Изменение функций нормализации, переименование make функий в set values, добавление внутренних restrict функций, гарантирующих оптимизальное выполнение открытых функций, независимо от компилятора
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20 changed files with 324 additions and 337 deletions
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@ -133,17 +133,17 @@ inline int bgc_fp64_affine2_get_inverse(BGC_FP64_Affine2* const inverse, const B
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inline void bgc_fp32_affine2_combine(BGC_FP32_Affine2* const combination, const BGC_FP32_Affine2* const first, const BGC_FP32_Affine2* const second)
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{
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BGC_FP32_Vector2 first_shift;
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bgc_fp32_matrix2x2_multiply_by_vector2(&first_shift, &second->distortion, &first->shift);
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bgc_fp32_matrix2x2_multiply_by_matrix2x2(&combination->distortion, &second->distortion, &first->distortion);
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_bgc_fp32_restrict_matrix2x2_multiply_by_vector2(&first_shift, &second->distortion, &first->shift);
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bgc_fp32_vector2_add(&combination->shift, &second->shift, &first_shift);
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bgc_fp32_matrix2x2_multiply_by_matrix2x2(&combination->distortion, &second->distortion, &first->distortion);
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}
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inline void bgc_fp64_affine2_combine(BGC_FP64_Affine2* const combination, const BGC_FP64_Affine2* const first, const BGC_FP64_Affine2* const second)
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{
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BGC_FP64_Vector2 first_shift;
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bgc_fp64_matrix2x2_multiply_by_vector2(&first_shift, &second->distortion, &first->shift);
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bgc_fp64_matrix2x2_multiply_by_matrix2x2(&combination->distortion, &second->distortion, &first->distortion);
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_bgc_fp64_restrict_matrix2x2_multiply_by_vector2(&first_shift, &second->distortion, &first->shift);
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bgc_fp64_vector2_add(&combination->shift, &second->shift, &first_shift);
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bgc_fp64_matrix2x2_multiply_by_matrix2x2(&combination->distortion, &second->distortion, &first->distortion);
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}
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// =============== Transform Point =============== //
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@ -151,14 +151,14 @@ inline void bgc_fp64_affine2_combine(BGC_FP64_Affine2* const combination, const
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inline void bgc_fp32_affine2_transform_point(BGC_FP32_Vector2* const transformed_point, const BGC_FP32_Affine2* const affine, const BGC_FP32_Vector2* const initial_point)
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{
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BGC_FP32_Vector2 distorted;
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bgc_fp32_matrix2x2_multiply_by_vector2(&distorted, &affine->distortion, initial_point);
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_bgc_fp32_restrict_matrix2x2_multiply_by_vector2(&distorted, &affine->distortion, initial_point);
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bgc_fp32_vector2_add(transformed_point, &affine->shift, &distorted);
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}
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inline void bgc_fp64_affine2_transform_point(BGC_FP64_Vector2* const transformed_point, const BGC_FP64_Affine2* const affine, const BGC_FP64_Vector2* const initial_point)
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{
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BGC_FP64_Vector2 distorted;
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bgc_fp64_matrix2x2_multiply_by_vector2(&distorted, &affine->distortion, initial_point);
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_bgc_fp64_restrict_matrix2x2_multiply_by_vector2(&distorted, &affine->distortion, initial_point);
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bgc_fp64_vector2_add(transformed_point, &affine->shift, &distorted);
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}
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@ -132,17 +132,17 @@ inline int bgc_fp64_affine3_get_inverse(BGC_FP64_Affine3* const destination, con
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inline void bgc_fp32_affine3_combine(BGC_FP32_Affine3* const combination, const BGC_FP32_Affine3* const first, const BGC_FP32_Affine3* const second)
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{
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BGC_FP32_Vector3 first_shift;
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bgc_fp32_matrix3x3_multiply_by_vector3(&first_shift, &second->distortion, &first->shift);
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bgc_fp32_matrix3x3_multiply_by_matrix3x3(&combination->distortion, &second->distortion, &first->distortion);
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_bgc_fp32_restrict_matrix3x3_multiply_by_vector3(&first_shift, &second->distortion, &first->shift);
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bgc_fp32_vector3_add(&combination->shift, &first_shift, &second->shift);
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bgc_fp32_matrix3x3_multiply_by_matrix3x3(&combination->distortion, &second->distortion, &first->distortion);
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}
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inline void bgc_fp64_affine3_combine(BGC_FP64_Affine3* const combination, const BGC_FP64_Affine3* const first, const BGC_FP64_Affine3* const second)
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{
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BGC_FP64_Vector3 first_shift;
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bgc_fp64_matrix3x3_multiply_by_vector3(&first_shift, &second->distortion, &first->shift);
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bgc_fp64_matrix3x3_multiply_by_matrix3x3(&combination->distortion, &second->distortion, &first->distortion);
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_bgc_fp64_restrict_matrix3x3_multiply_by_vector3(&first_shift, &second->distortion, &first->shift);
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bgc_fp64_vector3_add(&combination->shift, &first_shift, &second->shift);
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bgc_fp64_matrix3x3_multiply_by_matrix3x3(&combination->distortion, &second->distortion, &first->distortion);
