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

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This commit is contained in:
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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72
basic-geometry/versor.h
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@ -460,17 +460,17 @@ inline void bgc_fp32_versor_get_rotation_matrix(BGC_FP32_Matrix3x3* matrix, cons
const float x1x3 = versor->_x1 * versor->_x3;
const float x2x3 = versor->_x2 * versor->_x3;
matrix->row1_col1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->row2_col2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->row3_col3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->row1_col2 = 2.0f * (x1x2 - s0x3);
matrix->row2_col3 = 2.0f * (x2x3 - s0x1);
matrix->row3_col1 = 2.0f * (x1x3 - s0x2);
matrix->r1c2 = 2.0f * (x1x2 - s0x3);
matrix->r2c3 = 2.0f * (x2x3 - s0x1);
matrix->r3c1 = 2.0f * (x1x3 - s0x2);
matrix->row2_col1 = 2.0f * (x1x2 + s0x3);
matrix->row3_col2 = 2.0f * (x2x3 + s0x1);
matrix->row1_col3 = 2.0f * (x1x3 + s0x2);
matrix->r2c1 = 2.0f * (x1x2 + s0x3);
matrix->r3c2 = 2.0f * (x2x3 + s0x1);
matrix->r1c3 = 2.0f * (x1x3 + s0x2);
}
inline void bgc_fp64_versor_get_rotation_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Versor* versor)
@ -487,17 +487,17 @@ inline void bgc_fp64_versor_get_rotation_matrix(BGC_FP64_Matrix3x3* matrix, cons
const double x1x3 = versor->_x1 * versor->_x3;
const double x2x3 = versor->_x2 * versor->_x3;
matrix->row1_col1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->row2_col2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->row3_col3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->row1_col2 = 2.0 * (x1x2 - s0x3);
matrix->row2_col3 = 2.0 * (x2x3 - s0x1);
matrix->row3_col1 = 2.0 * (x1x3 - s0x2);
matrix->r1c2 = 2.0 * (x1x2 - s0x3);
matrix->r2c3 = 2.0 * (x2x3 - s0x1);
matrix->r3c1 = 2.0 * (x1x3 - s0x2);
matrix->row2_col1 = 2.0 * (x1x2 + s0x3);
matrix->row3_col2 = 2.0 * (x2x3 + s0x1);
matrix->row1_col3 = 2.0 * (x1x3 + s0x2);
matrix->r2c1 = 2.0 * (x1x2 + s0x3);
matrix->r3c2 = 2.0 * (x2x3 + s0x1);
matrix->r1c3 = 2.0 * (x1x3 + s0x2);
}
// ============= Get Reverse Matrix ============= //
@ -516,17 +516,17 @@ inline void bgc_fp32_versor_get_reverse_matrix(BGC_FP32_Matrix3x3* matrix, const
const float x1x3 = versor->_x1 * versor->_x3;
const float x2x3 = versor->_x2 * versor->_x3;
matrix->row1_col1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->row2_col2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->row3_col3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->row1_col2 = 2.0f * (x1x2 + s0x3);
matrix->row2_col3 = 2.0f * (x2x3 + s0x1);
matrix->row3_col1 = 2.0f * (x1x3 + s0x2);
matrix->r1c2 = 2.0f * (x1x2 + s0x3);
matrix->r2c3 = 2.0f * (x2x3 + s0x1);
matrix->r3c1 = 2.0f * (x1x3 + s0x2);
matrix->row2_col1 = 2.0f * (x1x2 - s0x3);
matrix->row3_col2 = 2.0f * (x2x3 - s0x1);
matrix->row1_col3 = 2.0f * (x1x3 - s0x2);
matrix->r2c1 = 2.0f * (x1x2 - s0x3);
matrix->r3c2 = 2.0f * (x2x3 - s0x1);
matrix->r1c3 = 2.0f * (x1x3 - s0x2);
}
inline void bgc_fp64_versor_get_reverse_matrix(BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Versor* versor)
@ -543,17 +543,17 @@ inline void bgc_fp64_versor_get_reverse_matrix(BGC_FP64_Matrix3x3* matrix, const
const double x1x3 = versor->_x1 * versor->_x3;
const double x2x3 = versor->_x2 * versor->_x3;
matrix->row1_col1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->row2_col2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->row3_col3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
matrix->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
matrix->row1_col2 = 2.0 * (x1x2 + s0x3);
matrix->row2_col3 = 2.0 * (x2x3 + s0x1);
matrix->row3_col1 = 2.0 * (x1x3 + s0x2);
matrix->r1c2 = 2.0 * (x1x2 + s0x3);
matrix->r2c3 = 2.0 * (x2x3 + s0x1);
matrix->r3c1 = 2.0 * (x1x3 + s0x2);
matrix->row2_col1 = 2.0 * (x1x2 - s0x3);
matrix->row3_col2 = 2.0 * (x2x3 - s0x1);
matrix->row1_col3 = 2.0 * (x1x3 - s0x2);
matrix->r2c1 = 2.0 * (x1x2 - s0x3);
matrix->r3c2 = 2.0 * (x2x3 - s0x1);
matrix->r1c3 = 2.0 * (x1x3 - s0x2);
}
// ============= Get Both Matrixes ============== //