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57280ac3f3
...
b470a3194b
26 changed files with 142 additions and 334 deletions
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@ -1,5 +1,5 @@
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#ifndef _BGC_ANGLE_H_INCLUDED_
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#define _BGC_ANGLE_H_INCLUDED_
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#ifndef _BGC_ANGLE_H_
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#define _BGC_ANGLE_H_
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#include <math.h>
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#include "utilities.h"
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@ -1,5 +1,5 @@
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#ifndef _BGC_H_INCLUDED_
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#define _BGC_H_INCLUDED_
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#ifndef _BGC_H_
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#define _BGC_H_
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#include "./utilities.h"
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@ -24,6 +24,7 @@
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<ClInclude Include="angle.h" />
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<ClInclude Include="basic-geometry.h" />
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<ClInclude Include="complex.h" />
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<ClInclude Include="cotes-number.h" />
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<ClInclude Include="dual-number.h" />
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<ClInclude Include="dual-quaternion.h" />
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<ClInclude Include="dual-vector3.h" />
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@ -37,10 +38,11 @@
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<ClInclude Include="position2.h" />
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<ClInclude Include="position3.h" />
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<ClInclude Include="quaternion.h" />
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<ClInclude Include="turn2.h" />
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<ClInclude Include="turn3.h" />
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<ClInclude Include="rotation3.h" />
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<ClInclude Include="types.h" />
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<ClInclude Include="utilities.h" />
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<ClInclude Include="slerp.h" />
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<ClInclude Include="versor.h" />
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<ClInclude Include="vector2.h" />
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<ClInclude Include="vector3.h" />
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</ItemGroup>
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@ -49,6 +51,7 @@
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<ClCompile Include="affine3.c" />
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<ClCompile Include="angle.c" />
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<ClInclude Include="complex.c" />
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<ClInclude Include="cotes-number.c" />
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<ClCompile Include="dual-number.c" />
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<ClCompile Include="dual-quaternion.c" />
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<ClCompile Include="dual-vector3.c" />
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@ -56,8 +59,6 @@
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<ClCompile Include="hg-vector3.c" />
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<ClCompile Include="position2.c" />
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<ClCompile Include="position3.c" />
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<ClCompile Include="turn2.c" />
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<ClCompile Include="turn3.c" />
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<ClCompile Include="utilities.c" />
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<ClCompile Include="matrix2x2.c" />
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<ClCompile Include="matrix2x3.c" />
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@ -65,7 +66,9 @@
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<ClCompile Include="matrix3x3.c" />
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<ClCompile Include="matrices.c" />
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<ClCompile Include="quaternion.c" />
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<ClCompile Include="rotation3.c" />
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<ClCompile Include="slerp.c" />
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<ClCompile Include="versor.c" />
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<ClCompile Include="vector2.c" />
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<ClCompile Include="vector3.c" />
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</ItemGroup>
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@ -21,6 +21,9 @@
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<ClInclude Include="complex.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="cotes-number.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="utilities.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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@ -33,6 +36,12 @@
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<ClInclude Include="matrix3x3.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="rotation3.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="versor.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="vector2.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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@ -54,9 +63,15 @@
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<ClInclude Include="complex.c">
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<Filter>Исходные файлы</Filter>
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</ClInclude>
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<ClInclude Include="cotes-number.c">
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<Filter>Исходные файлы</Filter>
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</ClInclude>
