Добавление квалификатора const для запрета изменения указаелей внутри функций
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24 changed files with 951 additions and 951 deletions
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@ -8,78 +8,78 @@ const BGC_FP32_Turn3 BGC_FP32_IDLE_TURN3 = {{ 1.0f, 0.0f, 0.0f, 0.0f }};
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const BGC_FP64_Turn3 BGC_FP64_IDLE_TURN3 = {{ 1.0, 0.0, 0.0, 0.0 }};
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extern inline void bgc_fp32_turn3_reset(BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_reset(BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_reset(BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_reset(BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_set_raw_values(BGC_FP32_Turn3* turn, const float s0, const float x1, const float x2, const float x3);
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extern inline void bgc_fp64_turn3_set_raw_values(BGC_FP64_Turn3* turn, const double s0, const double x1, const double x2, const double x3);
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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);
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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);
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extern inline void bgc_fp32_turn3_get_quaternion(BGC_FP32_Quaternion* quaternion, const BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_get_quaternion(BGC_FP64_Quaternion* quaternion, const BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_get_quaternion(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_get_quaternion(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_set_quaternion(BGC_FP32_Turn3* turn, const BGC_FP32_Quaternion* quaternion);
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extern inline void bgc_fp64_turn3_set_quaternion(BGC_FP64_Turn3* turn, const BGC_FP64_Quaternion* quaternion);
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extern inline void bgc_fp32_turn3_set_quaternion(BGC_FP32_Turn3* const turn, const BGC_FP32_Quaternion* const quaternion);
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extern inline void bgc_fp64_turn3_set_quaternion(BGC_FP64_Turn3* const turn, const BGC_FP64_Quaternion* const quaternion);
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extern inline void bgc_fp32_turn3_copy(BGC_FP32_Turn3* destination, const BGC_FP32_Turn3* source);
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extern inline void bgc_fp64_turn3_copy(BGC_FP64_Turn3* destination, const BGC_FP64_Turn3* source);
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extern inline void bgc_fp32_turn3_copy(BGC_FP32_Turn3* const destination, const BGC_FP32_Turn3* const source);
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extern inline void bgc_fp64_turn3_copy(BGC_FP64_Turn3* const destination, const BGC_FP64_Turn3* const source);
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extern inline void bgc_fp32_turn3_swap(BGC_FP32_Turn3* turn1, BGC_FP32_Turn3* turn2);
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extern inline void bgc_fp64_turn3_swap(BGC_FP64_Turn3* turn1, BGC_FP64_Turn3* turn2);
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extern inline void bgc_fp32_turn3_swap(BGC_FP32_Turn3* const turn1, BGC_FP32_Turn3* const turn2);
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extern inline void bgc_fp64_turn3_swap(BGC_FP64_Turn3* const turn1, BGC_FP64_Turn3* const turn2);
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extern inline int bgc_fp32_turn3_is_idle(const BGC_FP32_Turn3* turn);
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extern inline int bgc_fp64_turn3_is_idle(const BGC_FP64_Turn3* turn);
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extern inline int bgc_fp32_turn3_is_idle(const BGC_FP32_Turn3* const turn);
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extern inline int bgc_fp64_turn3_is_idle(const BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_convert_to_fp64(BGC_FP64_Turn3* destination, const BGC_FP32_Turn3* source);
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extern inline void bgc_fp64_turn3_convert_to_fp32(BGC_FP32_Turn3* destination, const BGC_FP64_Turn3* source);
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extern inline void bgc_fp32_turn3_convert_to_fp64(BGC_FP64_Turn3* const destination, const BGC_FP32_Turn3* const source);
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extern inline void bgc_fp64_turn3_convert_to_fp32(BGC_FP32_Turn3* const destination, const BGC_FP64_Turn3* const source);
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extern inline void bgc_fp32_turn3_shorten(BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_shorten(BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_shorten(BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_shorten(BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_get_shortened(BGC_FP32_Turn3* shortened, const BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_get_shortened(BGC_FP64_Turn3* shortened, const BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_get_shortened(BGC_FP32_Turn3* const shortened, const BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_get_shortened(BGC_FP64_Turn3* const shortened, const BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_alternate(BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_alternate(BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_alternate(BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_alternate(BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_get_alternative(BGC_FP32_Turn3* alternative, const BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_get_alternative(BGC_FP64_Turn3* alternative, const BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_get_alternative(BGC_FP32_Turn3* const alternative, const BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_get_alternative(BGC_FP64_Turn3* const alternative, const BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_revert(BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_revert(BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_revert(BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_revert(BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_get_reverse(BGC_FP32_Turn3* inverse, const BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_get_reverse(BGC_FP64_Turn3* inverse, const BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_get_reverse(BGC_FP32_Turn3* const inverse, const BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_get_reverse(BGC_FP64_Turn3* const inverse, const BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_combine(BGC_FP32_Turn3* combination, const BGC_FP32_Turn3* first, const BGC_FP32_Turn3* second);
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extern inline void bgc_fp64_turn3_combine(BGC_FP64_Turn3* combination, const BGC_FP64_Turn3* first, const BGC_FP64_Turn3* second);
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extern inline void bgc_fp32_turn3_combine(BGC_FP32_Turn3* const combination, const BGC_FP32_Turn3* const first, const BGC_FP32_Turn3* const second);
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extern inline void bgc_fp64_turn3_combine(BGC_FP64_Turn3* const combination, const BGC_FP64_Turn3* const first, const BGC_FP64_Turn3* const second);
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extern inline void bgc_fp32_turn3_combine3(BGC_FP32_Turn3* combination, const BGC_FP32_Turn3* first, const BGC_FP32_Turn3* second, const BGC_FP32_Turn3* third);
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extern inline void bgc_fp64_turn3_combine3(BGC_FP64_Turn3* combination, const BGC_FP64_Turn3* first, const BGC_FP64_Turn3* second, const BGC_FP64_Turn3* third);
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extern inline void bgc_fp32_turn3_combine3(BGC_FP32_Turn3* const combination, const BGC_FP32_Turn3* const first, const BGC_FP32_Turn3* const second, const BGC_FP32_Turn3* const third);
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extern 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);
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extern inline void bgc_fp32_turn3_exclude(BGC_FP32_Turn3* difference, const BGC_FP32_Turn3* base, const BGC_FP32_Turn3* excludant);
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extern inline void bgc_fp64_turn3_exclude(BGC_FP64_Turn3* difference, const BGC_FP64_Turn3* base, const BGC_FP64_Turn3* excludant);
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extern inline void bgc_fp32_turn3_exclude(BGC_FP32_Turn3* const difference, const BGC_FP32_Turn3* const base, const BGC_FP32_Turn3* const excludant);
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extern inline void bgc_fp64_turn3_exclude(BGC_FP64_Turn3* const difference, const BGC_FP64_Turn3* const base, const BGC_FP64_Turn3* const excludant);
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extern inline void bgc_fp32_turn3_get_rotation_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_get_rotation_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_get_rotation_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_get_rotation_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_get_reverse_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_get_reverse_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Turn3* turn);
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extern inline void bgc_fp64_turn3_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Turn3* turn);
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extern inline void bgc_fp32_turn3_get_both_matrices(BGC_FP32_Matrix3x3* const rotation, BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Turn3* const turn);
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extern inline void bgc_fp64_turn3_get_both_matrices(BGC_FP64_Matrix3x3* const rotation, BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Turn3* const turn);
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extern inline void bgc_fp32_turn3_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* vector);
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extern inline void bgc_fp64_turn3_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Turn3* turn, const BGC_FP64_Vector3* vector);
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extern inline void bgc_fp32_turn3_vector(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Turn3* const turn, const BGC_FP32_Vector3* const vector);
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extern inline void bgc_fp64_turn3_vector(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Turn3* const turn, const BGC_FP64_Vector3* const vector);
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extern inline void bgc_fp32_turn3_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* vector);
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extern inline void bgc_fp64_turn3_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Turn3* turn, const BGC_FP64_Vector3* vector);
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extern inline void bgc_fp32_turn3_vector_back(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Turn3* const turn, const BGC_FP32_Vector3* const vector);
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extern inline void bgc_fp64_turn3_vector_back(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Turn3* const turn, const BGC_FP64_Vector3* const vector);
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extern inline int bgc_fp32_turn3_are_close(const BGC_FP32_Turn3* turn1, const BGC_FP32_Turn3* turn2);
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extern inline int bgc_fp64_turn3_are_close(const BGC_FP64_Turn3* turn1, const BGC_FP64_Turn3* turn2);
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extern inline int bgc_fp32_turn3_are_close(const BGC_FP32_Turn3* const turn1, const BGC_FP32_Turn3* const turn2);
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extern inline int bgc_fp64_turn3_are_close(const BGC_FP64_Turn3* const turn1, const BGC_FP64_Turn3* const turn2);
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// ================= Normalize ================== //
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void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* turn, const float square_modulus)
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void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* const turn, const float square_modulus)
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{
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
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bgc_fp32_turn3_reset(turn);
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@ -89,7 +89,7 @@ void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* turn, const float square_modulus)
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bgc_fp32_quaternion_multiply_by_real_number(&turn->_versor, &turn->_versor, sqrtf(1.0f / square_modulus));
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}
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void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* turn, const double square_modulus)
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void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* const turn, const double square_modulus)
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{
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
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bgc_fp64_turn3_reset(turn);
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@ -102,7 +102,7 @@ void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* turn, const double square_modulus
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// ================ Get Rotation ================ //
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float bgc_fp32_turn3_get_rotation(BGC_FP32_Vector3* axis, const BGC_FP32_Turn3* turn, const int angle_unit)
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float bgc_fp32_turn3_get_rotation(BGC_FP32_Vector3* const axis, const BGC_FP32_Turn3* const turn, const int angle_unit)
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{
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const float square_vector_modulus = turn->_versor.x1 * turn->_versor.x1 + turn->_versor.x2 * turn->_versor.x2 + turn->_versor.x3 * turn->_versor.x3;
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@ -122,7 +122,7 @@ float bgc_fp32_turn3_get_rotation(BGC_FP32_Vector3* axis, const BGC_FP32_Turn3*
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return 2.0f * atan2f(vector_modulus, turn->_versor.s0);
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}
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double bgc_fp64_turn3_get_rotation(BGC_FP64_Vector3* axis, const BGC_FP64_Turn3* turn, const int angle_unit)
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double bgc_fp64_turn3_get_rotation(BGC_FP64_Vector3* const axis, const BGC_FP64_Turn3* const turn, const int angle_unit)
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{
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const double square_vector_modulus = turn->_versor.x1 * turn->_versor.x1 + turn->_versor.x2 * turn->_versor.x2 + turn->_versor.x3 * turn->_versor.x3;
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@ -144,7 +144,7 @@ double bgc_fp64_turn3_get_rotation(BGC_FP64_Vector3* axis, const BGC_FP64_Turn3*
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// ================ Set Rotation ================ //
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void bgc_fp32_turn3_set_rotation(BGC_FP32_Turn3* turn, const float x1, const float x2, const float x3, const float angle, const int angle_unit)
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void bgc_fp32_turn3_set_rotation(BGC_FP32_Turn3* const turn, const float x1, const float x2, const float x3, const float angle, const int angle_unit)
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{
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const float square_vector = x1 * x1 + x2 * x2 + x3 * x3;
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@ -173,7 +173,7 @@ void bgc_fp32_turn3_set_rotation(BGC_FP32_Turn3* turn, const float x1, const flo
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}
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}
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void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* turn, const double x1, const double x2, const double x3, const double angle, const int angle_unit)
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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)
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{
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const double square_vector = x1 * x1 + x2 * x2 + x3 * x3;
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@ -204,7 +204,7 @@ void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* turn, const double x1, const do
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// ========= Find Direction Difference ========== //
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int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* first, const BGC_FP32_Vector3* second)
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int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* const turn, const BGC_FP32_Vector3* const first, const BGC_FP32_Vector3* const second)
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{
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const float first_square_modulus = bgc_fp32_vector3_get_squared_length(first);
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@ -248,7 +248,7 @@ int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* turn, const BGC_FP3
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return BGC_SUCCESS;
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}
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int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* turn, const BGC_FP64_Vector3* first, const BGC_FP64_Vector3* second)
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int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* const turn, const BGC_FP64_Vector3* const first, const BGC_FP64_Vector3* const second)
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{
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const double first_square_modulus = bgc_fp64_vector3_get_squared_length(first);
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@ -295,7 +295,7 @@ int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* turn, const BGC_FP6
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// ============ Make Orthogonal Pair ============ //
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static inline int _bgc_fp32_turn3_get_orthogonal_pair(BGC_FP32_Vector3* unit_main, BGC_FP32_Vector3* unit_branch, const BGC_FP32_Vector3* main, const BGC_FP32_Vector3* branch)
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static inline int _bgc_fp32_turn3_get_orthogonal_pair(BGC_FP32_Vector3* const unit_main, BGC_FP32_Vector3* const unit_branch, const BGC_FP32_Vector3* const main, const BGC_FP32_Vector3* const branch)
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{
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const float main_square_modulus = bgc_fp32_vector3_get_squared_length(main);
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@ -324,7 +324,7 @@ static inline int _bgc_fp32_turn3_get_orthogonal_pair(BGC_FP32_Vector3* unit_mai
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return BGC_SUCCESS;
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}
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static inline int _bgc_fp64_turn3_get_orthogonal_pair(BGC_FP64_Vector3* unit_main, BGC_FP64_Vector3* unit_branch, const BGC_FP64_Vector3* main, const BGC_FP64_Vector3* branch)
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static inline int _bgc_fp64_turn3_get_orthogonal_pair(BGC_FP64_Vector3* const unit_main, BGC_FP64_Vector3* const unit_branch, const BGC_FP64_Vector3* const main, const BGC_FP64_Vector3* const branch)
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{
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const double main_square_modulus = bgc_fp64_vector3_get_squared_length(main);
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@ -355,7 +355,7 @@ static inline int _bgc_fp64_turn3_get_orthogonal_pair(BGC_FP64_Vector3* unit_mai
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// ========= Make Direction Difference ========== //
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static inline void _bgc_fp32_turn3_get_turning_quaternion(BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* unit_start, const BGC_FP32_Vector3* unit_end, const BGC_FP32_Vector3* unit_orthogonal)
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static inline void _bgc_fp32_turn3_get_turning_quaternion(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Vector3* const unit_start, const BGC_FP32_Vector3* const unit_end, const BGC_FP32_Vector3* const unit_orthogonal)
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{
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BGC_FP32_Vector3 axis;
