Начальная версия проекта
This commit is contained in:
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a266b19478
commit
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13 changed files with 799 additions and 0 deletions
66
.gitignore
vendored
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66
.gitignore
vendored
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# ---> C
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# Prerequisites
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*.d
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# Object files
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*.o
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*.ko
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*.obj
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*.elf
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# Linker output
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||||||
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*.ilk
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*.map
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*.exp
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# Precompiled Headers
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*.gch
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*.pch
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# Libraries
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*.lib
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*.a
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*.la
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*.lo
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# Shared objects (inc. Windows DLLs)
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*.dll
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*.so
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*.so.*
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*.dylib
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# Executables
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*.exe
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*.out
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*.app
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*.i*86
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*.x86_64
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*.hex
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# Debug files
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*.dSYM/
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*.su
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*.idb
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*.pdb
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# Kernel Module Compile Results
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*.mod*
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*.cmd
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.tmp_versions/
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.vs
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x64
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x86
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Debug
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Release
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bin
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obj
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modules.order
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Module.symvers
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Mkfile.old
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dkms.conf
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bin
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obj
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logs
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*.layout
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*.depend
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*.user
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44
Butis-C.sln
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44
Butis-C.sln
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Microsoft Visual Studio Solution File, Format Version 12.00
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# Visual Studio Version 17
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VisualStudioVersion = 17.1.32421.90
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MinimumVisualStudioVersion = 10.0.40219.1
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "butis", "butis\butis.vcxproj", "{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}"
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ProjectSection(ProjectDependencies) = postProject
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||||||
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{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7} = {40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}
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EndProjectSection
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "basic-geometry", "basic-geometry\basic-geometry.vcxproj", "{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|x64 = Debug|x64
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Debug|x86 = Debug|x86
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Release|x64 = Release|x64
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Release|x86 = Release|x86
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EndGlobalSection
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GlobalSection(ProjectConfigurationPlatforms) = postSolution
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{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Debug|x64.ActiveCfg = Debug|x64
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|
{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Debug|x64.Build.0 = Debug|x64
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|
{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Debug|x86.ActiveCfg = Debug|Win32
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|
{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Debug|x86.Build.0 = Debug|Win32
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|
{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Release|x64.ActiveCfg = Release|x64
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|
{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Release|x64.Build.0 = Release|x64
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|
{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Release|x86.ActiveCfg = Release|Win32
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|
{3B57B227-EFF3-4A3F-A692-A1FD75CB752A}.Release|x86.Build.0 = Release|Win32
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|
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Debug|x64.ActiveCfg = Debug|x64
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|
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Debug|x64.Build.0 = Debug|x64
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|
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Debug|x86.ActiveCfg = Debug|Win32
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|
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Debug|x86.Build.0 = Debug|Win32
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|
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Release|x64.ActiveCfg = Release|x64
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|
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Release|x64.Build.0 = Release|x64
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|
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Release|x86.ActiveCfg = Release|Win32
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|
{40CA6FB4-135F-4D54-A8D9-7338BA56E6A7}.Release|x86.Build.0 = Release|Win32
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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EndGlobalSection
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GlobalSection(ExtensibilityGlobals) = postSolution
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SolutionGuid = {ED50005A-8144-45FE-A461-637C9607FEA8}
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EndGlobalSection
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EndGlobal
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2
butis/butis.c
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2
butis/butis.c
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#include "butis.h"
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6
butis/butis.h
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6
butis/butis.h
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#ifndef _BUTIS_H_INCLUDE_
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#define _BUTIS_H_INCLUDE_
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#include "motor.h"
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#endif
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176
butis/butis.vcxproj
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176
butis/butis.vcxproj
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<?xml version="1.0" encoding="utf-8"?>
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<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<ItemGroup Label="ProjectConfigurations">
