Переход на версию 0.3: изменение подхода к именованию сущностей, добавление, изменение и удаление ряда функций
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87 changed files with 4580 additions and 4051 deletions
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@ -9,15 +9,15 @@
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typedef struct {
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float s0, x1, x2, x3;
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} BgcQuaternionFP32;
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} BGC_FP32_Quaternion;
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typedef struct {
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double s0, x1, x2, x3;
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} BgcQuaternionFP64;
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} BGC_FP64_Quaternion;
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// ==================== Reset =================== //
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inline void bgc_quaternion_reset_fp32(BgcQuaternionFP32 * quaternion)
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inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion * quaternion)
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{
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quaternion->s0 = 0.0f;
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quaternion->x1 = 0.0f;
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@ -25,7 +25,7 @@ inline void bgc_quaternion_reset_fp32(BgcQuaternionFP32 * quaternion)
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quaternion->x3 = 0.0f;
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}
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inline void bgc_quaternion_reset_fp64(BgcQuaternionFP64 * quaternion)
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inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion * quaternion)
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{
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quaternion->s0 = 0.0;
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quaternion->x1 = 0.0;
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@ -35,7 +35,7 @@ inline void bgc_quaternion_reset_fp64(BgcQuaternionFP64 * quaternion)
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// ================= Make Unit ================== //
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inline void bgc_quaternion_make_unit_fp32(BgcQuaternionFP32 * quaternion)
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inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion * quaternion)
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{
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quaternion->s0 = 1.0f;
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quaternion->x1 = 0.0f;
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@ -43,7 +43,7 @@ inline void bgc_quaternion_make_unit_fp32(BgcQuaternionFP32 * quaternion)
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quaternion->x3 = 0.0f;
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}
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inline void bgc_quaternion_make_unit_fp64(BgcQuaternionFP64 * quaternion)
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inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion * quaternion)
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{
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quaternion->s0 = 1.0;
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quaternion->x1 = 0.0;
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@ -53,7 +53,7 @@ inline void bgc_quaternion_make_unit_fp64(BgcQuaternionFP64 * quaternion)
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// ==================== Set ===================== //
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inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcQuaternionFP32 * quaternion)
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inline void bgc_fp32_quaternion_make(const float s0, const float x1, const float x2, const float x3, BGC_FP32_Quaternion * quaternion)
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{
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quaternion->s0 = s0;
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quaternion->x1 = x1;
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@ -61,7 +61,7 @@ inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const
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quaternion->x3 = x3;
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}
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inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcQuaternionFP64 * quaternion)
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inline void bgc_fp64_quaternion_make(const double s0, const double x1, const double x2, const double x3, BGC_FP64_Quaternion * quaternion)
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{
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quaternion->s0 = s0;
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quaternion->x1 = x1;
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@ -71,55 +71,55 @@ inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, con
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// ============= Get Square Modulus ============= //
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inline float bgc_quaternion_get_square_modulus_fp32(const BgcQuaternionFP32* quaternion)
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inline float bgc_fp32_quaternion_get_square_modulus(const BGC_FP32_Quaternion* quaternion)
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{
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return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
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}
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inline double bgc_quaternion_get_square_modulus_fp64(const BgcQuaternionFP64* quaternion)
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inline double bgc_fp64_quaternion_get_square_modulus(const BGC_FP64_Quaternion* quaternion)
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{
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return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
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}
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// ================ Get Modulus ================= //
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inline float bgc_quaternion_get_modulus_fp32(const BgcQuaternionFP32* quaternion)
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inline float bgc_fp32_quaternion_get_modulus(const BGC_FP32_Quaternion* quaternion)
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{
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return sqrtf(bgc_quaternion_get_square_modulus_fp32(quaternion));
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return sqrtf(bgc_fp32_quaternion_get_square_modulus(quaternion));
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}
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inline double bgc_quaternion_get_modulus_fp64(const BgcQuaternionFP64* quaternion)
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inline double bgc_fp64_quaternion_get_modulus(const BGC_FP64_Quaternion* quaternion)
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{
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return sqrt(bgc_quaternion_get_square_modulus_fp64(quaternion));
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return sqrt(bgc_fp64_quaternion_get_square_modulus(quaternion));
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}
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// ================== Is Zero =================== //
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inline int bgc_quaternion_is_zero_fp32(const BgcQuaternionFP32* quaternion)
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inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* quaternion)
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{
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return bgc_quaternion_get_square_modulus_fp32(quaternion) <= BGC_SQUARE_EPSYLON_FP32;
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return bgc_fp32_quaternion_get_square_modulus(quaternion) <= BGC_FP32_SQUARE_EPSYLON;
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}
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inline int bgc_quaternion_is_zero_fp64(const BgcQuaternionFP64* quaternion)
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inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* quaternion)
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{
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return bgc_quaternion_get_square_modulus_fp64(quaternion) <= BGC_SQUARE_EPSYLON_FP64;
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return bgc_fp64_quaternion_get_square_modulus(quaternion) <= BGC_FP64_SQUARE_EPSYLON;
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}
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// ================== Is Unit =================== //
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inline int bgc_quaternion_is_unit_fp32(const BgcQuaternionFP32* quaternion)
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inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* quaternion)
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{
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return bgc_is_sqare_unit_fp32(bgc_quaternion_get_square_modulus_fp32(quaternion));
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return bgc_fp32_is_square_unit(bgc_fp32_quaternion_get_square_modulus(quaternion));
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}
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inline int bgc_quaternion_is_unit_fp64(const BgcQuaternionFP64* quaternion)
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inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* quaternion)
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{
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return bgc_is_sqare_unit_fp64(bgc_quaternion_get_square_modulus_fp64(quaternion));
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return bgc_fp64_is_square_unit(bgc_fp64_quaternion_get_square_modulus(quaternion));
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}
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// ==================== Copy ==================== //
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inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* source, BgcQuaternionFP32* destination)
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inline void bgc_fp32_quaternion_copy(const BGC_FP32_Quaternion* source, BGC_FP32_Quaternion* destination)
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{
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destination->s0 = source->s0;
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destination->x1 = source->x1;
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@ -127,7 +127,7 @@ inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* source, BgcQuatern
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destination->x3 = source->x3;
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}
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inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* source, BgcQuaternionFP64* destination)
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inline void bgc_fp64_quaternion_copy(const BGC_FP64_Quaternion* source, BGC_FP64_Quaternion* destination)
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{
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destination->s0 = source->s0;
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destination->x1 = source->x1;
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@ -137,7 +137,7 @@ inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* source, BgcQuatern
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// ==================== Swap ==================== //
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inline void bgc_quaternion_swap_fp32(BgcQuaternionFP32* quarternion1, BgcQuaternionFP32* quarternion2)
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inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* quarternion1, BGC_FP32_Quaternion* quarternion2)
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{
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const float s0 = quarternion2->s0;