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<ClInclude Include="slerp.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="types.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="affine3.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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@ -84,12 +99,6 @@
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<ClInclude Include="hg-matrix3x3.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="turn2.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="turn3.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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</ItemGroup>
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<ItemGroup>
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<ClCompile Include="angle.c">
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@ -104,12 +113,18 @@
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<ClCompile Include="matrix3x3.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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<ClCompile Include="versor.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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<ClCompile Include="vector2.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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<ClCompile Include="vector3.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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<ClCompile Include="rotation3.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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<ClCompile Include="quaternion.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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@ -152,11 +167,5 @@
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<ClCompile Include="hg-matrix3x3.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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<ClCompile Include="turn2.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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<ClCompile Include="turn3.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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</ItemGroup>
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</Project>
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@ -1,5 +1,5 @@
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#ifndef _BGC_COMPLEX_H_INCLUDED_
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#define _BGC_COMPLEX_H_INCLUDED_
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#ifndef _BGC_COMPLEX_H_
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#define _BGC_COMPLEX_H_
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#include "utilities.h"
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#include "angle.h"
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@ -1,43 +1,34 @@
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#include "dual-number.h"
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extern inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number);
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extern inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number);
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inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number);
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inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number);
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extern inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual);
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extern inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real, const double dual);
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inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual);
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inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real, const double dual);
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extern inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source);
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extern inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source);
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inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source);
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inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source);
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extern inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second);
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extern inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second);
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inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second);
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inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second);
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extern inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second);
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extern inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second);
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inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second);
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inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second);
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extern inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale);
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extern inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale);
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inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale);
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inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale);
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extern inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend);
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extern inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* minuend, const BGC_FP64_DualNumber* subtrahend);
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inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend);
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inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* minuend, const BGC_FP64_DualNumber* subtrahend);
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extern inline void bgc_fp32_dual_number_multiply(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier);
