164 lines
9.1 KiB
C
164 lines
9.1 KiB
C
#include <math.h>
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#include "quaternion.h"
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extern inline void bgc_quaternion_reset_fp32(BgcQuaternionFP32* quaternion);
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extern inline void bgc_quaternion_reset_fp64(BgcQuaternionFP64* quaternion);
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extern inline void bgc_quaternion_set_to_identity_fp32(BgcQuaternionFP32* quaternion);
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extern inline void bgc_quaternion_set_to_identity_fp64(BgcQuaternionFP64* quaternion);
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extern inline void bgc_quaternion_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcQuaternionFP32* quaternion);
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extern inline void bgc_quaternion_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcQuaternionFP64* quaternion);
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extern inline float bgc_quaternion_get_square_modulus_fp32(const BgcQuaternionFP32* quaternion);
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extern inline double bgc_quaternion_get_square_modulus_fp64(const BgcQuaternionFP64* quaternion);
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extern inline float bgc_quaternion_get_modulus_fp32(const BgcQuaternionFP32* quaternion);
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extern inline double bgc_quaternion_get_modulus_fp64(const BgcQuaternionFP64* quaternion);
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extern inline int bgc_quaternion_is_zero_fp32(const BgcQuaternionFP32* quaternion);
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extern inline int bgc_quaternion_is_zero_fp64(const BgcQuaternionFP64* quaternion);
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extern inline int bgc_quaternion_is_unit_fp32(const BgcQuaternionFP32* quaternion);
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extern inline int bgc_quaternion_is_unit_fp64(const BgcQuaternionFP64* quaternion);
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extern inline void bgc_quaternion_copy_fp32(const BgcQuaternionFP32* source, BgcQuaternionFP32* destination);
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extern inline void bgc_quaternion_copy_fp64(const BgcQuaternionFP64* source, BgcQuaternionFP64* destination);
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extern inline void bgc_quaternion_swap_fp32(BgcQuaternionFP32* quarternion1, BgcQuaternionFP32* quarternion2);
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extern inline void bgc_quaternion_swap_fp64(BgcQuaternionFP64* quarternion1, BgcQuaternionFP64* quarternion2);
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extern inline void bgc_quaternion_convert_fp64_to_fp32(const BgcQuaternionFP64* source, BgcQuaternionFP32* destination);
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extern inline void bgc_quaternion_convert_fp32_to_fp64(const BgcQuaternionFP32* source, BgcQuaternionFP64* destination);
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extern inline void bgc_quaternion_conjugate_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* conjugate);
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extern inline void bgc_quaternion_conjugate_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* conjugate);
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extern inline int bgc_quaternion_invert_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* inverted);
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extern inline int bgc_quaternion_invert_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* inverted);
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extern inline int bgc_quaternion_normalize_fp32(const BgcQuaternionFP32* quaternion, BgcQuaternionFP32* normalized);
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extern inline int bgc_quaternion_normalize_fp64(const BgcQuaternionFP64* quaternion, BgcQuaternionFP64* normalized);
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extern inline void bgc_quaternion_get_product_fp32(const BgcQuaternionFP32* left, const BgcQuaternionFP32* right, BgcQuaternionFP32* product);
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extern inline void bgc_quaternion_get_product_fp64(const BgcQuaternionFP64* left, const BgcQuaternionFP64* right, BgcQuaternionFP64* product);
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extern inline int bgc_quaternion_get_ratio_fp32(const BgcQuaternionFP32* divident, const BgcQuaternionFP32* divisor, BgcQuaternionFP32* quotient);
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extern inline int bgc_quaternion_get_ratio_fp64(const BgcQuaternionFP64* divident, const BgcQuaternionFP64* divisor, BgcQuaternionFP64* quotient);
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extern inline void bgc_quaternion_add_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2, BgcQuaternionFP32* sum);
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extern inline void bgc_quaternion_add_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2, BgcQuaternionFP64* sum);
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extern inline void bgc_quaternion_add_scaled_fp32(const BgcQuaternionFP32* basic_quaternion, const BgcQuaternionFP32* scalable_quaternion, const float scale, BgcQuaternionFP32* sum);
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extern inline void bgc_quaternion_add_scaled_fp64(const BgcQuaternionFP64* basic_quaternion, const BgcQuaternionFP64* scalable_quaternion, const double scale, BgcQuaternionFP64* sum);
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extern inline void bgc_quaternion_subtract_fp32(const BgcQuaternionFP32* minuend, const BgcQuaternionFP32* subtrahend, BgcQuaternionFP32* difference);
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extern inline void bgc_quaternion_subtract_fp64(const BgcQuaternionFP64* minuend, const BgcQuaternionFP64* subtrahend, BgcQuaternionFP64* difference);
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extern inline void bgc_quaternion_subtract_scaled_fp32(const BgcQuaternionFP32* basic_quaternion, const BgcQuaternionFP32* scalable_quaternion, const float scale, BgcQuaternionFP32* difference);
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extern inline void bgc_quaternion_subtract_scaled_fp64(const BgcQuaternionFP64* basic_quaternion, const BgcQuaternionFP64* scalable_quaternion, const double scale, BgcQuaternionFP64* difference);
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extern inline void bgc_quaternion_multiply_fp32(const BgcQuaternionFP32* multiplicand, const float multipier, BgcQuaternionFP32* product);
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extern inline void bgc_quaternion_multiply_fp64(const BgcQuaternionFP64* multiplicand, const double multipier, BgcQuaternionFP64* product);
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extern inline void bgc_quaternion_divide_fp32(const BgcQuaternionFP32* dividend, const float divisor, BgcQuaternionFP32* quotient);
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extern inline void bgc_quaternion_divide_fp64(const BgcQuaternionFP64* dividend, const double divisor, BgcQuaternionFP64* quotient);