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const float x1 = quarternion2->x1;
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@ -155,7 +155,7 @@ inline void bgc_quaternion_swap_fp32(BgcQuaternionFP32* quarternion1, BgcQuatern
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quarternion1->x3 = x3;
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}
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inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuaternionFP64* quarternion2)
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inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64_Quaternion* quarternion2)
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{
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const double s0 = quarternion2->s0;
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const double x1 = quarternion2->x1;
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@ -175,7 +175,7 @@ inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuatern
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// ================== Convert =================== //
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inline void bgc_quaternion_convert_fp64_to_fp32(const BgcQuaternionFP64* source, BgcQuaternionFP32* destination)
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inline void bgc_fp64_quaternion_convert_to_fp32(const BGC_FP64_Quaternion* source, BGC_FP32_Quaternion* destination)
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{
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destination->s0 = (float)source->s0;
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destination->x1 = (float)source->x1;
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@ -183,7 +183,7 @@ inline void bgc_quaternion_convert_fp64_to_fp32(const BgcQuaternionFP64* source,
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destination->x3 = (float)source->x3;
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}
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inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* source, BgcQuaternionFP64* destination)
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inline void bgc_fp32_quaternion_convert_to_fp64(const BGC_FP32_Quaternion* source, BGC_FP64_Quaternion* destination)
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{
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destination->s0 = source->s0;
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destination->x1 = source->x1;
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@ -193,7 +193,7 @@ inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* source,
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// ==================== Add ===================== //
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inline void bgc_quaternion_add_fp32(const BgcQuaternionFP32 * quaternion1, const BgcQuaternionFP32 * quaternion2, BgcQuaternionFP32 * sum)
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inline void bgc_fp32_quaternion_add(const BGC_FP32_Quaternion * quaternion1, const BGC_FP32_Quaternion * quaternion2, BGC_FP32_Quaternion * sum)
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{
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sum->s0 = quaternion1->s0 + quaternion2->s0;
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sum->x1 = quaternion1->x1 + quaternion2->x1;
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@ -201,7 +201,7 @@ inline void bgc_quaternion_add_fp32(const BgcQuaternionFP32 * quaternion1, const
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sum->x3 = quaternion1->x3 + quaternion2->x3;
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}
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inline void bgc_quaternion_add_fp64(const BgcQuaternionFP64 * quaternion1, const BgcQuaternionFP64 * quaternion2, BgcQuaternionFP64 * sum)
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inline void bgc_fp64_quaternion_add(const BGC_FP64_Quaternion * quaternion1, const BGC_FP64_Quaternion * quaternion2, BGC_FP64_Quaternion * sum)
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{
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sum->s0 = quaternion1->s0 + quaternion2->s0;
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sum->x1 = quaternion1->x1 + quaternion2->x1;
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@ -211,7 +211,7 @@ inline void bgc_quaternion_add_fp64(const BgcQuaternionFP64 * quaternion1, const
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// ================= Add Scaled ================= //
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inline void bgc_quaternion_add_scaled_fp32(const BgcQuaternionFP32 * basic_quaternion, const BgcQuaternionFP32 * scalable_quaternion, const float scale, BgcQuaternionFP32 * sum)
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inline void bgc_fp32_quaternion_add_scaled(const BGC_FP32_Quaternion * basic_quaternion, const BGC_FP32_Quaternion * scalable_quaternion, const float scale, BGC_FP32_Quaternion * sum)
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{
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sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
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sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
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@ -219,7 +219,7 @@ inline void bgc_quaternion_add_scaled_fp32(const BgcQuaternionFP32 * basic_quate
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sum->x3 = basic_quaternion->x3 + scalable_quaternion->x3 * scale;
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}
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inline void bgc_quaternion_add_scaled_fp64(const BgcQuaternionFP64 * basic_quaternion, const BgcQuaternionFP64 * scalable_quaternion, const double scale, BgcQuaternionFP64 * sum)
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inline void bgc_fp64_quaternion_add_scaled(const BGC_FP64_Quaternion * basic_quaternion, const BGC_FP64_Quaternion * scalable_quaternion, const double scale, BGC_FP64_Quaternion * sum)
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{
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sum->s0 = basic_quaternion->s0 + scalable_quaternion->s0 * scale;
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sum->x1 = basic_quaternion->x1 + scalable_quaternion->x1 * scale;
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@ -229,7 +229,7 @@ inline void bgc_quaternion_add_scaled_fp64(const BgcQuaternionFP64 * basic_quate
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// ================== Subtract ================== //
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inline void bgc_quaternion_subtract_fp32(const BgcQuaternionFP32 * minuend, const BgcQuaternionFP32 * subtrahend, BgcQuaternionFP32 * difference)
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inline void bgc_fp32_quaternion_subtract(const BGC_FP32_Quaternion * minuend, const BGC_FP32_Quaternion * subtrahend, BGC_FP32_Quaternion * difference)
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{
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difference->s0 = minuend->s0 - subtrahend->s0;
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difference->x1 = minuend->x1 - subtrahend->x1;
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@ -237,7 +237,7 @@ inline void bgc_quaternion_subtract_fp32(const BgcQuaternionFP32 * minuend, cons
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difference->x3 = minuend->x3 - subtrahend->x3;
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}
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inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64 * minuend, const BgcQuaternionFP64 * subtrahend, BgcQuaternionFP64 * difference)
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inline void bgc_fp64_quaternion_subtract(const BGC_FP64_Quaternion * minuend, const BGC_FP64_Quaternion * subtrahend, BGC_FP64_Quaternion * difference)
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{
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difference->s0 = minuend->s0 - subtrahend->s0;
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difference->x1 = minuend->x1 - subtrahend->x1;
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@ -247,7 +247,7 @@ inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64 * minuend, cons
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// ================== Multiply ================== //
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inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product)
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inline void bgc_fp32_quaternion_get_product(const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right, BGC_FP32_Quaternion* product)
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{
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const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
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const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
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@ -260,7 +260,7 @@ inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* left, const Bg
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product->x3 = x3;
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}
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inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* product)
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inline void bgc_fp64_quaternion_get_product(const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right, BGC_FP64_Quaternion* product)
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{
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const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
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const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
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@ -273,7 +273,7 @@ inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* left, const Bg
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product->x3 = x3;
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}
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inline void bgc_quaternion_multiply_by_number_fp32(const BgcQuaternionFP32* multiplicand, const float multipier, BgcQuaternionFP32* product)
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inline void bgc_fp32_quaternion_multiply(const BGC_FP32_Quaternion* multiplicand, const float multipier, BGC_FP32_Quaternion* product)
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{
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product->s0 = multiplicand->s0 * multipier;
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product->x1 = multiplicand->x1 * multipier;
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@ -281,7 +281,7 @@ inline void bgc_quaternion_multiply_by_number_fp32(const BgcQuaternionFP32* mult
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product->x3 = multiplicand->x3 * multipier;
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}
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inline void bgc_quaternion_multiply_by_number_fp64(const BgcQuaternionFP64* multiplicand, const double multipier, BgcQuaternionFP64* product)
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inline void bgc_fp64_quaternion_multiply(const BGC_FP64_Quaternion* multiplicand, const double multipier, BGC_FP64_Quaternion* product)
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{
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product->s0 = multiplicand->s0 * multipier;
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product->x1 = multiplicand->x1 * multipier;
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@ -291,11 +291,11 @@ inline void bgc_quaternion_multiply_by_number_fp64(const BgcQuaternionFP64* mult
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// =================== Divide =================== //
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inline int bgc_quaternion_divide_fp32(const BgcQuaternionFP32* divident, const BgcQuaternionFP32* divisor, BgcQuaternionFP32* quotient)
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inline int bgc_fp32_quaternion_get_ratio(const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor, BGC_FP32_Quaternion* quotient)
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{
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const float square_modulus = bgc_quaternion_get_square_modulus_fp32(divisor);