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extern inline void bgc_fp64_dual_number_multiply(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const double multiplier);
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inline void bgc_fp32_dual_number_multiply(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier);
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inline void bgc_fp64_dual_number_multiply(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const double multiplier);
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extern inline void bgc_fp32_dual_number_divide(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor);
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extern inline void bgc_fp64_dual_number_divide(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const double divisor);
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inline void bgc_fp32_dual_number_divide(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor);
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inline void bgc_fp64_dual_number_divide(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const double divisor);
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extern inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second);
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extern inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second);
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inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second);
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inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second);
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extern inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const BGC_FP32_DualNumber* third);
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extern inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const BGC_FP64_DualNumber* third);
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extern inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const float phase);
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extern inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* interpolation, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const double phase);
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extern inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* number);
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extern inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number);
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extern inline void bgc_fp32_number_get_reverse(BGC_FP32_DualNumber* reverse, const BGC_FP32_DualNumber* number);
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extern inline void bgc_fp64_number_get_reverse(BGC_FP64_DualNumber* reverse, const BGC_FP64_DualNumber* number);
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inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const BGC_FP32_DualNumber* third);
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inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const BGC_FP64_DualNumber* third);
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#ifndef _BGC_DUAL_NUMBER_H_INCLUDED_
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#define _BGC_DUAL_NUMBER_H_INCLUDED_
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#ifndef _BGC_DUAL_NUMBER_H_
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#define _BGC_DUAL_NUMBER_H_
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#include "utilities.h"
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@ -165,50 +165,4 @@ inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_
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mean->dual = (first->dual + second->dual + third->dual) * BGC_FP64_ONE_THIRD;
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}
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// ============ Linear Interpolation ============ //
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inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const float phase)
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{
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const float counter_phase = 1.0f - phase;
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interpolation->real = first->real *counter_phase + second->real * phase;
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interpolation->dual = first->dual *counter_phase + second->dual * phase;
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}
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inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* interpolation, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const double phase)
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{
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const double counter_phase = 1.0 - phase;
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interpolation->real = first->real * counter_phase + second->real * phase;
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interpolation->dual = first->dual * counter_phase + second->dual * phase;
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}
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// =================== Revert =================== //
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inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* number)
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{
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number->real = -number->real;
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number->dual = -number->dual;
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}
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inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number)
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{
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number->real = -number->real;
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number->dual = -number->dual;
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}
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// ================ Get Reverse ================= //
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inline void bgc_fp32_number_get_reverse(BGC_FP32_DualNumber* reverse, const BGC_FP32_DualNumber* number)
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{
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reverse->real = -number->real;
