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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
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Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -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;