19 lines
799 B
C
19 lines
799 B
C
#include "posture3.h"
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extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture);
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extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture);
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void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture)
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{
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&posture->_dual_versor.real_part);
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if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp32_posture3_reset(posture);
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return;
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}
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const float multiplier = sqrtf(1.0f / square_magnitude);
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bgc_fp32_quaternion_multiply_by_real(&posture->_dual_versor.real_part, &posture->_dual_versor.real_part, multiplier);
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bgc_fp32_quaternion_multiply_by_real(&posture->_dual_versor.dual_part, &posture->_dual_versor.dual_part, multiplier);
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}
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