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reverse->dual = -number->dual;
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}
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inline void bgc_fp64_number_get_reverse(BGC_FP64_DualNumber* reverse, const BGC_FP64_DualNumber* number)
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{
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reverse->real = -number->real;
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reverse->dual = -number->dual;
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}
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#endif
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@ -20,24 +20,3 @@ extern inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion*
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extern inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend);
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extern inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend);
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extern inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier);
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extern inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier);
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extern inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor);
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extern inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor);
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extern inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2);
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extern inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2);
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extern inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3);
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extern inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3);
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extern inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase);
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extern inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase);
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|
||||
extern inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion);
|
||||
extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion);
|
||||
|
||||
extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion);
|
||||
extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion);
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef _BGC_DUAL_QUATERNION_H_INCLUDED_
|
||||
#define _BGC_DUAL_QUATERNION_H_INCLUDED_
|
||||
#ifndef _BGC_DUAL_QUATERNION_H_
|
||||
#define _BGC_DUAL_QUATERNION_H_
|
||||
|
||||
#include "quaternion.h"
|
||||
|
||||
|
|
@ -111,100 +111,4 @@ inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* differenc
|
|||
bgc_fp64_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
|
||||
}
|
||||
|
||||
// ================== Multiply ================== //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier)
|
||||
{
|
||||
bgc_fp32_quaternion_multiply(&product->real, &multiplicand->real, multipier);
|
||||
bgc_fp32_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier)
|
||||
{
|
||||
bgc_fp64_quaternion_multiply(&product->real, &multiplicand->real, multipier);
|
||||
bgc_fp64_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
|
||||
}
|
||||
|
||||
// =================== Divide =================== //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor)
|
||||
{
|
||||
bgc_fp32_dual_quaternion_multiply(quotient, divident, 1.0f / divisor);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor)
|
||||
{
|
||||
bgc_fp64_dual_quaternion_multiply(quotient, divident, 1.0 / divisor);
|
||||
}
|
||||
|
||||
// ================ Mean of Two ================= //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2)
|
||||
{
|
||||
bgc_fp32_quaternion_get_mean2(&mean->real, &quaternion1->real, &quaternion2->real);
|
||||
bgc_fp32_quaternion_get_mean2(&mean->dual, &quaternion1->dual, &quaternion2->dual);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2)
|
||||
{
|
||||
bgc_fp64_quaternion_get_mean2(&mean->real, &quaternion1->real, &quaternion2->real);
|
||||
bgc_fp64_quaternion_get_mean2(&mean->dual, &quaternion1->dual, &quaternion2->dual);
|
||||
}
|
||||
|
||||
// =============== Mean of Three ================ //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3)
|
||||
{
|
||||
bgc_fp32_quaternion_get_mean3(&mean->real, &quaternion1->real, &quaternion2->real, &quaternion3->real);
|
||||
bgc_fp32_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3)
|
||||
{
|
||||
bgc_fp64_quaternion_get_mean3(&mean->real, &quaternion1->real, &quaternion2->real, &quaternion3->real);
|
||||
bgc_fp64_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual);
|
||||
}
|
||||
|
||||
// ============ Linear Interpolation ============ //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase)
|
||||
{
|
||||
bgc_fp32_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase);
|
||||
bgc_fp32_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase)
|
||||
{
|
||||
bgc_fp64_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase);
|
||||
bgc_fp64_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
|
||||
}
|
||||
|
||||
// =================== Revert =================== //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion)
|
||||
{
|
||||
bgc_fp32_quaternion_revert(&quaternion->real);
|
||||
bgc_fp32_quaternion_revert(&quaternion->dual);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
|
||||
{
|
||||
bgc_fp64_quaternion_revert(&quaternion->real);
|
||||
bgc_fp64_quaternion_revert(&quaternion->dual);
|
||||
}
|
||||
|
||||
// ================ Get Reverse ================= //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion)
|
||||
{
|
||||
bgc_fp32_quaternion_get_reverse(&reverse->real, &quaternion->real);
|
||||
bgc_fp32_quaternion_get_reverse(&reverse->dual, &quaternion->dual);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion)
|
||||
{
|
||||
bgc_fp64_quaternion_get_reverse(&reverse->real, &quaternion->real);
|
||||
bgc_fp64_quaternion_get_reverse(&reverse->dual, &quaternion->dual);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -32,18 +32,3 @@ extern inline void bgc_fp64_dual_vector3_multiply(BGC_FP64_DualVector3* product,
|
|||
|
||||
extern inline void bgc_fp32_dual_vector3_divide(BGC_FP32_DualVector3* quotient, const BGC_FP32_DualVector3* dividend, const float divisor);
