Добавление структур для описания положения через дуальный кватернион

basic-geometry/basic-geometry.vcxproj

@@ -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" />

basic-geometry/basic-geometry.vcxproj.filters

@@ -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>

basic-geometry/posture3.c

@@ -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);
+}

basic-geometry/posture3.h

@@ -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;