341 lines
16 KiB
C
341 lines
16 KiB
C
#ifndef _BGC_DUAL_QUATERNION_H_INCLUDED_
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#define _BGC_DUAL_QUATERNION_H_INCLUDED_
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#include "./types.h"
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#include "./quaternion.h"
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// =================== Reset ==================== //
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inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion)
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{
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bgc_fp32_quaternion_reset(&quaternion->real_part);
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bgc_fp32_quaternion_reset(&quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion)
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{
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bgc_fp64_quaternion_reset(&quaternion->real_part);
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bgc_fp64_quaternion_reset(&quaternion->dual_part);
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}
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// ==================== Copy ==================== //
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inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
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{
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bgc_fp32_quaternion_copy(&destination->real_part, &source->real_part);
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bgc_fp32_quaternion_copy(&destination->dual_part, &source->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
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{
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bgc_fp64_quaternion_copy(&destination->real_part, &source->real_part);
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bgc_fp64_quaternion_copy(&destination->dual_part, &source->dual_part);
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}
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// ==================== Swap ==================== //
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inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second)
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{
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bgc_fp32_quaternion_swap(&first->real_part, &second->real_part);
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bgc_fp32_quaternion_swap(&first->dual_part, &second->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second)
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{
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bgc_fp64_quaternion_swap(&first->real_part, &second->real_part);
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bgc_fp64_quaternion_swap(&first->dual_part, &second->dual_part);
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}
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// ================== Convert =================== //
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inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
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{
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bgc_fp32_quaternion_convert_to_fp64(&destination->real_part, &source->real_part);
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bgc_fp32_quaternion_convert_to_fp64(&destination->dual_part, &source->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
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{
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bgc_fp64_quaternion_convert_to_fp32(&destination->real_part, &source->real_part);
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bgc_fp64_quaternion_convert_to_fp32(&destination->dual_part, &source->dual_part);
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}
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// =================== Revert =================== //
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inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion)
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{
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bgc_fp32_quaternion_revert(&quaternion->real_part);
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bgc_fp32_quaternion_revert(&quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
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{
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bgc_fp64_quaternion_revert(&quaternion->real_part);
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bgc_fp64_quaternion_revert(&quaternion->dual_part);
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}
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// ================ Get Reverse ================= //
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inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion)
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{
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bgc_fp32_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
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bgc_fp32_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion)
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{
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bgc_fp64_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
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bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
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}
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// ==================== Add ===================== //
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inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)
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{
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bgc_fp32_quaternion_add(&sum->real_part, &first->real_part, &second->real_part);
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bgc_fp32_quaternion_add(&sum->dual_part, &first->dual_part, &second->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second)
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{
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bgc_fp64_quaternion_add(&sum->real_part, &first->real_part, &second->real_part);
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bgc_fp64_quaternion_add(&sum->dual_part, &first->dual_part, &second->dual_part);
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}
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// ================= Add Scaled ================= //
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inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
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{
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bgc_fp32_quaternion_add_scaled(&sum->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
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bgc_fp32_quaternion_add_scaled(&sum->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
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}
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inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
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{
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bgc_fp64_quaternion_add_scaled(&sum->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
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bgc_fp64_quaternion_add_scaled(&sum->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
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}
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// ================== Subtract ================== //
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inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend)
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{
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bgc_fp32_quaternion_subtract(&difference->real_part, &minuend->real_part, &subtrahend->real_part);
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bgc_fp32_quaternion_subtract(&difference->dual_part, &minuend->dual_part, &subtrahend->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend)
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{
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bgc_fp64_quaternion_subtract(&difference->real_part, &minuend->real_part, &subtrahend->real_part);
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bgc_fp64_quaternion_subtract(&difference->dual_part, &minuend->dual_part, &subtrahend->dual_part);
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}
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// ============== Subtract Scaled =============== //
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inline void bgc_fp32_dual_quaternion_subtract_scaled(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
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{
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bgc_fp32_quaternion_subtract_scaled(&difference->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
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bgc_fp32_quaternion_subtract_scaled(&difference->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
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}
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inline void bgc_fp64_dual_quaternion_subtract_scaled(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
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{
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bgc_fp64_quaternion_subtract_scaled(&difference->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
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bgc_fp64_quaternion_subtract_scaled(&difference->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
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}
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// ================== Multiply ================== //
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inline void bgc_fp32_dual_quaternion_multiply_by_real_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multiplier)
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{
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bgc_fp32_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier);
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bgc_fp32_quaternion_multiply_by_real(&product->dual_part, &multiplicand->dual_part, multiplier);
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}
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inline void bgc_fp64_dual_quaternion_multiply_by_real(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multiplier)
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{
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bgc_fp64_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier);
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bgc_fp64_quaternion_multiply_by_real(&product->dual_part, &multiplicand->dual_part, multiplier);
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}
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// ========== Multiply by Dual Number =========== //
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inline void bgc_fp32_dual_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualNumber* multiplier)
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{
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BGC_FP32_Quaternion dual_part;
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bgc_fp32_quaternion_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier->real_part);
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bgc_fp32_quaternion_add_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier->dual_part);
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bgc_fp32_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier->real_part);
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bgc_fp32_quaternion_copy(&product->dual_part, &dual_part);
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}
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inline void bgc_fp64_dual_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualNumber* multiplier)
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{
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BGC_FP64_Quaternion dual_part;
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bgc_fp64_quaternion_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier->real_part);
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bgc_fp64_quaternion_add_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier->dual_part);
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bgc_fp64_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier->real_part);
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bgc_fp64_quaternion_copy(&product->dual_part, &dual_part);
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}
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// ===== Multiply by Conjugate Dual Number ====== //
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inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualNumber* multiplier_to_conjugate)
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{
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BGC_FP32_Quaternion dual_part;
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bgc_fp32_quaternion_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier_to_conjugate->real_part);
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bgc_fp32_quaternion_subtract_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier_to_conjugate->dual_part);
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bgc_fp32_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate->real_part);
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bgc_fp32_quaternion_copy(&product->dual_part, &dual_part);
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}
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inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualNumber* multiplier_to_conjugate)
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{
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BGC_FP64_Quaternion dual_part;
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bgc_fp64_quaternion_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier_to_conjugate->real_part);
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bgc_fp64_quaternion_subtract_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier_to_conjugate->dual_part);
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bgc_fp64_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate->real_part);
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bgc_fp64_quaternion_copy(&product->dual_part, &dual_part);
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}
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// =================== Divide =================== //
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inline int bgc_fp32_dual_quaternion_divide_by_real(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const float divisor)
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{
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if (bgc_fp32_is_zero(divisor)) {
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return BGC_FAILURE;
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}
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const float multiplier = 1.0f / divisor;
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bgc_fp32_quaternion_multiply_by_real("ient->real_part, ÷nd->real_part, multiplier);
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bgc_fp32_quaternion_multiply_by_real("ient->dual_part, ÷nd->dual_part, multiplier);
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_quaternion_divide_by_real(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const double divisor)
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{
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if (bgc_fp64_is_zero(divisor)) {
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return BGC_FAILURE;
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}
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const double multiplier = 1.0 / divisor;
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bgc_fp64_quaternion_multiply_by_real("ient->real_part, ÷nd->real_part, multiplier);
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bgc_fp64_quaternion_multiply_by_real("ient->dual_part, ÷nd->dual_part, multiplier);
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return BGC_SUCCESS;
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}
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// =========== Divide by Dual Number ============ //
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inline int bgc_fp32_dual_quaternion_divide_by_dual_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor)
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{
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const float square_modulus = divisor->real_part * divisor->real_part;
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp32_dual_quaternion_multiply_by_conjugate_number(quotient, dividend, divisor);
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bgc_fp32_dual_quaternion_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor)
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{
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const double square_modulus = divisor->real_part * divisor->real_part;
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp64_dual_quaternion_multiply_by_conjugate_number(quotient, dividend, divisor);
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bgc_fp64_dual_quaternion_multiply_by_real(quotient, quotient, 1.0 / square_modulus);
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return BGC_SUCCESS;
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}
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// ====== Divide by Conjugate Dual Number ======= //
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inline int bgc_fp32_dual_quaternion_divide_by_conjugate_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor_to_conjugate)
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{
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const float square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp32_dual_quaternion_multiply_by_dual_number(quotient, dividend, divisor_to_conjugate);
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bgc_fp32_dual_quaternion_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_quaternion_divide_by_conjugate_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor_to_conjugate)
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{
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const double square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp64_dual_quaternion_multiply_by_dual_number(quotient, dividend, divisor_to_conjugate);
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bgc_fp64_dual_quaternion_multiply_by_real(quotient, quotient, 1.0 / square_modulus);
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return BGC_SUCCESS;
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}
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// ================ Mean of Two ================= //
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inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2)
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{
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bgc_fp32_quaternion_get_mean2(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part);
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bgc_fp32_quaternion_get_mean2(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2)
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{
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bgc_fp64_quaternion_get_mean2(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part);
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bgc_fp64_quaternion_get_mean2(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part);
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}
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// =============== Mean of Three ================ //
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inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3)
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{
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bgc_fp32_quaternion_get_mean3(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part, &quaternion3->real_part);
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bgc_fp32_quaternion_get_mean3(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part, &quaternion3->dual_part);
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}
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inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3)
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{
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bgc_fp64_quaternion_get_mean3(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part, &quaternion3->real_part);
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bgc_fp64_quaternion_get_mean3(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part, &quaternion3->dual_part);
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}
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// ============ Linear Interpolation ============ //
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inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase)
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{
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bgc_fp32_quaternion_interpolate(&interpolation->real_part, &first->real_part, &second->real_part, phase);
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bgc_fp32_quaternion_interpolate(&interpolation->dual_part, &first->dual_part, &second->dual_part, phase);
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}
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inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase)
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{
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bgc_fp64_quaternion_interpolate(&interpolation->real_part, &first->real_part, &second->real_part, phase);
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bgc_fp64_quaternion_interpolate(&interpolation->dual_part, &first->dual_part, &second->dual_part, phase);
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}
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#endif
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