Исправление функции, которая находит трёхмерных поворот между двумя парами векторов
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7 changed files with 705 additions and 467 deletions
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@ -79,7 +79,7 @@ void list_work(const uint_fast32_t amount, structure_fp32_t* list)
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}
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}
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}
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/*
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int main()
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{
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const unsigned int amount = 1000000;
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@ -121,7 +121,7 @@ int main()
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return 0;
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}
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*/
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/*
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int main() {
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@ -149,84 +149,84 @@ int main() {
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}
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*/
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void test_basis_difference_fp32()
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void test_pair_difference_fp32()
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{
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BGC_FP32_Vector3 initial_primary, initial_auxiliary;
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BGC_FP32_Vector3 final_primary, final_auxiliary;
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BGC_FP32_Vector3 initial_main, initial_branch;
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BGC_FP32_Vector3 final_main, final_branch;
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BGC_FP32_Turn3 turn;
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// No turn
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nNo turn:\n");
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print_quaternion_fp32(&turn._versor);
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// Turn around (1, 1, 0) axis on 180 degrees
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_main, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, 1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
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print_quaternion_fp32(&turn._versor);
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// 180 degree turn
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, -1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_main, -1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n180 degree turn around (0, 1, 0):\n");
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print_quaternion_fp32(&turn._versor);
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// 90 degree turn around x3 axis
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bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 3.1f, 0.0f);
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bgc_fp32_vector3_make(&initial_main, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 0.0f, 3.1f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary,-1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_main, 0.0f, 10.0f, 0.0f);
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bgc_fp32_vector3_make(&final_branch,-1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n90 degree turn around (0, 0, 1):\n");
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print_quaternion_fp32(&turn._versor);
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// Unorthogonal pairs turn at 90 degrees around x3 axis
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bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, -2.0f, 3.1f, 0.0f);
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bgc_fp32_vector3_make(&initial_main, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, -2.0f, 3.1f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 5.0f, 0.0f);
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bgc_fp32_vector3_make(&final_main, 0.0f, 10.0f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, -1.0f, 5.0f, 0.0f);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
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print_quaternion_fp32(&turn._versor);
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// Zero vectors
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bgc_fp32_vector3_make(&initial_primary, 0.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_main, 0.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, 0.0f, 1.0f, 0.0f);
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int code;
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code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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if (code >= 0) {
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if (code == BGC_SUCCESS) {
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printf("\nZero vectors: this cannot be!\n");
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print_quaternion_fp32(&turn._versor);
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}
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@ -235,14 +235,14 @@ void test_basis_difference_fp32()
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}
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// Parallel vectors
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, 0.0f, 1.0f, 0.0f);
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code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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if (code >= 0) {
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if (code == BGC_SUCCESS) {
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printf("\nParallel vectors: this cannot be!\n");
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print_quaternion_fp32(&turn._versor);
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}
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@ -251,141 +251,171 @@ void test_basis_difference_fp32()
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}
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// Small angle turn (about 1 degree):
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 0.999848f, 0.017452f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, -0.017452f, 0.999848f, 0.0f);
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bgc_fp32_vector3_make(&final_main, 0.999848f, 0.017452f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, -0.017452f, 0.999848f, 0.0f);
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bgc_fp32_turn3_make_basis_difference(&turn , &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_find_pair_difference(&turn , &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nSmall angle turn (about 1 degree):\n");
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print_quaternion_fp32(&turn._versor);
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// About 179 degrees turn
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, -0.999848f, -0.017452f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.017452f, -0.999848f, 0.0f);
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bgc_fp32_vector3_make(&final_main, -0.999848f, -0.017452f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, 0.017452f, -0.999848f, 0.0f);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nAbout 179 degrees turn:\n");
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print_quaternion_fp32(&turn._versor);
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// 120 degrees around (-1, -1, 1)
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 0.0f, -1.0f);
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bgc_fp32_vector3_make(&final_main, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, 0.0f, 0.0f, -1.0f);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n120 degees turn:\n");
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print_quaternion_fp32(&turn._versor);
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// About 1 degree turn difference between initial_primary and initial_auxiliary directions
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 0.999848f, 0.017452f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 0.0f, 0.0f);
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// About 1 degree turn difference between initial_main and initial_branch directions
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 0.999848f, 0.017452f, 0.0f);
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bgc_fp32_vector3_make(&final_main, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, -1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
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printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n");
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print_quaternion_fp32(&turn._versor);
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// About 0.01 degree turn difference between initial_primary and initial_auxiliary directions
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_auxiliary, 1.0f, 0.000001f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 0.0f, -1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f);
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// About 0.01 degree turn difference between initial_main and initial_branch directions
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 1.0f, 0.000001f, 0.0f);
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bgc_fp32_vector3_make(&final_main, 0.0f, -1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_branch, 1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
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printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n");
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print_quaternion_fp32(&turn._versor);
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&initial_branch, 0.0f, 0.999999f, 0.00014142f); // почти (0,1,0), но крошечный z
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bgc_fp32_vector3_make(&final_main, -0.999999f, 0.0f, 0.00014142f);
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bgc_fp32_vector3_make(&final_branch, 0.0f, 0.999999f, -0.00014142f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nNear 180° with tiny branch deviation:\n");
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print_quaternion_fp32(&turn._versor);
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bgc_fp32_vector3_make(&initial_main, 1.0f, 0.2f, 0.1f);
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bgc_fp32_vector3_make(&initial_branch, 0.1f, 1.0f, 0.3f); // почти (0,1,0), но крошечный z
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BGC_FP32_Turn3 known;
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bgc_fp32_turn3_set_rotation(&known, 0.0f, 0.0f, 1.0f, 90.0f, BGC_ANGLE_UNIT_DEGREES);
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bgc_fp32_vector3_make(&initial_main, -0.999999f, 0.0f, 0.00014142f);
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bgc_fp32_vector3_make(&initial_branch, 0.0f, 0.999999f, -0.00014142f);
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bgc_fp32_turn3_vector(&final_main, &known, &initial_main);
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bgc_fp32_turn3_vector(&final_branch, &known, &initial_branch);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nRecover known 90° Z rotation:\n");
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print_quaternion_fp32(&turn._versor);
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printf("Known was: ");
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print_quaternion_fp32(&known._versor);
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}
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void test_basis_difference_fp64()
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void test_pair_difference_fp64()
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{
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BGC_FP64_Vector3 initial_primary, initial_auxiliary;
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BGC_FP64_Vector3 final_primary, final_auxiliary;
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BGC_FP64_Vector3 initial_main, initial_branch;
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BGC_FP64_Vector3 final_main, final_branch;
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BGC_FP64_Turn3 turn;
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// No turn
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bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
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bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
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bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0);
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bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0);
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bgc_fp64_vector3_make(&initial_main, 1.0, 0.0, 0.0);
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bgc_fp64_vector3_make(&initial_branch, 0.0, 1.0, 0.0);
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bgc_fp64_vector3_make(&final_main, 1.0, 0.0, 0.0);
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