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Добавление структур для описания положения через дуальный кватернион

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This commit is contained in:
Andrey Pokidov 2026-02-25 09:40:50 +07:00
parent bba8a65c1a
commit 0c27a6e59b
5 changed files with 76 additions and 0 deletions
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2
basic-geometry/basic-geometry.vcxproj
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@ -31,6 +31,7 @@
<ClInclude Include="matrix2x3.h" />
<ClInclude Include="matrix3x2.h" />
<ClInclude Include="matrix3x3.h" />
<ClInclude Include="posture3.h" />
<ClInclude Include="types.h" />
<ClInclude Include="position2.h" />
<ClInclude Include="position3.h" />
@ -52,6 +53,7 @@
<ClCompile Include="dual-vector3.c" />
<ClCompile Include="position2.c" />
<ClCompile Include="position3.c" />
<ClCompile Include="posture3.c" />
<ClCompile Include="turn2.c" />
<ClCompile Include="turn3.c" />
<ClCompile Include="utilities.c" />

6
basic-geometry/basic-geometry.vcxproj.filters
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@ -84,6 +84,9 @@
<ClInclude Include="slerp3.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="posture3.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="angle.c">
@ -143,5 +146,8 @@
<ClCompile Include="slerp3.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
<ClCompile Include="posture3.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
</ItemGroup>
</Project>

19
basic-geometry/posture3.c Normal file
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@ -0,0 +1,19 @@
#include "posture3.h"
extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture);
extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture);
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&posture->_dual_versor.real_part);
if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
bgc_fp32_posture3_reset(posture);
return;
}
const float multiplier = sqrtf(1.0f / square_magnitude);
bgc_fp32_quaternion_multiply_by_real(&posture->_dual_versor.real_part, &posture->_dual_versor.real_part, multiplier);
bgc_fp32_quaternion_multiply_by_real(&posture->_dual_versor.dual_part, &posture->_dual_versor.dual_part, multiplier);
}

39
basic-geometry/posture3.h Normal file
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@ -0,0 +1,39 @@
#ifndef _BGC_POSTURE3_H_INCLUDED_
#define _BGC_POSTURE3_H_INCLUDED_
#include "types.h"
#include "quaternion.h"
#include "dual-quaternion.h"
// ==================== Reset =================== //
inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
{
posture->_dual_versor.real_part.s0 = 1.0f;
posture->_dual_versor.real_part.x1 = 0.0f;
posture->_dual_versor.real_part.x2 = 0.0f;
posture->_dual_versor.real_part.x3 = 0.0f;
posture->_dual_versor.dual_part.s0 = 0.0f;
posture->_dual_versor.dual_part.x1 = 0.0f;
posture->_dual_versor.dual_part.x2 = 0.0f;
posture->_dual_versor.dual_part.x3 = 0.0f;
}
inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
{
posture->_dual_versor.real_part.s0 = 1.0;
posture->_dual_versor.real_part.x1 = 0.0;
posture->_dual_versor.real_part.x2 = 0.0;
posture->_dual_versor.real_part.x3 = 0.0;
posture->_dual_versor.dual_part.s0 = 0.0;
posture->_dual_versor.dual_part.x1 = 0.0;
posture->_dual_versor.dual_part.x2 = 0.0;
posture->_dual_versor.dual_part.x3 = 0.0;
}
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture);
#endif

10
basic-geometry/types.h
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@ -211,4 +211,14 @@ typedef struct {
BGC_FP64_Quaternion real_part, dual_part;
} BGC_FP64_DualQuaternion;
// ================== Posture3 ================== //
typedef struct {
BGC_FP32_DualQuaternion _dual_versor;
} BGC_FP32_Posture3;
typedef struct {
BGC_FP64_DualQuaternion _dual_versor;
} BGC_FP64_Posture3;
#endif