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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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48
basic-geometry/dual-quaternion.h
View file

@ -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_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_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_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_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_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_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_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_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)

8
basic-geometry/dual-vector3.h
View file

@ -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_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
_bgc_fp32_restrict_vector3_get_cross_product(&part1, &first->dual_part, &second->real_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_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
_bgc_fp64_restrict_vector3_get_cross_product(&part1, &first->dual_part, &second->real_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);

55
basic-geometry/rigid-pose3.c
View file

@ -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);
}

70
basic-geometry/rigid-pose3.h
View file

@ -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

4
basic-geometry/turn3.c
View file

@ -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);

3
basic-geometry/vector3.c
View file

@ -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);

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;