649 lines
20 KiB
C
649 lines
20 KiB
C
#ifndef _BGC_MATRIX3X3_H_
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#define _BGC_MATRIX3X3_H_
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#include "vector3.h"
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#include "matrixes.h"
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// =================== Reset ==================== //
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inline void bgc_matrix3x3_reset_fp32(bgc_matrix3x3_fp32_t* matrix)
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{
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matrix->r1c1 = 0.0f;
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matrix->r1c2 = 0.0f;
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matrix->r1c3 = 0.0f;
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matrix->r2c1 = 0.0f;
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matrix->r2c2 = 0.0f;
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matrix->r2c3 = 0.0f;
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matrix->r3c1 = 0.0f;
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matrix->r3c2 = 0.0f;
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matrix->r3c3 = 0.0f;
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}
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inline void bgc_matrix3x3_reset_fp64(bgc_matrix3x3_fp64_t* matrix)
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{
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matrix->r1c1 = 0.0;
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matrix->r1c2 = 0.0;
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matrix->r1c3 = 0.0;
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matrix->r2c1 = 0.0;
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matrix->r2c2 = 0.0;
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matrix->r2c3 = 0.0;
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matrix->r3c1 = 0.0;
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matrix->r3c2 = 0.0;
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matrix->r3c3 = 0.0;
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}
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// ================== Identity ================== //
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inline void bgc_matrix3x3_set_to_identity_fp32(bgc_matrix3x3_fp32_t* matrix)
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{
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matrix->r1c1 = 1.0f;
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matrix->r1c2 = 0.0f;
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matrix->r1c3 = 0.0f;
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matrix->r2c1 = 0.0f;
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matrix->r2c2 = 1.0f;
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matrix->r2c3 = 0.0f;
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matrix->r3c1 = 0.0f;
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matrix->r3c2 = 0.0f;
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matrix->r3c3 = 1.0f;
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}
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inline void bgc_matrix3x3_set_to_identity_fp64(bgc_matrix3x3_fp64_t* matrix)
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{
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matrix->r1c1 = 1.0;
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matrix->r1c2 = 0.0;
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matrix->r1c3 = 0.0;
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matrix->r2c1 = 0.0;
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matrix->r2c2 = 1.0;
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matrix->r2c3 = 0.0;
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matrix->r3c1 = 0.0;
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matrix->r3c2 = 0.0;
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matrix->r3c3 = 1.0;
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}
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// ================ Make Diagonal =============== //
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inline void bgc_matrix3x3_set_to_diagonal_fp32(const float d1, const float d2, const float d3, bgc_matrix3x3_fp32_t* matrix)
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{
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matrix->r1c1 = d1;
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matrix->r1c2 = 0.0f;
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matrix->r1c3 = 0.0f;
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matrix->r2c1 = 0.0f;
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matrix->r2c2 = d2;
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matrix->r2c3 = 0.0f;
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matrix->r3c1 = 0.0f;
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matrix->r3c2 = 0.0f;
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matrix->r3c3 = d2;
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}
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inline void bgc_matrix3x3_set_to_diagonal_fp64(const double d1, const double d2, const double d3, bgc_matrix3x3_fp64_t* matrix)
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{
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matrix->r1c1 = d1;
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matrix->r1c2 = 0.0;
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matrix->r1c3 = 0.0;
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matrix->r2c1 = 0.0;
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matrix->r2c2 = d2;
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matrix->r2c3 = 0.0;
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matrix->r3c1 = 0.0;
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matrix->r3c2 = 0.0;
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matrix->r3c3 = d2;
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}
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// ==================== Copy ==================== //
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inline void bgc_matrix3x3_copy_fp32(const bgc_matrix3x3_fp32_t* from, bgc_matrix3x3_fp32_t* to)
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{
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to->r1c1 = from->r1c1;
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to->r1c2 = from->r1c2;
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to->r1c3 = from->r1c3;
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to->r2c1 = from->r2c1;
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to->r2c2 = from->r2c2;
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to->r2c3 = from->r2c3;
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to->r3c1 = from->r3c1;
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to->r3c2 = from->r3c2;
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to->r3c3 = from->r3c3;
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}
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inline void bgc_matrix3x3_copy_fp64(const bgc_matrix3x3_fp64_t* from, bgc_matrix3x3_fp64_t* to)
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{
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to->r1c1 = from->r1c1;
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to->r1c2 = from->r1c2;
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to->r1c3 = from->r1c3;
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to->r2c1 = from->r2c1;
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to->r2c2 = from->r2c2;
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to->r2c3 = from->r2c3;
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to->r3c1 = from->r3c1;
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to->r3c2 = from->r3c2;
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to->r3c3 = from->r3c3;
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}
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// ==================== Swap ==================== //
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inline void bgc_matrix3x3_swap_fp32(bgc_matrix3x3_fp32_t* matrix1, bgc_matrix3x3_fp32_t* matrix2)
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{
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const float r1c1 = matrix2->r1c1;
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const float r1c2 = matrix2->r1c2;
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const float r1c3 = matrix2->r1c3;
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const float r2c1 = matrix2->r2c1;
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const float r2c2 = matrix2->r2c2;
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const float r2c3 = matrix2->r2c3;
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const float r3c1 = matrix2->r3c1;
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const float r3c2 = matrix2->r3c2;
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const float r3c3 = matrix2->r3c3;
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matrix2->r1c1 = matrix1->r1c1;
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matrix2->r1c2 = matrix1->r1c2;
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matrix2->r1c3 = matrix1->r1c3;
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matrix2->r2c1 = matrix1->r2c1;
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matrix2->r2c2 = matrix1->r2c2;
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matrix2->r2c3 = matrix1->r2c3;
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matrix2->r3c1 = matrix1->r3c1;
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matrix2->r3c2 = matrix1->r3c2;
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matrix2->r3c3 = matrix1->r3c3;
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matrix1->r1c1 = r1c1;
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matrix1->r1c2 = r1c2;
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matrix1->r1c3 = r1c3;
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matrix1->r2c1 = r2c1;
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matrix1->r2c2 = r2c2;
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matrix1->r2c3 = r2c3;
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matrix1->r3c1 = r3c1;
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matrix1->r3c2 = r3c2;
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matrix1->r3c3 = r3c3;
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}
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inline void bgc_matrix3x3_swap_fp64(bgc_matrix3x3_fp64_t* matrix1, bgc_matrix3x3_fp64_t* matrix2)
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{
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const double r1c1 = matrix2->r1c1;
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const double r1c2 = matrix2->r1c2;
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const double r1c3 = matrix2->r1c3;
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const double r2c1 = matrix2->r2c1;
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const double r2c2 = matrix2->r2c2;
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const double r2c3 = matrix2->r2c3;
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const double r3c1 = matrix2->r3c1;
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const double r3c2 = matrix2->r3c2;
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const double r3c3 = matrix2->r3c3;
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matrix2->r1c1 = matrix1->r1c1;
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matrix2->r1c2 = matrix1->r1c2;
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matrix2->r1c3 = matrix1->r1c3;
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matrix2->r2c1 = matrix1->r2c1;
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matrix2->r2c2 = matrix1->r2c2;
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matrix2->r2c3 = matrix1->r2c3;
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matrix2->r3c1 = matrix1->r3c1;
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matrix2->r3c2 = matrix1->r3c2;
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matrix2->r3c3 = matrix1->r3c3;
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matrix1->r1c1 = r1c1;
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matrix1->r1c2 = r1c2;
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matrix1->r1c3 = r1c3;
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matrix1->r2c1 = r2c1;
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matrix1->r2c2 = r2c2;
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matrix1->r2c3 = r2c3;
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matrix1->r3c1 = r3c1;
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matrix1->r3c2 = r3c2;
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matrix1->r3c3 = r3c3;
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}
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// ============= Set from twin type ============= //
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inline void bgc_matrix3x3_convert_fp64_to_fp32(const bgc_matrix3x3_fp64_t* from, bgc_matrix3x3_fp32_t* to)
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{
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to->r1c1 = (float) from->r1c1;
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to->r1c2 = (float) from->r1c2;
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to->r1c3 = (float) from->r1c3;
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to->r2c1 = (float) from->r2c1;
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to->r2c2 = (float) from->r2c2;
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to->r2c3 = (float) from->r2c3;
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to->r3c1 = (float) from->r3c1;
