Удаление функций set_value для структур с открытыми полями (векторы и кватернионы)
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25 changed files with 597 additions and 707 deletions
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@ -49,6 +49,14 @@
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<Unit filename="main.c">
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<Option compilerVar="CC" />
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</Unit>
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<Unit filename="printing_utils.c">
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<Option compilerVar="CC" />
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</Unit>
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<Unit filename="printing_utils.h" />
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<Unit filename="vector3_pair_difference.c">
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<Option compilerVar="CC" />
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</Unit>
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<Unit filename="vector3_pair_difference.h" />
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<Extensions />
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</Project>
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</CodeBlocks_project_file>
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@ -9,6 +9,8 @@
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#include <time.h>
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#endif // _WINDOWS_
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#include "vector3_pair_difference.h"
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typedef struct {
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BGC_FP32_Turn3 versor1, versor2, result;
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} structure_fp32_t;
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@ -51,25 +53,6 @@ structure_fp32_t* make_structures(const unsigned int amount)
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return list;
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}
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void print_quaternion_fp32(const BGC_FP32_Quaternion* quaternion)
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{
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printf("Quaternion FP32(s = %0.12f, x = %0.12f, y = %0.12f, z = %0.12f)\n", quaternion->s, quaternion->x, quaternion->y, quaternion->z);
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}
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void print_quaternion_fp64(const BGC_FP64_Quaternion* quaternion)
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{
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printf("Quaternion FP64(s = %0.12f, x = %0.12f, y = %0.12f, z = %0.12f)\n", quaternion->s, quaternion->x, quaternion->y, quaternion->z);
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}
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void print_vector_fp32(const BGC_FP32_Vector3* vector)
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{
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printf("(%f, %f, %f) / %f\n", vector->x, vector->y, vector->z, bgc_fp32_vector3_get_length(vector));
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}
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void print_vector_fp64(const BGC_FP64_Vector3* vector)
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{
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printf("(%lf, %lf, %lf) / %lf\n", vector->x, vector->y, vector->z, bgc_fp64_vector3_get_length(vector));
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}
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void list_work(const uint_fast32_t amount, structure_fp32_t* list)
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{
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@ -113,9 +96,9 @@ int main()
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printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
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#endif // _WIN64
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print_quaternion_fp32(&list[10].versor1._versor);
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print_quaternion_fp32(&list[10].versor2._versor);
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print_quaternion_fp32(&list[10].result._versor);
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print_fp32_quaternion(&list[10].versor1._versor);
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print_fp32_quaternion(&list[10].versor2._versor);
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print_fp32_quaternion(&list[10].result._versor);
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free(list);
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@ -149,364 +132,15 @@ int main() {
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}
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*/
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void test_pair_difference_fp32()
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{
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BGC_FP32_Vector3 initial_main, initial_branch;
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BGC_FP32_Vector3 final_main, final_branch;
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BGC_FP32_Turn3 turn;
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// No turn
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nNo turn:\n");
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print_quaternion_fp32(&turn._versor);
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// Turn around (1, 1, 0) axis on 180 degrees
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
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print_quaternion_fp32(&turn._versor);
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// 180 degree turn
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, -1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n180 degree turn around (0, 1, 0):\n");
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print_quaternion_fp32(&turn._versor);
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// 90 degree turn around x3 axis
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bgc_fp32_vector3_set_values(&initial_main, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 3.1f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, 10.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch,-1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n90 degree turn around (0, 0, 1):\n");
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print_quaternion_fp32(&turn._versor);
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// Unorthogonal pairs turn at 90 degrees around x3 axis
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bgc_fp32_vector3_set_values(&initial_main, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, -2.0f, 3.1f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, 10.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, -1.0f, 5.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
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print_quaternion_fp32(&turn._versor);
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// Zero vectors
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bgc_fp32_vector3_set_values(&initial_main, 0.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f);
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int code;
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code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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if (code == BGC_SUCCESS) {
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printf("\nZero vectors: this cannot be!\n");
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print_quaternion_fp32(&turn._versor);
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}
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else {
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printf("\nZero vector validation works fine\n");
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}
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// Parallel vectors
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f);
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code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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if (code == BGC_SUCCESS) {
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printf("\nParallel vectors: this cannot be!\n");
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print_quaternion_fp32(&turn._versor);
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}
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else {
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printf("\nParallelism validation works fine\n");
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}
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// Small angle turn (about 1 degree):
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.999848f, 0.017452f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, -0.017452f, 0.999848f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn , &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nSmall angle turn (about 1 degree):\n");
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print_quaternion_fp32(&turn._versor);
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// About 179 degrees turn
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, -0.999848f, -0.017452f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.017452f, -0.999848f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nAbout 179 degrees turn:\n");
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print_quaternion_fp32(&turn._versor);
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// 120 degrees around (-1, -1, 1)
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 0.0f, -1.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n120 degees turn:\n");
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print_quaternion_fp32(&turn._versor);
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// About 1 degree turn difference between initial_main and initial_branch directions
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.999848f, 0.017452f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, -1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n");
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