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Добавление структур для описания положения через дуальный кватернион

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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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19
basic-geometry/posture3.c Normal file
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#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);
}