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Уменшение количества внутренних методов за счёт методов получения матрицы поворота для веросора; исправления в методах проверки матрицы поворота; добавление методов вычисления поворота (turn3) по матрице поворота 3x3

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This commit is contained in:
Andrey Pokidov 2026-04-03 02:22:11 +07:00
parent abf99a7126
commit 54c762da14
9 changed files with 448 additions and 351 deletions
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12
basic-geometry/turn3.h
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@ -385,37 +385,37 @@ void bgc_fp64_turn3_spherically_interpolate(BGC_FP64_Turn3* const interpolation,
inline void bgc_fp32_turn3_get_rotation_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Turn3* const turn)
{
_bgc_fp32_versor_get_rotation_matrix(matrix, &turn->_versor);
bgc_fp32_quaternion_get_rotation_matrix(matrix, &turn->_versor);
}
inline void bgc_fp64_turn3_get_rotation_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Turn3* const turn)
{
_bgc_fp64_versor_get_rotation_matrix(matrix, &turn->_versor);
bgc_fp64_quaternion_get_rotation_matrix(matrix, &turn->_versor);
}
// ============= Get Reverse Matrix ============= //
inline void bgc_fp32_turn3_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Turn3* const turn)
{
_bgc_fp32_versor_get_reverse_matrix(matrix, &turn->_versor);
bgc_fp32_quaternion_get_reverse_matrix(matrix, &turn->_versor);
}
inline void bgc_fp64_turn3_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Turn3* const turn)
{
_bgc_fp64_versor_get_reverse_matrix(matrix, &turn->_versor);
bgc_fp64_quaternion_get_reverse_matrix(matrix, &turn->_versor);
}
// ============= Get Both Matrixes ============== //
inline void bgc_fp32_turn3_get_both_matrices(BGC_FP32_Matrix3x3* const rotation, BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Turn3* const turn)
{
_bgc_fp32_versor_get_reverse_matrix(reverse, &turn->_versor);
bgc_fp32_quaternion_get_reverse_matrix(reverse, &turn->_versor);
bgc_fp32_matrix3x3_get_transposed(rotation, reverse);
}
inline void bgc_fp64_turn3_get_both_matrices(BGC_FP64_Matrix3x3* const rotation, BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Turn3* const turn)
{
_bgc_fp64_versor_get_reverse_matrix(reverse, &turn->_versor);
bgc_fp64_quaternion_get_reverse_matrix(reverse, &turn->_versor);
bgc_fp64_matrix3x3_get_transposed(rotation, reverse);
}