182 lines
10 KiB
C
182 lines
10 KiB
C
#include <math.h>
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#include "quaternion.h"
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extern inline void bgc_fp32_quaternion_reset(BGC_FP32_Quaternion* quaternion);
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extern inline void bgc_fp64_quaternion_reset(BGC_FP64_Quaternion* quaternion);
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extern inline void bgc_fp32_quaternion_make_unit(BGC_FP32_Quaternion* quaternion);
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extern inline void bgc_fp64_quaternion_make_unit(BGC_FP64_Quaternion* quaternion);
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extern inline void bgc_fp32_quaternion_make(BGC_FP32_Quaternion* quaternion, const float s0, const float x1, const float x2, const float x3);
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extern inline void bgc_fp64_quaternion_make(BGC_FP64_Quaternion* quaternion, const double s0, const double x1, const double x2, const double x3);
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extern inline float bgc_fp32_quaternion_get_square_modulus(const BGC_FP32_Quaternion* quaternion);
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extern inline double bgc_fp64_quaternion_get_square_modulus(const BGC_FP64_Quaternion* quaternion);
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extern inline float bgc_fp32_quaternion_get_modulus(const BGC_FP32_Quaternion* quaternion);
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extern inline double bgc_fp64_quaternion_get_modulus(const BGC_FP64_Quaternion* quaternion);
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extern inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* quaternion);
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extern inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* quaternion);
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extern inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* quaternion);
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extern inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* quaternion);
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extern inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* destination, const BGC_FP32_Quaternion* source);
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extern inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* destination, const BGC_FP64_Quaternion* source);
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extern inline void bgc_fp32_quaternion_swap(BGC_FP32_Quaternion* quarternion1, BGC_FP32_Quaternion* quarternion2);
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extern inline void bgc_fp64_quaternion_swap(BGC_FP64_Quaternion* quarternion1, BGC_FP64_Quaternion* quarternion2);
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extern inline void bgc_fp32_quaternion_convert_to_fp64(BGC_FP64_Quaternion* destination, const BGC_FP32_Quaternion* source);
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extern inline void bgc_fp64_quaternion_convert_to_fp32(BGC_FP32_Quaternion* destination, const BGC_FP64_Quaternion* source);
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extern inline void bgc_fp32_quaternion_add(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
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extern inline void bgc_fp64_quaternion_add(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
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extern inline void bgc_fp32_quaternion_add_scaled(BGC_FP32_Quaternion* sum, const BGC_FP32_Quaternion* basic_quaternion, const BGC_FP32_Quaternion* scalable_quaternion, const float scale);
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extern inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* sum, const BGC_FP64_Quaternion* basic_quaternion, const BGC_FP64_Quaternion* scalable_quaternion, const double scale);
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extern inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* minuend, const BGC_FP32_Quaternion* subtrahend);
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extern inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* minuend, const BGC_FP64_Quaternion* subtrahend);
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extern inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
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extern inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
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extern inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier);
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extern inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier);
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extern inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor);
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extern inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor);
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extern inline void bgc_fp32_quaternion_divide(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor);
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extern inline void bgc_fp64_quaternion_divide(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor);
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extern inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
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extern inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
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extern inline void bgc_fp32_quaternion_get_mean3(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const BGC_FP32_Quaternion* quaternion3);
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extern inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const BGC_FP64_Quaternion* quaternion3);
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extern inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase);
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extern inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase);
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extern inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion);
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extern inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion);
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extern inline void bgc_fp32_quaternion_get_conjugate(BGC_FP32_Quaternion* conjugate, const BGC_FP32_Quaternion* quaternion);
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extern inline void bgc_fp64_quaternion_get_conjugate(BGC_FP64_Quaternion* conjugate, const BGC_FP64_Quaternion* quaternion);
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extern inline void bgc_fp32_quaternion_revert(BGC_FP32_Quaternion* quaternion);
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extern inline void bgc_fp64_quaternion_revert(BGC_FP64_Quaternion* quaternion);
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extern inline void bgc_fp32_quaternion_get_reverse(BGC_FP32_Quaternion* reverse, const BGC_FP32_Quaternion* quaternion);
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extern inline void bgc_fp64_quaternion_get_reverse(BGC_FP64_Quaternion* reverse, const BGC_FP64_Quaternion* quaternion);
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extern inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* quaternion);
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extern inline int bgc_fp64_quaternion_invert(BGC_FP64_Quaternion* quaternion);
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extern inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const BGC_FP32_Quaternion* quaternion);
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extern inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const BGC_FP64_Quaternion* quaternion);
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extern inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion);
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extern inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion);
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extern inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion);
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extern inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion);
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extern inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion);
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extern inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion);
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extern inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion);
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extern inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion);
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extern inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion);
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extern inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion);
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extern inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
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extern inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
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// =============== Get Exponation =============== //
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int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP32_Quaternion* base, const float exponent)
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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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// isnan(square_modulus) means checking for NaN value at square_modulus
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if (isnan(square_modulus)) {
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return 0;
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}
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if (square_vector <= BGC_FP32_SQUARE_EPSILON) {
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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_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent)
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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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// isnan(square_modulus) means checking for NaN value at square_modulus
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if (isnan(square_modulus)) {
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return 0;
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}
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if (square_vector <= BGC_FP64_SQUARE_EPSILON) {
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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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