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

basic-geometry-dev/basic-geometry-dev.vcxproj

@@ -21,6 +21,8 @@
   <ItemGroup>
     <ClCompile Include="main.c" />
     <ClCompile Include="affine3.c" />
+    <ClCompile Include="printing_utils.c" />
+    <ClCompile Include="vector3_pair_difference.c" />
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="..\basic-geometry\basic-geometry.vcxproj">
@@ -29,6 +31,8 @@
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="affine3.h" />
+    <ClInclude Include="printing_utils.h" />
+    <ClInclude Include="vector3_pair_difference.h" />
   </ItemGroup>
   <PropertyGroup Label="Globals">
     <VCProjectVersion>16.0</VCProjectVersion>

basic-geometry-dev/basic-geometry-dev.vcxproj.filters

@@ -21,10 +21,22 @@
     <ClCompile Include="affine3.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
+    <ClCompile Include="printing_utils.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="vector3_pair_difference.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="affine3.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
+    <ClInclude Include="printing_utils.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="vector3_pair_difference.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>

basic-geometry-dev/main.c

@@ -9,7 +9,9 @@
 #include <time.h>
 #endif // _WINDOWS_
 
+#include "printing_utils.h"
 #include "vector3_pair_difference.h"
+#include "affine3.h"
 
 typedef struct {
     BGC_FP32_Turn3 versor1, versor2, result;
@@ -132,13 +134,48 @@ int main() {
 }
 */
 
+void test_fp32_quaternion_set_matrix()
+{
+    BGC_FP32_Turn3 turn;
+    BGC_FP32_Matrix3x3 rotation;
+    BGC_FP32_Quaternion quaternion;
     
-#include "affine3.h"
+    bgc_fp32_turn3_set_rotation(&turn, 1.0f, 1.0f, 1.0f, 120.0f, BGC_ANGLE_UNIT_DEGREES);
+
+    bgc_fp32_turn3_get_rotation_matrix(&rotation, &turn);
+
+    if (bgc_fp32_quaternion_set_rotation_matrix(&quaternion, &rotation) == BGC_FAILURE) {
+        printf("Failed\n");
+        return;
+    }
+
+    print_fp32_quaternion(&quaternion);
+    print_fp32_quaternion(&turn._versor);
+}
+
+void test_fp64_quaternion_set_matrix()
+{
+    BGC_FP64_Turn3 turn;
+    BGC_FP64_Matrix3x3 rotation;
+    BGC_FP64_Quaternion quaternion;
+
+    bgc_fp64_turn3_set_rotation(&turn, 1.0, 1.0, 1.0, 120.0, BGC_ANGLE_UNIT_DEGREES);
+
+    bgc_fp64_turn3_get_rotation_matrix(&rotation, &turn);
+
+    if (bgc_fp64_quaternion_set_rotation_matrix(&quaternion, &rotation) == BGC_FAILURE) {
+        printf("Failed\n");
+        return;
+    }
+
+    print_fp64_quaternion(&quaternion);
+    print_fp64_quaternion(&turn._versor);
+}
 
 int main()
 {
     //test_fp32_pair_difference();
-    test_fp64_pair_difference();
+    //test_fp64_pair_difference();
 
     //printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
 
@@ -146,6 +183,7 @@ int main()
     //printf("offsetof(shift)         = %zu\n", offsetof(BGC_FP32_Affine3, shift));
     //printf("sizeof(BGC_FP32_Matrix3x3) = %zu\n", sizeof(BGC_FP32_Matrix3x3));
     
+    test_fp32_quaternion_set_matrix();
+
     return 0;
 }
-

basic-geometry/matrix2x2.h

@@ -129,28 +129,20 @@ inline int bgc_fp64_matrix2x2_is_singular(const BGC_FP64_Matrix2x2* const matrix
 
 inline int bgc_fp32_matrix2x2_is_rotation(const BGC_FP32_Matrix2x2* const matrix)
 {
-    BGC_FP32_Matrix2x2 product;
+    const float r1r1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r1c2;
+    const float r1r2 = matrix->r1c1 * matrix->r2c1 + matrix->r1c2 * matrix->r2c2;
+    const float r2r2 = matrix->r2c1 * matrix->r2c1 + matrix->r2c2 * matrix->r2c2;
 
-    product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1;
+    return bgc_fp32_is_square_unit(r1r1) && bgc_fp32_is_square_unit(r2r2) && bgc_fp32_is_zero(r1r2);
-    product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2;
-
-    product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1;
-    product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2;
-
-    return bgc_fp32_matrix2x2_is_identity(&product);
 }
 
 inline int bgc_fp64_matrix2x2_is_rotation(const BGC_FP64_Matrix2x2* const matrix)
 {
-    BGC_FP64_Matrix2x2 product;
+    const double r1r1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r1c2;
+    const double r1r2 = matrix->r1c1 * matrix->r2c1 + matrix->r1c2 * matrix->r2c2;
+    const double r2r2 = matrix->r2c1 * matrix->r2c1 + matrix->r2c2 * matrix->r2c2;
 
-    product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1;
+    return bgc_fp64_is_square_unit(r1r1) && bgc_fp64_is_square_unit(r2r2) && bgc_fp64_is_zero(r1r2);
-    product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2;
-
-    product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1;
-    product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2;
-
-    return bgc_fp64_matrix2x2_is_identity(&product);
 }
 
 // ==================== Copy ==================== //

basic-geometry/matrix3x3.h

@@ -294,40 +294,38 @@ inline int bgc_fp64_matrix3x3_is_singular(const BGC_FP64_Matrix3x3* const matrix
 
 inline int bgc_fp32_matrix3x3_is_rotation(const BGC_FP32_Matrix3x3* const matrix)
 {
-    BGC_FP32_Matrix3x3 product;
+    const float r1r1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r1c2 + matrix->r1c3 * matrix->r1c3;
+    const float r2r2 = matrix->r2c1 * matrix->r2c1 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r2c3;
+    const float r3r3 = matrix->r3c1 * matrix->r3c1 + matrix->r3c2 * matrix->r3c2 + matrix->r3c3 * matrix->r3c3;
 
-    product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1;
+    const float r1r2 = matrix->r1c1 * matrix->r2c1 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r2c3;
-    product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2;
+    const float r1r3 = matrix->r1c1 * matrix->r3c1 + matrix->r1c2 * matrix->r3c2 + matrix->r1c3 * matrix->r3c3;
-    product.r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3;
+    const float r2r3 = matrix->r2c1 * matrix->r3c1 + matrix->r2c2 * matrix->r3c2 + matrix->r2c3 * matrix->r3c3;
 
-    product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1;
+    return bgc_fp32_is_square_unit(r1r1)
-    product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2;
+        && bgc_fp32_is_square_unit(r2r2)
-    product.r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3;
+        && bgc_fp32_is_square_unit(r3r3)
-
+        && bgc_fp32_is_zero(r1r2)
-    product.r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1;
+        && bgc_fp32_is_zero(r1r3)
-    product.r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2;
+        && bgc_fp32_is_zero(r2r3);
-    product.r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3;
-
-    return bgc_fp32_matrix3x3_is_identity(&product);
 }
 
 inline int bgc_fp64_matrix3x3_is_rotation(const BGC_FP64_Matrix3x3* const matrix)
 {
-    BGC_FP64_Matrix3x3 product;
+    const double r1r1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r1c2 + matrix->r1c3 * matrix->r1c3;
+    const double r2r2 = matrix->r2c1 * matrix->r2c1 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r2c3;
+    const double r3r3 = matrix->r3c1 * matrix->r3c1 + matrix->r3c2 * matrix->r3c2 + matrix->r3c3 * matrix->r3c3;
 
-    product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1;
+    const double r1r2 = matrix->r1c1 * matrix->r2c1 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r2c3;
-    product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2;
+    const double r1r3 = matrix->r1c1 * matrix->r3c1 + matrix->r1c2 * matrix->r3c2 + matrix->r1c3 * matrix->r3c3;
-    product.r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3;
+    const double r2r3 = matrix->r2c1 * matrix->r3c1 + matrix->r2c2 * matrix->r3c2 + matrix->r2c3 * matrix->r3c3;
 
-    product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1;
+    return bgc_fp64_is_square_unit(r1r1)
-    product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2;
+        && bgc_fp64_is_square_unit(r2r2)
-    product.r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3;
+        && bgc_fp64_is_square_unit(r3r3)
-
+        && bgc_fp64_is_zero(r1r2)
-    product.r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1;
+        && bgc_fp64_is_zero(r1r3)
-    product.r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2;
+        && bgc_fp64_is_zero(r2r3);
-    product.r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3;
-
-    return bgc_fp64_matrix3x3_is_identity(&product);
 }
 
 // ================ Get Inverse ================= //

basic-geometry/quaternion.c

@@ -121,18 +121,6 @@ extern inline int bgc_fp64_quaternion_turn_vector(BGC_FP64_Vector3* const turned
 extern inline int bgc_fp32_quaternion_turn_vector_back(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Vector3* const original_vector);
 extern inline int bgc_fp64_quaternion_turn_vector_back(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Vector3* const original_vector);
 
-extern inline void _bgc_fp32_versor_get_rotation_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Quaternion* const versor);
-extern inline void _bgc_fp64_versor_get_rotation_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Quaternion* const versor);
-
-extern inline void _bgc_fp32_versor_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Quaternion* const versor);
-extern inline void _bgc_fp64_versor_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Quaternion* const versor);
-
-extern inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* const rotation, const BGC_FP32_Quaternion* const quaternion);
-extern inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* const rotation, const BGC_FP64_Quaternion* const quaternion);
-
-extern inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Quaternion* const quaternion);
-extern inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Quaternion* const quaternion);
-
 extern inline int bgc_fp32_quaternion_get_both_matrices(BGC_FP32_Matrix3x3* const rotation, BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Quaternion* const quaternion);
 extern inline int bgc_fp64_quaternion_get_both_matrices(BGC_FP64_Matrix3x3* const rotation, BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Quaternion* const quaternion);
 
@@ -222,3 +210,341 @@ int bgc_fp64_quaternion_get_power(BGC_FP64_Quaternion* const power, const BGC_FP
 
     return BGC_SUCCESS;
 }
+
+// ============ Get Rotation Matrix ============= //
+
+int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* const rotation, const BGC_FP32_Quaternion* const quaternion)
+{
+    const float ss = quaternion->s * quaternion->s;
+    const float xx = quaternion->x * quaternion->x;
+    const float yy = quaternion->y * quaternion->y;
+    const float zz = quaternion->z * quaternion->z;
+
+    const float square_modulus = (ss + xx) + (yy + zz);
+
+    if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus))
+    {
+        bgc_fp32_matrix3x3_make_identity(rotation);
+        return BGC_FAILURE;
+    }
+
+    const float corrector1 = 1.0f / square_modulus;
+
+    const float sx = quaternion->s * quaternion->x;
+    const float sy = quaternion->s * quaternion->y;
+    const float sz = quaternion->s * quaternion->z;
+    const float xy = quaternion->x * quaternion->y;
+    const float xz = quaternion->x * quaternion->z;
+    const float yz = quaternion->y * quaternion->z;
+
+    const float corrector2 = 2.0f * corrector1;
+
+    rotation->r1c1 = corrector1 * ((ss + xx) - (yy + zz));
+    rotation->r2c2 = corrector1 * ((ss + yy) - (xx + zz));
+    rotation->r3c3 = corrector1 * ((ss + zz) - (xx + yy));
+
+    rotation->r1c2 = corrector2 * (xy - sz);
+    rotation->r2c3 = corrector2 * (yz - sx);
+    rotation->r3c1 = corrector2 * (xz - sy);
+
+    rotation->r2c1 = corrector2 * (xy + sz);
+    rotation->r3c2 = corrector2 * (yz + sx);
+    rotation->r1c3 = corrector2 * (xz + sy);
+
+    return BGC_SUCCESS;
+}
+
+int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* const rotation, const BGC_FP64_Quaternion* const quaternion)
+{
+    const double ss = quaternion->s * quaternion->s;
+    const double xx = quaternion->x * quaternion->x;
+    const double yy = quaternion->y * quaternion->y;
+    const double zz = quaternion->z * quaternion->z;
+
+    const double square_modulus = (ss + xx) + (yy + zz);
+
+    if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus))
+    {
+        bgc_fp64_matrix3x3_make_identity(rotation);
+        return BGC_FAILURE;
+    }
+
+    const double corrector1 = 1.0 / square_modulus;
+
+    const double sx = quaternion->s * quaternion->x;
+    const double sy = quaternion->s * quaternion->y;
+    const double sz = quaternion->s * quaternion->z;
+    const double xy = quaternion->x * quaternion->y;
+    const double xz = quaternion->x * quaternion->z;
+    const double yz = quaternion->y * quaternion->z;
+
+    const double corrector2 = 2.0 * corrector1;
+
+    rotation->r1c1 = corrector1 * ((ss + xx) - (yy + zz));
+    rotation->r2c2 = corrector1 * ((ss + yy) - (xx + zz));
+    rotation->r3c3 = corrector1 * ((ss + zz) - (xx + yy));
+
+    rotation->r1c2 = corrector2 * (xy - sz);
+    rotation->r2c3 = corrector2 * (yz - sx);
+    rotation->r3c1 = corrector2 * (xz - sy);
+
+    rotation->r2c1 = corrector2 * (xy + sz);
+    rotation->r3c2 = corrector2 * (yz + sx);
+    rotation->r1c3 = corrector2 * (xz + sy);
+
+    return BGC_SUCCESS;
+}
+
+// ============ Set Rotation Matrix ============= //
+
+int bgc_fp32_quaternion_set_rotation_matrix(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Matrix3x3* const matrix)
+{
+    if (!bgc_fp32_matrix3x3_is_rotation(matrix)) {
+        return BGC_FAILURE;
+    }
+
+    const float ss_4 = (1 + matrix->r1c1) + (matrix->r2c2 + matrix->r3c3);
+    const float xx_4 = (1 + matrix->r1c1) - (matrix->r2c2 + matrix->r3c3);
+    const float yy_4 = (1 + matrix->r2c2) - (matrix->r1c1 + matrix->r3c3);
+    const float zz_4 = (1 + matrix->r3c3) - (matrix->r1c1 + matrix->r2c2);
+
+    const float sx_4 = matrix->r3c2 - matrix->r2c3;
+    const float sy_4 = matrix->r1c3 - matrix->r3c1;
+    const float sz_4 = matrix->r2c1 - matrix->r1c2;
+
+    const float yz_4 = matrix->r3c2 + matrix->r2c3;
+    const float xz_4 = matrix->r1c3 + matrix->r3c1;
+    const float xy_4 = matrix->r2c1 + matrix->r1c2;
+
+    float max = ss_4;
+    int index = 0;
+
+    if (xx_4 > max) {
+        max = xx_4;
+        index = 1;
+    }
+
+    if (yy_4 > max) {
+        max = yy_4;
+        index = 2;
+    }
+
+    if (zz_4 > max) {
+        max = zz_4;
+        index = 3;
+    }
+
+    switch (index) {
+    case 0:
+        quaternion->s = ss_4;
+        quaternion->x = sx_4;
+        quaternion->y = sy_4;
+        quaternion->z = sz_4;
+        break;
+
+    case 1:
+        quaternion->s = sx_4;
+        quaternion->x = xx_4;
+        quaternion->y = xy_4;
+        quaternion->z = xz_4;
+        break;
+
+    case 2:
+        quaternion->s = sy_4;
+        quaternion->x = xy_4;
+        quaternion->y = yy_4;
+        quaternion->z = yz_4;
+        break;
+
+    case 3: