532 lines
15 KiB
C
532 lines
15 KiB
C
#ifndef _BASIC_GEOMETRY_MATRIX2X2_H_
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#define _BASIC_GEOMETRY_MATRIX2X2_H_
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#include "angle.h"
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#include "vector2.h"
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#include "matrixes.h"
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// =================== Reset ==================== //
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static inline void fp32_matrix2x2_reset(fp32_matrix2x2_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->r2c1 = 0.0f;
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matrix->r2c2 = 0.0f;
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}
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static inline void fp64_matrix2x2_reset(fp64_matrix2x2_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->r2c1 = 0.0;
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matrix->r2c2 = 0.0;
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}
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// ================== Identity ================== //
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static inline void fp32_matrix2x2_set_to_identity(fp32_matrix2x2_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->r2c1 = 0.0f;
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matrix->r2c2 = 1.0f;
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}
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static inline void fp64_matrix2x2_set_to_identity(fp64_matrix2x2_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->r2c1 = 0.0;
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matrix->r2c2 = 1.0;
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}
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// ================ Make Diagonal =============== //
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static inline void fp32_matrix2x2_set_to_diagonal(const float d1, const float d2, fp32_matrix2x2_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->r2c1 = 0.0f;
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matrix->r2c2 = d2;
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}
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static inline void fp64_matrix2x2_set_to_diagonal(const double d1, const double d2, fp64_matrix2x2_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->r2c1 = 0.0;
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matrix->r2c2 = d2;
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}
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// ============== Rotation Matrix =============== //
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static inline void fp32_matrix2x2_make_turn(const float angle, const angle_unit_t unit, fp32_matrix2x2_t* matrix)
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{
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const float radians = fp32_angle_to_radians(angle, unit);
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const float cosine = cosf(radians);
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const float sine = sinf(radians);
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matrix->r1c1 = cosine;
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matrix->r1c2 = -sine;
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matrix->r2c1 = sine;
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matrix->r2c2 = cosine;
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}
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static inline void fp64_matrix2x2_make_turn(const double angle, const angle_unit_t unit, fp64_matrix2x2_t* matrix)
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{
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const double radians = fp64_angle_to_radians(angle, unit);
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const double cosine = cos(radians);
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const double sine = sin(radians);
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matrix->r1c1 = cosine;
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matrix->r1c2 = -sine;
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matrix->r2c1 = sine;
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matrix->r2c2 = cosine;
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}
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// ==================== Copy ==================== //
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static inline void fp32_matrix2x2_copy(const fp32_matrix2x2_t* from, fp32_matrix2x2_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->r2c1 = from->r2c1;
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to->r2c2 = from->r2c2;
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}
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static inline void fp64_matrix2x2_copy(const fp64_matrix2x2_t* from, fp64_matrix2x2_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->r2c1 = from->r2c1;
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to->r2c2 = from->r2c2;
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}
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// ==================== Swap ==================== //
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static inline void fp32_matrix2x2_swap(fp32_matrix2x2_t* matrix1, fp32_matrix2x2_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 r2c1 = matrix2->r2c1;
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const float r2c2 = matrix2->r2c2;
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matrix2->r1c1 = matrix1->r1c1;
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matrix2->r1c2 = matrix1->r1c2;
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matrix2->r2c1 = matrix1->r2c1;
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matrix2->r2c2 = matrix1->r2c2;
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matrix1->r1c1 = r1c1;
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matrix1->r1c2 = r1c2;
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matrix1->r2c1 = r2c1;
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matrix1->r2c2 = r2c2;
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}
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static inline void fp64_matrix2x2_swap(fp64_matrix2x2_t* matrix1, fp64_matrix2x2_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 r2c1 = matrix2->r2c1;
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const double r2c2 = matrix2->r2c2;
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matrix2->r1c1 = matrix1->r1c1;
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matrix2->r1c2 = matrix1->r1c2;
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matrix2->r2c1 = matrix1->r2c1;
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matrix2->r2c2 = matrix1->r2c2;
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matrix1->r1c1 = r1c1;
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matrix1->r1c2 = r1c2;
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matrix1->r2c1 = r2c1;
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matrix1->r2c2 = r2c2;
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}
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// ============= Copy to twin type ============== //
