95 lines
4 KiB
C
95 lines
4 KiB
C
#include "./slerp.h"
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extern inline void bgc_slerp_reset_fp32(BgcSlerpFP32* slerp);
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extern inline void bgc_slerp_reset_fp64(BgcSlerpFP64* slerp);
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extern inline void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp);
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extern inline void bgc_slerp_make_full_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp);
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extern inline void bgc_slerp_make_shortened_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp);
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extern inline void bgc_slerp_make_shortened_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp);
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extern inline void bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result);
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extern inline void bgc_slerp_get_turn_for_phase_fp64(const BgcSlerpFP64* slerp, const double phase, BgcVersorFP64* result);
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void bgc_slerp_make_fp32(const BgcVersorFP32* start, const BgcVersorFP32* augment, BgcSlerpFP32* slerp)
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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_slerp_reset_fp32(slerp);
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return;
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}
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if (square_vector <= BGC_SQUARE_EPSYLON_FP32) {
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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_slerp_make_fp64(const BgcVersorFP64* start, const BgcVersorFP64* augment, BgcSlerpFP64* slerp)
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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_slerp_reset_fp64(slerp);
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return;
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}
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if (square_vector <= BGC_SQUARE_EPSYLON_FP64) {
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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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