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Andrey Pokidov 2024-11-22 16:47:26 +07:00
parent da61a9bf7c
commit beb237fd4e
44 changed files with 6588 additions and 9 deletions
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basic-geometry/quaternion.c Normal file
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#include "quaternion.h"
// ============ Make Rotation Matrix ============ //
void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
const float x2x2 = quaternion->x2 * quaternion->x2;
const float x3x3 = quaternion->x3 * quaternion->x3;
const float square_module = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-BG_FP32_EPSYLON <= square_module && square_module <= BG_FP32_EPSYLON)
{
bg_fp32_matrix3x3_set_to_identity(matrix);
return;
}
const float corrector1 = 1.0f / square_module;
const float corrector2 = 2.0f * corrector1;
const float s0x1 = quaternion->s0 * quaternion->x1;
const float s0x2 = quaternion->s0 * quaternion->x2;
const float s0x3 = quaternion->s0 * quaternion->x3;
const float x1x2 = quaternion->x1 * quaternion->x2;
const float x1x3 = quaternion->x1 * quaternion->x3;
const float x2x3 = quaternion->x2 * quaternion->x3;
matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
matrix->r1c2 = corrector2 * (x1x2 - s0x3);
matrix->r2c3 = corrector2 * (x2x3 - s0x1);
matrix->r3c1 = corrector2 * (x1x3 - s0x2);
matrix->r2c1 = corrector2 * (x1x2 + s0x3);
matrix->r3c2 = corrector2 * (x2x3 + s0x1);
matrix->r1c3 = corrector2 * (x1x3 + s0x2);
}
void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;
const double x2x2 = quaternion->x2 * quaternion->x2;
const double x3x3 = quaternion->x3 * quaternion->x3;
const double square_module = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-BG_FP64_EPSYLON <= square_module && square_module <= BG_FP64_EPSYLON)
{
bg_fp64_matrix3x3_set_to_identity(matrix);
return;
}
const double corrector1 = 1.0f / square_module;
const double corrector2 = 2.0f * corrector1;
const double s0x1 = quaternion->s0 * quaternion->x1;
const double s0x2 = quaternion->s0 * quaternion->x2;
const double s0x3 = quaternion->s0 * quaternion->x3;
const double x1x2 = quaternion->x1 * quaternion->x2;
const double x1x3 = quaternion->x1 * quaternion->x3;
const double x2x3 = quaternion->x2 * quaternion->x3;
matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
matrix->r1c2 = corrector2 * (x1x2 - s0x3);
matrix->r2c3 = corrector2 * (x2x3 - s0x1);
matrix->r3c1 = corrector2 * (x1x3 - s0x2);
matrix->r2c1 = corrector2 * (x1x2 + s0x3);
matrix->r3c2 = corrector2 * (x2x3 + s0x1);
matrix->r1c3 = corrector2 * (x1x3 + s0x2);
}
// ============ Make Reverse Matrix ============= //
void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
const float x2x2 = quaternion->x2 * quaternion->x2;
const float x3x3 = quaternion->x3 * quaternion->x3;
const float square_module = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-BG_FP32_EPSYLON <= square_module && square_module <= BG_FP32_EPSYLON)
{
bg_fp32_matrix3x3_set_to_identity(matrix);
return;
}
const float corrector1 = 1.0f / square_module;
const float corrector2 = 2.0f * corrector1;
const float s0x1 = quaternion->s0 * quaternion->x1;
const float s0x2 = quaternion->s0 * quaternion->x2;
const float s0x3 = quaternion->s0 * quaternion->x3;
const float x1x2 = quaternion->x1 * quaternion->x2;
const float x1x3 = quaternion->x1 * quaternion->x3;
const float x2x3 = quaternion->x2 * quaternion->x3;
matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
matrix->r1c2 = corrector2 * (x1x2 + s0x3);
matrix->r2c3 = corrector2 * (x2x3 + s0x1);
matrix->r3c1 = corrector2 * (x1x3 + s0x2);
matrix->r2c1 = corrector2 * (x1x2 - s0x3);
matrix->r3c2 = corrector2 * (x2x3 - s0x1);
matrix->r1c3 = corrector2 * (x1x3 - s0x2);
}
void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;
const double x2x2 = quaternion->x2 * quaternion->x2;
const double x3x3 = quaternion->x3 * quaternion->x3;
const double square_module = (s0s0 + x1x1) + (x2x2 + x3x3);
if (-BG_FP64_EPSYLON <= square_module && square_module <= BG_FP64_EPSYLON)
{
bg_fp64_matrix3x3_set_to_identity(matrix);
return;
}
const double corrector1 = 1.0f / square_module;
const double corrector2 = 2.0f * corrector1;
const double s0x1 = quaternion->s0 * quaternion->x1;
const double s0x2 = quaternion->s0 * quaternion->x2;
const double s0x3 = quaternion->s0 * quaternion->x3;
const double x1x2 = quaternion->x1 * quaternion->x2;
const double x1x3 = quaternion->x1 * quaternion->x3;
const double x2x3 = quaternion->x2 * quaternion->x3;
matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
matrix->r1c2 = corrector2 * (x1x2 + s0x3);
matrix->r2c3 = corrector2 * (x2x3 + s0x1);
matrix->r3c1 = corrector2 * (x1x3 + s0x2);
matrix->r2c1 = corrector2 * (x1x2 - s0x3);
matrix->r3c2 = corrector2 * (x2x3 - s0x1);
matrix->r1c3 = corrector2 * (x1x3 - s0x2);
}