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Добавление функций определения поворотов (versor) между направлениями и базисами

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Andrey Pokidov 2025-06-04 23:47:55 +07:00
parent e6a94ab8d9
commit 2a4d5522d3
12 changed files with 784 additions and 287 deletions
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basic-geometry-dev/main.c
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Forgejo version: 11.0.1+gitea-1.22.0

 @ -53,12 +53,12 @@ structure_fp32_t* make_structures(const unsigned int amount)
void print_versor_fp32(const BgcVersorFP32* versor)
{
printf("Versor (%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
printf("Versor (s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
}
void print_versor_fp64(const BgcVersorFP64* versor)
{
printf("Versor (%lf, %lf, %lf, %lf)\n", versor->s0, versor->x1, versor->x2, versor->x3);
printf("Versor (s0 = %0.20f, x1 = %0.20f, x2 = %0.20f, x3 = %0.20f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
}
void print_vector_fp32(const BgcVector3FP32* vector)
@ -149,7 +149,328 @@ int main() {
}
*/
int main() {
void test_basis_difference_fp32()
{
BgcVector3FP32 initial_primary, initial_auxiliary;
BgcVector3FP32 final_primary, final_auxiliary;
BgcVersorFP32 turn;
// No turn
bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
printf("\nNo turn:\n");
print_versor_fp32(&turn);
// Turn around (1, 1, 0) axis on 180 degrees
bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_auxiliary);
bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
print_versor_fp32(&turn);
// 180 degree turn
bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_primary);
bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
printf("\n180 degree turn around (0, 1, 0):\n");
print_versor_fp32(&turn);
// 90 degree turn around x3 axis
bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary);
bgc_vector3_set_values_fp32(0.0f, 3.1f, 0.0f, &initial_auxiliary);
bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary);
bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_auxiliary);
bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
printf("\n90 degree turn around (0, 0, 1):\n");
print_versor_fp32(&turn);
// Unorthogonal pairs turn at 90 degrees around x3 axis
bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary);
bgc_vector3_set_values_fp32(-2.0f, 3.1f, 0.0f, &initial_auxiliary);
bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary);
bgc_vector3_set_values_fp32(-1.0f, 5.0f, 0.0f, &final_auxiliary);
bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
print_versor_fp32(&turn);
// Zero vectors
bgc_vector3_set_values_fp32(0.0f, 0.0f, 0.0f, &initial_primary);
bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
int code;
code = bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
if (code >= 0) {
printf("\nZero vectors: this cannot be!\n");
print_versor_fp32(&turn);
}
else {
printf("\nZero vector validation works fine\n");
}
// Parallel vectors
bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_auxiliary);
bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);