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Добавление проверки, является ли матрица 2x2 или 3x3 матрицей поворота

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This commit is contained in:
Andrey Pokidov 2025-06-05 00:04:27 +07:00
parent 2a4d5522d3
commit b777560d93
6 changed files with 76 additions and 4 deletions
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3
basic-geometry/matrix2x2.c
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@ -18,6 +18,9 @@ extern inline double bgc_matrix2x2_get_determinant_fp64(const BgcMatrix2x2FP64*
extern inline int bgc_matrix2x2_is_singular_fp32(const BgcMatrix2x2FP32* matrix);
extern inline int bgc_matrix2x2_is_singular_fp64(const BgcMatrix2x2FP64* matrix);
extern inline int bgc_matrix2x2_is_rotation_fp32(const BgcMatrix2x2FP32* matrix);
extern inline int bgc_matrix2x2_is_rotation_fp64(const BgcMatrix2x2FP64* matrix);
extern inline void bgc_matrix2x2_copy_fp32(const BgcMatrix2x2FP32* source, BgcMatrix2x2FP32* destination);
extern inline void bgc_matrix2x2_copy_fp64(const BgcMatrix2x2FP64* source, BgcMatrix2x2FP64* destination);

26
basic-geometry/matrix2x2.h
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@ -109,6 +109,32 @@ inline int bgc_matrix2x2_is_singular_fp64(const BgcMatrix2x2FP64* matrix)
return bgc_is_zero_fp64(bgc_matrix2x2_get_determinant_fp64(matrix));
}
// ================ Is Rotation ================= //
inline int bgc_matrix2x2_is_rotation_fp32(const BgcMatrix2x2FP32* matrix)
{
const float product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1;
const float product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2;
const float product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1;
const float product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2;
return bgc_is_unit_fp32(product_r1c1) && bgc_is_zero_fp32(product_r1c2)
&& bgc_is_zero_fp32(product_r2c1) && bgc_is_unit_fp32(product_r2c2);
}
inline int bgc_matrix2x2_is_rotation_fp64(const BgcMatrix2x2FP64* matrix)
{
const double product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1;
const double product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2;
const double product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1;
const double product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2;
return bgc_is_unit_fp64(product_r1c1) && bgc_is_zero_fp64(product_r1c2)
&& bgc_is_zero_fp64(product_r2c1) && bgc_is_unit_fp64(product_r2c2);
}
// ==================== Copy ==================== //
inline void bgc_matrix2x2_copy_fp32(const BgcMatrix2x2FP32* source, BgcMatrix2x2FP32* destination)

3
basic-geometry/matrix3x3.c
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@ -24,6 +24,9 @@ extern inline double bgc_matrix3x3_get_determinant_fp64(const BgcMatrix3x3FP64*
extern inline int bgc_matrix3x3_is_singular_fp32(const BgcMatrix3x3FP32* matrix);
extern inline int bgc_matrix3x3_is_singular_fp64(const BgcMatrix3x3FP64* matrix);
extern inline int bgc_matrix3x3_is_rotation_fp32(const BgcMatrix3x3FP32* matrix);
extern inline int bgc_matrix3x3_is_rotation_fp64(const BgcMatrix3x3FP64* matrix);
extern inline void bgc_matrix3x3_transpose_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* transposed);
extern inline void bgc_matrix3x3_transpose_fp64(const BgcMatrix3x3FP64* matrix, BgcMatrix3x3FP64* transposed);

