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Начальная версия проекта

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Andrey Pokidov 2025-12-24 03:12:34 +07:00
parent a266b19478
commit b56deff0b0
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# ---> C
# Prerequisites
*.d
# Object files
*.o
*.ko
*.obj
*.elf
# Linker output
*.ilk
*.map
*.exp
# Precompiled Headers
*.gch
*.pch
# Libraries
*.lib
*.a
*.la
*.lo
# Shared objects (inc. Windows DLLs)
*.dll
*.so
*.so.*
*.dylib
# Executables
*.exe
*.out
*.app
*.i*86
*.x86_64
*.hex
# Debug files
*.dSYM/
*.su
*.idb
*.pdb
# Kernel Module Compile Results
*.mod*
*.cmd
.tmp_versions/
.vs
x64
x86
Debug
Release
bin
obj
modules.order
Module.symvers
Mkfile.old
dkms.conf
bin
obj
logs
*.layout
*.depend
*.user

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Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 17
VisualStudioVersion = 17.1.32421.90
MinimumVisualStudioVersion = 10.0.40219.1
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ProjectSection(ProjectDependencies) = postProject
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EndProjectSection
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "basic-geometry", "basic-geometry\basic-geometry.vcxproj", "{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|x64 = Debug|x64
Debug|x86 = Debug|x86
Release|x64 = Release|x64
Release|x86 = Release|x86
EndGlobalSection
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{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Debug|x64.Build.0 = Debug|x64
{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Debug|x86.ActiveCfg = Debug|Win32
{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Debug|x86.Build.0 = Debug|Win32
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{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Release|x86.Build.0 = Release|Win32
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Debug|x64.ActiveCfg = Debug|x64
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Debug|x64.Build.0 = Debug|x64
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Debug|x86.ActiveCfg = Debug|Win32
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Debug|x86.Build.0 = Debug|Win32
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Release|x64.ActiveCfg = Release|x64
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Release|x64.Build.0 = Release|x64
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Release|x86.ActiveCfg = Release|Win32
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Release|x86.Build.0 = Release|Win32
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {ED50005A-8144-45FE-A461-637C9607FEA8}
EndGlobalSection
EndGlobal

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#include "butis.h"

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#ifndef _BUTIS_H_INCLUDE_
#define _BUTIS_H_INCLUDE_
#include "motor.h"
#endif

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#include "motor.h"
extern inline void bt_motor_reset_fp32(BtMotorFP32* motor);
extern inline void bt_motor_reset_fp64(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);
extern inline void bt_motor_convert_fp32_to_fp64(const BtMotorFP32* source, BtMotorFP64* destination);
extern inline void bt_motor_convert_fp64_to_fp32(const BtMotorFP64* source, BtMotorFP32* destination);
extern inline void bt_motor_swap_fp32(BtMotorFP32* motor1, BtMotorFP32* motor2);
extern inline void bt_motor_swap_fp64(BtMotorFP64* motor1, BtMotorFP64* motor2);
extern inline void bt_motor_shift_at_fp32(const BtMotorFP32* motor, const BgcVector3FP32* shift, BtMotorFP32* moved);
extern inline void bt_motor_shift_at_fp64(const BtMotorFP64* motor, const BgcVector3FP64* shift, BtMotorFP64* moved);
extern inline void bt_motor_shift_to_fp32(const BtMotorFP32* motor, const BgcVector3FP32* destination, BtMotorFP32* moved);
extern inline void bt_motor_shift_to_fp64(const BtMotorFP64* motor, const BgcVector3FP64* destination, BtMotorFP64* moved);
extern inline void bt_motor_multiply_at_number_fp32(const BtMotorFP32* multiplicand, const float multiplier, BtMotorFP32* product);
extern inline void bt_motor_multiply_at_number_fp64(const BtMotorFP64* multiplicand, const double multiplier, BtMotorFP64* product);
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 int bt_motor_is_screw_fp32(const BtMotorFP32* motor);
extern inline int bt_motor_is_screw_fp64(const BtMotorFP64* motor);
extern inline void bt_motor_make_screw_fp32(BtMotorFP32* motor);
extern inline void bt_motor_make_screw_fp64(BtMotorFP64* motor);
extern inline void bt_motor_get_screw_fp32(const BtMotorFP32* motor, BtMotorFP32* screw);
extern inline void bt_motor_get_screw_fp64(const BtMotorFP64* motor, BtMotorFP64* screw);

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#ifndef _BUTIS_MOTOR_H_INCLUDE_
#define _BUTIS_MOTOR_H_INCLUDE_
#include <basic-geometry.h>
// =================== Types ==================== //
typedef struct {
BgcVector3FP32 point, vector, momentum;
} BtMotorFP32;
typedef struct {
BgcVector3FP64 point, vector, momentum;
} BtMotorFP64;
// =================== Reset ==================== //
inline void bt_motor_reset_fp32(BtMotorFP32* motor)
{
bgc_vector3_reset_fp32(&motor->point);
bgc_vector3_reset_fp32(&motor->vector);
bgc_vector3_reset_fp32(&motor->momentum);
}
inline void bt_motor_reset_fp64(BtMotorFP64* motor)
{
bgc_vector3_reset_fp64(&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)
{
bgc_vector3_copy_fp32(&source->point, &destination->point);
bgc_vector3_copy_fp32(&source->vector, &destination->vector);
bgc_vector3_copy_fp32(&source->momentum, &destination->momentum);
}
inline void bt_motor_copy_fp64(const BtMotorFP64* source, BtMotorFP64* destination)
{
bgc_vector3_copy_fp64(&source->point, &destination->point);
bgc_vector3_copy_fp64(&source->vector, &destination->vector);
bgc_vector3_copy_fp64(&source->momentum, &destination->momentum);
}
// ================== Convert =================== //
inline void bt_motor_convert_fp32_to_fp64(const BtMotorFP32* source, BtMotorFP64* destination)
{
bgc_vector3_convert_fp32_to_fp64(&source->point, &destination->point);
bgc_vector3_convert_fp32_to_fp64(&source->vector, &destination->vector);
bgc_vector3_convert_fp32_to_fp64(&source->momentum, &destination->momentum);
}
inline void bt_motor_convert_fp64_to_fp32(const BtMotorFP64* source, BtMotorFP32* destination)
{
bgc_vector3_convert_fp64_to_fp32(&source->point, &destination->point);
bgc_vector3_convert_fp64_to_fp32(&source->vector, &destination->vector);
bgc_vector3_convert_fp64_to_fp32(&source->momentum, &destination->momentum);
}
// ==================== Swap ==================== //
inline void bt_motor_swap_fp32(BtMotorFP32* motor1, BtMotorFP32* motor2)
{
bgc_vector3_swap_fp32(&motor2->point, &motor2->point);
bgc_vector3_swap_fp32(&motor2->vector, &motor2->vector);
bgc_vector3_swap_fp32(&motor2->momentum, &motor2->momentum);
}
inline void bt_motor_swap_fp64(BtMotorFP64* motor1, BtMotorFP64* motor2)
{
bgc_vector3_swap_fp64(&motor2->point, &motor2->point);
bgc_vector3_swap_fp64(&motor2->vector, &motor2->vector);
bgc_vector3_swap_fp64(&motor2->momentum, &motor2->momentum);
}
// ================== Shift At ================== //
inline void bt_motor_shift_at_fp32(const BtMotorFP32* motor, const BgcVector3FP32* shift, BtMotorFP32* moved)
{
BgcVector3FP32 momentum_difference;
bgc_vector3_get_cross_product_fp32(shift, &motor->vector, &momentum_difference);
bgc_vector3_copy_fp32(&motor->vector, &moved->vector);
bgc_vector3_subtract_fp32(&motor->momentum, &momentum_difference, &moved->vector);
bgc_vector3_add_fp32(&motor->point, shift, &moved->point);
}
