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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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2
basic-geometry-dev/affine3.c
View file

@ -40,7 +40,7 @@ BGC_FP32_Affine3* _create_bgc_affine3_random_list(int affine_amount)
BGC_FP32_Position3 position; BGC_FP32_Position3 position;
for (int i = 0; i < affine_amount; i++) { for (int i = 0; i < affine_amount; i++) {
bgc_fp32_versor_make( bgc_fp32_turn3_set_raw_values(
&position.turn, &position.turn,
get_random_value_fp32(), get_random_value_fp32(),
get_random_value_fp32(), get_random_value_fp32(),

157
basic-geometry-dev/main.c
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

 @ -10,7 +10,7 @@
#endif // _WINDOWS_ #endif // _WINDOWS_
typedef struct { typedef struct {
BGC_FP32_Versor versor1, versor2, result; BGC_FP32_Turn3 versor1, versor2, result;
} structure_fp32_t; } structure_fp32_t;
structure_fp32_t* allocate_structures(const unsigned int amount) structure_fp32_t* allocate_structures(const unsigned int amount)
@ -29,7 +29,7 @@ structure_fp32_t* make_structures(const unsigned int amount)
const float multiplier = 2.0f / RAND_MAX; const float multiplier = 2.0f / RAND_MAX;
for (unsigned int i = 0; i < amount; i++) { for (unsigned int i = 0; i < amount; i++) {
bgc_fp32_versor_make( bgc_fp32_turn3_set_raw_values(
&list[i].versor1, &list[i].versor1,
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
@ -37,7 +37,7 @@ structure_fp32_t* make_structures(const unsigned int amount)
rand() * multiplier - 1.0f rand() * multiplier - 1.0f
); );
bgc_fp32_versor_make( bgc_fp32_turn3_set_raw_values(
&list[i].versor2, &list[i].versor2,
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f, rand() * multiplier - 1.0f,
@ -45,20 +45,20 @@ structure_fp32_t* make_structures(const unsigned int amount)
rand() * multiplier - 1.0f rand() * multiplier - 1.0f
); );
bgc_fp32_versor_reset(&list[i].result); bgc_fp32_turn3_reset(&list[i].result);
} }
return list; return list;
} }
void print_versor_fp32(const BGC_FP32_Versor* versor) void print_quaternion_fp32(const BGC_FP32_Quaternion* quaternion)
{ {
printf("Versor (s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3); printf("Quaternion FP32(s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", quaternion->s0, quaternion->x1, quaternion->x2, quaternion->x3);
} }
void print_versor_fp64(const BGC_FP64_Versor* versor) void print_quaternion_fp64(const BGC_FP64_Quaternion* quaternion)
{ {
printf("Versor (s0 = %0.20f, x1 = %0.20f, x2 = %0.20f, x3 = %0.20f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3); printf("Quaternion FP64(s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", quaternion->s0, quaternion->x1, quaternion->x2, quaternion->x3);
} }
void print_vector_fp32(const BGC_FP32_Vector3* vector) void print_vector_fp32(const BGC_FP32_Vector3* vector)
@ -75,11 +75,11 @@ void list_work(const uint_fast32_t amount, structure_fp32_t* list)
{ {
for (uint_fast32_t j = 0; j < 1000; j++) { for (uint_fast32_t j = 0; j < 1000; j++) {
for (uint_fast32_t i = 0; i < amount; i++) { for (uint_fast32_t i = 0; i < amount; i++) {
bgc_fp32_versor_combine(&list[i].versor1, &list[i].versor1, &list[i].result); bgc_fp32_turn3_combine(&list[i].result, &list[i].versor1, &list[i].versor2);
} }
} }
} }
/*
int main() int main()
{ {
const unsigned int amount = 1000000; const unsigned int amount = 1000000;
@ -113,15 +113,15 @@ int main()
printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001); printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
#endif // _WIN64 #endif // _WIN64
print_versor_fp32(&list[10].versor1); print_quaternion_fp32(&list[10].versor1._versor);
print_versor_fp32(&list[10].versor2); print_quaternion_fp32(&list[10].versor2._versor);
print_versor_fp32(&list[10].result); print_quaternion_fp32(&list[10].result._versor);
free(list); free(list);
return 0; return 0;
} }
*/
/* /*
int main() { int main() {
@ -140,10 +140,10 @@ int main() {
*/ */
/* /*
int main() { int main() {
BGC_FP32_Versor start = { 1.0f, 0.0f, 0.0f, 0.0f }; BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f };
BGC_FP32_Versor end = { 0.0f, 1.0f, 0.0f, 0.0f }; BGC_FP32_Turn3 end = { 0.0f, 1.0f, 0.0f, 0.0f };
BGC_FP32_Versor result; BGC_FP32_Turn3 result;
bgc_fp32_versor_spherical_interpolation(&start, &end, 0.5f, &result); bgc_fp32_turn3_spherical_interpolation(&start, &end, 0.5f, &result);
printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3); printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
return 0; return 0;
} }
@ -154,7 +154,7 @@ void test_basis_difference_fp32()
BGC_FP32_Vector3 initial_primary, initial_auxiliary; BGC_FP32_Vector3 initial_primary, initial_auxiliary;
BGC_FP32_Vector3 final_primary, final_auxiliary; BGC_FP32_Vector3 final_primary, final_auxiliary;
BGC_FP32_Versor turn; BGC_FP32_Turn3 turn;
// No turn // No turn
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
@ -163,10 +163,10 @@ void test_basis_difference_fp32()
bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nNo turn:\n"); printf("\nNo turn:\n");
print_versor_fp32(&turn); print_quaternion_fp32(&turn._versor);
// Turn around (1, 1, 0) axis on 180 degrees // Turn around (1, 1, 0) axis on 180 degrees
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
@ -175,10 +175,10 @@ void test_basis_difference_fp32()
bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n"); printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
print_versor_fp32(&turn); print_quaternion_fp32(&turn._versor);
// 180 degree turn // 180 degree turn
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
@ -187,10 +187,10 @@ void test_basis_difference_fp32()
bgc_fp32_vector3_make(&final_primary, -1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&final_primary, -1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\n180 degree turn around (0, 1, 0):\n"); printf("\n180 degree turn around (0, 1, 0):\n");
print_versor_fp32(&turn); print_quaternion_fp32(&turn._versor);
// 90 degree turn around x3 axis // 90 degree turn around x3 axis
bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f);
@ -199,10 +199,10 @@ void test_basis_difference_fp32()
bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f); bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary,-1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&final_auxiliary,-1.0f, 0.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\n90 degree turn around (0, 0, 1):\n"); printf("\n90 degree turn around (0, 0, 1):\n");
print_versor_fp32(&turn); print_quaternion_fp32(&turn._versor);
// Unorthogonal pairs turn at 90 degrees around x3 axis // Unorthogonal pairs turn at 90 degrees around x3 axis
bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f);
@ -211,10 +211,10 @@ void test_basis_difference_fp32()
bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f); bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 5.0f, 0.0f); bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 5.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp32_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"); printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
print_versor_fp32(&turn); print_quaternion_fp32(&turn._versor);
// Zero vectors // Zero vectors
bgc_fp32_vector3_make(&initial_primary, 0.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_primary, 0.0f, 0.0f, 0.0f);
@ -224,11 +224,11 @@ void test_basis_difference_fp32()
int code; int code;
code = bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
if (code >= 0) { if (code >= 0) {
printf("\nZero vectors: this cannot be!\n"); printf("\nZero vectors: this cannot be!\n");
print_versor_fp32(&turn); print_quaternion_fp32(&turn._versor);
} }
else { else {
printf("\nZero vector validation works fine\n"); printf("\nZero vector validation works fine\n");
@ -240,11 +240,11 @@ void test_basis_difference_fp32()
bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
code = bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
if (code >= 0) { if (code >= 0) {
printf("\nParallel vectors: this cannot be!\n"); printf("\nParallel vectors: this cannot be!\n");
print_versor_fp32(&turn); print_quaternion_fp32(&turn._versor);
} }
else { else {
printf("\nParallelism validation works fine\n"); printf("\nParallelism validation works fine\n");
@ -257,10 +257,10 @@ void test_basis_difference_fp32()
bgc_fp32_vector3_make(&final_primary, 0.999848f, 0.017452f, 0.0f); bgc_fp32_vector3_make(&final_primary, 0.999848f, 0.017452f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, -0.017452f, 0.999848f, 0.0f); bgc_fp32_vector3_make(&final_auxiliary, -0.017452f, 0.999848f, 0.0f);
bgc_fp32_versor_make_basis_difference(&turn , &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp32_turn3_make_basis_difference(&turn , &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nSmall angle turn (about 1 degree):\n"); printf("\nSmall angle turn (about 1 degree):\n");
print_versor_fp32(&turn); print_quaternion_fp32(&turn._versor);
// About 179 degrees turn // About 179 degrees turn
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
@ -269,10 +269,10 @@ void test_basis_difference_fp32()
bgc_fp32_vector3_make(&final_primary, -0.999848f, -0.017452f, 0.0f); bgc_fp32_vector3_make(&final_primary, -0.999848f, -0.017452f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.017452f, -0.999848f, 0.0f); bgc_fp32_vector3_make(&final_auxiliary, 0.017452f, -0.999848f, 0.0f);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nAbout 179 degrees turn:\n"); printf("\nAbout 179 degrees turn:\n");
print_versor_fp32(&turn); print_quaternion_fp32(&turn._versor);
// 120 degrees around (-1, -1, 1) // 120 degrees around (-1, -1, 1)
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
@ -281,10 +281,10 @@ void test_basis_difference_fp32()
bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 0.0f, -1.0f); bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 0.0f, -1.0f);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary); bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\n120 degees turn:\n"); printf("\n120 degees turn:\n");
print_versor_fp32(&turn); print_quaternion_fp32(&turn._versor);
// About 1 degree turn difference between initial_primary and initial_auxiliary directions // About 1 degree turn difference between initial_primary and initial_auxiliary directions
@ -293,10 +293,10 @@ void test_basis_difference_fp32()
bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f); bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 0.0f, 0.0f); bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 0.0f, 0.0f);