95 lines
4 KiB
C
95 lines
4 KiB
C
#include "./slerp.h"
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extern inline void bgc_fp32_slerp_reset(BGC_FP32_Slerp* slerp);
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extern inline void bgc_fp64_slerp_reset(BGC_FP64_Slerp* slerp);
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extern inline void bgc_fp32_slerp_make_full(BGC_FP32_Slerp* slerp, const BGC_FP32_Versor* start, const BGC_FP32_Versor* end);
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extern inline void bgc_fp64_slerp_make_full(BGC_FP64_Slerp* slerp, const BGC_FP64_Versor* start, const BGC_FP64_Versor* end);
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extern inline void bgc_fp32_slerp_make_shortened(BGC_FP32_Slerp* slerp, const BGC_FP32_Versor* start, const BGC_FP32_Versor* end);
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extern inline void bgc_fp64_slerp_make_shortened(BGC_FP64_Slerp* slerp, const BGC_FP64_Versor* start, const BGC_FP64_Versor* end);
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extern inline void bgc_fp32_slerp_get_phase_versor(BGC_FP32_Versor* versor, const BGC_FP32_Slerp* slerp, const float phase);
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extern inline void bgc_fp64_slerp_get_phase_versor(BGC_FP64_Versor* versor, const BGC_FP64_Slerp* slerp, const double phase);
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void bgc_fp32_slerp_make(BGC_FP32_Slerp* slerp, const BGC_FP32_Versor* start, const BGC_FP32_Versor* augment)
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{
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const float square_vector = augment->_x1 * augment->_x1 + augment->_x2 * augment->_x2 + augment->_x3 * augment->_x3;
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if (square_vector != square_vector) {
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bgc_fp32_slerp_reset(slerp);
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return;
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}
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if (square_vector <= BGC_FP32_SQUARE_EPSYLON) {
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slerp->s0_cos_weight = start->_s0;
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slerp->x1_cos_weight = start->_x1;
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slerp->x2_cos_weight = start->_x2;
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slerp->x3_cos_weight = start->_x3;
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slerp->s0_sin_weight = 0.0f;
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slerp->x1_sin_weight = 0.0f;
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slerp->x2_sin_weight = 0.0f;
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slerp->x3_sin_weight = 0.0f;
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slerp->radians = 0.0f;
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return;
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}
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const float vector_modulus = sqrtf(square_vector);
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slerp->radians = atan2f(vector_modulus, augment->_s0);
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const float multiplier = 1.0f / vector_modulus;
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slerp->s0_cos_weight = start->_s0;
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slerp->x1_cos_weight = start->_x1;
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slerp->x2_cos_weight = start->_x2;
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slerp->x3_cos_weight = start->_x3;
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slerp->s0_sin_weight = -multiplier * (augment->_x1 * start->_x1 + augment->_x2 * start->_x2 + augment->_x3 * start->_x3);
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slerp->x1_sin_weight = multiplier * (augment->_x1 * start->_s0 + augment->_x2 * start->_x3 - augment->_x3 * start->_x2);
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slerp->x2_sin_weight = multiplier * (augment->_x2 * start->_s0 - augment->_x1 * start->_x3 + augment->_x3 * start->_x1);
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slerp->x3_sin_weight = multiplier * (augment->_x3 * start->_s0 - augment->_x2 * start->_x1 + augment->_x1 * start->_x2);
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}
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void bgc_fp64_slerp_make(BGC_FP64_Slerp* slerp, const BGC_FP64_Versor* start, const BGC_FP64_Versor* augment)
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{
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const double square_vector = augment->_x1 * augment->_x1 + augment->_x2 * augment->_x2 + augment->_x3 * augment->_x3;
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if (square_vector != square_vector) {
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bgc_fp64_slerp_reset(slerp);
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return;
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}
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if (square_vector <= BGC_FP64_SQUARE_EPSYLON) {
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slerp->s0_cos_weight = start->_s0;
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slerp->x1_cos_weight = start->_x1;
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slerp->x2_cos_weight = start->_x2;
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slerp->x3_cos_weight = start->_x3;
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slerp->s0_sin_weight = 0.0;
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slerp->x1_sin_weight = 0.0;
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slerp->x2_sin_weight = 0.0;
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slerp->x3_sin_weight = 0.0;
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slerp->radians = 0.0;
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return;
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}
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const double vector_modulus = sqrt(square_vector);
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slerp->radians = atan2(vector_modulus, augment->_s0);
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const double multiplier = 1.0 / vector_modulus;
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slerp->s0_cos_weight = start->_s0;
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slerp->x1_cos_weight = start->_x1;
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slerp->x2_cos_weight = start->_x2;
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slerp->x3_cos_weight = start->_x3;
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slerp->s0_sin_weight = -multiplier * (augment->_x1 * start->_x1 + augment->_x2 * start->_x2 + augment->_x3 * start->_x3);
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slerp->x1_sin_weight = multiplier * (augment->_x1 * start->_s0 + augment->_x2 * start->_x3 - augment->_x3 * start->_x2);
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slerp->x2_sin_weight = multiplier * (augment->_x2 * start->_s0 - augment->_x1 * start->_x3 + augment->_x3 * start->_x1);
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slerp->x3_sin_weight = multiplier * (augment->_x3 * start->_s0 - augment->_x2 * start->_x1 + augment->_x1 * start->_x2);
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}
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