127 lines
3.6 KiB
C
127 lines
3.6 KiB
C
#ifndef _BGC_SLERP_H_INCLUDED_
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#define _BGC_SLERP_H_INCLUDED_
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#include "./turn3.h"
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typedef struct {
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float s0_cos_weight, s0_sin_weight;
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float x1_cos_weight, x1_sin_weight;
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float x2_cos_weight, x2_sin_weight;
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float x3_cos_weight, x3_sin_weight;
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float radians;
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} BGC_FP32_Slerp;
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typedef struct {
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double s0_cos_weight, s0_sin_weight;
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double x1_cos_weight, x1_sin_weight;
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double x2_cos_weight, x2_sin_weight;
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double x3_cos_weight, x3_sin_weight;
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double radians;
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} BGC_FP64_Slerp;
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inline void bgc_fp32_slerp_reset(BGC_FP32_Slerp* slerp)
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{
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slerp->s0_cos_weight = 1.0f;
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slerp->s0_sin_weight = 0.0f;
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slerp->x1_cos_weight = 0.0f;
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slerp->x1_sin_weight = 0.0f;
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slerp->x2_cos_weight = 0.0f;
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slerp->x2_sin_weight = 0.0f;
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slerp->x3_cos_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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}
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inline void bgc_fp64_slerp_reset(BGC_FP64_Slerp* slerp)
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{
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slerp->s0_cos_weight = 1.0;
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slerp->s0_sin_weight = 0.0;
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slerp->x1_cos_weight = 0.0;
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slerp->x1_sin_weight = 0.0;
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slerp->x2_cos_weight = 0.0;
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slerp->x2_sin_weight = 0.0;
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slerp->x3_cos_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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}
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void bgc_fp32_slerp_make(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* augment);
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void bgc_fp64_slerp_make(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* augment);
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inline void bgc_fp32_slerp_make_full(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end)
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{
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BGC_FP32_Turn3 augment;
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bgc_fp32_turn3_exclude(&augment, end, start);
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bgc_fp32_slerp_make(slerp, start, &augment);
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}
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inline void bgc_fp64_slerp_make_full(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end)
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{
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BGC_FP64_Turn3 augment;
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bgc_fp64_turn3_exclude(&augment, end, start);
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bgc_fp64_slerp_make(slerp, start, &augment);
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}
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inline void bgc_fp32_slerp_make_shortened(BGC_FP32_Slerp* slerp, const BGC_FP32_Turn3* start, const BGC_FP32_Turn3* end)
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{
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BGC_FP32_Turn3 augment;
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bgc_fp32_turn3_exclude(&augment, end, start);
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bgc_fp32_turn3_shorten(&augment);
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bgc_fp32_slerp_make(slerp, start, &augment);
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}
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inline void bgc_fp64_slerp_make_shortened(BGC_FP64_Slerp* slerp, const BGC_FP64_Turn3* start, const BGC_FP64_Turn3* end)
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{
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BGC_FP64_Turn3 augment;
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bgc_fp64_turn3_exclude(&augment, end, start);
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bgc_fp64_turn3_shorten(&augment);
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bgc_fp64_slerp_make(slerp, start, &augment);
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}
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inline void bgc_fp32_slerp_get_phase_versor(BGC_FP32_Turn3* versor, const BGC_FP32_Slerp* slerp, const float phase)
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{
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const float angle = slerp->radians * phase;
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const float cosine = cosf(angle);
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const float sine = sinf(angle);
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bgc_fp32_turn3_set_raw_values(
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versor,
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slerp->s0_cos_weight * cosine + slerp->s0_sin_weight * sine,
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slerp->x1_cos_weight * cosine + slerp->x1_sin_weight * sine,
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slerp->x2_cos_weight * cosine + slerp->x2_sin_weight * sine,
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slerp->x3_cos_weight * cosine + slerp->x3_sin_weight * sine
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);
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}
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inline void bgc_fp64_slerp_get_phase_versor(BGC_FP64_Turn3* versor, const BGC_FP64_Slerp* slerp, const double phase)
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{
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const double angle = slerp->radians * phase;
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const double cosine = cos(angle);
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const double sine = sin(angle);
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bgc_fp64_turn3_set_raw_values(
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versor,
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slerp->s0_cos_weight * cosine + slerp->s0_sin_weight * sine,
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slerp->x1_cos_weight * cosine + slerp->x1_sin_weight * sine,
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slerp->x2_cos_weight * cosine + slerp->x2_sin_weight * sine,
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slerp->x3_cos_weight * cosine + slerp->x3_sin_weight * sine
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);
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}
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#endif
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