40
basic-geometry/matrix3x3.h
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@ -272,6 +272,46 @@ inline int bgc_matrix3x3_is_singular_fp64(const BgcMatrix3x3FP64* matrix)
return bgc_is_zero_fp64(bgc_matrix3x3_get_determinant_fp64(matrix));
}
// ================ Is Rotation ================= //
inline int bgc_matrix3x3_is_rotation_fp32(const BgcMatrix3x3FP32* matrix)
{
const float product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1;
const float product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2;
const float product_r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3;
const float product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1;
const float product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2;
const float product_r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3;
const float product_r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1;
const float product_r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2;
const float product_r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3;
return bgc_is_unit_fp32(product_r1c1) && bgc_is_zero_fp32(product_r1c2) && bgc_is_zero_fp32(product_r1c3)
&& bgc_is_zero_fp32(product_r2c1) && bgc_is_unit_fp32(product_r2c2) && bgc_is_zero_fp32(product_r2c3)
&& bgc_is_zero_fp32(product_r3c1) && bgc_is_zero_fp32(product_r3c2) && bgc_is_unit_fp32(product_r3c3);
}
inline int bgc_matrix3x3_is_rotation_fp64(const BgcMatrix3x3FP64* matrix)
{
const double product_r1c1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r2c1 + matrix->r1c3 * matrix->r3c1;
const double product_r1c2 = matrix->r1c1 * matrix->r1c2 + matrix->r1c2 * matrix->r2c2 + matrix->r1c3 * matrix->r3c2;
const double product_r1c3 = matrix->r1c1 * matrix->r1c3 + matrix->r1c2 * matrix->r2c3 + matrix->r1c3 * matrix->r3c3;
const double product_r2c1 = matrix->r2c1 * matrix->r1c1 + matrix->r2c2 * matrix->r2c1 + matrix->r2c3 * matrix->r3c1;
const double product_r2c2 = matrix->r2c1 * matrix->r1c2 + matrix->r2c2 * matrix->r2c2 + matrix->r2c3 * matrix->r3c2;
const double product_r2c3 = matrix->r2c1 * matrix->r1c3 + matrix->r2c2 * matrix->r2c3 + matrix->r2c3 * matrix->r3c3;
const double product_r3c1 = matrix->r3c1 * matrix->r1c1 + matrix->r3c2 * matrix->r2c1 + matrix->r3c3 * matrix->r3c1;
const double product_r3c2 = matrix->r3c1 * matrix->r1c2 + matrix->r3c2 * matrix->r2c2 + matrix->r3c3 * matrix->r3c2;
const double product_r3c3 = matrix->r3c1 * matrix->r1c3 + matrix->r3c2 * matrix->r2c3 + matrix->r3c3 * matrix->r3c3;
return bgc_is_unit_fp64(product_r1c1) && bgc_is_zero_fp64(product_r1c2) && bgc_is_zero_fp64(product_r1c3)
&& bgc_is_zero_fp64(product_r2c1) && bgc_is_unit_fp64(product_r2c2) && bgc_is_zero_fp64(product_r2c3)
&& bgc_is_zero_fp64(product_r3c1) && bgc_is_zero_fp64(product_r3c2) && bgc_is_unit_fp64(product_r3c3);
}
// =================== Invert =================== //
int bgc_matrix3x3_invert_fp32(const BgcMatrix3x3FP32* matrix, BgcMatrix3x3FP32* inverted);

4
basic-geometry/slerp.c
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@ -3,8 +3,8 @@
extern inline void bgc_slerp_reset_fp32(BgcSlerpFP32* slerp);
extern inline void bgc_slerp_reset_fp64(BgcSlerpFP64* slerp);
extern inline bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result);
extern inline bgc_slerp_get_turn_for_phase_fp64(const BgcSlerpFP64* slerp, const double phase, BgcVersorFP64* result);
extern inline void bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result);
extern inline void bgc_slerp_get_turn_for_phase_fp64(const BgcSlerpFP64* slerp, const double phase, BgcVersorFP64* result);
void bgc_slerp_make_full_fp32(const BgcVersorFP32* start, const BgcVersorFP32* end, BgcSlerpFP32* slerp)
{

4
basic-geometry/slerp.h
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@ -61,7 +61,7 @@ void bgc_slerp_make_shortened_fp32(const BgcVersorFP32* start, const BgcVersorFP
void bgc_slerp_make_shortened_fp64(const BgcVersorFP64* start, const BgcVersorFP64* end, BgcSlerpFP64* slerp);
inline bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result)
inline void bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float phase, BgcVersorFP32* result)
{
const float angle = slerp->radians * phase;
const float cosine = cosf(angle);
@ -76,7 +76,7 @@ inline bgc_slerp_get_turn_for_phase_fp32(const BgcSlerpFP32* slerp, const float
);
}
inline bgc_slerp_get_turn_for_phase_fp64(const BgcSlerpFP64* slerp, const double phase, BgcVersorFP64* result)
inline void bgc_slerp_get_turn_for_phase_fp64(const BgcSlerpFP64* slerp, const double phase, BgcVersorFP64* result)
{
const double angle = slerp->radians * phase;
const double cosine = cos(angle);