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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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basic-geometry/posture3.h Normal file
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#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