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

Упорядочивание проекта

Browse source
This commit is contained in:
Andrey Pokidov 2025-11-26 22:43:29 +07:00
parent 0dcd9c0d4d
commit 89dfd7644b
32 changed files with 1730 additions and 1719 deletions
Download patch file Download diff file Expand all files Collapse all files

558
basic-geometry/versor.h
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

 @ -26,23 +26,13 @@
// =================== Types ==================== //
typedef struct {
const float s0, x1, x2, x3;
float _s0, _x1, _x2, _x3;
} BgcVersorFP32;
typedef struct {
const double s0, x1, x2, x3;
double _s0, _x1, _x2, _x3;
} BgcVersorFP64;
// ================= Dark Twins ================= //
typedef struct {
float s0, x1, x2, x3;
} _BgcDarkTwinVersorFP32;
typedef struct {
double s0, x1, x2, x3;
} _BgcDarkTwinVersorFP64;
// ================= Constants ================== //
extern const BgcVersorFP32 BGC_IDLE_VERSOR_FP32;
@ -52,59 +42,51 @@ extern const BgcVersorFP64 BGC_IDLE_VERSOR_FP64;
inline void bgc_versor_reset_fp32(BgcVersorFP32* versor)
{
_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)versor;
twin->s0 = 1.0f;
twin->x1 = 0.0f;
twin->x2 = 0.0f;
twin->x3 = 0.0f;
versor->_s0 = 1.0f;
versor->_x1 = 0.0f;
versor->_x2 = 0.0f;
versor->_x3 = 0.0f;
}
inline void bgc_versor_reset_fp64(BgcVersorFP64* versor)
{
_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)versor;
twin->s0 = 1.0;
twin->x1 = 0.0;
twin->x2 = 0.0;
twin->x3 = 0.0;
versor->_s0 = 1.0;
versor->_x1 = 0.0;
versor->_x2 = 0.0;
versor->_x3 = 0.0;
}
// ==================== Set ===================== //
void _bgc_versor_normalize_fp32(const float square_modulus, _BgcDarkTwinVersorFP32* twin);
void _bgc_versor_normalize_fp32(const float square_modulus, BgcVersorFP32* twin);
void _bgc_versor_normalize_fp64(const double square_modulus, _BgcDarkTwinVersorFP64* twin);
void _bgc_versor_normalize_fp64(const double square_modulus, BgcVersorFP64* twin);
inline void bgc_versor_set_values_fp32(const float s0, const float x1, const float x2, const float x3, BgcVersorFP32* versor)
{
_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)versor;
twin->s0 = s0;
twin->x1 = x1;
twin->x2 = x2;
twin->x3 = x3;
versor->_s0 = s0;
versor->_x1 = x1;
versor->_x2 = x2;
versor->_x3 = x3;
const float square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
if (!bgc_is_sqare_unit_fp32(square_modulus)) {
_bgc_versor_normalize_fp32(square_modulus, twin);
_bgc_versor_normalize_fp32(square_modulus, versor);
}
}
inline void bgc_versor_set_values_fp64(const double s0, const double x1, const double x2, const double x3, BgcVersorFP64* versor)
{
_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)versor;
twin->s0 = s0;
twin->x1 = x1;
twin->x2 = x2;
twin->x3 = x3;
versor->_s0 = s0;
versor->_x1 = x1;
versor->_x2 = x2;
versor->_x3 = x3;
const double square_modulus = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
if (!bgc_is_sqare_unit_fp64(square_modulus)) {
_bgc_versor_normalize_fp64(square_modulus, twin);
_bgc_versor_normalize_fp64(square_modulus, versor);
}
}
@ -154,80 +136,68 @@ int bgc_versor_make_basis_difference_fp64(
inline void bgc_versor_copy_fp32(const BgcVersorFP32* source, BgcVersorFP32* destination)
{
_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)destination;
twin->s0 = source->s0;
twin->x1 = source->x1;
twin->x2 = source->x2;
twin->x3 = source->x3;
destination->_s0 = source->_s0;
destination->_x1 = source->_x1;
destination->_x2 = source->_x2;
destination->_x3 = source->_x3;
}
inline void bgc_versor_copy_fp64(const BgcVersorFP64* source, BgcVersorFP64* destination)
{
_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)destination;
twin->s0 = source->s0;
twin->x1 = source->x1;
twin->x2 = source->x2;
twin->x3 = source->x3;
destination->_s0 = source->_s0;
destination->_x1 = source->_x1;
destination->_x2 = source->_x2;
destination->_x3 = source->_x3;
}
// ==================== Swap ==================== //
inline void bgc_versor_swap_fp32(BgcVersorFP32* versor1, BgcVersorFP32* versor2)
{
const float s0 = versor1->s0;
const float x1 = versor1->x1;
const float x2 = versor1->x2;
const float x3 = versor1->x3;
const float s0 = versor1->_s0;
const float x1 = versor1->_x1;
const float x2 = versor1->_x2;
const float x3 = versor1->_x3;
_BgcDarkTwinVersorFP32* twin1 = (_BgcDarkTwinVersorFP32*)versor1;
versor1->_s0 = versor2->_s0;
versor1->_x1 = versor2->_x1;
versor1->_x2 = versor2->_x2;
versor1->_x3 = versor2->_x3;
twin1->s0 = versor2->s0;
twin1->x1 = versor2->x1;
twin1->x2 = versor2->x2;
twin1->x3 = versor2->x3;
_BgcDarkTwinVersorFP32* twin2 = (_BgcDarkTwinVersorFP32*)versor2;
twin2->s0 = s0;
twin2->x1 = x1;
twin2->x2 = x2;
twin2->x3 = x3;
versor2->_s0 = s0;
versor2->_x1 = x1;
versor2->_x2 = x2;
versor2->_x3 = x3;
}
inline void bgc_versor_swap_fp64(BgcVersorFP64* versor1, BgcVersorFP64* versor2)
{
const double s0 = versor1->s0;
const double x1 = versor1->x1;
const double x2 = versor1->x2;
const double x3 = versor1->x3;
const double s0 = versor1->_s0;
const double x1 = versor1->_x1;
const double x2 = versor1->_x2;
const double x3 = versor1->_x3;
_BgcDarkTwinVersorFP64* twin1 = (_BgcDarkTwinVersorFP64*)versor1;
versor1->_s0 = versor2->_s0;
versor1->_x1 = versor2->_x1;
versor1->_x2 = versor2->_x2;
versor1->_x3 = versor2->_x3;
twin1->s0 = versor2->s0;
twin1->x1 = versor2->x1;
twin1->x2 = versor2->x2;
twin1->x3 = versor2->x3;
_BgcDarkTwinVersorFP64* twin2 = (_BgcDarkTwinVersorFP64*)versor2;
twin2->s0 = s0;
twin2->x1 = x1;
twin2->x2 = x2;
twin2->x3 = x3;
versor2->_s0 = s0;
versor2->_x1 = x1;
versor2->_x2 = x2;
versor2->_x3 = x3;
}
// ================= Comparison ================= //
inline int bgc_versor_is_identity_fp32(const BgcVersorFP32* versor)
{
return versor->x1 * versor->x1 + versor->x2 * versor->x2 + versor->x3 * versor->x3 <= BGC_SQUARE_EPSYLON_FP32;
return versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3 <= BGC_SQUARE_EPSYLON_FP32;
}
inline int bgc_versor_is_identity_fp64(const BgcVersorFP64* versor)
{
return versor->x1 * versor->x1 + versor->x2 * versor->x2 + versor->x3 * versor->x3 <= BGC_SQUARE_EPSYLON_FP64;
return versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3 <= BGC_SQUARE_EPSYLON_FP64;
}
// ================== Convert =================== //
@ -235,10 +205,10 @@ inline int bgc_versor_is_identity_fp64(const BgcVersorFP64* versor)
inline void bgc_versor_convert_fp64_to_fp32(const BgcVersorFP64* source, BgcVersorFP32* destination)
{
bgc_versor_set_values_fp32(
(float)source->s0,
(float)source->x1,
(float)source->x2,
(float)source->x3,
(float)source->_s0,
(float)source->_x1,
(float)source->_x2,
(float)source->_x3,
destination
);
}
@ -246,70 +216,132 @@ inline void bgc_versor_convert_fp64_to_fp32(const BgcVersorFP64* source, BgcVers
inline void bgc_versor_convert_fp32_to_fp64(const BgcVersorFP32* source, BgcVersorFP64* destination)
{
bgc_versor_set_values_fp64(
source->s0,
source->x1,
source->x2,
source->x3,
source->_s0,
source->_x1,
source->_x2,
source->_x3,
destination
);
}
// ================== Shorten =================== //
inline void bgc_versor_shorten_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened)
inline void bgc_versor_shorten_fp32(BgcVersorFP32* versor)
{
_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)shortened;
if (versor->s0 >= 0.0f) {
twin->s0 = versor->s0;
twin->x1 = versor->x1;
twin->x2 = versor->x2;
twin->x3 = versor->x3;
return;
if (versor->_s0 < 0.0f) {
versor->_s0 = -versor->_s0;
versor->_x1 = -versor->_x1;
versor->_x2 = -versor->_x2;
versor->_x3 = -versor->_x3;
}
twin->s0 = -versor->s0;
twin->x1 = -versor->x1;
twin->x2 = -versor->x2;
twin->x3 = -versor->x3;
}
inline void bgc_versor_shorten_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened)
inline void bgc_versor_shorten_fp64(BgcVersorFP64* versor)
{
_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)shortened;
if (versor->_s0 < 0.0) {
versor->_s0 = -versor->_s0;
versor->_x1 = -versor->_x1;
versor->_x2 = -versor->_x2;
versor->_x3 = -versor->_x3;
}
}
if (versor->s0 >= 0.0) {
twin->s0 = versor->s0;
twin->x1 = versor->x1;
twin->x2 = versor->x2;
twin->x3 = versor->x3;
inline void bgc_versor_get_shortened_fp32(const BgcVersorFP32* versor, BgcVersorFP32* shortened)
{
if (versor->_s0 >= 0.0f) {
shortened->_s0 = versor->_s0;
shortened->_x1 = versor->_x1;
shortened->_x2 = versor->_x2;
shortened->_x3 = versor->_x3;
return;
}
twin->s0 = -versor->s0;
twin->x1 = -versor->x1;
twin->x2 = -versor->x2;
twin->x3 = -versor->x3;
shortened->_s0 = -versor->_s0;
shortened->_x1 = -versor->_x1;
shortened->_x2 = -versor->_x2;
shortened->_x3 = -versor->_x3;
}
inline void bgc_versor_get_shortened_fp64(const BgcVersorFP64* versor, BgcVersorFP64* shortened)
{
if (versor->_s0 >= 0.0) {
shortened->_s0 = versor->_s0;
shortened->_x1 = versor->_x1;
shortened->_x2 = versor->_x2;
shortened->_x3 = versor->_x3;
return;
}
shortened->_s0 = -versor->_s0;
shortened->_x1 = -versor->_x1;
shortened->_x2 = -versor->_x2;
shortened->_x3 = -versor->_x3;
}
// ================== Negative ================== //
inline void bgc_versor_make_opposite_fp32(BgcVersorFP32* versor)
{
versor->_s0 = -versor->_s0;
versor->_x1 = -versor->_x1;
versor->_x2 = -versor->_x2;
versor->_x3 = -versor->_x3;
}
inline void bgc_versor_make_opposite_fp64(BgcVersorFP64* versor)
{
versor->_s0 = -versor->_s0;
versor->_x1 = -versor->_x1;
versor->_x2 = -versor->_x2;
versor->_x3 = -versor->_x3;
}
inline void bgc_versor_get_opposite_fp32(const BgcVersorFP32* versor, BgcVersorFP32* opposite)
{
opposite->_s0 = -versor->_s0;
opposite->_x1 = -versor->_x1;
opposite->_x2 = -versor->_x2;
opposite->_x3 = -versor->_x3;
}
inline void bgc_versor_get_opposite_fp64(const BgcVersorFP64* versor, BgcVersorFP64* opposite)
{
opposite->_s0 = -versor->_s0;
opposite->_x1 = -versor->_x1;
opposite->_x2 = -versor->_x2;
opposite->_x3 = -versor->_x3;
}
// =================== Invert =================== //
inline void bgc_versor_invert_fp32(const BgcVersorFP32* versor, BgcVersorFP32* inverted)
inline void bgc_versor_invert_fp32(BgcVersorFP32* versor)
{
_BgcDarkTwinVersorFP32* twin = (_BgcDarkTwinVersorFP32*)inverted;
twin->s0 = versor->s0;
twin->x1 = -versor->x1;
twin->x2 = -versor->x2;
twin->x3 = -versor->x3;
versor->_x1 = -versor->_x1;
versor->_x2 = -versor->_x2;
versor->_x3 = -versor->_x3;
}
inline void bgc_versor_invert_fp64(const BgcVersorFP64* versor, BgcVersorFP64* inverted)
inline void bgc_versor_invert_fp64(BgcVersorFP64* versor)
{
_BgcDarkTwinVersorFP64* twin = (_BgcDarkTwinVersorFP64*)inverted;
twin->s0 = versor->s0;
twin->x1 = -versor->x1;
twin->x2 = -versor->x2;
twin->x3 = -versor->x3;
versor->_x1 = -versor->_x1;
versor->_x2 = -versor->_x2;
versor->_x3 = -versor->_x3;
}
inline void bgc_versor_get_inverse_fp32(const BgcVersorFP32* versor, BgcVersorFP32* inverse)
{
inverse->_s0 = versor->_s0;
inverse->_x1 = -versor->_x1;
inverse->_x2 = -versor->_x2;
inverse->_x3 = -versor->_x3;
}
inline void bgc_versor_get_inverse_fp64(const BgcVersorFP64* versor, BgcVersorFP64* inverse)
{
inverse->_s0 = versor->_s0;
inverse->_x1 = -versor->_x1;
inverse->_x2 = -versor->_x2;
inverse->_x3 = -versor->_x3;
}
// =============== Get Exponation =============== //
@ -323,10 +355,10 @@ void bgc_versor_get_exponation_fp64(const BgcVersorFP64* base, const double expo
inline void bgc_versor_combine_fp32(const BgcVersorFP32* second, const BgcVersorFP32* first, BgcVersorFP32* result)
{
bgc_versor_set_values_fp32(
(second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3),
(second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3),
(second->x2 * first->s0 + second->s0 * first->x2) - (second->x1 * first->x3 - second->x3 * first->x1),
(second->x3 * first->s0 + second->s0 * first->x3) - (second->x2 * first->x1 - second->x1 * first->x2),
(second->_s0 * first->_s0 - second->_x1 * first->_x1) - (second->_x2 * first->_x2 + second->_x3 * first->_x3),
(second->_x1 * first->_s0 + second->_s0 * first->_x1) - (second->_x3 * first->_x2 - second->_x2 * first->_x3),
(second->_x2 * first->_s0 + second->_s0 * first->_x2) - (second->_x1 * first->_x3 - second->_x3 * first->_x1),
(second->_x3 * first->_s0 + second->_s0 * first->_x3) - (second->_x2 * first->_x1 - second->_x1 * first->_x2),
result
);
}
@ -334,10 +366,10 @@ inline void bgc_versor_combine_fp32(const BgcVersorFP32* second, const BgcVersor
inline void bgc_versor_combine_fp64(const BgcVersorFP64* second, const BgcVersorFP64* first, BgcVersorFP64* result)
{
bgc_versor_set_values_fp64(
(second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3),
(second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3),
(second->x2 * first->s0 + second->s0 * first->x2) - (second->x1 * first->x3 - second->x3 * first->x1),
(second->x3 * first->s0 + second->s0 * first->x3) - (second->x2 * first->x1 - second->x1 * first->x2),
(second->_s0 * first->_s0 - second->_x1 * first->_x1) - (second->_x2 * first->_x2 + second->_x3 * first->_x3),
(second->_x1 * first->_s0 + second->_s0 * first->_x1) - (second->_x3 * first->_x2 - second->_x2 * first->_x3),
(second->_x2 * first->_s0 + second->_s0 * first->_x2) - (second->_x1 * first->_x3 - second->_x3 * first->_x1),
(second->_x3 * first->_s0 + second->_s0 * first->_x3) - (second->_x2 * first->_x1 - second->_x1 * first->_x2),
result
);
}
@ -346,32 +378,32 @@ inline void bgc_versor_combine_fp64(const BgcVersorFP64* second, const BgcVersor
inline void bgc_versor_combine3_fp32(const BgcVersorFP32* third, const BgcVersorFP32* second, const BgcVersorFP32* first, BgcVersorFP32* result)
{
const float s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
const float x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
const float x2 = (second->x2 * first->s0 + second->s0 * first->x2) - (second->x1 * first->x3 - second->x3 * first->x1);
const float x3 = (second->x3 * first->s0 + second->s0 * first->x3) - (second->x2 * first->x1 - second->x1 * first->x2);
const float s0 = (second->_s0 * first->_s0 - second->_x1 * first->_x1) - (second->_x2 * first->_x2 + second->_x3 * first->_x3);
const float x1 = (second->_x1 * first->_s0 + second->_s0 * first->_x1) - (second->_x3 * first->_x2 - second->_x2 * first->_x3);
const float x2 = (second->_x2 * first->_s0 + second->_s0 * first->_x2) - (second->_x1 * first->_x3 - second->_x3 * first->_x1);
const float x3 = (second->_x3 * first->_s0 + second->_s0 * first->_x3) - (second->_x2 * first->_x1 - second->_x1 * first->_x2);
bgc_versor_set_values_fp32(
(third->s0 * s0 - third->x1 * x1) - (third->x2 * x2 + third->x3 * x3),
(third->x1 * s0 + third->s0 * x1) - (third->x3 * x2 - third->x2 * x3),
(third->x2 * s0 + third->s0 * x2) - (third->x1 * x3 - third->x3 * x1),
(third->x3 * s0 + third->s0 * x3) - (third->x2 * x1 - third->x1 * x2),
(third->_s0 * s0 - third->_x1 * x1) - (third->_x2 * x2 + third->_x3 * x3),
(third->_x1 * s0 + third->_s0 * x1) - (third->_x3 * x2 - third->_x2 * x3),
(third->_x2 * s0 + third->_s0 * x2) - (third->_x1 * x3 - third->_x3 * x1),
(third->_x3 * s0 + third->_s0 * x3) - (third->_x2 * x1 - third->_x1 * x2),
result
);
}
inline void bgc_versor_combine3_fp64(const BgcVersorFP64* third, const BgcVersorFP64* second, const BgcVersorFP64* first, BgcVersorFP64* result)
{
const double s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
const double x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
const double x2 = (second->x2 * first->s0 + second->s0 * first->x2) - (second->x1 * first->x3 - second->x3 * first->x1);
const double x3 = (second->x3 * first->s0 + second->s0 * first->x3) - (second->x2 * first->x1 - second->x1 * first->x2);
const double s0 = (second->_s0 * first->_s0 - second->_x1 * first->_x1) - (second->_x2 * first->_x2 + second->_x3 * first->_x3);
const double x1 = (second->_x1 * first->_s0 + second->_s0 * first->_x1) - (second->_x3 * first->_x2 - second->_x2 * first->_x3);
const double x2 = (second->_x2 * first->_s0 + second->_s0 * first->_x2) - (second->_x1 * first->_x3 - second->_x3 * first->_x1);
const double x3 = (second->_x3 * first->_s0 + second->_s0 * first->_x3) - (second->_x2 * first->_x1 - second->_x1 * first->_x2);
bgc_versor_set_values_fp64(
(third->s0 * s0 - third->x1 * x1) - (third->x2 * x2 + third->x3 * x3),
(third->x1 * s0 + third->s0 * x1) - (third->x3 * x2 - third->x2 * x3),
(third->x2 * s0 + third->s0 * x2) - (third->x1 * x3 - third->x3 * x1),
(third->x3 * s0 + third->s0 * x3) - (third->x2 * x1 - third->x1 * x2),
(third->_s0 * s0 - third->_x1 * x1) - (third->_x2 * x2 + third->_x3 * x3),
(third->_x1 * s0 + third->_s0 * x1) - (third->_x3 * x2 - third->_x2 * x3),
(third->_x2 * s0 + third->_s0 * x2) - (third->_x1 * x3 - third->_x3 * x1),
(third->_x3 * s0 + third->_s0 * x3) - (third->_x2 * x1 - third->_x1 * x2),
result
);
}
@ -381,10 +413,10 @@ inline void bgc_versor_combine3_fp64(const BgcVersorFP64* third, const BgcVersor
inline void bgc_versor_exclude_fp32(const BgcVersorFP32* base, const BgcVersorFP32* excludant, BgcVersorFP32* difference)
{
bgc_versor_set_values_fp32(
(base->s0 * excludant->s0 + base->x1 * excludant->x1) + (base->x2 * excludant->x2 + base->x3 * excludant->x3),
(base->x1 * excludant->s0 + base->x3 * excludant->x2) - (base->s0 * excludant->x1 + base->x2 * excludant->x3),
(base->x2 * excludant->s0 + base->x1 * excludant->x3) - (base->s0 * excludant->x2 + base->x3 * excludant->x1),
(base->x3 * excludant->s0 + base->x2 * excludant->x1) - (base->s0 * excludant->x3 + base->x1 * excludant->x2),
(base->_s0 * excludant->_s0 + base->_x1 * excludant->_x1) + (base->_x2 * excludant->_x2 + base->_x3 * excludant->_x3),
(base->_x1 * excludant->_s0 + base->_x3 * excludant->_x2) - (base->_s0 * excludant->_x1 + base->_x2 * excludant->_x3),
(base->_x2 * excludant->_s0 + base->_x1 * excludant->_x3) - (base->_s0 * excludant->_x2 + base->_x3 * excludant->_x1),
(base->_x3 * excludant->_s0 + base->_x2 * excludant->_x1) - (base->_s0 * excludant->_x3 + base->_x1 * excludant->_x2),
difference
);
}
@ -392,10 +424,10 @@ inline void bgc_versor_exclude_fp32(const BgcVersorFP32* base, const BgcVersorFP
inline void bgc_versor_exclude_fp64(const BgcVersorFP64* base, const BgcVersorFP64* excludant, BgcVersorFP64* difference)
{
bgc_versor_set_values_fp64(
(base->s0 * excludant->s0 + base->x1 * excludant->x1) + (base->x2 * excludant->x2 + base->x3 * excludant->x3),
(base->x1 * excludant->s0 + base->x3 * excludant->x2) - (base->s0 * excludant->x1 + base->x2 * excludant->x3),
(base->x2 * excludant->s0 + base->x1 * excludant->x3) - (base->s0 * excludant->x2 + base->x3 * excludant->x1),
(base->x3 * excludant->s0 + base->x2 * excludant->x1) - (base->s0 * excludant->x3 + base->x1 * excludant->x2),
(base->_s0 * excludant->_s0 + base->_x1 * excludant->_x1) + (base->_x2 * excludant->_x2 + base->_x3 * excludant->_x3),
(base->_x1 * excludant->_s0 + base->_x3 * excludant->_x2) - (base->_s0 * excludant->_x1 + base->_x2 * excludant->_x3),
(base->_x2 * excludant->_s0 + base->_x1 * excludant->_x3) - (base->_s0 * excludant->_x2 + base->_x3 * excludant->_x1),
(base->_x3 * excludant->_s0 + base->_x2 * excludant->_x1) - (base->_s0 * excludant->_x3 + base->_x1 * excludant->_x2),
difference
);
}
@ -416,127 +448,123 @@ void bgc_versor_get_rotation_fp64(const BgcVersorFP64* versor, BgcRotation3FP64*
inline void bgc_versor_get_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix)
{
const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->x1 * versor->x1;
const float x2x2 = versor->x2 * versor->x2;
const float x3x3 = versor->x3 * versor->x3;
const float s0s0 = versor->_s0 * versor->_s0;
const float x1x1 = versor->_x1 * versor->_x1;
const float x2x2 = versor->_x2 * versor->_x2;
const float x3x3 = versor->_x3 * versor->_x3;
const float s0x1 = 2.0f * versor->s0 * versor->x1;
const float s0x2 = 2.0f * versor->s0 * versor->x2;
const float s0x3 = 2.0f * versor->s0 * versor->x3;
const float x1x2 = 2.0f * versor->x1 * versor->x2;
const float x1x3 = 2.0f * versor->x1 * versor->x3;
const float x2x3 = 2.0f * versor->x2 * versor->x3;
const float s0x1 = versor->_s0 * versor->_x1;
const float s0x2 = versor->_s0 * versor->_x2;
const float s0x3 = versor->_s0 * versor->_x3;
const float x1x2 = versor->_x1 * versor->_x2;
const float x1x3 = versor->_x1 * versor->_x3;
const float x2x3 = versor->_x2 * versor->_x3;
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->r1c2 = x1x2 - s0x3;
matrix->r2c3 = x2x3 - s0x1;
matrix->r3c1 = x1x3 - s0x2;
matrix->r1c2 = 2.0f * (x1x2 - s0x3);
matrix->r2c3 = 2.0f * (x2x3 - s0x1);
matrix->r3c1 = 2.0f * (x1x3 - s0x2);
matrix->r2c1 = x1x2 + s0x3;
matrix->r3c2 = x2x3 + s0x1;
matrix->r1c3 = x1x3 + s0x2;
matrix->r2c1 = 2.0f * (x1x2 + s0x3);
matrix->r3c2 = 2.0f * (x2x3 + s0x1);
matrix->r1c3 = 2.0f * (x1x3 + s0x2);
}
inline void bgc_versor_get_rotation_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix)
{
const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->x1 * versor->x1;
const double x2x2 = versor->x2 * versor->x2;
const double x3x3 = versor->x3 * versor->x3;
const double s0s0 = versor->_s0 * versor->_s0;
const double x1x1 = versor->_x1 * versor->_x1;
const double x2x2 = versor->_x2 * versor->_x2;
const double x3x3 = versor->_x3 * versor->_x3;
const double s0x1 = 2.0 * versor->s0 * versor->x1;
const double s0x2 = 2.0 * versor->s0 * versor->x2;
const double s0x3 = 2.0 * versor->s0 * versor->x3;
const double x1x2 = 2.0 * versor->x1 * versor->x2;
const double x1x3 = 2.0 * versor->x1 * versor->x3;
const double x2x3 = 2.0 * versor->x2 * versor->x3;
const double s0x1 = versor->_s0 * versor->_x1;
const double s0x2 = versor->_s0 * versor->_x2;
const double s0x3 = versor->_s0 * versor->_x3;
const double x1x2 = versor->_x1 * versor->_x2;
const double x1x3 = versor->_x1 * versor->_x3;
const double x2x3 = versor->_x2 * versor->_x3;
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->r1c2 = x1x2 - s0x3;
matrix->r2c3 = x2x3 - s0x1;
matrix->r3c1 = x1x3 - s0x2;
matrix->r1c2 = 2.0 * (x1x2 - s0x3);
matrix->r2c3 = 2.0 * (x2x3 - s0x1);
matrix->r3c1 = 2.0 * (x1x3 - s0x2);
matrix->r2c1 = x1x2 + s0x3;
matrix->r3c2 = x2x3 + s0x1;
matrix->r1c3 = x1x3 + s0x2;
matrix->r2c1 = 2.0 * (x1x2 + s0x3);
matrix->r3c2 = 2.0 * (x2x3 + s0x1);
matrix->r1c3 = 2.0 * (x1x3 + s0x2);
}
// ============= Get Reverse Matrix ============= //
inline void bgc_versor_get_reverse_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix)
{
const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->x1 * versor->x1;
const float x2x2 = versor->x2 * versor->x2;
const float x3x3 = versor->x3 * versor->x3;
const float s0s0 = versor->_s0 * versor->_s0;
const float x1x1 = versor->_x1 * versor->_x1;
const float x2x2 = versor->_x2 * versor->_x2;
const float x3x3 = versor->_x3 * versor->_x3;
const float s0x1 = 2.0f * versor->s0 * versor->x1;
const float s0x2 = 2.0f * versor->s0 * versor->x2;
const float s0x3 = 2.0f * versor->s0 * versor->x3;
const float x1x2 = 2.0f * versor->x1 * versor->x2;
const float x1x3 = 2.0f * versor->x1 * versor->x3;
const float x2x3 = 2.0f * versor->x2 * versor->x3;
const float s0x1 = versor->_s0 * versor->_x1;
const float s0x2 = versor->_s0 * versor->_x2;
const float s0x3 = versor->_s0 * versor->_x3;
const float x1x2 = versor->_x1 * versor->_x2;
const float x1x3 = versor->_x1 * versor->_x3;
const float x2x3 = versor->_x2 * versor->_x3;
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->r1c2 = x1x2 + s0x3;
matrix->r2c3 = x2x3 + s0x1;
matrix->r3c1 = x1x3 + s0x2;
matrix->r1c2 = 2.0f * (x1x2 + s0x3);
matrix->r2c3 = 2.0f * (x2x3 + s0x1);
matrix->r3c1 = 2.0f * (x1x3 + s0x2);
matrix->r2c1 = x1x2 - s0x3;
matrix->r3c2 = x2x3 - s0x1;
matrix->r1c3 = x1x3 - s0x2;
matrix->r2c1 = 2.0f * (x1x2 - s0x3);
matrix->r3c2 = 2.0f * (x2x3 - s0x1);
matrix->r1c3 = 2.0f * (x1x3 - s0x2);
}
inline void bgc_versor_get_reverse_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix)
{
const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->x1 * versor->x1;
const double x2x2 = versor->x2 * versor->x2;
const double x3x3 = versor->x3 * versor->x3;
const double s0s0 = versor->_s0 * versor->_s0;
const double x1x1 = versor->_x1 * versor->_x1;
const double x2x2 = versor->_x2 * versor->_x2;
const double x3x3 = versor->_x3 * versor->_x3;
const double s0x1 = 2.0 * versor->s0 * versor->x1;
const double s0x2 = 2.0 * versor->s0 * versor->x2;
const double s0x3 = 2.0 * versor->s0 * versor->x3;
const double x1x2 = 2.0 * versor->x1 * versor->x2;
const double x1x3 = 2.0 * versor->x1 * versor->x3;
const double x2x3 = 2.0 * versor->x2 * versor->x3;
const double s0x1 = versor->_s0 * versor->_x1;
const double s0x2 = versor->_s0 * versor->_x2;
const double s0x3 = versor->_s0 * versor->_x3;
const double x1x2 = versor->_x1 * versor->_x2;
const double x1x3 = versor->_x1 * versor->_x3;
const double x2x3 = versor->_x2 * versor->_x3;
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->r1c2 = x1x2 + s0x3;
matrix->r2c3 = x2x3 + s0x1;
matrix->r3c1 = x1x3 + s0x2;
matrix->r1c2 = 2.0 * (x1x2 + s0x3);
matrix->r2c3 = 2.0 * (x2x3 + s0x1);
matrix->r3c1 = 2.0 * (x1x3 + s0x2);
matrix->r2c1 = x1x2 - s0x3;
matrix->r3c2 = x2x3 - s0x1;
matrix->r1c3 = x1x3 - s0x2;
matrix->r2c1 = 2.0 * (x1x2 - s0x3);
matrix->r3c2 = 2.0 * (x2x3 - s0x1);
matrix->r1c3 = 2.0 * (x1x3 - s0x2);
}
// ============= Get Both Matrixes ============== //
inline void bgc_versor_get_both_matrixes_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse)
inline void bgc_versor_get_both_matrices_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* rotation, BgcMatrix3x3FP32* reverse)
{
bgc_versor_get_reverse_matrix_fp32(versor, reverse);
bgc_matrix3x3_transpose_fp32(reverse, rotation);
}
inline void bgc_versor_get_both_matrixes_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse)
inline void bgc_versor_get_both_matrices_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* rotation, BgcMatrix3x3FP64* reverse)
{
bgc_versor_get_reverse_matrix_fp64(versor, reverse);
bgc_matrix3x3_transpose_fp64(reverse, rotation);
@ -546,13 +574,13 @@ inline void bgc_versor_get_both_matrixes_fp64(const BgcVersorFP64* versor, BgcMa
inline void bgc_versor_turn_vector_fp32(const BgcVersorFP32* versor, const BgcVector3FP32* vector, BgcVector3FP32* result)
{
const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
const float tx3 = 2.0f * (versor->x1 * vector->x2 - versor->x2 * vector->x1);
const float tx1 = 2.0f * (versor->_x2 * vector->x3 - versor->_x3 * vector->x2);
const float tx2 = 2.0f * (versor->_x3 * vector->x1 - versor->_x1 * vector->x3);
const float tx3 = 2.0f * (versor->_x1 * vector->x2 - versor->_x2 * vector->x1);
const float x1 = (vector->x1 + tx1 * versor->s0) + (versor->x2 * tx3 - versor->x3 * tx2);
const float x2 = (vector->x2 + tx2 * versor->s0) + (versor->x3 * tx1 - versor->x1 * tx3);
const float x3 = (vector->x3 + tx3 * versor->s0) + (versor->x1 * tx2 - versor->x2 * tx1);
const float x1 = (vector->x1 + tx1 * versor->_s0) + (versor->_x2 * tx3 - versor->_x3 * tx2);
const float x2 = (vector->x2 + tx2 * versor->_s0) + (versor->_x3 * tx1 - versor->_x1 * tx3);
const float x3 = (vector->x3 + tx3 * versor->_s0) + (versor->_x1 * tx2 - versor->_x2 * tx1);
result->x1 = x1;
result->x2 = x2;
@ -561,13 +589,13 @@ inline void bgc_versor_turn_vector_fp32(const BgcVersorFP32* versor, const BgcVe
inline void bgc_versor_turn_vector_fp64(const BgcVersorFP64* versor, const BgcVector3FP64* vector, BgcVector3FP64* result)
{
const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
const double tx3 = 2.0 * (versor->x1 * vector->x2 - versor->x2 * vector->x1);