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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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2
basic-geometry/position3.h
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@ -209,7 +209,6 @@ inline void bgc_fp32_position3_transform_point_back(BGC_FP32_Vector3* const tran
BGC_FP32_Vector3 relative_point;
bgc_fp32_vector3_subtract(&relative_point, initial_point, &position->shift);
bgc_fp32_turn3_vector_back(transformed_point, &position->turn, &relative_point);
}
inline void bgc_fp64_position3_transform_point_back(BGC_FP64_Vector3* const transformed_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_point)
@ -217,7 +216,6 @@ inline void bgc_fp64_position3_transform_point_back(BGC_FP64_Vector3* const tran
BGC_FP64_Vector3 relative_point;
bgc_fp64_vector3_subtract(&relative_point, initial_point, &position->shift);
bgc_fp64_turn3_vector_back(transformed_point, &position->turn, &relative_point);
}
// ============== Transform Vector =============== //

6
basic-geometry/quaternion.c
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@ -22,6 +22,12 @@ extern inline int bgc_fp64_quaternion_is_zero(const BGC_FP64_Quaternion* const q
extern inline int bgc_fp32_quaternion_is_unit(const BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_is_pure(const BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_is_pure(const BGC_FP64_Quaternion* const quaternion);
extern inline int bgc_fp32_quaternion_is_real(const BGC_FP32_Quaternion* const quaternion);
extern inline int bgc_fp64_quaternion_is_real(const BGC_FP64_Quaternion* const quaternion);
extern inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* const destination, const BGC_FP32_Quaternion* const source);
extern inline void bgc_fp64_quaternion_copy(BGC_FP64_Quaternion* const destination, const BGC_FP64_Quaternion* const source);

24
basic-geometry/quaternion.h
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@ -110,6 +110,30 @@ inline int bgc_fp64_quaternion_is_unit(const BGC_FP64_Quaternion* const quaterni
return bgc_fp64_is_square_unit(bgc_fp64_quaternion_get_square_magnitude(quaternion));
}
// ================== Is Pure =================== //
inline int bgc_fp32_quaternion_is_pure(const BGC_FP32_Quaternion* const quaternion)
{
return bgc_fp32_is_zero(quaternion->s0);
}
inline int bgc_fp64_quaternion_is_pure(const BGC_FP64_Quaternion* const quaternion)
{
return bgc_fp64_is_zero(quaternion->s0);
}
// ================== Is Real =================== //
inline int bgc_fp32_quaternion_is_real(const BGC_FP32_Quaternion* const quaternion)
{
return quaternion->x1 * quaternion->x1 + quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3 <= BGC_FP32_SQUARE_EPSILON;
}
inline int bgc_fp64_quaternion_is_real(const BGC_FP64_Quaternion* const quaternion)
{
return quaternion->x1 * quaternion->x1 + quaternion->x2 * quaternion->x2 + quaternion->x3 * quaternion->x3 <= BGC_FP64_SQUARE_EPSILON;
}
// ==================== Copy ==================== //
inline void bgc_fp32_quaternion_copy(BGC_FP32_Quaternion* const destination, const BGC_FP32_Quaternion* const source)

9
basic-geometry/rigid-pose3.c
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@ -24,6 +24,9 @@ extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* const destinat
extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* const pose1, BGC_FP32_RigidPose3* const pose2);
extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* const pose1, BGC_FP64_RigidPose3* const pose2);
extern inline int bgc_fp32_rigid_pose3_is_idle(const BGC_FP32_RigidPose3* const pose);
extern inline int bgc_fp64_rigid_pose3_is_idle(const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* const destination, const BGC_FP32_RigidPose3* const source);
extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* const destination, const BGC_FP64_RigidPose3* const source);
@ -80,3 +83,9 @@ extern inline void bgc_fp64_rigid_pose3_get_reverse_position(BGC_FP64_Position3*
extern inline void bgc_fp32_rigid_pose3_set_reverse_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position);
extern inline void bgc_fp64_rigid_pose3_set_reverse_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position);
extern 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);
extern 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);
extern 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);
extern 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);

36
basic-geometry/rigid-pose3.h
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Forgejo version: 11.0.1+gitea-1.22.0

 @ -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)
{