Переименование tangent в тангенсную пару
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#ifndef _BGC_TANGENT_H_
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#define _BGC_TANGENT_H_
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#include <math.h>
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#include "utilities.h"
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#include "angle.h"
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#include "vector2.h"
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#include "matrix2x2.h"
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// =================== Types ==================== //
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typedef struct
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{
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const float cos, sin;
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} BgcTangentFP32;
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typedef struct
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{
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const double cos, sin;
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} BgcTangentFP64;
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// ================= Dark Twins ================= //
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typedef struct {
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float cos, sin;
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} _BgcDarkTwinTangentFP32;
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typedef struct {
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double cos, sin;
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} _BgcDarkTwinTangentFP64;
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// ================= Constants ================== //
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extern const BgcTangentFP32 BGC_IDLE_TANGENT_FP32;
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extern const BgcTangentFP64 BGC_IDLE_TANGENT_FP64;
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// =================== Reset ==================== //
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inline void bgc_tangent_reset_fp32(BgcTangentFP32* tangent)
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{
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_BgcDarkTwinTangentFP32* twin = (_BgcDarkTwinTangentFP32*)tangent;
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twin->cos = 1.0f;
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twin->sin = 0.0f;
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}
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inline void bgc_tangent_reset_fp64(BgcTangentFP64* tangent)
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{
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_BgcDarkTwinTangentFP64* twin = (_BgcDarkTwinTangentFP64*)tangent;
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twin->cos = 1.0;
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twin->sin = 0.0;
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}
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// ==================== Set ===================== //
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void _bgc_tangent_normalize_fp32(const float square_modulus, _BgcDarkTwinTangentFP32* twin);
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void _bgc_tangent_normalize_fp64(const double square_modulus, _BgcDarkTwinTangentFP64* twin);
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inline void bgc_tangent_set_values_fp32(const float x1, const float x2, BgcTangentFP32* tangent)
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{
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const float square_modulus = x1 * x1 + x2 * x2;
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_BgcDarkTwinTangentFP32* twin = (_BgcDarkTwinTangentFP32*)tangent;
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twin->cos = x1;
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twin->sin = x2;
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if (!bgc_is_sqare_value_unit_fp32(square_modulus)) {
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_bgc_tangent_normalize_fp32(square_modulus, twin);
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}
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}
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inline void bgc_tangent_set_values_fp64(const double x1, const double x2, BgcTangentFP64* tangent)
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{
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const double square_modulus = x1 * x1 + x2 * x2;
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_BgcDarkTwinTangentFP64* twin = (_BgcDarkTwinTangentFP64*)tangent;
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twin->cos = x1;
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twin->sin = x2;
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if (!bgc_is_sqare_value_unit_fp64(square_modulus)) {
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_bgc_tangent_normalize_fp64(square_modulus, twin);
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}
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}
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// ==================== Copy ==================== //
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inline void bgc_tangent_copy_fp32(const BgcTangentFP32* from, BgcTangentFP32* to)
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{
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_BgcDarkTwinTangentFP32* twin = (_BgcDarkTwinTangentFP32*)to;
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twin->cos = from->cos;
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twin->sin = from->sin;
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}
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inline void bgc_tangent_copy_fp64(const BgcTangentFP64* from, BgcTangentFP64* to)
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{
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_BgcDarkTwinTangentFP64* twin = (_BgcDarkTwinTangentFP64*)to;
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twin->cos = from->cos;
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twin->sin = from->sin;
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}
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// ==================== Swap ==================== //
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inline void bgc_tangent_swap_fp32(BgcTangentFP32* tangent1, BgcTangentFP32* tangent2)
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{
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const float cos = tangent1->cos;
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const float sin = tangent1->sin;
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_BgcDarkTwinTangentFP32* twin1 = (_BgcDarkTwinTangentFP32*)tangent1;
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twin1->cos = tangent2->cos;
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twin1->sin = tangent2->sin;
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_BgcDarkTwinTangentFP32* twin2 = (_BgcDarkTwinTangentFP32*)tangent2;
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twin2->cos = cos;
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twin2->sin = sin;
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}
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inline void bgc_tangent_swap_fp64(BgcTangentFP64* tangent1, BgcTangentFP64* tangent2)
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{
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const double cos = tangent1->cos;
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const double sin = tangent1->sin;
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_BgcDarkTwinTangentFP64* twin1 = (_BgcDarkTwinTangentFP64*)tangent1;
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twin1->cos = tangent2->cos;
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twin1->sin = tangent2->sin;
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_BgcDarkTwinTangentFP64* twin2 = (_BgcDarkTwinTangentFP64*)tangent2;
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twin2->cos = cos;
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twin2->sin = sin;
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}
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// ================== Set Turn ================== //
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inline void bgc_tangent_set_turn_fp32(const float angle, const BgcAngleUnitEnum unit, BgcTangentFP32* tangent)
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{
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const float radians = bgc_angle_to_radians_fp32(angle, unit);
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_BgcDarkTwinTangentFP32* twin = (_BgcDarkTwinTangentFP32*)tangent;
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twin->cos = cosf(radians);
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twin->sin = sinf(radians);
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}
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inline void bgc_tangent_set_turn_fp64(const double angle, const BgcAngleUnitEnum unit, BgcTangentFP64* tangent)
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{
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const double radians = bgc_angle_to_radians_fp64(angle, unit);
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_BgcDarkTwinTangentFP64* twin = (_BgcDarkTwinTangentFP64*)tangent;
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twin->cos = cos(radians);
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twin->sin = sin(radians);
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}
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// ============= Copy to twin type ============== //
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inline void bgc_tangent_convert_fp64_to_fp32(const BgcTangentFP64* from, BgcTangentFP32* to)
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{
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bgc_tangent_set_values_fp32((float)from->cos, (float)from->sin, to);
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}
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inline void bgc_tangent_convert_fp32_to_fp64(const BgcTangentFP32* from, BgcTangentFP64* to)
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{
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bgc_tangent_set_values_fp64((double)from->cos, (double)from->sin, to);
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}
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// ================= Inversion ================== //
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inline void bgc_tangent_invert_fp32(BgcTangentFP32* tangent)
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{
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((_BgcDarkTwinTangentFP32*)tangent)->sin = -tangent->sin;
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}
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inline void bgc_tangent_invert_fp64(BgcTangentFP64* tangent)
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{
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((_BgcDarkTwinTangentFP64*)tangent)->sin = -tangent->sin;
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}
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// ================ Set Inverted ================ //
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inline void bgc_tangent_set_inverted_fp32(const BgcTangentFP32* tangent, BgcTangentFP32* result)
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{
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_BgcDarkTwinTangentFP32* twin = (_BgcDarkTwinTangentFP32*)result;
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twin->cos = tangent->cos;
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twin->sin = -tangent->sin;
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}
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inline void bgc_tangent_set_inverted_fp64(const BgcTangentFP64* tangent, BgcTangentFP64* result)
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{
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_BgcDarkTwinTangentFP64* twin = (_BgcDarkTwinTangentFP64*)result;
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twin->cos = tangent->cos;
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twin->sin = -tangent->sin;
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}
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// ============== Rotation Matrix =============== //
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inline void bgc_tangent_make_rotation_matrix_fp32(const BgcTangentFP32* tangent, BgcMatrix2x2FP32* matrix)
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{
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matrix->r1c1 = tangent->cos;
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matrix->r1c2 = -tangent->sin;
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matrix->r2c1 = tangent->sin;
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matrix->r2c2 = tangent->cos;
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}
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inline void bgc_tangent_make_rotation_matrix_fp64(const BgcTangentFP64* tangent, BgcMatrix2x2FP64* matrix)
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{
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matrix->r1c1 = tangent->cos;
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matrix->r1c2 = -tangent->sin;
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matrix->r2c1 = tangent->sin;
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matrix->r2c2 = tangent->cos;
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}
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// ============== Reverse Matrix ================ //
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inline void bgc_tangent_make_reverse_matrix_fp32(const BgcTangentFP32* tangent, BgcMatrix2x2FP32* matrix)
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{
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matrix->r1c1 = tangent->cos;
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matrix->r1c2 = tangent->sin;
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matrix->r2c1 = -tangent->sin;
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matrix->r2c2 = tangent->cos;
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}
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inline void bgc_tangent_make_reverse_matrix_fp64(const BgcTangentFP64* tangent, BgcMatrix2x2FP64* matrix)
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{
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matrix->r1c1 = tangent->cos;
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matrix->r1c2 = tangent->sin;
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matrix->r2c1 = -tangent->sin;
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matrix->r2c2 = tangent->cos;
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}
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// =================== Angle =================== //
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inline float bgc_tangent_get_angle_fp32(const BgcTangentFP32* tangent, const BgcAngleUnitEnum unit)
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{
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if (tangent->cos >= 1.0f - BGC_EPSYLON_FP32) {
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return 0.0f;
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}
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if (tangent->cos <= -1.0f + BGC_EPSYLON_FP32) {
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return bgc_angle_get_half_circle_fp32(unit);
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}
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if (tangent->sin >= 1.0f - BGC_EPSYLON_FP32) {
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return bgc_angle_get_quater_circle_fp32(unit);
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}
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if (tangent->sin <= -1.0f + BGC_EPSYLON_FP32) {
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return 0.75f * bgc_angle_get_full_circle_fp32(unit);
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}
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return bgc_radians_to_units_fp32(atan2f(tangent->cos, tangent->sin), unit);
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}
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inline double bgc_tangent_get_angle_fp64(const BgcTangentFP64* tangent, const BgcAngleUnitEnum unit)
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{
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if (tangent->cos >= 1.0 - BGC_EPSYLON_FP64) {
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return 0.0;
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}
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if (tangent->cos <= -1.0 + BGC_EPSYLON_FP64) {
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return bgc_angle_get_half_circle_fp64(unit);
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}
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if (tangent->sin >= 1.0 - BGC_EPSYLON_FP64) {
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return bgc_angle_get_quater_circle_fp64(unit);
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}
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if (tangent->sin <= -1.0 + BGC_EPSYLON_FP64) {
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return 0.75 * bgc_angle_get_full_circle_fp64(unit);
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}
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return bgc_radians_to_units_fp64(atan2(tangent->cos, tangent->sin), unit);
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}
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// ================ Combination ================= //
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inline void bgc_tangent_combine_fp32(const BgcTangentFP32* tangent1, const BgcTangentFP32* tangent2, BgcTangentFP32* result)
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{
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bgc_tangent_set_values_fp32(
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tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin,
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tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos,
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result
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);
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}
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inline void bgc_tangent_combine_fp64(const BgcTangentFP64* tangent1, const BgcTangentFP64* tangent2, BgcTangentFP64* result)
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{
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bgc_tangent_set_values_fp64(
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tangent1->cos * tangent2->cos - tangent1->sin * tangent2->sin,
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tangent1->cos * tangent2->sin + tangent1->sin * tangent2->cos,
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result
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);
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}
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// ================ Turn Vector ================= //
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inline void bgc_tangent_turn_vector_fp32(const BgcTangentFP32* tangent, const BgcVector2FP32* vector, BgcVector2FP32* result)
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{
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const float x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2;
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const float x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2;
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result->x1 = x1;
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result->x2 = x2;
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}
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inline void bgc_tangent_turn_vector_fp64(const BgcTangentFP64* tangent, const BgcVector2FP64* vector, BgcVector2FP64* result)
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{
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const double x1 = tangent->cos * vector->x1 - tangent->sin * vector->x2;
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const double x2 = tangent->sin * vector->x1 + tangent->cos * vector->x2;
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result->x1 = x1;
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result->x2 = x2;
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}
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// ============ Turn Vector Backward ============ //
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inline void bgc_tangent_turn_vector_back_fp32(const BgcTangentFP32* tangent, const BgcVector2FP32* vector, BgcVector2FP32* result)
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{
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const float x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1;
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const float x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1;
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result->x1 = x1;
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result->x2 = x2;
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}
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inline void bgc_tangent_turn_vector_back_fp64(const BgcTangentFP64* tangent, const BgcVector2FP64* vector, BgcVector2FP64* result)
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{
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const double x1 = tangent->sin * vector->x2 + tangent->cos * vector->x1;
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const double x2 = tangent->cos * vector->x2 - tangent->sin * vector->x1;
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result->x1 = x1;
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result->x2 = x2;
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}
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// ================== Are Close ================= //
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inline int bgc_tangent_are_close_fp32(const BgcTangentFP32* tangent1, const BgcTangentFP32* tangent2)
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{
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const float d_cos = tangent1->cos - tangent2->cos;
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const float d_sin = tangent1->sin - tangent2->sin;
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return d_cos * d_cos + d_sin * d_sin <= BGC_SQUARE_EPSYLON_FP32;
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}
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inline int bgc_tangent_are_close_fp64(const BgcTangentFP64* tangent1, const BgcTangentFP64* tangent2)
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{
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const double d_cos = tangent1->cos - tangent2->cos;
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const double d_sin = tangent1->sin - tangent2->sin;
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return d_cos * d_cos + d_sin * d_sin <= BGC_SQUARE_EPSYLON_FP64;
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}
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#endif
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