Kimelas/bgc-c
2
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Исправление функции, которая находит трёхмерных поворот между двумя парами векторов

Browse source
This commit is contained in:
Andrey Pokidov 2026-02-06 20:33:37 +07:00
parent 57280ac3f3
commit 2ce4b64ca3
7 changed files with 705 additions and 467 deletions
Download patch file Download diff file Expand all files Collapse all files

8
basic-geometry/dual-quaternion.c
View file

@ -21,11 +21,11 @@ extern inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion*
extern inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend);
extern inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend);
extern inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier);
extern inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier);
extern inline void bgc_fp32_dual_quaternion_multiply_by_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier);
extern inline void bgc_fp64_dual_quaternion_multiply_by_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier);
extern inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor);
extern inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor);
extern inline void bgc_fp32_dual_quaternion_divide_by_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor);
extern inline void bgc_fp64_dual_quaternion_divide_by_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor);
extern inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2);
extern inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2);

20
basic-geometry/dual-quaternion.h
View file

@ -113,28 +113,28 @@ inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* differenc
// ================== Multiply ================== //
inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier)
inline void bgc_fp32_dual_quaternion_multiply_by_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier)
{
bgc_fp32_quaternion_multiply(&product->real, &multiplicand->real, multipier);
bgc_fp32_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
bgc_fp32_quaternion_multiply_by_number(&product->real, &multiplicand->real, multipier);
bgc_fp32_quaternion_multiply_by_number(&product->dual, &multiplicand->dual, multipier);
}
inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier)
inline void bgc_fp64_dual_quaternion_multiply_by_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier)
{
bgc_fp64_quaternion_multiply(&product->real, &multiplicand->real, multipier);
bgc_fp64_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
bgc_fp64_quaternion_multiply_by_number(&product->real, &multiplicand->real, multipier);
bgc_fp64_quaternion_multiply_by_number(&product->dual, &multiplicand->dual, multipier);
}
// =================== Divide =================== //
inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor)
inline void bgc_fp32_dual_quaternion_divide_by_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor)
{
bgc_fp32_dual_quaternion_multiply(quotient, divident, 1.0f / divisor);
bgc_fp32_dual_quaternion_multiply_by_number(quotient, divident, 1.0f / divisor);
}
inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor)
inline void bgc_fp64_dual_quaternion_divide_by_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor)
{
bgc_fp64_dual_quaternion_multiply(quotient, divident, 1.0 / divisor);
bgc_fp64_dual_quaternion_multiply_by_number(quotient, divident, 1.0 / divisor);
}
// ================ Mean of Two ================= //

48
basic-geometry/quaternion.c
View file

@ -40,20 +40,20 @@ extern inline void bgc_fp64_quaternion_add_scaled(BGC_FP64_Quaternion* sum, cons
extern inline void bgc_fp32_quaternion_subtract(BGC_FP32_Quaternion* difference, const BGC_FP32_Quaternion* minuend, const BGC_FP32_Quaternion* subtrahend);
extern inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const BGC_FP64_Quaternion* minuend, const BGC_FP64_Quaternion* subtrahend);
extern inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void bgc_fp32_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void bgc_fp64_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void bgc_fp32_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void bgc_fp64_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier);
extern inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier);
extern inline void bgc_fp32_quaternion_multiply_by_number(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier);
extern inline void bgc_fp64_quaternion_multiply_by_number(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier);
extern inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor);
extern inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor);
extern inline int bgc_fp32_quaternion_divide_by_quaternion(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor);
extern inline int bgc_fp64_quaternion_divide_by_quaternion(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor);
extern inline void bgc_fp32_quaternion_divide(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor);
extern inline void bgc_fp64_quaternion_divide(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor);
extern inline void bgc_fp32_quaternion_divide_by_number(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor);
extern inline void bgc_fp64_quaternion_divide_by_number(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor);
extern inline void bgc_fp32_quaternion_get_mean2(BGC_FP32_Quaternion* mean, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
extern inline void bgc_fp64_quaternion_get_mean2(BGC_FP64_Quaternion* mean, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
@ -88,6 +88,18 @@ extern inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
extern inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion);
extern inline void _bgc_fp32_quaternion_turn_vector_roughly(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector);
extern inline void _bgc_fp64_quaternion_turn_vector_roughly(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector);
extern inline void _bgc_fp32_quaternion_turn_vector_back_roughly(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector);
extern inline void _bgc_fp64_quaternion_turn_vector_back_roughly(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector);
extern inline int bgc_fp32_quaternion_turn_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector);
extern inline int bgc_fp64_quaternion_turn_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector);
extern inline int bgc_fp32_quaternion_turn_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector);
extern inline int bgc_fp64_quaternion_turn_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector);
extern inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion);
extern inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion);
@ -114,12 +126,12 @@ int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP3
// isnan(square_modulus) means checking for NaN value at square_modulus
if (isnan(square_modulus)) {
return 0;
return BGC_FAILED;
}
if (square_vector <= BGC_FP32_SQUARE_EPSILON) {
if (base->s0 < 0.0f) {
return 0;
return BGC_FAILED;
}
power->s0 = powf(base->s0, exponent);
@ -127,7 +139,7 @@ int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP3
power->x2 = 0.0f;
power->x3 = 0.0f;
return 1;
return BGC_SUCCESS;
}
const float vector_modulus = sqrtf(square_vector);
@ -140,7 +152,7 @@ int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP3
power->x2 = base->x2 * multiplier;
power->x3 = base->x3 * multiplier;
return 1;
return BGC_SUCCESS;
}
int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent)
@ -155,12 +167,12 @@ int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP6
// isnan(square_modulus) means checking for NaN value at square_modulus
if (isnan(square_modulus)) {
return 0;
return BGC_FAILED;
}
if (square_vector <= BGC_FP64_SQUARE_EPSILON) {
if (base->s0 < 0.0) {
return 0;
return BGC_FAILED;
}
power->s0 = pow(base->s0, exponent);
@ -168,7 +180,7 @@ int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP6
power->x2 = 0.0;
power->x3 = 0.0;
return 1;
return BGC_SUCCESS;
}
const double vector_modulus = sqrt(square_vector);
@ -181,5 +193,5 @@ int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP6
power->x2 = base->x2 * multiplier;
power->x3 = base->x3 * multiplier;
return 1;
return BGC_SUCCESS;
}

271
basic-geometry/quaternion.h
View file

@ -5,6 +5,7 @@
#include "utilities.h"
#include "angle.h"
#include "vector3.h"
#include "matrix3x3.h"
typedef struct {
@ -247,7 +248,7 @@ inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference, const
// ================== Multiply ================== //
inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
inline void bgc_fp32_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
{
const float s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
const float x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@ -260,7 +261,7 @@ inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const
product->x3 = x3;
}
inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
inline void bgc_fp64_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
{
const double s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
const double x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
@ -273,7 +274,7 @@ inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const
product->x3 = x3;
}
inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
inline void bgc_fp32_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
{
const float s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3);
const float x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
@ -286,7 +287,7 @@ inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* pr
product->x3 = x3;
}
inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
inline void bgc_fp64_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
{
const double s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3);
const double x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
@ -299,7 +300,7 @@ inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* pr
product->x3 = x3;
}
inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier)
inline void bgc_fp32_quaternion_multiply_by_number(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier)
{
product->s0 = multiplicand->s0 * multipier;
product->x1 = multiplicand->x1 * multipier;
@ -307,7 +308,7 @@ inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC
product->x3 = multiplicand->x3 * multipier;
}
inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier)
inline void bgc_fp64_quaternion_multiply_by_number(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier)
{
product->s0 = multiplicand->s0 * multipier;
product->x1 = multiplicand->x1 * multipier;
@ -317,12 +318,12 @@ inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC
// =================== Divide =================== //
inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor)
inline int bgc_fp32_quaternion_divide_by_quaternion(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor)
{
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(divisor);
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
return BGC_FAILED;
}
const float s0 = (divident->s0 * divisor->s0 + divident->x1 * divisor->x1) + (divident->x2 * divisor->x2 + divident->x3 * divisor->x3);
@ -337,15 +338,15 @@ inline int bgc_fp32_quaternion_get_ratio(BGC_FP32_Quaternion* quotient, const BG
quotient->x2 = x2 * multiplicand;
quotient->x3 = x3 * multiplicand;
return 1;
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor)
inline int bgc_fp64_quaternion_divide_by_quaternion(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor)
{
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(divisor);
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
return BGC_FAILED;
}
const double s0 = (divident->s0 * divisor->s0 + divident->x1 * divisor->x1) + (divident->x2 * divisor->x2 + divident->x3 * divisor->x3);
@ -360,17 +361,17 @@ inline int bgc_fp64_quaternion_get_ratio(BGC_FP64_Quaternion* quotient, const BG
quotient->x2 = x2 * multiplicand;
quotient->x3 = x3 * multiplicand;
return 1;
return BGC_SUCCESS;
}
inline void bgc_fp32_quaternion_divide(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor)
inline void bgc_fp32_quaternion_divide_by_number(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor)
{
bgc_fp32_quaternion_multiply(quotient, dividend, 1.0f / divisor);
bgc_fp32_quaternion_multiply_by_number(quotient, dividend, 1.0f / divisor);
}
inline void bgc_fp64_quaternion_divide(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor)
inline void bgc_fp64_quaternion_divide_by_number(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor)
{
bgc_fp64_quaternion_multiply(quotient, dividend, 1.0 / divisor);
bgc_fp64_quaternion_multiply_by_number(quotient, dividend, 1.0 / divisor);
}
// ================ Mean of Two ================= //
@ -504,7 +505,7 @@ inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const B
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
return BGC_FAILED;
}
const float multiplicand = 1.0f / square_modulus;
@ -514,7 +515,7 @@ inline int bgc_fp32_quaternion_get_inverse(BGC_FP32_Quaternion* inverse, const B
inverse->x2 = -quaternion->x2 * multiplicand;
inverse->x3 = -quaternion->x3 * multiplicand;
return 1;
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const BGC_FP64_Quaternion* quaternion)
@ -522,7 +523,7 @@ inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const B
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
return BGC_FAILED;
}
const double multiplicand = 1.0 / square_modulus;
@ -532,7 +533,7 @@ inline int bgc_fp64_quaternion_get_inverse(BGC_FP64_Quaternion* inverse, const B
inverse->x2 = -quaternion->x2 * multiplicand;
inverse->x3 = -quaternion->x3 * multiplicand;
return 1;
return BGC_SUCCESS;
}
inline int bgc_fp32_quaternion_invert(BGC_FP32_Quaternion* quaternion)
@ -552,11 +553,11 @@ inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion)
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
if (bgc_fp32_is_square_unit(square_modulus)) {
return 1;
return BGC_SUCCESS;
}
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
return BGC_FAILED;
}
const float multiplier = sqrtf(1.0f / square_modulus);
@ -566,7 +567,7 @@ inline int bgc_fp32_quaternion_normalize(BGC_FP32_Quaternion* quaternion)
quaternion->x2 *= multiplier;
quaternion->x3 *= multiplier;
return 1;
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
@ -574,11 +575,11 @@ inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
if (bgc_fp64_is_square_unit(square_modulus)) {
return 1;
return BGC_SUCCESS;
}
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
return 0;
return BGC_FAILED;
}
const double multiplier = sqrt(1.0 / square_modulus);
@ -588,7 +589,7 @@ inline int bgc_fp64_quaternion_normalize(BGC_FP64_Quaternion* quaternion)
quaternion->x2 *= multiplier;
quaternion->x3 *= multiplier;
return 1;
return BGC_SUCCESS;
}
inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, const BGC_FP32_Quaternion* quaternion)
@ -597,16 +598,16 @@ inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, c
if (bgc_fp32_is_square_unit(square_modulus)) {
bgc_fp32_quaternion_copy(normalized, quaternion);
return 1;
return BGC_SUCCESS;
}
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
bgc_fp32_quaternion_reset(normalized);
return 0;
return BGC_FAILED;
}
bgc_fp32_quaternion_multiply(normalized, quaternion, sqrtf(1.0f / square_modulus));
return 1;
bgc_fp32_quaternion_multiply_by_number(normalized, quaternion, sqrtf(1.0f / square_modulus));
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, const BGC_FP64_Quaternion* quaternion)
@ -615,16 +616,16 @@ inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, c
if (bgc_fp64_is_square_unit(square_modulus)) {
bgc_fp64_quaternion_copy(normalized, quaternion);
return 1;
return BGC_SUCCESS;
}
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
bgc_fp64_quaternion_reset(normalized);
return 0;
return BGC_FAILED;
}
bgc_fp64_quaternion_multiply(normalized, quaternion, sqrt(1.0 / square_modulus));
return 1;
bgc_fp64_quaternion_multiply_by_number(normalized, quaternion, sqrt(1.0 / square_modulus));
return BGC_SUCCESS;
}
// =============== Get Exponation =============== //
@ -633,6 +634,182 @@ int bgc_fp32_quaternion_get_exponation(BGC_FP32_Quaternion* power, const BGC_FP3
int bgc_fp64_quaternion_get_exponation(BGC_FP64_Quaternion* power, const BGC_FP64_Quaternion* base, const double exponent);
// ============== Raw Turn Vector3 ============== //
// An internal function
inline void _bgc_fp32_quaternion_turn_vector_roughly(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
{
const float tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const float tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
const float tx3 = 2.0f * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
const float x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
const float x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
const float x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
turned_vector->x1 = x1;
turned_vector->x2 = x2;
turned_vector->x3 = x3;
}
// An internal function
inline void _bgc_fp64_quaternion_turn_vector_roughly(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
{
const double tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const double tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
const double tx3 = 2.0f * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
const double x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
const double x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
const double x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
turned_vector->x1 = x1;
turned_vector->x2 = x2;
turned_vector->x3 = x3;
}
// ========= Raw Turn Vector3 Backwards ========= //
// An internal function
inline void _bgc_fp32_quaternion_turn_vector_back_roughly(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
{
const float tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const float tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
const float tx3 = 2.0f * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
const float x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
const float x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
const float x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
turned_vector->x1 = x1;
turned_vector->x2 = x2;
turned_vector->x3 = x3;
}
// An internal function
inline void _bgc_fp64_quaternion_turn_vector_back_roughly(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
{
const double tx1 = 2.0f * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const double tx2 = 2.0f * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
const double tx3 = 2.0f * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
const double x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
const double x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
const double x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
turned_vector->x1 = x1;
turned_vector->x2 = x2;
turned_vector->x3 = x3;
}
// ================ Turn Vector3 ================ //
inline int bgc_fp32_quaternion_turn_vector(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
{
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
if (square_modulus < BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
return BGC_FAILED;
}
const float multiplier = 2.0f / square_modulus;
const float tx1 = multiplier * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const float tx2 = multiplier * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
const float tx3 = multiplier * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
const float x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
const float x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
const float x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
turned_vector->x1 = x1;
turned_vector->x2 = x2;
turned_vector->x3 = x3;
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_turn_vector(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
{
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
if (square_modulus < BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
return BGC_FAILED;
}
const double multiplier = 2.0 / square_modulus;
const double tx1 = multiplier * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const double tx2 = multiplier * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
const double tx3 = multiplier * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
const double x1 = (original_vector->x1 + tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
const double x2 = (original_vector->x2 + tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
const double x3 = (original_vector->x3 + tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
turned_vector->x1 = x1;
turned_vector->x2 = x2;
turned_vector->x3 = x3;
return BGC_SUCCESS;
}
// =========== Turn Vector3 Backwards =========== //
inline int bgc_fp32_quaternion_turn_vector_back(BGC_FP32_Vector3* turned_vector, const BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* original_vector)
{
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(quaternion);
if (square_modulus < BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
return BGC_FAILED;
}
const float multiplier = 2.0f / square_modulus;
const float tx1 = multiplier * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const float tx2 = multiplier * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
const float tx3 = multiplier * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
const float x1 = (original_vector->x1 - tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
const float x2 = (original_vector->x2 - tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
const float x3 = (original_vector->x3 - tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
turned_vector->x1 = x1;
turned_vector->x2 = x2;
turned_vector->x3 = x3;
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_turn_vector_back(BGC_FP64_Vector3* turned_vector, const BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* original_vector)
{
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(quaternion);
if (square_modulus < BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
return BGC_FAILED;
}
const double multiplier = 2.0 / square_modulus;
const double tx1 = multiplier * (quaternion->x2 * original_vector->x3 - quaternion->x3 * original_vector->x2);
const double tx2 = multiplier * (quaternion->x3 * original_vector->x1 - quaternion->x1 * original_vector->x3);
const double tx3 = multiplier * (quaternion->x1 * original_vector->x2 - quaternion->x2 * original_vector->x1);
const double x1 = (original_vector->x1 - tx1 * quaternion->s0) + (quaternion->x2 * tx3 - quaternion->x3 * tx2);
const double x2 = (original_vector->x2 - tx2 * quaternion->s0) + (quaternion->x3 * tx1 - quaternion->x1 * tx3);
const double x3 = (original_vector->x3 - tx3 * quaternion->s0) + (quaternion->x1 * tx2 - quaternion->x2 * tx1);
turned_vector->x1 = x1;
turned_vector->x2 = x2;
turned_vector->x3 = x3;
return BGC_SUCCESS;
}
// ============ Get Rotation Matrix ============= //
inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation, const BGC_FP32_Quaternion* quaternion)
@ -647,7 +824,7 @@ inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation,
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus))
{
bgc_fp32_matrix3x3_make_identity(rotation);
return 0;
return BGC_FAILED;
}
const float corrector1 = 1.0f / square_modulus;
@ -673,7 +850,7 @@ inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* rotation,
rotation->r3c2 = corrector2 * (x2x3 + s0x1);
rotation->r1c3 = corrector2 * (x1x3 + s0x2);
return 1;
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation, const BGC_FP64_Quaternion* quaternion)
@ -688,7 +865,7 @@ inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation,
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus))
{
bgc_fp64_matrix3x3_make_identity(rotation);
return 0;
return BGC_FAILED;
}
const double corrector1 = 1.0f / square_modulus;
@ -714,7 +891,7 @@ inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* rotation,
rotation->r3c2 = corrector2 * (x2x3 + s0x1);
rotation->r1c3 = corrector2 * (x1x3 + s0x2);
return 1;
return BGC_SUCCESS;
}
// ============= Get Reverse Matrix ============= //
@ -731,7 +908,7 @@ inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, c
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus))
{
bgc_fp32_matrix3x3_make_identity(reverse);
return 0;
return BGC_FAILED;
}
const float corrector1 = 1.0f / square_modulus;
@ -757,7 +934,7 @@ inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* reverse, c
reverse->r3c2 = corrector2 * (x2x3 - s0x1);
reverse->r1c3 = corrector2 * (x1x3 - s0x2);
return 1;
return BGC_SUCCESS;
}
inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion)
@ -772,7 +949,7 @@ inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, c
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus))
{
bgc_fp64_matrix3x3_make_identity(reverse);
return 0;
return BGC_FAILED;
}
const double corrector1 = 1.0f / square_modulus;
@ -805,22 +982,22 @@ inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* reverse, c
inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* rotation, BGC_FP32_Matrix3x3* reverse, const BGC_FP32_Quaternion* quaternion)
{
if (bgc_fp32_quaternion_get_reverse_matrix(reverse, quaternion)) {
if (bgc_fp32_quaternion_get_reverse_matrix(reverse, quaternion) == BGC_SUCCESS) {
bgc_fp32_matrix3x3_get_transposed(rotation, reverse);
return 1;
return BGC_SUCCESS;
}
return 0;
return BGC_FAILED;
}
inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* rotation, BGC_FP64_Matrix3x3* reverse, const BGC_FP64_Quaternion* quaternion)
{
if (bgc_fp64_quaternion_get_reverse_matrix(reverse, quaternion)) {
if (bgc_fp64_quaternion_get_reverse_matrix(reverse, quaternion) == BGC_SUCCESS) {
bgc_fp64_matrix3x3_get_transposed(rotation, reverse);
return 1;
return BGC_SUCCESS;
}
return 0;
return BGC_FAILED;
}
// ================== Are Close ================= //

388
basic-geometry/turn3.c
View file

Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -85,7 +85,7 @@ void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* turn, const float square_modulus)
return;
}
bgc_fp32_quaternion_multiply(&turn->_versor, &turn->_versor, sqrtf(1.0f / square_modulus));
bgc_fp32_quaternion_multiply_by_number(&turn->_versor, &turn->_versor, sqrtf(1.0f / square_modulus));
}
void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* turn, const double square_modulus)
@ -95,7 +95,7 @@ void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* turn, const double square_modulus
return;
}
bgc_fp64_quaternion_multiply(&turn->_versor, &turn->_versor, sqrt(1.0 / square_modulus));
bgc_fp64_quaternion_multiply_by_number(&turn->_versor, &turn->_versor, sqrt(1.0 / square_modulus));
}
@ -289,190 +289,246 @@ int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* difference, const B
return _bgc_fp64_turn3_make_direction_turn(difference, start, end, start_square_modulus * end_square_modulus);
}
// =============== Set Directions =============== //
// ============ Make Orthogonal Pair ============ //
static int _bgc_fp32_turn3_validate_basis(const float primary_square_modulus, const float auxiliary_square_modulus, const float orthogonal_square_modulus)
static inline int _bgc_fp32_turn3_get_orthogonal_pair(BGC_FP32_Vector3* unit_main, BGC_FP32_Vector3* unit_branch, const BGC_FP32_Vector3* main, const BGC_FP32_Vector3* branch)
{
if (primary_square_modulus <= BGC_FP32_SQUARE_EPSILON) {
//TODO: add error code for: primary_vector is zero
return BGC_FAILED;
const float main_square_modulus = bgc_fp32_vector3_get_square_modulus(main);
if (main_square_modulus <= BGC_FP32_SQUARE_EPSILON) {
return _BGC_ERROR_TURN3_EMPTY_MAIN;
}
if (auxiliary_square_modulus <= BGC_FP32_SQUARE_EPSILON) {
//TODO: add error code for: auxiliary_vector is zero
return BGC_FAILED;
const float branch_square_modulus = bgc_fp32_vector3_get_square_modulus(branch);
if (branch_square_modulus <= BGC_FP32_SQUARE_EPSILON) {
return _BGC_ERROR_TURN3_EMPTY_BRANCH;
}
if (orthogonal_square_modulus <= BGC_FP32_SQUARE_EPSILON * primary_square_modulus * auxiliary_square_modulus) {
//TODO: add error code for: primary_vector and auxiliary_vector are parallel
return BGC_FAILED;
bgc_fp32_vector3_multiply(unit_main, main, sqrtf(1.0f / main_square_modulus));
bgc_fp32_vector3_add_scaled(unit_branch, branch, unit_main, -bgc_fp32_vector3_get_dot_product(branch, unit_main));
const float orthogonal_square_modulus = bgc_fp32_vector3_get_square_modulus(unit_branch);
if (orthogonal_square_modulus <= BGC_FP32_SQUARE_EPSILON) {
return _BGC_ERROR_TURN3_PAIR_PARALLEL;
}
bgc_fp32_vector3_multiply(unit_branch, unit_branch, sqrtf(1.0f / orthogonal_square_modulus));
return BGC_SUCCESS;
}
static inline int _bgc_fp64_turn3_get_orthogonal_pair(BGC_FP64_Vector3* unit_main, BGC_FP64_Vector3* unit_branch, const BGC_FP64_Vector3* main, const BGC_FP64_Vector3* branch)
{
const double main_square_modulus = bgc_fp64_vector3_get_square_modulus(main);
if (main_square_modulus <= BGC_FP64_SQUARE_EPSILON) {
return _BGC_ERROR_TURN3_EMPTY_MAIN;
}
const double branch_square_modulus = bgc_fp64_vector3_get_square_modulus(branch);
if (branch_square_modulus <= BGC_FP64_SQUARE_EPSILON) {
return _BGC_ERROR_TURN3_EMPTY_BRANCH;
}
bgc_fp64_vector3_multiply(unit_main, main, sqrtf(1.0 / main_square_modulus));
bgc_fp64_vector3_add_scaled(unit_branch, branch, unit_main, -bgc_fp64_vector3_get_dot_product(branch, unit_main));
const double orthogonal_square_modulus = bgc_fp64_vector3_get_square_modulus(unit_branch);
if (orthogonal_square_modulus <= BGC_FP64_SQUARE_EPSILON) {
return _BGC_ERROR_TURN3_PAIR_PARALLEL;
}
bgc_fp64_vector3_multiply(unit_branch, unit_branch, sqrt(1.0 / orthogonal_square_modulus));
return BGC_SUCCESS;
}
// ========= Make Direction Difference ========== //
static inline void _bgc_fp32_turn3_get_turning_quaternion(BGC_FP32_Quaternion* quaternion, const BGC_FP32_Vector3* unit_start, const BGC_FP32_Vector3* unit_end, const BGC_FP32_Vector3* unit_orthogonal)
{
BGC_FP32_Vector3 axis;
bgc_fp32_vector3_get_cross_product(&axis, unit_start, unit_end);
const float dot_product = bgc_fp32_vector3_get_dot_product(unit_start, unit_end);
const float axis_square_modulus = bgc_fp32_vector3_get_square_modulus(&axis);
// unit_start and unit_end are parallel
if (axis_square_modulus <= BGC_FP32_SQUARE_EPSILON) {
// unit_start and unit_end are co-directional, angle = 180 degrees
if (dot_product >= 0.0f) {
quaternion->s0 = 1.0f;
quaternion->x1 = 0.0f;
quaternion->x2 = 0.0f;
quaternion->x3 = 0.0f;
return;
}
// unit_start and unit_end are opposite, angle = 180 degrees
quaternion->s0 = 0.0f;
quaternion->x1 = unit_orthogonal->x1;
quaternion->x2 = unit_orthogonal->x2;
quaternion->x3 = unit_orthogonal->x3;
return;
}
const float axis_modulus = sqrtf(axis_square_modulus);
const float angle = 0.5f * atan2f(axis_modulus, dot_product);
const float multiplier = sinf(angle) / axis_modulus;
quaternion->s0 = cosf(angle);
quaternion->x1 = axis.x1 * multiplier;
quaternion->x2 = axis.x2 * multiplier;
quaternion->x3 = axis.x3 * multiplier;
}
static inline void _bgc_fp64_turn3_get_turning_quaternion(BGC_FP64_Quaternion* quaternion, const BGC_FP64_Vector3* unit_start, const BGC_FP64_Vector3* unit_end, const BGC_FP64_Vector3* unit_orthogonal)
{
BGC_FP64_Vector3 axis;
bgc_fp64_vector3_get_cross_product(&axis, unit_start, unit_end);
const double dot_product = bgc_fp64_vector3_get_dot_product(unit_start, unit_end);
const double axis_square_modulus = bgc_fp64_vector3_get_square_modulus(&axis);
// unit_start and unit_end are parallel
if (axis_square_modulus <= BGC_FP64_SQUARE_EPSILON) {
// unit_start and unit_end are co-directional, angle = 180 degrees
if (dot_product >= 0.0) {
quaternion->s0 = 1.0;
quaternion->x1 = 0.0;
quaternion->x2 = 0.0;
quaternion->x3 = 0.0;
return;
}
// unit_start and unit_end are opposite, angle = 180 degrees
quaternion->s0 = 0.0;
quaternion->x1 = unit_orthogonal->x1;
quaternion->x2 = unit_orthogonal->x2;
quaternion->x3 = unit_orthogonal->x3;
return;
}
const double axis_modulus = sqrt(axis_square_modulus);
const double angle = 0.5 * atan2(axis_modulus, dot_product);
const double multiplier = sin(angle) / axis_modulus;
quaternion->s0 = cos(angle);
quaternion->x1 = axis.x1 * multiplier;
quaternion->x2 = axis.x2 * multiplier;
quaternion->x3 = axis.x3 * multiplier;
}
// ============ Make Pair Difference ============ //
int bgc_fp32_turn3_find_pair_difference(
BGC_FP32_Turn3* turn,
const BGC_FP32_Vector3* first_pair_main,
const BGC_FP32_Vector3* first_pair_branch,
const BGC_FP32_Vector3* second_pair_main,
const BGC_FP32_Vector3* second_pair_branch
) {
BGC_FP32_Vector3 first_fixed_main, first_fixed_branch, first_turned_branch, second_fixed_main, second_fixed_branch;
int status = _bgc_fp32_turn3_get_orthogonal_pair(&first_fixed_main, &first_fixed_branch, first_pair_main, first_pair_branch);
if (status != BGC_SUCCESS) {
bgc_fp32_turn3_reset(turn);
return status + _BGC_ERROR_TURN3_FIRST_PAIR;
}
status = _bgc_fp32_turn3_get_orthogonal_pair(&second_fixed_main, &second_fixed_branch, second_pair_main, second_pair_branch);
if (status != BGC_SUCCESS) {
bgc_fp32_turn3_reset(turn);
return status + _BGC_ERROR_TURN3_SECOND_PAIR;
}
BGC_FP32_Quaternion q1, q2;
// Calculation of a turn (q1) which turns first_fixed_main into second_fixed_main
_bgc_fp32_turn3_get_turning_quaternion(&q1, &first_fixed_main, &second_fixed_main, &first_fixed_branch);
// Roughly turn first_fixed_branch with q1 turn
_bgc_fp32_quaternion_turn_vector_roughly(&first_turned_branch, &q1, &first_fixed_branch);
// Calculation of a turn (q2) which turns first_turned_branch into second_fixed_branch
_bgc_fp32_turn3_get_turning_quaternion(&q2, &first_turned_branch, &second_fixed_branch, &second_fixed_main);
// Composing two turns with multiplication of quaterntions (q2 * q1)
bgc_fp32_quaternion_multiply_by_quaternion(&turn->_versor, &q2, &q1);
// Making a final versor (a normalized quaternion)
const float square_modulus = bgc_fp32_quaternion_get_square_modulus(&turn->_versor);
if (!bgc_fp32_is_square_unit(square_modulus)) {
_bgc_fp32_turn3_normalize(turn, square_modulus);
}
return BGC_SUCCESS;
}
static int _bgc_fp64_turn3_validate_basis(const double primary_square_modulus, const double auxiliary_square_modulus, const double orthogonal_square_modulus)
{
if (primary_square_modulus <= BGC_FP64_SQUARE_EPSILON) {
//TODO: add error code for: primary_vector is zero
return BGC_FAILED;
int bgc_fp64_turn3_find_pair_difference(
BGC_FP64_Turn3* turn,
const BGC_FP64_Vector3* first_pair_main,
const BGC_FP64_Vector3* first_pair_branch,
const BGC_FP64_Vector3* second_pair_main,
const BGC_FP64_Vector3* second_pair_branch
) {
BGC_FP64_Vector3 first_fixed_main, first_fixed_branch, first_turned_branch, second_fixed_main, second_fixed_branch;
int status = _bgc_fp64_turn3_get_orthogonal_pair(&first_fixed_main, &first_fixed_branch, first_pair_main, first_pair_branch);
if (status != BGC_SUCCESS) {
bgc_fp64_turn3_reset(turn);
return status + _BGC_ERROR_TURN3_FIRST_PAIR;
}
if (auxiliary_square_modulus <= BGC_FP64_SQUARE_EPSILON) {
//TODO: add error code for: auxiliary_vector is zero
return BGC_FAILED;
status = _bgc_fp64_turn3_get_orthogonal_pair(&second_fixed_main, &second_fixed_branch, second_pair_main, second_pair_branch);
if (status != BGC_SUCCESS) {
bgc_fp64_turn3_reset(turn);
return status + _BGC_ERROR_TURN3_SECOND_PAIR;
}
if (orthogonal_square_modulus <= BGC_FP64_SQUARE_EPSILON * primary_square_modulus * auxiliary_square_modulus) {
//TODO: add error code for: primary_vector and auxiliary_vector are parallel
return BGC_FAILED;
BGC_FP64_Quaternion q1, q2;
// Calculation of a turn (q1) which turns first_fixed_main into second_fixed_main
_bgc_fp64_turn3_get_turning_quaternion(&q1, &first_fixed_main, &second_fixed_main, &first_fixed_branch);
// Roughly turn first_fixed_branch with q1 turn