Kimelas/bgc-c
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Операции оптимизации (shorten), получения альтернативного (alternate), получение матриц поворота, сдвигов и аффинных преобразовний из позиции твёрдого тела (rigid pose), представленной дуальным кватернионом

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This commit is contained in:
Andrey Pokidov 2026-03-21 22:03:43 +07:00
parent 4ead7ca106
commit 84be068503
6 changed files with 163 additions and 34 deletions
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4
basic-geometry/basic-geometry.vcxproj
View file

@ -137,6 +137,7 @@
<PreprocessorDefinitions>WIN32;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions> <PreprocessorDefinitions>WIN32;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ConformanceMode>true</ConformanceMode> <ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader> <PrecompiledHeader>NotUsing</PrecompiledHeader>
<LanguageStandard_C>stdc11</LanguageStandard_C>
</ClCompile> </ClCompile>
<Link> <Link>
<SubSystem> <SubSystem>
@ -153,6 +154,7 @@
<PreprocessorDefinitions>WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions> <PreprocessorDefinitions>WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ConformanceMode>true</ConformanceMode> <ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader> <PrecompiledHeader>NotUsing</PrecompiledHeader>
<LanguageStandard_C>stdc11</LanguageStandard_C>
</ClCompile> </ClCompile>
<Link> <Link>
<SubSystem> <SubSystem>
@ -169,6 +171,7 @@
<PreprocessorDefinitions>_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions> <PreprocessorDefinitions>_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ConformanceMode>true</ConformanceMode> <ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader> <PrecompiledHeader>NotUsing</PrecompiledHeader>
<LanguageStandard_C>stdc11</LanguageStandard_C>
</ClCompile> </ClCompile>
<Link> <Link>
<SubSystem> <SubSystem>
@ -185,6 +188,7 @@
<PreprocessorDefinitions>NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions> <PreprocessorDefinitions>NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ConformanceMode>true</ConformanceMode> <ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader> <PrecompiledHeader>NotUsing</PrecompiledHeader>
<LanguageStandard_C>stdc11</LanguageStandard_C>
</ClCompile> </ClCompile>
<Link> <Link>
<SubSystem> <SubSystem>

4
basic-geometry/quaternion.c
View file

@ -64,8 +64,8 @@ extern inline void _bgc_fp64_restrict_quaternion_multiply_by_quaternion(BGC_FP64
extern inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* restrict product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right); extern inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* restrict product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* restrict product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right); extern inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* restrict product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline int bgc_fp32_quaternion_divide_by_real(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor); extern inline int bgc_fp32_quaternion_divide_by_real_number(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor);
extern inline int bgc_fp64_quaternion_divide_by_real(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor); extern inline int bgc_fp64_quaternion_divide_by_real_number(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor);
extern inline int bgc_fp32_quaternion_divide_by_quaternion(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor); extern inline int bgc_fp32_quaternion_divide_by_quaternion(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* divident, const BGC_FP32_Quaternion* divisor);
extern inline int bgc_fp64_quaternion_divide_by_quaternion(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor); extern inline int bgc_fp64_quaternion_divide_by_quaternion(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* divident, const BGC_FP64_Quaternion* divisor);

4
basic-geometry/quaternion.h
View file

@ -396,7 +396,7 @@ inline void bgc_fp64_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuatern
// ============== Divide By Number ============== // // ============== Divide By Number ============== //
inline int bgc_fp32_quaternion_divide_by_real(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor) inline int bgc_fp32_quaternion_divide_by_real_number(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor)
{ {
if (bgc_fp32_is_zero(divisor) || isnan(divisor)) { if (bgc_fp32_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE; return BGC_FAILURE;
@ -407,7 +407,7 @@ inline int bgc_fp32_quaternion_divide_by_real(BGC_FP32_Quaternion* quotient, con
return BGC_SUCCESS; return BGC_SUCCESS;
} }
inline int bgc_fp64_quaternion_divide_by_real(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor) inline int bgc_fp64_quaternion_divide_by_real_number(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor)
{ {
if (bgc_fp64_is_zero(divisor) || isnan(divisor)) { if (bgc_fp64_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE; return BGC_FAILURE;

25
basic-geometry/rigid-pose3.c
View file

Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -27,6 +27,18 @@ extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP6