Kimelas/bgc-c
2
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Добавление квалификатора const, который запрещает изменение указателя

Browse source
This commit is contained in:
Andrey Pokidov 2026-03-23 18:55:33 +07:00
parent 51fafe50c8
commit 610756ffed
14 changed files with 1019 additions and 1039 deletions
Download patch file Download diff file Expand all files Collapse all files

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;