
||||
matrix->r2c1 = corrector2 * (x1x2 - s0x3);
|
||||
matrix->r3c2 = corrector2 * (x2x3 - s0x1);
|
||||
matrix->r1c3 = corrector2 * (x1x3 - s0x2);
|
||||
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);
|
||||
}
|
||||
|
||||
// ==================== Add ===================== //
|
||||
|
|
@ -501,7 +529,25 @@ inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64 * minuend, cons
|
|||
difference->x3 = minuend->x3 - subtrahend->x3;
|
||||
}
|
||||
|
||||
// =============== Multiplication =============== //
|
||||
// ============== Subtract scaled =============== //
|
||||
|
||||
inline void bgc_quaternion_subtract_scaled_fp32(const BgcQuaternionFP32 * basic_quaternion, const BgcQuaternionFP32 * scalable_quaternion, const float scale, BgcQuaternionFP32 * difference)
|
||||
{
|
||||
difference->s0 = basic_quaternion->s0 - scalable_quaternion->s0 * scale;
|
||||
difference->x1 = basic_quaternion->x1 - scalable_quaternion->x1 * scale;
|
||||
difference->x2 = basic_quaternion->x2 - scalable_quaternion->x2 * scale;
|
||||
difference->x3 = basic_quaternion->x3 - scalable_quaternion->x3 * scale;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_subtract_scaled_fp64(const BgcQuaternionFP64 * basic_quaternion, const BgcQuaternionFP64 * scalable_quaternion, const double scale, BgcQuaternionFP64 * difference)
|
||||
{
|
||||
difference->s0 = basic_quaternion->s0 - scalable_quaternion->s0 * scale;
|
||||
difference->x1 = basic_quaternion->x1 - scalable_quaternion->x1 * scale;
|
||||
difference->x2 = basic_quaternion->x2 - scalable_quaternion->x2 * scale;
|
||||
difference->x3 = basic_quaternion->x3 - scalable_quaternion->x3 * scale;
|
||||
}
|
||||
|
||||
// ================== Multiply ================== //
|
||||
|
||||
inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* multiplicand, const float multipier, BgcQuaternionFP32* product)
|
||||
{
|
||||
|
|
@ -519,7 +565,7 @@ inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* multiplicand,
|
|||
product->x3 = multiplicand->x3 * multipier;
|
||||
}
|
||||
|
||||
// ================== Division ================== //
|
||||
// =================== Divide =================== //
|
||||
|
||||
inline void bgc_quaternion_divide_fp32(const BgcQuaternionFP32* dividend, const float divisor, BgcQuaternionFP32* quotient)
|
||||
{
|
||||
|
|
@ -531,34 +577,6 @@ inline void bgc_quaternion_divide_fp64(const BgcQuaternionFP64* dividend, const
|
|||
bgc_quaternion_multiply_fp64(dividend, 1.0 / divisor, quotient);
|
||||
}
|
||||
|
||||
// ================== Product =================== //
|
||||
|
||||
inline void bgc_quaternion_get_product_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* 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);
|
||||
const float x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
|
||||
const float x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
|
||||
|
||||
product->s0 = s0;
|
||||
product->x1 = x1;
|
||||
product->x2 = x2;
|
||||
product->x3 = x3;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_get_product_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* 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);
|
||||
const double x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
|
||||
const double x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
|
||||
|
||||
product->s0 = s0;
|
||||
product->x1 = x1;
|
||||
product->x2 = x2;
|
||||
product->x3 = x3;
|
||||
}
|
||||
|
||||
// ================== Are Close ================= //
|
||||
|
||||
inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue