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Добавление операций проверки состояний кватернионов и дуальных кватернионов, а также операций трансформации вектора с помощью rigid pose

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This commit is contained in:
Andrey Pokidov 2026-03-26 01:49:18 +07:00
parent dc759e61f7
commit 405af2f3a7
8 changed files with 152 additions and 32 deletions
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36
basic-geometry/rigid-pose3.h
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@ -152,6 +152,18 @@ inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* const pose1, BGC_FP64
bgc_fp64_dual_quaternion_swap(&pose1->_versor, &pose2->_versor);
}
// ================== Is Idle =================== //
inline int bgc_fp32_rigid_pose3_is_idle(const BGC_FP32_RigidPose3* const pose)
{
return bgc_fp32_quaternion_is_real(&pose->_versor.real_part) && bgc_fp32_quaternion_is_zero(&pose->_versor.dual_part);
}
inline int bgc_fp64_rigid_pose3_is_idle(const BGC_FP64_RigidPose3* const pose)
{
return bgc_fp64_quaternion_is_real(&pose->_versor.real_part) && bgc_fp64_quaternion_is_zero(&pose->_versor.dual_part);
}
// ================== Convert =================== //
inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* const destination, const BGC_FP32_RigidPose3* const source)
@ -488,4 +500,28 @@ inline void bgc_fp64_rigid_pose3_set_reverse_position(BGC_FP64_RigidPose3* const
pose->_versor.dual_part.x3 = -0.5f * (versor->s0 * shift->x3 + versor->x2 * shift->x1 - versor->x1 * shift->x2);
}
// ============== Transform Vector ============== //
inline void bgc_fp32_rigid_pose3_transform_vector(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_RigidPose3* const pose, const BGC_FP32_Vector3* const original_vector)
{
_bgc_fp32_versor_turn_vector(turned_vector, &pose->_versor.real_part, original_vector);
}
inline void bgc_fp64_rigid_pose3_transform_vector(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_RigidPose3* const pose, const BGC_FP64_Vector3* const original_vector)
{
_bgc_fp64_versor_turn_vector(turned_vector, &pose->_versor.real_part, original_vector);
}
// =========== Transform Vector Back ============ //
inline void bgc_fp32_rigid_pose3_transform_vector_back(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_RigidPose3* const pose, const BGC_FP32_Vector3* const original_vector)
{
_bgc_fp32_versor_turn_vector_back(turned_vector, &pose->_versor.real_part, original_vector);
}
inline void bgc_fp64_rigid_pose3_transform_vector_back(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_RigidPose3* const pose, const BGC_FP64_Vector3* const original_vector)
{
_bgc_fp64_versor_turn_vector_back(turned_vector, &pose->_versor.real_part, original_vector);
}
#endif