From fa9ecda57b753a1f333ff15a0bec2bd5fa37d7bf Mon Sep 17 00:00:00 2001
From: Andrey Pokidov <9942846+Morgend@users.noreply.github.com>
Date: Tue, 25 Feb 2025 19:42:14 +0700
Subject: [PATCH] =?UTF-8?q?=D0=9B=D0=B8=D0=BD=D0=B5=D0=B9=D0=BD=D0=B0?=
 =?UTF-8?q?=D1=8F=20=D0=B8=D0=BD=D1=82=D0=B5=D1=80=D0=BF=D0=BE=D0=BB=D1=8F?=
 =?UTF-8?q?=D1=86=D0=B8=D1=8F=20=D0=B4=D0=BB=D1=8F=20=D0=B2=D0=B5=D0=BA?=
 =?UTF-8?q?=D1=82=D0=BE=D1=80=D0=BE=D0=B2=20=D0=B8=20=D0=BA=D0=B2=D0=B0?=
 =?UTF-8?q?=D1=82=D0=B5=D1=80=D0=BD=D0=B8=D0=BE=D0=BD=D0=BE=D0=B2=20(Vecto?=
 =?UTF-8?q?r2,=20Vector2,=20Quaternion)?=
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---
 basic-geometry/quaternion.c |  3 +++
 basic-geometry/quaternion.h | 24 +++++++++++++++++++++++-
 basic-geometry/vector2.c    |  5 ++++-
 basic-geometry/vector2.h    | 18 ++++++++++++++++++
 basic-geometry/vector3.c    |  3 +++
 basic-geometry/vector3.h    | 20 ++++++++++++++++++++
 6 files changed, 71 insertions(+), 2 deletions(-)

diff --git a/basic-geometry/quaternion.c b/basic-geometry/quaternion.c
index dd9ca7b..6ff23c7 100644
--- a/basic-geometry/quaternion.c
+++ b/basic-geometry/quaternion.c
@@ -69,5 +69,8 @@ extern inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* multipl
 extern inline void bgc_quaternion_divide_fp32(const BgcQuaternionFP32* dividend, const float divisor, BgcQuaternionFP32* quotient);
 extern inline void bgc_quaternion_divide_fp64(const BgcQuaternionFP64* dividend, const double divisor, BgcQuaternionFP64* quotient);
 
+extern inline void bgc_quaternion_get_linear_interpolation_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, const float phase, BgcQuaternionFP32* interpolation);
+extern inline void bgc_quaternion_get_linear_interpolation_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, const double phase, BgcQuaternionFP64* interpolation);
+
 extern inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2);
 extern inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2);
diff --git a/basic-geometry/quaternion.h b/basic-geometry/quaternion.h
index b3e375e..830b00c 100644
--- a/basic-geometry/quaternion.h
+++ b/basic-geometry/quaternion.h
@@ -577,6 +577,28 @@ inline void bgc_quaternion_divide_fp64(const BgcQuaternionFP64* dividend, const
     bgc_quaternion_multiply_fp64(dividend, 1.0 / divisor, quotient);
 }
 
+// =================== Linear =================== //
+
+inline void bgc_quaternion_get_linear_interpolation_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2, const float phase, BgcQuaternionFP32* interpolation)
+{
+    const float counterphase = 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;
+}
+
+inline void bgc_quaternion_get_linear_interpolation_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2, const double phase, BgcQuaternionFP64* interpolation)
+{
+    const double counterphase = 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;
+}
+
 // ================== Are Close ================= //
 
 inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2)
@@ -615,4 +637,4 @@ inline int bgc_quaternion_are_close_fp64(const BgcQuaternionFP64* quaternion1, c
     return square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus1 && square_distance <= BGC_SQUARE_EPSYLON_FP64 * square_modulus2;
 }
 
-#endif // _BGC_QUATERNION_H_
+#endif
diff --git a/basic-geometry/vector2.c b/basic-geometry/vector2.c
index c2aeece..f88cea8 100644
--- a/basic-geometry/vector2.c
+++ b/basic-geometry/vector2.c
@@ -64,7 +64,10 @@ extern inline void bgc_vector2_get_mean_of_two_fp32(const BgcVector2FP32* vector
 extern inline void bgc_vector2_get_mean_of_two_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, BgcVector2FP64* mean);
 
 extern inline void bgc_vector2_get_mean_of_three_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const BgcVector2FP32* vector3, BgcVector2FP32* mean);
-extern inline void bgc_vector2_get_mean_of_three_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const BgcVector2FP64* vector3, BgcVector2FP64* mean);
+extern inline void bgc_vector2_get_mean_of_three_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const BgcVector2FP64* vector3, BgcVector2FP64* mean);
+
+extern inline void bgc_vector2_get_linear_interpolation_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const float phase, BgcVector2FP32* interpolation);
+extern inline void bgc_vector2_get_linear_interpolation_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const double phase, BgcVector2FP64* interpolation);
 
 extern inline void bgc_vector2_minimize_fp32(const BgcVector2FP32* vector, BgcVector2FP32* minimal);
 extern inline void bgc_vector2_minimize_fp64(const BgcVector2FP64* vector, BgcVector2FP64* minimal);
diff --git a/basic-geometry/vector2.h b/basic-geometry/vector2.h
index 1db1291..e085ad6 100644
--- a/basic-geometry/vector2.h
+++ b/basic-geometry/vector2.h
@@ -366,6 +366,24 @@ inline void bgc_vector2_get_mean_of_three_fp64(const BgcVector2FP64* vector1, co
     mean->x2 = (vector1->x2 + vector2->x2 + vector3->x2) * BGC_ONE_THIRD_FP64;
 }
 
+// =================== Linear =================== //
+
+inline void bgc_vector2_get_linear_interpolation_fp32(const BgcVector2FP32* vector1, const BgcVector2FP32* vector2, const float phase, BgcVector2FP32* interpolation)
+{
+    const float counterphase = 1.0f - phase;
+
+    interpolation->x1 = vector1->x1 * counterphase + vector2->x1 * phase;
+    interpolation->x2 = vector1->x2 * counterphase + vector2->x2 * phase;
+}
+
+inline void bgc_vector2_get_linear_interpolation_fp64(const BgcVector2FP64* vector1, const BgcVector2FP64* vector2, const double phase, BgcVector2FP64* interpolation)
+{
+    const double counterphase = 1.0 - phase;
+
+    interpolation->x1 = vector1->x1 * counterphase + vector2->x1 * phase;
+    interpolation->x2 = vector1->x2 * counterphase + vector2->x2 * phase;
+}
+
 // ================== Minimal =================== //
 
 inline void bgc_vector2_minimize_fp32(const BgcVector2FP32* vector, BgcVector2FP32* minimal)
diff --git a/basic-geometry/vector3.c b/basic-geometry/vector3.c
index 11f9f3a..92ac8b6 100644
--- a/basic-geometry/vector3.c
+++ b/basic-geometry/vector3.c
@@ -62,6 +62,9 @@ extern inline void bgc_vector3_get_mean_of_two_fp64(const BgcVector3FP64* vector
 
 extern inline void bgc_vector3_get_mean_of_three_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const BgcVector3FP32* vector3, BgcVector3FP32* result);
 extern inline void bgc_vector3_get_mean_of_three_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const BgcVector3FP64* vector3, BgcVector3FP64* result);
+
+extern inline void bgc_vector3_get_linear_interpolation_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const float phase, BgcVector3FP32* interpolation);
+extern inline void bgc_vector3_get_linear_interpolation_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const double phase, BgcVector3FP64* interpolation);
 
 extern inline void bgc_vector3_minimize_fp32(const BgcVector3FP32* vector, BgcVector3FP32* minimal);
 extern inline void bgc_vector3_minimize_fp64(const BgcVector3FP64* vector, BgcVector3FP64* minimal);
diff --git a/basic-geometry/vector3.h b/basic-geometry/vector3.h
index 102ccf1..bf7e794 100644
--- a/basic-geometry/vector3.h
+++ b/basic-geometry/vector3.h
@@ -378,6 +378,26 @@ inline void bgc_vector3_get_mean_of_three_fp64(const BgcVector3FP64* vector1, co
     result->x3 = (vector1->x3 + vector2->x3 + vector3->x3) * BGC_ONE_THIRD_FP64;
 }
 
+// =================== Linear =================== //
+
+inline void bgc_vector3_get_linear_interpolation_fp32(const BgcVector3FP32* vector1, const BgcVector3FP32* vector2, const float phase, BgcVector3FP32* interpolation)
+{
+    const float counterphase = 1.0f - phase;
+
+    interpolation->x1 = vector1->x1 * counterphase + vector2->x1 * phase;
+    interpolation->x2 = vector1->x2 * counterphase + vector2->x2 * phase;
+    interpolation->x3 = vector1->x3 * counterphase + vector2->x3 * phase;
+}
+
+inline void bgc_vector3_get_linear_interpolation_fp64(const BgcVector3FP64* vector1, const BgcVector3FP64* vector2, const double phase, BgcVector3FP64* interpolation)
+{
+    const double counterphase = 1.0 - phase;
+
+    interpolation->x1 = vector1->x1 * counterphase + vector2->x1 * phase;
+    interpolation->x2 = vector1->x2 * counterphase + vector2->x2 * phase;
+    interpolation->x3 = vector1->x3 * counterphase + vector2->x3 * phase;
+}
+
 // ================== Minimal =================== //
 
 inline void bgc_vector3_minimize_fp32(const BgcVector3FP32* vector, BgcVector3FP32* minimal)