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Развитие структуры Posture3 для хранения пложения тела в виде нормализованного дуального кватерниона

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This commit is contained in:
Andrey Pokidov 2026-02-26 02:36:03 +07:00
parent 0c27a6e59b
commit add4d89c80
3 changed files with 109 additions and 24 deletions
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31
basic-geometry/posture3.c
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@ -3,10 +3,18 @@
extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture); extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture);
extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture); extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture);
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture) extern inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source);
{ extern inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source);
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&posture->_dual_versor.real_part);
extern inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2);
extern inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2);
extern inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source);
extern inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source);
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude)
{
if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) { if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
bgc_fp32_posture3_reset(posture); bgc_fp32_posture3_reset(posture);
return; return;
@ -14,6 +22,19 @@ void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture)
const float multiplier = sqrtf(1.0f / square_magnitude); const float multiplier = sqrtf(1.0f / square_magnitude);
bgc_fp32_quaternion_multiply_by_real(&posture->_dual_versor.real_part, &posture->_dual_versor.real_part, multiplier); bgc_fp32_quaternion_multiply_by_real(&posture->_real_part, &posture->_real_part, multiplier);
bgc_fp32_quaternion_multiply_by_real(&posture->_dual_versor.dual_part, &posture->_dual_versor.dual_part, multiplier); bgc_fp32_quaternion_multiply_by_real(&posture->_dual_part, &posture->_dual_part, multiplier);
}
void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude)
{
if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
bgc_fp64_posture3_reset(posture);
return;
}
const double multiplier = sqrt(1.0 / square_magnitude);
bgc_fp64_quaternion_multiply_by_real(&posture->_real_part, &posture->_real_part, multiplier);
bgc_fp64_quaternion_multiply_by_real(&posture->_dual_part, &posture->_dual_part, multiplier);
} }

98
basic-geometry/posture3.h
View file

@ -5,35 +5,99 @@
#include "quaternion.h" #include "quaternion.h"
#include "dual-quaternion.h" #include "dual-quaternion.h"
// ================= Normalize ================== //
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude);
void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude);
// ==================== Reset =================== // // ==================== Reset =================== //
inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture) inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
{ {
posture->_dual_versor.real_part.s0 = 1.0f; posture->_real_part.s0 = 1.0f;
posture->_dual_versor.real_part.x1 = 0.0f; posture->_real_part.x1 = 0.0f;
posture->_dual_versor.real_part.x2 = 0.0f; posture->_real_part.x2 = 0.0f;
posture->_dual_versor.real_part.x3 = 0.0f; posture->_real_part.x3 = 0.0f;
posture->_dual_versor.dual_part.s0 = 0.0f; posture->_dual_part.s0 = 0.0f;
posture->_dual_versor.dual_part.x1 = 0.0f; posture->_dual_part.x1 = 0.0f;
posture->_dual_versor.dual_part.x2 = 0.0f; posture->_dual_part.x2 = 0.0f;
posture->_dual_versor.dual_part.x3 = 0.0f; posture->_dual_part.x3 = 0.0f;
} }
inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture) inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
{ {
posture->_dual_versor.real_part.s0 = 1.0; posture->_real_part.s0 = 1.0;
posture->_dual_versor.real_part.x1 = 0.0; posture->_real_part.x1 = 0.0;
posture->_dual_versor.real_part.x2 = 0.0; posture->_real_part.x2 = 0.0;
posture->_dual_versor.real_part.x3 = 0.0; posture->_real_part.x3 = 0.0;
posture->_dual_versor.dual_part.s0 = 0.0; posture->_dual_part.s0 = 0.0;
posture->_dual_versor.dual_part.x1 = 0.0; posture->_dual_part.x1 = 0.0;
posture->_dual_versor.dual_part.x2 = 0.0; posture->_dual_part.x2 = 0.0;
posture->_dual_versor.dual_part.x3 = 0.0; posture->_dual_part.x3 = 0.0;
} }
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture); // ==================== Copy ==================== //
inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source)
{
bgc_fp32_quaternion_copy(&destination->_real_part, &source->_real_part);
bgc_fp32_quaternion_copy(&destination->_dual_part, &source->_dual_part);
}
inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source)
{
bgc_fp64_quaternion_copy(&destination->_real_part, &source->_real_part);
bgc_fp64_quaternion_copy(&destination->_dual_part, &source->_dual_part);
}
// ==================== Swap ==================== //
inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2)
{
bgc_fp32_quaternion_swap(&posture1->_real_part, &posture2->_real_part);
bgc_fp32_quaternion_swap(&posture1->_dual_part, &posture2->_dual_part);
}
inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2)
{
bgc_fp64_quaternion_swap(&posture1->_real_part, &posture2->_real_part);
bgc_fp64_quaternion_swap(&posture1->_dual_part, &posture2->_dual_part);
}
// ================== Convert =================== //
inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source)
{
bgc_fp32_quaternion_convert_to_fp64(&destination->_real_part, &source->_real_part);
bgc_fp32_quaternion_convert_to_fp64(&destination->_dual_part, &source->_dual_part);
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_real_part);
if (!bgc_fp64_is_square_unit(square_magnitude)) {
_bgc_fp64_posture3_normalize(destination, square_magnitude);
}
}
inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source)
{
bgc_fp64_quaternion_convert_to_fp32(&destination->_real_part, &source->_real_part);
bgc_fp64_quaternion_convert_to_fp32(&destination->_dual_part, &source->_dual_part);
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_real_part);
if (!bgc_fp32_is_square_unit(square_magnitude)) {
_bgc_fp32_posture3_normalize(destination, square_magnitude);
}
}
// ================== Combine =================== //
inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second)
{
}
#endif #endif

4
basic-geometry/types.h
View file

@ -214,11 +214,11 @@ typedef struct {
// ================== Posture3 ================== // // ================== Posture3 ================== //
typedef struct { typedef struct {
BGC_FP32_DualQuaternion _dual_versor; BGC_FP32_Quaternion _real_part, _dual_part;
} BGC_FP32_Posture3; } BGC_FP32_Posture3;
typedef struct { typedef struct {
BGC_FP64_DualQuaternion _dual_versor; BGC_FP64_Quaternion _real_part, _dual_part;
} BGC_FP64_Posture3; } BGC_FP64_Posture3;
#endif #endif