Добавление квалификатора const, который запрещает изменение указателя
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14 changed files with 1019 additions and 1039 deletions
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@ -6,13 +6,13 @@
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// =================== Reset ==================== //
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inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion)
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inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* const quaternion)
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{
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bgc_fp32_quaternion_reset(&quaternion->real_part);
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bgc_fp32_quaternion_reset(&quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion)
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inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* const quaternion)
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{
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bgc_fp64_quaternion_reset(&quaternion->real_part);
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bgc_fp64_quaternion_reset(&quaternion->dual_part);
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@ -20,13 +20,13 @@ inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion)
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// ==================== Copy ==================== //
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inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
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inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* const destination, const BGC_FP32_DualQuaternion* const source)
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{
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bgc_fp32_quaternion_copy(&destination->real_part, &source->real_part);
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bgc_fp32_quaternion_copy(&destination->dual_part, &source->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
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inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* const destination, const BGC_FP64_DualQuaternion* const source)
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{
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bgc_fp64_quaternion_copy(&destination->real_part, &source->real_part);
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bgc_fp64_quaternion_copy(&destination->dual_part, &source->dual_part);
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@ -34,13 +34,13 @@ inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination,
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// ==================== Swap ==================== //
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inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second)
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inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* const first, BGC_FP32_DualQuaternion* const second)
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{
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bgc_fp32_quaternion_swap(&first->real_part, &second->real_part);
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bgc_fp32_quaternion_swap(&first->dual_part, &second->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second)
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inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* const first, BGC_FP64_DualQuaternion* const second)
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{
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bgc_fp64_quaternion_swap(&first->real_part, &second->real_part);
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bgc_fp64_quaternion_swap(&first->dual_part, &second->dual_part);
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@ -48,13 +48,13 @@ inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP
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// ================== Convert =================== //
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inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
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inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* const destination, const BGC_FP32_DualQuaternion* const source)
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{
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bgc_fp32_quaternion_convert_to_fp64(&destination->real_part, &source->real_part);
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bgc_fp32_quaternion_convert_to_fp64(&destination->dual_part, &source->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
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inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* const destination, const BGC_FP64_DualQuaternion* const source)
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{
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bgc_fp64_quaternion_convert_to_fp32(&destination->real_part, &source->real_part);
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bgc_fp64_quaternion_convert_to_fp32(&destination->dual_part, &source->dual_part);
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@ -62,13 +62,13 @@ inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* de
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// =================== Revert =================== //
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inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion)
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inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* const quaternion)
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{
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bgc_fp32_quaternion_revert(&quaternion->real_part);
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bgc_fp32_quaternion_revert(&quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
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inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* const quaternion)
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{
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bgc_fp64_quaternion_revert(&quaternion->real_part);
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bgc_fp64_quaternion_revert(&quaternion->dual_part);
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@ -76,13 +76,13 @@ inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
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// ================ Get Reverse ================= //
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inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion)
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inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* const reverse, const BGC_FP32_DualQuaternion* const quaternion)
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{
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bgc_fp32_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
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bgc_fp32_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion)
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inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* const reverse, const BGC_FP64_DualQuaternion* const quaternion)
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{
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bgc_fp64_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
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bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
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@ -90,7 +90,7 @@ inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* revers
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// =================== Invert =================== //
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inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion)
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inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* const quaternion)
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{
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if (bgc_fp32_quaternion_get_inverse(&quaternion->real_part, &quaternion->real_part) != BGC_SUCCESS) {
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return BGC_FAILURE;
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@ -106,7 +106,7 @@ inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion)
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion)
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inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* const quaternion)
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{
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if (bgc_fp64_quaternion_get_inverse(&quaternion->real_part, &quaternion->real_part) != BGC_SUCCESS) {
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return BGC_FAILURE;
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@ -124,7 +124,7 @@ inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion)
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// ================ Get Inverse ================= //
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inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse, const BGC_FP32_DualQuaternion* quaternion)
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inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* const inverse, const BGC_FP32_DualQuaternion* const quaternion)
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{
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if (bgc_fp32_quaternion_get_inverse(&inverse->real_part, &quaternion->real_part) != BGC_SUCCESS) {
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return BGC_FAILURE;
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@ -140,7 +140,7 @@ inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse, const BGC_FP64_DualQuaternion* quaternion)
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inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* const inverse, const BGC_FP64_DualQuaternion* const quaternion)
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{
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if (bgc_fp64_quaternion_get_inverse(&inverse->real_part, &quaternion->real_part) != BGC_SUCCESS) {
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return BGC_FAILURE;
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@ -158,13 +158,13 @@ inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse
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// ============ Component Conjugate ============= //
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inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion)
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inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* const quaternion)
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{
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bgc_fp32_quaternion_conjugate(&quaternion->real_part);
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bgc_fp32_quaternion_conjugate(&quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* quaternion)
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inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* const quaternion)
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{
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bgc_fp64_quaternion_conjugate(&quaternion->real_part);
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bgc_fp64_quaternion_conjugate(&quaternion->dual_part);
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@ -172,13 +172,13 @@ inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion
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// ========== Get Component Conjugate =========== //
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inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
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inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion)
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{
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bgc_fp32_quaternion_get_conjugate(&conjugate->real_part, &quaternion->real_part);
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bgc_fp32_quaternion_get_conjugate(&conjugate->dual_part, &quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
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inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion)
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{
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bgc_fp64_quaternion_get_conjugate(&conjugate->real_part, &quaternion->real_part);
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bgc_fp64_quaternion_get_conjugate(&conjugate->dual_part, &quaternion->dual_part);
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@ -186,25 +186,25 @@ inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuater
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// =============== Dual Conjugate =============== //
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inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* quaternion)
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inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* const quaternion)
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{
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bgc_fp32_quaternion_revert(&quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* quaternion)
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inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* const quaternion)
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{
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bgc_fp64_quaternion_revert(&quaternion->dual_part);
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}
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// ============= Get Dual Conjugate ============= //
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inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
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inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion)
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{
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bgc_fp32_quaternion_copy(&conjugate->real_part, &quaternion->real_part);
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bgc_fp32_quaternion_get_reverse(&conjugate->real_part, &quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
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inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion)
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{
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bgc_fp64_quaternion_copy(&conjugate->real_part, &quaternion->real_part);
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bgc_fp64_quaternion_get_reverse(&conjugate->real_part, &quaternion->dual_part);
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@ -212,7 +212,7 @@ inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion*
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// ============== Fully Conjugate =============== //
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inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* quaternion)
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inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* const quaternion)
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{
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quaternion->real_part.x1 = -quaternion->real_part.x1;
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quaternion->real_part.x2 = -quaternion->real_part.x2;
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@ -221,7 +221,7 @@ inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* qu
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quaternion->dual_part.s0 = -quaternion->dual_part.s0;
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}
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inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* quaternion)
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inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* const quaternion)
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{
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quaternion->real_part.x1 = -quaternion->real_part.x1;
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quaternion->real_part.x2 = -quaternion->real_part.x2;
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@ -232,7 +232,7 @@ inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* qu
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// ============ Get Fully Conjugate ============= //
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inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
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inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion)
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{
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conjugate->real_part.s0 = quaternion->real_part.s0;
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conjugate->real_part.x1 = -quaternion->real_part.x1;
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@ -245,7 +245,7 @@ inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion
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conjugate->dual_part.x3 = quaternion->dual_part.x3;
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}
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inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
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inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion)
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{
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conjugate->real_part.s0 = quaternion->real_part.s0;
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conjugate->real_part.x1 = -quaternion->real_part.x1;
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@ -260,7 +260,7 @@ inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion
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// ================= Normalize ================== //
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inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* quaternion)
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inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* const quaternion)
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{
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&quaternion->real_part);
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@ -282,7 +282,7 @@ inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* quaternio
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* quaternion)
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inline int bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* const quaternion)
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{
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&quaternion->real_part);
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@ -306,7 +306,7 @@ inline int bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* quaternio
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// =============== Get Normalized =============== //
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inline int bgc_fp32_dual_quaternion_get_normalized(BGC_FP32_DualQuaternion* normalized, const BGC_FP32_DualQuaternion* quaternion)
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inline int bgc_fp32_dual_quaternion_get_normalized(BGC_FP32_DualQuaternion* const normalized, const BGC_FP32_DualQuaternion* const quaternion)
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{
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&quaternion->real_part);
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@ -332,7 +332,7 @@ inline int bgc_fp32_dual_quaternion_get_normalized(BGC_FP32_DualQuaternion* norm
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_quaternion_get_normalized(BGC_FP64_DualQuaternion* normalized, const BGC_FP64_DualQuaternion* quaternion)
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inline int bgc_fp64_dual_quaternion_get_normalized(BGC_FP64_DualQuaternion* const normalized, const BGC_FP64_DualQuaternion* const quaternion)
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{
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&quaternion->real_part);
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@ -360,13 +360,13 @@ inline int bgc_fp64_dual_quaternion_get_normalized(BGC_FP64_DualQuaternion* norm
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// ==================== Add ===================== //
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inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)
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inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* const sum, const BGC_FP32_DualQuaternion* const first, const BGC_FP32_DualQuaternion* const second)
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{
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bgc_fp32_quaternion_add(&sum->real_part, &first->real_part, &second->real_part);
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bgc_fp32_quaternion_add(&sum->dual_part, &first->dual_part, &second->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second)
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inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* const sum, const BGC_FP64_DualQuaternion* const first, const BGC_FP64_DualQuaternion* const second)
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{
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||||
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)
|
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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)
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{
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(divisor_to_conjugate);
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@ -679,7 +679,7 @@ inline int bgc_fp32_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP32_Dual
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return BGC_SUCCESS;
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}
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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)
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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)
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{
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(divisor_to_conjugate);
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@ -700,13 +700,13 @@ inline int bgc_fp64_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP64_Dual
|
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// ================ Mean of Two ================= //
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inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2)
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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)
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{
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bgc_fp32_quaternion_get_mean2(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part);
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bgc_fp32_quaternion_get_mean2(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2)
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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)
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{
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bgc_fp64_quaternion_get_mean2(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part);
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bgc_fp64_quaternion_get_mean2(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part);
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||||
|
|
@ -714,13 +714,13 @@ inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, co
|
|||
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// =============== 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);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue