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Небольшие исправления, а также добавление гомогенного трёхмерного вектора

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This commit is contained in:
Andrey Pokidov 2026-02-02 20:44:10 +07:00
parent 03627f4401
commit 043cc72c81
25 changed files with 1686 additions and 1644 deletions
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112
basic-geometry/quaternion.h
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@ -97,12 +97,12 @@ inline double bgc_fp64_quaternion_get_modulus(const BGC_FP64_Quaternion* quatern
inline int bgc_fp32_quaternion_is_zero(const BGC_FP32_Quaternion* quaternion)
{
return bgc_fp32_quaternion_get_square_modulus(quaternion) <= BGC_FP32_SQUARE_EPSYLON;
return bgc_fp32_quaternion_get_square_modulus(quaternion) <= BGC_FP32_SQUARE_EPSILON;
}
inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* quaternion)
{
return bgc_fp64_quaternion_get_square_modulus(quaternion) <= BGC_FP64_SQUARE_EPSYLON;
return bgc_fp64_quaternion_get_square_modulus(quaternion) <= BGC_FP64_SQUARE_EPSILON;
}
// ================== Is Unit =================== //
@ -295,7 +295,7 @@ inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BG
{
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(divisor);
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus)) {
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
}
@ -318,7 +318,7 @@ inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BG
{
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(divisor);
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus)) {
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
}
@ -477,7 +477,7 @@ inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const B
{
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus)) {
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
}
@ -495,7 +495,7 @@ inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const B
{
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus)) {
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
}
@ -529,7 +529,7 @@ inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion)
return 1;
}
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus)) {
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
}
@ -551,7 +551,7 @@ inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
return 1;
}
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus)) {
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
}
@ -574,7 +574,7 @@ inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, c
return 1;
}
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus)) {
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
bgc_fp32_quaternion_reset(normalized);
return 0;
}
@ -592,7 +592,7 @@ inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, c
return 1;
}
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus)) {
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
bgc_fp64_quaternion_reset(normalized);
return 0;
}
@ -618,7 +618,7 @@ inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation,
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus))
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus))
{
bgc_fp32_matrix3x3_make_identity(rotation);
return 0;
@ -635,17 +635,17 @@ inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation,
const float corrector2 = 2.0f * corrector1;
rotation->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
rotation->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
rotation->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
rotation->row1_col1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
rotation->row2_col2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
rotation->row3_col3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
rotation->r1c2 = corrector2 * (x1x2 - s0x3);
rotation->r2c3 = corrector2 * (x2x3 - s0x1);
rotation->r3c1 = corrector2 * (x1x3 - s0x2);
rotation->row1_col2 = corrector2 * (x1x2 - s0x3);
rotation->row2_col3 = corrector2 * (x2x3 - s0x1);
rotation->row3_col1 = corrector2 * (x1x3 - s0x2);
rotation->r2c1 = corrector2 * (x1x2 + s0x3);
rotation->r3c2 = corrector2 * (x2x3 + s0x1);
rotation->r1c3 = corrector2 * (x1x3 + s0x2);
rotation->row2_col1 = corrector2 * (x1x2 + s0x3);
rotation->row3_col2 = corrector2 * (x2x3 + s0x1);
rotation->row1_col3 = corrector2 * (x1x3 + s0x2);
return 1;
}
@ -659,7 +659,7 @@ inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation,
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus))
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus))
{
bgc_fp64_matrix3x3_make_identity(rotation);
return 0;
@ -676,17 +676,17 @@ inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation,
const double corrector2 = 2.0f * corrector1;
rotation->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
rotation->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
rotation->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
rotation->row1_col1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
rotation->row2_col2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
rotation->row3_col3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
rotation->r1c2 = corrector2 * (x1x2 - s0x3);
rotation->r2c3 = corrector2 * (x2x3 - s0x1);
rotation->r3c1 = corrector2 * (x1x3 - s0x2);
rotation->row1_col2 = corrector2 * (x1x2 - s0x3);
rotation->row2_col3 = corrector2 * (x2x3 - s0x1);
rotation->row3_col1 = corrector2 * (x1x3 - s0x2);
rotation->r2c1 = corrector2 * (x1x2 + s0x3);
rotation->r3c2 = corrector2 * (x2x3 + s0x1);
rotation->r1c3 = corrector2 * (x1x3 + s0x2);
rotation->row2_col1 = corrector2 * (x1x2 + s0x3);
rotation->row3_col2 = corrector2 * (x2x3 + s0x1);
rotation->row1_col3 = corrector2 * (x1x3 + s0x2);
return 1;
}
@ -702,7 +702,7 @@ inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, c
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (square_modulus <= BGC_FP32_SQUARE_EPSYLON || isnan(square_modulus))
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus))
{
bgc_fp32_matrix3x3_make_identity(reverse);
return 0;
@ -719,17 +719,17 @@ inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, c
const float corrector2 = 2.0f * corrector1;
reverse->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
reverse->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
reverse->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
reverse->row1_col1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
reverse->row2_col2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
reverse->row3_col3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
reverse->r1c2 = corrector2 * (x1x2 + s0x3);
reverse->r2c3 = corrector2 * (x2x3 + s0x1);
reverse->r3c1 = corrector2 * (x1x3 + s0x2);
reverse->row1_col2 = corrector2 * (x1x2 + s0x3);
reverse->row2_col3 = corrector2 * (x2x3 + s0x1);
reverse->row3_col1 = corrector2 * (x1x3 + s0x2);
reverse->r2c1 = corrector2 * (x1x2 - s0x3);
reverse->r3c2 = corrector2 * (x2x3 - s0x1);
reverse->r1c3 = corrector2 * (x1x3 - s0x2);
reverse->row2_col1 = corrector2 * (x1x2 - s0x3);
reverse->row3_col2 = corrector2 * (x2x3 - s0x1);
reverse->row1_col3 = corrector2 * (x1x3 - s0x2);
return 1;
}
@ -743,7 +743,7 @@ inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, c
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
if (square_modulus <= BGC_FP64_SQUARE_EPSYLON || isnan(square_modulus))
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus))
{
bgc_fp64_matrix3x3_make_identity(reverse);
return 0;
@ -760,17 +760,17 @@ inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, c
const double corrector2 = 2.0f * corrector1;
reverse->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
reverse->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
reverse->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
reverse->row1_col1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
reverse->row2_col2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
reverse->row3_col3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
reverse->r1c2 = corrector2 * (x1x2 + s0x3);
reverse->r2c3 = corrector2 * (x2x3 + s0x1);
reverse->r3c1 = corrector2 * (x1x3 + s0x2);
reverse->row1_col2 = corrector2 * (x1x2 + s0x3);
reverse->row2_col3 = corrector2 * (x2x3 + s0x1);
reverse->row3_col1 = corrector2 * (x1x3 + s0x2);
reverse->r2c1 = corrector2 * (x1x2 - s0x3);
reverse->r3c2 = corrector2 * (x2x3 - s0x1);
reverse->r1c3 = corrector2 * (x1x3 - s0x2);
reverse->row2_col1 = corrector2 * (x1x2 - s0x3);
reverse->row3_col2 = corrector2 * (x2x3 - s0x1);
reverse->row1_col3 = corrector2 * (x1x3 - s0x2);
return 1;
}
@ -810,11 +810,11 @@ inline int bgc_fp32_quaternion_are_close(const BGC_FP32_Quaternion* quaternion1,
const float square_modulus2 = bgc_fp32_quaternion_get_square_modulus(quaternion2);
const float square_distance = (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3);
if (square_modulus1 <= BGC_FP32_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSYLON_EFFECTIVENESS_LIMIT) {
return square_distance <= BGC_FP32_SQUARE_EPSYLON;
if (square_modulus1 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT) {
return square_distance <= BGC_FP32_SQUARE_EPSILON;
}
return square_distance <= BGC_FP32_SQUARE_EPSYLON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSYLON * square_modulus2;
return square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP32_SQUARE_EPSILON * square_modulus2;
}
inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
@ -828,11 +828,11 @@ inline int bgc_fp64_quaternion_are_close(const BGC_FP64_Quaternion* quaternion1,
const double square_modulus2 = bgc_fp64_quaternion_get_square_modulus(quaternion2);
const double square_distance = (ds0 * ds0 + dx1 * dx1) + (dx2 * dx2 + dx3 * dx3);
if (square_modulus1 <= BGC_FP64_EPSYLON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSYLON_EFFECTIVENESS_LIMIT) {
return square_distance <= BGC_FP64_SQUARE_EPSYLON;
if (square_modulus1 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT || square_modulus2 <= BGC_FP64_EPSILON_EFFECTIVENESS_LIMIT) {
return square_distance <= BGC_FP64_SQUARE_EPSILON;
}
return square_distance <= BGC_FP64_SQUARE_EPSYLON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSYLON * square_modulus2;
return square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus1 && square_distance <= BGC_FP64_SQUARE_EPSILON * square_modulus2;
}
#endif