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static inline void fp32_matrix2x2_set_from_fp64(const fp64_matrix2x2_t* from, fp32_matrix2x2_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->r2c1 = (float)from->r2c1;
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to->r2c2 = (float)from->r2c2;
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}
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static inline void fp64_matrix2x2_set_from_fp32(const fp32_matrix2x2_t* from, fp64_matrix2x2_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->r2c1 = from->r2c1;
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to->r2c2 = from->r2c2;
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}
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// ================ Determinant ================= //
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static inline float fp32_matrix2x2_get_determinant(const fp32_matrix2x2_t* matrix)
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{
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return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
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}
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static inline double fp64_matrix2x2_get_determinant(const fp64_matrix2x2_t* matrix)
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{
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return matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
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}
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// ================== Singular ================== //
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static inline int fp32_matrix2x2_is_singular(const fp32_matrix2x2_t* matrix)
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{
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const float determinant = fp32_matrix2x2_get_determinant(matrix);
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return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON;
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}
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static inline int fp64_matrix2x2_is_singular(const fp64_matrix2x2_t* matrix)
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{
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const double determinant = fp64_matrix2x2_get_determinant(matrix);
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return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON;
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}
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// =============== Transposition ================ //
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static inline void fp32_matrix2x2_transpose(fp32_matrix2x2_t* matrix)
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{
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const float tmp = matrix->r1c2;
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matrix->r1c2 = matrix->r2c1;
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matrix->r2c1 = tmp;
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}
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static inline void fp64_matrix2x2_transpose(fp64_matrix2x2_t* matrix)
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{
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const double tmp = matrix->r1c2;
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matrix->r1c2 = matrix->r2c1;
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matrix->r2c1 = tmp;
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}
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// ================= Inversion ================== //
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static inline int fp32_matrix2x2_invert(fp32_matrix2x2_t* matrix)
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{
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const float determinant = fp32_matrix2x2_get_determinant(matrix);
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if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
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return 0;
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}
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const float r1c1 = matrix->r2c2;
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const float r1c2 = -matrix->r1c2;
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const float r2c1 = -matrix->r2c1;
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const float r2c2 = matrix->r1c1;
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const float multiplier = 1.0f / determinant;
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matrix->r1c1 = r1c1 * multiplier;
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matrix->r1c2 = r1c2 * multiplier;
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matrix->r2c1 = r2c1 * multiplier;
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matrix->r2c2 = r2c2 * multiplier;
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return 1;
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}
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static inline int fp64_matrix2x2_invert(fp64_matrix2x2_t* matrix)
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{
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const double determinant = fp64_matrix2x2_get_determinant(matrix);
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if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
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return 0;
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}
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const double r1c1 = matrix->r2c2;
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const double r1c2 = -matrix->r1c2;
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const double r2c1 = -matrix->r2c1;
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const double r2c2 = matrix->r1c1;
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const double multiplier = 1.0 / determinant;
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matrix->r1c1 = r1c1 * multiplier;
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matrix->r1c2 = r1c2 * multiplier;
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matrix->r2c1 = r2c1 * multiplier;
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matrix->r2c2 = r2c2 * multiplier;
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return 1;
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}
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// =============== Set Transposed =============== //
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static inline void fp32_matrix2x2_set_transposed(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to)
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{
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float tmp = from->r1c2;
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to->r1c1 = from->r1c1;
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to->r1c2 = from->r2c1;
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to->r2c1 = tmp;
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to->r2c2 = from->r2c2;
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}
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static inline void fp64_matrix2x2_set_transposed(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to)
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{
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double tmp = from->r1c2;
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to->r1c1 = from->r1c1;
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to->r1c2 = from->r2c1;
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to->r2c1 = tmp;
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to->r2c2 = from->r2c2;
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}
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// ================ Set Inverted ================ //
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static inline int fp32_matrix2x2_set_inverted(const fp32_matrix2x2_t* from, fp32_matrix2x2_t* to)
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{
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const float determinant = fp32_matrix2x2_get_determinant(from);
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if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
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return 0;
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}
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const float r1c1 = from->r2c2;
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const float r1c2 = -from->r1c2;
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const float r2c1 = -from->r2c1;
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const float r2c2 = from->r1c1;
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const float multiplier = 1.0f / determinant;
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to->r1c1 = r1c1 * multiplier;
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to->r1c2 = r1c2 * multiplier;
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to->r2c1 = r2c1 * multiplier;
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to->r2c2 = r2c2 * multiplier;
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return 1;
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}
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static inline int fp64_matrix2x2_set_inverted(const fp64_matrix2x2_t* from, fp64_matrix2x2_t* to)
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{
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const double determinant = fp64_matrix2x2_get_determinant(from);
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if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
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return 0;
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}
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const double r1c1 = from->r2c2;
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const double r1c2 = -from->r1c2;
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const double r2c1 = -from->r2c1;
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const double r2c2 = from->r1c1;
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const double multiplier = 1.0 / determinant;
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to->r1c1 = r1c1 * multiplier;
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to->r1c2 = r1c2 * multiplier;
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to->r2c1 = r2c1 * multiplier;
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to->r2c2 = r2c2 * multiplier;
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return 1;
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}
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// ================= Set Row 1 ================== //
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static inline void fp32_matrix2x2_set_row1(const float c1, const float c2, fp32_matrix2x2_t* matrix)
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{
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matrix->r1c1 = c1;
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matrix->r1c2 = c2;
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}
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static inline void fp64_matrix2x2_set_row1(const double c1, const double c2, fp64_matrix2x2_t* matrix)
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{
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matrix->r1c1 = c1;
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matrix->r1c2 = c2;
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}
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// ================= Set Row 2 ================== //
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static inline void fp32_matrix2x2_set_row2(const float c1, const float c2, fp32_matrix2x2_t* matrix)
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{
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matrix->r2c1 = c1;
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matrix->r2c2 = c2;
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}
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static inline void fp64_matrix2x2_set_row2(const double c1, const double c2, fp64_matrix2x2_t* matrix)
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{
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matrix->r2c1 = c1;
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matrix->r2c2 = c2;
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}
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// ================ Set Column 1 ================ //
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static inline void fp32_matrix2x2_set_column1(const float r1, const float r2, fp32_matrix2x2_t* matrix)
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{
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matrix->r1c1 = r1;
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matrix->r2c1 = r2;
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}
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static inline void fp64_matrix2x2_set_column1(const double r1, const double r2, fp64_matrix2x2_t* matrix)
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{
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matrix->r1c1 = r1;
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matrix->r2c1 = r2;
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}
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// ================ Set Column 2 ================ //
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static inline void fp32_matrix2x2_set_column2(const float r1, const float r2, fp32_matrix2x2_t* matrix)
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{
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matrix->r1c2 = r1;
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matrix->r2c2 = r2;
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}
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static inline void fp64_matrix2x2_set_column2(const double r1, const double r2, fp64_matrix2x2_t* matrix)
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{
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matrix->r1c2 = r1;
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matrix->r2c2 = r2;
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}
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// ================ Append scaled =============== //
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static inline void fp32_matrix2x2_append_scaled(fp32_matrix2x2_t* basic_vector, const fp32_matrix2x2_t* scalable_vector, const float scale)
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{
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basic_vector->r1c1 += scalable_vector->r1c1 * scale;
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basic_vector->r1c2 += scalable_vector->r1c2 * scale;
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basic_vector->r2c1 += scalable_vector->r2c1 * scale;
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basic_vector->r2c2 += scalable_vector->r2c2 * scale;
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}
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static inline void fp64_matrix2x2_append_scaled(fp64_matrix2x2_t* basic_vector, const fp64_matrix2x2_t* scalable_vector, const double scale)
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{
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basic_vector->r1c1 += scalable_vector->r1c1 * scale;
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basic_vector->r1c2 += scalable_vector->r1c2 * scale;
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basic_vector->r2c1 += scalable_vector->r2c1 * scale;
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basic_vector->r2c2 += scalable_vector->r2c2 * scale;
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}
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// ================== Addition ================== //
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static inline void fp32_matrix2x2_add(const fp32_matrix2x2_t* matrix1, const fp32_matrix2x2_t* matrix2, fp32_matrix2x2_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->r2c1 = matrix1->r2c1 + matrix2->r2c1;
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sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
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}
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static inline void fp64_matrix2x2_add(const fp64_matrix2x2_t* matrix1, const fp64_matrix2x2_t* matrix2, fp64_matrix2x2_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->r2c1 = matrix1->r2c1 + matrix2->r2c1;
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sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
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}
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// ================ Subtraction ================= //
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static inline void fp32_matrix2x2_subtract(const fp32_matrix2x2_t* minuend, const fp32_matrix2x2_t* subtrahend, fp32_matrix2x2_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->r2c1 = minuend->r2c1 - subtrahend->r2c1;
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difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
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}
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static inline void fp64_matrix2x2_subtract(const fp64_matrix2x2_t* minuend, const fp64_matrix2x2_t* subtrahend, fp64_matrix2x2_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->r2c1 = minuend->r2c1 - subtrahend->r2c1;
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difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
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}
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// =============== Multiplication =============== //
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static inline void fp32_matrix2x2_multiply(const fp32_matrix2x2_t* multiplicand, const float multiplier, fp32_matrix2x2_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->r2c1 = multiplicand->r2c1 * multiplier;
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product->r2c2 = multiplicand->r2c2 * multiplier;
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}
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static inline void fp64_matrix2x2_multiply(const fp64_matrix2x2_t* multiplicand, const double multiplier, fp64_matrix2x2_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->r2c1 = multiplicand->r2c1 * multiplier;
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product->r2c2 = multiplicand->r2c2 * multiplier;
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}
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// ================== Division ================== //
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static inline void fp32_matrix2x2_divide(const fp32_matrix2x2_t* dividend, const float divisor, fp32_matrix2x2_t* quotient)
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{
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fp32_matrix2x2_multiply(dividend, 1.0f / divisor, quotient);
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}
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static inline void fp64_matrix2x2_divide(const fp64_matrix2x2_t* dividend, const double divisor, fp64_matrix2x2_t* quotient)
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{
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fp64_matrix2x2_multiply(dividend, 1.0 / divisor, quotient);
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}
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// ============ Left Vector Product ============= //
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static inline void fp32_matrix2x2_left_product(const fp32_vector2_t* vector, const fp32_matrix2x2_t* matrix, fp32_vector2_t* result)
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{
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const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
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const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
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|
|
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result->x1 = x1;
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result->x2 = x2;
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}
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|
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static inline void fp64_matrix2x2_left_product(const fp64_vector2_t* vector, const fp64_matrix2x2_t* matrix, fp64_vector2_t* result)
|
|
{
|
|
const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1;
|
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const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2;
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|
|
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result->x1 = x1;
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result->x2 = x2;
|
|
}
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|
|
|
// ============ Right Vector Product ============ //
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|
|
|
static inline void fp32_matrix2x2_right_product(const fp32_matrix2x2_t* matrix, const fp32_vector2_t* vector, fp32_vector2_t* result)
|
|
{
|
|
const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
|
|
const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
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|
|
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result->x1 = x1;
|
|
result->x2 = x2;
|
|
}
|
|
|
|
static inline void fp64_matrix2x2_right_product(const fp64_matrix2x2_t* matrix, const fp64_vector2_t* vector, fp64_vector2_t* result)
|
|
{
|
|
const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2;
|
|
const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2;
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|
|
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result->x1 = x1;
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|
result->x2 = x2;
|
|
}
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#endif
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