Отказ от терминов Versor и Cotes Number в пользу Turn3 и Turn2, использование кватернионов внутри Turn3
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38cff7e27d
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27 changed files with 1815 additions and 2045 deletions
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@ -10,7 +10,7 @@
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#endif // _WINDOWS_
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typedef struct {
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BGC_FP32_Versor versor1, versor2, result;
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BGC_FP32_Turn3 versor1, versor2, result;
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} structure_fp32_t;
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structure_fp32_t* allocate_structures(const unsigned int amount)
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@ -29,7 +29,7 @@ structure_fp32_t* make_structures(const unsigned int amount)
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const float multiplier = 2.0f / RAND_MAX;
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for (unsigned int i = 0; i < amount; i++) {
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bgc_fp32_versor_make(
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bgc_fp32_turn3_set_raw_values(
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&list[i].versor1,
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rand() * multiplier - 1.0f,
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rand() * multiplier - 1.0f,
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@ -37,7 +37,7 @@ structure_fp32_t* make_structures(const unsigned int amount)
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rand() * multiplier - 1.0f
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);
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bgc_fp32_versor_make(
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bgc_fp32_turn3_set_raw_values(
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&list[i].versor2,
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rand() * multiplier - 1.0f,
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rand() * multiplier - 1.0f,
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@ -45,20 +45,20 @@ structure_fp32_t* make_structures(const unsigned int amount)
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rand() * multiplier - 1.0f
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);
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bgc_fp32_versor_reset(&list[i].result);
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bgc_fp32_turn3_reset(&list[i].result);
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}
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return list;
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}
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void print_versor_fp32(const BGC_FP32_Versor* versor)
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void print_quaternion_fp32(const BGC_FP32_Quaternion* quaternion)
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{
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printf("Versor (s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3);
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printf("Quaternion FP32(s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", quaternion->s0, quaternion->x1, quaternion->x2, quaternion->x3);
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}
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void print_versor_fp64(const BGC_FP64_Versor* versor)
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void print_quaternion_fp64(const BGC_FP64_Quaternion* quaternion)
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{
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printf("Versor (s0 = %0.20f, x1 = %0.20f, x2 = %0.20f, x3 = %0.20f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3);
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printf("Quaternion FP64(s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", quaternion->s0, quaternion->x1, quaternion->x2, quaternion->x3);
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}
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void print_vector_fp32(const BGC_FP32_Vector3* vector)
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@ -75,11 +75,11 @@ void list_work(const uint_fast32_t amount, structure_fp32_t* list)
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{
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for (uint_fast32_t j = 0; j < 1000; j++) {
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for (uint_fast32_t i = 0; i < amount; i++) {
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bgc_fp32_versor_combine(&list[i].versor1, &list[i].versor1, &list[i].result);
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bgc_fp32_turn3_combine(&list[i].result, &list[i].versor1, &list[i].versor2);
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}
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}
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}
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/*
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int main()
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{
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const unsigned int amount = 1000000;
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@ -113,15 +113,15 @@ int main()
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printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
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#endif // _WIN64
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print_versor_fp32(&list[10].versor1);
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print_versor_fp32(&list[10].versor2);
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print_versor_fp32(&list[10].result);
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print_quaternion_fp32(&list[10].versor1._versor);
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print_quaternion_fp32(&list[10].versor2._versor);
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print_quaternion_fp32(&list[10].result._versor);
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free(list);
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return 0;
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}
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*/
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/*
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int main() {
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@ -140,10 +140,10 @@ int main() {
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*/
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/*
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int main() {
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BGC_FP32_Versor start = { 1.0f, 0.0f, 0.0f, 0.0f };
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BGC_FP32_Versor end = { 0.0f, 1.0f, 0.0f, 0.0f };
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BGC_FP32_Versor result;
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bgc_fp32_versor_spherical_interpolation(&start, &end, 0.5f, &result);
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BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f };
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BGC_FP32_Turn3 end = { 0.0f, 1.0f, 0.0f, 0.0f };
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BGC_FP32_Turn3 result;
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bgc_fp32_turn3_spherical_interpolation(&start, &end, 0.5f, &result);
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printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
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return 0;
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}
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@ -154,7 +154,7 @@ void test_basis_difference_fp32()
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BGC_FP32_Vector3 initial_primary, initial_auxiliary;
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BGC_FP32_Vector3 final_primary, final_auxiliary;
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BGC_FP32_Versor turn;
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BGC_FP32_Turn3 turn;
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// No turn
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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@ -163,10 +163,10 @@ void test_basis_difference_fp32()
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bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\nNo turn:\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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// Turn around (1, 1, 0) axis on 180 degrees
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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@ -175,10 +175,10 @@ void test_basis_difference_fp32()
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bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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// 180 degree turn
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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@ -187,10 +187,10 @@ void test_basis_difference_fp32()
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bgc_fp32_vector3_make(&final_primary, -1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\n180 degree turn around (0, 1, 0):\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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// 90 degree turn around x3 axis
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bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f);
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@ -199,10 +199,10 @@ void test_basis_difference_fp32()
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bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary,-1.0f, 0.0f, 0.0f);
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bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\n90 degree turn around (0, 0, 1):\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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// Unorthogonal pairs turn at 90 degrees around x3 axis
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bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f);
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@ -211,10 +211,10 @@ void test_basis_difference_fp32()
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bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 5.0f, 0.0f);
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bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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// Zero vectors
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bgc_fp32_vector3_make(&initial_primary, 0.0f, 0.0f, 0.0f);
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@ -224,11 +224,11 @@ void test_basis_difference_fp32()
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int code;
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code = bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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if (code >= 0) {
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printf("\nZero vectors: this cannot be!\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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}
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else {
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printf("\nZero vector validation works fine\n");
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@ -240,11 +240,11 @@ void test_basis_difference_fp32()
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bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
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code = bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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if (code >= 0) {
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printf("\nParallel vectors: this cannot be!\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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}
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else {
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printf("\nParallelism validation works fine\n");
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@ -257,10 +257,10 @@ void test_basis_difference_fp32()
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bgc_fp32_vector3_make(&final_primary, 0.999848f, 0.017452f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, -0.017452f, 0.999848f, 0.0f);
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bgc_fp32_versor_make_basis_difference(&turn , &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_make_basis_difference(&turn , &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\nSmall angle turn (about 1 degree):\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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// About 179 degrees turn
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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@ -269,10 +269,10 @@ void test_basis_difference_fp32()
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bgc_fp32_vector3_make(&final_primary, -0.999848f, -0.017452f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.017452f, -0.999848f, 0.0f);
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bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\nAbout 179 degrees turn:\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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// 120 degrees around (-1, -1, 1)
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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@ -281,10 +281,10 @@ void test_basis_difference_fp32()
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bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 0.0f, -1.0f);
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bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\n120 degees turn:\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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// About 1 degree turn difference between initial_primary and initial_auxiliary directions
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@ -293,10 +293,10 @@ void test_basis_difference_fp32()
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bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 0.0f, 0.0f);
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bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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// About 0.01 degree turn difference between initial_primary and initial_auxiliary directions
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bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_vector3_make(&final_primary, 0.0f, -1.0f, 0.0f);
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bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f);
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bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
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print_versor_fp32(&turn);
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print_quaternion_fp32(&turn._versor);
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}
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void test_basis_difference_fp64()
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@ -315,7 +315,7 @@ void test_basis_difference_fp64()
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BGC_FP64_Vector3 initial_primary, initial_auxiliary;
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BGC_FP64_Vector3 final_primary, final_auxiliary;
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BGC_FP64_Versor turn;
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BGC_FP64_Turn3 turn;
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// No turn
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bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
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@ -323,10 +323,10 @@ void test_basis_difference_fp64()
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bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0);
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bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0);