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}
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// =============== Transform Point =============== //
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@ -150,14 +150,14 @@ inline void bgc_fp64_affine3_combine(BGC_FP64_Affine3* const combination, const
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inline void bgc_fp32_affine3_transform_point(BGC_FP32_Vector3* const transformed_point, const BGC_FP32_Affine3* const affine, const BGC_FP32_Vector3* const initial_point)
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{
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BGC_FP32_Vector3 distorted;
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bgc_fp32_matrix3x3_multiply_by_vector3(&distorted, &affine->distortion, initial_point);
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_bgc_fp32_restrict_matrix3x3_multiply_by_vector3(&distorted, &affine->distortion, initial_point);
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bgc_fp32_vector3_add(transformed_point, &affine->shift, &distorted);
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}
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inline void bgc_fp64_affine3_transform_point(BGC_FP64_Vector3* const transformed_point, const BGC_FP64_Affine3* const affine, const BGC_FP64_Vector3* const initial_point)
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{
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BGC_FP64_Vector3 distorted;
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bgc_fp64_matrix3x3_multiply_by_vector3(&distorted, &affine->distortion, initial_point);
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_bgc_fp64_restrict_matrix3x3_multiply_by_vector3(&distorted, &affine->distortion, initial_point);
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bgc_fp64_vector3_add(transformed_point, &affine->shift, &distorted);
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}
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@ -3,8 +3,8 @@
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extern inline void bgc_fp32_complex_reset(BGC_FP32_Complex* const complex);
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extern inline void bgc_fp64_complex_reset(BGC_FP64_Complex* const complex);
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extern inline void bgc_fp32_complex_make(BGC_FP32_Complex* const complex, const float real, const float imaginary);
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extern inline void bgc_fp64_complex_make(BGC_FP64_Complex* const complex, const double real, const double imaginary);
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extern inline void bgc_fp32_complex_set_values(BGC_FP32_Complex* const complex, const float real, const float imaginary);
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extern inline void bgc_fp64_complex_set_values(BGC_FP64_Complex* const complex, const double real, const double imaginary);
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extern inline float bgc_fp32_complex_get_square_modulus(const BGC_FP32_Complex* const number);
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extern inline double bgc_fp64_complex_get_square_modulus(const BGC_FP64_Complex* const number);
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@ -23,13 +23,13 @@ inline void bgc_fp64_complex_reset(BGC_FP64_Complex* const complex)
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// ==================== Set ===================== //
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inline void bgc_fp32_complex_make(BGC_FP32_Complex* const complex, const float real, const float imaginary)
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inline void bgc_fp32_complex_set_values(BGC_FP32_Complex* const complex, const float real, const float imaginary)
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{
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complex->real = real;
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complex->imaginary = imaginary;
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}
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inline void bgc_fp64_complex_make(BGC_FP64_Complex* const complex, const double real, const double imaginary)
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inline void bgc_fp64_complex_set_values(BGC_FP64_Complex* const complex, const double real, const double imaginary)
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{
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complex->real = real;
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complex->imaginary = imaginary;
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@ -75,6 +75,9 @@ extern inline void bgc_fp64_matrix2x2_multiply_by_real(BGC_FP64_Matrix2x2* const
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extern inline void bgc_fp32_matrix2x2_multiply_by_vector2(BGC_FP32_Vector2* const product, const BGC_FP32_Matrix2x2* const matrix, const BGC_FP32_Vector2* const vector);
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extern inline void bgc_fp64_matrix2x2_multiply_by_vector2(BGC_FP64_Vector2* const product, const BGC_FP64_Matrix2x2* const matrix, const BGC_FP64_Vector2* const vector);
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extern inline void _bgc_fp32_restrict_matrix2x2_multiply_by_vector2(BGC_FP32_Vector2* restrict const product, const BGC_FP32_Matrix2x2* const matrix, const BGC_FP32_Vector2* const vector);
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extern inline void _bgc_fp64_restrict_matrix2x2_multiply_by_vector2(BGC_FP64_Vector2* restrict const product, const BGC_FP64_Matrix2x2* const matrix, const BGC_FP64_Vector2* const vector);
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extern inline void bgc_fp32_matrix2x2_multiply_by_matrix2x2(BGC_FP32_Matrix2x2* const product, const BGC_FP32_Matrix2x2* const matrix1, const BGC_FP32_Matrix2x2* const matrix2);
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extern inline void bgc_fp64_matrix2x2_multiply_by_matrix2x2(BGC_FP64_Matrix2x2* const product, const BGC_FP64_Matrix2x2* const matrix1, const BGC_FP64_Matrix2x2* const matrix2);
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@ -597,6 +597,20 @@ inline void bgc_fp64_matrix2x2_multiply_by_vector2(BGC_FP64_Vector2* const produ
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product->x2 = x2;
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}
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// ======= Restrict Right Vector Product ======== //
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inline void _bgc_fp32_restrict_matrix2x2_multiply_by_vector2(BGC_FP32_Vector2* restrict const product, const BGC_FP32_Matrix2x2* const matrix, const BGC_FP32_Vector2* const vector)
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{
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product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
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product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
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}
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inline void _bgc_fp64_restrict_matrix2x2_multiply_by_vector2(BGC_FP64_Vector2* restrict const product, const BGC_FP64_Matrix2x2* const matrix, const BGC_FP64_Vector2* const vector)
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{
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product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
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product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
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}
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// ========== Matrix Product 2x2 at 2x2 ========= //
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inline void bgc_fp32_matrix2x2_multiply_by_matrix2x2(BGC_FP32_Matrix2x2* const product, const BGC_FP32_Matrix2x2* const matrix1, const BGC_FP32_Matrix2x2* const matrix2)
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@ -69,6 +69,9 @@ extern inline void bgc_fp64_matrix3x3_multiply_by_real(BGC_FP64_Matrix3x3* const
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extern inline void bgc_fp32_matrix3x3_multiply_by_vector3(BGC_FP32_Vector3* const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Vector3* const vector);
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extern inline void bgc_fp64_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Vector3* const vector);
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extern inline void _bgc_fp32_restrict_matrix3x3_multiply_by_vector3(BGC_FP32_Vector3* restrict const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Vector3* const vector);
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extern inline void _bgc_fp64_restrict_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* restrict const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Vector3* const vector);
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extern inline void bgc_fp32_matrix3x3_multiply_by_matrix2x3(BGC_FP32_Matrix2x3* const product, const BGC_FP32_Matrix3x3* const matrix1, const BGC_FP32_Matrix2x3* const matrix2);
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extern inline void bgc_fp64_matrix3x3_multiply_by_matrix2x3(BGC_FP64_Matrix2x3* const product, const BGC_FP64_Matrix3x3* const matrix1, const BGC_FP64_Matrix2x3* const matrix2);
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@ -840,6 +840,21 @@ inline void bgc_fp64_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* const produ
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product->x3 = x3;
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}
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// ======= Restrict Right Vector Product ======== //
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inline void _bgc_fp32_restrict_matrix3x3_multiply_by_vector3(BGC_FP32_Vector3* restrict const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Vector3* const vector)
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{
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product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
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product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
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product->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
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}
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inline void _bgc_fp64_restrict_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* restrict const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Vector3* const vector)
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{
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product->x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
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product->x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
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product->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
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}
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// ========== Matrix Product 3x3 at 2x3 ========= //
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@ -7,8 +7,8 @@ extern inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* const quaterni
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extern inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* const quaternion);
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extern inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* const quaternion);
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extern inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* const quaternion, const float s0, const float x1, const float x2, const float x3);
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extern inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* const quaternion, const double s0, const double x1, const double x2, const double x3);
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extern inline void bgc_fp32_quaternion_set_values(BGC_FP32_Quaternion* const quaternion, const float s0, const float x1, const float x2, const float x3);
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extern inline void bgc_fp64_quaternion_set_values(BGC_FP64_Quaternion* const quaternion, const double s0, const double x1, const double x2, const double x3);
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extern inline float bgc_fp32_quaternion_get_square_magnitude(const BGC_FP32_Quaternion* const quaternion);
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extern inline double bgc_fp64_quaternion_get_square_magnitude(const BGC_FP64_Quaternion* const quaternion);
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@ -46,7 +46,7 @@ inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* const quaternion)
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// ==================== Set ===================== //
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inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* const quaternion, const float s0, const float x1, const float x2, const float x3)
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inline void bgc_fp32_quaternion_set_values(BGC_FP32_Quaternion* const quaternion, const float s0, const float x1, const float x2, const float x3)
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{
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quaternion->s0 = s0;
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quaternion->x1 = x1;
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@ -54,7 +54,7 @@ inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* const quaternion, cons
