Удаление функций set_value для структур с открытыми полями (векторы и кватернионы)
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25 changed files with 597 additions and 707 deletions
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@ -49,6 +49,14 @@
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<Unit filename="main.c">
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<Option compilerVar="CC" />
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</Unit>
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<Unit filename="printing_utils.c">
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<Option compilerVar="CC" />
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</Unit>
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<Unit filename="printing_utils.h" />
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<Unit filename="vector3_pair_difference.c">
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<Option compilerVar="CC" />
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</Unit>
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<Unit filename="vector3_pair_difference.h" />
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<Extensions />
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</Project>
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</CodeBlocks_project_file>
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@ -9,6 +9,8 @@
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#include <time.h>
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#endif // _WINDOWS_
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#include "vector3_pair_difference.h"
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typedef struct {
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BGC_FP32_Turn3 versor1, versor2, result;
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} structure_fp32_t;
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@ -51,25 +53,6 @@ structure_fp32_t* make_structures(const unsigned int amount)
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return list;
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}
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void print_quaternion_fp32(const BGC_FP32_Quaternion* quaternion)
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{
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printf("Quaternion FP32(s = %0.12f, x = %0.12f, y = %0.12f, z = %0.12f)\n", quaternion->s, quaternion->x, quaternion->y, quaternion->z);
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}
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void print_quaternion_fp64(const BGC_FP64_Quaternion* quaternion)
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{
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printf("Quaternion FP64(s = %0.12f, x = %0.12f, y = %0.12f, z = %0.12f)\n", quaternion->s, quaternion->x, quaternion->y, quaternion->z);
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}
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void print_vector_fp32(const BGC_FP32_Vector3* vector)
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{
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printf("(%f, %f, %f) / %f\n", vector->x, vector->y, vector->z, bgc_fp32_vector3_get_length(vector));
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}
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void print_vector_fp64(const BGC_FP64_Vector3* vector)
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{
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printf("(%lf, %lf, %lf) / %lf\n", vector->x, vector->y, vector->z, bgc_fp64_vector3_get_length(vector));
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}
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void list_work(const uint_fast32_t amount, structure_fp32_t* list)
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{
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@ -113,9 +96,9 @@ int main()
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printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
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#endif // _WIN64
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print_quaternion_fp32(&list[10].versor1._versor);
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print_quaternion_fp32(&list[10].versor2._versor);
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print_quaternion_fp32(&list[10].result._versor);
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print_fp32_quaternion(&list[10].versor1._versor);
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print_fp32_quaternion(&list[10].versor2._versor);
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print_fp32_quaternion(&list[10].result._versor);
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free(list);
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@ -149,364 +132,15 @@ int main() {
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}
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*/
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void test_pair_difference_fp32()
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{
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BGC_FP32_Vector3 initial_main, initial_branch;
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BGC_FP32_Vector3 final_main, final_branch;
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BGC_FP32_Turn3 turn;
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// No turn
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nNo turn:\n");
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print_quaternion_fp32(&turn._versor);
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// Turn around (1, 1, 0) axis on 180 degrees
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
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print_quaternion_fp32(&turn._versor);
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// 180 degree turn
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, -1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n180 degree turn around (0, 1, 0):\n");
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print_quaternion_fp32(&turn._versor);
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// 90 degree turn around x3 axis
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bgc_fp32_vector3_set_values(&initial_main, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 3.1f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, 10.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch,-1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n90 degree turn around (0, 0, 1):\n");
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print_quaternion_fp32(&turn._versor);
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// Unorthogonal pairs turn at 90 degrees around x3 axis
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bgc_fp32_vector3_set_values(&initial_main, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, -2.0f, 3.1f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, 10.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, -1.0f, 5.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
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print_quaternion_fp32(&turn._versor);
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// Zero vectors
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bgc_fp32_vector3_set_values(&initial_main, 0.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f);
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int code;
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code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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if (code == BGC_SUCCESS) {
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printf("\nZero vectors: this cannot be!\n");
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print_quaternion_fp32(&turn._versor);
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}
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else {
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printf("\nZero vector validation works fine\n");
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}
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// Parallel vectors
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 2.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 1.0f, 0.0f);
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code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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if (code == BGC_SUCCESS) {
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printf("\nParallel vectors: this cannot be!\n");
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print_quaternion_fp32(&turn._versor);
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}
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else {
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printf("\nParallelism validation works fine\n");
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}
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// Small angle turn (about 1 degree):
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.999848f, 0.017452f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, -0.017452f, 0.999848f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn , &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nSmall angle turn (about 1 degree):\n");
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print_quaternion_fp32(&turn._versor);
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// About 179 degrees turn
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, -0.999848f, -0.017452f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.017452f, -0.999848f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nAbout 179 degrees turn:\n");
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print_quaternion_fp32(&turn._versor);
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// 120 degrees around (-1, -1, 1)
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 0.0f, -1.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n120 degees turn:\n");
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print_quaternion_fp32(&turn._versor);
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// About 1 degree turn difference between initial_main and initial_branch directions
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.999848f, 0.017452f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, -1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n");
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print_quaternion_fp32(&turn._versor);
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// About 0.01 degree turn difference between initial_main and initial_branch directions
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 1.0f, 0.000001f, 0.0f);
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bgc_fp32_vector3_set_values(&final_main, 0.0f, -1.0f, 0.0f);
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bgc_fp32_vector3_set_values(&final_branch, 1.0f, 0.0f, 0.0f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n");
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print_quaternion_fp32(&turn._versor);
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 0.999999f, 0.00014142f); // почти (0,1,0), но крошечный z
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bgc_fp32_vector3_set_values(&final_main, -0.999999f, 0.0f, 0.00014142f);
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bgc_fp32_vector3_set_values(&final_branch, 0.0f, 0.999999f, -0.00014142f);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nNear 180° with tiny branch deviation:\n");
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print_quaternion_fp32(&turn._versor);
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bgc_fp32_vector3_set_values(&initial_main, 1.0f, 0.2f, 0.1f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.1f, 1.0f, 0.3f); // почти (0,1,0), но крошечный z
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BGC_FP32_Turn3 known;
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bgc_fp32_turn3_set_rotation(&known, 0.0f, 0.0f, 1.0f, 90.0f, BGC_ANGLE_UNIT_DEGREES);
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bgc_fp32_vector3_set_values(&initial_main, -0.999999f, 0.0f, 0.00014142f);
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bgc_fp32_vector3_set_values(&initial_branch, 0.0f, 0.999999f, -0.00014142f);
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bgc_fp32_turn3_vector(&final_main, &known, &initial_main);
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bgc_fp32_turn3_vector(&final_branch, &known, &initial_branch);
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bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nRecover known 90° Z rotation:\n");
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print_quaternion_fp32(&turn._versor);
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printf("Known was: ");
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print_quaternion_fp32(&known._versor);
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}
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void test_pair_difference_fp64()
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{
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BGC_FP64_Vector3 initial_main, initial_branch;
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BGC_FP64_Vector3 final_main, final_branch;
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BGC_FP64_Turn3 turn;
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// No turn
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bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0);
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bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0);
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bgc_fp64_vector3_set_values(&final_main, 1.0, 0.0, 0.0);
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bgc_fp64_vector3_set_values(&final_branch, 0.0, 1.0, 0.0);
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bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nNo turn:\n");
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print_quaternion_fp64(&turn._versor);
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// Turn around (1, 1, 0) axis on 180 degrees
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bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0);
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bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0);
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bgc_fp64_vector3_set_values(&final_main, 0.0, 1.0, 0.0);
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bgc_fp64_vector3_set_values(&final_branch, 1.0, 0.0, 0.0);
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bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
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print_quaternion_fp64(&turn._versor);
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// 180 degree turn
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bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0);
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bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0);
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bgc_fp64_vector3_set_values(&initial_branch, -1.0, 0.0, 0.0);
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bgc_fp64_vector3_set_values(&final_branch, 0.0, 1.0, 0.0);
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bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n180 degree turn around (0, 1, 0):\n");
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print_quaternion_fp64(&turn._versor);
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// 90 degree turn around x3 axis
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bgc_fp64_vector3_set_values(&initial_main, 2.0, 0.0, 0.0);
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bgc_fp64_vector3_set_values(&initial_branch, 0.0, 3.1, 0.0);
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bgc_fp64_vector3_set_values(&final_main, 0.0, 10.0, 0.0);
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bgc_fp64_vector3_set_values(&final_branch, -1.0, 0.0, 0.0);
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bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\n90 degree turn around (0, 0, 1):\n");
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print_quaternion_fp64(&turn._versor);
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// Unorthogonal pairs turn at 90 degrees around x3 axis
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bgc_fp64_vector3_set_values(&initial_main, 2.0, 0.0, 0.0);
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bgc_fp64_vector3_set_values(&initial_branch, -2.0, 3.1, 0.0);
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bgc_fp64_vector3_set_values(&final_main, 0.0, 10.0, 0.0);
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bgc_fp64_vector3_set_values(&final_branch, -1.0, 5.0, 0.0);
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bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
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print_quaternion_fp64(&turn._versor);
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// Zero vectors
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bgc_fp64_vector3_set_values(&initial_main, 0.0, 0.0, 0.0);
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bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0);
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bgc_fp64_vector3_set_values(&final_main, 1.0, 0.0, 0.0);
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bgc_fp64_vector3_set_values(&final_branch, 0.0, 1.0, 0.0);
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int code;
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code = bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
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if (code == BGC_SUCCESS) {
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printf("\nZero vectors: this cannot be!\n");
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print_quaternion_fp64(&turn._versor);
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}
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else {
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printf("\nZero vector validation works fine\n");
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}
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// Parallel vectors
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bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&initial_branch, 2.0, 0.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&final_main, 1.0, 0.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&final_branch, 0.0, 1.0, 0.0);
|
||||
|
||||
code = bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
if (code == BGC_SUCCESS) {
|
||||
printf("\nParallel vectors: this cannot be!\n");
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
}
|
||||
else {
|
||||
printf("\nParallelism validation works fine\n");
|
||||
}
|
||||
|
||||
// Small angle turn (about 1 degree):
|
||||
bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0);
|
||||
|
||||
bgc_fp64_vector3_set_values(&final_main, 0.999848, 0.017452, 0.0);
|
||||
bgc_fp64_vector3_set_values(&final_branch, -0.017452, 0.999848, 0.0);
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nSmall angle turn (about 1 degree):\n");
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
|
||||
// About 179 degrees turn
|
||||
bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0);
|
||||
|
||||
bgc_fp64_vector3_set_values(&final_main, -0.999848, -0.017452, 0.0);
|
||||
bgc_fp64_vector3_set_values(&final_branch, 0.017452, -0.999848, 0.0);
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nAbout 179 degrees turn:\n");
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
|
||||
// 120 degrees around (-1, -1, 1)
|
||||
bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&initial_branch, 0.0, 1.0, 0.0);
|
||||
|
||||
bgc_fp64_vector3_set_values(&final_main, 0.0, 1.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&final_branch, 0.0, 0.0, -1.0);
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\n120 degees turn:\n");
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
|
||||
|
||||
// About 1 degree turn difference between initial_main and initial_branch directions
|
||||
bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&initial_branch, 0.999848, 0.017452, 0.0);
|
||||
bgc_fp64_vector3_set_values(&final_main, 0.0, 1.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&final_branch, -1.0, 0.0, 0.0);
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n");
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
|
||||
// About 0.001 degree turn difference between initial_main and initial_branch directions
|
||||
bgc_fp64_vector3_set_values(&initial_main, 1.0, 0.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&initial_branch, 1.0, 0.000001, 0.0);
|
||||
bgc_fp64_vector3_set_values(&final_main, 0.0, -1.0, 0.0);
|
||||
bgc_fp64_vector3_set_values(&final_branch, 1.0, 0.0, 0.0);
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n");
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
}
|
||||
|
||||
#include "affine3.h"
|
||||
|
||||
int main()
|
||||
{
|
||||
//test_pair_difference_fp32();
|
||||
//test_pair_difference_fp64();
|
||||
//test_fp32_pair_difference();
|
||||
test_fp64_pair_difference();
|
||||
|
||||
printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
|
||||
//printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
|
||||
|
||||
//printf("sizeof(BGC_FP32_Affine3) = %zu\n", sizeof(BGC_FP32_Affine3));
|
||||
//printf("offsetof(shift) = %zu\n", offsetof(BGC_FP32_Affine3, shift));
|
||||
|
|
|
|||
8
basic-geometry-dev/printing_utils.c
Normal file
8
basic-geometry-dev/printing_utils.c
Normal file
|
|
@ -0,0 +1,8 @@
|
|||
#include "printing_utils.h"
|
||||
|
||||
extern inline void print_fp32_quaternion(const BGC_FP32_Quaternion* const quaternion);
|
||||
extern inline void print_fp64_quaternion(const BGC_FP64_Quaternion* const quaternion);
|
||||
|
||||
extern inline void print_fp32_vector3(const BGC_FP32_Vector3* const vector);
|
||||
extern inline void print_fp64_vector3(const BGC_FP64_Vector3* const vector);
|
||||
|
||||
37
basic-geometry-dev/printing_utils.h
Normal file
37
basic-geometry-dev/printing_utils.h
Normal file
|
|
@ -0,0 +1,37 @@
|
|||
#ifndef PRINTING_UTILS_H_INCLUDED
|
||||
#define PRINTING_UTILS_H_INCLUDED
|
||||
|
||||
#include <stdio.h>
|
||||
#include <basic-geometry.h>
|
||||
|
||||
inline void print_fp32_quaternion(const BGC_FP32_Quaternion* const quaternion)
|
||||
{
|
||||
printf("FP32 Quaternion(s = %0.12f, x = %0.12f, y = %0.12f, z = %0.12f)\n", quaternion->s, quaternion->x, quaternion->y, quaternion->z);
|
||||
}
|
||||
|
||||
inline void print_fp64_quaternion(const BGC_FP64_Quaternion* const quaternion)
|
||||
{
|
||||
printf("FP64 Quaternion(s = %0.12f, x = %0.12f, y = %0.12f, z = %0.12f)\n", quaternion->s, quaternion->x, quaternion->y, quaternion->z);
|
||||
}
|
||||
|
||||
inline void print_fp32_vector2(const BGC_FP32_Vector2* const vector)
|
||||
{
|
||||
printf("FP32 Vector2(x = %f, y = %f) / length = %f\n", vector->x, vector->y, bgc_fp32_vector2_get_length(vector));
|
||||
}
|
||||
|
||||
inline void print_fp64_vector2(const BGC_FP64_Vector2* const vector)
|
||||
{
|
||||
printf("FP32 Vector2(x = %lf, y = %lf) / length = %lf\n", vector->x, vector->y, bgc_fp64_vector2_get_length(vector));
|
||||
}
|
||||
|
||||
inline void print_fp32_vector3(const BGC_FP32_Vector3* const vector)
|
||||
{
|
||||
printf("FP32 Vector3(x = %f, y = %f, z = %f) / length = %f\n", vector->x, vector->y, vector->z, bgc_fp32_vector3_get_length(vector));
|
||||
}
|
||||
|
||||
inline void print_fp64_vector3(const BGC_FP64_Vector3* const vector)
|
||||
{
|
||||
printf("FP64 Vector3(x = %lf, y = %lf, z = %lf) / length = %lf\n", vector->x, vector->y, vector->z, bgc_fp64_vector3_get_length(vector));
|
||||
}
|
||||
|
||||
#endif // QUATERNION_UTILS_H_INCLUDED
|
||||
506
basic-geometry-dev/vector3_pair_difference.c
Normal file
506
basic-geometry-dev/vector3_pair_difference.c
Normal file
|
|
@ -0,0 +1,506 @@
|
|||
#include "printing_utils.h"
|
||||
#include "vector3_pair_difference.h"
|
||||
|
||||
// ======== Float Pointer 32-bit version ======== //
|
||||
|
||||
static void _test_fp32_no_turn()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nNo turn:\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_turn_at_180deg_v1()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_turn_at_180deg_v2()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { -1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nTurn around (0, 1, 0) axis on 180 degrees:\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_turn_at_90deg_v1()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 2.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 3.1f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { 0.0f, 10.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { -1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\n90 degree turn around (0, 0, 1):\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_turn_at_90deg_v2()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 2.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 3.1f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { 0.0f, 10.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { -1.0f, 5.0f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_zero_vectors()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 0.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
const int code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
if (code == BGC_SUCCESS) {
|
||||
printf("\nZero vectors: this cannot be!\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
else {
|
||||
printf("\nZero vector validation works fine\n");
|
||||
}
|
||||
}
|
||||
|
||||
static void _test_fp32_parallel_vectors()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 2.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
const int code = bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
if (code == BGC_SUCCESS) {
|
||||
printf("\nParallel vectors: this cannot be!\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
else {
|
||||
printf("\nParallelism validation works fine\n");
|
||||
}
|
||||
}
|
||||
|
||||
static void _test_fp32_small_angle_turn()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { 0.999848f, 0.017452f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { -0.017452f, 0.999848f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn , &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nSmall angle turn (about 1 degree):\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_turn_at_179deg()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { -0.999848f, -0.017452f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { 0.017452f, -0.999848f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nTurn around (0, 1, 0) axis on 179 degrees:\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_turn_at_120deg_around()
|
||||
{
|
||||
// 120 degrees around (-1, -1, 1)
|
||||
BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { 0.0f, 0.0f, -1.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\n120 degees turn:\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_1deg_difference()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.999848f, 0.017452f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { -1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_0_01deg_difference()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 1.0f, 0.000001f, 0.0f };
|
||||
BGC_FP32_Vector3 final_main = { 0.0f, -1.0f, 0.0f };
|
||||
BGC_FP32_Vector3 final_branch = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_little_z_influence()
|
||||
{
|
||||
// почти (0,1,0), но крошечный z
|
||||
BGC_FP32_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 0.999999f, 0.00014142f };
|
||||
BGC_FP32_Vector3 final_main = { -0.999999f, 0.0f, 0.00014142f };
|
||||
BGC_FP32_Vector3 final_branch = { 0.0f, 0.999999f, -0.00014142f };
|
||||
BGC_FP32_Turn3 turn;
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nNear 180° with tiny branch deviation:\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp32_turn_restoring()
|
||||
{
|
||||
BGC_FP32_Vector3 initial_main = { -0.999999f, 0.0f, 0.00014142f };
|
||||
BGC_FP32_Vector3 initial_branch = { 0.0f, 0.999999f, -0.00014142f };
|
||||
BGC_FP32_Vector3 final_main;
|
||||
BGC_FP32_Vector3 final_branch;
|
||||
BGC_FP32_Turn3 known, turn;
|
||||
|
||||
bgc_fp32_turn3_set_rotation(&known, 0.0f, 0.0f, 1.0f, 90.0f, BGC_ANGLE_UNIT_DEGREES);
|
||||
|
||||
bgc_fp32_turn3_vector(&final_main, &known, &initial_main);
|
||||
bgc_fp32_turn3_vector(&final_branch, &known, &initial_branch);
|
||||
|
||||
bgc_fp32_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
printf("\nRecover known 90° Z rotation:\n");
|
||||
print_fp32_quaternion(&turn._versor);
|
||||
|
||||
printf("Known was: ");
|
||||
print_fp32_quaternion(&known._versor);
|
||||
}
|
||||
|
||||
void test_fp32_pair_difference()
|
||||
{
|
||||
_test_fp32_no_turn();
|
||||
|
||||
_test_fp32_turn_at_180deg_v1();
|
||||
|
||||
_test_fp32_turn_at_180deg_v2();
|
||||
|
||||
_test_fp32_turn_at_90deg_v1();
|
||||
|
||||
_test_fp32_turn_at_90deg_v2();
|
||||
|
||||
_test_fp32_zero_vectors();
|
||||
|
||||
_test_fp32_parallel_vectors();
|
||||
|
||||
_test_fp32_small_angle_turn();
|
||||
|
||||
_test_fp32_turn_at_179deg();
|
||||
|
||||
_test_fp32_turn_at_120deg_around();
|
||||
|
||||
_test_fp32_1deg_difference();
|
||||
|
||||
_test_fp32_0_01deg_difference();
|
||||
|
||||
_test_fp32_little_z_influence();
|
||||
|
||||
_test_fp32_turn_restoring();
|
||||
}
|
||||
|
||||
// ======== Float Pointer 64-bit version ======== //
|
||||
|
||||
static void _test_fp64_no_turn()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nNo turn:\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_turn_at_180deg_v1()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_turn_at_180deg_v2()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { -1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nTurn around (0, 1, 0) axis on 180 degrees:\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_turn_at_90deg_v1()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 2.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 3.1f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { 0.0f, 10.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { -1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\n90 degree turn around (0, 0, 1):\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_turn_at_90deg_v2()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 2.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 3.1f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { 0.0f, 10.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { -1.0f, 5.0f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_zero_vectors()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 0.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
const int code = bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
if (code == BGC_SUCCESS) {
|
||||
printf("\nZero vectors: this cannot be!\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
else {
|
||||
printf("\nZero vector validation works fine\n");
|
||||
}
|
||||
}
|
||||
|
||||
static void _test_fp64_parallel_vectors()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 2.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
const int code = bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
if (code == BGC_SUCCESS) {
|
||||
printf("\nParallel vectors: this cannot be!\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
else {
|
||||
printf("\nParallelism validation works fine\n");
|
||||
}
|
||||
}
|
||||
|
||||
static void _test_fp64_small_angle_turn()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { 0.999848f, 0.017452f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { -0.017452f, 0.999848f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn , &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nSmall angle turn (about 1 degree):\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_turn_at_179deg()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { -0.999848f, -0.017452f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { 0.017452f, -0.999848f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nTurn around (0, 1, 0) axis on 179 degrees:\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_turn_at_120deg_around()
|
||||
{
|
||||
// 120 degrees around (-1, -1, 1)
|
||||
BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { 0.0f, 0.0f, -1.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\n120 degees turn:\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_1deg_difference()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.999848f, 0.017452f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { 0.0f, 1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { -1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nAbout 1 degree turn difference between initial_main and initial_branch directions:\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_0_01deg_difference()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 1.0f, 0.000001f, 0.0f };
|
||||
BGC_FP64_Vector3 final_main = { 0.0f, -1.0f, 0.0f };
|
||||
BGC_FP64_Vector3 final_branch = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nAbout 0.01 degree turn difference between initial_main and initial_branch directions:\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_little_z_influence()
|
||||
{
|
||||
// почти (0,1,0), но крошечный z
|
||||
BGC_FP64_Vector3 initial_main = { 1.0f, 0.0f, 0.0f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 0.999999f, 0.00014142f };
|
||||
BGC_FP64_Vector3 final_main = { -0.999999f, 0.0f, 0.00014142f };
|
||||
BGC_FP64_Vector3 final_branch = { 0.0f, 0.999999f, -0.00014142f };
|
||||
BGC_FP64_Turn3 turn;
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
|
||||
printf("\nNear 180° with tiny branch deviation:\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
}
|
||||
|
||||
static void _test_fp64_turn_restoring()
|
||||
{
|
||||
BGC_FP64_Vector3 initial_main = { -0.999999f, 0.0f, 0.00014142f };
|
||||
BGC_FP64_Vector3 initial_branch = { 0.0f, 0.999999f, -0.00014142f };
|
||||
BGC_FP64_Vector3 final_main;
|
||||
BGC_FP64_Vector3 final_branch;
|
||||
BGC_FP64_Turn3 known, turn;
|
||||
|
||||
bgc_fp64_turn3_set_rotation(&known, 0.0f, 0.0f, 1.0f, 90.0f, BGC_ANGLE_UNIT_DEGREES);
|
||||
|
||||
bgc_fp64_turn3_vector(&final_main, &known, &initial_main);
|
||||
bgc_fp64_turn3_vector(&final_branch, &known, &initial_branch);
|
||||
|
||||
bgc_fp64_turn3_find_pair_difference(&turn, &initial_main, &initial_branch, &final_main, &final_branch);
|
||||
printf("\nRecover known 90° Z rotation:\n");
|
||||
print_fp64_quaternion(&turn._versor);
|
||||
|
||||
printf("Known was: ");
|
||||
print_fp64_quaternion(&known._versor);
|
||||
}
|
||||
|
||||
void test_fp64_pair_difference()
|
||||
{
|
||||
_test_fp64_no_turn();
|
||||
|
||||
_test_fp64_turn_at_180deg_v1();
|
||||
|
||||
_test_fp64_turn_at_180deg_v2();
|
||||
|
||||
_test_fp64_turn_at_90deg_v1();
|
||||
|
||||
_test_fp64_turn_at_90deg_v2();
|
||||
|
||||
_test_fp64_zero_vectors();
|
||||
|
||||
_test_fp64_parallel_vectors();
|
||||
|
||||
_test_fp64_small_angle_turn();
|
||||
|
||||
_test_fp64_turn_at_179deg();
|
||||
|
||||
_test_fp64_turn_at_120deg_around();
|
||||
|
||||
_test_fp64_1deg_difference();
|
||||
|
||||
_test_fp64_0_01deg_difference();
|
||||
|
||||
_test_fp64_little_z_influence();
|
||||
|
||||
_test_fp64_turn_restoring();
|
||||
}
|
||||
8
basic-geometry-dev/vector3_pair_difference.h
Normal file
8
basic-geometry-dev/vector3_pair_difference.h
Normal file
|
|
@ -0,0 +1,8 @@
|
|||
#ifndef VECTOR3_PAIR_DIFFERENCE_INCLUDED
|
||||
#define VECTOR3_PAIR_DIFFERENCE_INCLUDED
|
||||
|
||||
void test_fp32_pair_difference();
|
||||
|
||||
void test_fp64_pair_difference();
|
||||
|
||||
#endif // VECTOR3_PAIR_DIFFERENCE_INCLUDED
|
||||
Loading…
Add table
Add a link
Reference in a new issue