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

basic-geometry/dual-quaternion.h

@@ -98,8 +98,8 @@ inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion)
 
     BGC_FP32_Quaternion temporary;
 
-    bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
+    _bgc_fp32_restrict_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
-    bgc_fp32_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
+    _bgc_fp32_restrict_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
 
     bgc_fp32_quaternion_revert(&quaternion->dual_part);
 
@@ -114,8 +114,8 @@ inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion)
 
     BGC_FP64_Quaternion temporary;
 
-    bgc_fp64_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
+    _bgc_fp64_restrict_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
-    bgc_fp64_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
+    _bgc_fp64_restrict_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
 
     bgc_fp64_quaternion_revert(&quaternion->dual_part);
 
@@ -132,8 +132,8 @@ inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse
 
     BGC_FP32_Quaternion temporary;
 
-    bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
+    _bgc_fp32_restrict_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
-    bgc_fp32_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
+    _bgc_fp32_restrict_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
 
     bgc_fp32_quaternion_revert(&inverse->dual_part);
 
@@ -148,8 +148,8 @@ inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse
 
     BGC_FP64_Quaternion temporary;
 
-    bgc_fp64_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
+    _bgc_fp64_restrict_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
-    bgc_fp64_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
+    _bgc_fp64_restrict_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
 
     bgc_fp64_quaternion_revert(&inverse->dual_part);
 
@@ -258,6 +258,38 @@ inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion
     conjugate->dual_part.x3 =  quaternion->dual_part.x3;
 }
 
+// ================= Normalize ================== //
+
+void _bgc_fp32_dual_quaternion_normalize_parts(BGC_FP32_DualQuaternion* quaternion, const float square_magnitude);
+
+void _bgc_fp64_dual_quaternion_normalize_parts(BGC_FP64_DualQuaternion* quaternion, const double square_magnitude);
+
+inline void bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* quaternion)
+{
+    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&quaternion->real_part);
+
+    if (!bgc_fp32_is_square_unit(square_magnitude)) {
+        _bgc_fp32_quaternion_normalize_normalize_parts(quaternion, square_magnitude);
+    }
+
+    const float dot_product = bgc_fp32_quaternion_get_dot_product(&quaternion->real_part, &quaternion->dual_part);
+
+    bgc_fp32_quaternion_subtract_scaled(&quaternion->dual_part, &quaternion->dual_part, &quaternion->real_part, dot_product);
+}
+
+inline void bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* quaternion)
+{
+    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&quaternion->real_part);
+
+    if (!bgc_fp64_is_square_unit(square_magnitude)) {
+        _bgc_fp64_quaternion_normalize_normalize_parts(quaternion, 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);
+}
+
 // ==================== Add ===================== //
 
 inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)

basic-geometry/dual-vector3.h

@@ -358,8 +358,8 @@ inline void bgc_fp32_dual_vector3_get_cross_product(BGC_FP32_DualVector3* produc
 {
     BGC_FP32_Vector3 part1, part2;
 
-    bgc_fp32_vector3_get_cross_product(&part1, &first->dual_part, &second->real_part);
+    _bgc_fp32_restrict_vector3_get_cross_product(&part1, &first->dual_part, &second->real_part);
-    bgc_fp32_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
+    _bgc_fp32_restrict_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
 
     bgc_fp32_vector3_get_cross_product(&product->real_part, &first->real_part, &second->real_part);
     bgc_fp32_vector3_add(&product->dual_part, &part1, &part2);
@@ -369,8 +369,8 @@ inline void bgc_fp64_dual_vector3_get_cross_product(BGC_FP64_DualVector3* produc
 {
     BGC_FP64_Vector3 part1, part2;
 
-    bgc_fp64_vector3_get_cross_product(&part1, &first->dual_part, &second->real_part);
+    _bgc_fp64_restrict_vector3_get_cross_product(&part1, &first->dual_part, &second->real_part);
-    bgc_fp64_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
+    _bgc_fp64_restrict_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
 
     bgc_fp64_vector3_get_cross_product(&product->real_part, &first->real_part, &second->real_part);
     bgc_fp64_vector3_add(&product->dual_part, &part1, &part2);

basic-geometry/rigid-pose3.c

@@ -1,5 +1,34 @@
 #include "rigid-pose3.h"
 
+void _bgc_fp32_rigid_pose3_normalize_parts(BGC_FP32_RigidPose3* pose, const float square_magnitude)
+{
+    if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
+        bgc_fp32_rigid_pose3_reset(pose);
+        return;
+    }
+
+    const float multiplier = sqrtf(1.0f / square_magnitude);
+
+    bgc_fp32_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
+    bgc_fp32_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
+}
+
+void _bgc_fp64_rigid_pose3_normalize_parts(BGC_FP64_RigidPose3* pose, const double square_magnitude)
+{
+    if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
+        bgc_fp64_rigid_pose3_reset(pose);
+        return;
+    }
+
+    const double multiplier = sqrt(1.0 / square_magnitude);
+
+    bgc_fp64_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
+    bgc_fp64_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
+}
+
+extern inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose);
+extern inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose);
+
 extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose);
 extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose);
 
@@ -14,29 +43,3 @@ extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* des
 
 extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second);
 extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second);
-
-void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose, const float square_magnitude)
-{
-    if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
-        bgc_fp32_rigid_pose3_reset(pose);
-        return;
-    }
-
-    const float multiplier = sqrtf(1.0f / square_magnitude);
-
-    bgc_fp32_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
-    bgc_fp32_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
-}
-
-void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose, const double square_magnitude)
-{
-    if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
-        bgc_fp64_rigid_pose3_reset(pose);
-        return;
-    }
-
-    const double multiplier = sqrt(1.0 / square_magnitude);
-
-    bgc_fp64_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
-    bgc_fp64_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
-}

basic-geometry/rigid-pose3.h

@@ -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);
+    _bgc_fp64_rigid_pose3_normalize(destination);
-
-    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);
 }
 
 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);
+    _bgc_fp32_rigid_pose3_normalize(destination);
-
-    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);
 }
 
 // ================== 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);
+    _bgc_fp32_rigid_pose3_normalize(combination);
-
-    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);
 }
 
 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);
+    _bgc_fp64_rigid_pose3_normalize(combination);
-
-    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);
 }
 
 #endif

basic-geometry/turn3.c

@@ -222,7 +222,7 @@ int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* turn, const BGC_FP3
 
     BGC_FP32_Vector3 axis;
 
-    bgc_fp32_vector3_get_cross_product(&axis, first, second);
+    _bgc_fp32_restrict_vector3_get_cross_product(&axis, first, second);
 
     const float square_product = first_square_modulus * second_square_modulus;
     const float dot_product = bgc_fp32_vector3_get_dot_product(first, second);
@@ -266,7 +266,7 @@ int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* turn, const BGC_FP6
 
     BGC_FP64_Vector3 axis;
 
-    bgc_fp64_vector3_get_cross_product(&axis, first, second);
+    _bgc_fp64_restrict_vector3_get_cross_product(&axis, first, second);
 
     const double square_product = first_square_modulus * second_square_modulus;
     const double dot_product = bgc_fp64_vector3_get_dot_product(first, second);

basic-geometry/vector3.c

@@ -78,6 +78,9 @@ extern inline double bgc_fp64_vector3_get_dot_product(const BGC_FP64_Vector3* ve
 extern inline float bgc_fp32_vector3_get_triple_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3);
 extern inline double bgc_fp64_vector3_get_triple_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3);
 
+extern inline void _bgc_fp32_restrict_vector3_get_cross_product(BGC_FP32_Vector3* restrict product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
+extern inline void _bgc_fp64_restrict_vector3_get_cross_product(BGC_FP64_Vector3* restrict product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);
+
 extern inline void bgc_fp32_vector3_get_cross_product(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
 extern inline void bgc_fp64_vector3_get_cross_product(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);
 

basic-geometry/vector3.h

@@ -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;