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extern inline void bgc_quaternion_interpolate_linearly_fp32(const BgcQuaternionFP32* vector1, const BgcQuaternionFP32* vector2, const float phase, BgcQuaternionFP32* interpolation);
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extern inline void bgc_quaternion_interpolate_linearly_fp64(const BgcQuaternionFP64* vector1, const BgcQuaternionFP64* vector2, const double phase, BgcQuaternionFP64* interpolation);
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extern inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation);
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extern inline int bgc_quaternion_get_rotation_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation);
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extern inline int bgc_quaternion_get_reverse_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* reverse);
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extern inline int bgc_quaternion_get_reverse_matrix_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* reverse);
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extern inline int bgc_quaternion_get_both_matrixes_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse);
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extern inline int bgc_quaternion_get_both_matrixes_fp64(const BgcQuaternionFP64* quaternion, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse);
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extern inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2);
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extern inline int bgc_quaternion_are_close_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2);
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// =============== Get Exponation =============== //
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int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const float exponent, BgcQuaternionFP32* power)
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{
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const float s0s0 = base->s0 * base->s0;
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const float x1x1 = base->x1 * base->x1;
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const float x2x2 = base->x2 * base->x2;
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const float x3x3 = base->x3 * base->x3;
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const float square_vector = x1x1 + (x2x2 + x3x3);
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const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
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// square_modulus != square_modulus means checking for NaN value at square_modulus
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if (square_modulus != square_modulus) {
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return 0;
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}
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if (square_vector <= BGC_SQUARE_EPSYLON_FP32) {
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if (base->s0 < 0.0f) {
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return 0;
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}
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power->s0 = powf(base->s0, exponent);
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power->x1 = 0.0f;
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power->x2 = 0.0f;
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power->x3 = 0.0f;
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return 1;
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}
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const float vector_modulus = sqrtf(square_vector);
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const float power_angle = atan2f(vector_modulus, base->s0) * exponent;
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const float power_modulus = powf(square_modulus, 0.5f * exponent);
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const float multiplier = power_modulus * sinf(power_angle) / vector_modulus;
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power->s0 = power_modulus * cosf(power_angle);
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power->x1 = base->x1 * multiplier;
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power->x2 = base->x2 * multiplier;
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power->x3 = base->x3 * multiplier;
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return 1;
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}
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int bgc_quaternion_get_exponation_fp64(const BgcQuaternionFP64* base, const double exponent, BgcQuaternionFP64* power)
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{
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const double s0s0 = base->s0 * base->s0;
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const double x1x1 = base->x1 * base->x1;
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const double x2x2 = base->x2 * base->x2;
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const double x3x3 = base->x3 * base->x3;
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const double square_vector = x1x1 + (x2x2 + x3x3);
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const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
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// square_modulus != square_modulus means checking for NaN value at square_modulus
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if (square_modulus != square_modulus) {
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return 0;
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}
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if (square_vector <= BGC_SQUARE_EPSYLON_FP64) {
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if (base->s0 < 0.0) {
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return 0;
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}
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power->s0 = pow(base->s0, exponent);
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power->x1 = 0.0;
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power->x2 = 0.0;
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power->x3 = 0.0;
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return 1;
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}
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const double vector_modulus = sqrt(square_vector);
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const double power_angle = atan2(vector_modulus, base->s0) * exponent;
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const double power_modulus = pow(square_modulus, 0.5 * exponent);
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const double multiplier = power_modulus * sin(power_angle) / vector_modulus;
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power->s0 = power_modulus * cos(power_angle);
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power->x1 = base->x1 * multiplier;
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power->x2 = base->x2 * multiplier;
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power->x3 = base->x3 * multiplier;
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return 1;
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}
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