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Сложение моторов, формирование систем

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This commit is contained in:
Andrey Pokidov 2025-12-25 02:55:10 +07:00
parent b56deff0b0
commit 43ce51a386
7 changed files with 193 additions and 60 deletions
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1
.gitignore vendored
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@ -48,6 +48,7 @@
*.cmd
.tmp_versions/
.vs
basic-geometry
x64
x86
Debug

2
butis/butis.vcxproj
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@ -162,13 +162,11 @@
<ClInclude Include="butis.h" />
<ClInclude Include="motor.h" />
<ClInclude Include="motor_matrix.h" />
<ClInclude Include="screw.h" />
</ItemGroup>
<ItemGroup>
<ClCompile Include="butis.c" />
<ClCompile Include="motor.c" />
<ClCompile Include="motor_matrix.c" />
<ClCompile Include="screw.c" />
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">

6
butis/butis.vcxproj.filters
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@ -24,9 +24,6 @@
<ClInclude Include="motor_matrix.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="screw.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="butis.c">
@ -38,8 +35,5 @@
<ClCompile Include="motor_matrix.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
<ClCompile Include="screw.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
</ItemGroup>
</Project>

24
butis/motor.c
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@ -3,6 +3,12 @@
extern inline void bt_motor_reset_fp32(BtMotorFP32* motor);
extern inline void bt_motor_reset_fp64(BtMotorFP64* motor);
extern inline void bt_motor_reset_at_point_fp32(const BgcVector3FP32* point, BtMotorFP32* motor);
extern inline void bt_motor_reset_at_point_fp64(const BgcVector3FP64* point, BtMotorFP64* motor);
extern inline void bt_motor_reset_with_values_fp32(const float x1, const float x2, const float x3, BtMotorFP32* motor);
extern inline void bt_motor_reset_with_values_fp64(const double x1, const double x2, const double x3, BtMotorFP64* motor);
extern inline void bt_motor_copy_fp32(const BtMotorFP32* source, BtMotorFP32* destination);
extern inline void bt_motor_copy_fp64(const BtMotorFP64* source, BtMotorFP64* destination);
@ -24,6 +30,24 @@ extern inline void bt_motor_multiply_at_number_fp64(const BtMotorFP64* multiplic
extern inline void bt_motor_divide_at_number_fp32(const BtMotorFP32* divident, const float divisor, BtMotorFP32* quotient);
extern inline void bt_motor_divide_at_number_fp64(const BtMotorFP64* divident, const double divisor, BtMotorFP64* quotient);
extern inline void bt_motor_add_vector_fp32(const BgcVector3FP32* point, const BgcVector3FP32* vector, BtMotorFP32* sum);
extern inline void bt_motor_add_vector_fp64(const BgcVector3FP64* point, const BgcVector3FP64* vector, BtMotorFP64* sum);
extern inline void bt_motor_add_motor_fp32(const BtMotorFP32* motor, BtMotorFP32* sum);
extern inline void bt_motor_add_motor_fp64(const BtMotorFP64* motor, BtMotorFP64* sum);
extern inline void bt_motor_add_scaled_vector_fp32(const BgcVector3FP32* point, const BgcVector3FP32* vector, const float scale, BtMotorFP32* sum);
extern inline void bt_motor_add_scaled_vector_fp64(const BgcVector3FP64* point, const BgcVector3FP64* vector, const double scale, BtMotorFP64* sum);
extern inline void bt_motor_subtract_vector_fp32(const BgcVector3FP32* point, const BgcVector3FP32* vector, BtMotorFP32* difference);
extern inline void bt_motor_subtract_vector_fp64(const BgcVector3FP64* point, const BgcVector3FP64* vector, BtMotorFP64* difference);
extern inline void bt_motor_subtract_scaled_vector_fp32(const BgcVector3FP32* point, const BgcVector3FP32* vector, const float scale, BtMotorFP32* difference);
extern inline void bt_motor_subtract_scaled_vector_fp64(const BgcVector3FP64* point, const BgcVector3FP64* vector, const double scale, BtMotorFP64* differences);
extern inline int bt_motor_is_vector_fp32(const BtMotorFP32* motor);
extern inline int bt_motor_is_vector_fp64(const BtMotorFP64* motor);
extern inline int bt_motor_is_screw_fp32(const BtMotorFP32* motor);
extern inline int bt_motor_is_screw_fp64(const BtMotorFP64* motor);

