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Переименование Posture в Rigit Pose, изменение внутренней организации Rigid Pose

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This commit is contained in:
Andrey Pokidov 2026-03-12 20:50:21 +07:00
parent ce991f0488
commit 614daf8ebd
6 changed files with 174 additions and 159 deletions
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4
basic-geometry/basic-geometry.cbp
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@ -100,6 +100,10 @@
<Option compilerVar="CC" />
</Unit>
<Unit filename="quaternion.h" />
<Unit filename="rigid-pose3.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="rigid-pose3.h" />
<Unit filename="slerp3.c">
<Option compilerVar="CC" />
</Unit>

40
basic-geometry/posture3.c
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@ -1,40 +0,0 @@
#include "posture3.h"
extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture);
extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture);
extern inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source);
extern inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source);
extern inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2);
extern inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2);
extern inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source);
extern inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source);
extern inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second);
extern inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second);
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude)
{
if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
bgc_fp32_posture3_reset(posture);
return;
}
const float multiplier = sqrtf(1.0f / square_magnitude);
bgc_fp32_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
}
void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude)
{
if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
bgc_fp64_posture3_reset(posture);
return;
}
const double multiplier = sqrt(1.0 / square_magnitude);
bgc_fp64_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
}

114
basic-geometry/posture3.h
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Forgejo version: 11.0.1+gitea-1.22.0

 @ -1,114 +0,0 @@
#ifndef _BGC_POSTURE3_H_INCLUDED_
#define _BGC_POSTURE3_H_INCLUDED_
#include "types.h"
#include "quaternion.h"
#include "dual-quaternion.h"
// ================= Normalize ================== //
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude);
void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude);
// ==================== Reset =================== //
inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
{
posture->_versor.real_part.s0 = 1.0f;
posture->_versor.real_part.x1 = 0.0f;
posture->_versor.real_part.x2 = 0.0f;
posture->_versor.real_part.x3 = 0.0f;
posture->_versor.dual_part.s0 = 0.0f;
posture->_versor.dual_part.x1 = 0.0f;
posture->_versor.dual_part.x2 = 0.0f;
posture->_versor.dual_part.x3 = 0.0f;
}