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Переименование Posture в Rigit Pose, изменение внутренней организации Rigid Pose

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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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42
basic-geometry/rigid-pose3.c Normal file
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#include "rigid-pose3.h"
extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source);
extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2);
extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2);
extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source);
extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second);
extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second);
void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose, const float square_magnitude)
{
if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
bgc_fp32_rigid_pose3_reset(pose);
return;
}
const float multiplier = sqrtf(1.0f / square_magnitude);
bgc_fp32_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
bgc_fp32_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
}
void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose, const double square_magnitude)
{
if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
bgc_fp64_rigid_pose3_reset(pose);
return;
}
const double multiplier = sqrt(1.0 / square_magnitude);
bgc_fp64_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
bgc_fp64_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
}