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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9 changed files with 448 additions and 351 deletions
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@ -21,6 +21,8 @@
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<ItemGroup>
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<ClCompile Include="main.c" />
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<ClCompile Include="affine3.c" />
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<ClCompile Include="printing_utils.c" />
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<ClCompile Include="vector3_pair_difference.c" />
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</ItemGroup>
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<ItemGroup>
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<ProjectReference Include="..\basic-geometry\basic-geometry.vcxproj">
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@ -29,6 +31,8 @@
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</ItemGroup>
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<ItemGroup>
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<ClInclude Include="affine3.h" />
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<ClInclude Include="printing_utils.h" />
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<ClInclude Include="vector3_pair_difference.h" />
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</ItemGroup>
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<PropertyGroup Label="Globals">
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<VCProjectVersion>16.0</VCProjectVersion>
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@ -21,10 +21,22 @@
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<ClCompile Include="affine3.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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<ClCompile Include="printing_utils.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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<ClCompile Include="vector3_pair_difference.c">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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</ItemGroup>
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<ItemGroup>
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<ClInclude Include="affine3.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="printing_utils.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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<ClInclude Include="vector3_pair_difference.h">
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<Filter>Файлы заголовков</Filter>
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</ClInclude>
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</ItemGroup>
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</Project>
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@ -9,7 +9,9 @@
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#include <time.h>
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#endif // _WINDOWS_
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#include "printing_utils.h"
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#include "vector3_pair_difference.h"
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#include "affine3.h"
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typedef struct {
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BGC_FP32_Turn3 versor1, versor2, result;
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@ -132,20 +134,56 @@ int main() {
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}
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*/
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void test_fp32_quaternion_set_matrix()
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{
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BGC_FP32_Turn3 turn;
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BGC_FP32_Matrix3x3 rotation;
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BGC_FP32_Quaternion quaternion;
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bgc_fp32_turn3_set_rotation(&turn, 1.0f, 1.0f, 1.0f, 120.0f, BGC_ANGLE_UNIT_DEGREES);
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#include "affine3.h"
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bgc_fp32_turn3_get_rotation_matrix(&rotation, &turn);
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if (bgc_fp32_quaternion_set_rotation_matrix(&quaternion, &rotation) == BGC_FAILURE) {
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printf("Failed\n");
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return;
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}
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print_fp32_quaternion(&quaternion);
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print_fp32_quaternion(&turn._versor);
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}
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void test_fp64_quaternion_set_matrix()
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{
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BGC_FP64_Turn3 turn;
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BGC_FP64_Matrix3x3 rotation;
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BGC_FP64_Quaternion quaternion;
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bgc_fp64_turn3_set_rotation(&turn, 1.0, 1.0, 1.0, 120.0, BGC_ANGLE_UNIT_DEGREES);
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bgc_fp64_turn3_get_rotation_matrix(&rotation, &turn);
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if (bgc_fp64_quaternion_set_rotation_matrix(&quaternion, &rotation) == BGC_FAILURE) {
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printf("Failed\n");
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return;
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}
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print_fp64_quaternion(&quaternion);
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print_fp64_quaternion(&turn._versor);
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}
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int main()
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{
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//test_fp32_pair_difference();
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test_fp64_pair_difference();
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//test_fp64_pair_difference();
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//printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
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//printf("sizeof(BGC_FP32_Affine3) = %zu\n", sizeof(BGC_FP32_Affine3));
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//printf("offsetof(shift) = %zu\n", offsetof(BGC_FP32_Affine3, shift));
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//printf("sizeof(BGC_FP32_Matrix3x3) = %zu\n", sizeof(BGC_FP32_Matrix3x3));
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test_fp32_quaternion_set_matrix();
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return 0;
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}
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@ -129,28 +129,20 @@ inline int bgc_fp64_matrix2x2_is_singular(const BGC_FP64_Matrix2x2* const matrix
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inline int bgc_fp32_matrix2x2_is_rotation(const BGC_FP32_Matrix2x2* const matrix)
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{
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BGC_FP32_Matrix2x2 product;
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const float r1r1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r1c2;
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const float r1r2 = matrix->r1c1 * matrix->r2c1 + matrix->r1c2 * matrix->r2c2;
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const float r2r2 = matrix->r2c1 * matrix->r2c1 + matrix->r2c2 * matrix->r2c2;
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product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1;
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product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2;
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product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1;
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product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2;
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return bgc_fp32_matrix2x2_is_identity(&product);
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return bgc_fp32_is_square_unit(r1r1) && bgc_fp32_is_square_unit(r2r2) && bgc_fp32_is_zero(r1r2);
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}
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inline int bgc_fp64_matrix2x2_is_rotation(const BGC_FP64_Matrix2x2* const matrix)
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{
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BGC_FP64_Matrix2x2 product;
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const double r1r1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r1c2;
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const double r1r2 = matrix->r1c1 * matrix->r2c1 + matrix->r1c2 * matrix->r2c2;
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const double r2r2 = matrix->r2c1 * matrix->r2c1 + matrix->r2c2 * matrix->r2c2;
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product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1;
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product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2;
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product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1;
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product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2;
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return bgc_fp64_matrix2x2_is_identity(&product);
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return bgc_fp64_is_square_unit(r1r1) && bgc_fp64_is_square_unit(r2r2) && bgc_fp64_is_zero(r1r2);
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}
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// ==================== Copy ==================== //
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@ -294,40 +294,38 @@ inline int bgc_fp64_matrix3x3_is_singular(const BGC_FP64_Matrix3x3* const matrix
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inline int bgc_fp32_matrix3x3_is_rotation(const BGC_FP32_Matrix3x3* const matrix)
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{
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BGC_FP32_Matrix3x3 product;
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const float r1r1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r1c2 + matrix->r1c3 * matrix->r1c3;
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const float r2r2 = matrix->r2c1 * matrix->r2c1 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r2c3;
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const float r3r3 = matrix->r3c1 * matrix->r3c1 + matrix->r3c2 * matrix->r3c2 + matrix->r3c3 * matrix->r3c3;
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product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1;
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product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2;
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product.r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3;
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const float r1r2 = matrix->r1c1 * matrix->r2c1 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r2c3;
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const float r1r3 = matrix->r1c1 * matrix->r3c1 + matrix->r1c2 * matrix->r3c2 + matrix->r1c3 * matrix->r3c3;
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const float r2r3 = matrix->r2c1 * matrix->r3c1 + matrix->r2c2 * matrix->r3c2 + matrix->r2c3 * matrix->r3c3;
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product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1;
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product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2;
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product.r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3;
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product.r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1;
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product.r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2;
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product.r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3;
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return bgc_fp32_matrix3x3_is_identity(&product);
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return bgc_fp32_is_square_unit(r1r1)
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&& bgc_fp32_is_square_unit(r2r2)
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&& bgc_fp32_is_square_unit(r3r3)
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&& bgc_fp32_is_zero(r1r2)
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&& bgc_fp32_is_zero(r1r3)
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&& bgc_fp32_is_zero(r2r3);
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}
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inline int bgc_fp64_matrix3x3_is_rotation(const BGC_FP64_Matrix3x3* const matrix)
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{
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BGC_FP64_Matrix3x3 product;
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const double r1r1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r1c2 + matrix->r1c3 * matrix->r1c3;
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const double r2r2 = matrix->r2c1 * matrix->r2c1 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r2c3;
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const double r3r3 = matrix->r3c1 * matrix->r3c1 + matrix->r3c2 * matrix->r3c2 + matrix->r3c3 * matrix->r3c3;
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product.r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1;
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product.r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2;
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product.r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3;
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const double r1r2 = matrix->r1c1 * matrix->r2c1 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r2c3;
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const double r1r3 = matrix->r1c1 * matrix->r3c1 + matrix->r1c2 * matrix->r3c2 + matrix->r1c3 * matrix->r3c3;
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const double r2r3 = matrix->r2c1 * matrix->r3c1 + matrix->r2c2 * matrix->r3c2 + matrix->r2c3 * matrix->r3c3;
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product.r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1;
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product.r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2;
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product.r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3;
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product.r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1;
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product.r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2;
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product.r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3;
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return bgc_fp64_matrix3x3_is_identity(&product);
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return bgc_fp64_is_square_unit(r1r1)
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&& bgc_fp64_is_square_unit(r2r2)
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&& bgc_fp64_is_square_unit(r3r3)
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&& bgc_fp64_is_zero(r1r2)
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&& bgc_fp64_is_zero(r1r3)
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&& bgc_fp64_is_zero(r2r3);
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}
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// ================ Get Inverse ================= //
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@ -121,18 +121,6 @@ extern inline int bgc_fp64_quaternion_turn_vector(BGC_FP64_Vector3* const turned
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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);
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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);
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extern inline void _bgc_fp32_versor_get_rotation_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Quaternion* const versor);
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extern inline void _bgc_fp64_versor_get_rotation_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Quaternion* const versor);
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extern inline void _bgc_fp32_versor_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Quaternion* const versor);
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extern inline void _bgc_fp64_versor_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Quaternion* const versor);
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extern inline int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* const rotation, const BGC_FP32_Quaternion* const quaternion);
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extern inline int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* const rotation, const BGC_FP64_Quaternion* const quaternion);
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extern inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Quaternion* const quaternion);
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extern inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Quaternion* const quaternion);
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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);
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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);
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@ -222,3 +210,341 @@ int bgc_fp64_quaternion_get_power(BGC_FP64_Quaternion* const power, const BGC_FP
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return BGC_SUCCESS;
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}
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// ============ Get Rotation Matrix ============= //
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int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* const rotation, const BGC_FP32_Quaternion* const quaternion)
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{
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const float ss = quaternion->s * quaternion->s;
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const float xx = quaternion->x * quaternion->x;
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const float yy = quaternion->y * quaternion->y;
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const float zz = quaternion->z * quaternion->z;
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const float square_modulus = (ss + xx) + (yy + zz);
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus))
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{
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bgc_fp32_matrix3x3_make_identity(rotation);
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return BGC_FAILURE;
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}
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const float corrector1 = 1.0f / square_modulus;
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const float sx = quaternion->s * quaternion->x;
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const float sy = quaternion->s * quaternion->y;
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const float sz = quaternion->s * quaternion->z;
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const float xy = quaternion->x * quaternion->y;
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const float xz = quaternion->x * quaternion->z;
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const float yz = quaternion->y * quaternion->z;
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const float corrector2 = 2.0f * corrector1;
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rotation->r1c1 = corrector1 * ((ss + xx) - (yy + zz));
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rotation->r2c2 = corrector1 * ((ss + yy) - (xx + zz));
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rotation->r3c3 = corrector1 * ((ss + zz) - (xx + yy));
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rotation->r1c2 = corrector2 * (xy - sz);
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rotation->r2c3 = corrector2 * (yz - sx);
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rotation->r3c1 = corrector2 * (xz - sy);
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rotation->r2c1 = corrector2 * (xy + sz);
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rotation->r3c2 = corrector2 * (yz + sx);
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rotation->r1c3 = corrector2 * (xz + sy);
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return BGC_SUCCESS;
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}
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int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* const rotation, const BGC_FP64_Quaternion* const quaternion)
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{
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const double ss = quaternion->s * quaternion->s;
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const double xx = quaternion->x * quaternion->x;
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const double yy = quaternion->y * quaternion->y;
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const double zz = quaternion->z * quaternion->z;
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const double square_modulus = (ss + xx) + (yy + zz);
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus))
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{
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bgc_fp64_matrix3x3_make_identity(rotation);
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return BGC_FAILURE;
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}
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const double corrector1 = 1.0 / square_modulus;
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const double sx = quaternion->s * quaternion->x;
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const double sy = quaternion->s * quaternion->y;
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const double sz = quaternion->s * quaternion->z;
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const double xy = quaternion->x * quaternion->y;
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const double xz = quaternion->x * quaternion->z;
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const double yz = quaternion->y * quaternion->z;
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const double corrector2 = 2.0 * corrector1;
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rotation->r1c1 = corrector1 * ((ss + xx) - (yy + zz));
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rotation->r2c2 = corrector1 * ((ss + yy) - (xx + zz));
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rotation->r3c3 = corrector1 * ((ss + zz) - (xx + yy));
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rotation->r1c2 = corrector2 * (xy - sz);
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rotation->r2c3 = corrector2 * (yz - sx);
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rotation->r3c1 = corrector2 * (xz - sy);
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|
||||
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:
|
||||
quaternion->s = sz_4;
|
||||
quaternion->x = xz_4;
|
||||
quaternion->y = yz_4;
|
||||
quaternion->z = zz_4;
|
||||
break;
|
||||
}
|
||||
|
||||
if (quaternion->s < 0.0f) {
|
||||
quaternion->s = -quaternion->s;
|
||||
quaternion->x = -quaternion->x;
|
||||
quaternion->y = -quaternion->y;
|
||||
quaternion->z = -quaternion->z;
|
||||
}
|
||||
|
||||
const float multiplicator = sqrtf(1.0f / bgc_fp32_quaternion_get_square_magnitude(quaternion));
|
||||
|
||||
quaternion->s *= multiplicator;
|
||||
quaternion->x *= multiplicator;
|
||||
quaternion->y *= multiplicator;
|
||||
quaternion->z *= multiplicator;
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
int bgc_fp64_quaternion_set_rotation_matrix(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Matrix3x3* const matrix)
|
||||
{
|
||||
if (!bgc_fp64_matrix3x3_is_rotation(matrix)) {
|
||||
return BGC_FAILURE;
|
||||
}
|
||||
|
||||
const double ss_4 = (1 + matrix->r1c1) + (matrix->r2c2 + matrix->r3c3);
|
||||
const double xx_4 = (1 + matrix->r1c1) - (matrix->r2c2 - matrix->r3c3);
|
||||
const double yy_4 = (1 + matrix->r2c2) - (matrix->r1c1 - matrix->r3c3);
|
||||
const double zz_4 = (1 + matrix->r3c3) - (matrix->r1c1 - matrix->r2c2);
|
||||
|
||||
const double sx_4 = matrix->r3c2 - matrix->r2c3;
|
||||
const double sy_4 = matrix->r1c3 - matrix->r3c1;
|
||||
const double sz_4 = matrix->r2c1 - matrix->r1c2;
|
||||
|
||||
const double yz_4 = matrix->r3c2 + matrix->r2c3;
|
||||
const double xz_4 = matrix->r1c3 + matrix->r3c1;
|
||||
const double xy_4 = matrix->r2c1 + matrix->r1c2;
|
||||
|
||||
double 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:
|
||||
quaternion->s = sz_4;
|
||||
quaternion->x = xz_4;
|
||||
quaternion->y = yz_4;
|
||||
quaternion->z = zz_4;
|
||||
break;
|
||||
}
|
||||
|
||||
if (quaternion->s < 0.0) {
|
||||
quaternion->s = -quaternion->s;
|
||||
quaternion->x = -quaternion->x;
|
||||
quaternion->y = -quaternion->y;
|
||||
quaternion->z = -quaternion->z;
|
||||
}
|
||||
|
||||
const double multiplicator = sqrt(1.0 / bgc_fp64_quaternion_get_square_magnitude(quaternion));
|
||||
|
||||
quaternion->s *= multiplicator;
|
||||
quaternion->x *= multiplicator;
|
||||
quaternion->y *= multiplicator;
|
||||
quaternion->z *= multiplicator;
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
// ============= Get Reverse Matrix ============= //
|
||||
|
||||
int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* const reverse, 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(reverse);
|
||||
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;
|
||||
|
||||
reverse->r1c1 = corrector1 * ((ss + xx) - (yy + zz));
|
||||
reverse->r2c2 = corrector1 * ((ss + yy) - (xx + zz));
|
||||
reverse->r3c3 = corrector1 * ((ss + zz) - (xx + yy));
|
||||
|
||||
reverse->r1c2 = corrector2 * (xy + sz);
|
||||
reverse->r2c3 = corrector2 * (yz + sx);
|
||||
reverse->r3c1 = corrector2 * (xz + sy);
|
||||
|
||||
reverse->r2c1 = corrector2 * (xy - sz);
|
||||
reverse->r3c2 = corrector2 * (yz - sx);
|
||||
reverse->r1c3 = corrector2 * (xz - sy);
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* const reverse, 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(reverse);
|
||||
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;
|
||||
|
||||
reverse->r1c1 = corrector1 * ((ss + xx) - (yy + zz));
|
||||
reverse->r2c2 = corrector1 * ((ss + yy) - (xx + zz));
|
||||
reverse->r3c3 = corrector1 * ((ss + zz) - (xx + yy));
|
||||
|
||||
reverse->r1c2 = corrector2 * (xy + sz);
|
||||
reverse->r2c3 = corrector2 * (yz + sx);
|
||||
reverse->r3c1 = corrector2 * (xz + sy);
|
||||
|
||||
reverse->r2c1 = corrector2 * (xy - sz);
|
||||
reverse->r3c2 = corrector2 * (yz - sx);
|
||||
reverse->r1c3 = corrector2 * (xz - sy);
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -968,293 +968,20 @@ inline int bgc_fp64_quaternion_turn_vector_back(BGC_FP64_Vector3* const turned_v
|
|||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
// ========= Get Versor Rotation Matrix ========= //
|
||||
|
||||
inline void _bgc_fp32_versor_get_rotation_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Quaternion* const versor)
|
||||
{
|
||||
const float ss = versor->s * versor->s;
|
||||
const float xx = versor->x * versor->x;
|
||||
const float yy = versor->y * versor->y;
|
||||
const float zz = versor->z * versor->z;
|
||||
|
||||
const float sx = versor->s * versor->x;
|
||||
const float sy = versor->s * versor->y;
|
||||
const float sz = versor->s * versor->z;
|
||||
|
||||
const float xy = versor->x * versor->y;
|
||||
const float xz = versor->x * versor->z;
|
||||
|
||||
const float yz = versor->y * versor->z;
|
||||
|
||||
matrix->r1c1 = ((ss + xx) - (yy + zz));
|
||||
matrix->r2c2 = ((ss + yy) - (xx + zz));
|
||||
matrix->r3c3 = ((ss + zz) - (xx + yy));
|
||||
|
||||
matrix->r1c2 = 2.0f * (xy - sz);
|
||||
matrix->r2c3 = 2.0f * (yz - sx);
|
||||
matrix->r3c1 = 2.0f * (xz - sy);
|
||||
|
||||
matrix->r2c1 = 2.0f * (xy + sz);
|
||||
matrix->r3c2 = 2.0f * (yz + sx);
|
||||
matrix->r1c3 = 2.0f * (xz + sy);
|
||||
}
|
||||
|
||||
inline void _bgc_fp64_versor_get_rotation_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Quaternion* const versor)
|
||||
{
|
||||
const double ss = versor->s * versor->s;
|
||||
const double xx = versor->x * versor->x;
|
||||
const double yy = versor->y * versor->y;
|
||||
const double zz = versor->z * versor->z;
|
||||
|
||||
const double sx = versor->s * versor->x;
|
||||
const double sy = versor->s * versor->y;
|
||||
const double sz = versor->s * versor->z;
|
||||
|
||||
const double xy = versor->x * versor->y;
|
||||
const double xz = versor->x * versor->z;
|
||||
|
||||
const double yz = versor->y * versor->z;
|
||||
|
||||
matrix->r1c1 = ((ss + xx) - (yy + zz));
|
||||
matrix->r2c2 = ((ss + yy) - (xx + zz));
|
||||
matrix->r3c3 = ((ss + zz) - (xx + yy));
|
||||
|
||||
matrix->r1c2 = 2.0 * (xy - sz);
|
||||
matrix->r2c3 = 2.0 * (yz - sx);
|
||||
matrix->r3c1 = 2.0 * (xz - sy);
|
||||
|
||||
matrix->r2c1 = 2.0 * (xy + sz);
|
||||
matrix->r3c2 = 2.0 * (yz + sx);
|
||||
matrix->r1c3 = 2.0 * (xz + sy);
|
||||
}
|
||||
|
||||
// ========= Get Versor Reverse Matrix ========== //
|
||||
|
||||
inline void _bgc_fp32_versor_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Quaternion* const versor)
|
||||
{
|
||||
const float ss = versor->s * versor->s;
|
||||
const float xx = versor->x * versor->x;
|
||||
const float yy = versor->y * versor->y;
|
||||
const float zz = versor->z * versor->z;
|
||||
|
||||
const float sx = versor->s * versor->x;
|
||||
const float sy = versor->s * versor->y;
|
||||
const float sz = versor->s * versor->z;
|
||||
|
||||
const float xy = versor->x * versor->y;
|
||||
const float xz = versor->x * versor->z;
|
||||
|
||||
const float yz = versor->y * versor->z;
|
||||
|
||||
matrix->r1c1 = ((ss + xx) - (yy + zz));
|
||||
matrix->r2c2 = ((ss + yy) - (xx + zz));
|
||||
matrix->r3c3 = ((ss + zz) - (xx + yy));
|
||||
|
||||
matrix->r1c2 = 2.0f * (xy + sz);
|
||||
matrix->r2c3 = 2.0f * (yz + sx);
|
||||
matrix->r3c1 = 2.0f * (xz + sy);
|
||||
|
||||
matrix->r2c1 = 2.0f * (xy - sz);
|
||||
matrix->r3c2 = 2.0f * (yz - sx);
|
||||
matrix->r1c3 = 2.0f * (xz - sy);
|
||||
}
|
||||
|
||||
inline void _bgc_fp64_versor_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Quaternion* const versor)
|
||||
{
|
||||
const double ss = versor->s * versor->s;
|
||||
const double xx = versor->x * versor->x;
|
||||
const double yy = versor->y * versor->y;
|
||||
const double zz = versor->z * versor->z;
|
||||
|
||||
const double sx = versor->s * versor->x;
|
||||
const double sy = versor->s * versor->y;
|
||||
const double sz = versor->s * versor->z;
|
||||
|
||||
const double xy = versor->x * versor->y;
|
||||
const double xz = versor->x * versor->z;
|
||||
|
||||
const double yz = versor->y * versor->z;
|
||||
|
||||
matrix->r1c1 = ((ss + xx) - (yy + zz));
|
||||
matrix->r2c2 = ((ss + yy) - (xx + zz));
|
||||
matrix->r3c3 = ((ss + zz) - (xx + yy));
|
||||
|
||||
matrix->r1c2 = 2.0 * (xy + sz);
|
||||
matrix->r2c3 = 2.0 * (yz + sx);
|
||||
matrix->r3c1 = 2.0 * (xz + sy);
|
||||
|
||||
matrix->r2c1 = 2.0 * (xy - sz);
|
||||
matrix->r3c2 = 2.0 * (yz - sx);
|
||||
matrix->r1c3 = 2.0 * (xz - sy);
|
||||
}
|
||||
|
||||
// ============ Get Rotation Matrix ============= //
|
||||
|
||||
inline 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;
|
||||
int bgc_fp32_quaternion_get_rotation_matrix(BGC_FP32_Matrix3x3* const rotation, const BGC_FP32_Quaternion* const quaternion);
|
||||
int bgc_fp64_quaternion_get_rotation_matrix(BGC_FP64_Matrix3x3* const rotation, const BGC_FP64_Quaternion* const quaternion);
|
||||
|
||||
const float square_modulus = (ss + xx) + (yy + zz);
|
||||
// ============ Set Rotation Matrix ============= //
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
inline 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 = 1.0f / 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 = 2.0f * 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_fp32_quaternion_set_rotation_matrix(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Matrix3x3* const matrix);
|
||||
int bgc_fp64_quaternion_set_rotation_matrix(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Matrix3x3* const matrix);
|
||||
|
||||
// ============= Get Reverse Matrix ============= //
|
||||
|
||||
inline int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* const reverse, 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(reverse);
|
||||
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;
|
||||
|
||||
reverse->r1c1 = corrector1 * ((ss + xx) - (yy + zz));
|
||||
reverse->r2c2 = corrector1 * ((ss + yy) - (xx + zz));
|
||||
reverse->r3c3 = corrector1 * ((ss + zz) - (xx + yy));
|
||||
|
||||
reverse->r1c2 = corrector2 * (xy + sz);
|
||||
reverse->r2c3 = corrector2 * (yz + sx);
|
||||
reverse->r3c1 = corrector2 * (xz + sy);
|
||||
|
||||
reverse->r2c1 = corrector2 * (xy - sz);
|
||||
reverse->r3c2 = corrector2 * (yz - sx);
|
||||
reverse->r1c3 = corrector2 * (xz - sy);
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
|
||||
inline int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* const reverse, 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(reverse);
|
||||
return BGC_FAILURE;
|
||||
}
|
||||
|
||||
const double corrector1 = 1.0f / 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 = 2.0f * corrector1;
|
||||
|
||||
reverse->r1c1 = corrector1 * ((ss + xx) - (yy + zz));
|
||||
reverse->r2c2 = corrector1 * ((ss + yy) - (xx + zz));
|
||||
reverse->r3c3 = corrector1 * ((ss + zz) - (xx + yy));
|
||||
|
||||
reverse->r1c2 = corrector2 * (xy + sz);
|
||||
reverse->r2c3 = corrector2 * (yz + sx);
|
||||
reverse->r3c1 = corrector2 * (xz + sy);
|
||||
|
||||
reverse->r2c1 = corrector2 * (xy - sz);
|
||||
reverse->r3c2 = corrector2 * (yz - sx);
|
||||
reverse->r1c3 = corrector2 * (xz - sy);
|
||||
|
||||
return BGC_SUCCESS;
|
||||
}
|
||||
int bgc_fp32_quaternion_get_reverse_matrix(BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Quaternion* const quaternion);
|
||||
int bgc_fp64_quaternion_get_reverse_matrix(BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Quaternion* const quaternion);
|
||||
|
||||
// ============= Get Both Matrixes ============== //
|
||||
|
||||
|
|
|
|||
|
|
@ -324,24 +324,24 @@ inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference,
|
|||
|
||||
inline void bgc_fp32_rigid_pose3_get_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose)
|
||||
{
|
||||
_bgc_fp32_versor_get_rotation_matrix(matrix, &pose->_versor.real_part);
|
||||
bgc_fp32_quaternion_get_rotation_matrix(matrix, &pose->_versor.real_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_rigid_pose3_get_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose)
|
||||
{
|
||||
_bgc_fp64_versor_get_rotation_matrix(matrix, &pose->_versor.real_part);
|
||||
bgc_fp64_quaternion_get_rotation_matrix(matrix, &pose->_versor.real_part);
|
||||
}
|
||||
|
||||
// ============= Get Reverse Matrix ============= //
|
||||
|
||||
inline void bgc_fp32_rigid_pose3_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose)
|
||||
{
|
||||
_bgc_fp32_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
|
||||
bgc_fp32_quaternion_get_reverse_matrix(matrix, &pose->_versor.real_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_rigid_pose3_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose)
|
||||
{
|
||||
_bgc_fp64_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
|
||||
bgc_fp64_quaternion_get_reverse_matrix(matrix, &pose->_versor.real_part);
|
||||
}
|
||||
|
||||
// ================= Get Shift ================== //
|
||||
|
|
@ -392,13 +392,13 @@ inline void bgc_fp64_rigid_pose3_get_reverse_shift(BGC_FP64_Vector3* const shift
|
|||
|
||||
inline void bgc_fp32_rigid_pose3_get_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose)
|
||||
{
|
||||
_bgc_fp32_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
|
||||
bgc_fp32_quaternion_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
|
||||
bgc_fp32_rigid_pose3_get_shift(&affine_map->shift, pose);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_rigid_pose3_get_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose)
|
||||
{
|
||||
_bgc_fp64_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
|
||||
bgc_fp64_quaternion_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
|
||||
bgc_fp64_rigid_pose3_get_shift(&affine_map->shift, pose);
|
||||
}
|
||||
|
||||
|
|
@ -406,13 +406,13 @@ inline void bgc_fp64_rigid_pose3_get_affine(BGC_FP64_Affine3* const affine_map,
|
|||
|
||||
inline void bgc_fp32_rigid_pose3_get_reverse_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose)
|
||||
{
|
||||
_bgc_fp32_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
|
||||
bgc_fp32_quaternion_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
|
||||
bgc_fp32_rigid_pose3_get_reverse_shift(&affine_map->shift, pose);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_rigid_pose3_get_reverse_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose)
|
||||
{
|
||||
_bgc_fp64_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
|
||||
bgc_fp64_quaternion_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
|
||||
bgc_fp64_rigid_pose3_get_reverse_shift(&affine_map->shift, pose);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue