Kimelas/bgc-c
2
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

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

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

4
basic-geometry/basic-geometry.vcxproj
View file

@ -137,6 +137,7 @@
<PreprocessorDefinitions>WIN32;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader>
<LanguageStandard_C>stdc11</LanguageStandard_C>
</ClCompile>
<Link>
<SubSystem>
@ -153,6 +154,7 @@
<PreprocessorDefinitions>WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader>
<LanguageStandard_C>stdc11</LanguageStandard_C>
</ClCompile>
<Link>
<SubSystem>
@ -169,6 +171,7 @@
<PreprocessorDefinitions>_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader>
<LanguageStandard_C>stdc11</LanguageStandard_C>
</ClCompile>
<Link>
<SubSystem>
@ -185,6 +188,7 @@
<PreprocessorDefinitions>NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader>
<LanguageStandard_C>stdc11</LanguageStandard_C>
</ClCompile>
<Link>
<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_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_fp64_quaternion_divide_by_real(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double 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_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_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 ============== //
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)) {
return BGC_FAILURE;
@ -407,7 +407,7 @@ inline int bgc_fp32_quaternion_divide_by_real(BGC_FP32_Quaternion* quotient, con
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)) {
return BGC_FAILURE;

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

@ -27,6 +27,18 @@ extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP6
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_shorten(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* shortened, const BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* shortened, const BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_alternate(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* alternative, const BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* alternative, const BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* pose);
@ -45,7 +57,14 @@ extern inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* m
extern inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* matrix, const BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_outward_affine3(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_get_outward_affine3(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_inward_affine3(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose);

154
basic-geometry/rigid-pose3.h
View file

@ -95,13 +95,13 @@ inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* qu
inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* pose, const BGC_FP32_DualQuaternion* quaternion)
{
bgc_fp32_dual_quaternion_copy(&pose->_versor, quaternion);
_bgc_fp32_rigid_pose3_normalize(destination);
_bgc_fp32_rigid_pose3_normalize(pose);
}
inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose, const BGC_FP64_DualQuaternion* quaternion)
{
bgc_fp64_dual_quaternion_copy(&pose->_versor, quaternion);
_bgc_fp64_rigid_pose3_normalize(destination);
_bgc_fp64_rigid_pose3_normalize(pose);
}
// =============== Get Real Part ================ //
@ -166,6 +166,78 @@ inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destinatio
_bgc_fp32_rigid_pose3_normalize(destination);
}
// ================== Shorten =================== //
inline void bgc_fp32_rigid_pose3_shorten(BGC_FP32_RigidPose3* pose)
{
if (pose->_versor.real_part.s0 < 0.0f) {
bgc_fp32_quaternion_revert(&pose->_versor.real_part);
bgc_fp32_quaternion_revert(&pose->_versor.dual_part);
}
}
inline void bgc_fp64_rigid_pose3_shorten(BGC_FP64_RigidPose3* pose)
{
if (pose->_versor.real_part.s0 < 0.0) {
bgc_fp64_quaternion_revert(&pose->_versor.real_part);
bgc_fp64_quaternion_revert(&pose->_versor.dual_part);
}
}
// =============== Get Shortened ================ //
inline void bgc_fp32_rigid_pose3_get_shortened(BGC_FP32_RigidPose3* shortened, const BGC_FP32_RigidPose3* pose)
{
if (pose->_versor.real_part.s0 < 0.0f) {
bgc_fp32_quaternion_get_reverse(&shortened->_versor.real_part, &pose->_versor.real_part);
bgc_fp32_quaternion_get_reverse(&shortened->_versor.dual_part, &pose->_versor.dual_part);
}
else {
bgc_fp32_quaternion_copy(&shortened->_versor.real_part, &pose->_versor.real_part);
bgc_fp32_quaternion_copy(&shortened->_versor.dual_part, &pose->_versor.dual_part);
}
}
inline void bgc_fp64_rigid_pose3_get_shortened(BGC_FP64_RigidPose3* shortened, const BGC_FP64_RigidPose3* pose)
{
if (pose->_versor.real_part.s0 < 0.0) {
bgc_fp64_quaternion_get_reverse(&shortened->_versor.real_part, &pose->_versor.real_part);
bgc_fp64_quaternion_get_reverse(&shortened->_versor.dual_part, &pose->_versor.dual_part);
}
else {
bgc_fp64_quaternion_copy(&shortened->_versor.real_part, &pose->_versor.real_part);
bgc_fp64_quaternion_copy(&shortened->_versor.dual_part, &pose->_versor.dual_part);
}
}
// ================= Alternate ================== //
inline void bgc_fp32_rigid_pose3_alternate(BGC_FP32_RigidPose3* pose)
{
bgc_fp32_quaternion_revert(&pose->_versor.real_part);
bgc_fp32_quaternion_revert(&pose->_versor.dual_part);
}
inline void bgc_fp64_rigid_pose3_alternate(BGC_FP64_RigidPose3* pose)
{
bgc_fp64_quaternion_revert(&pose->_versor.real_part);
bgc_fp64_quaternion_revert(&pose->_versor.dual_part);
}
// ============== Get Alternative =============== //
inline void bgc_fp32_rigid_pose3_get_alternative(BGC_FP32_RigidPose3* alternative, const BGC_FP32_RigidPose3* pose)
{
bgc_fp32_quaternion_get_reverse(&alternative->_versor.real_part, &pose->_versor.real_part);
bgc_fp32_quaternion_get_reverse(&alternative->_versor.dual_part, &pose->_versor.dual_part);
}
inline void bgc_fp64_rigid_pose3_get_alternative(BGC_FP64_RigidPose3* alternative, const BGC_FP64_RigidPose3* pose)
{
bgc_fp64_quaternion_get_reverse(&alternative->_versor.real_part, &pose->_versor.real_part);
bgc_fp64_quaternion_get_reverse(&alternative->_versor.dual_part, &pose->_versor.dual_part);
}
// =================== Revert =================== //
inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* pose)
@ -260,42 +332,76 @@ inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* matrix, c
_bgc_fp64_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
}
// ============ Get Outward Affine3 ============= //
// ============== Get Outer Shift =============== //
inline void bgc_fp32_rigid_pose3_get_outward_affine3(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose)
inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* pose)
{
_bgc_fp32_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
const BGC_FP32_Quaternion* const real = &pose->_versor.real_part;
const BGC_FP32_Quaternion* const dual = &pose->_versor.dual_part;
const BGC_FP32_Quaternion * real = &pose->_versor.real_part;
const BGC_FP32_Quaternion * dual = &pose->_versor.dual_part;
affine_map->shift.x1 = (dual->x1 * real->s0 + dual->x3 * real->x2) - (dual->s0 * real->x1 + dual->x2 * real->x3);
affine_map->shift.x2 = (dual->x2 * real->s0 + dual->x1 * real->x3) - (dual->s0 * real->x2 + dual->x3 * real->x1);
affine_map->shift.x3 = (dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2);
shift->x1 = 2.0f * ((dual->x1 * real->s0 + dual->x3 * real->x2) - (dual->s0 * real->x1 + dual->x2 * real->x3));
shift->x2 = 2.0f * ((dual->x2 * real->s0 + dual->x1 * real->x3) - (dual->s0 * real->x2 + dual->x3 * real->x1));
shift->x3 = 2.0f * ((dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2));
}
inline void bgc_fp64_rigid_pose3_get_outward_affine3(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose)
inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* pose)
{
const BGC_FP64_Quaternion* const real = &pose->_versor.real_part;
const BGC_FP64_Quaternion* const dual = &pose->_versor.dual_part;
shift->x1 = 2.0 * ((dual->x1 * real->s0 + dual->x3 * real->x2) - (dual->s0 * real->x1 + dual->x2 * real->x3));
shift->x2 = 2.0 * ((dual->x2 * real->s0 + dual->x1 * real->x3) - (dual->s0 * real->x2 + dual->x3 * real->x1));
shift->x3 = 2.0 * ((dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2));
}
// ============== Get Inner Shift ============== //
inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* shift, const BGC_FP32_RigidPose3* pose)
{
const BGC_FP32_Quaternion* const real = &pose->_versor.real_part;
const BGC_FP32_Quaternion* const dual = &pose->_versor.dual_part;
shift->x1 = 2.0f * ((dual->s0 * real->x1 - dual->x1 * real->s0) + (dual->x3 * real->x2 - dual->x2 * real->x3));
shift->x2 = 2.0f * ((dual->s0 * real->x2 - dual->x2 * real->s0) + (dual->x1 * real->x3 - dual->x3 * real->x1));
shift->x3 = 2.0f * ((dual->s0 * real->x3 - dual->x3 * real->s0) + (dual->x2 * real->x1 - dual->x1 * real->x2));
}
inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* shift, const BGC_FP64_RigidPose3* pose)
{
const BGC_FP64_Quaternion* const real = &pose->_versor.real_part;
const BGC_FP64_Quaternion* const dual = &pose->_versor.dual_part;
shift->x1 = 2.0 * ((dual->s0 * real->x1 - dual->x1 * real->s0) + (dual->x3 * real->x2 - dual->x2 * real->x3));
shift->x2 = 2.0 * ((dual->s0 * real->x2 - dual->x2 * real->s0) + (dual->x1 * real->x3 - dual->x3 * real->x1));
shift->x3 = 2.0 * ((dual->s0 * real->x3 - dual->x3 * real->s0) + (dual->x2 * real->x1 - dual->x1 * real->x2));
}
// ============ Get Outward Affine3 ============= //
inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose)
{
_bgc_fp32_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
bgc_fp32_rigid_pose3_get_outer_shift(&affine_map->shift, pose);
}
inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose)
{
_bgc_fp64_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
const BGC_FP64_Quaternion * real = &pose->_versor.real_part;
const BGC_FP64_Quaternion * dual = &pose->_versor.dual_part;
affine_map->shift.x1 = (dual->x1 * real->s0 + dual->x3 * real->x2) - (dual->s0 * real->x1 + dual->x2 * real->x3);
affine_map->shift.x2 = (dual->x2 * real->s0 + dual->x1 * real->x3) - (dual->s0 * real->x2 + dual->x3 * real->x1);
affine_map->shift.x3 = (dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2);
bgc_fp64_rigid_pose3_get_outer_shift(&affine_map->shift, pose);
}
// ============= Get Inward Affine3 ============= //
inline void bgc_fp32_rigid_pose3_get_inward_affine3(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose)
inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* affine_map, const BGC_FP32_RigidPose3* pose)
{
_bgc_fp32_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
bgc_fp32_rigid_pose3_get_inner_shift(&affine_map->shift, pose);
}
const BGC_FP32_Quaternion * real = &pose->_versor.real_part;
const BGC_FP32_Quaternion * dual = &pose->_versor.dual_part;
//TODO: set the shift in the affine map
inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* affine_map, const BGC_FP64_RigidPose3* pose)
{
_bgc_fp64_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
bgc_fp64_rigid_pose3_get_inner_shift(&affine_map->shift, pose);
}
#endif

6
basic-geometry/vector3.c
View file

@ -77,9 +77,9 @@ extern inline double bgc_fp64_vector3_get_dot_product(const BGC_FP64_Vector3* ve
extern inline float bgc_fp32_vector3_get_triple_product(const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2, const BGC_FP32_Vector3* vector3);
extern inline double bgc_fp64_vector3_get_triple_product(const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2, const BGC_FP64_Vector3* vector3);
extern inline void _bgc_fp32_restrict_vector3_get_cross_product(BGC_FP32_Vector3* restrict product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline void _bgc_fp64_restrict_vector3_get_cross_product(BGC_FP64_Vector3* restrict product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);
extern inline void _bgc_fp32_restrict_vector3_get_cross_product(BGC_FP32_Vector3* restrict product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline void _bgc_fp64_restrict_vector3_get_cross_product(BGC_FP64_Vector3* restrict product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);
extern inline void bgc_fp32_vector3_get_cross_product(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector1, const BGC_FP32_Vector3* vector2);
extern inline void bgc_fp64_vector3_get_cross_product(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector1, const BGC_FP64_Vector3* vector2);