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to->r3c2 = (float) from->r3c2;
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to->r3c3 = (float) from->r3c3;
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}
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inline void bgc_matrix3x3_convert_fp32_to_fp64(const bgc_matrix3x3_fp32_t* from, bgc_matrix3x3_fp64_t* to)
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{
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to->r1c1 = from->r1c1;
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to->r1c2 = from->r1c2;
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to->r1c3 = from->r1c3;
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to->r2c1 = from->r2c1;
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to->r2c2 = from->r2c2;
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to->r2c3 = from->r2c3;
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to->r3c1 = from->r3c1;
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to->r3c2 = from->r3c2;
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to->r3c3 = from->r3c3;
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}
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// ================ Determinant ================= //
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inline float bgc_matrix3x3_get_determinant_fp32(const bgc_matrix3x3_fp32_t* matrix)
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{
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return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
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+ matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
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+ matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1);
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}
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inline double bgc_matrix3x3_get_determinant_fp64(const bgc_matrix3x3_fp64_t* matrix)
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{
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return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
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+ matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
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+ matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1);
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}
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// ================== Singular ================== //
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inline int bgc_matrix3x3_is_singular_fp32(const bgc_matrix3x3_fp32_t* matrix)
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{
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const float determinant = bgc_matrix3x3_get_determinant_fp32(matrix);
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return -BGC_EPSYLON_FP32 <= determinant && determinant <= BGC_EPSYLON_FP32;
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}
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inline int bgc_matrix3x3_is_singular_fp64(const bgc_matrix3x3_fp64_t* matrix)
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{
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const double determinant = bgc_matrix3x3_get_determinant_fp64(matrix);
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return -BGC_EPSYLON_FP64 <= determinant && determinant <= BGC_EPSYLON_FP64;
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}
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// ================= Inversion ================== //
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int bgc_matrix3x3_invert_fp32(bgc_matrix3x3_fp32_t* matrix);
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int bgc_matrix3x3_invert_fp64(bgc_matrix3x3_fp64_t* matrix);
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// =============== Transposition ================ //
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inline void bgc_matrix3x3_transpose_fp32(bgc_matrix3x3_fp32_t* matrix)
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{
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float tmp = matrix->r1c2;
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matrix->r1c2 = matrix->r2c1;
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matrix->r2c1 = tmp;
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tmp = matrix->r1c3;
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matrix->r1c3 = matrix->r3c1;
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matrix->r3c1 = tmp;
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tmp = matrix->r2c3;
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matrix->r2c3 = matrix->r3c2;
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matrix->r3c2 = tmp;
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}
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inline void bgc_matrix3x3_transpose_fp64(bgc_matrix3x3_fp64_t* matrix)
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{
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double tmp = matrix->r1c2;
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matrix->r1c2 = matrix->r2c1;
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matrix->r2c1 = tmp;
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tmp = matrix->r1c3;
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matrix->r1c3 = matrix->r3c1;
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matrix->r3c1 = tmp;
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tmp = matrix->r2c3;
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matrix->r2c3 = matrix->r3c2;
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matrix->r3c2 = tmp;
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}
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// ================ Make Inverted =============== //
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int bgc_matrix3x3_set_inverted_fp32(const bgc_matrix3x3_fp32_t* matrix, bgc_matrix3x3_fp32_t* result);
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int bgc_matrix3x3_set_inverted_fp64(const bgc_matrix3x3_fp64_t* matrix, bgc_matrix3x3_fp64_t* result);
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// =============== Make Transposed ============== //
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inline void bgc_matrix3x3_set_transposed_fp32(const bgc_matrix3x3_fp32_t* matrix, bgc_matrix3x3_fp32_t* result)
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{
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if (matrix == result) {
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bgc_matrix3x3_transpose_fp32(result);
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return;
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}
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result->r1c1 = matrix->r1c1;
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result->r1c2 = matrix->r2c1;
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result->r1c3 = matrix->r3c1;
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result->r2c1 = matrix->r1c2;
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result->r2c2 = matrix->r2c2;
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result->r2c3 = matrix->r3c2;
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result->r3c1 = matrix->r1c3;
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result->r3c2 = matrix->r2c3;
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result->r3c3 = matrix->r3c3;
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}
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inline void bgc_matrix3x3_set_transposed_fp64(const bgc_matrix3x3_fp64_t* matrix, bgc_matrix3x3_fp64_t* result)
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{
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if (matrix == result) {
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bgc_matrix3x3_transpose_fp64(result);
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return;
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}
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result->r1c1 = matrix->r1c1;
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result->r1c2 = matrix->r2c1;
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result->r1c3 = matrix->r3c1;
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result->r2c1 = matrix->r1c2;
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result->r2c2 = matrix->r2c2;
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result->r2c3 = matrix->r3c2;
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result->r3c1 = matrix->r1c3;
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result->r3c2 = matrix->r2c3;
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result->r3c3 = matrix->r3c3;
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}
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// ================= Set Row 1 ================== //
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inline void bgc_matrix3x3_set_row1_fp32(const float c1, const float c2, const float c3, bgc_matrix3x3_fp32_t* matrix)
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{
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matrix->r1c1 = c1;
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matrix->r1c2 = c2;
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matrix->r1c3 = c3;
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}
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inline void bgc_matrix3x3_set_row1_fp64(const double c1, const double c2, const double c3, bgc_matrix3x3_fp64_t* matrix)
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{
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matrix->r1c1 = c1;
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matrix->r1c2 = c2;
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matrix->r1c3 = c3;
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}
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// ================= Set Row 2 ================== //
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inline void bgc_matrix3x3_set_row2_fp32(const float c1, const float c2, const float c3, bgc_matrix3x3_fp32_t* matrix)
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{
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matrix->r2c1 = c1;
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matrix->r2c2 = c2;
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matrix->r2c3 = c3;
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}
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inline void bgc_matrix3x3_set_row2_fp64(const double c1, const double c2, const double c3, bgc_matrix3x3_fp64_t* matrix)
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{
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matrix->r2c1 = c1;
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matrix->r2c2 = c2;
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matrix->r2c3 = c3;
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}
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// ================= Set Row 3 ================== //
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inline void bgc_matrix3x3_set_row3_fp32(const float c1, const float c2, const float c3, bgc_matrix3x3_fp32_t* matrix)
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{
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matrix->r3c1 = c1;
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matrix->r3c2 = c2;
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matrix->r3c3 = c3;
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}
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inline void bgc_matrix3x3_set_row3_fp64(const double c1, const double c2, const double c3, bgc_matrix3x3_fp64_t* matrix)
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{
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matrix->r3c1 = c1;
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matrix->r3c2 = c2;
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matrix->r3c3 = c3;
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}
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// ================ Set Column 1 ================ //
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inline void bgc_matrix3x3_set_column1_fp32(const float r1, const float r2, const float r3, bgc_matrix3x3_fp32_t* matrix)
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{
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matrix->r1c1 = r1;
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matrix->r2c1 = r2;
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matrix->r3c1 = r3;
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}
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inline void bgc_matrix3x3_set_column1_fp64(const double r1, const double r2, const double r3, bgc_matrix3x3_fp64_t* matrix)
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{
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matrix->r1c1 = r1;
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matrix->r2c1 = r2;
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matrix->r3c1 = r3;
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}
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// ================ Set Column 2 ================ //
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inline void bgc_matrix3x3_set_column2_fp32(const float r1, const float r2, const float r3, bgc_matrix3x3_fp32_t* matrix)
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{
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matrix->r1c2 = r1;
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matrix->r2c2 = r2;
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matrix->r3c2 = r3;
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}
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inline void bgc_matrix3x3_set_column2_fp64(const double r1, const double r2, const double r3, bgc_matrix3x3_fp64_t* matrix)
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{
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matrix->r1c2 = r1;
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matrix->r2c2 = r2;
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matrix->r3c2 = r3;
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}
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// ================ Set Column 3 ================ //
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inline void bgc_matrix3x3_set_column3_fp32(const float r1, const float r2, const float r3, bgc_matrix3x3_fp32_t* matrix)
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{
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matrix->r1c3 = r1;
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matrix->r2c3 = r2;
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matrix->r3c3 = r3;
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}
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inline void bgc_matrix3x3_set_column3_fp64(const double r1, const double r2, const double r3, bgc_matrix3x3_fp64_t* matrix)
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{
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matrix->r1c3 = r1;
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matrix->r2c3 = r2;
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matrix->r3c3 = r3;
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}
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// ================== Addition ================== //
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inline void bgc_matrix3x3_add_fp32(const bgc_matrix3x3_fp32_t* matrix1, const bgc_matrix3x3_fp32_t* matrix2, bgc_matrix3x3_fp32_t* sum)
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{
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sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
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sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
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sum->r1c3 = matrix1->r1c3 + matrix2->r1c3;
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sum->r2c1 = matrix1->r2c1 + matrix2->r2c1;
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sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
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sum->r2c3 = matrix1->r2c3 + matrix2->r2c3;
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sum->r3c1 = matrix1->r3c1 + matrix2->r3c1;
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sum->r3c2 = matrix1->r3c2 + matrix2->r3c2;
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sum->r3c3 = matrix1->r3c3 + matrix2->r3c3;
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}
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inline void bgc_matrix3x3_add_fp64(const bgc_matrix3x3_fp64_t* matrix1, const bgc_matrix3x3_fp64_t* matrix2, bgc_matrix3x3_fp64_t* sum)
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{
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sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
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sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
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sum->r1c3 = matrix1->r1c3 + matrix2->r1c3;
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sum->r2c1 = matrix1->r2c1 + matrix2->r2c1;
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sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
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sum->r2c3 = matrix1->r2c3 + matrix2->r2c3;
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sum->r3c1 = matrix1->r3c1 + matrix2->r3c1;
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sum->r3c2 = matrix1->r3c2 + matrix2->r3c2;
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sum->r3c3 = matrix1->r3c3 + matrix2->r3c3;
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}
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// ================= Add scaled ================= //
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inline void bgc_matrix3x3_add_scaled_fp32(const bgc_matrix3x3_fp32_t* basic_matrix, const bgc_matrix3x3_fp32_t* scalable_matrix, const float scale, bgc_matrix3x3_fp32_t* sum)
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{
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sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
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sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
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sum->r1c3 = basic_matrix->r1c3 + scalable_matrix->r1c3 * scale;
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sum->r2c1 = basic_matrix->r2c1 + scalable_matrix->r2c1 * scale;
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sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
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sum->r2c3 = basic_matrix->r2c3 + scalable_matrix->r2c3 * scale;
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sum->r3c1 = basic_matrix->r3c1 + scalable_matrix->r3c1 * scale;
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sum->r3c2 = basic_matrix->r3c2 + scalable_matrix->r3c2 * scale;
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sum->r3c3 = basic_matrix->r3c3 + scalable_matrix->r3c3 * scale;
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}
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inline void bgc_matrix3x3_add_scaled_fp64(const bgc_matrix3x3_fp64_t* basic_matrix, const bgc_matrix3x3_fp64_t* scalable_matrix, const double scale, bgc_matrix3x3_fp64_t* sum)
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{
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sum->r1c1 = basic_matrix->r1c1 + scalable_matrix->r1c1 * scale;
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sum->r1c2 = basic_matrix->r1c2 + scalable_matrix->r1c2 * scale;
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sum->r1c3 = basic_matrix->r1c3 + scalable_matrix->r1c3 * scale;
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sum->r2c1 = basic_matrix->r2c1 + scalable_matrix->r2c1 * scale;
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sum->r2c2 = basic_matrix->r2c2 + scalable_matrix->r2c2 * scale;
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sum->r2c3 = basic_matrix->r2c3 + scalable_matrix->r2c3 * scale;
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sum->r3c1 = basic_matrix->r3c1 + scalable_matrix->r3c1 * scale;
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sum->r3c2 = basic_matrix->r3c2 + scalable_matrix->r3c2 * scale;
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sum->r3c3 = basic_matrix->r3c3 + scalable_matrix->r3c3 * scale;
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}
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// ================ Subtraction ================= //
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inline void bgc_matrix3x3_subtract_fp32(const bgc_matrix3x3_fp32_t* minuend, const bgc_matrix3x3_fp32_t* subtrahend, bgc_matrix3x3_fp32_t* difference)
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{
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difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
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difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
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difference->r1c3 = minuend->r1c3 - subtrahend->r1c3;
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difference->r2c1 = minuend->r2c1 - subtrahend->r2c1;
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difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
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difference->r2c3 = minuend->r2c3 - subtrahend->r2c3;
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difference->r3c1 = minuend->r3c1 - subtrahend->r3c1;
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difference->r3c2 = minuend->r3c2 - subtrahend->r3c2;
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difference->r3c3 = minuend->r3c3 - subtrahend->r3c3;
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}
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inline void bgc_matrix3x3_subtract_fp64(const bgc_matrix3x3_fp64_t* minuend, const bgc_matrix3x3_fp64_t* subtrahend, bgc_matrix3x3_fp64_t* difference)
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{
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difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
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difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
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difference->r1c3 = minuend->r1c3 - subtrahend->r1c3;
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difference->r2c1 = minuend->r2c1 - subtrahend->r2c1;
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difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
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difference->r2c3 = minuend->r2c3 - subtrahend->r2c3;
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difference->r3c1 = minuend->r3c1 - subtrahend->r3c1;
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difference->r3c2 = minuend->r3c2 - subtrahend->r3c2;
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difference->r3c3 = minuend->r3c3 - subtrahend->r3c3;
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}
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// =============== Multiplication =============== //
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inline void bgc_matrix3x3_multiply_fp32(const bgc_matrix3x3_fp32_t* multiplicand, const float multiplier, bgc_matrix3x3_fp32_t* product)
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|
{
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product->r1c1 = multiplicand->r1c1 * multiplier;
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product->r1c2 = multiplicand->r1c2 * multiplier;
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product->r1c3 = multiplicand->r1c3 * multiplier;
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product->r2c1 = multiplicand->r2c1 * multiplier;
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product->r2c2 = multiplicand->r2c2 * multiplier;
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product->r2c3 = multiplicand->r2c3 * multiplier;
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product->r3c1 = multiplicand->r3c1 * multiplier;
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product->r3c2 = multiplicand->r3c2 * multiplier;
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product->r3c3 = multiplicand->r3c3 * multiplier;
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|
}
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|
|
|
inline void bgc_matrix3x3_multiply_fp64(const bgc_matrix3x3_fp64_t* multiplicand, const double multiplier, bgc_matrix3x3_fp64_t* product)
|
|
{
|
|
product->r1c1 = multiplicand->r1c1 * multiplier;
|
|
product->r1c2 = multiplicand->r1c2 * multiplier;
|
|
product->r1c3 = multiplicand->r1c3 * multiplier;
|
|
|
|
product->r2c1 = multiplicand->r2c1 * multiplier;
|
|
product->r2c2 = multiplicand->r2c2 * multiplier;
|
|
product->r2c3 = multiplicand->r2c3 * multiplier;
|
|
|
|
product->r3c1 = multiplicand->r3c1 * multiplier;
|
|
product->r3c2 = multiplicand->r3c2 * multiplier;
|
|
product->r3c3 = multiplicand->r3c3 * multiplier;
|
|
}
|
|
|
|
// ================== Division ================== //
|
|
|
|
inline void bgc_matrix3x3_divide_fp32(const bgc_matrix3x3_fp32_t* dividend, const float divisor, bgc_matrix3x3_fp32_t* quotient)
|
|
{
|
|
bgc_matrix3x3_multiply_fp32(dividend, 1.0f / divisor, quotient);
|
|
}
|
|
|
|
inline void bgc_matrix3x3_divide_fp64(const bgc_matrix3x3_fp64_t* dividend, const double divisor, bgc_matrix3x3_fp64_t* quotient)
|
|
{
|
|
bgc_matrix3x3_multiply_fp64(dividend, 1.0 / divisor, quotient);
|
|
}
|
|
|
|
// ============ Left Vector Product ============= //
|
|
|
|
inline void bgc_matrix3x3_left_product_fp32(const bgc_vector3_fp32_t* vector, const bgc_matrix3x3_fp32_t* matrix, bgc_vector3_fp32_t* result)
|
|
{
|
|
const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
|
|
const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
|
|
const float x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3;
|
|
|
|
result->x1 = x1;
|
|
result->x2 = x2;
|
|
result->x3 = x3;
|
|
}
|
|
|
|
inline void bgc_matrix3x3_left_product_fp64(const bgc_vector3_fp64_t* vector, const bgc_matrix3x3_fp64_t* matrix, bgc_vector3_fp64_t* result)
|
|
{
|
|
const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
|
|
const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
|
|
const double x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3;
|
|
|
|
result->x1 = x1;
|
|
result->x2 = x2;
|
|
result->x3 = x3;
|
|
}
|
|
|
|
// ============ Right Vector Product ============ //
|
|
|
|
inline void bgc_matrix3x3_right_product_fp32(const bgc_matrix3x3_fp32_t* matrix, const bgc_vector3_fp32_t* vector, bgc_vector3_fp32_t* result)
|
|
{
|
|
const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
|
|
const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
|
|
const float x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
|
|
|
|
result->x1 = x1;
|
|
result->x2 = x2;
|
|
result->x3 = x3;
|
|
}
|
|
|
|
inline void bgc_matrix3x3_right_product_fp64(const bgc_matrix3x3_fp64_t* matrix, const bgc_vector3_fp64_t* vector, bgc_vector3_fp64_t* result)
|
|
{
|
|
const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
|
|
const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
|
|
const double x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
|
|
|
|
result->x1 = x1;
|
|
result->x2 = x2;
|
|
result->x3 = x3;
|
|
}
|
|
|
|
#endif
|