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Исправление функции, которая находит трёхмерных поворот между двумя парами векторов

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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
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329
basic-geometry-dev/main.c
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@ -79,7 +79,7 @@ void list_work(const uint_fast32_t amount, structure_fp32_t* list)
} }
} }
} }
/*
int main() int main()
{ {
const unsigned int amount = 1000000; const unsigned int amount = 1000000;
@ -121,7 +121,7 @@ int main()
return 0; return 0;
} }
*/
/* /*
int main() { 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 initial_main, initial_branch;
BGC_FP32_Vector3 final_primary, final_auxiliary; BGC_FP32_Vector3 final_main, final_branch;
BGC_FP32_Turn3 turn; BGC_FP32_Turn3 turn;
// No turn // No turn
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 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_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 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"); printf("\nNo turn:\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
// Turn around (1, 1, 0) axis on 180 degrees // 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_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 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_main, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 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"); printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
// 180 degree turn // 180 degree turn
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 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_main, -1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 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"); printf("\n180 degree turn around (0, 1, 0):\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
// 90 degree turn around x3 axis // 90 degree turn around x3 axis
bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 2.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 3.1f, 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_main, 0.0f, 10.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary,-1.0f, 0.0f, 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"); printf("\n90 degree turn around (0, 0, 1):\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
// Unorthogonal pairs turn at 90 degrees around x3 axis // Unorthogonal pairs turn at 90 degrees around x3 axis
bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 2.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, -2.0f, 3.1f, 0.0f); bgc_fp32_vector3_make(&initial_branch, -2.0f, 3.1f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f); bgc_fp32_vector3_make(&final_main, 0.0f, 10.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 5.0f, 0.0f); bgc_fp32_vector3_make(&final_branch, -1.0f, 5.0f, 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("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n"); printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
// Zero vectors // Zero vectors
bgc_fp32_vector3_make(&initial_primary, 0.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 0.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 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_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&final_branch, 0.0f, 1.0f, 0.0f);
int code; int code;
code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
if (code >= 0) { if (code == BGC_SUCCESS) {
printf("\nZero vectors: this cannot be!\n"); printf("\nZero vectors: this cannot be!\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
} }
@ -235,14 +235,14 @@ void test_basis_difference_fp32()
} }
// Parallel vectors // Parallel vectors
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 2.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_branch, 2.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&final_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&final_branch, 0.0f, 1.0f, 0.0f);
code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
if (code >= 0) { if (code == BGC_SUCCESS) {
printf("\nParallel vectors: this cannot be!\n"); printf("\nParallel vectors: this cannot be!\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
} }
@ -251,141 +251,171 @@ void test_basis_difference_fp32()
} }
// Small angle turn (about 1 degree): // Small angle turn (about 1 degree):
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 0.999848f, 0.017452f, 0.0f); bgc_fp32_vector3_make(&final_main, 0.999848f, 0.017452f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, -0.017452f, 0.999848f, 0.0f); bgc_fp32_vector3_make(&final_branch, -0.017452f, 0.999848f, 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("\nSmall angle turn (about 1 degree):\n"); printf("\nSmall angle turn (about 1 degree):\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
// About 179 degrees turn // About 179 degrees turn
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_primary, -0.999848f, -0.017452f, 0.0f); bgc_fp32_vector3_make(&final_main, -0.999848f, -0.017452f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.017452f, -0.999848f, 0.0f); bgc_fp32_vector3_make(&final_branch, 0.017452f, -0.999848f, 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("\nAbout 179 degrees turn:\n"); printf("\nAbout 179 degrees turn:\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
// 120 degrees around (-1, -1, 1) // 120 degrees around (-1, -1, 1)
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 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_main, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 0.0f, -1.0f); bgc_fp32_vector3_make(&final_branch, 0.0f, 0.0f, -1.0f);
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("\n120 degees turn:\n"); printf("\n120 degees turn:\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
// About 1 degree turn difference between initial_primary and initial_auxiliary directions // About 1 degree turn difference between initial_main and initial_branch directions
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.999848f, 0.017452f, 0.0f); bgc_fp32_vector3_make(&initial_branch, 0.999848f, 0.017452f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&final_main, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 0.0f, 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("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n"); printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
// About 0.01 degree turn difference between initial_primary and initial_auxiliary directions // About 0.01 degree turn difference between initial_main and initial_branch directions
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 1.0f, 0.000001f, 0.0f); bgc_fp32_vector3_make(&initial_branch, 1.0f, 0.000001f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 0.0f, -1.0f, 0.0f); bgc_fp32_vector3_make(&final_main, 0.0f, -1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 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("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n"); printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n");
print_quaternion_fp32(&turn._versor); print_quaternion_fp32(&turn._versor);
bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_branch, 0.0f, 0.999999f, 0.00014142f); // почти (0,1,0), но крошечный z
bgc_fp32_vector3_make(&final_main, -0.999999f, 0.0f, 0.00014142f);
bgc_fp32_vector3_make(&final_branch, 0.0f, 0.999999f, -0.00014142f);
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nNear 180° with tiny branch deviation:\n");
print_quaternion_fp32(&turn._versor);
bgc_fp32_vector3_make(&initial_main, 1.0f, 0.2f, 0.1f);
bgc_fp32_vector3_make(&initial_branch, 0.1f, 1.0f, 0.3f); // почти (0,1,0), но крошечный z
BGC_FP32_Turn3 known;
bgc_fp32_turn3_set_rotation(&known, 0.0f, 0.0f, 1.0f, 90.0f, BGC_ANGLE_UNIT_DEGREES);
bgc_fp32_vector3_make(&initial_main, -0.999999f, 0.0f, 0.00014142f);
bgc_fp32_vector3_make(&initial_branch, 0.0f, 0.999999f, -0.00014142f);
bgc_fp32_turn3_vector(&final_main, &known, &initial_main);
bgc_fp32_turn3_vector(&final_branch, &known, &initial_branch);
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nRecover known 90° Z rotation:\n");
print_quaternion_fp32(&turn._versor);
printf("Known was: ");
print_quaternion_fp32(&known._versor);
} }
void test_basis_difference_fp64() void test_pair_difference_fp64()
{ {
BGC_FP64_Vector3 initial_primary, initial_auxiliary; BGC_FP64_Vector3 initial_main, initial_branch;
BGC_FP64_Vector3 final_primary, final_auxiliary; BGC_FP64_Vector3 final_main, final_branch;
BGC_FP64_Turn3 turn; BGC_FP64_Turn3 turn;
// No turn // No turn
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&initial_branch, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&final_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&final_branch, 0.0, 1.0, 0.0);
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nNo turn:\n"); printf("\nNo turn:\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
// Turn around (1, 1, 0) axis on 180 degrees // Turn around (1, 1, 0) axis on 180 degrees
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&initial_branch, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&final_main, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&final_branch, 1.0, 0.0, 0.0);
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n"); printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
// 180 degree turn // 180 degree turn
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&initial_branch, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, -1.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_branch, -1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&final_branch, 0.0, 1.0, 0.0);
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\n180 degree turn around (0, 1, 0):\n"); printf("\n180 degree turn around (0, 1, 0):\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
// 90 degree turn around x3 axis // 90 degree turn around x3 axis
bgc_fp64_vector3_make(&initial_primary, 2.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 2.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 3.1, 0.0); bgc_fp64_vector3_make(&initial_branch, 0.0, 3.1, 0.0);
bgc_fp64_vector3_make(&final_primary, 0.0, 10.0, 0.0); bgc_fp64_vector3_make(&final_main, 0.0, 10.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, -1.0, 0.0, 0.0); bgc_fp64_vector3_make(&final_branch, -1.0, 0.0, 0.0);
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\n90 degree turn around (0, 0, 1):\n"); printf("\n90 degree turn around (0, 0, 1):\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
// Unorthogonal pairs turn at 90 degrees around x3 axis // Unorthogonal pairs turn at 90 degrees around x3 axis
bgc_fp64_vector3_make(&initial_primary, 2.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 2.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, -2.0, 3.1, 0.0); bgc_fp64_vector3_make(&initial_branch, -2.0, 3.1, 0.0);
bgc_fp64_vector3_make(&final_primary, 0.0, 10.0, 0.0); bgc_fp64_vector3_make(&final_main, 0.0, 10.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, -1.0, 5.0, 0.0); bgc_fp64_vector3_make(&final_branch, -1.0, 5.0, 0.0);
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n"); printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
// Zero vectors // Zero vectors
bgc_fp64_vector3_make(&initial_primary, 0.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 0.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&initial_branch, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&final_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&final_branch, 0.0, 1.0, 0.0);
int code; int code;
code = bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); code = bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
if (code >= 0) { if (code == BGC_SUCCESS) {
printf("\nZero vectors: this cannot be!\n"); printf("\nZero vectors: this cannot be!\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
} }
@ -394,14 +424,14 @@ void test_basis_difference_fp64()
} }
// Parallel vectors // Parallel vectors
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 2.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_branch, 2.0, 0.0, 0.0);
bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&final_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&final_branch, 0.0, 1.0, 0.0);
code = bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); code = bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
if (code >= 0) { if (code == BGC_SUCCESS) {
printf("\nParallel vectors: this cannot be!\n"); printf("\nParallel vectors: this cannot be!\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
} }
@ -410,82 +440,71 @@ void test_basis_difference_fp64()
} }
// Small angle turn (about 1 degree): // Small angle turn (about 1 degree):
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&initial_branch, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_primary, 0.999848, 0.017452, 0.0); bgc_fp64_vector3_make(&final_main, 0.999848, 0.017452, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, -0.017452, 0.999848, 0.0); bgc_fp64_vector3_make(&final_branch, -0.017452, 0.999848, 0.0);
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nSmall angle turn (about 1 degree):\n"); printf("\nSmall angle turn (about 1 degree):\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
// About 179 degrees turn // About 179 degrees turn
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&initial_branch, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_primary, -0.999848, -0.017452, 0.0); bgc_fp64_vector3_make(&final_main, -0.999848, -0.017452, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.017452, -0.999848, 0.0); bgc_fp64_vector3_make(&final_branch, 0.017452, -0.999848, 0.0);
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nAbout 179 degrees turn:\n"); printf("\nAbout 179 degrees turn:\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
// 120 degrees around (-1, -1, 1) // 120 degrees around (-1, -1, 1)
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&initial_branch, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&final_main, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 0.0, -1.0); bgc_fp64_vector3_make(&final_branch, 0.0, 0.0, -1.0);
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\n120 degees turn:\n"); printf("\n120 degees turn:\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
// About 1 degree turn difference between initial_primary and initial_auxiliary directions // About 1 degree turn difference between initial_main and initial_branch directions
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.999848, 0.017452, 0.0); bgc_fp64_vector3_make(&initial_branch, 0.999848, 0.017452, 0.0);
bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0); bgc_fp64_vector3_make(&final_main, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, -1.0, 0.0, 0.0); bgc_fp64_vector3_make(&final_branch, -1.0, 0.0, 0.0);
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n"); printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
// About 0.001 degree turn difference between initial_primary and initial_auxiliary directions // About 0.001 degree turn difference between initial_main and initial_branch directions
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&initial_main, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 1.0, 0.000001, 0.0); bgc_fp64_vector3_make(&initial_branch, 1.0, 0.000001, 0.0);
bgc_fp64_vector3_make(&final_primary, 0.0, -1.0, 0.0); bgc_fp64_vector3_make(&final_main, 0.0, -1.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 1.0, 0.0, 0.0); bgc_fp64_vector3_make(&final_branch, 1.0, 0.0, 0.0);
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n"); printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n");
print_quaternion_fp64(&turn._versor); print_quaternion_fp64(&turn._versor);
} }
/*
#include "affine3.h" #include "affine3.h"
int main() int main()
{ {
//BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f }; //test_pair_difference_fp32();
//BGC_FP32_Turn3 end = { 0.0f, 1.0f, 0.0f, 0.0f }; test_pair_difference_fp64();
BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f };
BGC_FP32_Turn3 end = { 0.9999f, 0.01414f, 0.0f, 0.0f };
BGC_FP32_Slerp slerp;
BGC_FP32_Turn3 result;
bgc_fp32_slerp_make_full(&slerp, &start, &end);
bgc_fp32_slerp_get_phase_versor(&result, &slerp, 0.5f);
//print_quaternion_fp32(&result);
test_basis_difference_fp64();
//printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10)); //printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
@ -495,4 +514,4 @@ int main()
return 0; return 0;
} }
*/

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_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_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_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(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double 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_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(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double 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_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); 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 ================== // // ================== 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_by_number(&product->real, &multiplicand->real, multipier);
bgc_fp32_quaternion_multiply(&product->dual, &multiplicand->dual, 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_by_number(&product->real, &multiplicand->real, multipier);
bgc_fp64_quaternion_multiply(&product->dual, &multiplicand->dual, multipier); bgc_fp64_quaternion_multiply_by_number(&product->dual, &multiplicand->dual, multipier);
} }
// =================== Divide =================== // // =================== 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 ================= // // ================ Mean of Two ================= //

48
basic-geometry/quaternion.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

 @ -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_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_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_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_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_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_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_get_product_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_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_fp32_quaternion_multiply_by_number(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_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_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_get_ratio(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_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_fp32_quaternion_divide_by_number(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor);