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Исправление функции, которая находит трёхмерных поворот между двумя парами векторов

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Andrey Pokidov 2026-02-06 20:33:37 +07:00
parent 57280ac3f3
commit 2ce4b64ca3
7 changed files with 705 additions and 467 deletions
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329
basic-geometry-dev/main.c
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Forgejo version: 11.0.1+gitea-1.22.0

 @ -79,7 +79,7 @@ void list_work(const uint_fast32_t amount, structure_fp32_t* list)
}
}
}
/*
int main()
{
const unsigned int amount = 1000000;
@ -121,7 +121,7 @@ int main()
return 0;
}
*/
/*
int main() {
@ -149,84 +149,84 @@ int main() {
}
*/
void test_basis_difference_fp32()
void test_pair_difference_fp32()
{
BGC_FP32_Vector3 initial_primary, initial_auxiliary;
BGC_FP32_Vector3 final_primary, final_auxiliary;
BGC_FP32_Vector3 initial_main, initial_branch;
BGC_FP32_Vector3 final_main, final_branch;
BGC_FP32_Turn3 turn;
// No turn
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_branch, 0.0f, 1.0f, 0.0f);
bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nNo turn:\n");
print_quaternion_fp32(&turn._versor);
// Turn around (1, 1, 0) axis on 180 degrees
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_main, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_branch, 1.0f, 0.0f, 0.0f);
bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
print_quaternion_fp32(&turn._versor);
// 180 degree turn
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_primary, -1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_main, -1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_branch, 0.0f, 1.0f, 0.0f);
bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\n180 degree turn around (0, 1, 0):\n");
print_quaternion_fp32(&turn._versor);
// 90 degree turn around x3 axis
bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 3.1f, 0.0f);
bgc_fp32_vector3_make(&initial_main, 2.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_branch, 0.0f, 3.1f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary,-1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_main, 0.0f, 10.0f, 0.0f);
bgc_fp32_vector3_make(&final_branch,-1.0f, 0.0f, 0.0f);
bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\n90 degree turn around (0, 0, 1):\n");
print_quaternion_fp32(&turn._versor);
// Unorthogonal pairs turn at 90 degrees around x3 axis
bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f);