|
||||
extern inline void bgc_fp64_dual_vector3_divide(BGC_FP64_DualVector3* quotient, const BGC_FP64_DualVector3* dividend, const double divisor);
|
||||
|
||||
extern inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2);
|
||||
extern inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2);
|
||||
|
||||
extern inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2, const BGC_FP32_DualVector3* vector3);
|
||||
extern inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2, const BGC_FP64_DualVector3* vector3);
|
||||
|
||||
extern inline void bgc_fp32_dual_vector3_interpolate(BGC_FP32_DualVector3* interpolation, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second, const float phase);
|
||||
extern inline void bgc_fp64_dual_vector3_interpolate(BGC_FP64_DualVector3* interpolation, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second, const double phase);
|
||||
|
||||
extern inline void bgc_fp32_dual_vector3_revert(BGC_FP32_DualVector3* vector);
|
||||
extern inline void bgc_fp64_dual_vector3_revert(BGC_FP64_DualVector3* vector);
|
||||
|
||||
extern inline void bgc_fp32_dual_vector3_get_reverse(BGC_FP32_DualVector3* reverse, const BGC_FP32_DualVector3* vector);
|
||||
extern inline void bgc_fp64_dual_vector3_get_reverse(BGC_FP64_DualVector3* reverse, const BGC_FP64_DualVector3* vector);
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef _BGC_DUAL_VECTOR3_H_INCLUDED_
|
||||
#define _BGC_DUAL_VECTOR3_H_INCLUDED_
|
||||
#ifndef _BGC_DUAL_VECTOR3_H_INCLUDE_
|
||||
#define _BGC_DUAL_VECTOR3_H_INCLUDE_
|
||||
|
||||
#include "./vector3.h"
|
||||
|
||||
|
|
@ -169,7 +169,7 @@ inline void bgc_fp64_dual_vector3_divide(BGC_FP64_DualVector3* quotient, const B
|
|||
bgc_fp64_dual_vector3_multiply(quotient, dividend, 1.0 / divisor);
|
||||
}
|
||||
|
||||
// ================ Mean of Two ================= //
|
||||
// ================== Average2 ================== //
|
||||
|
||||
inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2)
|
||||
{
|
||||
|
|
@ -183,7 +183,7 @@ inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* mean, const BG
|
|||
bgc_fp64_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual);
|
||||
}
|
||||
|
||||
// =============== Mean of Three ================ //
|
||||
// ================== Average3 ================== //
|
||||
|
||||
inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2, const BGC_FP32_DualVector3* vector3)
|
||||
{
|
||||
|
|
@ -197,46 +197,4 @@ inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* mean, const BG
|
|||
bgc_fp64_vector3_get_mean3(&mean->dual, &vector1->dual, &vector2->dual, &vector3->dual);
|
||||
}
|
||||
|
||||
// ============ Linear Interpolation ============ //
|
||||
|
||||
inline void bgc_fp32_dual_vector3_interpolate(BGC_FP32_DualVector3* interpolation, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second, const float phase)
|
||||
{
|
||||
bgc_fp32_vector3_interpolate(&interpolation->real, &first->real, &second->real, phase);
|
||||
bgc_fp32_vector3_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_vector3_interpolate(BGC_FP64_DualVector3* interpolation, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second, const double phase)
|
||||
{
|
||||
bgc_fp64_vector3_interpolate(&interpolation->real, &first->real, &second->real, phase);
|
||||
bgc_fp64_vector3_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
|
||||
}
|
||||
|
||||
// =================== Revert =================== //
|
||||
|
||||
inline void bgc_fp32_dual_vector3_revert(BGC_FP32_DualVector3* vector)
|
||||
{
|
||||
bgc_fp32_vector3_revert(&vector->real);
|
||||
bgc_fp32_vector3_revert(&vector->dual);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_vector3_revert(BGC_FP64_DualVector3* vector)
|
||||
{
|
||||
bgc_fp64_vector3_revert(&vector->real);
|
||||
bgc_fp64_vector3_revert(&vector->dual);
|
||||
}
|
||||
|
||||
// ================ Get Reverse ================= //
|
||||
|
||||
inline void bgc_fp32_dual_vector3_get_reverse(BGC_FP32_DualVector3* reverse, const BGC_FP32_DualVector3* vector)
|
||||
{
|
||||
bgc_fp32_vector3_get_reverse(&reverse->real, &vector->real);
|
||||
bgc_fp32_vector3_get_reverse(&reverse->dual, &vector->dual);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_vector3_get_reverse(BGC_FP64_DualVector3* reverse, const BGC_FP64_DualVector3* vector)
|
||||
{
|
||||
bgc_fp64_vector3_get_reverse(&reverse->real, &vector->real);
|
||||
bgc_fp64_vector3_get_reverse(&reverse->dual, &vector->dual);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef _BGC_MATRICES_H_INCLUDED_
|
||||
#define _BGC_MATRICES_H_INCLUDED_
|
||||
#ifndef _BGC_MATRICES_H_
|
||||
#define _BGC_MATRICES_H_
|
||||
|
||||
// ================== Matrix2x2 ================= //
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef _BGC_MATRIX2X2_H_INCLUDED_
|
||||
#define _BGC_MATRIX2X2_H_INCLUDED_
|
||||
#ifndef _BGC_MATRIX2X2_H_
|
||||
#define _BGC_MATRIX2X2_H_
|
||||
|
||||
#include "angle.h"
|
||||
#include "vector2.h"
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef _BGC_MATRIX2X3_H_INCLUDED_
|
||||
#define _BGC_MATRIX2X3_H_INCLUDED_
|
||||
#ifndef _BGC_MATRIX2X3_H_
|
||||
#define _BGC_MATRIX2X3_H_
|
||||
|
||||
#include "vector2.h"
|
||||
#include "vector3.h"
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef _BGC_MATRIX3X2_H_INCLUDED_
|
||||
#define _BGC_MATRIX3X2_H_INCLUDED_
|
||||
#ifndef _BGC_MATRIX3X2_H_
|
||||
#define _BGC_MATRIX3X2_H_
|
||||
|
||||
#include "vector2.h"
|
||||
#include "vector3.h"
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef _BGC_MATRIX3X3_H_INCLUDED_
|
||||
#define _BGC_MATRIX3X3_H_INCLUDED_
|
||||
#ifndef _BGC_MATRIX3X3_H_
|
||||
#define _BGC_MATRIX3X3_H_
|
||||
|
||||
#include "vector3.h"
|
||||
#include "matrices.h"
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef _BGC_QUATERNION_H_INCLUDED_
|
||||
#define _BGC_QUATERNION_H_INCLUDED_
|
||||
#ifndef _BGC_QUATERNION_H_
|
||||
#define _BGC_QUATERNION_H_
|
||||
|
||||
#include <math.h>
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef _BGC_SLERP_H_INCLUDED_
|
||||
#define _BGC_SLERP_H_INCLUDED_
|
||||
#ifndef _BGC_VERSOR_SLERP_H_
|
||||
#define _BGC_VERSOR_SLERP_H_
|
||||
|
||||
#include "./turn3.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef _BGC_TURN2_H_INCLUDED_
|
||||
#define _BGC_TURN2_H_INCLUDED_
|
||||
#ifndef _BGC_COTES_NUMBER_H_
|
||||
#define _BGC_COTES_NUMBER_H_
|
||||
|
||||
#include <math.h>
|
||||
|
||||
|
|
|
|||
|
|
@ -192,7 +192,7 @@ void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* turn, const double x1, const do
|
|||
|
||||