Большое переупорядочивание исходного кода
This commit is contained in:
Andrey Pokidov
parent
fffe2be43b
commit
43bf030295
26 changed files with 1225 additions and 1137 deletions
|
|
@ -13,18 +13,15 @@ extern inline void bgc_versor_reset_fp64(BgcVersorFP64* versor);
|
|||
extern inline void bgc_versor_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcVersorFP32* versor);
|
||||
extern inline void bgc_versor_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcVersorFP64* versor);
|
||||
|
||||
extern inline void bgc_versor_set_rotation_fp32(const BgcRotation3FP32* rotation, BgcVersorFP32* result);
|
||||
extern inline void bgc_versor_set_rotation_fp64(const BgcRotation3FP64* rotation, BgcVersorFP64* result);
|
||||
|
||||
extern inline void bgc_versor_copy_fp32(const BgcVersorFP32* from, BgcVersorFP32* to);
|
||||
extern inline void bgc_versor_copy_fp64(const BgcVersorFP64* from, BgcVersorFP64* to);
|
||||
|
||||
extern inline void bgc_versor_swap_fp32(BgcVersorFP32* versor1, BgcVersorFP32* versor2);
|
||||
extern inline void bgc_versor_swap_fp64(BgcVersorFP64* versor1, BgcVersorFP64* versor2);
|
||||
|
||||
extern inline void bgc_versor_set_turn_fp32(const BgcVector3FP32* axis, const float angle, const BgcAngleUnitEnum unit, BgcVersorFP32* result);
|
||||
extern inline void bgc_versor_set_turn_fp64(const BgcVector3FP32* axis, const double angle, const BgcAngleUnitEnum unit, BgcVersorFP64* result);
|
||||
|
||||
extern inline void bgc_versor_set_rotation_fp32(const BgcRotation3FP32* rotation, BgcVersorFP32* result);
|
||||
extern inline void bgc_versor_set_rotation_fp64(const BgcRotation3FP64* rotation, BgcVersorFP64* result);
|
||||
|
||||
extern inline int bgc_versor_is_identity_fp32(const BgcVersorFP32* versor);
|
||||
extern inline int bgc_versor_is_identity_fp64(const BgcVersorFP64* versor);
|
||||
|
||||
|
|
@ -34,30 +31,30 @@ extern inline void bgc_versor_convert_fp32_to_fp64(const BgcVersorFP32* versor,
|
|||
extern inline void bgc_versor_shorten_fp32(BgcVersorFP32* versor);
|
||||
extern inline void bgc_versor_shorten_fp64(BgcVersorFP64* versor);
|
||||
|
||||
extern inline void bgc_versor_set_shortened_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened);
|
||||
extern inline void bgc_versor_set_shortened_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened);
|
||||
|
||||
extern inline void bgc_versor_invert_fp32(BgcVersorFP32* versor);
|
||||
extern inline void bgc_versor_invert_fp64(BgcVersorFP64* versor);
|
||||
|
||||
extern inline void bgc_versor_set_inverted_fp32(const BgcVersorFP32* versor, BgcVersorFP32* to);
|
||||
extern inline void bgc_versor_set_inverted_fp64(const BgcVersorFP64* versor, BgcVersorFP64* to);
|
||||
|
||||
extern inline void bgc_versor_set_inverted_fp64_to_fp32(const BgcVersorFP64* versor, BgcVersorFP32* to);
|
||||
extern inline void bgc_versor_set_inverted_fp32_to_fp64(const BgcVersorFP32* versor, BgcVersorFP64* to);
|
||||
|
||||
extern inline void bgc_versor_combine_fp32(const BgcVersorFP32* second, const BgcVersorFP32* first, BgcVersorFP32* result);
|
||||
extern inline void bgc_versor_combine_fp64(const BgcVersorFP64* second, const BgcVersorFP64* first, BgcVersorFP64* result);
|
||||
|
||||
extern inline void bgc_versor_combine3_fp32(const BgcVersorFP32* third, const BgcVersorFP32* second, const BgcVersorFP32* first, BgcVersorFP32* result);
|
||||
extern inline void bgc_versor_combine3_fp64(const BgcVersorFP64* third, const BgcVersorFP64* second, const BgcVersorFP64* first, BgcVersorFP64* result);
|
||||
|
||||
extern inline void bgc_versor_make_shortened_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened);
|
||||
extern inline void bgc_versor_make_shortened_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened);
|
||||
|
||||
extern inline void bgc_versor_make_inverted_fp32(const BgcVersorFP32* versor, BgcVersorFP32* to);
|
||||
extern inline void bgc_versor_make_inverted_fp64(const BgcVersorFP64* versor, BgcVersorFP64* to);
|
||||
|
||||
extern inline void bgc_versor_make_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix);
|
||||
extern inline void bgc_versor_make_rotation_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix);
|
||||
|
||||
extern inline void bgc_versor_make_reverse_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix);
|
||||
extern inline void bgc_versor_make_reverse_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix);
|
||||
|
||||
extern inline void bgc_versor_make_both_matrixes_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse);
|
||||
extern inline void bgc_versor_make_both_matrixes_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse);
|
||||
|
||||
extern inline void bgc_versor_turn_vector_fp32(const BgcVersorFP32* versor, const BgcVector3FP32* vector, BgcVector3FP32* result);
|
||||
extern inline void bgc_versor_turn_vector_fp64(const BgcVersorFP64* versor, const BgcVector3FP64* vector, BgcVector3FP64* result);
|
||||
|
||||
|
|
@ -67,7 +64,7 @@ extern inline void bgc_versor_turn_vector_back_fp64(const BgcVersorFP64* versor,
|
|||
extern inline int bgc_versor_are_close_fp32(const BgcVersorFP32* versor1, const BgcVersorFP32* versor2);
|
||||
extern inline int bgc_versor_are_close_fp64(const BgcVersorFP64* versor1, const BgcVersorFP64* versor2);
|
||||
|
||||
// =============== Normalization ================ //
|
||||
// ================= Normalize ================== //
|
||||
|
||||
void _bgc_versor_normalize_fp32(const float square_modulus, _BgcDarkTwinVersorFP32* twin)
|
||||
{
|
||||
|
|
@ -110,9 +107,9 @@ void _bgc_versor_normalize_fp64(const double square_modulus, _BgcDarkTwinVersorF
|
|||
twin->x3 *= multiplier;
|
||||
}
|
||||
|
||||
// =============== Set Crude Turn =============== //
|
||||
// ================== Set Turn ================== //
|
||||
|
||||
void bgc_versor_set_crude_turn_fp32(const float x1, const float x2, const float x3, const float angle, const BgcAngleUnitEnum unit, BgcVersorFP32* result)
|
||||
void bgc_versor_set_turn_fp32(const float x1, const float x2, const float x3, const float angle, const BgcAngleUnitEnum unit, BgcVersorFP32* result)
|
||||
{
|
||||
const float square_vector = x1 * x1 + x2 * x2 + x3 * x3;
|
||||
|
||||
|
|
@ -135,7 +132,7 @@ void bgc_versor_set_crude_turn_fp32(const float x1, const float x2, const float
|
|||
bgc_versor_set_values_fp32(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
|
||||
}
|
||||
|
||||
void bgc_versor_set_crude_turn_fp64(const double x1, const double x2, const double x3, const double angle, const BgcAngleUnitEnum unit, BgcVersorFP64* result)
|
||||
void bgc_versor_set_turn_fp64(const double x1, const double x2, const double x3, const double angle, const BgcAngleUnitEnum unit, BgcVersorFP64* result)
|
||||
{
|
||||
const double square_vector = x1 * x1 + x2 * x2 + x3 * x3;
|
||||
|
||||
|
|
@ -158,22 +155,24 @@ void bgc_versor_set_crude_turn_fp64(const double x1, const double x2, const doub
|
|||
bgc_versor_set_values_fp64(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
|
||||
}
|
||||
|
||||
// ================= Rotation3 ================== //
|
||||
// =============== Make Rotation3 =============== //
|
||||
|
||||
void bgc_versor_get_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32* result)
|
||||
void bgc_versor_make_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32* result)
|
||||
{
|
||||
if (versor == 0 || result == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (versor->s0 <= -(1.0f - BGC_EPSYLON_FP32) || 1.0f - BGC_EPSYLON_FP32 <= versor->s0) {
|
||||
bgc_rotation3_reset_fp32(result);
|
||||
return;
|
||||
}
|
||||
|
||||
const float square_vector = versor->x1 * versor->x1 + versor->x2 * versor->x2 + versor->x3 * versor->x3;
|
||||
const float s0s0 = versor->s0 * versor->s0;
|
||||
const float x1x1 = versor->x1 * versor->x1;
|
||||
const float x2x2 = versor->x2 * versor->x2;
|
||||
const float x3x3 = versor->x3 * versor->x3;
|
||||
|
||||
result->radians = 2.0f * acosf(versor->s0 / sqrtf(versor->s0 * versor->s0 + square_vector));
|
||||
const float square_module = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
const float square_vector = x1x1 + (x2x2 + x3x3);
|
||||
|
||||
result->radians = 2.0f * acosf(versor->s0 / sqrtf(square_module));
|
||||
|
||||
const float multiplier = sqrtf(1.0f / square_vector);
|
||||
|
||||
|
|
@ -182,20 +181,22 @@ void bgc_versor_get_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32*
|
|||
result->axis.x3 = versor->x3 * multiplier;
|
||||
}
|
||||
|
||||
void bgc_versor_get_rotation_fp64(const BgcVersorFP64* versor, BgcRotation3FP64* result)
|
||||
void bgc_versor_make_rotation_fp64(const BgcVersorFP64* versor, BgcRotation3FP64* result)
|
||||
{
|
||||
if (versor == 0 || result == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (versor->s0 <= -(1.0 - BGC_EPSYLON_FP64) || 1.0 - BGC_EPSYLON_FP64 <= versor->s0) {
|
||||
bgc_rotation3_reset_fp64(result);
|
||||
return;
|
||||
}
|
||||
|
||||
const double square_vector = versor->x1 * versor->x1 + versor->x2 * versor->x2 + versor->x3 * versor->x3;
|
||||
const double s0s0 = versor->s0 * versor->s0;
|
||||
const double x1x1 = versor->x1 * versor->x1;
|
||||
const double x2x2 = versor->x2 * versor->x2;
|
||||
const double x3x3 = versor->x3 * versor->x3;
|
||||
|
||||
result->radians = 2.0 * acos(versor->s0 / sqrt(versor->s0 * versor->s0 + square_vector));
|
||||
const double square_module = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
const double square_vector = x1x1 + (x2x2 + x3x3);
|
||||
|
||||
result->radians = 2.0 * acos(versor->s0 / sqrt(square_module));
|
||||
|
||||
const double multiplier = sqrt(1.0 / square_vector);
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue