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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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16
basic-geometry-dev/main.c
View file

@ -57,7 +57,7 @@ void print_versor(const BgFP32Versor* versor)
void print_vector(const BgFP32Vector3* vector) void print_vector(const BgFP32Vector3* vector)
{ {
printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, bg_fp32_vector3_get_module(vector)); printf("(%f, %f, %f) / %f\n", vector->x1, vector->x2, vector->x3, bg_fp32_vector3_get_modulus(vector));
} }
/* /*
int main() int main()
@ -120,7 +120,6 @@ int main()
} }
*/ */
/*
int main() int main()
{ {
const unsigned int amount = 1000000; const unsigned int amount = 1000000;
@ -130,7 +129,7 @@ int main()
now = GetTickCount64(); now = GetTickCount64();
srand((unsigned int)(now & 0xfffffff)); srand((unsigned int)(now & 0xfffffff));
#else #else
timespec now; struct timespec now;
clock_gettime(0, &now); clock_gettime(0, &now);
srand((unsigned int)(now.tv_nsec & 0xfffffff)); srand((unsigned int)(now.tv_nsec & 0xfffffff));
#endif // _WIN64 #endif // _WIN64
@ -191,14 +190,3 @@ int main()
free(versors1); free(versors1);
return 0; return 0;
} }
*/
int main() {
BgFP32Versor versor;
bg_fp32_versor_reset(&versor);
printf("Versor: (%f, %f, %f, %f)\n", versor.s0, versor.x1, versor.x2, versor.x3);
return 0;
}

30
basic-geometry-test/fp32_vector2_test.c
View file

@ -18,20 +18,20 @@ const BgFP32Vector2 TEST_BG_FP32_VECTOR2_COMMON_2[] = {
{ 1.5f, -23.35f } { 1.5f, -23.35f }
}; };
// =============== Square module ================ // // =============== Square modulus =============== //
const float BG_FP32_VECTOR2_SQUARE_MODULE_1[] = { 25.0f, 25.0f, 500000000.0f, 100.01f, 15266.150221f }; const float BG_FP32_VECTOR2_SQUARE_MODULUS_1[] = { 25.0f, 25.0f, 500000000.0f, 100.01f, 15266.150221f };
int test_bg_fp32_vector2_square_module() int test_bg_fp32_vector2_square_modulus()
{ {
print_test_name("BgFP32Vector2 square module"); print_test_name("BgFP32Vector2 square modulus");
float square_module; float square_modulus;
for (int i = 0; i < TEST_BG_FP32_VECTOR2_AMOUNT_1; i++) { for (int i = 0; i < TEST_BG_FP32_VECTOR2_AMOUNT_1; i++) {
square_module = bg_fp32_vector2_get_square_module(&TEST_BG_FP32_VECTOR2_COMMON_1[i]); square_modulus = bg_fp32_vector2_get_square_modulus(&TEST_BG_FP32_VECTOR2_COMMON_1[i]);
if (!test_bg_fp32_are_equal(square_module, BG_FP32_VECTOR2_SQUARE_MODULE_1[i], TEST_BG_FP32_TWO_EPSYLON)) { if (!test_bg_fp32_are_equal(square_modulus, BG_FP32_VECTOR2_SQUARE_MODULUS_1[i], TEST_BG_FP32_TWO_EPSYLON)) {
print_test_failed(); print_test_failed();
return TEST_RESULT_FAILED; return TEST_RESULT_FAILED;
} }
@ -43,18 +43,18 @@ int test_bg_fp32_vector2_square_module()
// =================== Module =================== // // =================== Module =================== //
const float BG_FP32_VECTOR2_MODULE_1[] = { 5.0f, 5.0f, 22360.68f, 10.0005f, 123.55626338f }; const float BG_FP32_VECTOR2_MODULUS_1[] = { 5.0f, 5.0f, 22360.68f, 10.0005f, 123.55626338f };
int test_bg_fp32_vector2_module() int test_bg_fp32_vector2_modulus()
{ {
print_test_name("BgFP32Vector2 module"); print_test_name("BgFP32Vector2 modulus");
float square_module; float square_modulus;
for (int i = 0; i < TEST_BG_FP32_VECTOR2_AMOUNT_1; i++) { for (int i = 0; i < TEST_BG_FP32_VECTOR2_AMOUNT_1; i++) {
square_module = bg_fp32_vector2_get_module(&TEST_BG_FP32_VECTOR2_COMMON_1[i]); square_modulus = bg_fp32_vector2_get_modulus(&TEST_BG_FP32_VECTOR2_COMMON_1[i]);
if (!test_bg_fp32_are_equal(square_module, BG_FP32_VECTOR2_MODULE_1[i], TEST_BG_FP32_EPSYLON)) { if (!test_bg_fp32_are_equal(square_modulus, BG_FP32_VECTOR2_MODULUS_1[i], TEST_BG_FP32_EPSYLON)) {
print_test_failed(); print_test_failed();
return TEST_RESULT_FAILED; return TEST_RESULT_FAILED;
} }
@ -130,11 +130,11 @@ int test_bg_fp32_vector2()
{ {
print_test_section("BgFP32Vector2"); print_test_section("BgFP32Vector2");
if (test_bg_fp32_vector2_square_module() != TEST_RESULT_SUCCES) { if (test_bg_fp32_vector2_square_modulus() != TEST_RESULT_SUCCES) {
return TEST_RESULT_FAILED; return TEST_RESULT_FAILED;
} }
if (test_bg_fp32_vector2_module() != TEST_RESULT_SUCCES) { if (test_bg_fp32_vector2_modulus() != TEST_RESULT_SUCCES) {
return TEST_RESULT_FAILED; return TEST_RESULT_FAILED;
} }

4
basic-geometry-test/fp32_vector2_test.h
View file

@ -5,9 +5,9 @@
int test_bg_fp32_vector2(); int test_bg_fp32_vector2();
int test_bg_fp32_vector2_square_module(); int test_bg_fp32_vector2_square_modulus();
int test_bg_fp32_vector2_module(); int test_bg_fp32_vector2_modulus();
int test_bg_fp32_vector2_add(); int test_bg_fp32_vector2_add();

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 x2x2 = quaternion->x2 * quaternion->x2;
const float x3x3 = quaternion->x3 * quaternion->x3; 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); bg_fp32_matrix3x3_set_to_identity(matrix);
return; return;
} }
const float corrector1 = 1.0f / square_module; const float corrector1 = 1.0f / square_modulus;
const float corrector2 = 2.0f * corrector1; const float corrector2 = 2.0f * corrector1;
const float s0x1 = quaternion->s0 * quaternion->x1; 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 x2x2 = quaternion->x2 * quaternion->x2;
const double x3x3 = quaternion->x3 * quaternion->x3; 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); bg_fp64_matrix3x3_set_to_identity(matrix);
return; return;
} }
const double corrector1 = 1.0f / square_module; const double corrector1 = 1.0f / square_modulus;
const double corrector2 = 2.0f * corrector1; const double corrector2 = 2.0f * corrector1;
const double s0x1 = quaternion->s0 * quaternion->x1; 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 x2x2 = quaternion->x2 * quaternion->x2;
const float x3x3 = quaternion->x3 * quaternion->x3; 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); bg_fp32_matrix3x3_set_to_identity(matrix);
return; return;
} }
const float corrector1 = 1.0f / square_module; const float corrector1 = 1.0f / square_modulus;
const float corrector2 = 2.0f * corrector1; const float corrector2 = 2.0f * corrector1;
const float s0x1 = quaternion->s0 * quaternion->x1; 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 x2x2 = quaternion->x2 * quaternion->x2;
const double x3x3 = quaternion->x3 * quaternion->x3; 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); bg_fp64_matrix3x3_set_to_identity(matrix);
return; return;
} }
const double corrector1 = 1.0f / square_module; const double corrector1 = 1.0f / square_modulus;
const double corrector2 = 2.0f * corrector1; const double corrector2 = 2.0f * corrector1;
const double s0x1 = quaternion->s0 * quaternion->x1; 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 ============== // // ============= 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->s0 = (float) quaternion->s0;
result->x1 = (float) versor->x1; result->x1 = (float) quaternion->x1;
result->x2 = (float) versor->x2; result->x2 = (float) quaternion->x2;
result->x3 = (float) versor->x3; 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->s0 = quaternion->s0;
result->x1 = versor->x1; result->x1 = quaternion->x1;
result->x2 = versor->x2; result->x2 = quaternion->x2;
result->x3 = versor->x3; result->x3 = quaternion->x3;
} }
// ================= Inversion ================== // // ================= Inversion ================== //
static inline void bg_fp32_quaternion_conjugate(BgFP32Quaternion* versor) static inline void bg_fp32_quaternion_conjugate(BgFP32Quaternion* quaternion)
{ {
versor->x1 = -versor->x1; quaternion->x1 = -quaternion->x1;
versor->x2 = -versor->x2; quaternion->x2 = -quaternion->x2;
versor->x3 = -versor->x3; 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; quaternion->x1 = -quaternion->x1;
versor->x2 = -versor->x2; quaternion->x2 = -quaternion->x2;
versor->x3 = -versor->x3; quaternion->x3 = -quaternion->x3;
} }
// ================ Set Conjugate =============== // // ================ 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->s0 = quaternion->s0;
result->x1 = -versor->x1; result->x1 = -quaternion->x1;
result->x2 = -versor->x2; result->x2 = -quaternion->x2;
result->x3 = -versor->x3; 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->s0 = quaternion->s0;
result->x1 = -versor->x1; result->x1 = -quaternion->x1;
result->x2 = -versor->x2; result->x2 = -quaternion->x2;
result->x3 = -versor->x3; 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->s0 = (float) quaternion->s0;
result->x1 = (float) -versor->x1; result->x1 = (float) -quaternion->x1;
result->x2 = (float) -versor->x2; result->x2 = (float) -quaternion->x2;
result->x3 = (float) -versor->x3; 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->s0 = quaternion->s0;
result->x1 = -versor->x1; result->x1 = -quaternion->x1;
result->x2 = -versor->x2; result->x2 = -quaternion->x2;
result->x3 = -versor->x3; 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 ============ // // ============ 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; 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; 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; 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) { if (cosine >= 1.0f - BG_FP32_EPSYLON) {
return 0.0f; return 0.0f;
@ -39,19 +39,19 @@ double bg_fp64_vector2_get_angle(const BgFP64Vector2* vector1, const BgFP64Vecto
return 0.0; 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; 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; 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) { if (cosine >= 1.0 - BG_FP64_EPSYLON) {
return 0.0; 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 =================== // // =================== 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; 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; 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));
} }