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Добавление restricted функций, нормализация дуальных кватернионов и позиции твёрдого тела (rigid pose3)

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This commit is contained in:
Andrey Pokidov 2026-03-17 19:54:53 +07:00
parent 7591b20f41
commit 24d37be75d
7 changed files with 130 additions and 82 deletions
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70
basic-geometry/rigid-pose3.h
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@ -6,9 +6,35 @@
// ================= Normalize ================== //
void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose, const float square_magnitude);
void _bgc_fp32_rigid_pose3_normalize_parts(BGC_FP32_RigidPose3* pose, const float square_magnitude);
void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose, const double square_magnitude);
void _bgc_fp64_rigid_pose3_normalize_parts(BGC_FP64_RigidPose3* pose, const double square_magnitude);
inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&pose->_real_part);
if (!bgc_fp32_is_square_unit(square_magnitude)) {
_bgc_fp32_rigid_pose3_normalize_parts(pose, square_magnitude);
}
const float dot_product = bgc_fp32_quaternion_get_dot_product(&pose->_real_part, &pose->_dual_part);
bgc_fp32_quaternion_subtract_scaled(&pose->_dual_part, &pose->_dual_part, &pose->_real_part, dot_product);
}
inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose)
{
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&pose->_real_part);
if (!bgc_fp64_is_square_unit(square_magnitude)) {
_bgc_fp64_rigid_pose3_normalize_parts(pose, square_magnitude);
}
const double dot_product = bgc_fp64_quaternion_get_dot_product(&pose->_real_part, &pose->_dual_part);
bgc_fp64_quaternion_subtract_scaled(&pose->_dual_part, &pose->_dual_part, &pose->_real_part, dot_product);
}
// ==================== Reset =================== //
@ -73,15 +99,7 @@ inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destinatio
bgc_fp32_quaternion_convert_to_fp64(&destination->_real_part, &source->_real_part);
bgc_fp32_quaternion_convert_to_fp64(&destination->_dual_part, &source->_dual_part);
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_real_part);
if (!bgc_fp64_is_square_unit(square_magnitude)) {
_bgc_fp64_rigid_pose3_normalize(destination, square_magnitude);
}
const double dot_product = bgc_fp64_quaternion_get_dot_product(&destination->_real_part, &destination->_dual_part);
bgc_fp64_quaternion_subtract_scaled(&destination->_dual_part, &destination->_dual_part, &destination->_real_part, dot_product);
_bgc_fp64_rigid_pose3_normalize(destination);
}
inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
@ -89,15 +107,7 @@ inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destinatio
bgc_fp64_quaternion_convert_to_fp32(&destination->_real_part, &source->_real_part);
bgc_fp64_quaternion_convert_to_fp32(&destination->_dual_part, &source->_dual_part);
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_real_part);
if (!bgc_fp32_is_square_unit(square_magnitude)) {
_bgc_fp32_rigid_pose3_normalize(destination, square_magnitude);
}
const float dot_product = bgc_fp32_quaternion_get_dot_product(&destination->_real_part, &destination->_dual_part);
bgc_fp32_quaternion_subtract_scaled(&destination->_dual_part, &destination->_dual_part, &destination->_real_part, dot_product);
_bgc_fp32_rigid_pose3_normalize(destination);
}
// ================== Combine =================== //
@ -112,15 +122,7 @@ inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const
bgc_fp32_quaternion_multiply_by_quaternion(&combination->_real_part, &second->_real_part, &first->_real_part);
bgc_fp32_quaternion_add(&combination->_dual_part, &dual_part1, &dual_part2);
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_real_part);
if (!bgc_fp32_is_square_unit(square_magnitude)) {
_bgc_fp32_rigid_pose3_normalize(combination, square_magnitude);
}
const float dot_product = bgc_fp32_quaternion_get_dot_product(&combination->_real_part, &combination->_dual_part);
bgc_fp32_quaternion_subtract_scaled(&combination->_dual_part, &combination->_dual_part, &combination->_real_part, dot_product);
_bgc_fp32_rigid_pose3_normalize(combination);
}
inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second)
@ -133,15 +135,7 @@ inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const
bgc_fp64_quaternion_multiply_by_quaternion(&combination->_real_part, &second->_real_part, &first->_real_part);
bgc_fp64_quaternion_add(&combination->_dual_part, &dual_part1, &dual_part2);
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_real_part);
if (!bgc_fp64_is_square_unit(square_magnitude)) {
_bgc_fp64_rigid_pose3_normalize(combination, square_magnitude);
}
const double dot_product = bgc_fp64_quaternion_get_dot_product(&combination->_real_part, &combination->_dual_part);
bgc_fp64_quaternion_subtract_scaled(&combination->_dual_part, &combination->_dual_part, &combination->_real_part, dot_product);
_bgc_fp64_rigid_pose3_normalize(combination);
}
#endif