40 lines
1.8 KiB
C
40 lines
1.8 KiB
C
#include "posture3.h"
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extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture);
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extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture);
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extern inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source);
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extern inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source);
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extern inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2);
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extern inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2);
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extern inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source);
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extern inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source);
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void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude)
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{
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if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp32_posture3_reset(posture);
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return;
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}
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const float multiplier = sqrtf(1.0f / square_magnitude);
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bgc_fp32_quaternion_multiply_by_real(&posture->_real_part, &posture->_real_part, multiplier);
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bgc_fp32_quaternion_multiply_by_real(&posture->_dual_part, &posture->_dual_part, multiplier);
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}
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void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude)
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{
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if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp64_posture3_reset(posture);
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return;
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}
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const double multiplier = sqrt(1.0 / square_magnitude);
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bgc_fp64_quaternion_multiply_by_real(&posture->_real_part, &posture->_real_part, multiplier);
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bgc_fp64_quaternion_multiply_by_real(&posture->_dual_part, &posture->_dual_part, multiplier);
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}
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