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Развитие дуальный чисел, векторов и кватернионов, а также гомогенных векторов и матриц

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Andrey Pokidov 2026-02-03 19:56:56 +07:00
parent 3f96b661a9
commit b87518cd3f
21 changed files with 1787 additions and 1511 deletions
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basic-geometry/hg-matrix3x3.h Normal file
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#ifndef _BGC_HG_MATRIX3X3_H_INCLUDED_
#define _BGC_HG_MATRIX3X3_H_INCLUDED_
#include "vector3.h"
#include "matrices.h"
#include "hg-vector3.h"
// =================== Types ==================== //
typedef struct
{
float r1c1, r1c2, r1c3, r1d0;
float r2c1, r2c2, r2c3, r2d0;
float r3c1, r3c2, r3c3, r3d0;
float d0c1, d0c2, d0c3, d0d0;
} BGC_FP32_HgMatrix3x3;
typedef struct
{
double r1c1, r1c2, r1c3, r1d0;
double r2c1, r2c2, r2c3, r2d0;
double r3c1, r3c2, r3c3, r3d0;
double d0c1, d0c2, d0c3, d0d0;
} BGC_FP64_HgMatrix3x3;
// =================== Reset ==================== //
inline void bgc_fp32_hg_matrix3x3_reset(BGC_FP32_HgMatrix3x3* homogeneous_matrix)
{
homogeneous_matrix->r1c1 = 1.0f;
homogeneous_matrix->r1c2 = 0.0f;
homogeneous_matrix->r1c2 = 0.0f;
homogeneous_matrix->r1d0 = 0.0f;
homogeneous_matrix->r2c1 = 0.0f;
homogeneous_matrix->r2c2 = 1.0f;
homogeneous_matrix->r2c2 = 0.0f;
homogeneous_matrix->r2d0 = 0.0f;
homogeneous_matrix->r3c1 = 0.0f;
homogeneous_matrix->r3c2 = 0.0f;
homogeneous_matrix->r3c2 = 1.0f;
homogeneous_matrix->r3d0 = 0.0f;
homogeneous_matrix->d0c1 = 0.0f;
homogeneous_matrix->d0c2 = 0.0f;
homogeneous_matrix->d0c2 = 0.0f;
homogeneous_matrix->d0d0 = 1.0f;
}
inline void bgc_fp64_hg_matrix3x3_reset(BGC_FP64_HgMatrix3x3* homogeneous_matrix)
{
homogeneous_matrix->r1c1 = 1.0;
homogeneous_matrix->r1c2 = 0.0;
homogeneous_matrix->r1c2 = 0.0;
homogeneous_matrix->r1d0 = 0.0;
homogeneous_matrix->r2c1 = 0.0;
homogeneous_matrix->r2c2 = 1.0;
homogeneous_matrix->r2c2 = 0.0;
homogeneous_matrix->r2d0 = 0.0;
homogeneous_matrix->r3c1 = 0.0;
homogeneous_matrix->r3c2 = 0.0;
homogeneous_matrix->r3c2 = 1.0;
homogeneous_matrix->r3d0 = 0.0;
homogeneous_matrix->d0c1 = 0.0;
homogeneous_matrix->d0c2 = 0.0;
homogeneous_matrix->d0c2 = 0.0;
homogeneous_matrix->d0d0 = 1.0;
}
// ==================== Make ==================== //
inline void bgc_fp32_hg_matrix3x3_make(BGC_FP32_HgMatrix3x3* homogeneous_matrix, const BGC_FP32_Matrix3x3* linear_matrix, const BGC_FP32_Vector3* shift)
{
homogeneous_matrix->r1c1 = linear_matrix->r1c1;
homogeneous_matrix->r1c2 = linear_matrix->r1c2;
homogeneous_matrix->r1c2 = linear_matrix->r1c3;
homogeneous_matrix->r1d0 = shift->x1;
homogeneous_matrix->r2c1 = linear_matrix->r2c1;
homogeneous_matrix->r2c2 = linear_matrix->r2c2;
homogeneous_matrix->r2c2 = linear_matrix->r2c3;
homogeneous_matrix->r2d0 = shift->x2;
homogeneous_matrix->r3c1 = linear_matrix->r3c1;
homogeneous_matrix->r3c2 = linear_matrix->r3c2;
homogeneous_matrix->r3c2 = linear_matrix->r3c3;
homogeneous_matrix->r3d0 = shift->x3;
homogeneous_matrix->d0c1 = 0.0f;
homogeneous_matrix->d0c2 = 0.0f;
homogeneous_matrix->d0c2 = 0.0f;
homogeneous_matrix->d0d0 = 1.0f;
}
inline void bgc_fp64_hg_matrix3x3_make(BGC_FP64_HgMatrix3x3* homogeneous_matrix, const BGC_FP64_Matrix3x3* linear_matrix, const BGC_FP64_Vector3* shift)
{
homogeneous_matrix->r1c1 = linear_matrix->r1c1;
homogeneous_matrix->r1c2 = linear_matrix->r1c2;
homogeneous_matrix->r1c2 = linear_matrix->r1c3;
homogeneous_matrix->r1d0 = shift->x1;
homogeneous_matrix->r2c1 = linear_matrix->r2c1;
homogeneous_matrix->r2c2 = linear_matrix->r2c2;
homogeneous_matrix->r2c2 = linear_matrix->r2c3;
homogeneous_matrix->r2d0 = shift->x2;
homogeneous_matrix->r3c1 = linear_matrix->r3c1;
homogeneous_matrix->r3c2 = linear_matrix->r3c2;
homogeneous_matrix->r3c2 = linear_matrix->r3c3;
homogeneous_matrix->r3d0 = shift->x3;
homogeneous_matrix->d0c1 = 0.0;
homogeneous_matrix->d0c2 = 0.0;
homogeneous_matrix->d0c2 = 0.0;
homogeneous_matrix->d0d0 = 1.0;
}
#endif