Отказ от терминов Versor и Cotes Number в пользу Turn3 и Turn2, использование кватернионов внутри Turn3
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27 changed files with 1815 additions and 2045 deletions
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@ -3,17 +3,17 @@
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#include "vector3.h"
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#include "affine3.h"
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#include "versor.h"
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#include "turn3.h"
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// ==================== Types ==================== //
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typedef struct {
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BGC_FP32_Versor turn;
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BGC_FP32_Turn3 turn;
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BGC_FP32_Vector3 shift;
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} BGC_FP32_Position3;
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typedef struct {
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BGC_FP64_Versor turn;
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BGC_FP64_Turn3 turn;
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BGC_FP64_Vector3 shift;
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} BGC_FP64_Position3;
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@ -21,27 +21,27 @@ typedef struct {
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inline void bgc_fp32_position3_reset(BGC_FP32_Position3 * position)
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{
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bgc_fp32_versor_reset(&position->turn);
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bgc_fp32_turn3_reset(&position->turn);
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bgc_fp32_vector3_reset(&position->shift);
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}
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inline void bgc_fp64_position3_reset(BGC_FP64_Position3 * position)
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{
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bgc_fp64_versor_reset(&position->turn);
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bgc_fp64_turn3_reset(&position->turn);
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bgc_fp64_vector3_reset(&position->shift);
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}
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// ==================== Make ===================== //
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inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Versor * turn, const BGC_FP32_Vector3 * shift)
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inline void bgc_fp32_position3_make(BGC_FP32_Position3* position, const BGC_FP32_Turn3 * turn, const BGC_FP32_Vector3 * shift)
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{
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bgc_fp32_versor_copy(&position->turn, turn);
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bgc_fp32_turn3_copy(&position->turn, turn);
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bgc_fp32_vector3_copy(&position->shift, shift);
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}
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inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Versor * turn, const BGC_FP64_Vector3 * shift)
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inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64_Turn3 * turn, const BGC_FP64_Vector3 * shift)
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{
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bgc_fp64_versor_copy(&position->turn, turn);
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bgc_fp64_turn3_copy(&position->turn, turn);
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bgc_fp64_vector3_copy(&position->shift, shift);
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}
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@ -49,13 +49,13 @@ inline void bgc_fp64_position3_make(BGC_FP64_Position3* position, const BGC_FP64
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inline void bgc_fp32_position3_copy(BGC_FP32_Position3* destination, const BGC_FP32_Position3 * source)
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{
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bgc_fp32_versor_copy(&destination->turn, &source->turn);
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bgc_fp32_turn3_copy(&destination->turn, &source->turn);
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bgc_fp32_vector3_copy(&destination->shift, &source->shift);
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}
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inline void bgc_fp64_position3_copy(BGC_FP64_Position3* destination, const BGC_FP64_Position3 * source)
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{
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bgc_fp64_versor_copy(&destination->turn, &source->turn);
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bgc_fp64_turn3_copy(&destination->turn, &source->turn);
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bgc_fp64_vector3_copy(&destination->shift, &source->shift);
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}
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@ -63,13 +63,13 @@ inline void bgc_fp64_position3_copy(BGC_FP64_Position3* destination, const BGC_F
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inline void bgc_fp32_position3_swap(BGC_FP32_Position3 * first, BGC_FP32_Position3 * second)
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{
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bgc_fp32_versor_swap(&first->turn, &second->turn);
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bgc_fp32_turn3_swap(&first->turn, &second->turn);
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bgc_fp32_vector3_swap(&first->shift, &second->shift);
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}
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inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Position3 * second)
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{
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bgc_fp64_versor_swap(&first->turn, &second->turn);
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bgc_fp64_turn3_swap(&first->turn, &second->turn);
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bgc_fp64_vector3_swap(&first->shift, &second->shift);
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}
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@ -77,13 +77,13 @@ inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Positio
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inline void bgc_fp32_position3_convert_to_fp64(BGC_FP64_Position3* destination, const BGC_FP32_Position3 * source)
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{
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bgc_fp32_versor_convert_to_fp64(&destination->turn, &source->turn);
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bgc_fp32_turn3_convert_to_fp64(&destination->turn, &source->turn);
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bgc_fp32_vector3_convert_to_fp64(&destination->shift, &source->shift);
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}
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inline void bgc_fp64_position3_convert_to_fp32(BGC_FP32_Position3* destination, const BGC_FP64_Position3* source)
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{
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bgc_fp64_versor_convert_to_fp32(&destination->turn, &source->turn);
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bgc_fp64_turn3_convert_to_fp32(&destination->turn, &source->turn);
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bgc_fp64_vector3_convert_to_fp32(&destination->shift, &source->shift);
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}
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@ -91,27 +91,27 @@ inline void bgc_fp64_position3_convert_to_fp32(BGC_FP32_Position3* destination,
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inline int bgc_fp32_position3_is_idle(const BGC_FP32_Position3 * position)
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{
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return bgc_fp32_vector3_is_zero(&position->shift) && bgc_fp32_versor_is_idle(&position->turn);
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return bgc_fp32_vector3_is_zero(&position->shift) && bgc_fp32_turn3_is_idle(&position->turn);
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}
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inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3 * position)
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{
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return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_versor_is_idle(&position->turn);
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return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_turn3_is_idle(&position->turn);
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}
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// =================== Invert ==================== //
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inline void bgc_fp32_position3_invert(BGC_FP32_Position3 * position)
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{
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bgc_fp32_versor_turn_vector_back(&position->shift, &position->turn, &position->shift);
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bgc_fp32_versor_revert(&position->turn);
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bgc_fp32_turn3_vector_back(&position->shift, &position->turn, &position->shift);
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bgc_fp32_turn3_revert(&position->turn);
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bgc_fp32_vector3_revert(&position->shift);
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}
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inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position)
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{
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bgc_fp64_versor_turn_vector_back(&position->shift, &position->turn, &position->shift);
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bgc_fp64_versor_revert(&position->turn);
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bgc_fp64_turn3_vector_back(&position->shift, &position->turn, &position->shift);
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bgc_fp64_turn3_revert(&position->turn);
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bgc_fp64_vector3_revert(&position->shift);
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}
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@ -119,15 +119,15 @@ inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position)
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inline void bgc_fp32_position3_get_inverse(BGC_FP32_Position3* inverse, const BGC_FP32_Position3 * position)
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{
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bgc_fp32_versor_turn_vector_back(&inverse->shift, &position->turn, &position->shift);
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bgc_fp32_versor_get_reverse(&inverse->turn, &position->turn);
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bgc_fp32_turn3_vector_back(&inverse->shift, &position->turn, &position->shift);
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bgc_fp32_turn3_get_reverse(&inverse->turn, &position->turn);
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bgc_fp32_vector3_revert(&inverse->shift);
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}
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inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* inverse, const BGC_FP64_Position3 * position)
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{
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bgc_fp64_versor_turn_vector_back(&inverse->shift, &position->turn, &position->shift);
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bgc_fp64_versor_get_reverse(&inverse->turn, &position->turn);
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bgc_fp64_turn3_vector_back(&inverse->shift, &position->turn, &position->shift);
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bgc_fp64_turn3_get_reverse(&inverse->turn, &position->turn);
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bgc_fp64_vector3_revert(&inverse->shift);
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}
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@ -136,16 +136,16 @@ inline void bgc_fp64_position3_get_inverse(BGC_FP64_Position3* inverse, const BG
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inline void bgc_fp32_position3_combine(BGC_FP32_Position3* combination, const BGC_FP32_Position3 * first, const BGC_FP32_Position3 * second)
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{
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BGC_FP32_Vector3 relative_shift;
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bgc_fp32_versor_turn_vector(&relative_shift, &second->turn, &first->shift);
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bgc_fp32_versor_combine(&combination->turn, &first->turn, &second->turn);
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bgc_fp32_turn3_vector(&relative_shift, &second->turn, &first->shift);
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bgc_fp32_turn3_combine(&combination->turn, &first->turn, &second->turn);
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bgc_fp32_vector3_add(&combination->shift, &relative_shift, &second->shift);
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}
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inline void bgc_fp64_position3_combine(BGC_FP64_Position3* combination, const BGC_FP64_Position3 * first, const BGC_FP64_Position3 * second)
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{
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BGC_FP64_Vector3 relative_shift;
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bgc_fp64_versor_turn_vector(&relative_shift, &second->turn, &first->shift);
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bgc_fp64_versor_combine(&combination->turn, &first->turn, &second->turn);
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bgc_fp64_turn3_vector(&relative_shift, &second->turn, &first->shift);
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bgc_fp64_turn3_combine(&combination->turn, &first->turn, &second->turn);
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bgc_fp64_vector3_add(&combination->shift, &relative_shift, &second->shift);
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}
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@ -155,29 +155,29 @@ inline void bgc_fp32_position3_exclude(BGC_FP32_Position3* difference, const BGC
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{
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BGC_FP32_Vector3 relative_shift;
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bgc_fp32_vector3_subtract(&relative_shift, &base->shift, &excludant->shift);
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bgc_fp32_versor_turn_vector_back(&difference->shift, &excludant->turn, &relative_shift);
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bgc_fp32_versor_exclude(&difference->turn, &base->turn, &excludant->turn);
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bgc_fp32_turn3_vector_back(&difference->shift, &excludant->turn, &relative_shift);
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bgc_fp32_turn3_exclude(&difference->turn, &base->turn, &excludant->turn);
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}
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inline void bgc_fp64_position3_exclude(BGC_FP64_Position3* difference, const BGC_FP64_Position3 * base, const BGC_FP64_Position3 * excludant)
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{
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BGC_FP64_Vector3 relative_shift;
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bgc_fp64_vector3_subtract(&relative_shift, &base->shift, &excludant->shift);
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bgc_fp64_versor_turn_vector_back(&difference->shift, &excludant->turn, &relative_shift);
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bgc_fp64_versor_exclude(&difference->turn, &base->turn, &excludant->turn);
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bgc_fp64_turn3_vector_back(&difference->shift, &excludant->turn, &relative_shift);
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bgc_fp64_turn3_exclude(&difference->turn, &base->turn, &excludant->turn);
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}
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// ============= Get Outward Affine ============== //
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inline void bgc_fp32_position3_get_outward_affine(BGC_FP32_Affine3* outward_affine_map, const BGC_FP32_Position3 * position)
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{
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bgc_fp32_versor_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
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bgc_fp32_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
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bgc_fp32_vector3_copy(&outward_affine_map->shift, &position->shift);
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}
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inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* outward_affine_map, const BGC_FP64_Position3 * position)
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{
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bgc_fp64_versor_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
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bgc_fp64_turn3_get_rotation_matrix(&outward_affine_map->distortion, &position->turn);
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bgc_fp64_vector3_copy(&outward_affine_map->shift, &position->shift);
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}
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@ -185,14 +185,14 @@ inline void bgc_fp64_position3_get_outward_affine(BGC_FP64_Affine3* outward_affi
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inline void bgc_fp32_position3_get_inward_affine(BGC_FP32_Affine3* inward_affine_map, const BGC_FP32_Position3 * position)
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{
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bgc_fp32_versor_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
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bgc_fp32_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
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bgc_fp32_multiply_matrix3x3_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
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bgc_fp32_vector3_revert(&inward_affine_map->shift);
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}
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inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* inward_affine_map, const BGC_FP64_Position3 * position)
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{
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bgc_fp64_versor_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
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bgc_fp64_turn3_get_reverse_matrix(&inward_affine_map->distortion, &position->turn);
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bgc_fp64_multiply_matrix3x3_by_vector3(&inward_affine_map->shift, &inward_affine_map->distortion, &position->shift);
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bgc_fp64_vector3_revert(&inward_affine_map->shift);
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}
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@ -202,14 +202,14 @@ inline void bgc_fp64_position3_get_inward_affine(BGC_FP64_Affine3* inward_affine
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inline void bgc_fp32_position3_transform_point_outwards(BGC_FP32_Vector3* outer_point, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_point)
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{
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BGC_FP32_Vector3 turned_point;
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bgc_fp32_versor_turn_vector(&turned_point, &position->turn, inner_point);
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bgc_fp32_turn3_vector(&turned_point, &position->turn, inner_point);
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bgc_fp32_vector3_add(outer_point, &position->shift, &turned_point);
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}
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inline void bgc_fp64_position3_transform_point_outwards(BGC_FP64_Vector3* outer_point, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_point)
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{
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BGC_FP64_Vector3 turned_point;
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bgc_fp64_versor_turn_vector(&turned_point, &position->turn, inner_point);
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bgc_fp64_turn3_vector(&turned_point, &position->turn, inner_point);
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bgc_fp64_vector3_add(outer_point, &position->shift, &turned_point);
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}
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@ -219,7 +219,7 @@ inline void bgc_fp32_position3_transform_point_inwards(BGC_FP32_Vector3* inner_p
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{
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BGC_FP32_Vector3 relative_point;
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bgc_fp32_vector3_subtract(&relative_point, outer_point, &position->shift);
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bgc_fp32_versor_turn_vector_back(inner_point, &position->turn, &relative_point);
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bgc_fp32_turn3_vector_back(inner_point, &position->turn, &relative_point);
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}
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@ -227,7 +227,7 @@ inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* inner_p
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{
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BGC_FP64_Vector3 relative_point;
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bgc_fp64_vector3_subtract(&relative_point, outer_point, &position->shift);
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bgc_fp64_versor_turn_vector_back(inner_point, &position->turn, &relative_point);
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bgc_fp64_turn3_vector_back(inner_point, &position->turn, &relative_point);
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}
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@ -235,24 +235,24 @@ inline void bgc_fp64_position3_transform_point_inwards(BGC_FP64_Vector3* inner_p
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inline void bgc_fp32_position3_transform_vector_outwards(BGC_FP32_Vector3* outer_vector, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_vector)
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{
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bgc_fp32_versor_turn_vector(outer_vector, &position->turn, inner_vector);
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bgc_fp32_turn3_vector(outer_vector, &position->turn, inner_vector);
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}
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inline void bgc_fp64_position3_transform_vector_outwards(BGC_FP64_Vector3* outer_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_vector)
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{
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bgc_fp64_versor_turn_vector(outer_vector, &position->turn, inner_vector);
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bgc_fp64_turn3_vector(outer_vector, &position->turn, inner_vector);
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}
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// ========== Transform Vector Inwards =========== //
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inline void bgc_fp32_position3_transform_vector_inwards(BGC_FP32_Vector3* inner_vector, const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_vector)
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{
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bgc_fp32_versor_turn_vector_back(inner_vector, &position->turn, outer_vector);
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bgc_fp32_turn3_vector_back(inner_vector, &position->turn, outer_vector);
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}
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inline void bgc_fp64_position3_transform_vector_inwards(BGC_FP64_Vector3* inner_vector, const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_vector)
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{
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bgc_fp64_versor_turn_vector_back(inner_vector, &position->turn, outer_vector);
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bgc_fp64_turn3_vector_back(inner_vector, &position->turn, outer_vector);
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}
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#endif // _BGC_POSITION_H_INCLUDED_
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