inline void bt_motor_shift_at_fp64(const BtMotorFP64* motor, const BgcVector3FP64* shift, BtMotorFP64* moved)
{
BgcVector3FP64 momentum_difference;
bgc_vector3_get_cross_product_fp64(shift, &motor->vector, &momentum_difference);
bgc_vector3_subtract_fp64(&motor->momentum, &momentum_difference, &moved->vector);
bgc_vector3_copy_fp64(&motor->vector, &moved->vector);
bgc_vector3_add_fp64(&motor->point, shift, &moved->point);
}
// ================== Shift To ================== //
inline void bt_motor_shift_to_fp32(const BtMotorFP32* motor, const BgcVector3FP32* destination, BtMotorFP32* moved)
{
BgcVector3FP32 shift;
BgcVector3FP32 momentum_change;
bgc_vector3_subtract_fp32(&motor->point, destination, &shift);
bgc_vector3_get_cross_product_fp32(&shift, &motor->vector, &momentum_change);
bgc_vector3_copy_fp32(destination, &moved->point);
bgc_vector3_copy_fp32(&motor->vector, &moved->vector);
bgc_vector3_add_fp32(&motor->momentum, &momentum_change, &moved->momentum);
}
inline void bt_motor_shift_to_fp64(const BtMotorFP64* motor, const BgcVector3FP64* destination, BtMotorFP64* moved)
{
BgcVector3FP64 shift;
BgcVector3FP64 momentum_change;
bgc_vector3_subtract_fp64(&motor->point, destination, &shift);
bgc_vector3_get_cross_product_fp64(&shift, &motor->vector, &momentum_change);
bgc_vector3_copy_fp64(destination, &moved->point);
bgc_vector3_copy_fp64(&motor->vector, &moved->vector);
bgc_vector3_add_fp64(&motor->momentum, &momentum_change, &moved->momentum);
}
// ================== Multiply ================== //
inline void bt_motor_multiply_at_number_fp32(const BtMotorFP32* multiplicand, const float multiplier, BtMotorFP32* product)
{
bgc_vector3_copy_fp32(&multiplicand->point, &product->point);
bgc_vector3_multiply_fp32(&multiplicand->vector, multiplier, &product->vector);
bgc_vector3_multiply_fp32(&multiplicand->momentum, multiplier, &product->momentum);
}
inline void bt_motor_multiply_at_number_fp64(const BtMotorFP64* multiplicand, const double multiplier, BtMotorFP64* product)
{
bgc_vector3_copy_fp64(&multiplicand->point, &product->point);
bgc_vector3_multiply_fp64(&multiplicand->vector, multiplier, &product->vector);
bgc_vector3_multiply_fp64(&multiplicand->momentum, multiplier, &product->momentum);
}
// =================== Divide =================== //
inline void bt_motor_divide_at_number_fp32(const BtMotorFP32* divident, const float divisor, BtMotorFP32* quotient)
{
bt_motor_multiply_at_number_fp32(divident, 1.0f / divisor, quotient);
}
inline void bt_motor_divide_at_number_fp64(const BtMotorFP64* divident, const double divisor, BtMotorFP64* quotient)
{
bt_motor_multiply_at_number_fp64(divident, 1.0 / divisor, quotient);
}
// ================== Is Screw ================== //
inline int bt_motor_is_screw_fp32(const BtMotorFP32* motor)
{
return bgc_vector3_are_parallel_fp32(&motor->vector, &motor->momentum);
}
inline int bt_motor_is_screw_fp64(const BtMotorFP64* motor)
{
return bgc_vector3_are_parallel_fp64(&motor->vector, &motor->momentum);
}
// ================= Make Screw ================= //
inline void bt_motor_make_screw_fp32(BtMotorFP32* motor)
{
const float square_vector = bgc_vector3_get_square_modulus_fp32(&motor->vector);
if (square_vector <= BGC_SQUARE_EPSYLON_FP32) {
return;
}
const float multiplier = 1.0f / square_vector;
BgcVector3FP32 cross_product;
bgc_vector3_get_cross_product_fp32(&motor->vector, &motor->momentum, &cross_product);
bgc_vector3_add_scaled_fp32(&motor->point, &cross_product, multiplier, &motor->point);
bgc_vector3_multiply_fp32(&motor->vector, multiplier * bgc_vector3_get_scalar_product_fp32(&motor->vector, &motor->momentum), &motor->momentum);
}
inline void bt_motor_make_screw_fp64(BtMotorFP64* motor)
{
const double square_vector = bgc_vector3_get_square_modulus_fp64(&motor->vector);
if (square_vector <= BGC_SQUARE_EPSYLON_FP64) {
return;
}
const double multiplier = 1.0 / square_vector;
BgcVector3FP64 cross_product;
bgc_vector3_get_cross_product_fp64(&motor->vector, &motor->momentum, &cross_product);
bgc_vector3_add_scaled_fp64(&motor->point, &cross_product, multiplier, &motor->point);
bgc_vector3_multiply_fp64(&motor->vector, multiplier * bgc_vector3_get_scalar_product_fp64(&motor->vector, &motor->momentum), &motor->momentum);
}
// ================= Get Screw ================== //
inline void bt_motor_get_screw_fp32(const BtMotorFP32* motor, BtMotorFP32* screw)
{
const float square_vector = bgc_vector3_get_square_modulus_fp32(&motor->vector);
bgc_vector3_copy_fp32(&motor->vector, &screw->vector);
if (square_vector <= BGC_SQUARE_EPSYLON_FP32) {
bgc_vector3_copy_fp32(&motor->point, &screw->point);
bgc_vector3_copy_fp32(&motor->momentum, &screw->momentum);
return;
}
const float multiplier = 1.0f / square_vector;
BgcVector3FP32 cross_product;
bgc_vector3_get_cross_product_fp32(&motor->vector, &motor->momentum, &cross_product);
bgc_vector3_add_scaled_fp32(&motor->point, &cross_product, multiplier, &screw->point);
bgc_vector3_multiply_fp32(&motor->vector, multiplier * bgc_vector3_get_scalar_product_fp32(&motor->vector, &motor->momentum), &screw->momentum);
}
inline void bt_motor_get_screw_fp64(const BtMotorFP64* motor, BtMotorFP64* screw)
{
const double square_vector = bgc_vector3_get_square_modulus_fp64(&motor->vector);
bgc_vector3_copy_fp64(&motor->vector, &screw->vector);
if (square_vector <= BGC_SQUARE_EPSYLON_FP64) {
bgc_vector3_copy_fp64(&motor->point, &screw->point);
bgc_vector3_copy_fp64(&motor->momentum, &screw->momentum);
return;
}
const double multiplier = 1.0 / square_vector;
BgcVector3FP64 cross_product;
bgc_vector3_get_cross_product_fp64(&motor->vector, &motor->momentum, &cross_product);
bgc_vector3_add_scaled_fp64(&motor->point, &cross_product, multiplier, &screw->point);
bgc_vector3_multiply_fp64(&motor->vector, multiplier * bgc_vector3_get_scalar_product_fp64(&motor->vector, &motor->momentum), &screw->momentum);
}
#endif

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#include "motor_matrix.h"
extern inline void bt_matrix_reset_fp32(BtMatrixFP32* matrix);
extern inline void bt_matrix_reset_fp64(BtMatrixFP64* matrix);

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#ifndef _BUTIS_MOTOR_MATRIX_H_INCLUDE_
#define _BUTIS_MOTOR_MATRIX_H_INCLUDE_
#include <basic-geometry.h>
// =================== Types ==================== //
typedef struct {
float r1c1, r1c2, r1c3, r1c4, r1c5, r1c6;
float r2c1, r2c2, r2c3, r2c4, r2c5, r2c6;
float r3c1, r3c2, r3c3, r3c4, r3c5, r3c6;
float r4c1, r4c2, r4c3, r4c4, r4c5, r4c6;
float r5c1, r5c2, r5c3, r5c4, r5c5, r5c6;
float r6c1, r6c2, r6c3, r6c4, r6c5, r6c6;
} BtMatrixFP32;
typedef struct {
double r1c1, r1c2, r1c3, r1c4, r1c5, r1c6;
double r2c1, r2c2, r2c3, r2c4, r2c5, r2c6;
double r3c1, r3c2, r3c3, r3c4, r3c5, r3c6;
double r4c1, r4c2, r4c3, r4c4, r4c5, r4c6;
double r5c1, r5c2, r5c3, r5c4, r5c5, r5c6;
double r6c1, r6c2, r6c3, r6c4, r6c5, r6c6;
} BtMatrixFP64;
// =================== Reset ==================== //
inline void bt_matrix_reset_fp32(BtMatrixFP32* matrix)
{
matrix->r1c1 = 1.0f;
matrix->r1c2 = 0.0f;
matrix->r1c3 = 0.0f;
matrix->r1c4 = 0.0f;
matrix->r1c5 = 0.0f;
matrix->r1c6 = 0.0f;
matrix->r2c1 = 0.0f;
matrix->r2c2 = 1.0f;
matrix->r2c3 = 0.0f;
matrix->r2c4 = 0.0f;
matrix->r2c5 = 0.0f;
matrix->r2c6 = 0.0f;
matrix->r3c1 = 0.0f;
matrix->r3c2 = 0.0f;
matrix->r3c3 = 1.0f;
matrix->r3c4 = 0.0f;
matrix->r3c5 = 0.0f;
matrix->r3c6 = 0.0f;
matrix->r4c1 = 0.0f;
matrix->r4c2 = 0.0f;
matrix->r4c3 = 0.0f;
matrix->r4c4 = 1.0f;
matrix->r4c5 = 0.0f;
matrix->r4c6 = 0.0f;
matrix->r5c1 = 0.0f;
matrix->r5c2 = 0.0f;
matrix->r5c3 = 0.0f;
matrix->r5c4 = 0.0f;
matrix->r5c5 = 1.0f;
matrix->r5c6 = 0.0f;
matrix->r6c1 = 0.0f;
matrix->r6c2 = 0.0f;
matrix->r6c3 = 0.0f;
matrix->r6c4 = 0.0f;
matrix->r6c5 = 0.0f;
matrix->r6c6 = 1.0f;
}
inline void bt_matrix_reset_fp64(BtMatrixFP64* matrix)
{
matrix->r1c1 = 1.0;
matrix->r1c2 = 0.0;
matrix->r1c3 = 0.0;
matrix->r1c4 = 0.0;
matrix->r1c5 = 0.0;
matrix->r1c6 = 0.0;
matrix->r2c1 = 0.0;
matrix->r2c2 = 1.0;
matrix->r2c3 = 0.0;
matrix->r2c4 = 0.0;
matrix->r2c5 = 0.0;
matrix->r2c6 = 0.0;
matrix->r3c1 = 0.0;
matrix->r3c2 = 0.0;
matrix->r3c3 = 1.0;
matrix->r3c4 = 0.0;
matrix->r3c5 = 0.0;
matrix->r3c6 = 0.0;
matrix->r4c1 = 0.0;
matrix->r4c2 = 0.0;
matrix->r4c3 = 0.0;
matrix->r4c4 = 1.0;
matrix->r4c5 = 0.0;
matrix->r4c6 = 0.0;
matrix->r5c1 = 0.0;
matrix->r5c2 = 0.0;
matrix->r5c3 = 0.0;
matrix->r5c4 = 0.0;
matrix->r5c5 = 1.0;
matrix->r5c6 = 0.0;
matrix->r6c1 = 0.0;
matrix->r6c2 = 0.0;
matrix->r6c3 = 0.0;
matrix->r6c4 = 0.0;
matrix->r6c5 = 0.0;
matrix->r6c6 = 1.0;
}
#endif

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#include "screw.h"
extern inline void bt_screw_reset_fp32(BtScrewFP32* screw);
extern inline void bt_screw_reset_fp64(BtScrewFP64* screw);

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#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