Kimelas/bgc-c
2
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

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

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

24
basic-geometry/vector3.h
View file

@ -479,6 +479,22 @@ inline double bgc_fp64_vector3_get_triple_product(const BGC_FP64_Vector3* vector
+ vector1->x3 * (vector2->x1 * vector3->x2 - vector2->x2 * vector3->x1);
}
// =========== Restrict Cross Product =========== //
inline void _bgc_fp32_restrict_vector3_get_cross_product(BGC_FP32_Vector3* restrict product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2)
{
product->x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
product->x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
product->x3 = vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
}
inline void _bgc_fp64_restrict_vector3_get_cross_product(BGC_FP64_Vector3* restrict product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2)
{
product->x1 = vector1->x2 * vector2->x3 - vector1->x3 * vector2->x2;
product->x2 = vector1->x3 * vector2->x1 - vector1->x1 * vector2->x3;
product->x3 = vector1->x1 * vector2->x2 - vector1->x2 * vector2->x1;
}
// =============== Cross Product ================ //
inline void bgc_fp32_vector3_get_cross_product(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2)
@ -642,7 +658,7 @@ inline int bgc_fp32_vector3_are_parallel(const BGC_FP32_Vector3* vector1, const
BGC_FP32_Vector3 product;
bgc_fp32_vector3_get_cross_product(&product, vector1, vector2);
_bgc_fp32_restrict_vector3_get_cross_product(&product, vector1, vector2);
return bgc_fp32_vector3_get_squared_length(&product) <= BGC_FP32_SQUARE_EPSILON * square_modulus1 * square_modulus2;
}
@ -658,7 +674,7 @@ inline int bgc_fp64_vector3_are_parallel(const BGC_FP64_Vector3* vector1, const
BGC_FP64_Vector3 product;
bgc_fp64_vector3_get_cross_product(&product, vector1, vector2);
_bgc_fp64_restrict_vector3_get_cross_product(&product, vector1, vector2);
return bgc_fp64_vector3_get_squared_length(&product) <= BGC_FP64_SQUARE_EPSILON * square_modulus1 * square_modulus2;
}
@ -714,7 +730,7 @@ inline int bgc_fp32_vector3_get_attitude(const BGC_FP32_Vector3* vector1, const
BGC_FP32_Vector3 product;
bgc_fp32_vector3_get_cross_product(&product, vector1, vector2);
_bgc_fp32_restrict_vector3_get_cross_product(&product, vector1, vector2);
if (bgc_fp32_vector3_get_squared_length(&product) > square_limit) {
return BGC_ATTITUDE_ANY;
@ -742,7 +758,7 @@ inline int bgc_fp64_vector3_get_attitude(const BGC_FP64_Vector3* vector1, const
BGC_FP64_Vector3 product;
bgc_fp64_vector3_get_cross_product(&product, vector1, vector2);
_bgc_fp64_restrict_vector3_get_cross_product(&product, vector1, vector2);
if (bgc_fp64_vector3_get_squared_length(&product) > square_limit) {
return BGC_ATTITUDE_ANY;