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Добавление квалификатора const, который запрещает изменение указателя

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Andrey Pokidov 2026-03-23 18:55:33 +07:00
parent 51fafe50c8
commit 610756ffed
14 changed files with 1019 additions and 1039 deletions
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128
basic-geometry/complex.c
View file

@ -1,101 +1,101 @@
#include "./complex.h"
extern inline void bgc_fp32_complex_reset(BGC_FP32_Complex* complex);
extern inline void bgc_fp64_complex_reset(BGC_FP64_Complex* complex);
extern inline void bgc_fp32_complex_reset(BGC_FP32_Complex* const complex);
extern inline void bgc_fp64_complex_reset(BGC_FP64_Complex* const complex);
extern inline void bgc_fp32_complex_make(BGC_FP32_Complex* complex, const float real, const float imaginary);
extern inline void bgc_fp64_complex_make(BGC_FP64_Complex* complex, const double real, const double imaginary);
extern inline void bgc_fp32_complex_make(BGC_FP32_Complex* const complex, const float real, const float imaginary);
extern inline void bgc_fp64_complex_make(BGC_FP64_Complex* const complex, const double real, const double imaginary);
extern inline float bgc_fp32_complex_get_square_modulus(const BGC_FP32_Complex* number);
extern inline double bgc_fp64_complex_get_square_modulus(const BGC_FP64_Complex* number);
extern inline float bgc_fp32_complex_get_square_modulus(const BGC_FP32_Complex* const number);
extern inline double bgc_fp64_complex_get_square_modulus(const BGC_FP64_Complex* const number);
extern inline float bgc_fp32_complex_get_modulus(const BGC_FP32_Complex* number);
extern inline double bgc_fp64_complex_get_modulus(const BGC_FP64_Complex* number);
extern inline float bgc_fp32_complex_get_modulus(const BGC_FP32_Complex* const number);
extern inline double bgc_fp64_complex_get_modulus(const BGC_FP64_Complex* const number);
extern inline int bgc_fp32_complex_is_zero(const BGC_FP32_Complex* number);
extern inline int bgc_fp64_complex_is_zero(const BGC_FP64_Complex* number);
extern inline int bgc_fp32_complex_is_zero(const BGC_FP32_Complex* const number);
extern inline int bgc_fp64_complex_is_zero(const BGC_FP64_Complex* const number);
extern inline int bgc_fp32_complex_is_unit(const BGC_FP32_Complex* number);
extern inline int bgc_fp64_complex_is_unit(const BGC_FP64_Complex* number);
extern inline int bgc_fp32_complex_is_unit(const BGC_FP32_Complex* const number);
extern inline int bgc_fp64_complex_is_unit(const BGC_FP64_Complex* const number);
extern inline void bgc_fp32_complex_copy(BGC_FP32_Complex* destination, const BGC_FP32_Complex* source);
extern inline void bgc_fp64_complex_copy(BGC_FP64_Complex* destination, const BGC_FP64_Complex* source);
extern inline void bgc_fp32_complex_copy(BGC_FP32_Complex* const destination, const BGC_FP32_Complex* const source);
extern inline void bgc_fp64_complex_copy(BGC_FP64_Complex* const destination, const BGC_FP64_Complex* const source);
extern inline void bgc_fp32_complex_swap(BGC_FP32_Complex* number1, BGC_FP32_Complex* number2);
extern inline void bgc_fp64_complex_swap(BGC_FP64_Complex* number1, BGC_FP64_Complex* number2);
extern inline void bgc_fp32_complex_swap(BGC_FP32_Complex* const number1, BGC_FP32_Complex* const number2);
extern inline void bgc_fp64_complex_swap(BGC_FP64_Complex* const number1, BGC_FP64_Complex* const number2);
extern inline void bgc_fp64_complex_convert_to_fp32(BGC_FP32_Complex* destination, const BGC_FP64_Complex* source);
extern inline void bgc_fp32_complex_convert_to_fp64(BGC_FP64_Complex* destination, const BGC_FP32_Complex* source);
extern inline void bgc_fp64_complex_convert_to_fp32(BGC_FP32_Complex* const destination, const BGC_FP64_Complex* const source);
extern inline void bgc_fp32_complex_convert_to_fp64(BGC_FP64_Complex* const destination, const BGC_FP32_Complex* const source);
extern inline void bgc_fp32_complex_revert(BGC_FP32_Complex* number);
extern inline void bgc_fp64_complex_revert(BGC_FP64_Complex* number);
extern inline void bgc_fp32_complex_revert(BGC_FP32_Complex* const number);
extern inline void bgc_fp64_complex_revert(BGC_FP64_Complex* const number);
extern inline void bgc_fp32_complex_get_reverse(BGC_FP32_Complex* reverse, const BGC_FP32_Complex* number);
extern inline void bgc_fp64_complex_get_reverse(BGC_FP64_Complex* reverse, const BGC_FP64_Complex* number);
extern inline void bgc_fp32_complex_get_reverse(BGC_FP32_Complex* const reverse, const BGC_FP32_Complex* const number);
extern inline void bgc_fp64_complex_get_reverse(BGC_FP64_Complex* const reverse, const BGC_FP64_Complex* const number);
extern inline int bgc_fp32_complex_normalize(BGC_FP32_Complex* number);
extern inline int bgc_fp64_complex_normalize(BGC_FP64_Complex* number);
extern inline int bgc_fp32_complex_normalize(BGC_FP32_Complex* const number);
extern inline int bgc_fp64_complex_normalize(BGC_FP64_Complex* const number);
extern inline int bgc_fp32_complex_get_normalized(BGC_FP32_Complex* normalized, const BGC_FP32_Complex* number);
extern inline int bgc_fp64_complex_get_normalized(BGC_FP64_Complex* normalized, const BGC_FP64_Complex* number);
extern inline int bgc_fp32_complex_get_normalized(BGC_FP32_Complex* const normalized, const BGC_FP32_Complex* const number);
extern inline int bgc_fp64_complex_get_normalized(BGC_FP64_Complex* const normalized, const BGC_FP64_Complex* const number);
extern inline void bgc_fp32_complex_conjugate(BGC_FP32_Complex* number);
extern inline void bgc_fp64_complex_conjugate(BGC_FP64_Complex* number);
extern inline void bgc_fp32_complex_conjugate(BGC_FP32_Complex* const number);
extern inline void bgc_fp64_complex_conjugate(BGC_FP64_Complex* const number);
extern inline void bgc_fp32_complex_get_conjugate(BGC_FP32_Complex* conjugate, const BGC_FP32_Complex* number);
extern inline void bgc_fp64_complex_get_conjugate(BGC_FP64_Complex* conjugate, const BGC_FP64_Complex* number);
extern inline void bgc_fp32_complex_get_conjugate(BGC_FP32_Complex* const conjugate, const BGC_FP32_Complex* const number);
extern inline void bgc_fp64_complex_get_conjugate(BGC_FP64_Complex* const conjugate, const BGC_FP64_Complex* const number);
extern inline int bgc_fp32_complex_invert(BGC_FP32_Complex* number);
extern inline int bgc_fp64_complex_invert(BGC_FP64_Complex* number);
extern inline int bgc_fp32_complex_invert(BGC_FP32_Complex* const number);
extern inline int bgc_fp64_complex_invert(BGC_FP64_Complex* const number);
extern inline int bgc_fp32_complex_get_inverse(BGC_FP32_Complex* inverse, const BGC_FP32_Complex* number);
extern inline int bgc_fp64_complex_get_inverse(BGC_FP64_Complex* inverse, const BGC_FP64_Complex* number);
extern inline int bgc_fp32_complex_get_inverse(BGC_FP32_Complex* const inverse, const BGC_FP32_Complex* const number);
extern inline int bgc_fp64_complex_get_inverse(BGC_FP64_Complex* const inverse, const BGC_FP64_Complex* const number);
extern inline void bgc_fp32_complex_add(BGC_FP32_Complex* sum, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2);
extern inline void bgc_fp64_complex_add(BGC_FP64_Complex* sum, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2);
extern inline void bgc_fp32_complex_add(BGC_FP32_Complex* const sum, const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2);
extern inline void bgc_fp64_complex_add(BGC_FP64_Complex* const sum, const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2);
extern inline void bgc_fp32_complex_add_scaled(BGC_FP32_Complex* sum, const BGC_FP32_Complex* basic_number, const BGC_FP32_Complex* scalable_number, const float scale);
extern inline void bgc_fp64_complex_add_scaled(BGC_FP64_Complex* sum, const BGC_FP64_Complex* basic_number, const BGC_FP64_Complex* scalable_number, const double scale);
extern inline void bgc_fp32_complex_add_scaled(BGC_FP32_Complex* const sum, const BGC_FP32_Complex* const basic_number, const BGC_FP32_Complex* const scalable_number, const float scale);
extern inline void bgc_fp64_complex_add_scaled(BGC_FP64_Complex* const sum, const BGC_FP64_Complex* const basic_number, const BGC_FP64_Complex* const scalable_number, const double scale);
extern inline void bgc_fp32_complex_subtract(BGC_FP32_Complex* difference, const BGC_FP32_Complex* minuend, const BGC_FP32_Complex* subtrahend);
extern inline void bgc_fp64_complex_subtract(BGC_FP64_Complex* difference, const BGC_FP64_Complex* minuend, const BGC_FP64_Complex* subtrahend);
extern inline void bgc_fp32_complex_subtract(BGC_FP32_Complex* const difference, const BGC_FP32_Complex* const minuend, const BGC_FP32_Complex* const subtrahend);
extern inline void bgc_fp64_complex_subtract(BGC_FP64_Complex* const difference, const BGC_FP64_Complex* const minuend, const BGC_FP64_Complex* const subtrahend);
extern inline void bgc_fp32_complex_subtract_scaled(BGC_FP32_Complex* difference, const BGC_FP32_Complex* basic_number, const BGC_FP32_Complex* scalable_number, const float scale);
extern inline void bgc_fp64_complex_subtract_scaled(BGC_FP64_Complex* difference, const BGC_FP64_Complex* basic_number, const BGC_FP64_Complex* scalable_number, const double scale);
extern inline void bgc_fp32_complex_subtract_scaled(BGC_FP32_Complex* const difference, const BGC_FP32_Complex* const basic_number, const BGC_FP32_Complex* const scalable_number, const float scale);
extern inline void bgc_fp64_complex_subtract_scaled(BGC_FP64_Complex* const difference, const BGC_FP64_Complex* const basic_number, const BGC_FP64_Complex* const scalable_number, const double scale);
extern inline void bgc_fp32_complex_multiply_by_real(BGC_FP32_Complex* product, const BGC_FP32_Complex* multiplicand, const float multiplier);
extern inline void bgc_fp64_complex_multiply_by_real(BGC_FP64_Complex* product, const BGC_FP64_Complex* multiplicand, const double multiplier);
extern inline void bgc_fp32_complex_multiply_by_real(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const float multiplier);
extern inline void bgc_fp64_complex_multiply_by_real(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const double multiplier);
extern inline void bgc_fp32_complex_multiply_by_complex(BGC_FP32_Complex* product, const BGC_FP32_Complex* multiplicand, const BGC_FP32_Complex* multiplier);
extern inline void bgc_fp64_complex_multiply_by_complex(BGC_FP64_Complex* product, const BGC_FP64_Complex* multiplicand, const BGC_FP64_Complex* multiplier);
extern inline void bgc_fp32_complex_multiply_by_complex(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier);
extern inline void bgc_fp64_complex_multiply_by_complex(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier);
extern inline void bgc_fp32_complex_multiply_by_conjugate(BGC_FP32_Complex* product, const BGC_FP32_Complex* multiplicand, const BGC_FP32_Complex* multiplier_to_conjugate);
extern inline void bgc_fp64_complex_multiply_by_conjugate(BGC_FP64_Complex* product, const BGC_FP64_Complex* multiplicand, const BGC_FP64_Complex* multiplier_to_conjugate);
extern inline void bgc_fp32_complex_multiply_by_conjugate(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier_to_conjugate);
extern inline void bgc_fp64_complex_multiply_by_conjugate(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier_to_conjugate);
extern inline int bgc_fp32_complex_divide_by_real(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* dividend, const float divisor);
extern inline int bgc_fp64_complex_divide_by_real(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* dividend, const double divisor);
extern inline int bgc_fp32_complex_divide_by_real(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const dividend, const float divisor);
extern inline int bgc_fp64_complex_divide_by_real(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const dividend, const double divisor);
extern inline int bgc_fp32_complex_divide_by_complex(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* divident, const BGC_FP32_Complex* divisor);
extern inline int bgc_fp64_complex_divide_by_complex(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* divident, const BGC_FP64_Complex* divisor);
extern inline int bgc_fp32_complex_divide_by_complex(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor);
extern inline int bgc_fp64_complex_divide_by_complex(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor);
extern inline int bgc_fp32_complex_divide_by_conjugate(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* divident, const BGC_FP32_Complex* divisor_to_conjugate);
extern inline int bgc_fp64_complex_divide_by_conjugate(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* divident, const BGC_FP64_Complex* divisor_to_conjugate);
extern inline int bgc_fp32_complex_divide_by_conjugate(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor_to_conjugate);
extern inline int bgc_fp64_complex_divide_by_conjugate(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor_to_conjugate);
extern inline void bgc_fp32_complex_get_mean2(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2);
extern inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2);
extern inline void bgc_fp32_complex_get_mean2(BGC_FP32_Complex* const mean, const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2);
extern inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* const mean, const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2);
extern inline void bgc_fp32_complex_get_mean3(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const BGC_FP32_Complex* number3);
extern inline void bgc_fp64_complex_get_mean3(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const BGC_FP64_Complex* number3);
extern inline void bgc_fp32_complex_get_mean3(BGC_FP32_Complex* const mean, const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2, const BGC_FP32_Complex* const number3);
extern inline void bgc_fp64_complex_get_mean3(BGC_FP64_Complex* const mean, const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2, const BGC_FP64_Complex* const number3);
extern inline void bgc_fp32_complex_interpolate(BGC_FP32_Complex* interpolation, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const float phase);
extern inline void bgc_fp64_complex_interpolate(BGC_FP64_Complex* interpolation, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const double phase);
extern inline void bgc_fp32_complex_interpolate(BGC_FP32_Complex* const interpolation, const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2, const float phase);
extern inline void bgc_fp64_complex_interpolate(BGC_FP64_Complex* const interpolation, const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2, const double phase);
extern inline int bgc_fp32_complex_are_close(const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2);
extern inline int bgc_fp64_complex_are_close(const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2);
extern inline int bgc_fp32_complex_are_close(const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2);
extern inline int bgc_fp64_complex_are_close(const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2);
// =============== Get Exponation =============== //
void bgc_fp32_complex_get_power(BGC_FP32_Complex* power, const BGC_FP32_Complex* base, const float real_exponent, const float imaginary_exponent)
void bgc_fp32_complex_get_power(BGC_FP32_Complex* const power, const BGC_FP32_Complex* const base, const float real_exponent, const float imaginary_exponent)
{
const float square_modulus = bgc_fp32_complex_get_square_modulus(base);
@ -115,7 +115,7 @@ void bgc_fp32_complex_get_power(BGC_FP32_Complex* power, const BGC_FP32_Complex*
power->imaginary = power_modulus * sinf(power_angle);
}
void bgc_fp64_complex_get_power(BGC_FP64_Complex* power, const BGC_FP64_Complex* base, const double real_exponent, const double imaginary_exponent)
void bgc_fp64_complex_get_power(BGC_FP64_Complex* const power, const BGC_FP64_Complex* const base, const double real_exponent, const double imaginary_exponent)
{
const double square_modulus = bgc_fp64_complex_get_square_modulus(base);

128
basic-geometry/complex.h
View file

@ -9,13 +9,13 @@
// =================== Reset ==================== //
inline void bgc_fp32_complex_reset(BGC_FP32_Complex* complex)
inline void bgc_fp32_complex_reset(BGC_FP32_Complex* const complex)
{
complex->real = 0.0f;
complex->imaginary = 0.0f;
}
inline void bgc_fp64_complex_reset(BGC_FP64_Complex* complex)
inline void bgc_fp64_complex_reset(BGC_FP64_Complex* const complex)
{
complex->real = 0.0;
complex->imaginary = 0.0;
@ -23,13 +23,13 @@ inline void bgc_fp64_complex_reset(BGC_FP64_Complex* complex)
// ==================== Set ===================== //
inline void bgc_fp32_complex_make(BGC_FP32_Complex* complex, const float real, const float imaginary)
inline void bgc_fp32_complex_make(BGC_FP32_Complex* const complex, const float real, const float imaginary)
{
complex->real = real;
complex->imaginary = imaginary;
}
inline void bgc_fp64_complex_make(BGC_FP64_Complex* complex, const double real, const double imaginary)
inline void bgc_fp64_complex_make(BGC_FP64_Complex* const complex, const double real, const double imaginary)
{
complex->real = real;
complex->imaginary = imaginary;
@ -37,57 +37,57 @@ inline void bgc_fp64_complex_make(BGC_FP64_Complex* complex, const double real,
// ================== Modulus =================== //
inline float bgc_fp32_complex_get_square_modulus(const BGC_FP32_Complex* number)
inline float bgc_fp32_complex_get_square_modulus(const BGC_FP32_Complex* const number)
{
return number->real * number->real + number->imaginary * number->imaginary;
}
inline double bgc_fp64_complex_get_square_modulus(const BGC_FP64_Complex* number)
inline double bgc_fp64_complex_get_square_modulus(const BGC_FP64_Complex* const number)
{
return number->real * number->real + number->imaginary * number->imaginary;
}
inline float bgc_fp32_complex_get_modulus(const BGC_FP32_Complex* number)
inline float bgc_fp32_complex_get_modulus(const BGC_FP32_Complex* const number)
{
return sqrtf(bgc_fp32_complex_get_square_modulus(number));
}
inline double bgc_fp64_complex_get_modulus(const BGC_FP64_Complex* number)
inline double bgc_fp64_complex_get_modulus(const BGC_FP64_Complex* const number)
{
return sqrt(bgc_fp64_complex_get_square_modulus(number));
}
// ================= Comparison ================= //
inline int bgc_fp32_complex_is_zero(const BGC_FP32_Complex* number)
inline int bgc_fp32_complex_is_zero(const BGC_FP32_Complex* const number)
{
return bgc_fp32_complex_get_square_modulus(number) <= BGC_FP32_SQUARE_EPSILON;
}
inline int bgc_fp64_complex_is_zero(const BGC_FP64_Complex* number)
inline int bgc_fp64_complex_is_zero(const BGC_FP64_Complex* const number)
{
return bgc_fp64_complex_get_square_modulus(number) <= BGC_FP64_SQUARE_EPSILON;
}
inline int bgc_fp32_complex_is_unit(const BGC_FP32_Complex* number)
inline int bgc_fp32_complex_is_unit(const BGC_FP32_Complex* const number)
{
return bgc_fp32_is_square_unit(bgc_fp32_complex_get_square_modulus(number));
}
inline int bgc_fp64_complex_is_unit(const BGC_FP64_Complex* number)
inline int bgc_fp64_complex_is_unit(const BGC_FP64_Complex* const number)
{
return bgc_fp64_is_square_unit(bgc_fp64_complex_get_square_modulus(number));
}
// ==================== Copy ==================== //
inline void bgc_fp32_complex_copy(BGC_FP32_Complex* destination, const BGC_FP32_Complex* source)
inline void bgc_fp32_complex_copy(BGC_FP32_Complex* const destination, const BGC_FP32_Complex* const source)
{
destination->real = source->real;
destination->imaginary = source->imaginary;
}
inline void bgc_fp64_complex_copy(BGC_FP64_Complex* destination, const BGC_FP64_Complex* source)
inline void bgc_fp64_complex_copy(BGC_FP64_Complex* const destination, const BGC_FP64_Complex* const source)
{
destination->real = source->real;
destination->imaginary = source->imaginary;
@ -95,7 +95,7 @@ inline void bgc_fp64_complex_copy(BGC_FP64_Complex* destination, const BGC_FP64_
// ==================== Swap ==================== //
inline void bgc_fp32_complex_swap(BGC_FP32_Complex* number1, BGC_FP32_Complex* number2)
inline void bgc_fp32_complex_swap(BGC_FP32_Complex* const number1, BGC_FP32_Complex* const number2)
{
const float real = number2->real;
const float imaginary = number2->imaginary;
@ -107,7 +107,7 @@ inline void bgc_fp32_complex_swap(BGC_FP32_Complex* number1, BGC_FP32_Complex* n
number1->imaginary = imaginary;
}
inline void bgc_fp64_complex_swap(BGC_FP64_Complex* number1, BGC_FP64_Complex* number2)
inline void bgc_fp64_complex_swap(BGC_FP64_Complex* const number1, BGC_FP64_Complex* const number2)
{
const double real = number2->real;
const double imaginary = number2->imaginary;
@ -121,13 +121,13 @@ inline void bgc_fp64_complex_swap(BGC_FP64_Complex* number1, BGC_FP64_Complex* n
// ================== Convert =================== //
inline void bgc_fp64_complex_convert_to_fp32(BGC_FP32_Complex* destination, const BGC_FP64_Complex* source)
inline void bgc_fp64_complex_convert_to_fp32(BGC_FP32_Complex* const destination, const BGC_FP64_Complex* const source)
{
destination->real = (float)source->real;
destination->imaginary = (float)source->imaginary;
}
inline void bgc_fp32_complex_convert_to_fp64(BGC_FP64_Complex* destination, const BGC_FP32_Complex* source)
inline void bgc_fp32_complex_convert_to_fp64(BGC_FP64_Complex* const destination, const BGC_FP32_Complex* const source)
{
destination->real = source->real;
destination->imaginary = source->imaginary;
@ -135,25 +135,25 @@ inline void bgc_fp32_complex_convert_to_fp64(BGC_FP64_Complex* destination, cons
// ================== Negative ================== //
inline void bgc_fp32_complex_revert(BGC_FP32_Complex* number)
inline void bgc_fp32_complex_revert(BGC_FP32_Complex* const number)
{
number->real = -number->real;
number->imaginary = -number->imaginary;
}
inline void bgc_fp64_complex_revert(BGC_FP64_Complex* number)
inline void bgc_fp64_complex_revert(BGC_FP64_Complex* const number)
{
number->real = -number->real;
number->imaginary = -number->imaginary;
}
inline void bgc_fp32_complex_get_reverse(BGC_FP32_Complex* reverse, const BGC_FP32_Complex* number)
inline void bgc_fp32_complex_get_reverse(BGC_FP32_Complex* const reverse, const BGC_FP32_Complex* const number)
{
reverse->real = -number->real;
reverse->imaginary = -number->imaginary;
}
inline void bgc_fp64_complex_get_reverse(BGC_FP64_Complex* reverse, const BGC_FP64_Complex* number)
inline void bgc_fp64_complex_get_reverse(BGC_FP64_Complex* const reverse, const BGC_FP64_Complex* const number)
{
reverse->real = -number->real;
reverse->imaginary = -number->imaginary;
@ -161,7 +161,7 @@ inline void bgc_fp64_complex_get_reverse(BGC_FP64_Complex* reverse, const BGC_FP
// ================= Normalize ================== //
inline int bgc_fp32_complex_normalize(BGC_FP32_Complex* number)
inline int bgc_fp32_complex_normalize(BGC_FP32_Complex* const number)
{
const float square_modulus = bgc_fp32_complex_get_square_modulus(number);
@ -181,7 +181,7 @@ inline int bgc_fp32_complex_normalize(BGC_FP32_Complex* number)
return BGC_SUCCESS;
}
inline int bgc_fp64_complex_normalize(BGC_FP64_Complex* number)
inline int bgc_fp64_complex_normalize(BGC_FP64_Complex* const number)
{
const double square_modulus = bgc_fp64_complex_get_square_modulus(number);
@ -201,7 +201,7 @@ inline int bgc_fp64_complex_normalize(BGC_FP64_Complex* number)
return BGC_SUCCESS;
}
inline int bgc_fp32_complex_get_normalized(BGC_FP32_Complex* normalized, const BGC_FP32_Complex* number)
inline int bgc_fp32_complex_get_normalized(BGC_FP32_Complex* const normalized, const BGC_FP32_Complex* const number)
{
const float square_modulus = bgc_fp32_complex_get_square_modulus(number);
@ -225,7 +225,7 @@ inline int bgc_fp32_complex_get_normalized(BGC_FP32_Complex* normalized, const B
return BGC_SUCCESS;
}
inline int bgc_fp64_complex_get_normalized(BGC_FP64_Complex* normalized, const BGC_FP64_Complex* number)
inline int bgc_fp64_complex_get_normalized(BGC_FP64_Complex* const normalized, const BGC_FP64_Complex* const number)
{
const double square_modulus = bgc_fp64_complex_get_square_modulus(number);
@ -251,23 +251,23 @@ inline int bgc_fp64_complex_get_normalized(BGC_FP64_Complex* normalized, const B
// ================= Conjugate ================== //
inline void bgc_fp32_complex_conjugate(BGC_FP32_Complex* number)
inline void bgc_fp32_complex_conjugate(BGC_FP32_Complex* const number)
{
number->imaginary = -number->imaginary;
}
inline void bgc_fp64_complex_conjugate(BGC_FP64_Complex* number)
inline void bgc_fp64_complex_conjugate(BGC_FP64_Complex* const number)
{
number->imaginary = -number->imaginary;
}
inline void bgc_fp32_complex_get_conjugate(BGC_FP32_Complex* conjugate, const BGC_FP32_Complex* number)
inline void bgc_fp32_complex_get_conjugate(BGC_FP32_Complex* const conjugate, const BGC_FP32_Complex* const number)
{
conjugate->real = number->real;
conjugate->imaginary = -number->imaginary;
}
inline void bgc_fp64_complex_get_conjugate(BGC_FP64_Complex* conjugate, const BGC_FP64_Complex* number)
inline void bgc_fp64_complex_get_conjugate(BGC_FP64_Complex* const conjugate, const BGC_FP64_Complex* const number)
{
conjugate->real = number->real;
conjugate->imaginary = -number->imaginary;
@ -275,7 +275,7 @@ inline void bgc_fp64_complex_get_conjugate(BGC_FP64_Complex* conjugate, const BG
// =================== Invert =================== //
inline int bgc_fp32_complex_get_inverse(BGC_FP32_Complex* inverse, const BGC_FP32_Complex* number)
inline int bgc_fp32_complex_get_inverse(BGC_FP32_Complex* const inverse, const BGC_FP32_Complex* const number)
{
const float square_modulus = bgc_fp32_complex_get_square_modulus(number);
@ -291,7 +291,7 @@ inline int bgc_fp32_complex_get_inverse(BGC_FP32_Complex* inverse, const BGC_FP3
return BGC_SUCCESS;
}
inline int bgc_fp64_complex_get_inverse(BGC_FP64_Complex* inverse, const BGC_FP64_Complex* number)
inline int bgc_fp64_complex_get_inverse(BGC_FP64_Complex* const inverse, const BGC_FP64_Complex* const number)
{
const double square_modulus = bgc_fp64_complex_get_square_modulus(number);
@ -307,31 +307,31 @@ inline int bgc_fp64_complex_get_inverse(BGC_FP64_Complex* inverse, const BGC_FP6
return BGC_SUCCESS;
}
inline int bgc_fp32_complex_invert(BGC_FP32_Complex* number)
inline int bgc_fp32_complex_invert(BGC_FP32_Complex* const number)
{
return bgc_fp32_complex_get_inverse(number, number);
}
inline int bgc_fp64_complex_invert(BGC_FP64_Complex* number)
inline int bgc_fp64_complex_invert(BGC_FP64_Complex* const number)
{
return bgc_fp64_complex_get_inverse(number, number);
}
// ================= Get Power ================== //
void bgc_fp32_complex_get_power(BGC_FP32_Complex* power, const BGC_FP32_Complex* base, const float real_exponent, const float imaginary_exponent);
void bgc_fp32_complex_get_power(BGC_FP32_Complex* const power, const BGC_FP32_Complex* const base, const float real_exponent, const float imaginary_exponent);
void bgc_fp64_complex_get_power(BGC_FP64_Complex* power, const BGC_FP64_Complex* base, const double real_exponent, const double imaginary_exponent);
void bgc_fp64_complex_get_power(BGC_FP64_Complex* const power, const BGC_FP64_Complex* const base, const double real_exponent, const double imaginary_exponent);
// ==================== Add ===================== //
inline void bgc_fp32_complex_add(BGC_FP32_Complex* sum, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2)
inline void bgc_fp32_complex_add(BGC_FP32_Complex* const sum, const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2)
{
sum->real = number1->real + number2->real;
sum->imaginary = number1->imaginary + number2->imaginary;
}
inline void bgc_fp64_complex_add(BGC_FP64_Complex* sum, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2)
inline void bgc_fp64_complex_add(BGC_FP64_Complex* const sum, const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2)
{
sum->real = number1->real + number2->real;
sum->imaginary = number1->imaginary + number2->imaginary;
@ -339,13 +339,13 @@ inline void bgc_fp64_complex_add(BGC_FP64_Complex* sum, const BGC_FP64_Complex*
// ================= Add Scaled ================= //
inline void bgc_fp32_complex_add_scaled(BGC_FP32_Complex* sum, const BGC_FP32_Complex* basic_number, const BGC_FP32_Complex* scalable_number, const float scale)
inline void bgc_fp32_complex_add_scaled(BGC_FP32_Complex* const sum, const BGC_FP32_Complex* const basic_number, const BGC_FP32_Complex* const scalable_number, const float scale)
{
sum->real = basic_number->real + scalable_number->real * scale;
sum->imaginary = basic_number->imaginary + scalable_number->imaginary * scale;
}
inline void bgc_fp64_complex_add_scaled(BGC_FP64_Complex* sum, const BGC_FP64_Complex* basic_number, const BGC_FP64_Complex* scalable_number, const double scale)
inline void bgc_fp64_complex_add_scaled(BGC_FP64_Complex* const sum, const BGC_FP64_Complex* const basic_number, const BGC_FP64_Complex* const scalable_number, const double scale)
{
sum->real = basic_number->real + scalable_number->real * scale;
sum->imaginary = basic_number->imaginary + scalable_number->imaginary * scale;
@ -353,13 +353,13 @@ inline void bgc_fp64_complex_add_scaled(BGC_FP64_Complex* sum, const BGC_FP64_Co
// ================== Subtract ================== //
inline void bgc_fp32_complex_subtract(BGC_FP32_Complex* difference, const BGC_FP32_Complex* minuend, const BGC_FP32_Complex* subtrahend)
inline void bgc_fp32_complex_subtract(BGC_FP32_Complex* const difference, const BGC_FP32_Complex* const minuend, const BGC_FP32_Complex* const subtrahend)
{
difference->real = minuend->real - subtrahend->real;
difference->imaginary = minuend->imaginary - subtrahend->imaginary;
}
inline void bgc_fp64_complex_subtract(BGC_FP64_Complex* difference, const BGC_FP64_Complex* minuend, const BGC_FP64_Complex* subtrahend)
inline void bgc_fp64_complex_subtract(BGC_FP64_Complex* const difference, const BGC_FP64_Complex* const minuend, const BGC_FP64_Complex* const subtrahend)
{
difference->real = minuend->real - subtrahend->real;
difference->imaginary = minuend->imaginary - subtrahend->imaginary;
@ -367,13 +367,13 @@ inline void bgc_fp64_complex_subtract(BGC_FP64_Complex* difference, const BGC_FP
// ============== Subtract Scaled =============== //
inline void bgc_fp32_complex_subtract_scaled(BGC_FP32_Complex* difference, const BGC_FP32_Complex* basic_number, const BGC_FP32_Complex* scalable_number, const float scale)
inline void bgc_fp32_complex_subtract_scaled(BGC_FP32_Complex* const difference, const BGC_FP32_Complex* const basic_number, const BGC_FP32_Complex* const scalable_number, const float scale)
{
difference->real = basic_number->real - scalable_number->real * scale;
difference->imaginary = basic_number->imaginary - scalable_number->imaginary * scale;
}
inline void bgc_fp64_complex_subtract_scaled(BGC_FP64_Complex* difference, const BGC_FP64_Complex* basic_number, const BGC_FP64_Complex* scalable_number, const double scale)
inline void bgc_fp64_complex_subtract_scaled(BGC_FP64_Complex* const difference, const BGC_FP64_Complex* const basic_number, const BGC_FP64_Complex* const scalable_number, const double scale)
{
difference->real = basic_number->real - scalable_number->real * scale;
difference->imaginary = basic_number->imaginary - scalable_number->imaginary * scale;
@ -381,13 +381,13 @@ inline void bgc_fp64_complex_subtract_scaled(BGC_FP64_Complex* difference, const
// ========== Multiply By Real Number =========== //
inline void bgc_fp32_complex_multiply_by_real(BGC_FP32_Complex* product, const BGC_FP32_Complex* multiplicand, const float multiplier)
inline void bgc_fp32_complex_multiply_by_real(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const float multiplier)
{
product->real = multiplicand->real * multiplier;
product->imaginary = multiplicand->imaginary * multiplier;
}
inline void bgc_fp64_complex_multiply_by_real(BGC_FP64_Complex* product, const BGC_FP64_Complex* multiplicand, const double multiplier)
inline void bgc_fp64_complex_multiply_by_real(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const double multiplier)
{
product->real = multiplicand->real * multiplier;
product->imaginary = multiplicand->imaginary * multiplier;
@ -395,7 +395,7 @@ inline void bgc_fp64_complex_multiply_by_real(BGC_FP64_Complex* product, const B
// ========= Multiply By Complex Number ========= //
inline void bgc_fp32_complex_multiply_by_complex(BGC_FP32_Complex* product, const BGC_FP32_Complex* multiplicand, const BGC_FP32_Complex* multiplier)
inline void bgc_fp32_complex_multiply_by_complex(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier)
{
const float real = multiplicand->real * multiplier->real - multiplicand->imaginary * multiplier->imaginary;
const float imaginary = multiplicand->real * multiplier->imaginary + multiplicand->imaginary * multiplier->real;
@ -404,7 +404,7 @@ inline void bgc_fp32_complex_multiply_by_complex(BGC_FP32_Complex* product, cons
product->imaginary = imaginary;
}
inline void bgc_fp64_complex_multiply_by_complex(BGC_FP64_Complex* product, const BGC_FP64_Complex* multiplicand, const BGC_FP64_Complex* multiplier)
inline void bgc_fp64_complex_multiply_by_complex(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier)
{
const double real = multiplicand->real * multiplier->real - multiplicand->imaginary * multiplier->imaginary;
const double imaginary = multiplicand->real * multiplier->imaginary + multiplicand->imaginary * multiplier->real;
@ -415,7 +415,7 @@ inline void bgc_fp64_complex_multiply_by_complex(BGC_FP64_Complex* product, cons
// ======== Multiply By Conjugate Number ======== //
inline void bgc_fp32_complex_multiply_by_conjugate(BGC_FP32_Complex* product, const BGC_FP32_Complex* multiplicand, const BGC_FP32_Complex* multiplier_to_conjugate)
inline void bgc_fp32_complex_multiply_by_conjugate(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier_to_conjugate)
{
const float real = multiplicand->real * multiplier_to_conjugate->real + multiplicand->imaginary * multiplier_to_conjugate->imaginary;
const float imaginary = multiplicand->imaginary * multiplier_to_conjugate->real - multiplicand->real * multiplier_to_conjugate->imaginary;
@ -424,7 +424,7 @@ inline void bgc_fp32_complex_multiply_by_conjugate(BGC_FP32_Complex* product, co
product->imaginary = imaginary;
}
inline void bgc_fp64_complex_multiply_by_conjugate(BGC_FP64_Complex* product, const BGC_FP64_Complex* multiplicand, const BGC_FP64_Complex* multiplier_to_conjugate)
inline void bgc_fp64_complex_multiply_by_conjugate(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier_to_conjugate)
{
const double real = multiplicand->real * multiplier_to_conjugate->real + multiplicand->imaginary * multiplier_to_conjugate->imaginary;
const double imaginary = multiplicand->imaginary * multiplier_to_conjugate->real - multiplicand->real * multiplier_to_conjugate->imaginary;
@ -435,7 +435,7 @@ inline void bgc_fp64_complex_multiply_by_conjugate(BGC_FP64_Complex* product, co
// =========== Divide by Real Number ============ //
inline int bgc_fp32_complex_divide_by_real(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* dividend, const float divisor)
inline int bgc_fp32_complex_divide_by_real(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const dividend, const float divisor)
{
if (bgc_fp32_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE;
@ -446,7 +446,7 @@ inline int bgc_fp32_complex_divide_by_real(BGC_FP32_Complex* quotient, const BGC
return BGC_SUCCESS;
}
inline int bgc_fp64_complex_divide_by_real(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* dividend, const double divisor)
inline int bgc_fp64_complex_divide_by_real(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const dividend, const double divisor)
{
if (bgc_fp64_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE;
@ -459,7 +459,7 @@ inline int bgc_fp64_complex_divide_by_real(BGC_FP64_Complex* quotient, const BGC
// ========== Divide by Complex Number ========== //
inline int bgc_fp32_complex_divide_by_complex(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* divident, const BGC_FP32_Complex* divisor)
inline int bgc_fp32_complex_divide_by_complex(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor)
{
const float square_modulus = bgc_fp32_complex_get_square_modulus(divisor);
@ -473,7 +473,7 @@ inline int bgc_fp32_complex_divide_by_complex(BGC_FP32_Complex* quotient, const
return BGC_SUCCESS;
}
inline int bgc_fp64_complex_divide_by_complex(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* divident, const BGC_FP64_Complex* divisor)
inline int bgc_fp64_complex_divide_by_complex(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor)
{
const double square_modulus = bgc_fp64_complex_get_square_modulus(divisor);
@ -489,7 +489,7 @@ inline int bgc_fp64_complex_divide_by_complex(BGC_FP64_Complex* quotient, const
// ========= Divide By Conjugate Number ========= //
inline int bgc_fp32_complex_divide_by_conjugate(BGC_FP32_Complex* quotient, const BGC_FP32_Complex* divident, const BGC_FP32_Complex* divisor_to_conjugate)
inline int bgc_fp32_complex_divide_by_conjugate(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor_to_conjugate)
{
const float square_modulus = bgc_fp32_complex_get_square_modulus(divisor_to_conjugate);
@ -503,7 +503,7 @@ inline int bgc_fp32_complex_divide_by_conjugate(BGC_FP32_Complex* quotient, cons
return BGC_SUCCESS;
}
inline int bgc_fp64_complex_divide_by_conjugate(BGC_FP64_Complex* quotient, const BGC_FP64_Complex* divident, const BGC_FP64_Complex* divisor_to_conjugate)
inline int bgc_fp64_complex_divide_by_conjugate(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor_to_conjugate)
{
const double square_modulus = bgc_fp64_complex_get_square_modulus(divisor_to_conjugate);
@ -519,13 +519,13 @@ inline int bgc_fp64_complex_divide_by_conjugate(BGC_FP64_Complex* quotient, cons
// ================== Average2 ================== //
inline void bgc_fp32_complex_get_mean2(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2)
inline void bgc_fp32_complex_get_mean2(BGC_FP32_Complex* const mean, const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2)
{
mean->real = (number1->real + number2->real) * 0.5f;
mean->imaginary = (number1->imaginary + number2->imaginary) * 0.5f;
}
inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2)
inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* const mean, const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2)
{
mean->real = (number1->real + number2->real) * 0.5;
mean->imaginary = (number1->imaginary + number2->imaginary) * 0.5;
@ -533,13 +533,13 @@ inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* mean, const BGC_FP64_Co
// ================== Average3 ================== //
inline void bgc_fp32_complex_get_mean3(BGC_FP32_Complex* mean, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const BGC_FP32_Complex* number3)
inline void bgc_fp32_complex_get_mean3(BGC_FP32_Complex* const mean, const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2, const BGC_FP32_Complex* const number3)
{
mean->real = (number1->real + number2->real + number3->real) * BGC_FP32_ONE_THIRD;
mean->imaginary = (number1->imaginary + number2->imaginary + number3->imaginary) * BGC_FP32_ONE_THIRD;
}
inline void bgc_fp64_complex_get_mean3(BGC_FP64_Complex* mean, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const BGC_FP64_Complex* number3)
inline void bgc_fp64_complex_get_mean3(BGC_FP64_Complex* const mean, const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2, const BGC_FP64_Complex* const number3)
{
mean->real = (number1->real + number2->real + number3->real) * BGC_FP64_ONE_THIRD;
mean->imaginary = (number1->imaginary + number2->imaginary + number3->imaginary) * BGC_FP64_ONE_THIRD;
@ -547,7 +547,7 @@ inline void bgc_fp64_complex_get_mean3(BGC_FP64_Complex* mean, const BGC_FP64_Co
// =================== Linear =================== //
inline void bgc_fp32_complex_interpolate(BGC_FP32_Complex* interpolation, const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2, const float phase)
inline void bgc_fp32_complex_interpolate(BGC_FP32_Complex* const interpolation, const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2, const float phase)
{
const float counter_phase = 1.0f - phase;
@ -555,7 +555,7 @@ inline void bgc_fp32_complex_interpolate(BGC_FP32_Complex* interpolation, const
interpolation->imaginary = number1->imaginary * counter_phase + number2->imaginary * phase;
}
inline void bgc_fp64_complex_interpolate(BGC_FP64_Complex* interpolation, const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2, const double phase)
inline void bgc_fp64_complex_interpolate(BGC_FP64_Complex* const interpolation, const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2, const double phase)
{
const double counter_phase = 1.0 - phase;
@ -565,7 +565,7 @@ inline void bgc_fp64_complex_interpolate(BGC_FP64_Complex* interpolation, const
// ================== Are Close ================= //
inline int bgc_fp32_complex_are_close(const BGC_FP32_Complex* number1, const BGC_FP32_Complex* number2)
inline int bgc_fp32_complex_are_close(const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2)
{
const float square_modulus1 = bgc_fp32_complex_get_square_modulus(number1);
const float square_modulus2 = bgc_fp32_complex_get_square_modulus(number2);
@ -582,7 +582,7 @@ inline int bgc_fp32_complex_are_close(const BGC_FP32_Complex* number1, const BGC
return square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus2;
}
inline int bgc_fp64_complex_are_close(const BGC_FP64_Complex* number1, const BGC_FP64_Complex* number2)
inline int bgc_fp64_complex_are_close(const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2)
{
const double square_modulus1 = bgc_fp64_complex_get_square_modulus(number1);
const double square_modulus2 = bgc_fp64_complex_get_square_modulus(number2);

96
basic-geometry/dual-number.c
View file

@ -1,73 +1,73 @@
#include "./dual-number.h"
extern inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number);
extern inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number);
extern inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* const number);
extern inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* const number);
extern inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real_part, const float dual_part);
extern inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real_part, const double dual_part);
extern inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* const number, const float real_part, const float dual_part);
extern inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* const number, const double real_part, const double dual_part);
extern inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source);
extern inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source);
extern inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* const destination, const BGC_FP32_DualNumber* const source);
extern inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* const destination, const BGC_FP64_DualNumber* const source);
extern inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second);
extern inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second);
extern inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* const first, BGC_FP32_DualNumber* const second);
extern inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* const first, BGC_FP64_DualNumber* const second);
extern inline void bgc_fp64_dual_number_convert_to_fp32(BGC_FP32_DualNumber* first, BGC_FP64_DualNumber* second);
extern inline void bgc_fp32_dual_number_convert_to_fp64(BGC_FP64_DualNumber* first, BGC_FP32_DualNumber* second);
extern inline void bgc_fp64_dual_number_convert_to_fp32(BGC_FP32_DualNumber* const destination, const BGC_FP64_DualNumber* const source);
extern inline void bgc_fp32_dual_number_convert_to_fp64(BGC_FP64_DualNumber* const destination, const BGC_FP32_DualNumber* const source);
extern inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* number);
extern inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number);
extern inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* const number);
extern inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* const number);
extern inline void bgc_fp32_dual_number_get_reverse(BGC_FP32_DualNumber* reverse, const BGC_FP32_DualNumber* number);
extern inline void bgc_fp64_dual_number_get_reverse(BGC_FP64_DualNumber* reverse, const BGC_FP64_DualNumber* number);
extern inline void bgc_fp32_dual_number_get_reverse(BGC_FP32_DualNumber* const reverse, const BGC_FP32_DualNumber* const number);
extern inline void bgc_fp64_dual_number_get_reverse(BGC_FP64_DualNumber* const reverse, const BGC_FP64_DualNumber* const number);
extern inline int bgc_fp32_dual_number_invert(BGC_FP32_DualNumber* number);
extern inline int bgc_fp64_dual_number_invert(BGC_FP64_DualNumber* number);
extern inline int bgc_fp32_dual_number_invert(BGC_FP32_DualNumber* const number);
extern inline int bgc_fp64_dual_number_invert(BGC_FP64_DualNumber* const number);
extern inline int bgc_fp32_dual_number_get_inverse(BGC_FP32_DualNumber* inverse, const BGC_FP32_DualNumber* number);
extern inline int bgc_fp64_dual_number_get_inverse(BGC_FP64_DualNumber* inverse, const BGC_FP64_DualNumber* number);
extern inline int bgc_fp32_dual_number_get_inverse(BGC_FP32_DualNumber* const inverse, const BGC_FP32_DualNumber* const number);
extern inline int bgc_fp64_dual_number_get_inverse(BGC_FP64_DualNumber* const inverse, const BGC_FP64_DualNumber* const number);
extern inline void bgc_fp32_dual_number_conjugate(BGC_FP32_DualNumber* number);
extern inline void bgc_fp64_dual_number_conjugate(BGC_FP64_DualNumber* number);
extern inline void bgc_fp32_dual_number_conjugate(BGC_FP32_DualNumber* const number);
extern inline void bgc_fp64_dual_number_conjugate(BGC_FP64_DualNumber* const number);
extern inline void bgc_fp32_dual_number_get_conjugate(BGC_FP32_DualNumber* conjugate, const BGC_FP32_DualNumber* number);
extern inline void bgc_fp64_dual_number_get_conjugate(BGC_FP64_DualNumber* conjugate, const BGC_FP64_DualNumber* number);
extern inline void bgc_fp32_dual_number_get_conjugate(BGC_FP32_DualNumber* const conjugate, const BGC_FP32_DualNumber* const number);
extern inline void bgc_fp64_dual_number_get_conjugate(BGC_FP64_DualNumber* const conjugate, const BGC_FP64_DualNumber* const number);
extern inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second);
extern inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second);
extern inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* const sum, const BGC_FP32_DualNumber* const first, const BGC_FP32_DualNumber* const second);
extern inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* const sum, const BGC_FP64_DualNumber* const first, const BGC_FP64_DualNumber* const second);
extern inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale);
extern inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale);
extern inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* const sum, const BGC_FP32_DualNumber* const base_number, const BGC_FP32_DualNumber* const scalable_number, const float scale);
extern inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* const sum, const BGC_FP64_DualNumber* const base_number, const BGC_FP64_DualNumber* const scalable_number, const double scale);
extern inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend);
extern inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* minuend, const BGC_FP64_DualNumber* subtrahend);
extern inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* const difference, const BGC_FP32_DualNumber* const minuend, const BGC_FP32_DualNumber* const subtrahend);
extern inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* const difference, const BGC_FP64_DualNumber* const minuend, const BGC_FP64_DualNumber* const subtrahend);
extern inline void bgc_fp32_dual_number_subtract_scaled(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale);
extern inline void bgc_fp64_dual_number_subtract_scaled(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale);
extern inline void bgc_fp32_dual_number_subtract_scaled(BGC_FP32_DualNumber* const difference, const BGC_FP32_DualNumber* const base_number, const BGC_FP32_DualNumber* const scalable_number, const float scale);
extern inline void bgc_fp64_dual_number_subtract_scaled(BGC_FP64_DualNumber* const difference, const BGC_FP64_DualNumber* const base_number, const BGC_FP64_DualNumber* const scalable_number, const double scale);
extern inline void bgc_fp32_dual_number_multiply_by_real(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier);
extern inline void bgc_fp64_dual_number_multiply_by_real(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const double multiplier);
extern inline void bgc_fp32_dual_number_multiply_by_real(BGC_FP32_DualNumber* const product, const BGC_FP32_DualNumber* const multiplicand, const float multiplier);
extern inline void bgc_fp64_dual_number_multiply_by_real(BGC_FP64_DualNumber* const product, const BGC_FP64_DualNumber* const multiplicand, const double multiplier);
extern inline void bgc_fp32_dual_number_multiply_by_dual(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const BGC_FP32_DualNumber* multiplier);
extern inline void bgc_fp64_dual_number_multiply_by_dual(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const BGC_FP64_DualNumber* multiplier);
extern inline void bgc_fp32_dual_number_multiply_by_dual(BGC_FP32_DualNumber* const product, const BGC_FP32_DualNumber* const multiplicand, const BGC_FP32_DualNumber* const multiplier);
extern inline void bgc_fp64_dual_number_multiply_by_dual(BGC_FP64_DualNumber* const product, const BGC_FP64_DualNumber* const multiplicand, const BGC_FP64_DualNumber* const multiplier);
extern inline void bgc_fp32_dual_number_multiply_by_conjugate(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const BGC_FP32_DualNumber* multiplier_to_conjugate);
extern inline void bgc_fp64_dual_number_multiply_by_conjugate(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const BGC_FP64_DualNumber* multiplier_to_conjugate);
extern inline void bgc_fp32_dual_number_multiply_by_conjugate(BGC_FP32_DualNumber* const product, const BGC_FP32_DualNumber* const multiplicand, const BGC_FP32_DualNumber* const multiplier_to_conjugate);
extern inline void bgc_fp64_dual_number_multiply_by_conjugate(BGC_FP64_DualNumber* const product, const BGC_FP64_DualNumber* const multiplicand, const BGC_FP64_DualNumber* const multiplier_to_conjugate);
extern inline int bgc_fp32_dual_number_divide_by_real(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor);
extern inline int bgc_fp64_dual_number_divide_by_real(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const double divisor);
extern inline int bgc_fp32_dual_number_divide_by_real(BGC_FP32_DualNumber* const quotient, const BGC_FP32_DualNumber* const dividend, const float divisor);
extern inline int bgc_fp64_dual_number_divide_by_real(BGC_FP64_DualNumber* const quotient, const BGC_FP64_DualNumber* const dividend, const double divisor);
extern inline int bgc_fp32_dual_number_divide_by_dual(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const BGC_FP32_DualNumber* divisor);
extern inline int bgc_fp64_dual_number_divide_by_dual(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const BGC_FP64_DualNumber* divisor);
extern inline int bgc_fp32_dual_number_divide_by_dual(BGC_FP32_DualNumber* const quotient, const BGC_FP32_DualNumber* const dividend, const BGC_FP32_DualNumber* const divisor);
extern inline int bgc_fp64_dual_number_divide_by_dual(BGC_FP64_DualNumber* const quotient, const BGC_FP64_DualNumber* const dividend, const BGC_FP64_DualNumber* const divisor);
extern inline int bgc_fp32_dual_number_divide_by_conjugate(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const BGC_FP32_DualNumber* divisor_to_conjugate);
extern inline int bgc_fp64_dual_number_divide_by_conjugate(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const BGC_FP64_DualNumber* divisor_to_conjugate);
extern inline int bgc_fp32_dual_number_divide_by_conjugate(BGC_FP32_DualNumber* const quotient, const BGC_FP32_DualNumber* const dividend, const BGC_FP32_DualNumber* const divisor_to_conjugate);
extern inline int bgc_fp64_dual_number_divide_by_conjugate(BGC_FP64_DualNumber* const quotient, const BGC_FP64_DualNumber* const dividend, const BGC_FP64_DualNumber* const divisor_to_conjugate);
extern inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second);
extern inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second);
extern inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* const mean, const BGC_FP32_DualNumber* const first, const BGC_FP32_DualNumber* const second);
extern inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* const mean, const BGC_FP64_DualNumber* const first, const BGC_FP64_DualNumber* const second);
extern inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const BGC_FP32_DualNumber* third);
extern inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const BGC_FP64_DualNumber* third);
extern inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* const mean, const BGC_FP32_DualNumber* const first, const BGC_FP32_DualNumber* const second, const BGC_FP32_DualNumber* const third);
extern inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* const mean, const BGC_FP64_DualNumber* const first, const BGC_FP64_DualNumber* const second, const BGC_FP64_DualNumber* const third);
extern inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const float phase);
extern inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* interpolation, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const double phase);
extern inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* const interpolation, const BGC_FP32_DualNumber* const first, const BGC_FP32_DualNumber* const second, const float phase);
extern inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* const interpolation, const BGC_FP64_DualNumber* const first, const BGC_FP64_DualNumber* const second, const double phase);

108
basic-geometry/dual-number.h
View file

@ -8,13 +8,13 @@
// =================== Reset ==================== //
inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number)
inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* const number)
{
number->real_part = 0.0f;
number->dual_part = 0.0f;
}
inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number)
inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* const number)
{
number->real_part = 0.0;
number->dual_part = 0.0;
@ -22,13 +22,13 @@ inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number)
// ==================== Make ==================== //
inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real_part, const float dual_part)
inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* const number, const float real_part, const float dual_part)
{
number->real_part = real_part;
number->dual_part = dual_part;
}
inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real_part, const double dual_part)
inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* const number, const double real_part, const double dual_part)
{
number->real_part = real_part;
number->dual_part = dual_part;
@ -36,13 +36,13 @@ inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double
// ==================== Copy ==================== //
inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source)
inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* const destination, const BGC_FP32_DualNumber* const source)
{
destination->real_part = source->real_part;
destination->dual_part = source->dual_part;
}
inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source)
inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* const destination, const BGC_FP64_DualNumber* const source)
{
destination->real_part = source->real_part;
destination->dual_part = source->dual_part;
@ -50,13 +50,13 @@ inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BG
// ==================== Swap ==================== //
inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second)
inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* const first, BGC_FP32_DualNumber* const second)
{
first->real_part = second->real_part;
first->dual_part = second->dual_part;
}
inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second)
inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* const first, BGC_FP64_DualNumber* const second)
{
first->real_part = second->real_part;
first->dual_part = second->dual_part;
@ -64,39 +64,39 @@ inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualN
// ================== Modulus =================== //
inline double bgc_fp32_dual_number_get_modulus(const BGC_FP32_DualNumber* number)
inline double bgc_fp32_dual_number_get_modulus(const BGC_FP32_DualNumber* const number)
{
return fabsf(number->real_part);
}
inline double bgc_fp64_dual_number_get_modulus(const BGC_FP64_DualNumber* number)
inline double bgc_fp64_dual_number_get_modulus(const BGC_FP64_DualNumber* const number)
{
return fabs(number->real_part);
}
// ================== Convert =================== //
inline void bgc_fp64_dual_number_convert_to_fp32(BGC_FP32_DualNumber* first, BGC_FP64_DualNumber* second)
inline void bgc_fp64_dual_number_convert_to_fp32(BGC_FP32_DualNumber* const destination, const BGC_FP64_DualNumber* const source)
{
first->real_part = (float) second->real_part;
first->dual_part = (float) second->dual_part;
destination->real_part = (float) source->real_part;
destination->dual_part = (float) source->dual_part;
}
inline void bgc_fp32_dual_number_convert_to_fp64(BGC_FP64_DualNumber* first, BGC_FP32_DualNumber* second)
inline void bgc_fp32_dual_number_convert_to_fp64(BGC_FP64_DualNumber* const destination, const BGC_FP32_DualNumber* const source)
{
first->real_part = second->real_part;
first->dual_part = second->dual_part;
destination->real_part = source->real_part;
destination->dual_part = source->dual_part;
}
// =================== Revert =================== //
inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* number)
inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* const number)
{
number->real_part = -number->real_part;
number->dual_part = -number->dual_part;
}
inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number)
inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* const number)
{
number->real_part = -number->real_part;
number->dual_part = -number->dual_part;
@ -104,13 +104,13 @@ inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number)
// ================ Get Reverse ================= //
inline void bgc_fp32_dual_number_get_reverse(BGC_FP32_DualNumber* reverse, const BGC_FP32_DualNumber* number)
inline void bgc_fp32_dual_number_get_reverse(BGC_FP32_DualNumber* const reverse, const BGC_FP32_DualNumber* const number)
{
reverse->real_part = -number->real_part;
reverse->dual_part = -number->dual_part;
}
inline void bgc_fp64_dual_number_get_reverse(BGC_FP64_DualNumber* reverse, const BGC_FP64_DualNumber* number)
inline void bgc_fp64_dual_number_get_reverse(BGC_FP64_DualNumber* const reverse, const BGC_FP64_DualNumber* const number)
{
reverse->real_part = -number->real_part;
reverse->dual_part = -number->dual_part;
@ -118,7 +118,7 @@ inline void bgc_fp64_dual_number_get_reverse(BGC_FP64_DualNumber* reverse, const
// =================== Invert =================== //
inline int bgc_fp32_dual_number_invert(BGC_FP32_DualNumber* number)
inline int bgc_fp32_dual_number_invert(BGC_FP32_DualNumber* const number)
{
if (bgc_fp32_is_zero(number->real_part) || isnan(number->real_part)) {
return BGC_FAILURE;
@ -132,7 +132,7 @@ inline int bgc_fp32_dual_number_invert(BGC_FP32_DualNumber* number)
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_number_invert(BGC_FP64_DualNumber* number)
inline int bgc_fp64_dual_number_invert(BGC_FP64_DualNumber* const number)
{
if (bgc_fp64_is_zero(number->real_part) || isnan(number->real_part)) {
return BGC_FAILURE;
@ -148,7 +148,7 @@ inline int bgc_fp64_dual_number_invert(BGC_FP64_DualNumber* number)
// ================ Get Inverse ================= //
inline int bgc_fp32_dual_number_get_inverse(BGC_FP32_DualNumber* inverse, const BGC_FP32_DualNumber* number)
inline int bgc_fp32_dual_number_get_inverse(BGC_FP32_DualNumber* const inverse, const BGC_FP32_DualNumber* const number)
{
if (bgc_fp32_is_zero(number->real_part) || isnan(number->real_part)) {
inverse->real_part = 0.0f;
@ -164,7 +164,7 @@ inline int bgc_fp32_dual_number_get_inverse(BGC_FP32_DualNumber* inverse, const
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_number_get_inverse(BGC_FP64_DualNumber* inverse, const BGC_FP64_DualNumber* number)
inline int bgc_fp64_dual_number_get_inverse(BGC_FP64_DualNumber* const inverse, const BGC_FP64_DualNumber* const number)
{
if (bgc_fp64_is_zero(number->real_part) || isnan(number->real_part)) {
inverse->real_part = 0.0;
@ -182,25 +182,25 @@ inline int bgc_fp64_dual_number_get_inverse(BGC_FP64_DualNumber* inverse, const
// ================= Conjugate ================== //
inline void bgc_fp32_dual_number_conjugate(BGC_FP32_DualNumber* number)
inline void bgc_fp32_dual_number_conjugate(BGC_FP32_DualNumber* const number)
{
number->dual_part = -number->dual_part;
}
inline void bgc_fp64_dual_number_conjugate(BGC_FP64_DualNumber* number)
inline void bgc_fp64_dual_number_conjugate(BGC_FP64_DualNumber* const number)
{
number->dual_part = -number->dual_part;
}
// =============== Get Conjugate ================ //
inline void bgc_fp32_dual_number_get_conjugate(BGC_FP32_DualNumber* conjugate, const BGC_FP32_DualNumber* number)
inline void bgc_fp32_dual_number_get_conjugate(BGC_FP32_DualNumber* const conjugate, const BGC_FP32_DualNumber* const number)
{
conjugate->real_part = number->real_part;
conjugate->dual_part = -number->dual_part;
}
inline void bgc_fp64_dual_number_get_conjugate(BGC_FP64_DualNumber* conjugate, const BGC_FP64_DualNumber* number)
inline void bgc_fp64_dual_number_get_conjugate(BGC_FP64_DualNumber* const conjugate, const BGC_FP64_DualNumber* const number)
{
conjugate->real_part = number->real_part;
conjugate->dual_part = -number->dual_part;
@ -208,13 +208,13 @@ inline void bgc_fp64_dual_number_get_conjugate(BGC_FP64_DualNumber* conjugate, c
// ==================== Add ===================== //
inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second)
inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* const sum, const BGC_FP32_DualNumber* const first, const BGC_FP32_DualNumber* const second)
{
sum->real_part = first->real_part + second->real_part;
sum->dual_part = first->dual_part + second->dual_part;
}
inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second)
inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* const sum, const BGC_FP64_DualNumber* const first, const BGC_FP64_DualNumber* const second)
{
sum->real_part = first->real_part + second->real_part;
sum->dual_part = first->dual_part + second->dual_part;
@ -222,13 +222,13 @@ inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_Du
// ================= Add Scaled ================= //
inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale)
inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* const sum, const BGC_FP32_DualNumber* const base_number, const BGC_FP32_DualNumber* const scalable_number, const float scale)
{
sum->real_part = base_number->real_part + scalable_number->real_part * scale;
sum->dual_part = base_number->dual_part + scalable_number->dual_part * scale;
}
inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale)
inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* const sum, const BGC_FP64_DualNumber* const base_number, const BGC_FP64_DualNumber* const scalable_number, const double scale)
{
sum->real_part = base_number->real_part + scalable_number->real_part * scale;
sum->dual_part = base_number->dual_part + scalable_number->dual_part * scale;
@ -236,13 +236,13 @@ inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_
// ================== Subtract ================== //
inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend)
inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* const difference, const BGC_FP32_DualNumber* const minuend, const BGC_FP32_DualNumber* const subtrahend)
{
difference->real_part = minuend->real_part - subtrahend->real_part;
difference->dual_part = minuend->dual_part - subtrahend->dual_part;
}
inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* minuend, const BGC_FP64_DualNumber* subtrahend)
inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* const difference, const BGC_FP64_DualNumber* const minuend, const BGC_FP64_DualNumber* const subtrahend)
{
difference->real_part = minuend->real_part - subtrahend->real_part;
difference->dual_part = minuend->dual_part - subtrahend->dual_part;
@ -250,13 +250,13 @@ inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const
// ============== Subtract Scaled =============== //
inline void bgc_fp32_dual_number_subtract_scaled(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale)
inline void bgc_fp32_dual_number_subtract_scaled(BGC_FP32_DualNumber* const difference, const BGC_FP32_DualNumber* const base_number, const BGC_FP32_DualNumber* const scalable_number, const float scale)
{
difference->real_part = base_number->real_part - scalable_number->real_part * scale;
difference->dual_part = base_number->dual_part - scalable_number->dual_part * scale;
}
inline void bgc_fp64_dual_number_subtract_scaled(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale)
inline void bgc_fp64_dual_number_subtract_scaled(BGC_FP64_DualNumber* const difference, const BGC_FP64_DualNumber* const base_number, const BGC_FP64_DualNumber* const scalable_number, const double scale)
{
difference->real_part = base_number->real_part - scalable_number->real_part * scale;
difference->dual_part = base_number->dual_part - scalable_number->dual_part * scale;
@ -264,19 +264,19 @@ inline void bgc_fp64_dual_number_subtract_scaled(BGC_FP64_DualNumber* difference
// ================== Multiply ================== //
inline void bgc_fp32_dual_number_multiply_by_real(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier)
inline void bgc_fp32_dual_number_multiply_by_real(BGC_FP32_DualNumber* const product, const BGC_FP32_DualNumber* const multiplicand, const float multiplier)
{
product->real_part = multiplicand->real_part * multiplier;
product->dual_part = multiplicand->dual_part * multiplier;
}
inline void bgc_fp64_dual_number_multiply_by_real(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const double multiplier)
inline void bgc_fp64_dual_number_multiply_by_real(BGC_FP64_DualNumber* const product, const BGC_FP64_DualNumber* const multiplicand, const double multiplier)
{
product->real_part = multiplicand->real_part * multiplier;
product->dual_part = multiplicand->dual_part * multiplier;
}
inline void bgc_fp32_dual_number_multiply_by_dual(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const BGC_FP32_DualNumber* multiplier)
inline void bgc_fp32_dual_number_multiply_by_dual(BGC_FP32_DualNumber* const product, const BGC_FP32_DualNumber* const multiplicand, const BGC_FP32_DualNumber* const multiplier)
{
const float real_part = multiplicand->real_part * multiplier->real_part;
const float dual_part = multiplicand->dual_part * multiplier->real_part + multiplicand->real_part * multiplier->dual_part;
@ -285,7 +285,7 @@ inline void bgc_fp32_dual_number_multiply_by_dual(BGC_FP32_DualNumber* product,
product->dual_part = dual_part;
}
inline void bgc_fp64_dual_number_multiply_by_dual(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const BGC_FP64_DualNumber* multiplier)
inline void bgc_fp64_dual_number_multiply_by_dual(BGC_FP64_DualNumber* const product, const BGC_FP64_DualNumber* const multiplicand, const BGC_FP64_DualNumber* const multiplier)
{
const double real_part = multiplicand->real_part * multiplier->real_part;
const double dual_part = multiplicand->dual_part * multiplier->real_part + multiplicand->real_part * multiplier->dual_part;
@ -294,7 +294,7 @@ inline void bgc_fp64_dual_number_multiply_by_dual(BGC_FP64_DualNumber* product,
product->dual_part = dual_part;
}
inline void bgc_fp32_dual_number_multiply_by_conjugate(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const BGC_FP32_DualNumber* multiplier_to_conjugate)
inline void bgc_fp32_dual_number_multiply_by_conjugate(BGC_FP32_DualNumber* const product, const BGC_FP32_DualNumber* const multiplicand, const BGC_FP32_DualNumber* const multiplier_to_conjugate)
{
const float real_part = multiplicand->real_part * multiplier_to_conjugate->real_part;
const float dual_part = multiplicand->dual_part * multiplier_to_conjugate->real_part - multiplicand->real_part * multiplier_to_conjugate->dual_part;
@ -303,7 +303,7 @@ inline void bgc_fp32_dual_number_multiply_by_conjugate(BGC_FP32_DualNumber* prod
product->dual_part = dual_part;
}
inline void bgc_fp64_dual_number_multiply_by_conjugate(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const BGC_FP64_DualNumber* multiplier_to_conjugate)
inline void bgc_fp64_dual_number_multiply_by_conjugate(BGC_FP64_DualNumber* const product, const BGC_FP64_DualNumber* const multiplicand, const BGC_FP64_DualNumber* const multiplier_to_conjugate)
{
const double real_part = multiplicand->real_part * multiplier_to_conjugate->real_part;
const double dual_part = multiplicand->dual_part * multiplier_to_conjugate->real_part - multiplicand->real_part * multiplier_to_conjugate->dual_part;
@ -313,7 +313,7 @@ inline void bgc_fp64_dual_number_multiply_by_conjugate(BGC_FP64_DualNumber* prod
}
// =================== Divide =================== //
inline int bgc_fp32_dual_number_divide_by_real(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor)
inline int bgc_fp32_dual_number_divide_by_real(BGC_FP32_DualNumber* const quotient, const BGC_FP32_DualNumber* const dividend, const float divisor)
{
if (bgc_fp32_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE;
@ -323,7 +323,7 @@ inline int bgc_fp32_dual_number_divide_by_real(BGC_FP32_DualNumber* quotient, co
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_number_divide_by_real(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const double divisor)
inline int bgc_fp64_dual_number_divide_by_real(BGC_FP64_DualNumber* const quotient, const BGC_FP64_DualNumber* const dividend, const double divisor)
{
if (bgc_fp64_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE;
@ -333,7 +333,7 @@ inline int bgc_fp64_dual_number_divide_by_real(BGC_FP64_DualNumber* quotient, co
return BGC_SUCCESS;
}
inline int bgc_fp32_dual_number_divide_by_dual(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const BGC_FP32_DualNumber* divisor)
inline int bgc_fp32_dual_number_divide_by_dual(BGC_FP32_DualNumber* const quotient, const BGC_FP32_DualNumber* const dividend, const BGC_FP32_DualNumber* const divisor)
{
if (bgc_fp32_is_zero(divisor->real_part)) {
return BGC_FAILURE;
@ -350,7 +350,7 @@ inline int bgc_fp32_dual_number_divide_by_dual(BGC_FP32_DualNumber* quotient, co
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_number_divide_by_dual(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const BGC_FP64_DualNumber* divisor)
inline int bgc_fp64_dual_number_divide_by_dual(BGC_FP64_DualNumber* const quotient, const BGC_FP64_DualNumber* const dividend, const BGC_FP64_DualNumber* const divisor)
{
if (bgc_fp64_is_zero(divisor->real_part)) {
return BGC_FAILURE;
@ -367,7 +367,7 @@ inline int bgc_fp64_dual_number_divide_by_dual(BGC_FP64_DualNumber* quotient, co
return BGC_SUCCESS;
}
inline int bgc_fp32_dual_number_divide_by_conjugate(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const BGC_FP32_DualNumber* divisor_to_conjugate)
inline int bgc_fp32_dual_number_divide_by_conjugate(BGC_FP32_DualNumber* const quotient, const BGC_FP32_DualNumber* const dividend, const BGC_FP32_DualNumber* const divisor_to_conjugate)
{
if (bgc_fp32_is_zero(divisor_to_conjugate->real_part)) {
return BGC_FAILURE;
@ -384,7 +384,7 @@ inline int bgc_fp32_dual_number_divide_by_conjugate(BGC_FP32_DualNumber* quotien
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_number_divide_by_conjugate(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const BGC_FP64_DualNumber* divisor_to_conjugate)
inline int bgc_fp64_dual_number_divide_by_conjugate(BGC_FP64_DualNumber* const quotient, const BGC_FP64_DualNumber* const dividend, const BGC_FP64_DualNumber* const divisor_to_conjugate)
{
if (bgc_fp64_is_zero(divisor_to_conjugate->real_part)) {
return BGC_FAILURE;
@ -403,13 +403,13 @@ inline int bgc_fp64_dual_number_divide_by_conjugate(BGC_FP64_DualNumber* quotien
// ================ Mean of Two ================= //
inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second)
inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* const mean, const BGC_FP32_DualNumber* const first, const BGC_FP32_DualNumber* const second)
{
mean->real_part = (first->real_part + second->real_part) * 0.5f;
mean->dual_part = (first->dual_part + second->dual_part) * 0.5f;
}
inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second)
inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* const mean, const BGC_FP64_DualNumber* const first, const BGC_FP64_DualNumber* const second)
{
mean->real_part = (first->real_part + second->real_part) * 0.5;
mean->dual_part = (first->dual_part + second->dual_part) * 0.5;
@ -417,13 +417,13 @@ inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_
// =============== Mean of Three ================ //
inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const BGC_FP32_DualNumber* third)
inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* const mean, const BGC_FP32_DualNumber* const first, const BGC_FP32_DualNumber* const second, const BGC_FP32_DualNumber* const third)
{
mean->real_part = (first->real_part + second->real_part + third->real_part) * BGC_FP32_ONE_THIRD;
mean->dual_part = (first->dual_part + second->dual_part + third->dual_part) * BGC_FP32_ONE_THIRD;
}
inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const BGC_FP64_DualNumber* third)
inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* const mean, const BGC_FP64_DualNumber* const first, const BGC_FP64_DualNumber* const second, const BGC_FP64_DualNumber* const third)
{
mean->real_part = (first->real_part + second->real_part + third->real_part) * BGC_FP64_ONE_THIRD;
mean->dual_part = (first->dual_part + second->dual_part + third->dual_part) * BGC_FP64_ONE_THIRD;
@ -431,7 +431,7 @@ inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_
// ============ Linear Interpolation ============ //
inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const float phase)
inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* const interpolation, const BGC_FP32_DualNumber* const first, const BGC_FP32_DualNumber* const second, const float phase)
{
const float counter_phase = 1.0f - phase;
@ -439,7 +439,7 @@ inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation,
interpolation->dual_part = first->dual_part * counter_phase + second->dual_part * phase;
}
inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* interpolation, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const double phase)
inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* const interpolation, const BGC_FP64_DualNumber* const first, const BGC_FP64_DualNumber* const second, const double phase)
{
const double counter_phase = 1.0 - phase;

136
basic-geometry/dual-quaternion.c
View file

@ -1,103 +1,103 @@
#include "./dual-quaternion.h"
extern inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source);
extern inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source);
extern inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* const destination, const BGC_FP32_DualQuaternion* const source);
extern inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* const destination, const BGC_FP64_DualQuaternion* const source);
extern inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second);
extern inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second);
extern inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* const first, BGC_FP32_DualQuaternion* const second);
extern inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* const first, BGC_FP64_DualQuaternion* const second);
extern inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source);
extern inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source);
extern inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* const destination, const BGC_FP32_DualQuaternion* const source);
extern inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* const destination, const BGC_FP64_DualQuaternion* const source);
extern inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* const reverse, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* const reverse, const BGC_FP64_DualQuaternion* const quaternion);
extern inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion);
extern inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion);
extern inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* const quaternion);
extern inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* const quaternion);
extern inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse, const BGC_FP32_DualQuaternion* quaternion);
extern inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse, const BGC_FP64_DualQuaternion* quaternion);
extern inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* const inverse, const BGC_FP32_DualQuaternion* const quaternion);
extern inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* const inverse, const BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion);
extern inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* quaternion);
extern inline int bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* quaternion);
extern inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* const quaternion);
extern inline int bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* const quaternion);
extern inline int bgc_fp32_dual_quaternion_get_normalized(BGC_FP32_DualQuaternion* normalized, const BGC_FP32_DualQuaternion* quaternion);
extern inline int bgc_fp64_dual_quaternion_get_normalized(BGC_FP64_DualQuaternion* normalized, const BGC_FP64_DualQuaternion* quaternion);
extern inline int bgc_fp32_dual_quaternion_get_normalized(BGC_FP32_DualQuaternion* const normalized, const BGC_FP32_DualQuaternion* const quaternion);
extern inline int bgc_fp64_dual_quaternion_get_normalized(BGC_FP64_DualQuaternion* const normalized, const BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second);
extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second);
extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* const sum, const BGC_FP32_DualQuaternion* const first, const BGC_FP32_DualQuaternion* const second);
extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* const sum, const BGC_FP64_DualQuaternion* const first, const BGC_FP64_DualQuaternion* const second);
extern inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale);
extern inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale);
extern inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* const sum, const BGC_FP32_DualQuaternion* const base_quaternion, const BGC_FP32_DualQuaternion* const scalable_quaternion, const float scale);
extern inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* const sum, const BGC_FP64_DualQuaternion* const base_quaternion, const BGC_FP64_DualQuaternion* const scalable_quaternion, const double scale);
extern inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend);
extern inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend);
extern inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* const difference, const BGC_FP32_DualQuaternion* const minuend, const BGC_FP32_DualQuaternion* const subtrahend);
extern inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* const difference, const BGC_FP64_DualQuaternion* const minuend, const BGC_FP64_DualQuaternion* const subtrahend);
extern inline void bgc_fp32_dual_quaternion_subtract_scaled(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale);
extern inline void bgc_fp64_dual_quaternion_subtract_scaled(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale);
extern inline void bgc_fp32_dual_quaternion_subtract_scaled(BGC_FP32_DualQuaternion* const difference, const BGC_FP32_DualQuaternion* const base_quaternion, const BGC_FP32_DualQuaternion* const scalable_quaternion, const float scale);
extern inline void bgc_fp64_dual_quaternion_subtract_scaled(BGC_FP64_DualQuaternion* const difference, const BGC_FP64_DualQuaternion* const base_quaternion, const BGC_FP64_DualQuaternion* const scalable_quaternion, const double scale);
extern inline void bgc_fp32_dual_quaternion_multiply_by_real_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multiplier);
extern inline void bgc_fp64_dual_quaternion_multiply_by_real_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multiplier);
extern inline void bgc_fp32_dual_quaternion_multiply_by_real_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const float multiplier);
extern inline void bgc_fp64_dual_quaternion_multiply_by_real_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const double multiplier);
extern inline void bgc_fp32_dual_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualNumber* multiplier);
extern inline void bgc_fp64_dual_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualNumber* multiplier);
extern inline void bgc_fp32_dual_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier);
extern inline void bgc_fp64_dual_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier);
extern inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualNumber* multiplier_to_conjugate);
extern inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualNumber* multiplier_to_conjugate);
extern inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier_to_conjugate);
extern inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier_to_conjugate);
extern inline void bgc_fp32_dual_quaternion_multiply_by_quaternion(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_Quaternion* multiplier);
extern inline void bgc_fp64_dual_quaternion_multiply_by_quaternion(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_Quaternion* multiplier);
extern inline void bgc_fp32_dual_quaternion_multiply_by_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_Quaternion* const multiplier);
extern inline void bgc_fp64_dual_quaternion_multiply_by_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_Quaternion* const multiplier);
extern inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_Quaternion* multiplier_to_conjugate);
extern inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_Quaternion* multiplier_to_conjugate);
extern inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_Quaternion* const multiplier_to_conjugate);
extern inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_Quaternion* const multiplier_to_conjugate);
extern inline void bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* left, const BGC_FP32_DualQuaternion* right);
extern inline void bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* left, const BGC_FP64_DualQuaternion* right);
extern inline void bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const left, const BGC_FP32_DualQuaternion* const right);
extern inline void bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const left, const BGC_FP64_DualQuaternion* const right);
extern inline int bgc_fp32_dual_quaternion_divide_by_real_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor);
extern inline int bgc_fp64_dual_quaternion_divide_by_real_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor);
extern inline int bgc_fp32_dual_quaternion_divide_by_real_number(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const divident, const float divisor);
extern inline int bgc_fp64_dual_quaternion_divide_by_real_number(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const divident, const double divisor);
extern inline int bgc_fp32_dual_quaternion_divide_by_dual_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor);
extern inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor);
extern inline int bgc_fp32_dual_quaternion_divide_by_dual_number(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_DualNumber* const divisor);
extern inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_DualNumber* const divisor);
extern inline int bgc_fp32_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor_to_conjugate);
extern inline int bgc_fp64_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor_to_conjugate);
extern inline int bgc_fp32_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_DualNumber* const divisor_to_conjugate);
extern inline int bgc_fp64_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_DualNumber* const divisor_to_conjugate);
extern inline int bgc_fp32_dual_quaternion_divide_by_quaternion(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_Quaternion* divisor);
extern inline int bgc_fp64_dual_quaternion_divide_by_quaternion(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_Quaternion* divisor);
extern inline int bgc_fp32_dual_quaternion_divide_by_quaternion(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_Quaternion* const divisor);
extern inline int bgc_fp64_dual_quaternion_divide_by_quaternion(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_Quaternion* const divisor);
extern inline int bgc_fp32_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_Quaternion* divisor_to_conjugate);
extern inline int bgc_fp64_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_Quaternion* divisor_to_conjugate);
extern inline int bgc_fp32_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_Quaternion* const divisor_to_conjugate);
extern inline int bgc_fp64_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_Quaternion* const divisor_to_conjugate);
extern inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2);
extern inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2);
extern inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* const mean, const BGC_FP32_DualQuaternion* const quaternion1, const BGC_FP32_DualQuaternion* const quaternion2);
extern inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* const mean, const BGC_FP64_DualQuaternion* const quaternion1, const BGC_FP64_DualQuaternion* const quaternion2);
extern inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3);
extern inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3);
extern inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* const mean, const BGC_FP32_DualQuaternion* const quaternion1, const BGC_FP32_DualQuaternion* const quaternion2, const BGC_FP32_DualQuaternion* const quaternion3);
extern inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* const mean, const BGC_FP64_DualQuaternion* const quaternion1, const BGC_FP64_DualQuaternion* const quaternion2, const BGC_FP64_DualQuaternion* const quaternion3);
extern inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase);
extern inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase);
extern inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* const interpolation, const BGC_FP32_DualQuaternion* const first, const BGC_FP32_DualQuaternion* const second, const float phase);
extern inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* const interpolation, const BGC_FP64_DualQuaternion* const first, const BGC_FP64_DualQuaternion* const second, const double phase);

136
basic-geometry/dual-quaternion.h
View file

@ -6,13 +6,13 @@
// =================== Reset ==================== //
inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion)
inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* const quaternion)
{
bgc_fp32_quaternion_reset(&quaternion->real_part);
bgc_fp32_quaternion_reset(&quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion)
inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* const quaternion)
{
bgc_fp64_quaternion_reset(&quaternion->real_part);
bgc_fp64_quaternion_reset(&quaternion->dual_part);
@ -20,13 +20,13 @@ inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion)
// ==================== Copy ==================== //
inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* const destination, const BGC_FP32_DualQuaternion* const source)
{
bgc_fp32_quaternion_copy(&destination->real_part, &source->real_part);
bgc_fp32_quaternion_copy(&destination->dual_part, &source->dual_part);
}
inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* const destination, const BGC_FP64_DualQuaternion* const source)
{
bgc_fp64_quaternion_copy(&destination->real_part, &source->real_part);
bgc_fp64_quaternion_copy(&destination->dual_part, &source->dual_part);
@ -34,13 +34,13 @@ inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination,
// ==================== Swap ==================== //
inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second)
inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* const first, BGC_FP32_DualQuaternion* const second)
{
bgc_fp32_quaternion_swap(&first->real_part, &second->real_part);
bgc_fp32_quaternion_swap(&first->dual_part, &second->dual_part);
}
inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second)
inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* const first, BGC_FP64_DualQuaternion* const second)
{
bgc_fp64_quaternion_swap(&first->real_part, &second->real_part);
bgc_fp64_quaternion_swap(&first->dual_part, &second->dual_part);
@ -48,13 +48,13 @@ inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP
// ================== Convert =================== //
inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* const destination, const BGC_FP32_DualQuaternion* const source)
{
bgc_fp32_quaternion_convert_to_fp64(&destination->real_part, &source->real_part);
bgc_fp32_quaternion_convert_to_fp64(&destination->dual_part, &source->dual_part);
}
inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* const destination, const BGC_FP64_DualQuaternion* const source)
{
bgc_fp64_quaternion_convert_to_fp32(&destination->real_part, &source->real_part);
bgc_fp64_quaternion_convert_to_fp32(&destination->dual_part, &source->dual_part);
@ -62,13 +62,13 @@ inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* de
// =================== Revert =================== //
inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion)
inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* const quaternion)
{
bgc_fp32_quaternion_revert(&quaternion->real_part);
bgc_fp32_quaternion_revert(&quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* const quaternion)
{
bgc_fp64_quaternion_revert(&quaternion->real_part);
bgc_fp64_quaternion_revert(&quaternion->dual_part);
@ -76,13 +76,13 @@ inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
// ================ Get Reverse ================= //
inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion)
inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* const reverse, const BGC_FP32_DualQuaternion* const quaternion)
{
bgc_fp32_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
bgc_fp32_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion)
inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* const reverse, const BGC_FP64_DualQuaternion* const quaternion)
{
bgc_fp64_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
@ -90,7 +90,7 @@ inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* revers
// =================== Invert =================== //
inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion)
inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* const quaternion)
{
if (bgc_fp32_quaternion_get_inverse(&quaternion->real_part, &quaternion->real_part) != BGC_SUCCESS) {
return BGC_FAILURE;
@ -106,7 +106,7 @@ inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion)
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion)
inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* const quaternion)
{
if (bgc_fp64_quaternion_get_inverse(&quaternion->real_part, &quaternion->real_part) != BGC_SUCCESS) {
return BGC_FAILURE;
@ -124,7 +124,7 @@ inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion)
// ================ Get Inverse ================= //
inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse, const BGC_FP32_DualQuaternion* quaternion)
inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* const inverse, const BGC_FP32_DualQuaternion* const quaternion)
{
if (bgc_fp32_quaternion_get_inverse(&inverse->real_part, &quaternion->real_part) != BGC_SUCCESS) {
return BGC_FAILURE;
@ -140,7 +140,7 @@ inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse, const BGC_FP64_DualQuaternion* quaternion)
inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* const inverse, const BGC_FP64_DualQuaternion* const quaternion)
{
if (bgc_fp64_quaternion_get_inverse(&inverse->real_part, &quaternion->real_part) != BGC_SUCCESS) {
return BGC_FAILURE;
@ -158,13 +158,13 @@ inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse
// ============ Component Conjugate ============= //
inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion)
inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* const quaternion)
{
bgc_fp32_quaternion_conjugate(&quaternion->real_part);
bgc_fp32_quaternion_conjugate(&quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* quaternion)
inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* const quaternion)
{
bgc_fp64_quaternion_conjugate(&quaternion->real_part);
bgc_fp64_quaternion_conjugate(&quaternion->dual_part);
@ -172,13 +172,13 @@ inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion
// ========== Get Component Conjugate =========== //
inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion)
{
bgc_fp32_quaternion_get_conjugate(&conjugate->real_part, &quaternion->real_part);
bgc_fp32_quaternion_get_conjugate(&conjugate->dual_part, &quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion)
{
bgc_fp64_quaternion_get_conjugate(&conjugate->real_part, &quaternion->real_part);
bgc_fp64_quaternion_get_conjugate(&conjugate->dual_part, &quaternion->dual_part);
@ -186,25 +186,25 @@ inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuater
// =============== Dual Conjugate =============== //
inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* quaternion)
inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* const quaternion)
{
bgc_fp32_quaternion_revert(&quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* quaternion)
inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* const quaternion)
{
bgc_fp64_quaternion_revert(&quaternion->dual_part);
}
// ============= Get Dual Conjugate ============= //
inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion)
{
bgc_fp32_quaternion_copy(&conjugate->real_part, &quaternion->real_part);
bgc_fp32_quaternion_get_reverse(&conjugate->real_part, &quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion)
{
bgc_fp64_quaternion_copy(&conjugate->real_part, &quaternion->real_part);
bgc_fp64_quaternion_get_reverse(&conjugate->real_part, &quaternion->dual_part);
@ -212,7 +212,7 @@ inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion*
// ============== Fully Conjugate =============== //
inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* quaternion)
inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* const quaternion)
{
quaternion->real_part.x1 = -quaternion->real_part.x1;
quaternion->real_part.x2 = -quaternion->real_part.x2;
@ -221,7 +221,7 @@ inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* qu
quaternion->dual_part.s0 = -quaternion->dual_part.s0;
}
inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* quaternion)
inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* const quaternion)
{
quaternion->real_part.x1 = -quaternion->real_part.x1;
quaternion->real_part.x2 = -quaternion->real_part.x2;
@ -232,7 +232,7 @@ inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* qu
// ============ Get Fully Conjugate ============= //
inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion)
{
conjugate->real_part.s0 = quaternion->real_part.s0;
conjugate->real_part.x1 = -quaternion->real_part.x1;
@ -245,7 +245,7 @@ inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion
conjugate->dual_part.x3 = quaternion->dual_part.x3;
}
inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion)
{
conjugate->real_part.s0 = quaternion->real_part.s0;
conjugate->real_part.x1 = -quaternion->real_part.x1;
@ -260,7 +260,7 @@ inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion
// ================= Normalize ================== //
inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* quaternion)
inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* const quaternion)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&quaternion->real_part);
@ -282,7 +282,7 @@ inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* quaternio
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* quaternion)
inline int bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* const quaternion)
{
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&quaternion->real_part);
@ -306,7 +306,7 @@ inline int bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* quaternio
// =============== Get Normalized =============== //
inline int bgc_fp32_dual_quaternion_get_normalized(BGC_FP32_DualQuaternion* normalized, const BGC_FP32_DualQuaternion* quaternion)
inline int bgc_fp32_dual_quaternion_get_normalized(BGC_FP32_DualQuaternion* const normalized, const BGC_FP32_DualQuaternion* const quaternion)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&quaternion->real_part);
@ -332,7 +332,7 @@ inline int bgc_fp32_dual_quaternion_get_normalized(BGC_FP32_DualQuaternion* norm
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_get_normalized(BGC_FP64_DualQuaternion* normalized, const BGC_FP64_DualQuaternion* quaternion)
inline int bgc_fp64_dual_quaternion_get_normalized(BGC_FP64_DualQuaternion* const normalized, const BGC_FP64_DualQuaternion* const quaternion)
{
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&quaternion->real_part);
@ -360,13 +360,13 @@ inline int bgc_fp64_dual_quaternion_get_normalized(BGC_FP64_DualQuaternion* norm
// ==================== Add ===================== //
inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)
inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* const sum, const BGC_FP32_DualQuaternion* const first, const BGC_FP32_DualQuaternion* const second)
{
bgc_fp32_quaternion_add(&sum->real_part, &first->real_part, &second->real_part);
bgc_fp32_quaternion_add(&sum->dual_part, &first->dual_part, &second->dual_part);
}
inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second)
inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* const sum, const BGC_FP64_DualQuaternion* const first, const BGC_FP64_DualQuaternion* const second)
{
bgc_fp64_quaternion_add(&sum->real_part, &first->real_part, &second->real_part);
bgc_fp64_quaternion_add(&sum->dual_part, &first->dual_part, &second->dual_part);
@ -374,13 +374,13 @@ inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC
// ================= Add Scaled ================= //
inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* const sum, const BGC_FP32_DualQuaternion* const base_quaternion, const BGC_FP32_DualQuaternion* const scalable_quaternion, const float scale)
{
bgc_fp32_quaternion_add_scaled(&sum->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
bgc_fp32_quaternion_add_scaled(&sum->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
}
inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* const sum, const BGC_FP64_DualQuaternion* const base_quaternion, const BGC_FP64_DualQuaternion* const scalable_quaternion, const double scale)
{
bgc_fp64_quaternion_add_scaled(&sum->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
bgc_fp64_quaternion_add_scaled(&sum->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
@ -388,13 +388,13 @@ inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, co
// ================== Subtract ================== //
inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend)
inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* const difference, const BGC_FP32_DualQuaternion* const minuend, const BGC_FP32_DualQuaternion* const subtrahend)
{
bgc_fp32_quaternion_subtract(&difference->real_part, &minuend->real_part, &subtrahend->real_part);
bgc_fp32_quaternion_subtract(&difference->dual_part, &minuend->dual_part, &subtrahend->dual_part);
}
inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend)
inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* const difference, const BGC_FP64_DualQuaternion* const minuend, const BGC_FP64_DualQuaternion* const subtrahend)
{
bgc_fp64_quaternion_subtract(&difference->real_part, &minuend->real_part, &subtrahend->real_part);
bgc_fp64_quaternion_subtract(&difference->dual_part, &minuend->dual_part, &subtrahend->dual_part);
@ -402,13 +402,13 @@ inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* differenc
// ============== Subtract Scaled =============== //
inline void bgc_fp32_dual_quaternion_subtract_scaled(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
inline void bgc_fp32_dual_quaternion_subtract_scaled(BGC_FP32_DualQuaternion* const difference, const BGC_FP32_DualQuaternion* const base_quaternion, const BGC_FP32_DualQuaternion* const scalable_quaternion, const float scale)
{
bgc_fp32_quaternion_subtract_scaled(&difference->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
bgc_fp32_quaternion_subtract_scaled(&difference->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
}
inline void bgc_fp64_dual_quaternion_subtract_scaled(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
inline void bgc_fp64_dual_quaternion_subtract_scaled(BGC_FP64_DualQuaternion* const difference, const BGC_FP64_DualQuaternion* const base_quaternion, const BGC_FP64_DualQuaternion* const scalable_quaternion, const double scale)
{
bgc_fp64_quaternion_subtract_scaled(&difference->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
bgc_fp64_quaternion_subtract_scaled(&difference->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
@ -416,13 +416,13 @@ inline void bgc_fp64_dual_quaternion_subtract_scaled(BGC_FP64_DualQuaternion* di
// ================== Multiply ================== //
inline void bgc_fp32_dual_quaternion_multiply_by_real_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multiplier)
inline void bgc_fp32_dual_quaternion_multiply_by_real_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const float multiplier)
{
bgc_fp32_quaternion_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier);
bgc_fp32_quaternion_multiply_by_real_number(&product->dual_part, &multiplicand->dual_part, multiplier);
}
inline void bgc_fp64_dual_quaternion_multiply_by_real_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multiplier)
inline void bgc_fp64_dual_quaternion_multiply_by_real_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const double multiplier)
{
bgc_fp64_quaternion_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier);
bgc_fp64_quaternion_multiply_by_real_number(&product->dual_part, &multiplicand->dual_part, multiplier);
@ -430,7 +430,7 @@ inline void bgc_fp64_dual_quaternion_multiply_by_real_number(BGC_FP64_DualQuater
// ========== Multiply by Dual Number =========== //
inline void bgc_fp32_dual_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualNumber* multiplier)
inline void bgc_fp32_dual_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier)
{
BGC_FP32_Quaternion dual_part;
@ -441,7 +441,7 @@ inline void bgc_fp32_dual_quaternion_multiply_by_dual_number(BGC_FP32_DualQuater
bgc_fp32_quaternion_copy(&product->dual_part, &dual_part);
}
inline void bgc_fp64_dual_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualNumber* multiplier)
inline void bgc_fp64_dual_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier)
{
BGC_FP64_Quaternion dual_part;
@ -454,7 +454,7 @@ inline void bgc_fp64_dual_quaternion_multiply_by_dual_number(BGC_FP64_DualQuater
// ===== Multiply by Conjugate Dual Number ====== //
inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualNumber* multiplier_to_conjugate)
inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier_to_conjugate)
{
BGC_FP32_Quaternion dual_part;
@ -465,7 +465,7 @@ inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP32_
bgc_fp32_quaternion_copy(&product->dual_part, &dual_part);
}
inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualNumber* multiplier_to_conjugate)
inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier_to_conjugate)
{
BGC_FP64_Quaternion dual_part;
@ -478,13 +478,13 @@ inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP64_
// ====== Multiply by (Regular) Quaternion ====== //
inline void bgc_fp32_dual_quaternion_multiply_by_quaternion(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_Quaternion* multiplier)
inline void bgc_fp32_dual_quaternion_multiply_by_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_Quaternion* const multiplier)
{
bgc_fp32_quaternion_multiply_by_quaternion(&product->real_part, &multiplicand->real_part, multiplier);
bgc_fp32_quaternion_multiply_by_quaternion(&product->dual_part, &multiplicand->dual_part, multiplier);
}
inline void bgc_fp64_dual_quaternion_multiply_by_quaternion(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_Quaternion* multiplier)
inline void bgc_fp64_dual_quaternion_multiply_by_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_Quaternion* const multiplier)
{
bgc_fp64_quaternion_multiply_by_quaternion(&product->real_part, &multiplicand->real_part, multiplier);
bgc_fp64_quaternion_multiply_by_quaternion(&product->dual_part, &multiplicand->dual_part, multiplier);
@ -492,13 +492,13 @@ inline void bgc_fp64_dual_quaternion_multiply_by_quaternion(BGC_FP64_DualQuatern
// ====== Multiply by Conjugate Quaternion ====== //
inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_Quaternion* multiplier_to_conjugate)
inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const multiplicand, const BGC_FP32_Quaternion* const multiplier_to_conjugate)
{
bgc_fp32_quaternion_multiply_by_conjugate(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate);
bgc_fp32_quaternion_multiply_by_conjugate(&product->dual_part, &multiplicand->dual_part, multiplier_to_conjugate);
}
inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_Quaternion* multiplier_to_conjugate)
inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const multiplicand, const BGC_FP64_Quaternion* const multiplier_to_conjugate)
{
bgc_fp64_quaternion_multiply_by_conjugate(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate);
bgc_fp64_quaternion_multiply_by_conjugate(&product->dual_part, &multiplicand->dual_part, multiplier_to_conjugate);
@ -506,7 +506,7 @@ inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_quaternion(BGC_FP64_D
// ======== Multiply by Dual Quaternion ========= //
inline void bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* left, const BGC_FP32_DualQuaternion* right)
inline void bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_DualQuaternion* const left, const BGC_FP32_DualQuaternion* const right)
{
BGC_FP32_Quaternion dual_part1, dual_part2;
@ -517,7 +517,7 @@ inline void bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQu
bgc_fp32_quaternion_add(&product->dual_part, &dual_part1, &dual_part2);
}
inline void bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* left, const BGC_FP64_DualQuaternion* right)
inline void bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_DualQuaternion* const left, const BGC_FP64_DualQuaternion* const right)
{
BGC_FP64_Quaternion dual_part1, dual_part2;
@ -530,7 +530,7 @@ inline void bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQu
// =================== Divide =================== //
inline int bgc_fp32_dual_quaternion_divide_by_real_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const float divisor)
inline int bgc_fp32_dual_quaternion_divide_by_real_number(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const float divisor)
{
if (bgc_fp32_is_zero(divisor)) {
return BGC_FAILURE;
@ -544,7 +544,7 @@ inline int bgc_fp32_dual_quaternion_divide_by_real_number(BGC_FP32_DualQuaternio
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_divide_by_real_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const double divisor)
inline int bgc_fp64_dual_quaternion_divide_by_real_number(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const double divisor)
{
if (bgc_fp64_is_zero(divisor)) {
return BGC_FAILURE;
@ -560,7 +560,7 @@ inline int bgc_fp64_dual_quaternion_divide_by_real_number(BGC_FP64_DualQuaternio
// =========== Divide by Dual Number ============ //
inline int bgc_fp32_dual_quaternion_divide_by_dual_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor)
inline int bgc_fp32_dual_quaternion_divide_by_dual_number(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_DualNumber* const divisor)
{
const float square_modulus = divisor->real_part * divisor->real_part;
@ -574,7 +574,7 @@ inline int bgc_fp32_dual_quaternion_divide_by_dual_number(BGC_FP32_DualQuaternio
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor)
inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_DualNumber* const divisor)
{
const double square_modulus = divisor->real_part * divisor->real_part;
@ -590,7 +590,7 @@ inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternio
// ====== Divide by Conjugate Dual Number ======= //
inline int bgc_fp32_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor_to_conjugate)
inline int bgc_fp32_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_DualNumber* const divisor_to_conjugate)
{
const float square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
@ -604,7 +604,7 @@ inline int bgc_fp32_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP32_Dua
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor_to_conjugate)
inline int bgc_fp64_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_DualNumber* const divisor_to_conjugate)
{
const double square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
@ -620,7 +620,7 @@ inline int bgc_fp64_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP64_Dua
// ======= Divide by (Regular) Quaternion ======= //
inline int bgc_fp32_dual_quaternion_divide_by_quaternion(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_Quaternion* divisor)
inline int bgc_fp32_dual_quaternion_divide_by_quaternion(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_Quaternion* const divisor)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(divisor);
@ -639,7 +639,7 @@ inline int bgc_fp32_dual_quaternion_divide_by_quaternion(BGC_FP32_DualQuaternion
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_divide_by_quaternion(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_Quaternion* divisor)
inline int bgc_fp64_dual_quaternion_divide_by_quaternion(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_Quaternion* const divisor)
{
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(divisor);
@ -660,7 +660,7 @@ inline int bgc_fp64_dual_quaternion_divide_by_quaternion(BGC_FP64_DualQuaternion
// ======= Divide by Conjugate Quaternion ======= //
inline int bgc_fp32_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_Quaternion* divisor_to_conjugate)
inline int bgc_fp32_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP32_DualQuaternion* const quotient, const BGC_FP32_DualQuaternion* const dividend, const BGC_FP32_Quaternion* const divisor_to_conjugate)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(divisor_to_conjugate);
@ -679,7 +679,7 @@ inline int bgc_fp32_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP32_Dual
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_Quaternion* divisor_to_conjugate)
inline int bgc_fp64_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP64_DualQuaternion* const quotient, const BGC_FP64_DualQuaternion* const dividend, const BGC_FP64_Quaternion* const divisor_to_conjugate)
{
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(divisor_to_conjugate);
@ -700,13 +700,13 @@ inline int bgc_fp64_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP64_Dual
// ================ Mean of Two ================= //
inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2)
inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* const mean, const BGC_FP32_DualQuaternion* const quaternion1, const BGC_FP32_DualQuaternion* const quaternion2)
{
bgc_fp32_quaternion_get_mean2(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part);
bgc_fp32_quaternion_get_mean2(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part);
}
inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2)
inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* const mean, const BGC_FP64_DualQuaternion* const quaternion1, const BGC_FP64_DualQuaternion* const quaternion2)
{
bgc_fp64_quaternion_get_mean2(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part);
bgc_fp64_quaternion_get_mean2(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part);
@ -714,13 +714,13 @@ inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, co
// =============== Mean of Three ================ //
inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3)
inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* const mean, const BGC_FP32_DualQuaternion* const quaternion1, const BGC_FP32_DualQuaternion* const quaternion2, const BGC_FP32_DualQuaternion* const quaternion3)
{
bgc_fp32_quaternion_get_mean3(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part, &quaternion3->real_part);
bgc_fp32_quaternion_get_mean3(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part, &quaternion3->dual_part);
}
inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3)
inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* const mean, const BGC_FP64_DualQuaternion* const quaternion1, const BGC_FP64_DualQuaternion* const quaternion2, const BGC_FP64_DualQuaternion* const quaternion3)
{
bgc_fp64_quaternion_get_mean3(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part, &quaternion3->real_part);
bgc_fp64_quaternion_get_mean3(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part, &quaternion3->dual_part);
@ -728,13 +728,13 @@ inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, co
// ============ Linear Interpolation ============ //
inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase)
inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* const interpolation, const BGC_FP32_DualQuaternion* const first, const BGC_FP32_DualQuaternion* const second, const float phase)
{
bgc_fp32_quaternion_interpolate(&interpolation->real_part, &first->real_part, &second->real_part, phase);
bgc_fp32_quaternion_interpolate(&interpolation->dual_part, &first->dual_part, &second->dual_part, phase);
}
inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase)
inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* const interpolation, const BGC_FP64_DualQuaternion* const first, const BGC_FP64_DualQuaternion* const second, const double phase)
{
bgc_fp64_quaternion_interpolate(&interpolation->real_part, &first->real_part, &second->real_part, phase);
bgc_fp64_quaternion_interpolate(&interpolation->dual_part, &first->dual_part, &second->dual_part, phase);

188
basic-geometry/quaternion.c
View file

@ -1,147 +1,147 @@
#include <math.h>
#include "./quaternion.h"
extern inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* quaternion);
extern inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* quaternion);
extern inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* const quaternion);
extern inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* const quaternion);
extern inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* quaternion);
extern inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* quaternion);
extern inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* const quaternion);
extern inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* const quaternion);
extern inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* quaternion, const float s0, const float x1, const float x2, const float x3);
extern inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* quaternion, const double s0, const double x1, const double x2, const double x3);
extern inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* const quaternion, const float s0, const float x1, const float x2, const float x3);
extern inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* const quaternion, const double s0, const double x1, const double x2, const double x3);
extern inline float bgc_fp32_quaternion_get_square_magnitude(const BGC_FP32_Quaternion* quaternion);
extern inline double bgc_fp64_quaternion_get_square_magnitude(const BGC_FP64_Quaternion* quaternion);
extern inline float bgc_fp32_quaternion_get_square_magnitude(const BGC_FP32_Quaternion* const quaternion);
extern inline double bgc_fp64_quaternion_get_square_magnitude(const BGC_FP64_Quaternion* const quaternion);
extern inline float bgc_fp32_quaternion_get_magnitude(const BGC_FP32_Quaternion* quaternion);
extern inline double bgc_fp64_quaternion_get_magnitude(const BGC_FP64_Quaternion* quaternion);
extern inline float bgc_fp32_quaternion_get_magnitude(const BGC_FP32_Quaternion* const quaternion);
extern inline double bgc_fp64_quaternion_get_magnitude(const BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* quaternion);
extern inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* quaternion);
extern inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* const quaternion);
extern inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* destination, const BGC_FP32_Quaternion* source);
extern inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* destination, const BGC_FP64_Quaternion* source);
extern inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* const destination, const BGC_FP32_Quaternion* const source);
extern inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* const destination, const BGC_FP64_Quaternion* const source);
extern inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* quarternion1, BGC_FP32_Quaternion* quarternion2);
extern inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64_Quaternion* quarternion2);
extern inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* const quarternion1, BGC_FP32_Quaternion* const quarternion2);
extern inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* const quarternion1, BGC_FP64_Quaternion* const quarternion2);
extern inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* destination, const BGC_FP32_Quaternion* source);
extern inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* destination, const BGC_FP64_Quaternion* source);
extern inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* const destination, const BGC_FP32_Quaternion* const source);
extern inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* const destination, const BGC_FP64_Quaternion* const source);
extern inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
extern inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
extern inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* const sum, const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2);
extern inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* const sum, const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2);
extern inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* basic_quaternion, const BGC_FP32_Quaternion* scalable_quaternion, const float scale);
extern inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* basic_quaternion, const BGC_FP64_Quaternion* scalable_quaternion, const double scale);
extern inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* const sum, const BGC_FP32_Quaternion* const basic_quaternion, const BGC_FP32_Quaternion* const scalable_quaternion, const float scale);
extern inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* const sum, const BGC_FP64_Quaternion* const basic_quaternion, const BGC_FP64_Quaternion* const scalable_quaternion, const double scale);
extern inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* minuend, const BGC_FP32_Quaternion* subtrahend);
extern inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* minuend, const BGC_FP64_Quaternion* subtrahend);
extern inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* const difference, const BGC_FP32_Quaternion* const minuend, const BGC_FP32_Quaternion* const subtrahend);
extern inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* const difference, const BGC_FP64_Quaternion* const minuend, const BGC_FP64_Quaternion* const subtrahend);
extern inline void bgc_fp32_quaternion_subtract_scaled(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* basic_quaternion, const BGC_FP32_Quaternion* scalable_quaternion, const float scale);
extern inline void bgc_fp64_quaternion_subtract_scaled(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* basic_quaternion, const BGC_FP64_Quaternion* scalable_quaternion, const double scale);
extern inline void bgc_fp32_quaternion_subtract_scaled(BGC_FP32_Quaternion* const difference, const BGC_FP32_Quaternion* const basic_quaternion, const BGC_FP32_Quaternion* const scalable_quaternion, const float scale);
extern inline void bgc_fp64_quaternion_subtract_scaled(BGC_FP64_Quaternion* const difference, const BGC_FP64_Quaternion* const basic_quaternion, const BGC_FP64_Quaternion* const scalable_quaternion, const double scale);
extern inline void bgc_fp32_quaternion_multiply_by_real_number(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multiplier);
extern inline void bgc_fp64_quaternion_multiply_by_real_number(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multiplier);
extern inline void bgc_fp32_quaternion_multiply_by_real_number(BGC_FP32_Quaternion* const product, const BGC_FP32_Quaternion* const multiplicand, const float multiplier);
extern inline void bgc_fp64_quaternion_multiply_by_real_number(BGC_FP64_Quaternion* const product, const BGC_FP64_Quaternion* const multiplicand, const double multiplier);
extern inline void bgc_fp32_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void bgc_fp64_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void bgc_fp32_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right);
extern inline void bgc_fp64_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right);
extern inline void bgc_fp32_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_Quaternion* multiplicand, const BGC_FP32_DualNumber* multiplier);
extern inline void bgc_fp64_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_Quaternion* multiplicand, const BGC_FP64_DualNumber* multiplier);
extern inline void bgc_fp32_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_Quaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier);
extern inline void bgc_fp64_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_Quaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier);
extern inline void bgc_fp32_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_DualQuaternion* right);
extern inline void bgc_fp64_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_DualQuaternion* right);
extern inline void bgc_fp32_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_DualQuaternion* const right);
extern inline void bgc_fp64_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_DualQuaternion* const right);
extern inline void bgc_fp32_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void bgc_fp64_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void bgc_fp32_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right);
extern inline void bgc_fp64_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right);
extern inline void _bgc_fp32_restrict_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* restrict product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void _bgc_fp64_restrict_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* restrict product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void _bgc_fp32_restrict_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* restrict const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right);
extern inline void _bgc_fp64_restrict_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* restrict const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right);
extern inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* restrict product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* restrict product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* restrict const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right);
extern inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* restrict const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right);
extern inline int bgc_fp32_quaternion_divide_by_real_number(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor);
extern inline int bgc_fp64_quaternion_divide_by_real_number(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor);
extern inline int bgc_fp32_quaternion_divide_by_real_number(BGC_FP32_Quaternion* const quotient, const BGC_FP32_Quaternion* const dividend, const float divisor);
extern inline int bgc_fp64_quaternion_divide_by_real_number(BGC_FP64_Quaternion* const quotient, const BGC_FP64_Quaternion* const dividend, const double divisor);
extern inline int bgc_fp32_quaternion_divide_by_quaternion(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor);
extern inline int bgc_fp64_quaternion_divide_by_quaternion(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor);
extern inline int bgc_fp32_quaternion_divide_by_quaternion(BGC_FP32_Quaternion* const quotient, const BGC_FP32_Quaternion* const divident, const BGC_FP32_Quaternion* const divisor);
extern inline int bgc_fp64_quaternion_divide_by_quaternion(BGC_FP64_Quaternion* const quotient, const BGC_FP64_Quaternion* const divident, const BGC_FP64_Quaternion* const divisor);
extern inline int bgc_fp32_quaternion_divide_by_conjugate(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor_to_conjugate);
extern inline int bgc_fp64_quaternion_divide_by_conjugate(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor_to_conjugate);
extern inline int bgc_fp32_quaternion_divide_by_conjugate(BGC_FP32_Quaternion* const quotient, const BGC_FP32_Quaternion* const divident, const BGC_FP32_Quaternion* const divisor_to_conjugate);
extern inline int bgc_fp64_quaternion_divide_by_conjugate(BGC_FP64_Quaternion* const quotient, const BGC_FP64_Quaternion* const divident, const BGC_FP64_Quaternion* const divisor_to_conjugate);
extern inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
extern inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
extern inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* const mean, const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2);
extern inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* const mean, const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2);
extern inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const BGC_FP32_Quaternion* quaternion3);
extern inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const BGC_FP64_Quaternion* quaternion3);
extern inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* const mean, const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2, const BGC_FP32_Quaternion* const quaternion3);
extern inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* const mean, const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2, const BGC_FP64_Quaternion* const quaternion3);
extern inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase);
extern inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase);
extern inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* const interpolation, const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2, const float phase);
extern inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* const interpolation, const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2, const double phase);
extern inline float bgc_fp32_quaternion_get_dot_product(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
extern inline double bgc_fp64_quaternion_get_dot_product(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
extern inline float bgc_fp32_quaternion_get_dot_product(const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2);
extern inline double bgc_fp64_quaternion_get_dot_product(const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2);
extern inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion);
extern inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion);
extern inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* const quaternion);
extern inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* const quaternion);
extern inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* conjugate, const BGC_FP32_Quaternion* quaternion);
extern inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* conjugate, const BGC_FP64_Quaternion* quaternion);
extern inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* const conjugate, const BGC_FP32_Quaternion* const quaternion);
extern inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* const conjugate, const BGC_FP64_Quaternion* const quaternion);
extern inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* quaternion);
extern inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* quaternion);
extern inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* const quaternion);
extern inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* const quaternion);
extern inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* reverse, const BGC_FP32_Quaternion* quaternion);
extern inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* reverse, const BGC_FP64_Quaternion* quaternion);
extern inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* const reverse, const BGC_FP32_Quaternion* const quaternion);
extern inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* const reverse, const BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_invert(BGC_FP64_Quaternion* quaternion);
extern inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_invert(BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const BGC_FP64_Quaternion* quaternion);
extern inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* const inverse, const BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* const inverse, const BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion);
extern inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion);
extern inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* const normalized, const BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* const normalized, const BGC_FP64_Quaternion* const quaternion);
extern inline void _bgc_fp32_versor_turn_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector);
extern inline void _bgc_fp64_versor_turn_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector);
extern inline void _bgc_fp32_versor_turn_vector(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Vector3* const original_vector);
extern inline void _bgc_fp64_versor_turn_vector(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Vector3* const original_vector);
extern inline void _bgc_fp32_versor_turn_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector);
extern inline void _bgc_fp64_versor_turn_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector);
extern inline void _bgc_fp32_versor_turn_vector_back(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Vector3* const original_vector);
extern inline void _bgc_fp64_versor_turn_vector_back(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Vector3* const original_vector);
extern inline int bgc_fp32_quaternion_turn_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector);
extern inline int bgc_fp64_quaternion_turn_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector);
extern inline int bgc_fp32_quaternion_turn_vector(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Vector3* const original_vector);
extern inline int bgc_fp64_quaternion_turn_vector(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Vector3* const original_vector);
extern inline int bgc_fp32_quaternion_turn_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector);
extern inline int bgc_fp64_quaternion_turn_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector);
extern inline int bgc_fp32_quaternion_turn_vector_back(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Vector3* const original_vector);
extern inline int bgc_fp64_quaternion_turn_vector_back(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Vector3* const original_vector);
extern inline void _bgc_fp32_versor_get_rotation_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Quaternion* versor);
extern inline void _bgc_fp64_versor_get_rotation_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Quaternion* versor);
extern inline void _bgc_fp32_versor_get_rotation_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Quaternion* const versor);
extern inline void _bgc_fp64_versor_get_rotation_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Quaternion* const versor);
extern inline void _bgc_fp32_versor_get_reverse_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Quaternion* versor);
extern inline void _bgc_fp64_versor_get_reverse_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Quaternion* versor);
extern inline void _bgc_fp32_versor_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Quaternion* const versor);
extern inline void _bgc_fp64_versor_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Quaternion* const versor);
extern inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion);
extern inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* const rotation, const BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* const rotation, const BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion);
extern inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion);
extern inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* const rotation, BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* const rotation, BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
extern inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
extern inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2);
extern inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2);
// =============== Get Exponation =============== //
int bgc_fp32_quaternion_get_power(BGC_FP32_Quaternion* power, const BGC_FP32_Quaternion* base, const float exponent)
int bgc_fp32_quaternion_get_power(BGC_FP32_Quaternion* const power, const BGC_FP32_Quaternion* const base, const float exponent)
{
const float s0s0 = base->s0 * base->s0;
const float x1x1 = base->x1 * base->x1;
@ -182,7 +182,7 @@ int bgc_fp32_quaternion_get_power(BGC_FP32_Quaternion* power, const BGC_FP32_Qua
return BGC_SUCCESS;
}
int bgc_fp64_quaternion_get_power(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent)
int bgc_fp64_quaternion_get_power(BGC_FP64_Quaternion* const power, const BGC_FP64_Quaternion* const base, const double exponent)
{
const double s0s0 = base->s0 * base->s0;
const double x1x1 = base->x1 * base->x1;

188
basic-geometry/quaternion.h
View file

@ -10,7 +10,7 @@
// ==================== Reset =================== //
inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* quaternion)
inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* const quaternion)
{
quaternion->s0 = 0.0f;
quaternion->x1 = 0.0f;
@ -18,7 +18,7 @@ inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* quaternion)
quaternion->x3 = 0.0f;
}
inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* quaternion)
inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* const quaternion)
{
quaternion->s0 = 0.0;
quaternion->x1 = 0.0;
@ -28,7 +28,7 @@ inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* quaternion)
// ================= Make Unit ================== //
inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* quaternion)
inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* const quaternion)
{
quaternion->s0 = 1.0f;
quaternion->x1 = 0.0f;
@ -36,7 +36,7 @@ inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* quaternion)
quaternion->x3 = 0.0f;
}
inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* quaternion)
inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* const quaternion)
{
quaternion->s0 = 1.0;
quaternion->x1 = 0.0;
@ -46,7 +46,7 @@ inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* quaternion)
// ==================== Set ===================== //
inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* quaternion, const float s0, const float x1, const float x2, const float x3)
inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* const quaternion, const float s0, const float x1, const float x2, const float x3)
{
quaternion->s0 = s0;
quaternion->x1 = x1;
@ -54,7 +54,7 @@ inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* quaternion, const floa
quaternion->x3 = x3;
}
inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* quaternion, const double s0, const double x1, const double x2, const double x3)
inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* const quaternion, const double s0, const double x1, const double x2, const double x3)
{
quaternion->s0 = s0;
quaternion->x1 = x1;
@ -64,55 +64,55 @@ inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* quaternion, const doub
// ============= Get Square Modulus ============= //
inline float bgc_fp32_quaternion_get_square_magnitude(const BGC_FP32_Quaternion* quaternion)
inline float bgc_fp32_quaternion_get_square_magnitude(const BGC_FP32_Quaternion* const quaternion)
{
return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
}
inline double bgc_fp64_quaternion_get_square_magnitude(const BGC_FP64_Quaternion* quaternion)
inline double bgc_fp64_quaternion_get_square_magnitude(const BGC_FP64_Quaternion* const quaternion)
{
return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
}
// ================ Get Modulus ================= //
inline float bgc_fp32_quaternion_get_magnitude(const BGC_FP32_Quaternion* quaternion)
inline float bgc_fp32_quaternion_get_magnitude(const BGC_FP32_Quaternion* const quaternion)
{
return sqrtf(bgc_fp32_quaternion_get_square_magnitude(quaternion));
}
inline double bgc_fp64_quaternion_get_magnitude(const BGC_FP64_Quaternion* quaternion)
inline double bgc_fp64_quaternion_get_magnitude(const BGC_FP64_Quaternion* const quaternion)
{
return sqrt(bgc_fp64_quaternion_get_square_magnitude(quaternion));
}
// ================== Is Zero =================== //
inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* quaternion)
inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* const quaternion)
{
return bgc_fp32_quaternion_get_square_magnitude(quaternion) <= BGC_FP32_SQUARE_EPSILON;
}
inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* quaternion)
inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* const quaternion)
{
return bgc_fp64_quaternion_get_square_magnitude(quaternion) <= BGC_FP64_SQUARE_EPSILON;
}
// ================== Is Unit =================== //
inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* quaternion)
inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* const quaternion)
{
return bgc_fp32_is_square_unit(bgc_fp32_quaternion_get_square_magnitude(quaternion));
}
inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* quaternion)
inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* const quaternion)
{
return bgc_fp64_is_square_unit(bgc_fp64_quaternion_get_square_magnitude(quaternion));
}
// ==================== Copy ==================== //
inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* destination, const BGC_FP32_Quaternion* source)
inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* const destination, const BGC_FP32_Quaternion* const source)
{
destination->s0 = source->s0;
destination->x1 = source->x1;
@ -120,7 +120,7 @@ inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* destination, const BGC
destination->x3 = source->x3;
}
inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* destination, const BGC_FP64_Quaternion* source)
inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* const destination, const BGC_FP64_Quaternion* const source)
{
destination->s0 = source->s0;
destination->x1 = source->x1;
@ -130,7 +130,7 @@ inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* destination, const BGC
// ==================== Swap ==================== //
inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* quarternion1, BGC_FP32_Quaternion* quarternion2)
inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* const quarternion1, BGC_FP32_Quaternion* const quarternion2)
{
const float s0 = quarternion2->s0;
const float x1 = quarternion2->x1;
@ -148,7 +148,7 @@ inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* quarternion1, BGC_FP32
quarternion1->x3 = x3;
}
inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64_Quaternion* quarternion2)
inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* const quarternion1, BGC_FP64_Quaternion* const quarternion2)
{
const double s0 = quarternion2->s0;
const double x1 = quarternion2->x1;
@ -168,7 +168,7 @@ inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64
// ================== Convert =================== //
inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* destination, const BGC_FP32_Quaternion* source)
inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* const destination, const BGC_FP32_Quaternion* const source)
{
destination->s0 = source->s0;
destination->x1 = source->x1;
@ -176,7 +176,7 @@ inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* destination
destination->x3 = source->x3;
}
inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* destination, const BGC_FP64_Quaternion* source)
inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* const destination, const BGC_FP64_Quaternion* const source)
{
destination->s0 = (float)source->s0;
destination->x1 = (float)source->x1;
@ -186,7 +186,7 @@ inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* destination
// ==================== Add ===================== //
inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* const sum, const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2)
{
sum->s0 = quaternion1->s0 + quaternion2->s0;
sum->x1 = quaternion1->x1 + quaternion2->x1;
@ -194,7 +194,7 @@ inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* sum, const BGC_FP32_Qua
sum->x3 = quaternion1->x3 + quaternion2->x3;
}
inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* const sum, const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2)
{
sum->s0 = quaternion1->s0 + quaternion2->s0;
sum->x1 = quaternion1->x1 + quaternion2->x1;
@ -204,7 +204,7 @@ inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* sum, const BGC_FP64_Qua
// ================= Add Scaled ================= //
inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* basic_quaternion, const BGC_FP32_Quaternion* scalable_quaternion, const float scale)
inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* const sum, const BGC_FP32_Quaternion* const basic_quaternion, const BGC_FP32_Quaternion* const scalable_quaternion, const float scale)
{
sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
@ -212,7 +212,7 @@ inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* sum, const BGC_F
sum->x3 = basic_quaternion->x3 + scalable_quaternion->x3 * scale;
}
inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* basic_quaternion, const BGC_FP64_Quaternion* scalable_quaternion, const double scale)
inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* const sum, const BGC_FP64_Quaternion* const basic_quaternion, const BGC_FP64_Quaternion* const scalable_quaternion, const double scale)
{
sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
@ -222,7 +222,7 @@ inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* sum, const BGC_F
// ================== Subtract ================== //
inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* minuend, const BGC_FP32_Quaternion* subtrahend)
inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* const difference, const BGC_FP32_Quaternion* const minuend, const BGC_FP32_Quaternion* const subtrahend)
{
difference->s0 = minuend->s0 - subtrahend->s0;
difference->x1 = minuend->x1 - subtrahend->x1;
@ -230,7 +230,7 @@ inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const
difference->x3 = minuend->x3 - subtrahend->x3;
}
inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* minuend, const BGC_FP64_Quaternion* subtrahend)
inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* const difference, const BGC_FP64_Quaternion* const minuend, const BGC_FP64_Quaternion* const subtrahend)
{
difference->s0 = minuend->s0 - subtrahend->s0;
difference->x1 = minuend->x1 - subtrahend->x1;
@ -240,7 +240,7 @@ inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const
// ============== Subtract Scaled =============== //
inline void bgc_fp32_quaternion_subtract_scaled(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* basic_quaternion, const BGC_FP32_Quaternion* scalable_quaternion, const float scale)
inline void bgc_fp32_quaternion_subtract_scaled(BGC_FP32_Quaternion* const difference, const BGC_FP32_Quaternion* const basic_quaternion, const BGC_FP32_Quaternion* const scalable_quaternion, const float scale)
{
difference->s0 = basic_quaternion->s0 - scalable_quaternion->s0 * scale;
difference->x1 = basic_quaternion->x1 - scalable_quaternion->x1 * scale;
@ -248,7 +248,7 @@ inline void bgc_fp32_quaternion_subtract_scaled(BGC_FP32_Quaternion* difference,
difference->x3 = basic_quaternion->x3 - scalable_quaternion->x3 * scale;
}
inline void bgc_fp64_quaternion_subtract_scaled(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* basic_quaternion, const BGC_FP64_Quaternion* scalable_quaternion, const double scale)
inline void bgc_fp64_quaternion_subtract_scaled(BGC_FP64_Quaternion* const difference, const BGC_FP64_Quaternion* const basic_quaternion, const BGC_FP64_Quaternion* const scalable_quaternion, const double scale)
{
difference->s0 = basic_quaternion->s0 - scalable_quaternion->s0 * scale;
difference->x1 = basic_quaternion->x1 - scalable_quaternion->x1 * scale;
@ -258,7 +258,7 @@ inline void bgc_fp64_quaternion_subtract_scaled(BGC_FP64_Quaternion* difference,
// ============= Multiply By Number ============= //
inline void bgc_fp32_quaternion_multiply_by_real_number(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multiplier)
inline void bgc_fp32_quaternion_multiply_by_real_number(BGC_FP32_Quaternion* const product, const BGC_FP32_Quaternion* const multiplicand, const float multiplier)
{
product->s0 = multiplicand->s0 * multiplier;
product->x1 = multiplicand->x1 * multiplier;
@ -266,7 +266,7 @@ inline void bgc_fp32_quaternion_multiply_by_real_number(BGC_FP32_Quaternion* pro
product->x3 = multiplicand->x3 * multiplier;
}
inline void bgc_fp64_quaternion_multiply_by_real_number(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multiplier)
inline void bgc_fp64_quaternion_multiply_by_real_number(BGC_FP64_Quaternion* const product, const BGC_FP64_Quaternion* const multiplicand, const double multiplier)
{
product->s0 = multiplicand->s0 * multiplier;
product->x1 = multiplicand->x1 * multiplier;
@ -276,7 +276,7 @@ inline void bgc_fp64_quaternion_multiply_by_real_number(BGC_FP64_Quaternion* pro
// =========== Multiply By Quaternion =========== //
inline void bgc_fp32_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
inline void bgc_fp32_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right)
{
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);
@ -289,7 +289,7 @@ inline void bgc_fp32_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* prod
product->x3 = x3;
}
inline void bgc_fp64_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
inline void bgc_fp64_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right)
{
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);
@ -304,7 +304,7 @@ inline void bgc_fp64_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* prod
// ====== Multiply By Conjugate Quaternion ====== //
inline void bgc_fp32_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
inline void bgc_fp32_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right)
{
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->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
@ -317,7 +317,7 @@ inline void bgc_fp32_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* produ
product->x3 = x3;
}
inline void bgc_fp64_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
inline void bgc_fp64_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right)
{
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->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
@ -332,7 +332,7 @@ inline void bgc_fp64_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* produ
// ====== Restrict Multiply By Quaternion ======= //
inline void _bgc_fp32_restrict_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* restrict product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
inline void _bgc_fp32_restrict_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* restrict const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right)
{
product->s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
product->x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@ -340,7 +340,7 @@ inline void _bgc_fp32_restrict_quaternion_multiply_by_quaternion(BGC_FP32_Quater
product->x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
}
inline void _bgc_fp64_restrict_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* restrict product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
inline void _bgc_fp64_restrict_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* restrict const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right)
{
product->s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
product->x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@ -350,7 +350,7 @@ inline void _bgc_fp64_restrict_quaternion_multiply_by_quaternion(BGC_FP64_Quater
// = Restrict Multiply By Conjugate Quaternion == //
inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* restrict product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* restrict const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_Quaternion* const right)
{
product->s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3);
product->x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
@ -358,7 +358,7 @@ inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quatern
product->x3 = (left->x3 * right->s0 + left->x2 * right->x1) - (left->s0 * right->x3 + left->x1 * right->x2);
}
inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* restrict product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* restrict const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_Quaternion* const right)
{
product->s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3);
product->x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
@ -368,13 +368,13 @@ inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quatern
// ========== Multiply By Dual Number =========== //
inline void bgc_fp32_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_Quaternion* multiplicand, const BGC_FP32_DualNumber* multiplier)
inline void bgc_fp32_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_Quaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier)
{
bgc_fp32_quaternion_multiply_by_real_number(&product->real_part, multiplicand, multiplier->real_part);
bgc_fp32_quaternion_multiply_by_real_number(&product->dual_part, multiplicand, multiplier->dual_part);
}
inline void bgc_fp64_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_Quaternion* multiplicand, const BGC_FP64_DualNumber* multiplier)
inline void bgc_fp64_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_Quaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier)
{
bgc_fp64_quaternion_multiply_by_real_number(&product->real_part, multiplicand, multiplier->real_part);
bgc_fp64_quaternion_multiply_by_real_number(&product->dual_part, multiplicand, multiplier->dual_part);
@ -382,13 +382,13 @@ inline void bgc_fp64_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion*
// ======== Multiply By Dual Quaternion ========= //
inline void bgc_fp32_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_DualQuaternion* right)
inline void bgc_fp32_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_DualQuaternion* const right)
{
bgc_fp32_quaternion_multiply_by_quaternion(&product->real_part, left, &right->real_part);
bgc_fp32_quaternion_multiply_by_quaternion(&product->dual_part, left, &right->dual_part);
}
inline void bgc_fp64_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_DualQuaternion* right)
inline void bgc_fp64_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_DualQuaternion* const right)
{
bgc_fp64_quaternion_multiply_by_quaternion(&product->real_part, left, &right->real_part);
bgc_fp64_quaternion_multiply_by_quaternion(&product->dual_part, left, &right->dual_part);
@ -396,7 +396,7 @@ inline void bgc_fp64_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuatern
// ============== Divide By Number ============== //
inline int bgc_fp32_quaternion_divide_by_real_number(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor)
inline int bgc_fp32_quaternion_divide_by_real_number(BGC_FP32_Quaternion* const quotient, const BGC_FP32_Quaternion* const dividend, const float divisor)
{
if (bgc_fp32_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE;
@ -407,7 +407,7 @@ inline int bgc_fp32_quaternion_divide_by_real_number(BGC_FP32_Quaternion* quotie
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_divide_by_real_number(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor)
inline int bgc_fp64_quaternion_divide_by_real_number(BGC_FP64_Quaternion* const quotient, const BGC_FP64_Quaternion* const dividend, const double divisor)
{
if (bgc_fp64_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE;
@ -420,7 +420,7 @@ inline int bgc_fp64_quaternion_divide_by_real_number(BGC_FP64_Quaternion* quotie
// ============ Divide By Quaternion ============ //
inline int bgc_fp32_quaternion_divide_by_quaternion(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor)
inline int bgc_fp32_quaternion_divide_by_quaternion(BGC_FP32_Quaternion* const quotient, const BGC_FP32_Quaternion* const divident, const BGC_FP32_Quaternion* const divisor)
{
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(divisor);
@ -434,7 +434,7 @@ inline int bgc_fp32_quaternion_divide_by_quaternion(BGC_FP32_Quaternion* quotien
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_divide_by_quaternion(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor)
inline int bgc_fp64_quaternion_divide_by_quaternion(BGC_FP64_Quaternion* const quotient, const BGC_FP64_Quaternion* const divident, const BGC_FP64_Quaternion* const divisor)
{
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(divisor);
@ -450,7 +450,7 @@ inline int bgc_fp64_quaternion_divide_by_quaternion(BGC_FP64_Quaternion* quotien
// ======= Divide By Conjugate Quaternion ======= //
inline int bgc_fp32_quaternion_divide_by_conjugate(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor_to_conjugate)
inline int bgc_fp32_quaternion_divide_by_conjugate(BGC_FP32_Quaternion* const quotient, const BGC_FP32_Quaternion* const divident, const BGC_FP32_Quaternion* const divisor_to_conjugate)
{
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(divisor_to_conjugate);
@ -464,7 +464,7 @@ inline int bgc_fp32_quaternion_divide_by_conjugate(BGC_FP32_Quaternion* quotient
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_divide_by_conjugate(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor_to_conjugate)
inline int bgc_fp64_quaternion_divide_by_conjugate(BGC_FP64_Quaternion* const quotient, const BGC_FP64_Quaternion* const divident, const BGC_FP64_Quaternion* const divisor_to_conjugate)
{
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(divisor_to_conjugate);
@ -480,7 +480,7 @@ inline int bgc_fp64_quaternion_divide_by_conjugate(BGC_FP64_Quaternion* quotient
// ================ Mean of Two ================= //
inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* const mean, const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2)
{
mean->s0 = (quaternion1->s0 + quaternion2->s0) * 0.5f;
mean->x1 = (quaternion1->x1 + quaternion2->x1) * 0.5f;
@ -488,7 +488,7 @@ inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_F
mean->x3 = (quaternion1->x3 + quaternion2->x3) * 0.5f;
}
inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* const mean, const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2)
{
mean->s0 = (quaternion1->s0 + quaternion2->s0) * 0.5f;
mean->x1 = (quaternion1->x1 + quaternion2->x1) * 0.5f;
@ -498,7 +498,7 @@ inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_F
// =============== Mean of Three ================ //
inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const BGC_FP32_Quaternion* quaternion3)
inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* const mean, const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2, const BGC_FP32_Quaternion* const quaternion3)
{
mean->s0 = (quaternion1->s0 + quaternion2->s0 + quaternion3->s0) * BGC_FP32_ONE_THIRD;
mean->x1 = (quaternion1->x1 + quaternion2->x1 + quaternion3->x1) * BGC_FP32_ONE_THIRD;
@ -506,7 +506,7 @@ inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* mean, const BGC_F
mean->x3 = (quaternion1->x3 + quaternion2->x3 + quaternion3->x3) * BGC_FP32_ONE_THIRD;
}
inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const BGC_FP64_Quaternion* quaternion3)
inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* const mean, const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2, const BGC_FP64_Quaternion* const quaternion3)
{
mean->s0 = (quaternion1->s0 + quaternion2->s0 + quaternion3->s0) * BGC_FP64_ONE_THIRD;
mean->x1 = (quaternion1->x1 + quaternion2->x1 + quaternion3->x1) * BGC_FP64_ONE_THIRD;
@ -516,7 +516,7 @@ inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* mean, const BGC_F
// ============ Linear Interpolation ============ //
inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase)
inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* const interpolation, const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2, const float phase)
{
const float counter_phase = 1.0f - phase;
@ -526,7 +526,7 @@ inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation,
interpolation->x3 = quaternion1->x3 * counter_phase + quaternion2->x3 * phase;
}
inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase)
inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* const interpolation, const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2, const double phase)
{
const double counter_phase = 1.0 - phase;
@ -538,33 +538,33 @@ inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation,
// ============== Get Dot Product =============== //
inline float bgc_fp32_quaternion_get_dot_product(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
inline float bgc_fp32_quaternion_get_dot_product(const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2)
{
return (quaternion1->s0 * quaternion2->s0 + quaternion1->x1 * quaternion2->x1) + (quaternion1->x2 * quaternion2->x2 + quaternion1->x3 * quaternion2->x3);
}
inline double bgc_fp64_quaternion_get_dot_product(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
inline double bgc_fp64_quaternion_get_dot_product(const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2)
{
return (quaternion1->s0 * quaternion2->s0 + quaternion1->x1 * quaternion2->x1) + (quaternion1->x2 * quaternion2->x2 + quaternion1->x3 * quaternion2->x3);
}
// ================= Conjugate ================== //
inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion)
inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* const quaternion)
{
quaternion->x1 = -quaternion->x1;
quaternion->x2 = -quaternion->x2;
quaternion->x3 = -quaternion->x3;
}
inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion)
inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* const quaternion)
{
quaternion->x1 = -quaternion->x1;
quaternion->x2 = -quaternion->x2;
quaternion->x3 = -quaternion->x3;
}
inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* conjugate, const BGC_FP32_Quaternion* quaternion)
inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* const conjugate, const BGC_FP32_Quaternion* const quaternion)
{
conjugate->s0 = quaternion->s0;
conjugate->x1 = -quaternion->x1;
@ -572,7 +572,7 @@ inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* conjugate, co
conjugate->x3 = -quaternion->x3;
}
inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* conjugate, const BGC_FP64_Quaternion* quaternion)
inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* const conjugate, const BGC_FP64_Quaternion* const quaternion)
{
conjugate->s0 = quaternion->s0;
conjugate->x1 = -quaternion->x1;
@ -582,7 +582,7 @@ inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* conjugate, co
// ================== Negative ================== //
inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* quaternion)
inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* const quaternion)
{
quaternion->s0 = -quaternion->s0;
quaternion->x1 = -quaternion->x1;
@ -590,7 +590,7 @@ inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* quaternion)
quaternion->x3 = -quaternion->x3;
}
inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* quaternion)
inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* const quaternion)
{
quaternion->s0 = -quaternion->s0;
quaternion->x1 = -quaternion->x1;
@ -598,7 +598,7 @@ inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* quaternion)
quaternion->x3 = -quaternion->x3;
}
inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* reverse, const BGC_FP32_Quaternion* quaternion)
inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* const reverse, const BGC_FP32_Quaternion* const quaternion)
{
reverse->s0 = -quaternion->s0;
reverse->x1 = -quaternion->x1;
@ -606,7 +606,7 @@ inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* reverse, const
reverse->x3 = -quaternion->x3;
}
inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* reverse, const BGC_FP64_Quaternion* quaternion)
inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* const reverse, const BGC_FP64_Quaternion* const quaternion)
{
reverse->s0 = -quaternion->s0;
reverse->x1 = -quaternion->x1;
@ -616,7 +616,7 @@ inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* reverse, const
// =================== Invert =================== //
inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const BGC_FP32_Quaternion* quaternion)
inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* const inverse, const BGC_FP32_Quaternion* const quaternion)
{
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(quaternion);
@ -634,7 +634,7 @@ inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const B
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const BGC_FP64_Quaternion* quaternion)
inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* const inverse, const BGC_FP64_Quaternion* const quaternion)
{
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(quaternion);
@ -652,19 +652,19 @@ inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const B
return BGC_SUCCESS;
}
inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* quaternion)
inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* const quaternion)
{
return bgc_fp32_quaternion_get_inverse(quaternion, quaternion);
}
inline int bgc_fp64_quaternion_invert(BGC_FP64_Quaternion* quaternion)
inline int bgc_fp64_quaternion_invert(BGC_FP64_Quaternion* const quaternion)
{
return bgc_fp64_quaternion_get_inverse(quaternion, quaternion);
}
// ================= Normalize ================== //
inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion)
inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* const quaternion)
{
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(quaternion);
@ -686,7 +686,7 @@ inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion)
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* const quaternion)
{
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(quaternion);
@ -708,7 +708,7 @@ inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
return BGC_SUCCESS;
}
inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion)
inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* const normalized, const BGC_FP32_Quaternion* const quaternion)
{
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(quaternion);
@ -726,7 +726,7 @@ inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, c
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion)
inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* const normalized, const BGC_FP64_Quaternion* const quaternion)
{
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(quaternion);
@ -746,14 +746,14 @@ inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, c
// =============== Get Exponation =============== //
int bgc_fp32_quaternion_get_power(BGC_FP32_Quaternion* power, const BGC_FP32_Quaternion* base, const float exponent);
int bgc_fp32_quaternion_get_power(BGC_FP32_Quaternion* const power, const BGC_FP32_Quaternion* const base, const float exponent);
int bgc_fp64_quaternion_get_power(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent);
int bgc_fp64_quaternion_get_power(BGC_FP64_Quaternion* const power, const BGC_FP64_Quaternion* const base, const double exponent);
// ============== Raw Turn Vector3 ============== //
// An internal function
inline void _bgc_fp32_versor_turn_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
inline void _bgc_fp32_versor_turn_vector(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Vector3* const original_vector)
{
const float tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const float tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
@ -769,7 +769,7 @@ inline void _bgc_fp32_versor_turn_vector(BGC_FP32_Vector3* turned_vector, const
}
// An internal function
inline void _bgc_fp64_versor_turn_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
inline void _bgc_fp64_versor_turn_vector(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Vector3* const original_vector)
{
const double tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const double tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
@ -787,7 +787,7 @@ inline void _bgc_fp64_versor_turn_vector(BGC_FP64_Vector3* turned_vector, const
// ========= Raw Turn Vector3 Backwards ========= //
// An internal function
inline void _bgc_fp32_versor_turn_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
inline void _bgc_fp32_versor_turn_vector_back(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Vector3* const original_vector)
{
const float tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const float tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
@ -803,7 +803,7 @@ inline void _bgc_fp32_versor_turn_vector_back(BGC_FP32_Vector3* turned_vector, c
}
// An internal function
inline void _bgc_fp64_versor_turn_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
inline void _bgc_fp64_versor_turn_vector_back(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Vector3* const original_vector)
{
const double tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const double tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
@ -820,7 +820,7 @@ inline void _bgc_fp64_versor_turn_vector_back(BGC_FP64_Vector3* turned_vector, c
// ================ Turn Vector3 ================ //
inline int bgc_fp32_quaternion_turn_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
inline int bgc_fp32_quaternion_turn_vector(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Vector3* const original_vector)
{
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(quaternion);
@ -846,7 +846,7 @@ inline int bgc_fp32_quaternion_turn_vector(BGC_FP32_Vector3* turned_vector, cons
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_turn_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
inline int bgc_fp64_quaternion_turn_vector(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Vector3* const original_vector)
{
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(quaternion);
@ -874,7 +874,7 @@ inline int bgc_fp64_quaternion_turn_vector(BGC_FP64_Vector3* turned_vector, cons
// =========== Turn Vector3 Backwards =========== //
inline int bgc_fp32_quaternion_turn_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
inline int bgc_fp32_quaternion_turn_vector_back(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Vector3* const original_vector)
{
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(quaternion);
@ -900,7 +900,7 @@ inline int bgc_fp32_quaternion_turn_vector_back(BGC_FP32_Vector3* turned_vector,
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_turn_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
inline int bgc_fp64_quaternion_turn_vector_back(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Vector3* const original_vector)
{
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(quaternion);
@ -928,7 +928,7 @@ inline int bgc_fp64_quaternion_turn_vector_back(BGC_FP64_Vector3* turned_vector,
// ========= Get Versor Rotation Matrix ========= //
inline void _bgc_fp32_versor_get_rotation_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Quaternion* versor)
inline void _bgc_fp32_versor_get_rotation_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Quaternion* const versor)
{
const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->x1 * versor->x1;
@ -957,7 +957,7 @@ inline void _bgc_fp32_versor_get_rotation_matrix(BGC_FP32_Matrix3x3* matrix, con
matrix->r1c3 = 2.0f * (x1x3 + s0x2);
}
inline void _bgc_fp64_versor_get_rotation_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Quaternion* versor)
inline void _bgc_fp64_versor_get_rotation_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Quaternion* const versor)
{
const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->x1 * versor->x1;
@ -988,7 +988,7 @@ inline void _bgc_fp64_versor_get_rotation_matrix(BGC_FP64_Matrix3x3* matrix, con
// ========= Get Versor Reverse Matrix ========== //
inline void _bgc_fp32_versor_get_reverse_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Quaternion* versor)
inline void _bgc_fp32_versor_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Quaternion* const versor)
{
const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->x1 * versor->x1;
@ -1017,7 +1017,7 @@ inline void _bgc_fp32_versor_get_reverse_matrix(BGC_FP32_Matrix3x3* matrix, cons
matrix->r1c3 = 2.0f * (x1x3 - s0x2);
}
inline void _bgc_fp64_versor_get_reverse_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Quaternion* versor)
inline void _bgc_fp64_versor_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Quaternion* const versor)
{
const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->x1 * versor->x1;
@ -1048,7 +1048,7 @@ inline void _bgc_fp64_versor_get_reverse_matrix(BGC_FP64_Matrix3x3* matrix, cons
// ============ Get Rotation Matrix ============= //
inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion)
inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* const rotation, const BGC_FP32_Quaternion* const quaternion)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
@ -1089,7 +1089,7 @@ inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation,
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion)
inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* const rotation, const BGC_FP64_Quaternion* const quaternion)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;
@ -1132,7 +1132,7 @@ inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation,
// ============= Get Reverse Matrix ============= //
inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion)
inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Quaternion* const quaternion)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
@ -1173,7 +1173,7 @@ inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, c
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion)
inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Quaternion* const quaternion)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;
@ -1216,7 +1216,7 @@ inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, c
// ============= Get Both Matrixes ============== //
inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion)
inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* const rotation, BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Quaternion* const quaternion)
{
if (bgc_fp32_quaternion_get_reverse_matrix(reverse, quaternion) != BGC_SUCCESS) {
return BGC_FAILURE;
@ -1226,7 +1226,7 @@ inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* rotation, B
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion)
inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* const rotation, BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Quaternion* const quaternion)
{
if (bgc_fp64_quaternion_get_reverse_matrix(reverse, quaternion) != BGC_SUCCESS) {
return BGC_FAILURE;
@ -1238,7 +1238,7 @@ inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* rotation, B
// ================== Are Close ================= //
inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* const quaternion1, const BGC_FP32_Quaternion* const quaternion2)
{
const float ds0 = quaternion1->s0 - quaternion2->s0;
const float dx1 = quaternion1->x1 - quaternion2->x1;
@ -1256,7 +1256,7 @@ inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* quaternion1,
return square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus2;
}
inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* const quaternion1, const BGC_FP64_Quaternion* const quaternion2)
{
const double ds0 = quaternion1->s0 - quaternion2->s0;
const double dx1 = quaternion1->x1 - quaternion2->x1;

108
basic-geometry/rigid-pose3.c
View file

@ -1,82 +1,82 @@
#include "rigid-pose3.h"
extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* const pose);
extern inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose);
extern inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose);
extern inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* const pose);
extern inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* quaternion, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* const quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* const quaternion, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* pose, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose, const BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* const pose, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* const pose, const BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* const source);
extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* const source);
extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* const destination, const BGC_FP32_RigidPose3* const source);
extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* const destination, const BGC_FP64_RigidPose3* const source);
extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2);
extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2);
extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* const pose1, BGC_FP32_RigidPose3* const pose2);
extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* const pose1, BGC_FP64_RigidPose3* const pose2);
extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* const source);
extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* const source);
extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* const destination, const BGC_FP32_RigidPose3* const source);
extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* const destination, const BGC_FP64_RigidPose3* const source);
extern inline void bgc_fp32_rigid_pose3_shorten(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_shorten(BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* shortened, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* shortened, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* const shortened, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* const shortened, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_alternate(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_alternate(BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* alternative, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* alternative, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* const alternative, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* const alternative, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* reverse, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* reverse, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* const reverse, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* const reverse, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* const first, const BGC_FP32_RigidPose3* const second);
extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* const first, const BGC_FP64_RigidPose3* const second);
extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* const combination, const BGC_FP32_RigidPose3* const first, const BGC_FP32_RigidPose3* const second);
extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* const combination, const BGC_FP64_RigidPose3* const first, const BGC_FP64_RigidPose3* const second);
extern inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* difference, const BGC_FP32_RigidPose3* const base, const BGC_FP32_RigidPose3* const excludant);
extern inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* difference, const BGC_FP64_RigidPose3* const base, const BGC_FP64_RigidPose3* const excludant);
extern inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* const difference, const BGC_FP32_RigidPose3* const base, const BGC_FP32_RigidPose3* const excludant);
extern inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference, const BGC_FP64_RigidPose3* const base, const BGC_FP64_RigidPose3* const excludant);
extern inline void bgc_fp32_rigid_pose3_get_outward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_outward_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_outer_position(BGC_FP32_Position3* position, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outer_position(BGC_FP64_Position3* position, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_outer_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outer_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_set_outer_position(BGC_FP32_RigidPose3* pose, const BGC_FP32_Position3* const position);
extern inline void bgc_fp64_rigid_pose3_set_outer_position(BGC_FP64_RigidPose3* pose, const BGC_FP64_Position3* const position);
extern inline void bgc_fp32_rigid_pose3_set_outer_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position);
extern inline void bgc_fp64_rigid_pose3_set_outer_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position);
extern inline void bgc_fp32_rigid_pose3_get_inner_position(BGC_FP32_Position3* position, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inner_position(BGC_FP64_Position3* position, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_inner_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inner_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_set_inner_position(BGC_FP32_RigidPose3* pose, const BGC_FP32_Position3* const position);
extern inline void bgc_fp64_rigid_pose3_set_inner_position(BGC_FP64_RigidPose3* pose, const BGC_FP64_Position3* const position);
extern inline void bgc_fp32_rigid_pose3_set_inner_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position);
extern inline void bgc_fp64_rigid_pose3_set_inner_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position);

108
basic-geometry/rigid-pose3.h
View file

Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -10,7 +10,7 @@
// ==================== Reset =================== //
inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose)
inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* const pose)
{
pose->_versor.real_part.s0 = 1.0f;
pose->_versor.real_part.x1 = 0.0f;
@ -23,7 +23,7 @@ inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose)
pose->_versor.dual_part.x3 = 0.0f;
}
inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose)
inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* const pose)
{
pose->_versor.real_part.s0 = 1.0;
pose->_versor.real_part.x1 = 0.0;
@ -38,7 +38,7 @@ inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose)
// ================= Normalize ================== //
inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose)
inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* const pose)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&pose->_versor.real_part);
@ -58,7 +58,7 @@ inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose)
bgc_fp32_quaternion_subtract_scaled(&pose->_versor.dual_part, &pose->_versor.dual_part, &pose->_versor.real_part, dot_product);
}
inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose)
inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* const pose)
{
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&pose->_versor.real_part);
@ -80,25 +80,25 @@ inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose)
// ============ Get Dual Quaternion ============= //
inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* quaternion, const BGC_FP32_RigidPose3* const pose)
inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* const quaternion, const BGC_FP32_RigidPose3* const pose)
{
bgc_fp32_dual_quaternion_copy(quaternion, &pose->_versor);
}
inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* quaternion, const BGC_FP64_RigidPose3* const pose)
inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* const quaternion, const BGC_FP64_RigidPose3* const pose)
{
bgc_fp64_dual_quaternion_copy(quaternion, &pose->_versor);
}
// ============ Get Dual Quaternion ============= //
inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* pose, const BGC_FP32_DualQuaternion* const quaternion)
inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* const pose, const BGC_FP32_DualQuaternion* const quaternion)
{
bgc_fp32_dual_quaternion_copy(&pose->_versor, quaternion);
_bgc_fp32_rigid_pose3_normalize(pose);
}
inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose, const BGC_FP64_DualQuaternion* const quaternion)
inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* const pose, const BGC_FP64_DualQuaternion* const quaternion)
{
bgc_fp64_dual_quaternion_copy(&pose->_versor, quaternion);
_bgc_fp64_rigid_pose3_normalize(pose);
@ -106,61 +106,61 @@ inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose,
// =============== Get Real Part ================ //
inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* const pose)
inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_RigidPose3* const pose)
{
bgc_fp32_quaternion_copy(quaternion, &pose->_versor.real_part);
}
inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* const pose)
inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_RigidPose3* const pose)
{
bgc_fp64_quaternion_copy(quaternion, &pose->_versor.real_part);
}
// =============== Get Dual Part ================ //
inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* const pose)
inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_RigidPose3* const pose)
{
bgc_fp32_quaternion_copy(quaternion, &pose->_versor.dual_part);
}
inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* const pose)
inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_RigidPose3* const pose)
{
bgc_fp64_quaternion_copy(quaternion, &pose->_versor.dual_part);
}
// ==================== Copy ==================== //
inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* const source)
inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* const destination, const BGC_FP32_RigidPose3* const source)
{
bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
}
inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* const source)
inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* const destination, const BGC_FP64_RigidPose3* const source)
{
bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
}
// ==================== Swap ==================== //
inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2)
inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* const pose1, BGC_FP32_RigidPose3* const pose2)
{
bgc_fp32_dual_quaternion_swap(&pose1->_versor, &pose2->_versor);
}
inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2)
inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* const pose1, BGC_FP64_RigidPose3* const pose2)
{
bgc_fp64_dual_quaternion_swap(&pose1->_versor, &pose2->_versor);
}
// ================== Convert =================== //
inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* const source)
inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* const destination, const BGC_FP32_RigidPose3* const source)
{
bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
_bgc_fp64_rigid_pose3_normalize(destination);
}
inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* const source)
inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* const destination, const BGC_FP64_RigidPose3* const source)
{
bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
_bgc_fp32_rigid_pose3_normalize(destination);
@ -168,7 +168,7 @@ inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destinatio
// ================== Shorten =================== //
inline void bgc_fp32_rigid_pose3_shorten(BGC_FP32_RigidPose3* pose)
inline void bgc_fp32_rigid_pose3_shorten(BGC_FP32_RigidPose3* const pose)
{
if (pose->_versor.real_part.s0 < 0.0f) {
bgc_fp32_quaternion_revert(&pose->_versor.real_part);
@ -176,7 +176,7 @@ inline void bgc_fp32_rigid_pose3_shorten(BGC_FP32_RigidPose3* pose)
}
}
inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* pose)
inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* const pose)
{
if (pose->_versor.real_part.s0 < 0.0) {
bgc_fp64_quaternion_revert(&pose->_versor.real_part);
@ -186,7 +186,7 @@ inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* pose)
// =============== Get Shortened ================ //
inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* shortened, const BGC_FP32_RigidPose3* const pose)
inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* const shortened, const BGC_FP32_RigidPose3* const pose)
{
if (pose->_versor.real_part.s0 < 0.0f) {
bgc_fp32_quaternion_get_reverse(&shortened->_versor.real_part, &pose->_versor.real_part);
@ -198,7 +198,7 @@ inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* shortened, c
}
}
inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* shortened, const BGC_FP64_RigidPose3* const pose)
inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* const shortened, const BGC_FP64_RigidPose3* const pose)
{
if (pose->_versor.real_part.s0 < 0.0) {
bgc_fp64_quaternion_get_reverse(&shortened->_versor.real_part, &pose->_versor.real_part);
@ -212,13 +212,13 @@ inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* shortened, c
// ================= Alternate ================== //
inline void bgc_fp32_rigid_pose3_alternate(BGC_FP32_RigidPose3* pose)
inline void bgc_fp32_rigid_pose3_alternate(BGC_FP32_RigidPose3* const pose)
{
bgc_fp32_quaternion_revert(&pose->_versor.real_part);
bgc_fp32_quaternion_revert(&pose->_versor.dual_part);
}
inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* pose)
inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* const pose)
{
bgc_fp64_quaternion_revert(&pose->_versor.real_part);
bgc_fp64_quaternion_revert(&pose->_versor.dual_part);
@ -226,13 +226,13 @@ inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* pose)
// ============== Get Alternative =============== //
inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* alternative, const BGC_FP32_RigidPose3* const pose)
inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* const alternative, const BGC_FP32_RigidPose3* const pose)
{
bgc_fp32_quaternion_get_reverse(&alternative->_versor.real_part, &pose->_versor.real_part);
bgc_fp32_quaternion_get_reverse(&alternative->_versor.dual_part, &pose->_versor.dual_part);
}
inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* alternative, const BGC_FP64_RigidPose3* const pose)
inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* const alternative, const BGC_FP64_RigidPose3* const pose)
{
bgc_fp64_quaternion_get_reverse(&alternative->_versor.real_part, &pose->_versor.real_part);
bgc_fp64_quaternion_get_reverse(&alternative->_versor.dual_part, &pose->_versor.dual_part);
@ -240,13 +240,13 @@ inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* alternativ
// =================== Revert =================== //
inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* pose)