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quaternion->x3 = x3;
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}
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inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* const quaternion, const double s0, const double x1, const double x2, const double x3)
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inline void bgc_fp64_quaternion_set_values(BGC_FP64_Quaternion* const quaternion, const double s0, const double x1, const double x2, const double x3)
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{
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quaternion->s0 = s0;
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quaternion->x1 = x1;
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@ -7,11 +7,14 @@ const BGC_FP64_Turn2 BGC_FP64_IDLE_TURN2 = { 1.0, 0.0 };
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extern inline void bgc_fp32_turn2_reset(BGC_FP32_Turn2* const turn);
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extern inline void bgc_fp64_turn2_reset(BGC_FP64_Turn2* const turn);
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extern inline void bgc_fp32_turn2_make(BGC_FP32_Turn2* const turn, const float x1, const float x2);
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extern inline void bgc_fp64_turn2_make(BGC_FP64_Turn2* const turn, const double x1, const double x2);
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extern void _bgc_fp32_turn2_normalize(BGC_FP32_Turn2* const turn);
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extern void _bgc_fp64_turn2_normalize(BGC_FP64_Turn2* const turn);
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extern inline void bgc_fp32_turn2_make_for_angle(BGC_FP32_Turn2* const turn, const float angle, const int angle_unit);
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extern inline void bgc_fp64_turn2_make_for_angle(BGC_FP64_Turn2* const turn, const double angle, const int angle_unit);
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extern inline void bgc_fp32_turn2_set_values(BGC_FP32_Turn2* const turn, const float x1, const float x2);
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extern inline void bgc_fp64_turn2_set_values(BGC_FP64_Turn2* const turn, const double x1, const double x2);
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extern inline void bgc_fp32_turn2_set_angle(BGC_FP32_Turn2* const turn, const float angle, const int angle_unit);
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extern inline void bgc_fp64_turn2_set_angle(BGC_FP64_Turn2* const turn, const double angle, const int angle_unit);
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extern inline int bgc_fp32_turn2_is_idle(const BGC_FP32_Turn2* const turn);
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extern inline int bgc_fp64_turn2_is_idle(const BGC_FP64_Turn2* const turn);
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@ -57,35 +60,3 @@ extern inline void bgc_fp64_turn2_vector_back(BGC_FP64_Vector2* const turned_vec
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extern inline int bgc_fp32_turn2_are_close(const BGC_FP32_Turn2* const turn1, const BGC_FP32_Turn2* const turn2);
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extern inline int bgc_fp64_turn2_are_close(const BGC_FP64_Turn2* const turn1, const BGC_FP64_Turn2* const turn2);
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void _bgc_fp32_turn2_normalize(BGC_FP32_Turn2* const turn)
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{
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const float square_modulus = turn->_cos * turn->_cos + turn->_sin * turn->_sin;
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
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turn->_cos = 1.0f;
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turn->_sin = 0.0f;
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return;
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}
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const float multiplier = sqrtf(1.0f / square_modulus);
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turn->_cos *= multiplier;
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turn->_sin *= multiplier;
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}
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void _bgc_fp64_turn2_normalize(BGC_FP64_Turn2* const turn)
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{
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const double square_modulus = turn->_cos * turn->_cos + turn->_sin * turn->_sin;
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
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turn->_cos = 1.0;
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turn->_sin = 0.0;
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return;
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}
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const double multiplier = sqrt(1.0 / square_modulus);
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turn->_cos *= multiplier;
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turn->_sin *= multiplier;
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}
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@ -26,9 +26,51 @@ inline void bgc_fp64_turn2_reset(BGC_FP64_Turn2* const turn)
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turn->_sin = 0.0;
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}
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// ================= Normalize ================== //
|
||||
|
||||
inline void _bgc_fp32_turn2_normalize(BGC_FP32_Turn2* const turn)
|
||||
{
|
||||
const float square_modulus = turn->_cos * turn->_cos + turn->_sin * turn->_sin;
|
||||
|
||||
if (bgc_fp32_is_square_unit(square_modulus)) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
|
||||
turn->_cos = 1.0f;
|
||||
turn->_sin = 0.0f;
|
||||
return;
|
||||
}
|
||||
|
||||
const float multiplier = sqrtf(1.0f / square_modulus);
|
||||
|
||||
turn->_cos *= multiplier;
|
||||
turn->_sin *= multiplier;
|
||||
}
|
||||
|
||||
inline void _bgc_fp64_turn2_normalize(BGC_FP64_Turn2* const turn)
|
||||
{
|
||||
const double square_modulus = turn->_cos * turn->_cos + turn->_sin * turn->_sin;
|
||||
|
||||
if (bgc_fp64_is_square_unit(square_modulus)) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
|
||||
turn->_cos = 1.0;
|
||||
turn->_sin = 0.0;
|
||||
return;
|
||||
}
|
||||
|
||||
const double multiplier = sqrt(1.0 / square_modulus);
|
||||
|
||||
turn->_cos *= multiplier;
|
||||
turn->_sin *= multiplier;
|
||||
}
|
||||
|
||||
// ================== Set Turn ================== //
|
||||
|
||||
inline void bgc_fp32_turn2_make_for_angle(BGC_FP32_Turn2* const turn, const float angle, const int angle_unit)
|
||||
inline void bgc_fp32_turn2_set_angle(BGC_FP32_Turn2* const turn, const float angle, const int angle_unit)
|
||||
{
|
||||
const float radians = bgc_fp32_angle_to_radians(angle, angle_unit);
|
||||
|
||||
|
|
@ -36,7 +78,7 @@ inline void bgc_fp32_turn2_make_for_angle(BGC_FP32_Turn2* const turn, const floa
|
|||
turn->_sin = sinf(radians);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_turn2_make_for_angle(BGC_FP64_Turn2* const turn, const double angle, const int angle_unit)
|
||||
inline void bgc_fp64_turn2_set_angle(BGC_FP64_Turn2* const turn, const double angle, const int angle_unit)
|
||||
{
|
||||
const double radians = bgc_fp64_angle_to_radians(angle, angle_unit);
|
||||
|
||||
|
|
@ -59,32 +101,20 @@ inline int bgc_fp64_turn2_is_idle(const BGC_FP64_Turn2* const turn)
|
|||
|
||||
// ==================== Set ===================== //
|
||||
|
||||
void _bgc_fp32_turn2_normalize(BGC_FP32_Turn2* const twin);
|
||||
|
||||
void _bgc_fp64_turn2_normalize(BGC_FP64_Turn2* const twin);
|
||||
|
||||
inline void bgc_fp32_turn2_make(BGC_FP32_Turn2* const turn, const float x1, const float x2)
|
||||
inline void bgc_fp32_turn2_set_values(BGC_FP32_Turn2* const turn, const float x1, const float x2)
|
||||
{
|
||||
const float square_modulus = x1 * x1 + x2 * x2;
|
||||
|
||||
turn->_cos = x1;
|
||||
turn->_sin = x2;
|
||||
|
||||
if (!bgc_fp32_is_square_unit(square_modulus)) {
|
||||
_bgc_fp32_turn2_normalize(turn);
|
||||
}
|
||||
_bgc_fp32_turn2_normalize(turn);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_turn2_make(BGC_FP64_Turn2* const turn, const double x1, const double x2)
|
||||
inline void bgc_fp64_turn2_set_values(BGC_FP64_Turn2* const turn, const double x1, const double x2)
|
||||
{
|
||||
const double square_modulus = x1 * x1 + x2 * x2;
|
||||
|
||||
turn->_cos = x1;
|
||||
turn->_sin = x2;
|
||||
|
||||
if (!bgc_fp64_is_square_unit(square_modulus)) {
|
||||
_bgc_fp64_turn2_normalize(turn);
|
||||
}
|
||||
_bgc_fp64_turn2_normalize(turn);
|
||||
}
|
||||
|
||||
// =================== Angle =================== //
|
||||
|
|
@ -143,12 +173,12 @@ inline void bgc_fp64_turn2_swap(BGC_FP64_Turn2* const turn1, BGC_FP64_Turn2* con
|
|||
|
||||
inline void bgc_fp64_turn2_convert_to_fp32(BGC_FP32_Turn2* const destination, const BGC_FP64_Turn2* const source)
|
||||
{
|
||||
bgc_fp32_turn2_make(destination, (float)source->_cos, (float)source->_sin);
|
||||
bgc_fp32_turn2_set_values(destination, (float)source->_cos, (float)source->_sin);
|
||||
}
|
||||
|
||||
inline void bgc_fp32_turn2_convert_to_fp64(BGC_FP64_Turn2* const destination, const BGC_FP32_Turn2* const source)
|
||||
{
|
||||
bgc_fp64_turn2_make(destination, (double)source->_cos, (double)source->_sin);
|
||||
bgc_fp64_turn2_set_values(destination, (double)source->_cos, (double)source->_sin);
|
||||
}
|
||||
|
||||
// =================== Revert =================== //
|
||||
|
|
@ -197,7 +227,7 @@ inline void bgc_fp64_turn2_get_power(BGC_FP64_Turn2* const power, const BGC_FP64
|
|||
|
||||
inline void bgc_fp32_turn2_combine(BGC_FP32_Turn2* const combination, const BGC_FP32_Turn2* const turn1, const BGC_FP32_Turn2* const turn2)
|
||||
{
|
||||
bgc_fp32_turn2_make(
|
||||
bgc_fp32_turn2_set_values(
|
||||
combination,
|
||||
turn1->_cos * turn2->_cos - turn1->_sin * turn2->_sin,
|
||||
turn1->_cos * turn2->_sin + turn1->_sin * turn2->_cos
|
||||
|
|
@ -206,7 +236,7 @@ inline void bgc_fp32_turn2_combine(BGC_FP32_Turn2* const combination, const BGC_
|
|||
|
||||
inline void bgc_fp64_turn2_combine(BGC_FP64_Turn2* const combination, const BGC_FP64_Turn2* const turn1, const BGC_FP64_Turn2* const turn2)
|
||||
{
|
||||
bgc_fp64_turn2_make(
|
||||
bgc_fp64_turn2_set_values(
|
||||
combination,
|
||||
turn1->_cos * turn2->_cos - turn1->_sin * turn2->_sin,
|
||||
turn1->_cos * turn2->_sin + turn1->_sin * turn2->_cos
|
||||
|
|
@ -217,7 +247,7 @@ inline void bgc_fp64_turn2_combine(BGC_FP64_Turn2* const combination, const BGC_
|
|||
|
||||
inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* const difference, const BGC_FP32_Turn2* const base, const BGC_FP32_Turn2* const excludant)
|
||||
{
|
||||
bgc_fp32_turn2_make(
|
||||
bgc_fp32_turn2_set_values(
|
||||
difference,
|
||||
base->_cos * excludant->_cos + base->_sin * excludant->_sin,
|
||||
base->_sin * excludant->_cos - base->_cos * excludant->_sin
|
||||
|
|
@ -226,7 +256,7 @@ inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* const difference, const BGC_F
|
|||
|
||||
inline void bgc_fp64_turn2_exclude(BGC_FP64_Turn2* const difference, const BGC_FP64_Turn2* const base, const BGC_FP64_Turn2* const excludant)
|
||||
{
|
||||
bgc_fp64_turn2_make(
|
||||
bgc_fp64_turn2_set_values(
|
||||
difference,
|
||||
base->_cos * excludant->_cos + base->_sin * excludant->_sin,
|
||||
base->_sin * excludant->_cos - base->_cos * excludant->_sin
|
||||
|
|
|
|||
|
|
@ -1,5 +1,3 @@
|
|||
#include <math.h>
|
||||
|
||||
#include "./angle.h"
|
||||
#include "./vector3.h"
|
||||
#include "./turn3.h"
|
||||
|
|
@ -11,8 +9,11 @@ const BGC_FP64_Turn3 BGC_FP64_IDLE_TURN3 = {{ 1.0, 0.0, 0.0, 0.0 }};
|
|||
extern inline void bgc_fp32_turn3_reset(BGC_FP32_Turn3* const turn);
|
||||
extern inline void bgc_fp64_turn3_reset(BGC_FP64_Turn3* const turn);
|
||||
|
||||
extern inline void bgc_fp32_turn3_set_raw_values(BGC_FP32_Turn3* const turn, const float s0, const float x1, const float x2, const float x3);
|
||||
extern inline void bgc_fp64_turn3_set_raw_values(BGC_FP64_Turn3* const turn, const double s0, const double x1, const double x2, const double x3);
|
||||
extern inline void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* const turn);
|
||||
extern inline void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* const turn);
|
||||
|
||||
extern inline void bgc_fp32_turn3_set_values(BGC_FP32_Turn3* const turn, const float s0, const float x1, const float x2, const float x3);
|
||||
extern inline void bgc_fp64_turn3_set_values(BGC_FP64_Turn3* const turn, const double s0, const double x1, const double x2, const double x3);
|
||||
|
||||
extern inline void bgc_fp32_turn3_get_quaternion(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Turn3* const turn);
|
||||
extern inline void bgc_fp64_turn3_get_quaternion(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Turn3* const turn);
|
||||
|
|
@ -77,29 +78,6 @@ extern inline void bgc_fp64_turn3_vector_back(BGC_FP64_Vector3* const turned_vec
|
|||
extern inline int bgc_fp32_turn3_are_close(const BGC_FP32_Turn3* const turn1, const BGC_FP32_Turn3* const turn2);
|
||||
extern inline int bgc_fp64_turn3_are_close(const BGC_FP64_Turn3* const turn1, const BGC_FP64_Turn3* const turn2);
|
||||
|
||||
// ================= Normalize ================== //
|
||||
|
||||
void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* const turn, const float square_modulus)
|
||||
{
|
||||
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
|
||||
bgc_fp32_turn3_reset(turn);
|
||||
return;
|
||||
}
|
||||
|
||||
bgc_fp32_quaternion_multiply_by_real_number(&turn->_versor, &turn->_versor, sqrtf(1.0f / square_modulus));
|
||||
}
|
||||
|
||||
void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* const turn, const double square_modulus)
|
||||
{
|
||||
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
|
||||
bgc_fp64_turn3_reset(turn);
|
||||
return;
|
||||
}
|
||||
|
||||
bgc_fp64_quaternion_multiply_by_real_number(&turn->_versor, &turn->_versor, sqrt(1.0 / square_modulus));
|
||||
}
|
||||
|
||||
|
||||
// ================ Get Rotation ================ //
|
||||
|
||||
float bgc_fp32_turn3_get_rotation(BGC_FP32_Vector3* const axis, const BGC_FP32_Turn3* const turn, const int angle_unit)
|
||||
|
|
@ -164,13 +142,9 @@ void bgc_fp32_turn3_set_rotation(BGC_FP32_Turn3* const turn, const float x1, con
|
|||
|
||||
const float multiplier = sine / sqrtf(square_vector);
|
||||
|
||||
bgc_fp32_quaternion_make(&turn->_versor, cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier);
|
||||
bgc_fp32_quaternion_set_values(&turn->_versor, cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier);
|
||||
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(&turn->_versor);
|
||||
|
||||
if (!bgc_fp32_is_square_unit(square_modulus)) {
|
||||
_bgc_fp32_turn3_normalize(turn, square_modulus);
|
||||
}
|
||||
_bgc_fp32_turn3_normalize(turn);
|
||||
}
|
||||
|
||||
void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* const turn, const double x1, const double x2, const double x3, const double angle, const int angle_unit)
|
||||
|
|
@ -193,13 +167,9 @@ void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* const turn, const double x1, co
|
|||
|
||||
const double multiplier = sine / sqrt(square_vector);
|
||||
|
||||
bgc_fp64_quaternion_make(&turn->_versor, cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier);
|
||||
bgc_fp64_quaternion_set_values(&turn->_versor, cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier);
|
||||
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(&turn->_versor);
|
||||
|
||||
if (!bgc_fp64_is_square_unit(square_modulus)) {
|
||||
_bgc_fp64_turn3_normalize(turn, square_modulus);
|
||||
}
|
||||
_bgc_fp64_turn3_normalize(turn);
|
||||
}
|
||||
|
||||
// ========= Find Direction Difference ========== //
|
||||
|
|
@ -229,11 +199,8 @@ int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* const turn, const B
|
|||
const float axis_square_modulus = bgc_fp32_vector3_get_squared_length(&axis);
|
||||
|
||||
if (axis_square_modulus <= BGC_FP32_SQUARE_EPSILON * square_product) {
|
||||
if (dot_product < 0.0f) {
|
||||
return BGC_ERROR_TURN3_VECTORS_OPPOSITE;
|
||||
}
|
||||
|
||||
return BGC_SUCCESS;
|
||||
bgc_fp32_turn3_reset(turn);
|
||||
return dot_product < 0.0f ? BGC_ERROR_TURN3_VECTORS_OPPOSITE : BGC_SUCCESS;
|
||||
}
|
||||
|
||||
const float axis_modulus = sqrtf(axis_square_modulus);
|
||||
|
|
@ -243,7 +210,7 @@ int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* const turn, const B
|
|||
|
||||
const float vector_multiplier = sinf(angle) / axis_modulus;
|
||||
|
||||
bgc_fp32_turn3_set_raw_values(turn, cosf(angle), axis.x1 * vector_multiplier, axis.x2 * vector_multiplier, axis.x3 * vector_multiplier);
|
||||
bgc_fp32_turn3_set_values(turn, cosf(angle), axis.x1 * vector_multiplier, axis.x2 * vector_multiplier, axis.x3 * vector_multiplier);
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
|
@ -274,11 +241,7 @@ int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* const turn, const B
|
|||
|
||||
if (axis_square_modulus <= BGC_FP64_SQUARE_EPSILON * square_product) {
|
||||
bgc_fp64_turn3_reset(turn);
|
||||
if (dot_product < 0.0) {
|
||||
return BGC_ERROR_TURN3_VECTORS_OPPOSITE;
|
||||
}
|
||||
|
||||
return BGC_SUCCESS;
|
||||
return dot_product < 0.0 ? BGC_ERROR_TURN3_VECTORS_OPPOSITE : BGC_SUCCESS;
|
||||
}
|
||||
|
||||
const double axis_modulus = sqrt(axis_square_modulus);
|
||||
|
|
@ -288,7 +251,7 @@ int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* const turn, const B
|
|||
|
||||
const double vector_multiplier = sin(angle) / axis_modulus;
|
||||
|
||||
bgc_fp64_turn3_set_raw_values(turn, cos(angle), axis.x1 * vector_multiplier, axis.x2 * vector_multiplier, axis.x3 * vector_multiplier);
|
||||
bgc_fp64_turn3_set_values(turn, cos(angle), axis.x1 * vector_multiplier, axis.x2 * vector_multiplier, axis.x3 * vector_multiplier);
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
|
@ -477,11 +440,7 @@ int bgc_fp32_turn3_find_pair_difference(
|
|||
bgc_fp32_quaternion_multiply_by_quaternion(&turn->_versor, &q2, &q1);
|
||||
|
||||
// Making a final versor (a normalized quaternion)
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(&turn->_versor);
|
||||
|
||||
if (!bgc_fp32_is_square_unit(square_modulus)) {
|
||||
_bgc_fp32_turn3_normalize(turn, square_modulus);
|
||||
}
|
||||
_bgc_fp32_turn3_normalize(turn);
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
|
@ -524,11 +483,7 @@ int bgc_fp64_turn3_find_pair_difference(
|
|||
bgc_fp64_quaternion_multiply_by_quaternion(&turn->_versor, &q2, &q1);
|
||||
|
||||
// Making a final versor (a normalized quaternion)
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(&turn->_versor);
|
||||
|
||||
if (!bgc_fp64_is_square_unit(square_modulus)) {
|
||||
_bgc_fp64_turn3_normalize(turn, square_modulus);
|
||||
}
|
||||
_bgc_fp64_turn3_normalize(turn);
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
|
@ -550,7 +505,7 @@ void bgc_fp32_turn3_get_power(BGC_FP32_Turn3* const power, const BGC_FP32_Turn3*
|
|||
|
||||
const float multiplier = sinf(angle) / vector_modulus;
|
||||
|
||||
bgc_fp32_turn3_set_raw_values(power, cosf(angle), base->_versor.x1 * multiplier, base->_versor.x2 * multiplier, base->_versor.x3 * multiplier);
|
||||
bgc_fp32_turn3_set_values(power, cosf(angle), base->_versor.x1 * multiplier, base->_versor.x2 * multiplier, base->_versor.x3 * multiplier);
|
||||
}
|
||||
|
||||
void bgc_fp64_turn3_get_power(BGC_FP64_Turn3* const power, const BGC_FP64_Turn3* const base, const double exponent)
|
||||
|
|
@ -568,7 +523,7 @@ void bgc_fp64_turn3_get_power(BGC_FP64_Turn3* const power, const BGC_FP64_Turn3*
|
|||
|
||||
const double multiplier = sin(angle) / vector_modulus;
|
||||
|
||||
bgc_fp64_turn3_set_raw_values(power, cos(angle), base->_versor.x1 * multiplier, base->_versor.x2 * multiplier, base->_versor.x3 * multiplier);
|
||||
bgc_fp64_turn3_set_values(power, cos(angle), base->_versor.x1 * multiplier, base->_versor.x2 * multiplier, base->_versor.x3 * multiplier);
|
||||
}
|
||||
|
||||
// ============ Sphere Interpolation ============ //
|
||||
|
|
@ -599,7 +554,7 @@ void bgc_fp32_turn3_spherically_interpolate(BGC_FP32_Turn3* const interpolation,
|
|||
const float turn_x3 = delta_x3 * multiplier;
|
||||
|
||||
// Combining of starting orientation with the turning
|
||||
bgc_fp32_turn3_set_raw_values(
|
||||
bgc_fp32_turn3_set_values(
|
||||
interpolation,
|
||||
(turn_s0 * start->_versor.s0 - turn_x1 * start->_versor.x1) - (turn_x2 * start->_versor.x2 + turn_x3 * start->_versor.x3),
|
||||
(turn_x1 * start->_versor.s0 + turn_s0 * start->_versor.x1) - (turn_x3 * start->_versor.x2 - turn_x2 * start->_versor.x3),
|
||||
|
|
@ -634,7 +589,7 @@ void bgc_fp64_turn3_spherically_interpolate(BGC_FP64_Turn3* const interpolation,
|
|||
const double turn_x3 = delta_x3 * multiplier;
|
||||
|
||||
// Combining of starting orientation with the turning
|
||||
bgc_fp64_turn3_set_raw_values(
|
||||
bgc_fp64_turn3_set_values(
|
||||
interpolation,
|
||||
(turn_s0 * start->_versor.s0 - turn_x1 * start->_versor.x1) - (turn_x2 * start->_versor.x2 + turn_x3 * start->_versor.x3),
|
||||
(turn_x1 * start->_versor.s0 + turn_s0 * start->_versor.x1) - (turn_x3 * start->_versor.x2 - turn_x2 * start->_versor.x3),
|
||||
|
|
|
|||
|
|
@ -2,6 +2,7 @@
|
|||
#define _BGC_TURN3_H_INCLUDED_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "./utilities.h"
|
||||
#include "./types.h"
|
||||
|
|
@ -35,42 +36,82 @@ extern const BGC_FP64_Turn3 BGC_FP64_IDLE_TURN3;
|
|||
|
||||
inline void bgc_fp32_turn3_reset(BGC_FP32_Turn3* const turn)
|
||||
{
|
||||
bgc_fp32_quaternion_make(&turn->_versor, 1.0f, 0.0f, 0.0f, 0.0f);
|
||||
turn->_versor.s0 = 1.0f;
|
||||
turn->_versor.x1 = 0.0f;
|
||||
turn->_versor.x2 = 0.0f;
|
||||
turn->_versor.x3 = 0.0f;
|
||||
}
|
||||
|
||||
inline void bgc_fp64_turn3_reset(BGC_FP64_Turn3* const turn)
|
||||
{
|
||||
bgc_fp64_quaternion_make(&turn->_versor, 1.0, 0.0, 0.0, 0.0);
|
||||
turn->_versor.s0 = 1.0;
|
||||
turn->_versor.x1 = 0.0;
|
||||
turn->_versor.x2 = 0.0;
|
||||
turn->_versor.x3 = 0.0;
|
||||
}
|
||||
|
||||
// ============= Private: Normalize ============= //
|
||||
|
||||
void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* const turn, const float square_modulus);
|
||||
inline void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* const turn)
|
||||
{
|
||||
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&turn->_versor);
|
||||
|
||||
void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* const turn, const double square_modulus);
|
||||
if (bgc_fp32_is_square_unit(square_magnitude)) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
|
||||
turn->_versor.s0 = 1.0f;
|
||||
turn->_versor.x1 = 0.0f;
|
||||
turn->_versor.x2 = 0.0f;
|
||||
turn->_versor.x3 = 0.0f;
|
||||
return;
|
||||
}
|
||||
|
||||
const float multiplier = sqrtf(1.0f / square_magnitude);
|
||||
|
||||
turn->_versor.s0 *= multiplier;
|
||||
turn->_versor.x1 *= multiplier;
|
||||
turn->_versor.x2 *= multiplier;
|
||||
turn->_versor.x3 *= multiplier;
|
||||
}
|
||||
|
||||
inline void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* const turn)
|
||||
{
|
||||
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&turn->_versor);
|
||||
|
||||
if (bgc_fp64_is_square_unit(square_magnitude)) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
|
||||
turn->_versor.s0 = 1.0;
|
||||
turn->_versor.x1 = 0.0;
|
||||
turn->_versor.x2 = 0.0;
|
||||
turn->_versor.x3 = 0.0;
|
||||
return;
|
||||
}
|
||||
|
||||
const double multiplier = sqrt(1.0 / square_magnitude);
|
||||
|
||||
turn->_versor.s0 *= multiplier;
|
||||
turn->_versor.x1 *= multiplier;
|
||||
turn->_versor.x2 *= multiplier;
|
||||
turn->_versor.x3 *= multiplier;
|
||||
}
|
||||
|
||||
// ================= Set Values ================= //
|
||||
|
||||
inline void bgc_fp32_turn3_set_raw_values(BGC_FP32_Turn3* const turn, const float s0, const float x1, const float x2, const float x3)
|
||||
inline void bgc_fp32_turn3_set_values(BGC_FP32_Turn3* const turn, const float s0, const float x1, const float x2, const float x3)
|
||||
{
|
||||
bgc_fp32_quaternion_make(&turn->_versor, s0, x1, x2, x3);
|
||||
|
||||
const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
|
||||
|
||||
if (!bgc_fp32_is_square_unit(square_modulus)) {
|
||||
_bgc_fp32_turn3_normalize(turn, square_modulus);
|
||||
}
|
||||
bgc_fp32_quaternion_set_values(&turn->_versor, s0, x1, x2, x3);
|
||||
_bgc_fp32_turn3_normalize(turn);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_turn3_set_raw_values(BGC_FP64_Turn3* const turn, const double s0, const double x1, const double x2, const double x3)
|
||||
inline void bgc_fp64_turn3_set_values(BGC_FP64_Turn3* const turn, const double s0, const double x1, const double x2, const double x3)
|
||||
{
|
||||
bgc_fp64_quaternion_make(&turn->_versor, s0, x1, x2, x3);
|
||||
|
||||
const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
|
||||
|
||||
if (!bgc_fp64_is_square_unit(square_modulus)) {
|
||||
_bgc_fp64_turn3_normalize(turn, square_modulus);
|
||||
}
|
||||
bgc_fp64_quaternion_set_values(&turn->_versor, s0, x1, x2, x3);
|
||||
_bgc_fp64_turn3_normalize(turn);
|
||||
}
|
||||
|
||||
// =============== Get Quaternion =============== //
|
||||
|
|
@ -90,23 +131,13 @@ inline void bgc_fp64_turn3_get_quaternion(BGC_FP64_Quaternion* const quaternion,
|
|||
inline void bgc_fp32_turn3_set_quaternion(BGC_FP32_Turn3* const turn, const BGC_FP32_Quaternion* const quaternion)
|
||||
{
|
||||
bgc_fp32_quaternion_copy(&turn->_versor, quaternion);
|
||||
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(quaternion);
|
||||
|
||||
if (!bgc_fp32_is_square_unit(square_modulus)) {
|
||||
_bgc_fp32_turn3_normalize(turn, square_modulus);
|
||||
}
|
||||
_bgc_fp32_turn3_normalize(turn);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_turn3_set_quaternion(BGC_FP64_Turn3* const turn, const BGC_FP64_Quaternion* const quaternion)
|
||||
{
|
||||
bgc_fp64_quaternion_copy(&turn->_versor, quaternion);
|
||||
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(quaternion);
|
||||
|
||||
if (!bgc_fp64_is_square_unit(square_modulus)) {
|
||||
_bgc_fp64_turn3_normalize(turn, square_modulus);
|
||||
}
|
||||
_bgc_fp64_turn3_normalize(turn);
|
||||
}
|
||||
|
||||
// ================ Get Rotation ================ //
|
||||
|
|
@ -186,23 +217,14 @@ inline int bgc_fp64_turn3_is_idle(const BGC_FP64_Turn3* const turn)
|
|||
inline void bgc_fp32_turn3_convert_to_fp64(BGC_FP64_Turn3* const destination, const BGC_FP32_Turn3* const source)
|
||||
{
|
||||
bgc_fp32_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
|
||||
_bgc_fp64_turn3_normalize(destination);
|
||||
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(&destination->_versor);
|
||||
|
||||
if (!bgc_fp64_is_square_unit(square_modulus)) {
|
||||
_bgc_fp64_turn3_normalize(destination, square_modulus);
|
||||
}
|
||||
}
|
||||
|
||||
inline void bgc_fp64_turn3_convert_to_fp32(BGC_FP32_Turn3* const destination, const BGC_FP64_Turn3* const source)
|
||||
{
|
||||
bgc_fp64_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
|
||||
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(&destination->_versor);
|
||||
|
||||
if (!bgc_fp32_is_square_unit(square_modulus)) {
|
||||
_bgc_fp32_turn3_normalize(destination, square_modulus);
|
||||
}
|
||||
_bgc_fp32_turn3_normalize(destination);
|
||||
}
|
||||
|
||||
// ================== Shorten =================== //
|
||||
|
|
@ -296,23 +318,13 @@ void bgc_fp64_turn3_get_power(BGC_FP64_Turn3* const power, const BGC_FP64_Turn3*
|
|||
inline void bgc_fp32_turn3_combine(BGC_FP32_Turn3* const combination, const BGC_FP32_Turn3* const first, const BGC_FP32_Turn3* const second)
|
||||
{
|
||||
bgc_fp32_quaternion_multiply_by_quaternion(&combination->_versor, &second->_versor, &first->_versor);
|
||||
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(&combination->_versor);
|
||||
|
||||
if (!bgc_fp32_is_square_unit(square_modulus)) {
|
||||
_bgc_fp32_turn3_normalize(combination, square_modulus);
|
||||
}
|
||||
_bgc_fp32_turn3_normalize(combination);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_turn3_combine(BGC_FP64_Turn3* const combination, const BGC_FP64_Turn3* const first, const BGC_FP64_Turn3* const second)
|
||||
{
|
||||
bgc_fp64_quaternion_multiply_by_quaternion(&combination->_versor, &second->_versor, &first->_versor);
|
||||
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(&combination->_versor);
|
||||
|
||||
if (!bgc_fp64_is_square_unit(square_modulus)) {
|
||||
_bgc_fp64_turn3_normalize(combination, square_modulus);
|
||||
}
|
||||
_bgc_fp64_turn3_normalize(combination);
|
||||
}
|
||||
|
||||
// ============ Combination of three ============ //
|
||||
|
|
@ -325,11 +337,7 @@ inline void bgc_fp32_turn3_combine3(BGC_FP32_Turn3* const combination, const BGC
|
|||
|
||||
bgc_fp32_quaternion_multiply_by_quaternion(&combination->_versor, &third->_versor, &product);
|
||||
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(&combination->_versor);
|
||||
|
||||
if (!bgc_fp32_is_square_unit(square_modulus)) {
|
||||
_bgc_fp32_turn3_normalize(combination, square_modulus);
|
||||
}
|
||||
_bgc_fp32_turn3_normalize(combination);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_turn3_combine3(BGC_FP64_Turn3* const combination, const BGC_FP64_Turn3* const first, const BGC_FP64_Turn3* const second, const BGC_FP64_Turn3* const third)
|
||||
|
|
@ -340,11 +348,7 @@ inline void bgc_fp64_turn3_combine3(BGC_FP64_Turn3* const combination, const BGC
|
|||
|
||||
bgc_fp64_quaternion_multiply_by_quaternion(&combination->_versor, &third->_versor, &product);
|
||||
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(&combination->_versor);
|
||||
|
||||
if (!bgc_fp64_is_square_unit(square_modulus)) {
|
||||
_bgc_fp64_turn3_normalize(combination, square_modulus);
|
||||
}
|
||||
_bgc_fp64_turn3_normalize(combination);
|
||||
}
|
||||
|
||||
// ================= Exclusion ================== //
|
||||
|
|
@ -353,22 +357,14 @@ inline void bgc_fp32_turn3_exclude(BGC_FP32_Turn3* const difference, const BGC_F
|
|||
{
|
||||
bgc_fp32_quaternion_multiply_by_conjugate(&difference->_versor, &base->_versor, &excludant->_versor);
|
||||
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_magnitude(&difference->_versor);
|
||||
|
||||
if (!bgc_fp32_is_square_unit(square_modulus)) {
|
||||
_bgc_fp32_turn3_normalize(difference, square_modulus);
|
||||
}
|
||||
_bgc_fp32_turn3_normalize(difference);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_turn3_exclude(BGC_FP64_Turn3* const difference, const BGC_FP64_Turn3* const base, const BGC_FP64_Turn3* const excludant)
|
||||
{
|
||||
bgc_fp64_quaternion_multiply_by_conjugate(&difference->_versor, &base->_versor, &excludant->_versor);
|
||||
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_magnitude(&difference->_versor);
|
||||
|
||||
if (!bgc_fp64_is_square_unit(square_modulus)) {
|
||||
_bgc_fp64_turn3_normalize(difference, square_modulus);
|
||||
}
|
||||
_bgc_fp64_turn3_normalize(difference);
|
||||
}
|
||||
|
||||
// ============ Sphere Interpolation ============ //
|
||||
|
|
|
|||
|
|
@ -3,8 +3,8 @@
|
|||
extern inline void bgc_fp32_vector2_reset(BGC_FP32_Vector2* const vector);
|
||||
extern inline void bgc_fp64_vector2_reset(BGC_FP64_Vector2* const vector);
|
||||
|
||||
extern inline void bgc_fp32_vector2_make(BGC_FP32_Vector2* const destination, const float x1, const float x2);
|
||||
extern inline void bgc_fp64_vector2_make(BGC_FP64_Vector2* const destination, const double x1, const double x2);
|
||||
extern inline void bgc_fp32_vector2_set_values(BGC_FP32_Vector2* const destination, const float x1, const float x2);
|
||||
extern inline void bgc_fp64_vector2_set_values(BGC_FP64_Vector2* const destination, const double x1, const double x2);
|
||||
|
||||
extern inline float bgc_fp32_vector2_get_squared_length(const BGC_FP32_Vector2* const vector);
|
||||
extern inline double bgc_fp64_vector2_get_squared_length(const BGC_FP64_Vector2* const vector);
|
||||
|
|
|
|||
|
|
@ -23,13 +23,13 @@ inline void bgc_fp64_vector2_reset(BGC_FP64_Vector2* const vector)
|
|||
|
||||
// ==================== Set ===================== //
|
||||
|
||||
inline void bgc_fp32_vector2_make(BGC_FP32_Vector2* const destination, const float x1, const float x2)
|
||||
inline void bgc_fp32_vector2_set_values(BGC_FP32_Vector2* const destination, const float x1, const float x2)
|
||||
{
|
||||
destination->x1 = x1;
|
||||
destination->x2 = x2;
|
||||
}
|
||||
|
||||
inline void bgc_fp64_vector2_make(BGC_FP64_Vector2* const destination, const double x1, const double x2)
|
||||
inline void bgc_fp64_vector2_set_values(BGC_FP64_Vector2* const destination, const double x1, const double x2)
|
||||
{
|
||||
destination->x1 = x1;
|
||||
destination->x2 = x2;
|
||||
|
|
|
|||
|
|
@ -3,8 +3,8 @@
|
|||
extern inline void bgc_fp32_vector3_reset(BGC_FP32_Vector3* const vector);
|
||||
extern inline void bgc_fp64_vector3_reset(BGC_FP64_Vector3* const vector);
|
||||
|
||||
extern inline void bgc_fp32_vector3_make(BGC_FP32_Vector3* const destination, const float x1, const float x2, const float x3);
|
||||
extern inline void bgc_fp64_vector3_make(BGC_FP64_Vector3* const destination, const double x1, const double x2, const double x3);
|
||||
extern inline void bgc_fp32_vector3_set_values(BGC_FP32_Vector3* const destination, const float x1, const float x2, const float x3);
|
||||
extern inline void bgc_fp64_vector3_set_values(BGC_FP64_Vector3* const destination, const double x1, const double x2, const double x3);
|
||||
|
||||
extern inline float bgc_fp32_vector3_get_squared_length(const BGC_FP32_Vector3* const vector);
|
||||
extern inline double bgc_fp64_vector3_get_squared_length(const BGC_FP64_Vector3* const vector);
|
||||
|
|
|
|||
|
|
@ -25,14 +25,14 @@ inline void bgc_fp64_vector3_reset(BGC_FP64_Vector3* const vector)
|
|||
|
||||
// ==================== Set ===================== //
|
||||
|
||||
inline void bgc_fp32_vector3_make(BGC_FP32_Vector3* const destination, const float x1, const float x2, const float x3)
|
||||
inline void bgc_fp32_vector3_set_values(BGC_FP32_Vector3* const destination, const float x1, const float x2, const float x3)
|
||||
{
|
||||
destination->x1 = x1;
|
||||
destination->x2 = x2;
|
||||
destination->x3 = x3;
|
||||
}
|
||||
|
||||
inline void bgc_fp64_vector3_make(BGC_FP64_Vector3* const destination, const double x1, const double x2, const double x3)
|
||||
inline void bgc_fp64_vector3_set_values(BGC_FP64_Vector3* const destination, const double x1, const double x2, const double x3)
|
||||
{
|
||||
destination->x1 = x1;
|
||||
destination->x2 = x2;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue