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This commit is contained in:
Andrey Pokidov 2025-02-25 12:39:50 +07:00
parent 15b9e8a4a2
commit 08c1e6d148
20 changed files with 215 additions and 216 deletions
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44
basic-geometry/versor.h
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@ -320,15 +320,15 @@ inline void bgc_versor_combine3_fp64(const BgcVersorFP64* third, const BgcVersor
);
}
// =============== Make Rotation3 =============== //
// ================ Get Rotation ================ //
void bgc_versor_make_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32* result);
void bgc_versor_get_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32* result);
void bgc_versor_make_rotation_fp64(const BgcVersorFP64* versor, BgcRotation3FP64* result);
void bgc_versor_get_rotation_fp64(const BgcVersorFP64* versor, BgcRotation3FP64* result);
// =============== Make Shortened =============== //
// =============== Get Shortened ================ //
inline void bgc_versor_make_shortened_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened)
inline void bgc_versor_get_shortened_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened)
{
_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)shortened;
@ -346,7 +346,7 @@ inline void bgc_versor_make_shortened_fp32(const BgcVersorFP32* versor, BgcVerso
twin->x3 = -versor->x3;
}
inline void bgc_versor_make_shortened_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened)
inline void bgc_versor_get_shortened_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened)
{
_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)shortened;
@ -364,9 +364,9 @@ inline void bgc_versor_make_shortened_fp64(const BgcVersorFP64* versor, BgcVerso
twin->x3 = -versor->x3;
}
// =============== Make Inverted ================ //
// ================ Get Inverted ================ //
inline void bgc_versor_make_inverted_fp32(const BgcVersorFP32* versor, BgcVersorFP32* to)
inline void bgc_versor_get_inverted_fp32(const BgcVersorFP32* versor, BgcVersorFP32* to)
{
_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)to;
twin->s0 = versor->s0;
@ -375,7 +375,7 @@ inline void bgc_versor_make_inverted_fp32(const BgcVersorFP32* versor, BgcVersor
twin->x3 = -versor->x3;
}
inline void bgc_versor_make_inverted_fp64(const BgcVersorFP64* versor, BgcVersorFP64* to)
inline void bgc_versor_get_inverted_fp64(const BgcVersorFP64* versor, BgcVersorFP64* to)
{
_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)to;
twin->s0 = versor->s0;
@ -384,9 +384,9 @@ inline void bgc_versor_make_inverted_fp64(const BgcVersorFP64* versor, BgcVersor
twin->x3 = -versor->x3;
}
// =========== Make Rotation Matrix3x3 ========== //
// ============ Get Rotation Matrix ============= //
inline void bgc_versor_make_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix)
inline void bgc_versor_get_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix)
{
const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->x1 * versor->x1;
@ -414,7 +414,7 @@ inline void bgc_versor_make_rotation_matrix_fp32(const BgcVersorFP32* versor, Bg
matrix->r1c3 = x1x3 + s0x2;
}
inline void bgc_versor_make_rotation_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix)
inline void bgc_versor_get_rotation_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix)
{
const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->x1 * versor->x1;
@ -442,9 +442,9 @@ inline void bgc_versor_make_rotation_matrix_fp64(const BgcVersorFP64* versor, Bg
matrix->r1c3 = x1x3 + s0x2;
}
// =========== Make Reverse Matrix3x3 =========== //
// ============= Get Reverse Matrix ============= //
inline void bgc_versor_make_reverse_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix)
inline void bgc_versor_get_reverse_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix)
{
const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->x1 * versor->x1;
@ -472,7 +472,7 @@ inline void bgc_versor_make_reverse_matrix_fp32(const BgcVersorFP32* versor, Bgc
matrix->r1c3 = x1x3 - s0x2;
}
inline void bgc_versor_make_reverse_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix)
inline void bgc_versor_get_reverse_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix)
{
const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->x1 * versor->x1;
@ -500,18 +500,18 @@ inline void bgc_versor_make_reverse_matrix_fp64(const BgcVersorFP64* versor, Bgc
matrix->r1c3 = x1x3 - s0x2;
}
// ============= Make Both Matrixes ============= //
// ============= Get Both Matrixes ============== //
inline void bgc_versor_make_both_matrixes_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse)
inline void bgc_versor_get_both_matrixes_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse)
{
bgc_versor_make_reverse_matrix_fp32(versor, reverse);
bgc_matrix3x3_make_transposed_fp32(reverse, rotation);
bgc_versor_get_reverse_matrix_fp32(versor, reverse);
bgc_matrix3x3_get_transposed_fp32(reverse, rotation);
}
inline void bgc_versor_make_both_matrixes_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse)
inline void bgc_versor_get_both_matrixes_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse)
{
bgc_versor_make_reverse_matrix_fp64(versor, reverse);
bgc_matrix3x3_make_transposed_fp64(reverse, rotation);
bgc_versor_get_reverse_matrix_fp64(versor, reverse);
bgc_matrix3x3_get_transposed_fp64(reverse, rotation);
}
// ================ Turn Vector ================= //