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bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\nNo turn:\n");
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print_versor_fp64(&turn);
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print_quaternion_fp64(&turn._versor);
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// Turn around (1, 1, 0) axis on 180 degrees
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bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
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@ -334,10 +334,10 @@ void test_basis_difference_fp64()
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bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0);
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bgc_fp64_vector3_make(&final_auxiliary, 1.0, 0.0, 0.0);
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bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
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print_versor_fp64(&turn);
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print_quaternion_fp64(&turn._versor);
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// 180 degree turn
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bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
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@ -346,10 +346,10 @@ void test_basis_difference_fp64()
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bgc_fp64_vector3_make(&initial_auxiliary, -1.0, 0.0, 0.0);
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bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0);
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bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\n180 degree turn around (0, 1, 0):\n");
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print_versor_fp64(&turn);
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print_quaternion_fp64(&turn._versor);
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// 90 degree turn around x3 axis
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bgc_fp64_vector3_make(&initial_primary, 2.0, 0.0, 0.0);
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@ -358,10 +358,10 @@ void test_basis_difference_fp64()
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bgc_fp64_vector3_make(&final_primary, 0.0, 10.0, 0.0);
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bgc_fp64_vector3_make(&final_auxiliary, -1.0, 0.0, 0.0);
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bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
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printf("\n90 degree turn around (0, 0, 1):\n");
|
||||
print_versor_fp64(&turn);
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
|
||||
// Unorthogonal pairs turn at 90 degrees around x3 axis
|
||||
bgc_fp64_vector3_make(&initial_primary, 2.0, 0.0, 0.0);
|
||||
|
|
@ -370,10 +370,10 @@ void test_basis_difference_fp64()
|
|||
bgc_fp64_vector3_make(&final_primary, 0.0, 10.0, 0.0);
|
||||
bgc_fp64_vector3_make(&final_auxiliary, -1.0, 5.0, 0.0);
|
||||
|
||||
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
|
||||
printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
|
||||
print_versor_fp64(&turn);
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
|
||||
// Zero vectors
|
||||
bgc_fp64_vector3_make(&initial_primary, 0.0, 0.0, 0.0);
|
||||
|
|
@ -383,11 +383,11 @@ void test_basis_difference_fp64()
|
|||
|
||||
int code;
|
||||
|
||||
code = bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
code = bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
|
||||
if (code >= 0) {
|
||||
printf("\nZero vectors: this cannot be!\n");
|
||||
print_versor_fp64(&turn);
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
}
|
||||
else {
|
||||
printf("\nZero vector validation works fine\n");
|
||||
|
|
@ -399,11 +399,11 @@ void test_basis_difference_fp64()
|
|||
bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0);
|
||||
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0);
|
||||
|
||||
code = bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
code = bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
|
||||
if (code >= 0) {
|
||||
printf("\nParallel vectors: this cannot be!\n");
|
||||
print_versor_fp64(&turn);
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
}
|
||||
else {
|
||||
printf("\nParallelism validation works fine\n");
|
||||
|
|
@ -416,10 +416,10 @@ void test_basis_difference_fp64()
|
|||
bgc_fp64_vector3_make(&final_primary, 0.999848, 0.017452, 0.0);
|
||||
bgc_fp64_vector3_make(&final_auxiliary, -0.017452, 0.999848, 0.0);
|
||||
|
||||
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
|
||||
printf("\nSmall angle turn (about 1 degree):\n");
|
||||
print_versor_fp64(&turn);
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
|
||||
// About 179 degrees turn
|
||||
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
|
||||
|
|
@ -428,10 +428,10 @@ void test_basis_difference_fp64()
|
|||
bgc_fp64_vector3_make(&final_primary, -0.999848, -0.017452, 0.0);
|
||||
bgc_fp64_vector3_make(&final_auxiliary, 0.017452, -0.999848, 0.0);
|
||||
|
||||
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
|
||||
printf("\nAbout 179 degrees turn:\n");
|
||||
print_versor_fp64(&turn);
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
|
||||
// 120 degrees around (-1, -1, 1)
|
||||
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
|
||||
|
|
@ -440,10 +440,10 @@ void test_basis_difference_fp64()
|
|||
bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0);
|
||||
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 0.0, -1.0);
|
||||
|
||||
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
|
||||
printf("\n120 degees turn:\n");
|
||||
print_versor_fp64(&turn);
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
|
||||
|
||||
// About 1 degree turn difference between initial_primary and initial_auxiliary directions
|
||||
|
|
@ -452,10 +452,10 @@ void test_basis_difference_fp64()
|
|||
bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0);
|
||||
bgc_fp64_vector3_make(&final_auxiliary, -1.0, 0.0, 0.0);
|
||||
|
||||
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
|
||||
printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
|
||||
print_versor_fp64(&turn);
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
|
||||
// About 0.001 degree turn difference between initial_primary and initial_auxiliary directions
|
||||
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
|
||||
|
|
@ -463,30 +463,30 @@ void test_basis_difference_fp64()
|
|||
bgc_fp64_vector3_make(&final_primary, 0.0, -1.0, 0.0);
|
||||
bgc_fp64_vector3_make(&final_auxiliary, 1.0, 0.0, 0.0);
|
||||
|
||||
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
bgc_fp64_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
|
||||
|
||||
printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
|
||||
print_versor_fp64(&turn);
|
||||
print_quaternion_fp64(&turn._versor);
|
||||
}
|
||||
|
||||
/*
|
||||
#include "affine3.h"
|
||||
|
||||
int main()
|
||||
{
|
||||
//BGC_FP32_Versor start = { 1.0f, 0.0f, 0.0f, 0.0f };
|
||||
//BGC_FP32_Versor end = { 0.0f, 1.0f, 0.0f, 0.0f };
|
||||
|
||||
BGC_FP32_Versor start = { 1.0f, 0.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Versor end = { 0.9999f, 0.01414f, 0.0f, 0.0f };
|
||||
//BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f };
|
||||
//BGC_FP32_Turn3 end = { 0.0f, 1.0f, 0.0f, 0.0f };
|
||||
|
||||
BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f };
|
||||
BGC_FP32_Turn3 end = { 0.9999f, 0.01414f, 0.0f, 0.0f };
|
||||
BGC_FP32_Slerp slerp;
|
||||
BGC_FP32_Versor result;
|
||||
BGC_FP32_Turn3 result;
|
||||
bgc_fp32_slerp_make_full(&slerp, &start, &end);
|
||||
bgc_fp32_slerp_get_phase_versor(&result, &slerp, 0.5f);
|
||||
|
||||
//print_versor_fp32(&result);
|
||||
|
||||
//print_quaternion_fp32(&result);
|
||||
|
||||
test_basis_difference_fp64();
|
||||
|
||||
|
||||
//printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
|
||||
|
||||
//printf("sizeof(BGC_FP32_Affine3) = %zu\n", sizeof(BGC_FP32_Affine3));
|
||||
|
|
@ -495,3 +495,4 @@ int main()
|
|||
|
||||
return 0;
|
||||
}
|
||||
*/
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue