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Добавлены функции модуля для версоров и кватернионо / Functions of modulus have been added for versors and quaternions

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This commit is contained in:
Andrey Pokidov 2024-11-25 19:47:45 +07:00
parent bef7ab98f4
commit 03e390c1d0
12 changed files with 246 additions and 211 deletions
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24
basic-geometry/quaternion.c
View file

@ -9,15 +9,15 @@ void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion,
const float x2x2 = quaternion->x2 * quaternion->x2;
const float x3x3 = quaternion->x3 * quaternion->x3;
const float square_module = (s0s0 + x1x1) + (x2x2 + x3x3);
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-BG_FP32_EPSYLON <= square_module && square_module <= BG_FP32_EPSYLON)
if (-BG_FP32_EPSYLON <= square_modulus && square_modulus <= BG_FP32_EPSYLON)
{
bg_fp32_matrix3x3_set_to_identity(matrix);
return;
}
const float corrector1 = 1.0f / square_module;
const float corrector1 = 1.0f / square_modulus;
const float corrector2 = 2.0f * corrector1;
const float s0x1 = quaternion->s0 * quaternion->x1;
@ -47,15 +47,15 @@ void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion,
const double x2x2 = quaternion->x2 * quaternion->x2;
const double x3x3 = quaternion->x3 * quaternion->x3;
const double square_module = (s0s0 + x1x1) + (x2x2 + x3x3);
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-BG_FP64_EPSYLON <= square_module && square_module <= BG_FP64_EPSYLON)
if (-BG_FP64_EPSYLON <= square_modulus && square_modulus <= BG_FP64_EPSYLON)
{
bg_fp64_matrix3x3_set_to_identity(matrix);
return;
}
const double corrector1 = 1.0f / square_module;
const double corrector1 = 1.0f / square_modulus;
const double corrector2 = 2.0f * corrector1;
const double s0x1 = quaternion->s0 * quaternion->x1;
@ -87,15 +87,15 @@ void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, B
const float x2x2 = quaternion->x2 * quaternion->x2;
const float x3x3 = quaternion->x3 * quaternion->x3;
const float square_module = (s0s0 + x1x1) + (x2x2 + x3x3);
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-BG_FP32_EPSYLON <= square_module && square_module <= BG_FP32_EPSYLON)
if (-BG_FP32_EPSYLON <= square_modulus && square_modulus <= BG_FP32_EPSYLON)
{
bg_fp32_matrix3x3_set_to_identity(matrix);
return;
}
const float corrector1 = 1.0f / square_module;
const float corrector1 = 1.0f / square_modulus;
const float corrector2 = 2.0f * corrector1;
const float s0x1 = quaternion->s0 * quaternion->x1;
@ -125,15 +125,15 @@ void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, B
const double x2x2 = quaternion->x2 * quaternion->x2;
const double x3x3 = quaternion->x3 * quaternion->x3;
const double square_module = (s0s0 + x1x1) + (x2x2 + x3x3);
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-BG_FP64_EPSYLON <= square_module && square_module <= BG_FP64_EPSYLON)
if (-BG_FP64_EPSYLON <= square_modulus && square_modulus <= BG_FP64_EPSYLON)
{
bg_fp64_matrix3x3_set_to_identity(matrix);
return;
}
const double corrector1 = 1.0f / square_module;
const double corrector1 = 1.0f / square_modulus;
const double corrector2 = 2.0f * corrector1;
const double s0x1 = quaternion->s0 * quaternion->x1;

102
basic-geometry/quaternion.h
View file

@ -89,72 +89,96 @@ static inline void bg_fp64_quaternion_copy(const BgFP64Quaternion* from, BgFP64Q
// ============= Copy to twin type ============== //
static inline void bg_fp32_quaternion_set_from_fp64(const BgFP64Quaternion* versor, BgFP32Quaternion* result)
static inline void bg_fp32_quaternion_set_from_fp64(const BgFP64Quaternion* quaternion, BgFP32Quaternion* result)
{
result->s0 = (float) versor->s0;
result->x1 = (float) versor->x1;
result->x2 = (float) versor->x2;
result->x3 = (float) versor->x3;
result->s0 = (float) quaternion->s0;
result->x1 = (float) quaternion->x1;
result->x2 = (float) quaternion->x2;
result->x3 = (float) quaternion->x3;
}
static inline void bg_fp64_quaternion_set_from_fp32(const BgFP32Quaternion* versor, BgFP64Quaternion* result)
static inline void bg_fp64_quaternion_set_from_fp32(const BgFP32Quaternion* quaternion, BgFP64Quaternion* result)
{
result->s0 = versor->s0;
result->x1 = versor->x1;
result->x2 = versor->x2;
result->x3 = versor->x3;
result->s0 = quaternion->s0;
result->x1 = quaternion->x1;
result->x2 = quaternion->x2;
result->x3 = quaternion->x3;
}
// ================= Inversion ================== //
static inline void bg_fp32_quaternion_conjugate(BgFP32Quaternion* versor)
static inline void bg_fp32_quaternion_conjugate(BgFP32Quaternion* quaternion)
{
versor->x1 = -versor->x1;
versor->x2 = -versor->x2;
versor->x3 = -versor->x3;
quaternion->x1 = -quaternion->x1;
quaternion->x2 = -quaternion->x2;
quaternion->x3 = -quaternion->x3;
}
static inline void bg_fp64_quaternion_conjugate(BgFP64Quaternion* versor)
static inline void bg_fp64_quaternion_conjugate(BgFP64Quaternion* quaternion)
{
versor->x1 = -versor->x1;
versor->x2 = -versor->x2;
versor->x3 = -versor->x3;
quaternion->x1 = -quaternion->x1;
quaternion->x2 = -quaternion->x2;
quaternion->x3 = -quaternion->x3;
}
// ================ Set Conjugate =============== //
static inline void bg_fp32_quaternion_set_conjugate(const BgFP32Quaternion* versor, BgFP32Quaternion* result)
static inline void bg_fp32_quaternion_set_conjugate(const BgFP32Quaternion* quaternion, BgFP32Quaternion* result)
{
result->s0 = versor->s0;
result->x1 = -versor->x1;
result->x2 = -versor->x2;
result->x3 = -versor->x3;
result->s0 = quaternion->s0;
result->x1 = -quaternion->x1;
result->x2 = -quaternion->x2;
result->x3 = -quaternion->x3;
}
static inline void bg_fp64_quaternion_set_conjugate(const BgFP64Quaternion* versor, BgFP64Quaternion* result)
static inline void bg_fp64_quaternion_set_conjugate(const BgFP64Quaternion* quaternion, BgFP64Quaternion* result)
{
result->s0 = versor->s0;
result->x1 = -versor->x1;
result->x2 = -versor->x2;
result->x3 = -versor->x3;
result->s0 = quaternion->s0;
result->x1 = -quaternion->x1;
result->x2 = -quaternion->x2;
result->x3 = -quaternion->x3;
}
// ================ Get Inverted ================ //
// ================ Set Conjugate =============== //
static inline void bg_fp32_quaternion_set_conjugate_fp64(const BgFP64Quaternion* versor, BgFP32Quaternion* result)
static inline void bg_fp32_quaternion_set_conjugate_fp64(const BgFP64Quaternion* quaternion, BgFP32Quaternion* result)
{
result->s0 = (float) versor->s0;
result->x1 = (float) -versor->x1;
result->x2 = (float) -versor->x2;
result->x3 = (float) -versor->x3;
result->s0 = (float) quaternion->s0;
result->x1 = (float) -quaternion->x1;
result->x2 = (float) -quaternion->x2;
result->x3 = (float) -quaternion->x3;
}
static inline void bg_fp64_quaternion_set_conjugate_fp32(const BgFP32Quaternion* versor, BgFP64Quaternion* result)
static inline void bg_fp64_quaternion_set_conjugate_fp32(const BgFP32Quaternion* quaternion, BgFP64Quaternion* result)
{
result->s0 = versor->s0;
result->x1 = -versor->x1;
result->x2 = -versor->x2;
result->x3 = -versor->x3;
result->s0 = quaternion->s0;
result->x1 = -quaternion->x1;
result->x2 = -quaternion->x2;
result->x3 = -quaternion->x3;
}
// ============= Get Square Modulus ============= //
static inline float bg_fp32_quaternion_get_square_modulus(const BgFP32Quaternion* quaternion)
{
return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
}
static inline double bg_fp64_quaternion_get_square_modulus(const BgFP64Quaternion* quaternion)
{
return (quaternion->s0 * quaternion->s0 + quaternion->x1 * quaternion->x1) + (quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3);
}
// ================ Get Modulus ================= //
static inline float bg_fp32_quaternion_get_modulus(const BgFP32Quaternion* quaternion)
{
return sqrtf(bg_fp32_quaternion_get_square_modulus(quaternion));
}
static inline double bg_fp64_quaternion_get_modulus(const BgFP64Quaternion* quaternion)
{
return sqrt(bg_fp64_quaternion_get_square_modulus(quaternion));
}
// ============ Make Rotation Matrix ============ //

20
basic-geometry/vector2.c
View file

@ -8,19 +8,19 @@ float bg_fp32_vector2_get_angle(const BgFP32Vector2* vector1, const BgFP32Vector
return 0.0f;
}
const float square_module1 = bg_fp32_vector2_get_square_module(vector1);
const float square_modulus1 = bg_fp32_vector2_get_square_modulus(vector1);
if (square_module1 <= BG_FP32_SQUARE_EPSYLON) {
if (square_modulus1 <= BG_FP32_SQUARE_EPSYLON) {
return 0.0f;
}
const float square_module2 = bg_fp32_vector2_get_square_module(vector2);
const float square_modulus2 = bg_fp32_vector2_get_square_modulus(vector2);
if (square_module2 <= BG_FP32_SQUARE_EPSYLON) {
if (square_modulus2 <= BG_FP32_SQUARE_EPSYLON) {
return 0.0f;
}
const float cosine = bg_fp32_vector2_dot_product(vector1, vector2) / sqrtf(square_module1 * square_module2);
const float cosine = bg_fp32_vector2_dot_product(vector1, vector2) / sqrtf(square_modulus1 * square_modulus2);
if (cosine >= 1.0f - BG_FP32_EPSYLON) {
return 0.0f;
@ -39,19 +39,19 @@ double bg_fp64_vector2_get_angle(const BgFP64Vector2* vector1, const BgFP64Vecto
return 0.0;
}
const double square_module1 = bg_fp64_vector2_get_square_module(vector1);
const double square_modulus1 = bg_fp64_vector2_get_square_modulus(vector1);
if (square_module1 <= BG_FP64_SQUARE_EPSYLON) {
if (square_modulus1 <= BG_FP64_SQUARE_EPSYLON) {
return 0.0;
}
const double square_module2 = bg_fp64_vector2_get_square_module(vector2);
const double square_modulus2 = bg_fp64_vector2_get_square_modulus(vector2);
if (square_module2 <= BG_FP64_SQUARE_EPSYLON) {
if (square_modulus2 <= BG_FP64_SQUARE_EPSYLON) {
return 0.0;
}
const double cosine = bg_fp64_vector2_dot_product(vector1, vector2) / sqrt(square_module1 * square_module2);
const double cosine = bg_fp64_vector2_dot_product(vector1, vector2) / sqrt(square_modulus1 * square_modulus2);
if (cosine >= 1.0 - BG_FP64_EPSYLON) {
return 0.0;

72
basic-geometry/vector2.h
View file

Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -102,50 +102,50 @@ static inline void bg_fp64_vector2_set_reverse_fp32(const BgFP32Vector2* from, B
// =================== Module =================== //
static inline float bg_fp32_vector2_get_square_module(const BgFP32Vector2* vector)
static inline float bg_fp32_vector2_get_square_modulus(const BgFP32Vector2* vector)
{
return vector->x1 * vector->x1 + vector->x2 * vector->x2;
}
static inline double bg_fp64_vector2_get_square_module(const BgFP64Vector2* vector)
static inline double bg_fp64_vector2_get_square_modulus(const BgFP64Vector2* vector)
{
return vector->x1 * vector->x1 + vector->x2 * vector->x2;
}
static inline float bg_fp32_vector2_get_module(const BgFP32Vector2* vector)
static inline float bg_fp32_vector2_get_modulus(const BgFP32Vector2* vector)
{
return sqrtf(bg_fp32_vector2_get_square_module(vector));
return sqrtf(bg_fp32_vector2_get_square_modulus(vector));
}
static inline double bg_fp64_vector2_get_module(const BgFP64Vector2* vector)
static inline double bg_fp64_vector2_get_modulus(const BgFP64Vector2* vector)
{
return sqrt(bg_fp64_vector2_get_square_module(vector));
return sqrt(bg_fp64_vector2_get_square_modulus(vector));
}
// ================= Comparison ================= //
static inline int bg_fp32_vector2_is_zero(const BgFP32Vector2* vector)
{
return bg_fp32_vector2_get_square_module(vector) <= BG_FP32_SQUARE_EPSYLON;
return bg_fp32_vector2_get_square_modulus(vector) <= BG_FP32_SQUARE_EPSYLON;
}
static inline int bg_fp64_vector2_is_zero(const BgFP64Vector2* vector)
{
return bg_fp64_vector2_get_square_module(vector) <= BG_FP64_SQUARE_EPSYLON;
return bg_fp64_vector2_get_square_modulus(vector) <= BG_FP64_SQUARE_EPSYLON;
}
static inline int bg_fp32_vector2_is_unit(const BgFP32Vector2* vector)
{
const float square_module = bg_fp32_vector2_get_square_module(vector);
const float square_modulus = bg_fp32_vector2_get_square_modulus(vector);
return 1.0f - BG_FP32_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP32_TWO_EPSYLON;
return 1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON;
}
static inline int bg_fp64_vector2_is_unit(const BgFP64Vector2* vector)
{
const double square_module = bg_fp64_vector2_get_square_module(vector);
const double square_modulus = bg_fp64_vector2_get_square_modulus(vector);
return 1.0f - BG_FP64_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP64_TWO_EPSYLON;
return 1.0f - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP64_TWO_EPSYLON;
}
// ==================== Add ===================== //
@ -274,35 +274,35 @@ static inline double bg_fp64_vector2_cross_product(const BgFP64Vector2* vector1,
static inline int bg_fp32_vector2_normalize(BgFP32Vector2* vector)
{
const float square_module = bg_fp32_vector2_get_square_module(vector);
const float square_modulus = bg_fp32_vector2_get_square_modulus(vector);
if (1.0f - BG_FP32_TWO_EPSYLON <= square_module && square_module <= 1.0f + BG_FP32_TWO_EPSYLON) {
if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) {
return 1;
}