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const float square_modulus = bgc_fp32_quaternion_get_square_modulus(divisor);
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
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if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus)) {
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return 0;
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}
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@ -314,11 +314,11 @@ inline int bgc_quaternion_divide_fp32(const BgcQuaternionFP32* divident, const B
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return 1;
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}
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inline int bgc_quaternion_divide_fp64(const BgcQuaternionFP64* divident, const BgcQuaternionFP64* divisor, BgcQuaternionFP64* quotient)
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inline int bgc_fp64_quaternion_get_ratio(const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor, BGC_FP64_Quaternion* quotient)
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{
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const double square_modulus = bgc_quaternion_get_square_modulus_fp64(divisor);
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const double square_modulus = bgc_fp64_quaternion_get_square_modulus(divisor);
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if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
|
||||
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus)) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -337,19 +337,19 @@ inline int bgc_quaternion_divide_fp64(const BgcQuaternionFP64* divident, const B
|
|||
return 1;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_divide_by_number_fp32(const BgcQuaternionFP32* dividend, const float divisor, BgcQuaternionFP32* quotient)
|
||||
inline void bgc_fp32_quaternion_divide(const BGC_FP32_Quaternion* dividend, const float divisor, BGC_FP32_Quaternion* quotient)
|
||||
{
|
||||
bgc_quaternion_multiply_by_number_fp32(dividend, 1.0f / divisor, quotient);
|
||||
bgc_fp32_quaternion_multiply(dividend, 1.0f / divisor, quotient);
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_divide_by_number_fp64(const BgcQuaternionFP64* dividend, const double divisor, BgcQuaternionFP64* quotient)
|
||||
inline void bgc_fp64_quaternion_divide(const BGC_FP64_Quaternion* dividend, const double divisor, BGC_FP64_Quaternion* quotient)
|
||||
{
|
||||
bgc_quaternion_multiply_by_number_fp64(dividend, 1.0 / divisor, quotient);
|
||||
bgc_fp64_quaternion_multiply(dividend, 1.0 / divisor, quotient);
|
||||
}
|
||||
|
||||
// ================ Mean of Two ================= //
|
||||
|
||||
inline void bgc_quaternion_get_mean_of_two_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, BgcQuaternionFP32* mean)
|
||||
inline void bgc_fp32_quaternion_get_mean2(const BGC_FP32_Quaternion* vector1, const BGC_FP32_Quaternion* vector2, BGC_FP32_Quaternion* mean)
|
||||
{
|
||||
mean->s0 = (vector1->s0 + vector2->s0) * 0.5f;
|
||||
mean->x1 = (vector1->x1 + vector2->x1) * 0.5f;
|
||||
|
|
@ -357,7 +357,7 @@ inline void bgc_quaternion_get_mean_of_two_fp32(const BgcQuaternionFP32* vector1
|
|||
mean->x3 = (vector1->x3 + vector2->x3) * 0.5f;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_get_mean_of_two_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, BgcQuaternionFP64* mean)
|
||||
inline void bgc_fp64_quaternion_get_mean2(const BGC_FP64_Quaternion* vector1, const BGC_FP64_Quaternion* vector2, BGC_FP64_Quaternion* mean)
|
||||
{
|
||||
mean->s0 = (vector1->s0 + vector2->s0) * 0.5f;
|
||||
mean->x1 = (vector1->x1 + vector2->x1) * 0.5f;
|
||||
|
|
@ -367,61 +367,61 @@ inline void bgc_quaternion_get_mean_of_two_fp64(const BgcQuaternionFP64* vector1
|
|||
|
||||
// =============== Mean of Three ================ //
|
||||
|
||||
inline void bgc_quaternion_get_mean_of_three_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, const BgcQuaternionFP32* vector3, BgcQuaternionFP32* mean)
|
||||
inline void bgc_fp32_quaternion_get_mean3(const BGC_FP32_Quaternion* vector1, const BGC_FP32_Quaternion* vector2, const BGC_FP32_Quaternion* vector3, BGC_FP32_Quaternion* mean)
|
||||
{
|
||||
mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_ONE_THIRD_FP32;
|
||||
mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP32;
|
||||
mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP32;
|
||||
mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP32;
|
||||
mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_FP32_ONE_THIRD;
|
||||
mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP32_ONE_THIRD;
|
||||
mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP32_ONE_THIRD;
|
||||
mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_FP32_ONE_THIRD;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_get_mean_of_three_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, const BgcQuaternionFP64* vector3, BgcQuaternionFP64* mean)
|
||||
inline void bgc_fp64_quaternion_get_mean3(const BGC_FP64_Quaternion* vector1, const BGC_FP64_Quaternion* vector2, const BGC_FP64_Quaternion* vector3, BGC_FP64_Quaternion* mean)
|
||||
{
|
||||
mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_ONE_THIRD_FP64;
|
||||
mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_ONE_THIRD_FP64;
|
||||
mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP64;
|
||||
mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP64;
|
||||
mean->s0 = (vector1->s0 + vector2->s0 + vector3->s0) * BGC_FP64_ONE_THIRD;
|
||||
mean->x1 = (vector1->x1 + vector2->x1 + vector3->x1) * BGC_FP64_ONE_THIRD;
|
||||
mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_FP64_ONE_THIRD;
|
||||
mean->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_FP64_ONE_THIRD;
|
||||
}
|
||||
|
||||
// ============ Linear Interpolation ============ //
|
||||
|
||||
inline void bgc_quaternion_interpolate_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2, const float phase, BgcQuaternionFP32* interpolation)
|
||||
inline void bgc_fp32_quaternion_interpolate(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase, BGC_FP32_Quaternion* interpolation)
|
||||
{
|
||||
const float counterphase = 1.0f - phase;
|
||||
const float counter_phase = 1.0f - phase;
|
||||
|
||||
interpolation->s0 = quaternion1->s0 * counterphase + quaternion2->s0 * phase;
|
||||
interpolation->x1 = quaternion1->x1 * counterphase + quaternion2->x1 * phase;
|
||||
interpolation->x2 = quaternion1->x2 * counterphase + quaternion2->x2 * phase;
|
||||
interpolation->x3 = quaternion1->x3 * counterphase + quaternion2->x3 * phase;
|
||||
interpolation->s0 = quaternion1->s0 * counter_phase + quaternion2->s0 * phase;
|
||||
interpolation->x1 = quaternion1->x1 * counter_phase + quaternion2->x1 * phase;
|
||||
interpolation->x2 = quaternion1->x2 * counter_phase + quaternion2->x2 * phase;
|
||||
interpolation->x3 = quaternion1->x3 * counter_phase + quaternion2->x3 * phase;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_interpolate_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2, const double phase, BgcQuaternionFP64* interpolation)
|
||||
inline void bgc_fp64_quaternion_interpolate(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase, BGC_FP64_Quaternion* interpolation)
|
||||
{
|
||||
const double counterphase = 1.0 - phase;
|
||||
const double counter_phase = 1.0 - phase;
|
||||
|
||||
interpolation->s0 = quaternion1->s0 * counterphase + quaternion2->s0 * phase;
|
||||
interpolation->x1 = quaternion1->x1 * counterphase + quaternion2->x1 * phase;
|
||||
interpolation->x2 = quaternion1->x2 * counterphase + quaternion2->x2 * phase;
|
||||
interpolation->x3 = quaternion1->x3 * counterphase + quaternion2->x3 * phase;
|
||||
interpolation->s0 = quaternion1->s0 * counter_phase + quaternion2->s0 * phase;
|
||||
interpolation->x1 = quaternion1->x1 * counter_phase + quaternion2->x1 * phase;
|
||||
interpolation->x2 = quaternion1->x2 * counter_phase + quaternion2->x2 * phase;
|
||||
interpolation->x3 = quaternion1->x3 * counter_phase + quaternion2->x3 * phase;
|
||||
}
|
||||
|
||||
// ================= Conjugate ================== //
|
||||
|
||||
inline void bgc_quaternion_conjugate_fp32(BgcQuaternionFP32* quaternion)
|
||||
inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion)
|
||||
{
|
||||
quaternion->x1 = -quaternion->x1;
|
||||
quaternion->x2 = -quaternion->x2;
|
||||
quaternion->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_conjugate_fp64(BgcQuaternionFP64* quaternion)
|
||||
inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion)
|
||||
{
|
||||
quaternion->x1 = -quaternion->x1;
|
||||
quaternion->x2 = -quaternion->x2;
|
||||
quaternion->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_get_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* conjugate)
|
||||
inline void bgc_fp32_quaternion_get_conjugate(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Quaternion* conjugate)
|
||||
{
|
||||
conjugate->s0 = quaternion->s0;
|
||||
conjugate->x1 = -quaternion->x1;
|
||||
|
|
@ -429,7 +429,7 @@ inline void bgc_quaternion_get_conjugate_fp32(const BgcQuaternionFP32* quaternio
|
|||
conjugate->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_get_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* conjugate)
|
||||
inline void bgc_fp64_quaternion_get_conjugate(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Quaternion* conjugate)
|
||||
{
|
||||
conjugate->s0 = quaternion->s0;
|
||||
conjugate->x1 = -quaternion->x1;
|
||||
|
|
@ -439,7 +439,7 @@ inline void bgc_quaternion_get_conjugate_fp64(const BgcQuaternionFP64* quaternio
|
|||
|
||||
// ================== Negative ================== //
|
||||
|
||||
inline void bgc_quaternion_make_opposite_fp32(BgcQuaternionFP32* quaternion)
|
||||
inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* quaternion)
|
||||
{
|
||||
quaternion->s0 = -quaternion->s0;
|
||||
quaternion->x1 = -quaternion->x1;
|
||||
|
|
@ -447,7 +447,7 @@ inline void bgc_quaternion_make_opposite_fp32(BgcQuaternionFP32* quaternion)
|
|||
quaternion->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_make_opposite_fp64(BgcQuaternionFP64* quaternion)
|
||||
inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* quaternion)
|
||||
{
|
||||
quaternion->s0 = -quaternion->s0;
|
||||
quaternion->x1 = -quaternion->x1;
|
||||
|
|
@ -455,7 +455,7 @@ inline void bgc_quaternion_make_opposite_fp64(BgcQuaternionFP64* quaternion)
|
|||
quaternion->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_get_opposite_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* opposite)
|
||||
inline void bgc_fp32_quaternion_get_reverse(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Quaternion* opposite)
|
||||
{
|
||||
opposite->s0 = -quaternion->s0;
|
||||
opposite->x1 = -quaternion->x1;
|
||||
|
|
@ -463,7 +463,7 @@ inline void bgc_quaternion_get_opposite_fp32(const BgcQuaternionFP32* quaternion
|
|||
opposite->x3 = -quaternion->x3;
|
||||
}
|
||||
|
||||
inline void bgc_quaternion_get_opposite_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* opposite)
|
||||
inline void bgc_fp64_quaternion_get_reverse(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Quaternion* opposite)
|
||||
{
|
||||
opposite->s0 = -quaternion->s0;
|
||||
opposite->x1 = -quaternion->x1;
|
||||
|
|
@ -473,11 +473,11 @@ inline void bgc_quaternion_get_opposite_fp64(const BgcQuaternionFP64* quaternion
|
|||
|
||||
// =================== Invert =================== //
|
||||
|
||||
inline int bgc_quaternion_get_inverse_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* inverse)
|
||||
inline int bgc_fp32_quaternion_get_inverse(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Quaternion* inverse)
|
||||
{
|
||||
const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion);
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
|
||||
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus)) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -491,11 +491,11 @@ inline int bgc_quaternion_get_inverse_fp32(const BgcQuaternionFP32* quaternion,
|
|||
return 1;
|
||||
}
|
||||
|
||||
inline int bgc_quaternion_get_inverse_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* inverse)
|
||||
inline int bgc_fp64_quaternion_get_inverse(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Quaternion* inverse)
|
||||
{
|
||||
const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion);
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
|
||||
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus)) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -509,27 +509,27 @@ inline int bgc_quaternion_get_inverse_fp64(const BgcQuaternionFP64* quaternion,
|
|||
return 1;
|
||||
}
|
||||
|
||||
inline int bgc_quaternion_invert_fp32(BgcQuaternionFP32* quaternion)
|
||||
inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* quaternion)
|
||||
{
|
||||
return bgc_quaternion_get_inverse_fp32(quaternion, quaternion);
|
||||
return bgc_fp32_quaternion_get_inverse(quaternion, quaternion);
|
||||
}
|
||||
|
||||
inline int bgc_quaternion_invert_fp64(BgcQuaternionFP64* quaternion)
|
||||
inline int bgc_fp64_quaternion_invert(BGC_FP64_Quaternion* quaternion)
|
||||
{
|
||||
return bgc_quaternion_get_inverse_fp64(quaternion, quaternion);
|
||||
return bgc_fp64_quaternion_get_inverse(quaternion, quaternion);
|
||||
}
|
||||
|
||||
// ================= Normalize ================== //
|
||||
|
||||
inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion)
|
||||
inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion)
|
||||
{
|
||||
const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion);
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (bgc_is_sqare_unit_fp32(square_modulus)) {
|
||||
if (bgc_fp32_is_square_unit(square_modulus)) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
|
||||
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus)) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -543,15 +543,15 @@ inline int bgc_quaternion_normalize_fp32(BgcQuaternionFP32* quaternion)
|
|||
return 1;
|
||||
}
|
||||
|
||||
inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion)
|
||||
inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
|
||||
{
|
||||
const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion);
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (bgc_is_sqare_unit_fp64(square_modulus)) {
|
||||
if (bgc_fp64_is_square_unit(square_modulus)) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
|
||||
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus)) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -565,51 +565,51 @@ inline int bgc_quaternion_normalize_fp64(BgcQuaternionFP64* quaternion)
|
|||
return 1;
|
||||
}
|
||||
|
||||
inline int bgc_quaternion_get_normalized_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* normalized)
|
||||
inline int bgc_fp32_quaternion_get_normalized(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Quaternion* normalized)
|
||||
{
|
||||
const float square_modulus = bgc_quaternion_get_square_modulus_fp32(quaternion);
|
||||
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (bgc_is_sqare_unit_fp32(square_modulus)) {
|
||||
bgc_quaternion_copy_fp32(quaternion, normalized);
|
||||
if (bgc_fp32_is_square_unit(square_modulus)) {
|
||||
bgc_fp32_quaternion_copy(quaternion, normalized);
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus) {
|
||||
bgc_quaternion_reset_fp32(normalized);
|
||||
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus)) {
|
||||
bgc_fp32_quaternion_reset(normalized);
|
||||
return 0;
|
||||
}
|
||||
|
||||
bgc_quaternion_multiply_by_number_fp32(quaternion, sqrtf(1.0f / square_modulus), normalized);
|
||||
bgc_fp32_quaternion_multiply(quaternion, sqrtf(1.0f / square_modulus), normalized);
|
||||
return 1;
|
||||
}
|
||||
|
||||
inline int bgc_quaternion_get_normalized_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* normalized)
|
||||
inline int bgc_fp64_quaternion_get_normalized(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Quaternion* normalized)
|
||||
{
|
||||
const double square_modulus = bgc_quaternion_get_square_modulus_fp64(quaternion);
|
||||
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (bgc_is_sqare_unit_fp64(square_modulus)) {
|
||||
bgc_quaternion_copy_fp64(quaternion, normalized);
|
||||
if (bgc_fp64_is_square_unit(square_modulus)) {
|
||||
bgc_fp64_quaternion_copy(quaternion, normalized);
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus) {
|
||||
bgc_quaternion_reset_fp64(normalized);
|
||||
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus)) {
|
||||
bgc_fp64_quaternion_reset(normalized);
|
||||
return 0;
|
||||
}
|
||||
|
||||
bgc_quaternion_multiply_by_number_fp64(quaternion, sqrt(1.0 / square_modulus), normalized);
|
||||
bgc_fp64_quaternion_multiply(quaternion, sqrt(1.0 / square_modulus), normalized);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// =============== Get Exponation =============== //
|
||||
|
||||
int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const float exponent, BgcQuaternionFP32* power);
|
||||
int bgc_fp32_quaternion_get_exponation(const BGC_FP32_Quaternion* base, const float exponent, BGC_FP32_Quaternion* power);
|
||||
|
||||
int bgc_quaternion_get_exponation_fp64(const BgcQuaternionFP64* base, const double exponent, BgcQuaternionFP64* power);
|
||||
int bgc_fp64_quaternion_get_exponation(const BGC_FP64_Quaternion* base, const double exponent, BGC_FP64_Quaternion* power);
|
||||
|
||||
// ============ Get Rotation Matrix ============= //
|
||||
|
||||
inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation)
|
||||
inline int bgc_fp32_quaternion_get_rotation_matrix(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Matrix3x3* rotation)
|
||||
{
|
||||
const float s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const float x1x1 = quaternion->x1 * quaternion->x1;
|
||||
|
|
@ -618,9 +618,9 @@ inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quat
|
|||
|
||||
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus)
|
||||
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus))
|
||||
{
|
||||
bgc_matrix3x3_set_to_identity_fp32(rotation);
|
||||
bgc_fp32_matrix3x3_make_identity(rotation);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -650,7 +650,7 @@ inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quat
|
|||
return 1;
|
||||
}
|
||||
|
||||
inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation)
|
||||
inline int bgc_fp64_quaternion_get_rotation_matrix(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Matrix3x3* rotation)
|
||||
{
|
||||
const double s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const double x1x1 = quaternion->x1 * quaternion->x1;
|
||||
|
|
@ -659,9 +659,9 @@ inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quat
|
|||
|
||||
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus)
|
||||
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus))
|
||||
{
|
||||
bgc_matrix3x3_set_to_identity_fp64(rotation);
|
||||
bgc_fp64_matrix3x3_make_identity(rotation);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -693,7 +693,7 @@ inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quat
|
|||
|
||||
// ============= Get Reverse Matrix ============= //
|
||||
|
||||
inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* reverse)
|
||||
inline int bgc_fp32_quaternion_get_reverse_matrix(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Matrix3x3* reverse)
|
||||
{
|
||||
const float s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const float x1x1 = quaternion->x1 * quaternion->x1;
|
||||
|
|
@ -702,9 +702,9 @@ inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quate
|
|||
|
||||
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP32 || square_modulus != square_modulus)
|
||||
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus))
|
||||
{
|
||||
bgc_matrix3x3_set_to_identity_fp32(reverse);
|
||||
bgc_fp32_matrix3x3_make_identity(reverse);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -734,7 +734,7 @@ inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quate
|
|||
return 1;
|
||||
}
|
||||
|
||||
inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* reverse)
|
||||
inline int bgc_fp64_quaternion_get_reverse_matrix(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Matrix3x3* reverse)
|
||||
{
|
||||
const double s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const double x1x1 = quaternion->x1 * quaternion->x1;
|
||||
|
|
@ -743,9 +743,9 @@ inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quate
|
|||
|
||||
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
|
||||
if (square_modulus <= BGC_SQUARE_EPSYLON_FP64 || square_modulus != square_modulus)
|
||||
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus))
|
||||
{
|
||||
bgc_matrix3x3_set_to_identity_fp64(reverse);
|
||||
bgc_fp64_matrix3x3_make_identity(reverse);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -777,20 +777,20 @@ inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quate
|
|||
|
||||
// ============= Get Both Matrixes ============== //
|
||||
|
||||
inline int bgc_quaternion_get_both_matrices_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse)
|
||||
inline int bgc_fp32_quaternion_get_both_matrices(const BGC_FP32_Quaternion* quaternion, BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse)
|
||||
{
|
||||
if (bgc_quaternion_get_reverse_matrix_fp32(quaternion, reverse)) {
|
||||
bgc_matrix3x3_transpose_fp32(reverse, rotation);
|
||||
if (bgc_fp32_quaternion_get_reverse_matrix(quaternion, reverse)) {
|
||||
bgc_fp32_matrix3x3_get_transposed(reverse, rotation);
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
inline int bgc_quaternion_get_both_matrices_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse)
|
||||
inline int bgc_fp64_quaternion_get_both_matrices(const BGC_FP64_Quaternion* quaternion, BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse)
|
||||
{
|
||||
if (bgc_quaternion_get_reverse_matrix_fp64(quaternion, reverse)) {
|
||||
bgc_matrix3x3_transpose_fp64(reverse, rotation);
|
||||
if (bgc_fp64_quaternion_get_reverse_matrix(quaternion, reverse)) {
|
||||
bgc_fp64_matrix3x3_get_transposed(reverse, rotation);
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
|
@ -799,40 +799,40 @@ inline int bgc_quaternion_get_both_matrices_fp64(const BgcQuaternionFP64* quater
|
|||
|
||||
// ================== Are Close ================= //
|
||||
|
||||
inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2)
|
||||
inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
|
||||
{
|
||||
const float ds0 = quaternion1->s0 - quaternion2->s0;
|
||||
const float dx1 = quaternion1->x1 - quaternion2->x1;
|
||||
const float dx2 = quaternion1->x2 - quaternion2->x2;
|
||||
const float dx3 = quaternion1->x3 - quaternion2->x3;
|
||||
|
||||
const float square_modulus1 = bgc_quaternion_get_square_modulus_fp32(quaternion1);
|
||||
const float square_modulus2 = bgc_quaternion_get_square_modulus_fp32(quaternion2);
|
||||
const float square_modulus1 = bgc_fp32_quaternion_get_square_modulus(quaternion1);
|
||||
const float square_modulus2 = bgc_fp32_quaternion_get_square_modulus(quaternion2);
|
||||
const float square_distance = (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3);
|
||||
|
||||
if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP32) {
|
||||
return square_distance <= BGC_SQUARE_EPSYLON_FP32;
|
||||
if (square_modulus1 <= BGC_FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
|
||||
return square_distance <= BGC_FP32_SQUARE_EPSYLON;
|
||||
}
|
||||
|
||||
return square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP32 * square_modulus2;
|
||||
return square_distance <= BGC_FP32_SQUARE_EPSYLON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSYLON * square_modulus2;
|
||||
}
|
||||
|
||||
inline int bgc_quaternion_are_close_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2)
|
||||
inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
|
||||
{
|
||||
const double ds0 = quaternion1->s0 - quaternion2->s0;
|
||||
const double dx1 = quaternion1->x1 - quaternion2->x1;
|
||||
const double dx2 = quaternion1->x2 - quaternion2->x2;
|
||||
const double dx3 = quaternion1->x3 - quaternion2->x3;
|
||||
|
||||
const double square_modulus1 = bgc_quaternion_get_square_modulus_fp64(quaternion1);
|
||||
const double square_modulus2 = bgc_quaternion_get_square_modulus_fp64(quaternion2);
|
||||
const double square_modulus1 = bgc_fp64_quaternion_get_square_modulus(quaternion1);
|
||||
const double square_modulus2 = bgc_fp64_quaternion_get_square_modulus(quaternion2);
|
||||
const double square_distance = (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3);
|
||||
|
||||
if (square_modulus1 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64 || square_modulus2 <= BGC_EPSYLON_EFFECTIVENESS_LIMIT_FP64) {
|
||||
return square_distance <= BGC_SQUARE_EPSYLON_FP64;
|
||||
if (square_modulus1 <= BGC_FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
|
||||
return square_distance <= BGC_FP64_SQUARE_EPSYLON;
|
||||
}
|
||||
|
||||
return square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus2;
|
||||
return square_distance <= BGC_FP64_SQUARE_EPSYLON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSYLON * square_modulus2;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue