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Добавлены операции получения и задания позиции для Rigid Pose

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This commit is contained in:
Andrey Pokidov 2026-03-22 23:08:07 +07:00
parent 84be068503
commit 51fafe50c8
2 changed files with 164 additions and 68 deletions
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80
basic-geometry/rigid-pose3.c
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@ -6,65 +6,77 @@ extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose);
extern inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose); extern inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose);
extern inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose); extern inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* quaternion, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* quaternion, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* quaternion, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* pose, const BGC_FP32_DualQuaternion* quaternion); extern inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* pose, const BGC_FP32_DualQuaternion* const quaternion);
extern inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose, const BGC_FP64_DualQuaternion* quaternion); extern inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose, const BGC_FP64_DualQuaternion* const quaternion);
extern inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source); extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* const source);
extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source); extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* const source);
extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2); extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2);
extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2); extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2);
extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source); extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* const source);
extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source); extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* const source);
extern inline void bgc_fp32_rigid_pose3_shorten(BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_shorten(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* shortened, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* shortened, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* shortened, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* shortened, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_alternate(BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_alternate(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* alternative, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* alternative, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* alternative, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* alternative, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* reverse, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* reverse, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* reverse, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* reverse, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second); extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* const first, const BGC_FP32_RigidPose3* const second);
extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second); extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* const first, const BGC_FP64_RigidPose3* const second);
extern inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* difference, const BGC_FP32_RigidPose3* base, const BGC_FP32_RigidPose3* excludant); extern inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* difference, const BGC_FP32_RigidPose3* const base, const BGC_FP32_RigidPose3* const excludant);
extern inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* difference, const BGC_FP64_RigidPose3* base, const BGC_FP64_RigidPose3* excludant); extern inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* difference, const BGC_FP64_RigidPose3* const base, const BGC_FP64_RigidPose3* const excludant);
extern inline void bgc_fp32_rigid_pose3_get_outward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_outward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose); extern inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose); extern inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_outer_position(BGC_FP32_Position3* position, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_outer_position(BGC_FP64_Position3* position, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_set_outer_position(BGC_FP32_RigidPose3* pose, const BGC_FP32_Position3* const position);
extern inline void bgc_fp64_rigid_pose3_set_outer_position(BGC_FP64_RigidPose3* pose, const BGC_FP64_Position3* const position);
extern inline void bgc_fp32_rigid_pose3_get_inner_position(BGC_FP32_Position3* position, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_inner_position(BGC_FP64_Position3* position, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_set_inner_position(BGC_FP32_RigidPose3* pose, const BGC_FP32_Position3* const position);
extern inline void bgc_fp64_rigid_pose3_set_inner_position(BGC_FP64_RigidPose3* pose, const BGC_FP64_Position3* const position);

152
basic-geometry/rigid-pose3.h
View file

@ -80,25 +80,25 @@ inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose)
// ============ Get Dual Quaternion ============= // // ============ Get Dual Quaternion ============= //
inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* quaternion, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* quaternion, const BGC_FP32_RigidPose3* const pose)
{ {
bgc_fp32_dual_quaternion_copy(quaternion, &pose->_versor); bgc_fp32_dual_quaternion_copy(quaternion, &pose->_versor);
} }
inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* quaternion, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* quaternion, const BGC_FP64_RigidPose3* const pose)
{ {
bgc_fp64_dual_quaternion_copy(quaternion, &pose->_versor); bgc_fp64_dual_quaternion_copy(quaternion, &pose->_versor);
} }
// ============ Get Dual Quaternion ============= // // ============ Get Dual Quaternion ============= //
inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* pose, const BGC_FP32_DualQuaternion* quaternion) inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* pose, const BGC_FP32_DualQuaternion* const quaternion)
{ {
bgc_fp32_dual_quaternion_copy(&pose->_versor, quaternion); bgc_fp32_dual_quaternion_copy(&pose->_versor, quaternion);
_bgc_fp32_rigid_pose3_normalize(pose); _bgc_fp32_rigid_pose3_normalize(pose);
} }
inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose, const BGC_FP64_DualQuaternion* quaternion) inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose, const BGC_FP64_DualQuaternion* const quaternion)
{ {
bgc_fp64_dual_quaternion_copy(&pose->_versor, quaternion); bgc_fp64_dual_quaternion_copy(&pose->_versor, quaternion);
_bgc_fp64_rigid_pose3_normalize(pose); _bgc_fp64_rigid_pose3_normalize(pose);
@ -106,36 +106,36 @@ inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose,
// =============== Get Real Part ================ // // =============== Get Real Part ================ //
inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* const pose)
{ {
bgc_fp32_quaternion_copy(quaternion, &pose->_versor.real_part); bgc_fp32_quaternion_copy(quaternion, &pose->_versor.real_part);
} }
inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* const pose)
{ {
bgc_fp64_quaternion_copy(quaternion, &pose->_versor.real_part); bgc_fp64_quaternion_copy(quaternion, &pose->_versor.real_part);
} }
// =============== Get Dual Part ================ // // =============== Get Dual Part ================ //
inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* const pose)
{ {
bgc_fp32_quaternion_copy(quaternion, &pose->_versor.dual_part); bgc_fp32_quaternion_copy(quaternion, &pose->_versor.dual_part);
} }
inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* const pose)
{ {
bgc_fp64_quaternion_copy(quaternion, &pose->_versor.dual_part); bgc_fp64_quaternion_copy(quaternion, &pose->_versor.dual_part);
} }
// ==================== Copy ==================== // // ==================== Copy ==================== //
inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source) inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* const source)
{ {
bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor); bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
} }
inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source) inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* const source)
{ {
bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor); bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
} }
@ -154,13 +154,13 @@ inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_Rigid
// ================== Convert =================== // // ================== Convert =================== //
inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source) inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* const source)
{ {
bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor); bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
_bgc_fp64_rigid_pose3_normalize(destination); _bgc_fp64_rigid_pose3_normalize(destination);
} }
inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source) inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* const source)
{ {
bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor); bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
_bgc_fp32_rigid_pose3_normalize(destination); _bgc_fp32_rigid_pose3_normalize(destination);
@ -186,7 +186,7 @@ inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* pose)
// =============== Get Shortened ================ // // =============== Get Shortened ================ //
inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* shortened, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* shortened, const BGC_FP32_RigidPose3* const pose)
{ {
if (pose->_versor.real_part.s0 < 0.0f) { if (pose->_versor.real_part.s0 < 0.0f) {
bgc_fp32_quaternion_get_reverse(&shortened->_versor.real_part, &pose->_versor.real_part); bgc_fp32_quaternion_get_reverse(&shortened->_versor.real_part, &pose->_versor.real_part);
@ -198,7 +198,7 @@ inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* shortened, c
} }
} }
inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* shortened, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* shortened, const BGC_FP64_RigidPose3* const pose)
{ {
if (pose->_versor.real_part.s0 < 0.0) { if (pose->_versor.real_part.s0 < 0.0) {
bgc_fp64_quaternion_get_reverse(&shortened->_versor.real_part, &pose->_versor.real_part); bgc_fp64_quaternion_get_reverse(&shortened->_versor.real_part, &pose->_versor.real_part);
@ -226,13 +226,13 @@ inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* pose)
// ============== Get Alternative =============== // // ============== Get Alternative =============== //
inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* alternative, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* alternative, const BGC_FP32_RigidPose3* const pose)
{ {
bgc_fp32_quaternion_get_reverse(&alternative->_versor.real_part, &pose->_versor.real_part); bgc_fp32_quaternion_get_reverse(&alternative->_versor.real_part, &pose->_versor.real_part);
bgc_fp32_quaternion_get_reverse(&alternative->_versor.dual_part, &pose->_versor.dual_part); bgc_fp32_quaternion_get_reverse(&alternative->_versor.dual_part, &pose->_versor.dual_part);
} }
inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* alternative, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* alternative, const BGC_FP64_RigidPose3* const pose)
{ {
bgc_fp64_quaternion_get_reverse(&alternative->_versor.real_part, &pose->_versor.real_part); bgc_fp64_quaternion_get_reverse(&alternative->_versor.real_part, &pose->_versor.real_part);
bgc_fp64_quaternion_get_reverse(&alternative->_versor.dual_part, &pose->_versor.dual_part); bgc_fp64_quaternion_get_reverse(&alternative->_versor.dual_part, &pose->_versor.dual_part);
@ -254,13 +254,13 @@ inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* pose)
// ================ Get Reverse ================= // // ================ Get Reverse ================= //
inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* reverse, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* reverse, const BGC_FP32_RigidPose3* const pose)
{ {
bgc_fp32_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part); bgc_fp32_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part);
bgc_fp32_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part); bgc_fp32_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part);
} }
inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* reverse, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* reverse, const BGC_FP64_RigidPose3* const pose)
{ {
bgc_fp64_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part); bgc_fp64_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part);
bgc_fp64_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part); bgc_fp64_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part);
@ -268,13 +268,13 @@ inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* reverse, const
// ================== Combine =================== // // ================== Combine =================== //
inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second) inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* const first, const BGC_FP32_RigidPose3* const second)
{ {
bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor); bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
_bgc_fp32_rigid_pose3_normalize(combination); _bgc_fp32_rigid_pose3_normalize(combination);
} }
inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second) inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* const first, const BGC_FP64_RigidPose3* const second)
{ {
bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor); bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
_bgc_fp64_rigid_pose3_normalize(combination); _bgc_fp64_rigid_pose3_normalize(combination);
@ -282,7 +282,7 @@ inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const
// ================== Exclude =================== // // ================== Exclude =================== //
inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* difference, const BGC_FP32_RigidPose3* base, const BGC_FP32_RigidPose3* excludant) inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* difference, const BGC_FP32_RigidPose3* const base, const BGC_FP32_RigidPose3* const excludant)
{ {
BGC_FP32_Quaternion dual_part1, dual_part2; BGC_FP32_Quaternion dual_part1, dual_part2;
@ -295,7 +295,7 @@ inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* difference, const
_bgc_fp32_rigid_pose3_normalize(difference); _bgc_fp32_rigid_pose3_normalize(difference);
} }
inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* difference, const BGC_FP64_RigidPose3* base, const BGC_FP64_RigidPose3* excludant) inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* difference, const BGC_FP64_RigidPose3* const base, const BGC_FP64_RigidPose3* const excludant)
{ {
BGC_FP64_Quaternion dual_part1, dual_part2; BGC_FP64_Quaternion dual_part1, dual_part2;
@ -310,31 +310,31 @@ inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* difference, const
// ============= Get Outward Matrix ============= // // ============= Get Outward Matrix ============= //
inline void bgc_fp32_rigid_pose3_get_outward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_outward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* const pose)
{ {
_bgc_fp32_versor_get_rotation_matrix(matrix, &pose->_versor.real_part); _bgc_fp32_versor_get_rotation_matrix(matrix, &pose->_versor.real_part);
} }
inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* const pose)
{ {
_bgc_fp64_versor_get_rotation_matrix(matrix, &pose->_versor.real_part); _bgc_fp64_versor_get_rotation_matrix(matrix, &pose->_versor.real_part);
} }
// ============= Get Inward Matrix ============== // // ============= Get Inward Matrix ============== //
inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* const pose)
{ {
_bgc_fp32_versor_get_reverse_matrix(matrix, &pose->_versor.real_part); _bgc_fp32_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
} }
inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* const pose)
{ {
_bgc_fp64_versor_get_reverse_matrix(matrix, &pose->_versor.real_part); _bgc_fp64_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
} }
// ============== Get Outer Shift =============== // // ============== Get Outer Shift =============== //
inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* const pose)
{ {
const BGC_FP32_Quaternion* const real = &pose->_versor.real_part; const BGC_FP32_Quaternion* const real = &pose->_versor.real_part;
const BGC_FP32_Quaternion* const dual = &pose->_versor.dual_part; const BGC_FP32_Quaternion* const dual = &pose->_versor.dual_part;
@ -344,7 +344,7 @@ inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* shift, const
shift->x3 = 2.0f * ((dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2)); shift->x3 = 2.0f * ((dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2));
} }
inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* const pose)
{ {
const BGC_FP64_Quaternion* const real = &pose->_versor.real_part; const BGC_FP64_Quaternion* const real = &pose->_versor.real_part;
const BGC_FP64_Quaternion* const dual = &pose->_versor.dual_part; const BGC_FP64_Quaternion* const dual = &pose->_versor.dual_part;
@ -356,7 +356,7 @@ inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* shift, const
// ============== Get Inner Shift ============== // // ============== Get Inner Shift ============== //
inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* const pose)
{ {
const BGC_FP32_Quaternion* const real = &pose->_versor.real_part; const BGC_FP32_Quaternion* const real = &pose->_versor.real_part;
const BGC_FP32_Quaternion* const dual = &pose->_versor.dual_part; const BGC_FP32_Quaternion* const dual = &pose->_versor.dual_part;
@ -366,7 +366,7 @@ inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* shift, const
shift->x3 = 2.0f * ((dual->s0 * real->x3 - dual->x3 * real->s0) + (dual->x2 * real->x1 - dual->x1 * real->x2)); shift->x3 = 2.0f * ((dual->s0 * real->x3 - dual->x3 * real->s0) + (dual->x2 * real->x1 - dual->x1 * real->x2));
} }
inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* const pose)
{ {
const BGC_FP64_Quaternion* const real = &pose->_versor.real_part; const BGC_FP64_Quaternion* const real = &pose->_versor.real_part;
const BGC_FP64_Quaternion* const dual = &pose->_versor.dual_part; const BGC_FP64_Quaternion* const dual = &pose->_versor.dual_part;
@ -378,13 +378,13 @@ inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* shift, const
// ============ Get Outward Affine3 ============= // // ============ Get Outward Affine3 ============= //
inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* const pose)
{ {
_bgc_fp32_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part); _bgc_fp32_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
bgc_fp32_rigid_pose3_get_outer_shift(&affine_map->shift, pose); bgc_fp32_rigid_pose3_get_outer_shift(&affine_map->shift, pose);
} }
inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* const pose)
{ {
_bgc_fp64_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part); _bgc_fp64_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
bgc_fp64_rigid_pose3_get_outer_shift(&affine_map->shift, pose); bgc_fp64_rigid_pose3_get_outer_shift(&affine_map->shift, pose);
@ -392,16 +392,100 @@ inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* affine_map
// ============= Get Inward Affine3 ============= // // ============= Get Inward Affine3 ============= //
inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose) inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* const pose)
{ {
_bgc_fp32_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part); _bgc_fp32_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
bgc_fp32_rigid_pose3_get_inner_shift(&affine_map->shift, pose); bgc_fp32_rigid_pose3_get_inner_shift(&affine_map->shift, pose);
} }
inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose) inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* const pose)
{ {
_bgc_fp64_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part); _bgc_fp64_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
bgc_fp64_rigid_pose3_get_inner_shift(&affine_map->shift, pose); bgc_fp64_rigid_pose3_get_inner_shift(&affine_map->shift, pose);
} }
// ============ Get Outer Position3 ============= //
inline void bgc_fp32_rigid_pose3_get_outer_position(BGC_FP32_Position3* position, const BGC_FP32_RigidPose3* const pose)
{
bgc_fp32_quaternion_copy(&position->turn._versor, &pose->_versor.real_part);
bgc_fp32_rigid_pose3_get_outer_shift(&position->shift, pose);
}
inline void bgc_fp64_rigid_pose3_get_outer_position(BGC_FP64_Position3* position, const BGC_FP64_RigidPose3* const pose)
{
bgc_fp64_quaternion_copy(&position->turn._versor, &pose->_versor.real_part);
bgc_fp64_rigid_pose3_get_outer_shift(&position->shift, pose);
}
// ============ Set Outer Position3 ============= //
inline void bgc_fp32_rigid_pose3_set_outer_position(BGC_FP32_RigidPose3* pose, const BGC_FP32_Position3* const position)
{
const BGC_FP32_Quaternion* const versor = &position->turn._versor;
const BGC_FP32_Vector3* const shift = &position->shift;
bgc_fp32_quaternion_copy(&pose->_versor.real_part, versor);
pose->_versor.dual_part.s0 = -0.5f * (shift->x1 * versor->x1 + shift->x2 * versor->x2 + shift->x3 * versor->x3);
pose->_versor.dual_part.x1 = -0.5f * (shift->x3 * versor->x2 - shift->x2 * versor->x3 - shift->x1 * versor->s0);
pose->_versor.dual_part.x2 = -0.5f * (shift->x1 * versor->x3 - shift->x3 * versor->x1 - shift->x2 * versor->s0);
pose->_versor.dual_part.x3 = -0.5f * (shift->x2 * versor->x1 - shift->x1 * versor->x2 - shift->x3 * versor->s0);
}
inline void bgc_fp64_rigid_pose3_set_outer_position(BGC_FP64_RigidPose3* pose, const BGC_FP64_Position3* const position)
{
const BGC_FP64_Quaternion* const versor = &position->turn._versor;
const BGC_FP64_Vector3* const shift = &position->shift;
bgc_fp64_quaternion_copy(&pose->_versor.real_part, versor);
pose->_versor.dual_part.s0 = -0.5 * (shift->x1 * versor->x1 + shift->x2 * versor->x2 + shift->x3 * versor->x3);
pose->_versor.dual_part.x1 = -0.5 * (shift->x3 * versor->x2 - shift->x2 * versor->x3 - shift->x1 * versor->s0);
pose->_versor.dual_part.x2 = -0.5 * (shift->x1 * versor->x3 - shift->x3 * versor->x1 - shift->x2 * versor->s0);
pose->_versor.dual_part.x3 = -0.5 * (shift->x2 * versor->x1 - shift->x1 * versor->x2 - shift->x3 * versor->s0);
}
// ============ Get Inner Position3 ============= //
inline void bgc_fp32_rigid_pose3_get_inner_position(BGC_FP32_Position3* position, const BGC_FP32_RigidPose3* const pose)
{
bgc_fp32_quaternion_get_conjugate(&position->turn._versor, &pose->_versor.real_part);
bgc_fp32_rigid_pose3_get_inner_shift(&position->shift, pose);
}
inline void bgc_fp64_rigid_pose3_get_inner_position(BGC_FP64_Position3* position, const BGC_FP64_RigidPose3* const pose)
{
bgc_fp64_quaternion_get_conjugate(&position->turn._versor, &pose->_versor.real_part);
bgc_fp64_rigid_pose3_get_inner_shift(&position->shift, pose);
}
// ============ Set Inner Position3 ============= //
inline void bgc_fp32_rigid_pose3_set_inner_position(BGC_FP32_RigidPose3* pose, const BGC_FP32_Position3* const position)
{
const BGC_FP32_Quaternion* const versor = &position->turn._versor;
const BGC_FP32_Vector3* const shift = &position->shift;
bgc_fp32_quaternion_get_conjugate(&pose->_versor.real_part, versor);
pose->_versor.dual_part.s0 = -0.5f * (versor->x1 * shift->x1 + versor->x2 * shift->x2 + versor->x3 * shift->x3);
pose->_versor.dual_part.x1 = -0.5f * (versor->s0 * shift->x1 + versor->x3 * shift->x2 - versor->x2 * shift->x3);
pose->_versor.dual_part.x2 = -0.5f * (versor->s0 * shift->x2 + versor->x1 * shift->x3 - versor->x3 * shift->x1);
pose->_versor.dual_part.x3 = -0.5f * (versor->s0 * shift->x3 + versor->x2 * shift->x1 - versor->x1 * shift->x2);
}
inline void bgc_fp64_rigid_pose3_set_inner_position(BGC_FP64_RigidPose3* pose, const BGC_FP64_Position3* const position)
{
const BGC_FP64_Quaternion* const versor = &position->turn._versor;
const BGC_FP64_Vector3* const shift = &position->shift;
bgc_fp64_quaternion_get_conjugate(&pose->_versor.real_part, versor);
pose->_versor.dual_part.s0 = -0.5f * (versor->x1 * shift->x1 + versor->x2 * shift->x2 + versor->x3 * shift->x3);
pose->_versor.dual_part.x1 = -0.5f * (versor->s0 * shift->x1 + versor->x3 * shift->x2 - versor->x2 * shift->x3);
pose->_versor.dual_part.x2 = -0.5f * (versor->s0 * shift->x2 + versor->x1 * shift->x3 - versor->x3 * shift->x1);
pose->_versor.dual_part.x3 = -0.5f * (versor->s0 * shift->x3 + versor->x2 * shift->x1 - versor->x1 * shift->x2);
}
#endif #endif