Добавление функций определения поворотов (versor) между направлениями и базисами
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12 changed files with 784 additions and 287 deletions
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@ -53,12 +53,12 @@ structure_fp32_t* make_structures(const unsigned int amount)
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void print_versor_fp32(const BgcVersorFP32* versor)
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{
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printf("Versor (%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
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printf("Versor (s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
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}
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void print_versor_fp64(const BgcVersorFP64* versor)
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{
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printf("Versor (%lf, %lf, %lf, %lf)\n", versor->s0, versor->x1, versor->x2, versor->x3);
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printf("Versor (s0 = %0.20f, x1 = %0.20f, x2 = %0.20f, x3 = %0.20f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
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}
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void print_vector_fp32(const BgcVector3FP32* vector)
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@ -149,7 +149,328 @@ int main() {
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}
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*/
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int main() {
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void test_basis_difference_fp32()
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{
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BgcVector3FP32 initial_primary, initial_auxiliary;
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BgcVector3FP32 final_primary, final_auxiliary;
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BgcVersorFP32 turn;
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// No turn
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
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bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nNo turn:\n");
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print_versor_fp32(&turn);
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// Turn around (1, 1, 0) axis on 180 degrees
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_auxiliary);
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bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
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print_versor_fp32(&turn);
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// 180 degree turn
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
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bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n180 degree turn around (0, 1, 0):\n");
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print_versor_fp32(&turn);
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// 90 degree turn around x3 axis
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bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(0.0f, 3.1f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_auxiliary);
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bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n90 degree turn around (0, 0, 1):\n");
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print_versor_fp32(&turn);
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// Unorthogonal pairs turn at 90 degrees around x3 axis
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bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(-2.0f, 3.1f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(-1.0f, 5.0f, 0.0f, &final_auxiliary);
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bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
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print_versor_fp32(&turn);
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// Zero vectors
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bgc_vector3_set_values_fp32(0.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
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int code;
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code = bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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if (code >= 0) {
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printf("\nZero vectors: this cannot be!\n");
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print_versor_fp32(&turn);
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}
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else {
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printf("\nZero vector validation works fine\n");
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}
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// Parallel vectors
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
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code = bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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if (code >= 0) {
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printf("\nParallel vectors: this cannot be!\n");
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print_versor_fp32(&turn);
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}
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else {
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printf("\nParallelism validation works fine\n");
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}
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// Small angle turn (about 1 degree):
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(0.999848f, 0.017452f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(-0.017452f, 0.999848f, 0.0f, &final_auxiliary);
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bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nSmall angle turn (about 1 degree):\n");
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print_versor_fp32(&turn);
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// About 179 degrees turn
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(-0.999848f, -0.017452f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(0.017452f, -0.999848f, 0.0f, &final_auxiliary);
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bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nAbout 179 degrees turn:\n");
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print_versor_fp32(&turn);
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// 120 degrees around (-1, -1, 1)
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(0.0f, 0.0f, -1.0f, &final_auxiliary);
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bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n120 degees turn:\n");
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print_versor_fp32(&turn);
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// About 1 degree turn difference between initial_primary and initial_auxiliary directions
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(0.999848f, 0.017452f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_auxiliary);
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bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
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print_versor_fp32(&turn);
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// About 0.01 degree turn difference between initial_primary and initial_auxiliary directions
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
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bgc_vector3_set_values_fp32(1.0f, 0.000001f, 0.0f, &initial_auxiliary);
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bgc_vector3_set_values_fp32(0.0f, -1.0f, 0.0f, &final_primary);
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bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_auxiliary);
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bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
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print_versor_fp32(&turn);
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}
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void test_basis_difference_fp64()
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{
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BgcVector3FP64 initial_primary, initial_auxiliary;
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BgcVector3FP64 final_primary, final_auxiliary;
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BgcVersorFP64 turn;
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// No turn
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
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bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nNo turn:\n");
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print_versor_fp64(&turn);
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// Turn around (1, 1, 0) axis on 180 degrees
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_auxiliary);
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bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
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print_versor_fp64(&turn);
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// 180 degree turn
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
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bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n180 degree turn around (0, 1, 0):\n");
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print_versor_fp64(&turn);
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// 90 degree turn around x3 axis
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bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(0.0, 3.1, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(0.0, 10.0, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_auxiliary);
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bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n90 degree turn around (0, 0, 1):\n");
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print_versor_fp64(&turn);
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// Unorthogonal pairs turn at 90 degrees around x3 axis
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bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(-2.0, 3.1, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(0.0, 10.0, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(-1.0, 5.0, 0.0, &final_auxiliary);
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bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
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print_versor_fp64(&turn);
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// Zero vectors
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bgc_vector3_set_values_fp64(0.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
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int code;
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code = bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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if (code >= 0) {
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printf("\nZero vectors: this cannot be!\n");
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print_versor_fp64(&turn);
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}
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else {
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printf("\nZero vector validation works fine\n");
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}
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// Parallel vectors
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(2.0, 0.0, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_auxiliary);
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code = bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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if (code >= 0) {
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printf("\nParallel vectors: this cannot be!\n");
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print_versor_fp64(&turn);
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}
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else {
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printf("\nParallelism validation works fine\n");
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}
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// Small angle turn (about 1 degree):
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(0.999848, 0.017452, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(-0.017452, 0.999848, 0.0, &final_auxiliary);
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bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nSmall angle turn (about 1 degree):\n");
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print_versor_fp64(&turn);
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// About 179 degrees turn
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(-0.999848, -0.017452, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(0.017452, -0.999848, 0.0, &final_auxiliary);
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bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nAbout 179 degrees turn:\n");
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print_versor_fp64(&turn);
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// 120 degrees around (-1, -1, 1)
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(0.0, 0.0, -1.0, &final_auxiliary);
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bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\n120 degees turn:\n");
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print_versor_fp64(&turn);
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// About 1 degree turn difference between initial_primary and initial_auxiliary directions
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(0.999848, 0.017452, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(0.0, 1.0, 0.0, &final_primary);
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bgc_vector3_set_values_fp64(-1.0, 0.0, 0.0, &final_auxiliary);
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bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
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printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
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print_versor_fp64(&turn);
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// About 0.001 degree turn difference between initial_primary and initial_auxiliary directions
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bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &initial_primary);
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bgc_vector3_set_values_fp64(1.0, 0.000001, 0.0, &initial_auxiliary);
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bgc_vector3_set_values_fp64(0.0, -1.0, 0.0, &final_primary);
|
||||
bgc_vector3_set_values_fp64(1.0, 0.0, 0.0, &final_auxiliary);
|
||||
|
||||
bgc_versor_make_basis_difference_fp64(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
|
||||
|
||||
printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
|
||||
print_versor_fp64(&turn);
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
//BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
|
||||
//BgcVersorFP32 end = { 0.0f, 1.0f, 0.0f, 0.0f };
|
||||
/*
|
||||
|
|
@ -162,12 +483,7 @@ int main() {
|
|||
printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
|
||||
*/
|
||||
|
||||
BgcVersorFP64 start = { 1.0, 0.0, 0.0, 0.0 };
|
||||
BgcVersorFP64 end = { -0.707, 0.707, 0.0, 0.0 };
|
||||
BgcVersorFP64 result;
|
||||
BgcSlerpFP64 slerp;
|
||||
bgc_slerp_make_full_fp64(&start, &end, &slerp);
|
||||
bgc_slerp_get_turn_for_phase_fp64(&slerp, 0.5f, &result);
|
||||
printf("Result: %0.15f, %0.15f, %0.15f, %0.15f\n", result.s0, result.x1, result.x2, result.x3);
|
||||
test_basis_difference_fp64();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue