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Операция исключения поворота

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Andrey Pokidov 2025-03-11 01:39:35 +07:00
parent 9688bd2fc1
commit 0a1ca06ce5
2 changed files with 27 additions and 0 deletions
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3
basic-geometry/versor.c
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@ -40,6 +40,9 @@ extern inline void bgc_versor_combine_fp64(const BgcVersorFP64* second, const Bg
extern inline void bgc_versor_combine3_fp32(const BgcVersorFP32* third, const BgcVersorFP32* second, const BgcVersorFP32* first, BgcVersorFP32* result); extern inline void bgc_versor_combine3_fp32(const BgcVersorFP32* third, const BgcVersorFP32* second, const BgcVersorFP32* first, BgcVersorFP32* result);
extern inline void bgc_versor_combine3_fp64(const BgcVersorFP64* third, const BgcVersorFP64* second, const BgcVersorFP64* first, BgcVersorFP64* result); extern inline void bgc_versor_combine3_fp64(const BgcVersorFP64* third, const BgcVersorFP64* second, const BgcVersorFP64* first, BgcVersorFP64* result);
extern inline void bgc_versor_exclude_fp32(const BgcVersorFP32* base, const BgcVersorFP32* excludant, BgcVersorFP32* difference);
extern inline void bgc_versor_exclude_fp64(const BgcVersorFP64* base, const BgcVersorFP64* excludant, BgcVersorFP64* difference);
extern inline void bgc_versor_get_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix); extern inline void bgc_versor_get_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix);
extern inline void bgc_versor_get_rotation_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix); extern inline void bgc_versor_get_rotation_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix);

24
basic-geometry/versor.h
View file

@ -338,6 +338,30 @@ inline void bgc_versor_combine3_fp64(const BgcVersorFP64* third, const BgcVersor
); );
} }
// ================= Exclusion ================== //
inline void bgc_versor_exclude_fp32(const BgcVersorFP32* base, const BgcVersorFP32* excludant, BgcVersorFP32* difference)
{
bgc_versor_set_values_fp32(
(base->s0 * excludant->s0 + base->x1 * excludant->x1) + (base->x2 * excludant->x2 + base->x3 * excludant->x3),
(base->x1 * excludant->s0 + base->x3 * excludant->x2) - (base->s0 * excludant->x1 + base->x2 * excludant->x3),
(base->x2 * excludant->s0 + base->x1 * excludant->x3) - (base->s0 * excludant->x2 + base->x3 * excludant->x1),
(base->x3 * excludant->s0 + base->x2 * excludant->x1) - (base->s0 * excludant->x3 + base->x1 * excludant->x2),
difference
);
}
inline void bgc_versor_exclude_fp64(const BgcVersorFP64* base, const BgcVersorFP64* excludant, BgcVersorFP64* difference)
{
bgc_versor_set_values_fp64(
(base->s0 * excludant->s0 + base->x1 * excludant->x1) + (base->x2 * excludant->x2 + base->x3 * excludant->x3),
(base->x1 * excludant->s0 + base->x3 * excludant->x2) - (base->s0 * excludant->x1 + base->x2 * excludant->x3),
(base->x2 * excludant->s0 + base->x1 * excludant->x3) - (base->s0 * excludant->x2 + base->x3 * excludant->x1),
(base->x3 * excludant->s0 + base->x2 * excludant->x1) - (base->s0 * excludant->x3 + base->x1 * excludant->x2),
difference
);
}
// ================ Get Rotation ================ // // ================ Get Rotation ================ //
void bgc_versor_get_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32* result); void bgc_versor_get_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32* result);