168
butis/motor.h
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@ -29,6 +29,38 @@ inline void bt_motor_reset_fp64(BtMotorFP64* motor)
bgc_vector3_reset_fp64(&motor->momentum);
}
// =============== Reset At Point =============== //
inline void bt_motor_reset_at_point_fp32(const BgcVector3FP32* point, BtMotorFP32* motor)
{
bgc_vector3_copy_fp32(point, &motor->point);
bgc_vector3_reset_fp32(&motor->vector);
bgc_vector3_reset_fp32(&motor->momentum);
}
inline void bt_motor_reset_at_point_fp64(const BgcVector3FP64* point, BtMotorFP64* motor)
{
bgc_vector3_copy_fp64(point, &motor->point);
bgc_vector3_reset_fp64(&motor->vector);
bgc_vector3_reset_fp64(&motor->momentum);
}
// ============== Reset At Values =============== //
inline void bt_motor_reset_with_values_fp32(const float x1, const float x2, const float x3, BtMotorFP32* motor)
{
bgc_vector3_set_values_fp32(x1, x2, x3, &motor->point);
bgc_vector3_reset_fp32(&motor->vector);
bgc_vector3_reset_fp32(&motor->momentum);
}
inline void bt_motor_reset_with_values_fp64(const double x1, const double x2, const double x3, BtMotorFP64* motor)
{
bgc_vector3_set_values_fp64(x1, x2, x3, &motor->point);
bgc_vector3_reset_fp64(&motor->vector);
bgc_vector3_reset_fp64(&motor->momentum);
}
// ==================== Copy ==================== //
inline void bt_motor_copy_fp32(const BtMotorFP32* source, BtMotorFP32* destination)
@ -149,6 +181,142 @@ inline void bt_motor_divide_at_number_fp64(const BtMotorFP64* divident, const do
bt_motor_multiply_at_number_fp64(divident, 1.0 / divisor, quotient);
}
// ==================== Add ===================== //
inline void bt_motor_add_vector_fp32(const BgcVector3FP32* point, const BgcVector3FP32* vector, BtMotorFP32* sum)
{
BgcVector3FP32 distance, momentum;
bgc_vector3_subtract_fp32(point, &sum->point, &distance);
bgc_vector3_get_cross_product_fp32(&distance, vector, &momentum);
bgc_vector3_add_fp32(&sum->vector, vector, &sum->vector);
bgc_vector3_add_fp32(&sum->momentum, &momentum, &sum->momentum);
}
inline void bt_motor_add_vector_fp64(const BgcVector3FP64* point, const BgcVector3FP64* vector, BtMotorFP64* sum)
{
BgcVector3FP64 distance, momentum;
bgc_vector3_subtract_fp64(point, &sum->point, &distance);
bgc_vector3_get_cross_product_fp64(&distance, vector, &momentum);
bgc_vector3_add_fp64(&sum->vector, vector, &sum->vector);
bgc_vector3_add_fp64(&sum->momentum, &momentum, &sum->momentum);
}
// ================= Add Motor ================== //
inline void bt_motor_add_motor_fp32(const BtMotorFP32* motor, BtMotorFP32* sum)
{
BgcVector3FP32 distance, momentum;
bgc_vector3_subtract_fp32(&motor->point, &sum->point, &distance);
bgc_vector3_get_cross_product_fp32(&distance, &motor->vector, &momentum);
bgc_vector3_add_fp32(&momentum, &motor->vector, &momentum);
bgc_vector3_add_fp32(&sum->vector, &motor->vector, &sum->vector);
bgc_vector3_add_fp32(&sum->momentum, &momentum, &sum->momentum);
}
inline void bt_motor_add_motor_fp64(const BtMotorFP64* motor, BtMotorFP64* sum)
{
BgcVector3FP64 distance, momentum;
bgc_vector3_subtract_fp64(&motor->point, &sum->point, &distance);
bgc_vector3_get_cross_product_fp64(&distance, &motor->vector, &momentum);
bgc_vector3_add_fp64(&momentum, &motor->vector, &momentum);
bgc_vector3_add_fp64(&sum->vector, &motor->vector, &sum->vector);
bgc_vector3_add_fp64(&sum->momentum, &momentum, &sum->momentum);
}
// ================= Add Scaled ================= //
inline void bt_motor_add_scaled_vector_fp32(const BgcVector3FP32* point, const BgcVector3FP32* vector, const float scale, BtMotorFP32* sum)
{
BgcVector3FP32 distance, momentum;
bgc_vector3_subtract_fp32(point, &sum->point, &distance);
bgc_vector3_get_cross_product_fp32(&distance, vector, &momentum);
bgc_vector3_add_scaled_fp32(&sum->vector, vector, scale, &sum->vector);
bgc_vector3_add_scaled_fp32(&sum->momentum, &momentum, scale, &sum->momentum);
}
inline void bt_motor_add_scaled_vector_fp64(const BgcVector3FP64* point, const BgcVector3FP64* vector, const double scale, BtMotorFP64* sum)
{
BgcVector3FP64 distance, momentum;
bgc_vector3_subtract_fp64(point, &sum->point, &distance);
bgc_vector3_get_cross_product_fp64(&distance, vector, &momentum);
bgc_vector3_add_scaled_fp64(&sum->vector, vector, scale, &sum->vector);
bgc_vector3_add_scaled_fp64(&sum->momentum, &momentum, scale, &sum->momentum);
}
// ================== Subtract ================== //
inline void bt_motor_subtract_vector_fp32(const BgcVector3FP32* point, const BgcVector3FP32* vector, BtMotorFP32* difference)
{
BgcVector3FP32 distance, momentum;
bgc_vector3_subtract_fp32(point, &difference->point, &distance);
bgc_vector3_get_cross_product_fp32(&distance, vector, &momentum);
bgc_vector3_subtract_fp32(&difference->vector, vector, &difference->vector);
bgc_vector3_subtract_fp32(&difference->momentum, &momentum, &difference->momentum);
}
inline void bt_motor_subtract_vector_fp64(const BgcVector3FP64* point, const BgcVector3FP64* vector, BtMotorFP64* difference)
{
BgcVector3FP64 distance, momentum;
bgc_vector3_subtract_fp64(point, &difference->point, &distance);
bgc_vector3_get_cross_product_fp64(&distance, vector, &momentum);
bgc_vector3_subtract_fp64(&difference->vector, vector, &difference->vector);
bgc_vector3_subtract_fp64(&difference->momentum, &momentum, &difference->momentum);
}
// ============== Subtract Scaled =============== //
inline void bt_motor_subtract_scaled_vector_fp32(const BgcVector3FP32* point, const BgcVector3FP32* vector, const float scale, BtMotorFP32* motor)
{
BgcVector3FP32 distance, momentum;
bgc_vector3_subtract_fp32(point, &motor->point, &distance);
bgc_vector3_get_cross_product_fp32(&distance, vector, &momentum);
bgc_vector3_subtract_scaled_fp32(&motor->vector, vector, scale, &motor->vector);
bgc_vector3_subtract_scaled_fp32(&motor->momentum, &momentum, scale, &motor->momentum);
}
inline void bt_motor_subtract_scaled_vector_fp64(const BgcVector3FP64* point, const BgcVector3FP64* vector, const double scale, BtMotorFP64* motor)
{
BgcVector3FP64 distance, momentum;
bgc_vector3_subtract_fp64(point, &motor->point, &distance);
bgc_vector3_get_cross_product_fp64(&distance, vector, &momentum);
bgc_vector3_subtract_scaled_fp64(&motor->vector, vector, scale, &motor->vector);
bgc_vector3_subtract_scaled_fp64(&motor->momentum, &momentum, scale, &motor->momentum);
}
// ================= Is Vector ================== //
inline int bt_motor_is_vector_fp32(const BtMotorFP32* motor)
{
return bgc_vector3_are_orthogonal_fp32(&motor->vector, &motor->momentum);
}
inline int bt_motor_is_vector_fp64(const BtMotorFP64* motor)
{
return bgc_vector3_are_orthogonal_fp64(&motor->vector, &motor->momentum);
}
// ================== Is Screw ================== //
inline int bt_motor_is_screw_fp32(const BtMotorFP32* motor)

4
butis/screw.c
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@ -1,4 +0,0 @@
#include "screw.h"
extern inline void bt_screw_reset_fp32(BtScrewFP32* screw);
extern inline void bt_screw_reset_fp64(BtScrewFP64* screw);

48
butis/screw.h
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@ -1,48 +0,0 @@
#ifndef _BUTIS_SCREW_H_INCLUDE_
#define _BUTIS_SCREW_H_INCLUDE_
#include <basic-geometry.h>
// =================== Types ==================== //
typedef struct {
BgcVector3FP32 point, direction;
float value, momentum;
} BtScrewFP32;
typedef struct {
BgcVector3FP64 point, direction;
double value, momentum;
} BtScrewFP64;
// =================== Reset ==================== //
inline void bt_screw_reset_fp32(BtScrewFP32* screw)
{
screw->point.x1 = 0.0f;
screw->point.x2 = 0.0f;
screw->point.x3 = 0.0f;
screw->direction.x1 = 1.0f;
screw->direction.x2 = 0.0f;
screw->direction.x3 = 0.0f;
screw->value = 0.0f;
screw->momentum = 0.0f;
}
inline void bt_screw_reset_fp64(BtScrewFP64* screw)
{
screw->point.x1 = 0.0;
screw->point.x2 = 0.0;
screw->point.x3 = 0.0;
screw->direction.x1 = 1.0;
screw->direction.x2 = 0.0;
screw->direction.x3 = 0.0;
screw->value = 0.0f;
screw->momentum = 0.0f;
}
#endif