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Удаление combite3 функций, изменение названий параметров функицй combine и exclude

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Andrey Pokidov 2026-04-03 15:10:57 +07:00
parent 54c762da14
commit 5425206401
10 changed files with 277 additions and 220 deletions
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8
basic-geometry/rigid-pose3.c
View file

@ -48,11 +48,11 @@ extern inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_get_reverse_pose(BGC_FP32_RigidPose3* const reverse, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_reverse_pose(BGC_FP64_RigidPose3* const reverse, const BGC_FP64_RigidPose3* const pose);
extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* const combination, const BGC_FP32_RigidPose3* const first, const BGC_FP32_RigidPose3* const second);
extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* const combination, const BGC_FP64_RigidPose3* const first, const BGC_FP64_RigidPose3* const second);
extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* const combination, const BGC_FP32_RigidPose3* const external_pose, const BGC_FP32_RigidPose3* const internal_pose);
extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* const combination, const BGC_FP64_RigidPose3* const external_pose, const BGC_FP64_RigidPose3* const internal_pose);
extern inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* const difference, const BGC_FP32_RigidPose3* const base, const BGC_FP32_RigidPose3* const excludant);
extern inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference, const BGC_FP64_RigidPose3* const base, const BGC_FP64_RigidPose3* const excludant);
extern inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* const difference, const BGC_FP32_RigidPose3* const pose, const BGC_FP32_RigidPose3* const excludant);
extern inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference, const BGC_FP64_RigidPose3* const pose, const BGC_FP64_RigidPose3* const excludant);
extern inline void bgc_fp32_rigid_pose3_get_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose);
extern inline void bgc_fp64_rigid_pose3_get_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose);

24
basic-geometry/rigid-pose3.h
View file

@ -280,41 +280,41 @@ inline void bgc_fp64_rigid_pose3_get_reverse_pose(BGC_FP64_RigidPose3* const rev
// ================== Combine =================== //
inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* const combination, const BGC_FP32_RigidPose3* const first, const BGC_FP32_RigidPose3* const second)
inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* const combination, const BGC_FP32_RigidPose3* const external_pose, const BGC_FP32_RigidPose3* const internal_pose)
{
bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &external_pose->_versor, &internal_pose->_versor);
_bgc_fp32_rigid_pose3_normalize(combination);
}
inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* const combination, const BGC_FP64_RigidPose3* const first, const BGC_FP64_RigidPose3* const second)
inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* const combination, const BGC_FP64_RigidPose3* const external_pose, const BGC_FP64_RigidPose3* const internal_pose)
{
bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &external_pose->_versor, &internal_pose->_versor);
_bgc_fp64_rigid_pose3_normalize(combination);
}
// ================== Exclude =================== //
inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* const difference, const BGC_FP32_RigidPose3* const base, const BGC_FP32_RigidPose3* const excludant)
inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* const difference, const BGC_FP32_RigidPose3* const pose, const BGC_FP32_RigidPose3* const excludant)
{
BGC_FP32_Quaternion dual_part1, dual_part2;
bgc_fp32_quaternion_multiply_by_conjugate(&dual_part1, &base->_versor.real_part, &excludant->_versor.dual_part);
bgc_fp32_quaternion_multiply_by_conjugate(&dual_part2, &base->_versor.dual_part, &excludant->_versor.real_part);
bgc_fp32_quaternion_multiply_by_conjugate(&dual_part1, &pose->_versor.real_part, &excludant->_versor.dual_part);
bgc_fp32_quaternion_multiply_by_conjugate(&dual_part2, &pose->_versor.dual_part, &excludant->_versor.real_part);
bgc_fp32_quaternion_multiply_by_conjugate(&difference->_versor.real_part, &base->_versor.real_part, &excludant->_versor.real_part);
bgc_fp32_quaternion_multiply_by_conjugate(&difference->_versor.real_part, &pose->_versor.real_part, &excludant->_versor.real_part);
bgc_fp32_quaternion_add(&difference->_versor.dual_part, &dual_part1, &dual_part2);
_bgc_fp32_rigid_pose3_normalize(difference);
}
inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference, const BGC_FP64_RigidPose3* const base, const BGC_FP64_RigidPose3* const excludant)
inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference, const BGC_FP64_RigidPose3* const pose, const BGC_FP64_RigidPose3* const excludant)
{
BGC_FP64_Quaternion dual_part1, dual_part2;
bgc_fp64_quaternion_multiply_by_conjugate(&dual_part1, &base->_versor.real_part, &excludant->_versor.dual_part);
bgc_fp64_quaternion_multiply_by_conjugate(&dual_part2, &base->_versor.dual_part, &excludant->_versor.real_part);
bgc_fp64_quaternion_multiply_by_conjugate(&dual_part1, &pose->_versor.real_part, &excludant->_versor.dual_part);
bgc_fp64_quaternion_multiply_by_conjugate(&dual_part2, &pose->_versor.dual_part, &excludant->_versor.real_part);
bgc_fp64_quaternion_multiply_by_conjugate(&difference->_versor.real_part, &base->_versor.real_part, &excludant->_versor.real_part);
bgc_fp64_quaternion_multiply_by_conjugate(&difference->_versor.real_part, &pose->_versor.real_part, &excludant->_versor.real_part);
bgc_fp64_quaternion_add(&difference->_versor.dual_part, &dual_part1, &dual_part2);
_bgc_fp64_rigid_pose3_normalize(difference);

7
basic-geometry/turn2.c
View file

@ -43,11 +43,8 @@ extern inline void bgc_fp64_turn2_get_power(BGC_FP64_Turn2* const power, const B
extern inline void bgc_fp32_turn2_combine(BGC_FP32_Turn2* const combination, const BGC_FP32_Turn2* const turn1, const BGC_FP32_Turn2* const turn2);
extern inline void bgc_fp64_turn2_combine(BGC_FP64_Turn2* const combination, const BGC_FP64_Turn2* const turn1, const BGC_FP64_Turn2* const turn2);
extern inline void bgc_fp32_turn2_combine3(BGC_FP32_Turn2* const combination, const BGC_FP32_Turn2* const turn1, const BGC_FP32_Turn2* const turn2, const BGC_FP32_Turn2* const turn3);
extern inline void bgc_fp64_turn2_combine3(BGC_FP64_Turn2* const combination, const BGC_FP64_Turn2* const turn1, const BGC_FP64_Turn2* const turn2, const BGC_FP64_Turn2* const turn3);
extern inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* const difference, const BGC_FP32_Turn2* const base, const BGC_FP32_Turn2* const excludant);
extern inline void bgc_fp64_turn2_exclude(BGC_FP64_Turn2* const difference, const BGC_FP64_Turn2* const base, const BGC_FP64_Turn2* const excludant);
extern inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* const difference, const BGC_FP32_Turn2* const turn, const BGC_FP32_Turn2* const excludant);
extern inline void bgc_fp64_turn2_exclude(BGC_FP64_Turn2* const difference, const BGC_FP64_Turn2* const turn, const BGC_FP64_Turn2* const excludant);
extern inline void bgc_fp32_turn2_get_rotation_matrix(BGC_FP32_Matrix2x2* const matrix, const BGC_FP32_Turn2* const turn);
extern inline void bgc_fp64_turn2_get_rotation_matrix(BGC_FP64_Matrix2x2* const matrix, const BGC_FP64_Turn2* const turn);

42
basic-geometry/turn2.h
View file

@ -253,42 +253,12 @@ inline void bgc_fp64_turn2_combine(BGC_FP64_Turn2* const combination, const BGC_
_bgc_fp64_turn2_normalize(combination);
}
// ============ Combination of three ============ //
inline void bgc_fp32_turn2_combine3(BGC_FP32_Turn2* const combination, const BGC_FP32_Turn2* const turn1, const BGC_FP32_Turn2* const turn2, const BGC_FP32_Turn2* const turn3)
{
const float _cos_of_two = turn1->_cos * turn2->_cos - turn1->_sin * turn2->_sin;
const float _sin_of_two = turn1->_cos * turn2->_sin + turn1->_sin * turn2->_cos;
const float _cos_of_three = _cos_of_two * turn3->_cos - _sin_of_two * turn3->_sin;
const float _sin_of_three = _cos_of_two * turn3->_sin + _sin_of_two * turn3->_cos;
combination->_cos = _cos_of_three;
combination->_sin = _sin_of_three;
_bgc_fp32_turn2_normalize(combination);
}
inline void bgc_fp64_turn2_combine3(BGC_FP64_Turn2* const combination, const BGC_FP64_Turn2* const turn1, const BGC_FP64_Turn2* const turn2, const BGC_FP64_Turn2* const turn3)
{
const double _cos_of_two = turn1->_cos * turn2->_cos - turn1->_sin * turn2->_sin;
const double _sin_of_two = turn1->_cos * turn2->_sin + turn1->_sin * turn2->_cos;
const double _cos_of_three = _cos_of_two * turn3->_cos - _sin_of_two * turn3->_sin;
const double _sin_of_three = _cos_of_two * turn3->_sin + _sin_of_two * turn3->_cos;
combination->_cos = _cos_of_three;
combination->_sin = _sin_of_three;
_bgc_fp64_turn2_normalize(combination);
}
// ================= Exclusion ================== //
inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* const difference, const BGC_FP32_Turn2* const base, const BGC_FP32_Turn2* const excludant)
inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* const difference, const BGC_FP32_Turn2* const turn, const BGC_FP32_Turn2* const excludant)
{
const float _cos = base->_cos * excludant->_cos + base->_sin * excludant->_sin;
const float _sin = base->_sin * excludant->_cos - base->_cos * excludant->_sin;
const float _cos = turn->_cos * excludant->_cos + turn->_sin * excludant->_sin;
const float _sin = turn->_sin * excludant->_cos - turn->_cos * excludant->_sin;
difference->_cos = _cos;
difference->_sin = _sin;
@ -296,10 +266,10 @@ inline void bgc_fp32_turn2_exclude(BGC_FP32_Turn2* const difference, const BGC_F
_bgc_fp32_turn2_normalize(difference);
}
inline void bgc_fp64_turn2_exclude(BGC_FP64_Turn2* const difference, const BGC_FP64_Turn2* const base, const BGC_FP64_Turn2* const excludant)
inline void bgc_fp64_turn2_exclude(BGC_FP64_Turn2* const difference, const BGC_FP64_Turn2* const turn, const BGC_FP64_Turn2* const excludant)
{
const double _cos = base->_cos * excludant->_cos + base->_sin * excludant->_sin;
const double _sin = base->_sin * excludant->_cos - base->_cos * excludant->_sin;
const double _cos = turn->_cos * excludant->_cos + turn->_sin * excludant->_sin;
const double _sin = turn->_sin * excludant->_cos - turn->_cos * excludant->_sin;
difference->_cos = _cos;
difference->_sin = _sin;

13
basic-geometry/turn3.c
View file

@ -6,6 +6,8 @@ const BGC_FP32_Turn3 BGC_FP32_IDLE_TURN3 = {{ 1.0f, 0.0f, 0.0f, 0.0f }};
const BGC_FP64_Turn3 BGC_FP64_IDLE_TURN3 = {{ 1.0, 0.0, 0.0, 0.0 }};
int64_t turn3_normalize_counter = 0;
extern inline void bgc_fp32_turn3_reset(BGC_FP32_Turn3* const turn);
extern inline void bgc_fp64_turn3_reset(BGC_FP64_Turn3* const turn);
@ -51,14 +53,11 @@ extern inline void bgc_fp64_turn3_revert(BGC_FP64_Turn3* const turn);
extern inline void bgc_fp32_turn3_get_reverse(BGC_FP32_Turn3* const inverse, const BGC_FP32_Turn3* const turn);
extern inline void bgc_fp64_turn3_get_reverse(BGC_FP64_Turn3* const inverse, const BGC_FP64_Turn3* const turn);
extern inline void bgc_fp32_turn3_combine(BGC_FP32_Turn3* const combination, const BGC_FP32_Turn3* const first, const BGC_FP32_Turn3* const second);
extern inline void bgc_fp64_turn3_combine(BGC_FP64_Turn3* const combination, const BGC_FP64_Turn3* const first, const BGC_FP64_Turn3* const second);
extern inline void bgc_fp32_turn3_combine(BGC_FP32_Turn3* const combination, const BGC_FP32_Turn3* const external_turn, const BGC_FP32_Turn3* const internal_turn);
extern inline void bgc_fp64_turn3_combine(BGC_FP64_Turn3* const combination, const BGC_FP64_Turn3* const external_turn, const BGC_FP64_Turn3* const internal_turn);
extern inline void bgc_fp32_turn3_combine3(BGC_FP32_Turn3* const combination, const BGC_FP32_Turn3* const first, const BGC_FP32_Turn3* const second, const BGC_FP32_Turn3* const third);
extern inline void bgc_fp64_turn3_combine3(BGC_FP64_Turn3* const combination, const BGC_FP64_Turn3* const first, const BGC_FP64_Turn3* const second, const BGC_FP64_Turn3* const third);
extern inline void bgc_fp32_turn3_exclude(BGC_FP32_Turn3* const difference, const BGC_FP32_Turn3* const base, const BGC_FP32_Turn3* const excludant);
extern inline void bgc_fp64_turn3_exclude(BGC_FP64_Turn3* const difference, const BGC_FP64_Turn3* const base, const BGC_FP64_Turn3* const excludant);
extern inline void bgc_fp32_turn3_exclude(BGC_FP32_Turn3* const difference, const BGC_FP32_Turn3* const turn, const BGC_FP32_Turn3* const excludant);
extern inline void bgc_fp64_turn3_exclude(BGC_FP64_Turn3* const difference, const BGC_FP64_Turn3* const turn, const BGC_FP64_Turn3* const excludant);
extern inline void bgc_fp32_turn3_get_rotation_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Turn3* const turn);
extern inline void bgc_fp64_turn3_get_rotation_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Turn3* const turn);

42
basic-geometry/turn3.h
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Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -52,6 +52,8 @@ inline void bgc_fp64_turn3_reset(BGC_FP64_Turn3* const turn)
// ============= Private: Normalize ============= //
extern int64_t turn3_normalize_counter;
inline void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* const turn)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&turn->_versor);
@ -323,54 +325,30 @@ void bgc_fp64_turn3_get_power(BGC_FP64_Turn3* const power, const BGC_FP64_Turn3*
// ================ Combination ================= //
inline void bgc_fp32_turn3_combine(BGC_FP32_Turn3* const combination, const BGC_FP32_Turn3* const first, const BGC_FP32_Turn3* const second)