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@ -396,7 +396,7 @@ static inline void _bgc_fp32_turn3_get_turning_quaternion(BGC_FP32_Quaternion* q
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quaternion->x3 = axis.x3 * multiplier;
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}
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static inline void _bgc_fp64_turn3_get_turning_quaternion(BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* unit_start, const BGC_FP64_Vector3* unit_end, const BGC_FP64_Vector3* unit_orthogonal)
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static inline void _bgc_fp64_turn3_get_turning_quaternion(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Vector3* const unit_start, const BGC_FP64_Vector3* const unit_end, const BGC_FP64_Vector3* const unit_orthogonal)
|
||||
{
|
||||
BGC_FP64_Vector3 axis;
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||||
|
||||
|
|
@ -440,11 +440,11 @@ static inline void _bgc_fp64_turn3_get_turning_quaternion(BGC_FP64_Quaternion* q
|
|||
// ============ Make Pair Difference ============ //
|
||||
|
||||
int bgc_fp32_turn3_find_pair_difference(
|
||||
BGC_FP32_Turn3* turn,
|
||||
const BGC_FP32_Vector3* first_pair_main,
|
||||
const BGC_FP32_Vector3* first_pair_branch,
|
||||
const BGC_FP32_Vector3* second_pair_main,
|
||||
const BGC_FP32_Vector3* second_pair_branch
|
||||
BGC_FP32_Turn3* const turn,
|
||||
const BGC_FP32_Vector3* const first_pair_main,
|
||||
const BGC_FP32_Vector3* const first_pair_branch,
|
||||
const BGC_FP32_Vector3* const second_pair_main,
|
||||
const BGC_FP32_Vector3* const second_pair_branch
|
||||
) {
|
||||
BGC_FP32_Vector3 first_fixed_main, first_fixed_branch, first_turned_branch, second_fixed_main, second_fixed_branch;
|
||||
|
||||
|
|
@ -487,11 +487,11 @@ int bgc_fp32_turn3_find_pair_difference(
|
|||
}
|
||||
|
||||
int bgc_fp64_turn3_find_pair_difference(
|
||||
BGC_FP64_Turn3* turn,
|
||||
const BGC_FP64_Vector3* first_pair_main,
|
||||
const BGC_FP64_Vector3* first_pair_branch,
|
||||
const BGC_FP64_Vector3* second_pair_main,
|
||||
const BGC_FP64_Vector3* second_pair_branch
|
||||
BGC_FP64_Turn3* const turn,
|
||||
const BGC_FP64_Vector3* const first_pair_main,
|
||||
const BGC_FP64_Vector3* const first_pair_branch,
|
||||
const BGC_FP64_Vector3* const second_pair_main,
|
||||
const BGC_FP64_Vector3* const second_pair_branch
|
||||
) {
|
||||
BGC_FP64_Vector3 first_fixed_main, first_fixed_branch, first_turned_branch, second_fixed_main, second_fixed_branch;
|
||||
|
||||
|
|
@ -535,7 +535,7 @@ int bgc_fp64_turn3_find_pair_difference(
|
|||
|
||||
// =============== Get Exponation =============== //
|
||||
|
||||
void bgc_fp32_turn3_get_power(BGC_FP32_Turn3* power, const BGC_FP32_Turn3* base, const float exponent)
|
||||
void bgc_fp32_turn3_get_power(BGC_FP32_Turn3* const power, const BGC_FP32_Turn3* const base, const float exponent)
|
||||
{
|
||||
const float square_vector = base->_versor.x1 * base->_versor.x1 + base->_versor.x2 * base->_versor.x2 + base->_versor.x3 * base->_versor.x3;
|
||||
|
||||
|
|
@ -553,7 +553,7 @@ void bgc_fp32_turn3_get_power(BGC_FP32_Turn3* power, const BGC_FP32_Turn3* base,
|
|||
bgc_fp32_turn3_set_raw_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* power, const BGC_FP64_Turn3* base, const double exponent)
|
||||
void bgc_fp64_turn3_get_power(BGC_FP64_Turn3* const power, const BGC_FP64_Turn3* const base, const double exponent)
|
||||
{
|
||||
const double square_vector = base->_versor.x1 * base->_versor.x1 + base->_versor.x2 * base->_versor.x2 + base->_versor.x3 * base->_versor.x3;
|
||||
|
||||
|
|
@ -573,7 +573,7 @@ void bgc_fp64_turn3_get_power(BGC_FP64_Turn3* power, const BGC_FP64_Turn3* base,
|
|||
|
||||
// ============ Sphere Interpolation ============ //
|
||||
|
||||
void bgc_fp32_turn3_spherically_interpolate(BGC_FP32_Turn3* interpolation, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end, const float phase)
|
||||
void bgc_fp32_turn3_spherically_interpolate(BGC_FP32_Turn3* const interpolation, const BGC_FP32_Turn3* const start, const BGC_FP32_Turn3* const end, const float phase)
|
||||
{
|
||||
const float delta_s0 = (end->_versor.s0 * start->_versor.s0 + end->_versor.x1 * start->_versor.x1) + (end->_versor.x2 * start->_versor.x2 + end->_versor.x3 * start->_versor.x3);
|
||||
const float delta_x1 = (end->_versor.x1 * start->_versor.s0 + end->_versor.x3 * start->_versor.x2) - (end->_versor.s0 * start->_versor.x1 + end->_versor.x2 * start->_versor.x3);
|
||||
|
|
@ -608,7 +608,7 @@ void bgc_fp32_turn3_spherically_interpolate(BGC_FP32_Turn3* interpolation, const
|
|||
);
|
||||
}
|
||||
|
||||
void bgc_fp64_turn3_spherically_interpolate(BGC_FP64_Turn3* interpolation, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end, const double phase)
|
||||
void bgc_fp64_turn3_spherically_interpolate(BGC_FP64_Turn3* const interpolation, const BGC_FP64_Turn3* const start, const BGC_FP64_Turn3* const end, const double phase)
|
||||
{
|
||||
const double delta_s0 = (end->_versor.s0 * start->_versor.s0 + end->_versor.x1 * start->_versor.x1) + (end->_versor.x2 * start->_versor.x2 + end->_versor.x3 * start->_versor.x3);
|
||||
const double delta_x1 = (end->_versor.x1 * start->_versor.s0 + end->_versor.x3 * start->_versor.x2) - (end->_versor.s0 * start->_versor.x1 + end->_versor.x2 * start->_versor.x3);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue