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Отказ от терминов Versor и Cotes Number в пользу Turn3 и Turn2, использование кватернионов внутри Turn3

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This commit is contained in:
Andrey Pokidov 2026-02-04 21:02:15 +07:00
parent 38cff7e27d
commit b470a3194b
27 changed files with 1815 additions and 2045 deletions
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20
basic-geometry/basic-geometry.cbp
View file

@ -60,10 +60,6 @@
<Option compilerVar="CC" />
</Unit>
<Unit filename="complex.h" />
<Unit filename="cotes-number.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="cotes-number.h" />
<Unit filename="dual-number.c">
<Option compilerVar="CC" />
</Unit>
@ -116,14 +112,18 @@
<Option compilerVar="CC" />
</Unit>
<Unit filename="quaternion.h" />
<Unit filename="rotation3.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="rotation3.h" />
<Unit filename="slerp.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="slerp.h" />
<Unit filename="turn2.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="turn2.h" />
<Unit filename="turn3.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="turn3.h" />
<Unit filename="utilities.c">
<Option compilerVar="CC" />
</Unit>
@ -136,10 +136,6 @@
<Option compilerVar="CC" />
</Unit>
<Unit filename="vector3.h" />
<Unit filename="versor.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="versor.h" />
<Extensions />
</Project>
</CodeBlocks_project_file>

13
basic-geometry/basic-geometry.h
View file

@ -18,15 +18,14 @@
#include "./affine3.h"
#include "./complex.h"
#include "./cotes-number.h"
#include "./quaternion.h"
#include "./rotation3.h"
#include "./turn2.h"
#include "./turn3.h"
#include "./quaternion.h"
#include "./versor.h"
#include "./position2.h"
#include "./position3.h"
#include "./slerp.h"
#include "./position2.h"
#include "./position3.h"
#endif

91
basic-geometry/cotes-number.c
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@ -1,91 +0,0 @@
#include "./cotes-number.h"
const BGC_FP32_CotesNumber BGC_FP32_IDLE_COTES_NUMBER = { 1.0f, 0.0f };
const BGC_FP64_CotesNumber BGC_FP64_IDLE_COTES_NUMBER = { 1.0, 0.0 };
extern inline void bgc_fp32_cotes_number_reset(BGC_FP32_CotesNumber* number);
extern inline void bgc_fp64_cotes_number_reset(BGC_FP64_CotesNumber* number);
extern inline void bgc_fp32_cotes_number_make(BGC_FP32_CotesNumber* number, const float x1, const float x2);
extern inline void bgc_fp64_cotes_number_make(BGC_FP64_CotesNumber* number, const double x1, const double x2);
extern inline void bgc_fp32_cotes_number_make_for_angle(BGC_FP32_CotesNumber* number, const float angle, const int angle_unit);
extern inline void bgc_fp64_cotes_number_make_for_angle(BGC_FP64_CotesNumber* number, const double angle, const int angle_unit);
extern inline int bgc_fp32_cotes_number_is_idle(const BGC_FP32_CotesNumber* number);
extern inline int bgc_fp64_cotes_number_is_idle(const BGC_FP64_CotesNumber* number);
extern inline float bgc_fp32_cotes_number_get_angle(const BGC_FP32_CotesNumber* number, const int angle_unit);
extern inline double bgc_fp64_cotes_number_get_angle(const BGC_FP64_CotesNumber* number, const int angle_unit);
extern inline void bgc_fp32_cotes_number_copy(BGC_FP32_CotesNumber* destination, const BGC_FP32_CotesNumber* source);
extern inline void bgc_fp64_cotes_number_copy(BGC_FP64_CotesNumber* destination, const BGC_FP64_CotesNumber* source);
extern inline void bgc_fp32_cotes_number_swap(BGC_FP32_CotesNumber* number1, BGC_FP32_CotesNumber* number2);
extern inline void bgc_fp64_cotes_number_swap(BGC_FP64_CotesNumber* number1, BGC_FP64_CotesNumber* number2);
extern inline void bgc_fp64_cotes_number_convert_to_fp32(BGC_FP32_CotesNumber* destination, const BGC_FP64_CotesNumber* source);
extern inline void bgc_fp32_cotes_number_convert_to_fp64(BGC_FP64_CotesNumber* destination, const BGC_FP32_CotesNumber* source);
extern inline void bgc_fp32_cotes_number_revert(BGC_FP32_CotesNumber* number);
extern inline void bgc_fp64_cotes_number_revert(BGC_FP64_CotesNumber* number);
extern inline void bgc_fp32_cotes_number_get_reverse(BGC_FP32_CotesNumber* reverse, const BGC_FP32_CotesNumber* number);
extern inline void bgc_fp64_cotes_number_get_reverse(BGC_FP64_CotesNumber* reverse, const BGC_FP64_CotesNumber* number);
extern inline void bgc_fp32_cotes_number_get_exponation(BGC_FP32_CotesNumber* power, const BGC_FP32_CotesNumber* base, const float exponent);
extern inline void bgc_fp64_cotes_number_get_exponation(BGC_FP64_CotesNumber* power, const BGC_FP64_CotesNumber* base, const double exponent);
extern inline void bgc_fp32_cotes_number_combine(BGC_FP32_CotesNumber* combination, const BGC_FP32_CotesNumber* number1, const BGC_FP32_CotesNumber* number2);
extern inline void bgc_fp64_cotes_number_combine(BGC_FP64_CotesNumber* combination, const BGC_FP64_CotesNumber* number1, const BGC_FP64_CotesNumber* number2);
extern inline void bgc_fp32_cotes_number_exclude(BGC_FP32_CotesNumber* difference, const BGC_FP32_CotesNumber* base, const BGC_FP32_CotesNumber* excludant);
extern inline void bgc_fp64_cotes_number_exclude(BGC_FP64_CotesNumber* difference, const BGC_FP64_CotesNumber* base, const BGC_FP64_CotesNumber* excludant);
extern inline void bgc_fp32_cotes_number_get_rotation_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_CotesNumber* number);
extern inline void bgc_fp64_cotes_number_get_rotation_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_CotesNumber* number);
extern inline void bgc_fp32_cotes_number_get_reverse_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_CotesNumber* number);
extern inline void bgc_fp64_cotes_number_get_reverse_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_CotesNumber* number);
extern inline void bgc_fp32_cotes_number_turn_vector(BGC_FP32_Vector2* turned_vector, const BGC_FP32_CotesNumber* number, const BGC_FP32_Vector2* vector);
extern inline void bgc_fp64_cotes_number_turn_vector(BGC_FP64_Vector2* turned_vector, const BGC_FP64_CotesNumber* number, const BGC_FP64_Vector2* vector);
extern inline void bgc_fp32_cotes_number_turn_vector_back(BGC_FP32_Vector2* turned_vector, const BGC_FP32_CotesNumber* number, const BGC_FP32_Vector2* vector);
extern inline void bgc_fp64_cotes_number_turn_vector_back(BGC_FP64_Vector2* turned_vector, const BGC_FP64_CotesNumber* number, const BGC_FP64_Vector2* vector);
extern inline int bgc_fp32_cotes_number_are_close(const BGC_FP32_CotesNumber* number1, const BGC_FP32_CotesNumber* number2);
extern inline int bgc_fp64_cotes_number_are_close(const BGC_FP64_CotesNumber* number1, const BGC_FP64_CotesNumber* number2);
void _bgc_fp32_cotes_number_normalize(BGC_FP32_CotesNumber* number)
{
const float square_modulus = number->_cos * number->_cos + number->_sin * number->_sin;
if (square_modulus <= BGC_FP32_SQUARE_EPSILON || isnan(square_modulus)) {
number->_cos = 1.0f;
number->_sin = 0.0f;
return;
}
const float multiplier = sqrtf(1.0f / square_modulus);
number->_cos *= multiplier;
number->_sin *= multiplier;
}
void _bgc_fp64_cotes_number_normalize(BGC_FP64_CotesNumber* number)
{
const double square_modulus = number->_cos * number->_cos + number->_sin * number->_sin;
if (square_modulus <= BGC_FP64_SQUARE_EPSILON || isnan(square_modulus)) {
number->_cos = 1.0;
number->_sin = 0.0;
return;
}
const double multiplier = sqrt(1.0 / square_modulus);
number->_cos *= multiplier;
number->_sin *= multiplier;
}

343
basic-geometry/cotes-number.h
View file

@ -1,343 +0,0 @@
#ifndef _BGC_COTES_NUMBER_H_
#define _BGC_COTES_NUMBER_H_
#include <math.h>
#include "utilities.h"
#include "angle.h"
#include "vector2.h"
#include "matrix2x2.h"
// =================== Types ==================== //
typedef struct
{
float _cos, _sin;
} BGC_FP32_CotesNumber;
typedef struct
{
double _cos, _sin;
} BGC_FP64_CotesNumber;
// ================= Constants ================== //
extern const BGC_FP32_CotesNumber BGC_FP32_IDLE_COTES_NUMBER;
extern const BGC_FP64_CotesNumber BGC_FP64_IDLE_COTES_NUMBER;
// =================== Reset ==================== //
inline void bgc_fp32_cotes_number_reset(BGC_FP32_CotesNumber* number)
{
number->_cos = 1.0f;
number->_sin = 0.0f;
}
inline void bgc_fp64_cotes_number_reset(BGC_FP64_CotesNumber* number)
{
number->_cos = 1.0;
number->_sin = 0.0;
}
// ================== Set Turn ================== //
inline void bgc_fp32_cotes_number_make_for_angle(BGC_FP32_CotesNumber* number, const float angle, const int angle_unit)
{
const float radians = bgc_fp32_angle_to_radians(angle, angle_unit);
number->_cos = cosf(radians);
number->_sin = sinf(radians);
}
inline void bgc_fp64_cotes_number_make_for_angle(BGC_FP64_CotesNumber* number, const double angle, const int angle_unit)
{
const double radians = bgc_fp64_angle_to_radians(angle, angle_unit);
number->_cos = cos(radians);
number->_sin = sin(radians);
}
// ================== Set Turn ================== //
inline int bgc_fp32_cotes_number_is_idle(const BGC_FP32_CotesNumber* number)
{
return bgc_fp32_is_unit(number->_cos) && bgc_fp32_is_zero(number->_sin);
}
inline int bgc_fp64_cotes_number_is_idle(const BGC_FP64_CotesNumber* number)
{
return bgc_fp64_is_unit(number->_cos) && bgc_fp64_is_zero(number->_sin);
}
// ==================== Set ===================== //
void _bgc_fp32_cotes_number_normalize(BGC_FP32_CotesNumber* twin);
void _bgc_fp64_cotes_number_normalize(BGC_FP64_CotesNumber* twin);
inline void bgc_fp32_cotes_number_make(BGC_FP32_CotesNumber* number, const float x1, const float x2)
{
const float square_modulus = x1 * x1 + x2 * x2;
number->_cos = x1;
number->_sin = x2;
if (!bgc_fp32_is_square_unit(square_modulus)) {
_bgc_fp32_cotes_number_normalize(number);
}
}
inline void bgc_fp64_cotes_number_make(BGC_FP64_CotesNumber* number, const double x1, const double x2)
{
const double square_modulus = x1 * x1 + x2 * x2;
number->_cos = x1;
number->_sin = x2;
if (!bgc_fp64_is_square_unit(square_modulus)) {
_bgc_fp64_cotes_number_normalize(number);
}
}
// =================== Angle =================== //
inline float bgc_fp32_cotes_number_get_angle(const BGC_FP32_CotesNumber* number, const int angle_unit)
{
return bgc_fp32_radians_to_units(atan2f(number->_sin, number->_cos), angle_unit);
}
inline double bgc_fp64_cotes_number_get_angle(const BGC_FP64_CotesNumber* number, const int angle_unit)
{
return bgc_fp64_radians_to_units(atan2(number->_sin, number->_cos), angle_unit);
}
// ==================== Copy ==================== //
inline void bgc_fp32_cotes_number_copy(BGC_FP32_CotesNumber* destination, const BGC_FP32_CotesNumber* source)
{
destination->_cos = source->_cos;
destination->_sin = source->_sin;
}
inline void bgc_fp64_cotes_number_copy(BGC_FP64_CotesNumber* destination, const BGC_FP64_CotesNumber* source)
{
destination->_cos = source->_cos;
destination->_sin = source->_sin;
}
// ==================== Swap ==================== //
inline void bgc_fp32_cotes_number_swap(BGC_FP32_CotesNumber* number1, BGC_FP32_CotesNumber* number2)
{
const float cos = number1->_cos;
const float sin = number1->_sin;
number1->_cos = number2->_cos;
number1->_sin = number2->_sin;
number2->_cos = cos;
number2->_sin = sin;
}
inline void bgc_fp64_cotes_number_swap(BGC_FP64_CotesNumber* number1, BGC_FP64_CotesNumber* number2)
{
const double cos = number1->_cos;
const double sin = number1->_sin;
number1->_cos = number2->_cos;
number1->_sin = number2->_sin;
number2->_cos = cos;
number2->_sin = sin;
}
// ================== Convert =================== //
inline void bgc_fp64_cotes_number_convert_to_fp32(BGC_FP32_CotesNumber* destination, const BGC_FP64_CotesNumber* source)
{
bgc_fp32_cotes_number_make(destination, (float)source->_cos, (float)source->_sin);
}
inline void bgc_fp32_cotes_number_convert_to_fp64(BGC_FP64_CotesNumber* destination, const BGC_FP32_CotesNumber* source)
{
bgc_fp64_cotes_number_make(destination, (double)source->_cos, (double)source->_sin);
}
// =================== Revert =================== //
inline void bgc_fp32_cotes_number_revert(BGC_FP32_CotesNumber* number)
{
number->_sin = -number->_sin;
}
inline void bgc_fp64_cotes_number_revert(BGC_FP64_CotesNumber* number)
{
number->_sin = -number->_sin;
}
inline void bgc_fp32_cotes_number_get_reverse(BGC_FP32_CotesNumber* reverse, const BGC_FP32_CotesNumber* number)
{
reverse->_cos = number->_cos;
reverse->_sin = -number->_sin;
}
inline void bgc_fp64_cotes_number_get_reverse(BGC_FP64_CotesNumber* reverse, const BGC_FP64_CotesNumber* number)
{
reverse->_cos = number->_cos;
reverse->_sin = -number->_sin;
}
// ================= Exponation ================= //
inline void bgc_fp32_cotes_number_get_exponation(BGC_FP32_CotesNumber* power, const BGC_FP32_CotesNumber* base, const float exponent)
{
const float power_angle = exponent * atan2f(base->_sin, base->_cos);
power->_cos = cosf(power_angle);
power->_sin = sinf(power_angle);
}
inline void bgc_fp64_cotes_number_get_exponation(BGC_FP64_CotesNumber* power, const BGC_FP64_CotesNumber* base, const double exponent)
{
const double power_angle = exponent * atan2(base->_sin, base->_cos);
power->_cos = cos(power_angle);
power->_sin = sin(power_angle);
}
// ================ Combination ================= //
inline void bgc_fp32_cotes_number_combine(BGC_FP32_CotesNumber* combination, const BGC_FP32_CotesNumber* number1, const BGC_FP32_CotesNumber* number2)
{
bgc_fp32_cotes_number_make(
combination,
number1->_cos * number2->_cos - number1->_sin * number2->_sin,
number1->_cos * number2->_sin + number1->_sin * number2->_cos
);
}
inline void bgc_fp64_cotes_number_combine(BGC_FP64_CotesNumber* combination, const BGC_FP64_CotesNumber* number1, const BGC_FP64_CotesNumber* number2)
{
bgc_fp64_cotes_number_make(
combination,
number1->_cos * number2->_cos - number1->_sin * number2->_sin,
number1->_cos * number2->_sin + number1->_sin * number2->_cos
);
}
// ================= Exclusion ================== //
inline void bgc_fp32_cotes_number_exclude(BGC_FP32_CotesNumber* difference, const BGC_FP32_CotesNumber* base, const BGC_FP32_CotesNumber* excludant)
{
bgc_fp32_cotes_number_make(
difference,
base->_cos * excludant->_cos + base->_sin * excludant->_sin,
base->_sin * excludant->_cos - base->_cos * excludant->_sin
);
}
inline void bgc_fp64_cotes_number_exclude(BGC_FP64_CotesNumber* difference, const BGC_FP64_CotesNumber* base, const BGC_FP64_CotesNumber* excludant)
{
bgc_fp64_cotes_number_make(
difference,
base->_cos * excludant->_cos + base->_sin * excludant->_sin,
base->_sin * excludant->_cos - base->_cos * excludant->_sin
);
}
// ============== Rotation Matrix =============== //
inline void bgc_fp32_cotes_number_get_rotation_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_CotesNumber* number)
{
matrix->r1c1 = number->_cos;
matrix->r1c2 = -number->_sin;
matrix->r2c1 = number->_sin;
matrix->r2c2 = number->_cos;
}
inline void bgc_fp64_cotes_number_get_rotation_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_CotesNumber* number)
{
matrix->r1c1 = number->_cos;
matrix->r1c2 = -number->_sin;
matrix->r2c1 = number->_sin;
matrix->r2c2 = number->_cos;
}
// ============== Reverse Matrix ================ //
inline void bgc_fp32_cotes_number_get_reverse_matrix(BGC_FP32_Matrix2x2* matrix, const BGC_FP32_CotesNumber* number)
{
matrix->r1c1 = number->_cos;
matrix->r1c2 = number->_sin;
matrix->r2c1 = -number->_sin;
matrix->r2c2 = number->_cos;
}
inline void bgc_fp64_cotes_number_get_reverse_matrix(BGC_FP64_Matrix2x2* matrix, const BGC_FP64_CotesNumber* number)
{
matrix->r1c1 = number->_cos;
matrix->r1c2 = number->_sin;
matrix->r2c1 = -number->_sin;
matrix->r2c2 = number->_cos;
}
// ================ Turn Vector ================= //
inline void bgc_fp32_cotes_number_turn_vector(BGC_FP32_Vector2* turned_vector, const BGC_FP32_CotesNumber* number, const BGC_FP32_Vector2* vector)
{
const float x1 = number->_cos * vector->x1 - number->_sin * vector->x2;
const float x2 = number->_sin * vector->x1 + number->_cos * vector->x2;
turned_vector->x1 = x1;
turned_vector->x2 = x2;
}
inline void bgc_fp64_cotes_number_turn_vector(BGC_FP64_Vector2* turned_vector, const BGC_FP64_CotesNumber* number, const BGC_FP64_Vector2* vector)
{
const double x1 = number->_cos * vector->x1 - number->_sin * vector->x2;
const double x2 = number->_sin * vector->x1 + number->_cos * vector->x2;
turned_vector->x1 = x1;
turned_vector->x2 = x2;
}
// ============ Turn Vector Backward ============ //
inline void bgc_fp32_cotes_number_turn_vector_back(BGC_FP32_Vector2* turned_vector, const BGC_FP32_CotesNumber* number, const BGC_FP32_Vector2* vector)
{
const float x1 = number->_sin * vector->x2 + number->_cos * vector->x1;
const float x2 = number->_cos * vector->x2 - number->_sin * vector->x1;
turned_vector->x1 = x1;
turned_vector->x2 = x2;
}
inline void bgc_fp64_cotes_number_turn_vector_back(BGC_FP64_Vector2* turned_vector, const BGC_FP64_CotesNumber* number, const BGC_FP64_Vector2* vector)
{
const double x1 = number->_sin * vector->x2 + number->_cos * vector->x1;
const double x2 = number->_cos * vector->x2 - number->_sin * vector->x1;
turned_vector->x1 = x1;
turned_vector->x2 = x2;
}
// ================== Are Close ================= //
inline int bgc_fp32_cotes_number_are_close(const BGC_FP32_CotesNumber* number1, const BGC_FP32_CotesNumber* number2)
{
const float d_cos = number1->_cos - number2->_cos;
const float d_sin = number1->_sin - number2->_sin;
return d_cos * d_cos + d_sin * d_sin <= BGC_FP32_SQUARE_EPSILON;
}
inline int bgc_fp64_cotes_number_are_close(const BGC_FP64_CotesNumber* number1, const BGC_FP64_CotesNumber* number2)
{
const double d_cos = number1->_cos - number2->_cos;
const double d_sin = number1->_sin - number2->_sin;
return d_cos * d_cos + d_sin * d_sin <= BGC_FP64_SQUARE_EPSILON;
}
#endif

4
basic-geometry/dual-quaternion.c
View file

@ -15,8 +15,8 @@ extern inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuatern
extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second);
extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second);
extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale);
extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale);
extern inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale);
extern inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale);
extern inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend);
extern inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend);

4
basic-geometry/dual-quaternion.h
View file

@ -85,13 +85,13 @@ inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC
// ================= Add Scaled ================= //
inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
{
bgc_fp32_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale);
bgc_fp32_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale);
}
inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
{
bgc_fp64_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale);
bgc_fp64_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale);

4
basic-geometry/matrix2x2.c
View file

@ -9,8 +9,8 @@ extern inline void bgc_fp64_matrix2x2_make_identity(BGC_FP64_Matrix2x2* matrix);
extern inline void bgc_fp32_matrix2x2_make_diagonal(BGC_FP32_Matrix2x2* matrix, const float d1, const float d2);
extern inline void bgc_fp64_matrix2x2_make_diagonal(BGC_FP64_Matrix2x2* matrix, const double d1, const double d2);
extern inline void bgc_fp32_matrix2x2_make_for_turn(BGC_FP32_Matrix2x2* matrix, const float angle, const int angle_unit);
extern inline void bgc_fp64_matrix2x2_make_for_turn(BGC_FP64_Matrix2x2* matrix, const double angle, const int angle_unit);
extern inline void bgc_fp32_matrix2x2_set_turn(BGC_FP32_Matrix2x2* matrix, const float angle, const int angle_unit);
extern inline void bgc_fp64_matrix2x2_set_turn(BGC_FP64_Matrix2x2* matrix, const double angle, const int angle_unit);
extern inline float bgc_fp32_matrix2x2_get_determinant(const BGC_FP32_Matrix2x2* matrix);
extern inline double bgc_fp64_matrix2x2_get_determinant(const BGC_FP64_Matrix2x2* matrix);

4
basic-geometry/matrix2x2.h
View file

@ -61,7 +61,7 @@ inline void bgc_fp64_matrix2x2_make_diagonal(BGC_FP64_Matrix2x2* matrix, const d
// ============== Rotation Matrix =============== //
inline void bgc_fp32_matrix2x2_make_for_turn(BGC_FP32_Matrix2x2* matrix, const float angle, const int angle_unit)
inline void bgc_fp32_matrix2x2_set_turn(BGC_FP32_Matrix2x2* matrix, const float angle, const int angle_unit)
{
const float radians = bgc_fp32_angle_to_radians(angle, angle_unit);
const float cosine = cosf(radians);
@ -73,7 +73,7 @@ inline void bgc_fp32_matrix2x2_make_for_turn(BGC_FP32_Matrix2x2* matrix, const f
matrix->r2c2 = cosine;
}
inline void bgc_fp64_matrix2x2_make_for_turn(BGC_FP64_Matrix2x2* matrix, const double angle, const int angle_unit)
inline void bgc_fp64_matrix2x2_set_turn(BGC_FP64_Matrix2x2* matrix, const double angle, const int angle_unit)
{
const double radians = bgc_fp64_angle_to_radians(angle, angle_unit);
const double cosine = cos(radians);

4
basic-geometry/position2.c
View file

@ -3,8 +3,8 @@
extern inline void bgc_fp32_position2_reset(BGC_FP32_Position2* node);
extern inline void bgc_fp64_position2_reset(BGC_FP64_Position2* node);
extern inline void bgc_fp32_position2_make(BGC_FP32_Position2* position, const BGC_FP32_CotesNumber* turn, const BGC_FP32_Vector2* shift);
extern inline void bgc_fp64_position2_make(BGC_FP64_Position2* position, const BGC_FP64_CotesNumber* turn, const BGC_FP64_Vector2* shift);
extern inline void bgc_fp32_position2_make(BGC_FP32_Position2* position, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* shift);
extern inline void bgc_fp64_position2_make(BGC_FP64_Position2* position, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* shift);
extern inline void bgc_fp32_position2_copy(BGC_FP32_Position2* destination, const BGC_FP32_Position2* source);
extern inline void bgc_fp64_position2_copy(BGC_FP64_Position2* destination, const BGC_FP64_Position2* source);

90
basic-geometry/position2.h
View file

@ -3,17 +3,17 @@
#include "vector2.h"
#include "affine2.h"
#include "cotes-number.h"
#include "turn2.h"
// ==================== Types ==================== //
typedef struct {
BGC_FP32_CotesNumber turn;
BGC_FP32_Turn2 turn;
BGC_FP32_Vector2 shift;
} BGC_FP32_Position2;
typedef struct {
BGC_FP64_CotesNumber turn;
BGC_FP64_Turn2 turn;
BGC_FP64_Vector2 shift;
} BGC_FP64_Position2;
@ -21,27 +21,27 @@ typedef struct {
inline void bgc_fp32_position2_reset(BGC_FP32_Position2* position)
{
bgc_fp32_cotes_number_reset(&position->turn);
bgc_fp32_turn2_reset(&position->turn);
bgc_fp32_vector2_reset(&position->shift);
}
inline void bgc_fp64_position2_reset(BGC_FP64_Position2* position)
{
bgc_fp64_cotes_number_reset(&position->turn);
bgc_fp64_turn2_reset(&position->turn);
bgc_fp64_vector2_reset(&position->shift);
}
// ==================== Make ===================== //
inline void bgc_fp32_position2_make(BGC_FP32_Position2* position, const BGC_FP32_CotesNumber* turn, const BGC_FP32_Vector2* shift)
inline void bgc_fp32_position2_make(BGC_FP32_Position2* position, const BGC_FP32_Turn2* turn, const BGC_FP32_Vector2* shift)
{
bgc_fp32_cotes_number_copy(&position->turn, turn);
bgc_fp32_turn2_copy(&position->turn, turn);
bgc_fp32_vector2_copy(&position->shift, shift);
}
inline void bgc_fp64_position2_make(BGC_FP64_Position2* position, const BGC_FP64_CotesNumber* turn, const BGC_FP64_Vector2* shift)
inline void bgc_fp64_position2_make(BGC_FP64_Position2* position, const BGC_FP64_Turn2* turn, const BGC_FP64_Vector2* shift)
{
bgc_fp64_cotes_number_copy(&position->turn, turn);
bgc_fp64_turn2_copy(&position->turn, turn);
bgc_fp64_vector2_copy(&position->shift, shift);
}
@ -50,13 +50,13 @@ inline void bgc_fp64_position2_make(BGC_FP64_Position2* position, const BGC_FP64
inline void bgc_fp32_position2_copy(BGC_FP32_Position2* destination, const BGC_FP32_Position2* source)
{
bgc_fp32_cotes_number_copy(&destination->turn, &source->turn);
bgc_fp32_turn2_copy(&destination->turn, &source->turn);
bgc_fp32_vector2_copy(&destination->shift, &source->shift);
}
inline void bgc_fp64_position2_copy(BGC_FP64_Position2* destination, const BGC_FP64_Position2* source)
{
bgc_fp64_cotes_number_copy(&destination->turn, &source->turn);
bgc_fp64_turn2_copy(&destination->turn, &source->turn);
bgc_fp64_vector2_copy(&destination->shift, &source->shift);
}
@ -64,13 +64,13 @@ inline void bgc_fp64_position2_copy(BGC_FP64_Position2* destination, const BGC_F
inline void bgc_fp32_position2_swap(BGC_FP32_Position2 * first, BGC_FP32_Position2 * second)
{
bgc_fp32_cotes_number_swap(&first->turn, &second->turn);
bgc_fp32_turn2_swap(&first->turn, &second->turn);
bgc_fp32_vector2_swap(&first->shift, &second->shift);
}
inline void bgc_fp64_position2_swap(BGC_FP64_Position2 * first, BGC_FP64_Position2 * second)
{
bgc_fp64_cotes_number_swap(&first->turn, &second->turn);
bgc_fp64_turn2_swap(&first->turn, &second->turn);
bgc_fp64_vector2_swap(&first->shift, &second->shift);
}
@ -78,13 +78,13 @@ inline void bgc_fp64_position2_swap(BGC_FP64_Position2 * first, BGC_FP64_Positio
inline void bgc_fp64_position2_convert_to_fp32(BGC_FP32_Position2* destination, const BGC_FP64_Position2 * source)
{
bgc_fp64_cotes_number_convert_to_fp32(&destination->turn, &source->turn);
bgc_fp64_turn2_convert_to_fp32(&destination->turn, &source->turn);
bgc_fp64_vector2_convert_to_fp32(&destination->shift, &source->shift);
}
inline void bgc_fp32_position2_convert_to_fp64(BGC_FP64_Position2* destination, const BGC_FP32_Position2 * source)
{
bgc_fp32_cotes_number_convert_to_fp64(&destination->turn, &source->turn);
bgc_fp32_turn2_convert_to_fp64(&destination->turn, &source->turn);
bgc_fp32_vector2_convert_to_fp64(&destination->shift, &source->shift);
}
@ -92,27 +92,27 @@ inline void bgc_fp32_position2_convert_to_fp64(BGC_FP64_Position2* destination,
inline int bgc_fp32_position2_is_idle(const BGC_FP32_Position2 * position)
{
return bgc_fp32_vector2_is_zero(&position->shift) && bgc_fp32_cotes_number_is_idle(&position->turn);
return bgc_fp32_vector2_is_zero(&position->shift) && bgc_fp32_turn2_is_idle(&position->turn);
}
inline int bgc_fp64_position2_is_idle(const BGC_FP64_Position2 * position)
{
return bgc_fp64_vector2_is_zero(&position->shift) && bgc_fp64_cotes_number_is_idle(&position->turn);
return bgc_fp64_vector2_is_zero(&position->shift) && bgc_fp64_turn2_is_idle(&position->turn);
}
// =================== Invert ==================== //
inline void bgc_fp32_position2_invert(BGC_FP32_Position2 * position)
{
bgc_fp32_cotes_number_turn_vector_back(&position->shift, &position->turn, &position->shift);
bgc_fp32_cotes_number_revert(&position->turn);
bgc_fp32_turn2_vector_back(&position->shift, &position->turn, &position->shift);
bgc_fp32_turn2_revert(&position->turn);
bgc_fp32_vector2_revert(&position->shift);
}
inline void bgc_fp64_position2_invert(BGC_FP64_Position2 * position)
{
bgc_fp64_cotes_number_turn_vector_back(&position->shift, &position->turn, &position->shift);
bgc_fp64_cotes_number_revert(&position->turn);
bgc_fp64_turn2_vector_back(&position->shift, &position->turn, &position->shift);
bgc_fp64_turn2_revert(&position->turn);
bgc_fp64_vector2_revert(&position->shift);
}
@ -120,15 +120,15 @@ inline void bgc_fp64_position2_invert(BGC_FP64_Position2 * position)
inline void bgc_fp32_position2_get_inverse(BGC_FP32_Position2* inverted, const BGC_FP32_Position2 * position)
{
bgc_fp32_cotes_number_turn_vector_back(&inverted->shift, &position->turn, &position->shift);
bgc_fp32_cotes_number_get_reverse(&inverted->turn, &position->turn);
bgc_fp32_turn2_vector_back(&inverted->shift, &position->turn, &position->shift);
bgc_fp32_turn2_get_reverse(&inverted->turn, &position->turn);
bgc_fp32_vector2_revert(&inverted->shift);
}
inline void bgc_fp64_position2_get_inverse(BGC_FP64_Position2* inverted, const BGC_FP64_Position2 * position)
{
bgc_fp64_cotes_number_turn_vector_back(&inverted->shift, &position->turn, &position->shift);
bgc_fp64_cotes_number_get_reverse(&inverted->turn, &position->turn);
bgc_fp64_turn2_vector_back(&inverted->shift, &position->turn, &position->shift);
bgc_fp64_turn2_get_reverse(&inverted->turn, &position->turn);
bgc_fp64_vector2_revert(&inverted->shift);
}
@ -137,16 +137,16 @@ inline void bgc_fp64_position2_get_inverse(BGC_FP64_Position2* inverted, const B
inline void bgc_fp32_position2_combine(BGC_FP32_Position2* combination, const BGC_FP32_Position2 * first, const BGC_FP32_Position2 * second)
{
BGC_FP32_Vector2 relative_shift;
bgc_fp32_cotes_number_turn_vector(&relative_shift, &second->turn, &first->shift);
bgc_fp32_cotes_number_combine(&combination->turn, &first->turn, &second->turn);
bgc_fp32_turn2_vector(&relative_shift, &second->turn, &first->shift);
bgc_fp32_turn2_combine(&combination->turn, &first->turn, &second->turn);
bgc_fp32_vector2_add(&combination->shift, &second->shift, &relative_shift);
}
inline void bgc_fp64_position2_combine(BGC_FP64_Position2* combination, const BGC_FP64_Position2 * first, const BGC_FP64_Position2 * second)
{
BGC_FP64_Vector2 relative_shift;
bgc_fp64_cotes_number_turn_vector(&relative_shift, &second->turn, &first->shift);
bgc_fp64_cotes_number_combine(&combination->turn, &first->turn, &second->turn);
bgc_fp64_turn2_vector(&relative_shift, &second->turn, &first->shift);
bgc_fp64_turn2_combine(&combination->turn, &first->turn, &second->turn);
bgc_fp64_vector2_add(&combination->shift, &second->shift, &relative_shift);
}
@ -156,29 +156,29 @@ inline void bgc_fp32_position2_exclude(BGC_FP32_Position2* difference, const BGC
{
BGC_FP32_Vector2 relative_shift;
bgc_fp32_vector2_subtract(&relative_shift, &base->shift, &excludand->shift);
bgc_fp32_cotes_number_turn_vector_back(&difference->shift, &excludand->turn, &relative_shift);
bgc_fp32_cotes_number_exclude(&difference->turn, &base->turn, &excludand->turn);
bgc_fp32_turn2_vector_back(&difference->shift, &excludand->turn, &relative_shift);
bgc_fp32_turn2_exclude(&difference->turn, &base->turn, &excludand->turn);
}
inline void bgc_fp64_position2_exclude(BGC_FP64_Position2* difference, const BGC_FP64_Position2 * base, const BGC_FP64_Position2 * excludand)
{
BGC_FP64_Vector2 relative_shift;
bgc_fp64_vector2_subtract(&relative_shift, &base->shift, &excludand->shift);
bgc_fp64_cotes_number_turn_vector_back(&difference->shift, &excludand->turn, &relative_shift);
bgc_fp64_cotes_number_exclude(&difference->turn, &base->turn, &excludand->turn);
bgc_fp64_turn2_vector_back(&difference->shift, &excludand->turn, &relative_shift);
bgc_fp64_turn2_exclude(&difference->turn, &base->turn, &excludand->turn);
}
// ============= Get Outward Affine ============== //
inline void bgc_fp32_position2_get_outward_affine(BGC_FP32_Affine2* outward_affine_map, const BGC_FP32_Position2 * position)
{
bgc_fp32_cotes_number_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
bgc_fp32_turn2_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
bgc_fp32_vector2_copy(&outward_affine_map->shift, &position->shift);
}
inline void bgc_fp64_position2_get_outward_affine(BGC_FP64_Affine2* outward_affine_map, const BGC_FP64_Position2 * position)
{
bgc_fp64_cotes_number_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
bgc_fp64_turn2_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
bgc_fp64_vector2_copy(&outward_affine_map->shift, &position->shift);
}
@ -186,14 +186,14 @@ inline void bgc_fp64_position2_get_outward_affine(BGC_FP64_Affine2* outward_affi
inline void bgc_fp32_position2_get_inward_affine(BGC_FP32_Affine2* inward_affine_map, const BGC_FP32_Position2 * position)
{
bgc_fp32_cotes_number_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
bgc_fp32_turn2_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
bgc_fp32_multiply_matrix2x2_by_vector2(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
bgc_fp32_vector2_revert(&inward_affine_map->shift);
}
inline void bgc_fp64_position2_get_inward_affine(BGC_FP64_Affine2* inward_affine_map, const BGC_FP64_Position2 * position)
{
bgc_fp64_cotes_number_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
bgc_fp64_turn2_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
bgc_fp64_multiply_matrix2x2_by_vector2(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
bgc_fp64_vector2_revert(&inward_affine_map->shift);
}
@ -203,14 +203,14 @@ inline void bgc_fp64_position2_get_inward_affine(BGC_FP64_Affine2* inward_affine
inline void bgc_fp32_position2_transform_point_outwards(BGC_FP32_Vector2* outer_point, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * inner_point)
{
BGC_FP32_Vector2 turned_point;
bgc_fp32_cotes_number_turn_vector(&turned_point, &position->turn, inner_point);
bgc_fp32_turn2_vector(&turned_point, &position->turn, inner_point);
bgc_fp32_vector2_add(outer_point, &position->shift, &turned_point);
}
inline void bgc_fp64_position2_transform_point_outwards(BGC_FP64_Vector2* outer_point, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * inner_point)
{
BGC_FP64_Vector2 turned_point;
bgc_fp64_cotes_number_turn_vector(&turned_point, &position->turn, inner_point);
bgc_fp64_turn2_vector(&turned_point, &position->turn, inner_point);
bgc_fp64_vector2_add(outer_point, &position->shift, &turned_point);
}
@ -220,7 +220,7 @@ inline void bgc_fp32_position2_transform_point_inwards(BGC_FP32_Vector2* inner_p
{
BGC_FP32_Vector2 relative_point;
bgc_fp32_vector2_subtract(&relative_point, outer_point, &position->shift);
bgc_fp32_cotes_number_turn_vector_back(inner_point, &position->turn, &relative_point);
bgc_fp32_turn2_vector_back(inner_point, &position->turn, &relative_point);
}
@ -228,7 +228,7 @@ inline void bgc_fp64_position2_transform_point_inwards(BGC_FP64_Vector2* inner_p
{
BGC_FP64_Vector2 relative_point;
bgc_fp64_vector2_subtract(&relative_point, outer_point, &position->shift);
bgc_fp64_cotes_number_turn_vector_back(inner_point, &position->turn, &relative_point);
bgc_fp64_turn2_vector_back(inner_point, &position->turn, &relative_point);
}
@ -236,24 +236,24 @@ inline void bgc_fp64_position2_transform_point_inwards(BGC_FP64_Vector2* inner_p
inline void bgc_fp32_position2_transform_vector_outwards(BGC_FP32_Vector2* outer_vector, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * inner_vector)
{
bgc_fp32_cotes_number_turn_vector(outer_vector, &position->turn, inner_vector);
bgc_fp32_turn2_vector(outer_vector, &position->turn, inner_vector);
}
inline void bgc_fp64_position2_transform_vector_outwards(BGC_FP64_Vector2* outer_vector, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * inner_vector)
{
bgc_fp64_cotes_number_turn_vector(outer_vector, &position->turn, inner_vector);
bgc_fp64_turn2_vector(outer_vector, &position->turn, inner_vector);
}
// ========== Transform Vector Inwards =========== //
inline void bgc_fp32_position2_transform_vector_inwards(BGC_FP32_Vector2* inner_vector, const BGC_FP32_Position2 * position, const BGC_FP32_Vector2 * outer_vector)
{
bgc_fp32_cotes_number_turn_vector_back(inner_vector, &position->turn, outer_vector);
bgc_fp32_turn2_vector_back(inner_vector, &position->turn, outer_vector);
}
inline void bgc_fp64_position2_transform_vector_inwards(BGC_FP64_Vector2* inner_vector, const BGC_FP64_Position2 * position, const BGC_FP64_Vector2 * outer_vector)
{
bgc_fp64_cotes_number_turn_vector_back(inner_vector, &position->turn, outer_vector);
bgc_fp64_turn2_vector_back(inner_vector, &position->turn, outer_vector);
}
#endif

4
basic-geometry/position3.c
View file

@ -3,8 +3,8 @@
extern inline void bgc_fp32_position3_reset(BGC_FP32_Position3 * node);
extern inline void bgc_fp64_position3_reset(BGC_FP64_Position3 * node);
extern inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Versor* turn, const BGC_FP32_Vector3* shift);
extern inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Versor * turn, const BGC_FP64_Vector3 * shift);
extern inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* shift);
extern inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Turn3 * turn, const BGC_FP64_Vector3 * shift);
extern inline void bgc_fp32_position3_copy(BGC_FP32_Position3* destination, const BGC_FP32_Position3* source);
extern inline void bgc_fp64_position3_copy(BGC_FP64_Position3* destination, const BGC_FP64_Position3 * source);

90
basic-geometry/position3.h
View file

@ -3,17 +3,17 @@
#include "vector3.h"
#include "affine3.h"
#include "versor.h"
#include "turn3.h"
// ==================== Types ==================== //
typedef struct {
BGC_FP32_Versor turn;
BGC_FP32_Turn3 turn;
BGC_FP32_Vector3 shift;
} BGC_FP32_Position3;
typedef struct {
BGC_FP64_Versor turn;
BGC_FP64_Turn3 turn;
BGC_FP64_Vector3 shift;
} BGC_FP64_Position3;
@ -21,27 +21,27 @@ typedef struct {
inline void bgc_fp32_position3_reset(BGC_FP32_Position3 * position)
{
bgc_fp32_versor_reset(&position->turn);
bgc_fp32_turn3_reset(&position->turn);
bgc_fp32_vector3_reset(&position->shift);
}
inline void bgc_fp64_position3_reset(BGC_FP64_Position3 * position)
{
bgc_fp64_versor_reset(&position->turn);
bgc_fp64_turn3_reset(&position->turn);
bgc_fp64_vector3_reset(&position->shift);
}
// ==================== Make ===================== //
inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Versor * turn, const BGC_FP32_Vector3 * shift)
inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Turn3 * turn, const BGC_FP32_Vector3 * shift)
{
bgc_fp32_versor_copy(&position->turn, turn);
bgc_fp32_turn3_copy(&position->turn, turn);
bgc_fp32_vector3_copy(&position->shift, shift);
}
inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Versor * turn, const BGC_FP64_Vector3 * shift)
inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Turn3 * turn, const BGC_FP64_Vector3 * shift)
{
bgc_fp64_versor_copy(&position->turn, turn);
bgc_fp64_turn3_copy(&position->turn, turn);
bgc_fp64_vector3_copy(&position->shift, shift);
}
@ -49,13 +49,13 @@ inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64
inline void bgc_fp32_position3_copy(BGC_FP32_Position3* destination, const BGC_FP32_Position3 * source)
{
bgc_fp32_versor_copy(&destination->turn, &source->turn);
bgc_fp32_turn3_copy(&destination->turn, &source->turn);
bgc_fp32_vector3_copy(&destination->shift, &source->shift);
}
inline void bgc_fp64_position3_copy(BGC_FP64_Position3* destination, const BGC_FP64_Position3 * source)
{
bgc_fp64_versor_copy(&destination->turn, &source->turn);
bgc_fp64_turn3_copy(&destination->turn, &source->turn);
bgc_fp64_vector3_copy(&destination->shift, &source->shift);
}
@ -63,13 +63,13 @@ inline void bgc_fp64_position3_copy(BGC_FP64_Position3* destination, const BGC_F
inline void bgc_fp32_position3_swap(BGC_FP32_Position3 * first, BGC_FP32_Position3 * second)
{
bgc_fp32_versor_swap(&first->turn, &second->turn);
bgc_fp32_turn3_swap(&first->turn, &second->turn);
bgc_fp32_vector3_swap(&first->shift, &second->shift);
}
inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Position3 * second)
{
bgc_fp64_versor_swap(&first->turn, &second->turn);
bgc_fp64_turn3_swap(&first->turn, &second->turn);
bgc_fp64_vector3_swap(&first->shift, &second->shift);
}
@ -77,13 +77,13 @@ inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Positio
inline void bgc_fp32_position3_convert_to_fp64(BGC_FP64_Position3* destination, const BGC_FP32_Position3 * source)
{
bgc_fp32_versor_convert_to_fp64(&destination->turn, &source->turn);
bgc_fp32_turn3_convert_to_fp64(&destination->turn, &source->turn);
bgc_fp32_vector3_convert_to_fp64(&destination->shift, &source->shift);
}
inline void bgc_fp64_position3_convert_to_fp32(BGC_FP32_Position3* destination, const BGC_FP64_Position3* source)
{
bgc_fp64_versor_convert_to_fp32(&destination->turn, &source->turn);
bgc_fp64_turn3_convert_to_fp32(&destination->turn, &source->turn);
bgc_fp64_vector3_convert_to_fp32(&destination->shift, &source->shift);
}
@ -91,27 +91,27 @@ inline void bgc_fp64_position3_convert_to_fp32(BGC_FP32_Position3* destination,
inline int bgc_fp32_position3_is_idle(const BGC_FP32_Position3 * position)
{
return bgc_fp32_vector3_is_zero(&position->shift) && bgc_fp32_versor_is_idle(&position->turn);
return bgc_fp32_vector3_is_zero(&position->shift) && bgc_fp32_turn3_is_idle(&position->turn);
}
inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3 * position)
{
return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_versor_is_idle(&position->turn);
return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_turn3_is_idle(&position->turn);
}
// =================== Invert ==================== //
inline void bgc_fp32_position3_invert(BGC_FP32_Position3 * position)
{
bgc_fp32_versor_turn_vector_back(&position->shift, &position->turn, &position->shift);
bgc_fp32_versor_revert(&position->turn);
bgc_fp32_turn3_vector_back(&position->shift, &position->turn, &position->shift);
bgc_fp32_turn3_revert(&position->turn);
bgc_fp32_vector3_revert(&position->shift);
}
inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position)
{
bgc_fp64_versor_turn_vector_back(&position->shift, &position->turn, &position->shift);
bgc_fp64_versor_revert(&position->turn);
bgc_fp64_turn3_vector_back(&position->shift, &position->turn, &position->shift);
bgc_fp64_turn3_revert(&position->turn);
bgc_fp64_vector3_revert(&position->shift);
}
@ -119,15 +119,15 @@ inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position)
inline void bgc_fp32_position3_get_inverse(BGC_FP32_Position3* inverse, const BGC_FP32_Position3 * position)
{
bgc_fp32_versor_turn_vector_back(&inverse->shift, &position->turn, &position->shift);
bgc_fp32_versor_get_reverse(&inverse->turn, &position->turn);
bgc_fp32_turn3_vector_back(&inverse->shift, &position->turn, &position->shift);
bgc_fp32_turn3_get_reverse(&inverse->turn, &position->turn);
bgc_fp32_vector3_revert(&inverse->shift);
}
inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* inverse, const BGC_FP64_Position3 * position)
{
bgc_fp64_versor_turn_vector_back(&inverse->shift, &position->turn, &position->shift);
bgc_fp64_versor_get_reverse(&inverse->turn, &position->turn);
bgc_fp64_turn3_vector_back(&inverse->shift, &position->turn, &position->shift);
bgc_fp64_turn3_get_reverse(&inverse->turn, &position->turn);
bgc_fp64_vector3_revert(&inverse->shift);
}
@ -136,16 +136,16 @@ inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* inverse, const BG
inline void bgc_fp32_position3_combine(BGC_FP32_Position3* combination, const BGC_FP32_Position3 * first, const BGC_FP32_Position3 * second)
{
BGC_FP32_Vector3 relative_shift;
bgc_fp32_versor_turn_vector(&relative_shift, &second->turn, &first->shift);
bgc_fp32_versor_combine(&combination->turn, &first->turn, &second->turn);
bgc_fp32_turn3_vector(&relative_shift, &second->turn, &first->shift);
bgc_fp32_turn3_combine(&combination->turn, &first->turn, &second->turn);
bgc_fp32_vector3_add(&combination->shift, &relative_shift, &second->shift);
}
inline void bgc_fp64_position3_combine(BGC_FP64_Position3* combination, const BGC_FP64_Position3 * first, const BGC_FP64_Position3 * second)
{
BGC_FP64_Vector3 relative_shift;
bgc_fp64_versor_turn_vector(&relative_shift, &second->turn, &first->shift);
bgc_fp64_versor_combine(&combination->turn, &first->turn, &second->turn);
bgc_fp64_turn3_vector(&relative_shift, &second->turn, &first->shift);
bgc_fp64_turn3_combine(&combination->turn, &first->turn, &second->turn);
bgc_fp64_vector3_add(&combination->shift, &relative_shift, &second->shift);
}
@ -155,29 +155,29 @@ inline void bgc_fp32_position3_exclude(BGC_FP32_Position3* difference, const BGC
{
BGC_FP32_Vector3 relative_shift;
bgc_fp32_vector3_subtract(&relative_shift, &base->shift, &excludant->shift);
bgc_fp32_versor_turn_vector_back(&difference->shift, &excludant->turn, &relative_shift);
bgc_fp32_versor_exclude(&difference->turn, &base->turn, &excludant->turn);
bgc_fp32_turn3_vector_back(&difference->shift, &excludant->turn, &relative_shift);
bgc_fp32_turn3_exclude(&difference->turn, &base->turn, &excludant->turn);
}
inline void bgc_fp64_position3_exclude(BGC_FP64_Position3* difference, const BGC_FP64_Position3 * base, const BGC_FP64_Position3 * excludant)
{
BGC_FP64_Vector3 relative_shift;
bgc_fp64_vector3_subtract(&relative_shift, &base->shift, &excludant->shift);
bgc_fp64_versor_turn_vector_back(&difference->shift, &excludant->turn, &relative_shift);
bgc_fp64_versor_exclude(&difference->turn, &base->turn, &excludant->turn);
bgc_fp64_turn3_vector_back(&difference->shift, &excludant->turn, &relative_shift);
bgc_fp64_turn3_exclude(&difference->turn, &base->turn, &excludant->turn);
}
// ============= Get Outward Affine ============== //
inline void bgc_fp32_position3_get_outward_affine(BGC_FP32_Affine3* outward_affine_map, const BGC_FP32_Position3 * position)
{
bgc_fp32_versor_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
bgc_fp32_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
bgc_fp32_vector3_copy(&outward_affine_map->shift, &position->shift);
}
inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* outward_affine_map, const BGC_FP64_Position3 * position)
{
bgc_fp64_versor_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
bgc_fp64_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
bgc_fp64_vector3_copy(&outward_affine_map->shift, &position->shift);
}
@ -185,14 +185,14 @@ inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* outward_affi
inline void bgc_fp32_position3_get_inward_affine(BGC_FP32_Affine3* inward_affine_map, const BGC_FP32_Position3 * position)
{
bgc_fp32_versor_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
bgc_fp32_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
bgc_fp32_multiply_matrix3x3_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
bgc_fp32_vector3_revert(&inward_affine_map->shift);
}
inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* inward_affine_map, const BGC_FP64_Position3 * position)
{
bgc_fp64_versor_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
bgc_fp64_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
bgc_fp64_multiply_matrix3x3_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
bgc_fp64_vector3_revert(&inward_affine_map->shift);
}
@ -202,14 +202,14 @@ inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* inward_affine
inline void bgc_fp32_position3_transform_point_outwards(BGC_FP32_Vector3* outer_point, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_point)
{
BGC_FP32_Vector3 turned_point;
bgc_fp32_versor_turn_vector(&turned_point, &position->turn, inner_point);
bgc_fp32_turn3_vector(&turned_point, &position->turn, inner_point);
bgc_fp32_vector3_add(outer_point, &position->shift, &turned_point);
}
inline void bgc_fp64_position3_transform_point_outwards(BGC_FP64_Vector3* outer_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_point)
{
BGC_FP64_Vector3 turned_point;
bgc_fp64_versor_turn_vector(&turned_point, &position->turn, inner_point);
bgc_fp64_turn3_vector(&turned_point, &position->turn, inner_point);
bgc_fp64_vector3_add(outer_point, &position->shift, &turned_point);
}
@ -219,7 +219,7 @@ inline void bgc_fp32_position3_transform_point_inwards(BGC_FP32_Vector3* inner_p
{
BGC_FP32_Vector3 relative_point;
bgc_fp32_vector3_subtract(&relative_point, outer_point, &position->shift);
bgc_fp32_versor_turn_vector_back(inner_point, &position->turn, &relative_point);
bgc_fp32_turn3_vector_back(inner_point, &position->turn, &relative_point);
}
@ -227,7 +227,7 @@ inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* inner_p
{
BGC_FP64_Vector3 relative_point;
bgc_fp64_vector3_subtract(&relative_point, outer_point, &position->shift);
bgc_fp64_versor_turn_vector_back(inner_point, &position->turn, &relative_point);
bgc_fp64_turn3_vector_back(inner_point, &position->turn, &relative_point);
}
@ -235,24 +235,24 @@ inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* inner_p
inline void bgc_fp32_position3_transform_vector_outwards(BGC_FP32_Vector3* outer_vector, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_vector)
{
bgc_fp32_versor_turn_vector(outer_vector, &position->turn, inner_vector);
bgc_fp32_turn3_vector(outer_vector, &position->turn, inner_vector);
}
inline void bgc_fp64_position3_transform_vector_outwards(BGC_FP64_Vector3* outer_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_vector)
{
bgc_fp64_versor_turn_vector(outer_vector, &position->turn, inner_vector);
bgc_fp64_turn3_vector(outer_vector, &position->turn, inner_vector);
}
// ========== Transform Vector Inwards =========== //
inline void bgc_fp32_position3_transform_vector_inwards(BGC_FP32_Vector3* inner_vector, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_vector)
{
bgc_fp32_versor_turn_vector_back(inner_vector, &position->turn, outer_vector);
bgc_fp32_turn3_vector_back(inner_vector, &position->turn, outer_vector);
}
inline void bgc_fp64_position3_transform_vector_inwards(BGC_FP64_Vector3* inner_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_vector)
{
bgc_fp64_versor_turn_vector_back(inner_vector, &position->turn, outer_vector);
bgc_fp64_turn3_vector_back(inner_vector, &position->turn, outer_vector);
}
#endif // _BGC_POSITION_H_INCLUDED_

3
basic-geometry/quaternion.c
View file

@ -43,6 +43,9 @@ extern inline void bgc_fp64_quaternion_subtract(BGC_FP64_Quaternion* difference,
extern inline void bgc_fp32_quaternion_get_product(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier);
extern inline void bgc_fp64_quaternion_multiply(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multipier);

26
basic-geometry/quaternion.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

 @ -273,6 +273,32 @@ inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const
product->x3 = x3;
}
inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
{