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|
<ProjectConfiguration Include="Debug|Win32">
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<Configuration>Debug</Configuration>
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<Platform>Win32</Platform>
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</ProjectConfiguration>
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<ProjectConfiguration Include="Release|Win32">
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<Configuration>Release</Configuration>
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<Platform>Win32</Platform>
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</ProjectConfiguration>
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<ProjectConfiguration Include="Debug|x64">
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<Configuration>Debug</Configuration>
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<Platform>x64</Platform>
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</ProjectConfiguration>
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<ProjectConfiguration Include="Release|x64">
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<Configuration>Release</Configuration>
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<Platform>x64</Platform>
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</ProjectConfiguration>
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</ItemGroup>
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<PropertyGroup Label="Globals">
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<VCProjectVersion>16.0</VCProjectVersion>
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<Keyword>Win32Proj</Keyword>
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<ProjectGuid>{3b57b227-eff3-4a3f-a692-a1fd75cb752a}</ProjectGuid>
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<RootNamespace>butis</RootNamespace>
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<WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
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</PropertyGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
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<ConfigurationType>StaticLibrary</ConfigurationType>
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<UseDebugLibraries>true</UseDebugLibraries>
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<PlatformToolset>v143</PlatformToolset>
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<CharacterSet>Unicode</CharacterSet>
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|
</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
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<ConfigurationType>StaticLibrary</ConfigurationType>
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<UseDebugLibraries>false</UseDebugLibraries>
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||||||
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<PlatformToolset>v143</PlatformToolset>
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||||||
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<WholeProgramOptimization>true</WholeProgramOptimization>
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||||||
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<CharacterSet>Unicode</CharacterSet>
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||||||
|
</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
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<ConfigurationType>StaticLibrary</ConfigurationType>
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<UseDebugLibraries>true</UseDebugLibraries>
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<PlatformToolset>v143</PlatformToolset>
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<CharacterSet>Unicode</CharacterSet>
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||||||
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</PropertyGroup>
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|
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
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||||||
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<ConfigurationType>StaticLibrary</ConfigurationType>
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||||||
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<UseDebugLibraries>false</UseDebugLibraries>
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||||||
|
<PlatformToolset>v143</PlatformToolset>
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||||||
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<WholeProgramOptimization>true</WholeProgramOptimization>
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||||||
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<CharacterSet>Unicode</CharacterSet>
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||||||
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</PropertyGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
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||||||
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<ImportGroup Label="ExtensionSettings">
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||||||
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</ImportGroup>
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||||||
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<ImportGroup Label="Shared">
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||||||
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</ImportGroup>
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||||||
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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||||||
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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||||||
|
</ImportGroup>
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||||||
|
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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||||||
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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||||||
|
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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||||||
|
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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||||||
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</ImportGroup>
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||||||
|
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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||||||
|
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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||||||
|
</ImportGroup>
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||||||
|
<PropertyGroup Label="UserMacros" />
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||||||
|
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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||||||
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<LinkIncremental>true</LinkIncremental>
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||||||
|
</PropertyGroup>
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||||||
|
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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||||||
|
<LinkIncremental>false</LinkIncremental>
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||||||
|
</PropertyGroup>
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||||||
|
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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||||||
|
<LinkIncremental>true</LinkIncremental>
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||||||
|
</PropertyGroup>
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||||||
|
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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||||||
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<LinkIncremental>false</LinkIncremental>
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||||||
|
</PropertyGroup>
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||||||
|
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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||||||
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<ClCompile>
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||||||
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<WarningLevel>Level3</WarningLevel>
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||||||
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<SDLCheck>true</SDLCheck>
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||||||
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<PreprocessorDefinitions>WIN32;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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||||||
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<ConformanceMode>true</ConformanceMode>
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||||||
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<PrecompiledHeader>NotUsing</PrecompiledHeader>
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||||||
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<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
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||||||
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<CompileAs>CompileAsC</CompileAs>
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||||||
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<AdditionalIncludeDirectories>$(SolutionDir)basic-geometry;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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||||||
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</ClCompile>
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||||||
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<Link>
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||||||
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<SubSystem>
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||||||
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</SubSystem>
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||||||
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<GenerateDebugInformation>true</GenerateDebugInformation>
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||||||
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</Link>
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||||||
|
</ItemDefinitionGroup>
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||||||
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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||||||
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<ClCompile>
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||||||
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<WarningLevel>Level3</WarningLevel>
|
||||||
|
<FunctionLevelLinking>true</FunctionLevelLinking>
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||||||
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<IntrinsicFunctions>true</IntrinsicFunctions>
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||||||
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<SDLCheck>true</SDLCheck>
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||||||
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<PreprocessorDefinitions>WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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||||||
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<ConformanceMode>true</ConformanceMode>
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||||||
|
<PrecompiledHeader>NotUsing</PrecompiledHeader>
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||||||
|
<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
|
||||||
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<CompileAs>CompileAsC</CompileAs>
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<AdditionalIncludeDirectories>$(SolutionDir)basic-geometry;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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</ClCompile>
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<Link>
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||||||
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<SubSystem>
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</SubSystem>
|
||||||
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<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||||
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<OptimizeReferences>true</OptimizeReferences>
|
||||||
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<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||||
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</Link>
|
||||||
|
</ItemDefinitionGroup>
|
||||||
|
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||||
|
<ClCompile>
|
||||||
|
<WarningLevel>Level3</WarningLevel>
|
||||||
|
<SDLCheck>true</SDLCheck>
|
||||||
|
<PreprocessorDefinitions>_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||||
|
<ConformanceMode>true</ConformanceMode>
|
||||||
|
<PrecompiledHeader>NotUsing</PrecompiledHeader>
|
||||||
|
<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
|
||||||
|
<CompileAs>CompileAsC</CompileAs>
|
||||||
|
<AdditionalIncludeDirectories>$(SolutionDir)basic-geometry;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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||||||
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</ClCompile>
|
||||||
|
<Link>
|
||||||
|
<SubSystem>
|
||||||
|
</SubSystem>
|
||||||
|
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||||
|
</Link>
|
||||||
|
</ItemDefinitionGroup>
|
||||||
|
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||||
|
<ClCompile>
|
||||||
|
<WarningLevel>Level3</WarningLevel>
|
||||||
|
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||||
|
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||||
|
<SDLCheck>true</SDLCheck>
|
||||||
|
<PreprocessorDefinitions>NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||||
|
<ConformanceMode>true</ConformanceMode>
|
||||||
|
<PrecompiledHeader>NotUsing</PrecompiledHeader>
|
||||||
|
<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
|
||||||
|
<CompileAs>CompileAsC</CompileAs>
|
||||||
|
<AdditionalIncludeDirectories>$(SolutionDir)basic-geometry;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||||
|
</ClCompile>
|
||||||
|
<Link>
|
||||||
|
<SubSystem>
|
||||||
|
</SubSystem>
|
||||||
|
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||||
|
<OptimizeReferences>true</OptimizeReferences>
|
||||||
|
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||||
|
</Link>
|
||||||
|
</ItemDefinitionGroup>
|
||||||
|
<ItemGroup>
|
||||||
|
<ClInclude Include="butis.h" />
|
||||||
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<ClInclude Include="motor.h" />
|
||||||
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<ClInclude Include="motor_matrix.h" />
|
||||||
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<ClInclude Include="screw.h" />
|
||||||
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</ItemGroup>
|
||||||
|
<ItemGroup>
|
||||||
|
<ClCompile Include="butis.c" />
|
||||||
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<ClCompile Include="motor.c" />
|
||||||
|
<ClCompile Include="motor_matrix.c" />
|
||||||
|
<ClCompile Include="screw.c" />
|
||||||
|
</ItemGroup>
|
||||||
|
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||||
|
<ImportGroup Label="ExtensionTargets">
|
||||||
|
</ImportGroup>
|
||||||
|
</Project>
|
||||||
45
butis/butis.vcxproj.filters
Normal file
45
butis/butis.vcxproj.filters
Normal file
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@ -0,0 +1,45 @@
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<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||||
|
<ItemGroup>
|
||||||
|
<Filter Include="Исходные файлы">
|
||||||
|
<UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
|
||||||
|
<Extensions>cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
|
||||||
|
</Filter>
|
||||||
|
<Filter Include="Файлы заголовков">
|
||||||
|
<UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
|
||||||
|
<Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
|
||||||
|
</Filter>
|
||||||
|
<Filter Include="Файлы ресурсов">
|
||||||
|
<UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
|
||||||
|
<Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
|
||||||
|
</Filter>
|
||||||
|
</ItemGroup>
|
||||||
|
<ItemGroup>
|
||||||
|
<ClInclude Include="butis.h">
|
||||||
|
<Filter>Файлы заголовков</Filter>
|
||||||
|
</ClInclude>
|
||||||
|
<ClInclude Include="motor.h">
|
||||||
|
<Filter>Файлы заголовков</Filter>
|
||||||
|
</ClInclude>
|
||||||
|
<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">
|
||||||
|
<Filter>Исходные файлы</Filter>
|
||||||
|
</ClCompile>
|
||||||
|
<ClCompile Include="motor.c">
|
||||||
|
<Filter>Исходные файлы</Filter>
|
||||||
|
</ClCompile>
|
||||||
|
<ClCompile Include="motor_matrix.c">
|
||||||
|
<Filter>Исходные файлы</Filter>
|
||||||
|
</ClCompile>
|
||||||
|
<ClCompile Include="screw.c">
|
||||||
|
<Filter>Исходные файлы</Filter>
|
||||||
|
</ClCompile>
|
||||||
|
</ItemGroup>
|
||||||
|
</Project>
|
||||||
4
butis/butis.vcxproj.user
Normal file
4
butis/butis.vcxproj.user
Normal file
|
|
@ -0,0 +1,4 @@
|
||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||||
|
<PropertyGroup />
|
||||||
|
</Project>
|
||||||
34
butis/motor.c
Normal file
34
butis/motor.c
Normal file
|
|
@ -0,0 +1,34 @@
|
||||||
|
#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);
|
||||||
248
butis/motor.h
Normal file
248
butis/motor.h
Normal file
|
|
@ -0,0 +1,248 @@
|
||||||
|
#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
|
||||||
4
butis/motor_matrix.c
Normal file
4
butis/motor_matrix.c
Normal file
|
|
@ -0,0 +1,4 @@
|
||||||
|
#include "motor_matrix.h"
|
||||||
|
|
||||||
|
extern inline void bt_matrix_reset_fp32(BtMatrixFP32* matrix);
|
||||||
|
extern inline void bt_matrix_reset_fp64(BtMatrixFP64* matrix);
|
||||||
118
butis/motor_matrix.h
Normal file
118
butis/motor_matrix.h
Normal file
|
|
@ -0,0 +1,118 @@
|
||||||
|
#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
|
||||||
4
butis/screw.c
Normal file
4
butis/screw.c
Normal file
|
|
@ -0,0 +1,4 @@
|
||||||
|
#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
Normal file
48
butis/screw.h
Normal file
|
|
@ -0,0 +1,48 @@
|
||||||
|
#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
|
||||||
Loading…
Add table
Add a link
Reference in a new issue