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Добавление операции комбинирования для Posture3

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This commit is contained in:
Andrey Pokidov 2026-02-27 04:13:24 +07:00
parent add4d89c80
commit c857c251c3
3 changed files with 49 additions and 38 deletions
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8
basic-geometry/posture3.c
View file

@ -12,6 +12,8 @@ extern inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_
extern inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source);
extern inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source);
extern inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second);
extern inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second);
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude)
{
@ -22,8 +24,7 @@ void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square
const float multiplier = sqrtf(1.0f / square_magnitude);
bgc_fp32_quaternion_multiply_by_real(&posture->_real_part, &posture->_real_part, multiplier);
bgc_fp32_quaternion_multiply_by_real(&posture->_dual_part, &posture->_dual_part, multiplier);
bgc_fp32_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
}
void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude)
@ -35,6 +36,5 @@ void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double squar
const double multiplier = sqrt(1.0 / square_magnitude);
bgc_fp64_quaternion_multiply_by_real(&posture->_real_part, &posture->_real_part, multiplier);
bgc_fp64_quaternion_multiply_by_real(&posture->_dual_part, &posture->_dual_part, multiplier);
bgc_fp64_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
}

75
basic-geometry/posture3.h
View file

@ -15,66 +15,61 @@ void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double squar
inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
{
posture->_real_part.s0 = 1.0f;
posture->_real_part.x1 = 0.0f;
posture->_real_part.x2 = 0.0f;
posture->_real_part.x3 = 0.0f;
posture->_versor.real_part.s0 = 1.0f;
posture->_versor.real_part.x1 = 0.0f;
posture->_versor.real_part.x2 = 0.0f;
posture->_versor.real_part.x3 = 0.0f;
posture->_dual_part.s0 = 0.0f;
posture->_dual_part.x1 = 0.0f;
posture->_dual_part.x2 = 0.0f;
posture->_dual_part.x3 = 0.0f;
posture->_versor.dual_part.s0 = 0.0f;
posture->_versor.dual_part.x1 = 0.0f;
posture->_versor.dual_part.x2 = 0.0f;
posture->_versor.dual_part.x3 = 0.0f;
}
inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
{
posture->_real_part.s0 = 1.0;
posture->_real_part.x1 = 0.0;
posture->_real_part.x2 = 0.0;
posture->_real_part.x3 = 0.0;
posture->_versor.real_part.s0 = 1.0;
posture->_versor.real_part.x1 = 0.0;
posture->_versor.real_part.x2 = 0.0;
posture->_versor.real_part.x3 = 0.0;
posture->_dual_part.s0 = 0.0;
posture->_dual_part.x1 = 0.0;
posture->_dual_part.x2 = 0.0;
posture->_dual_part.x3 = 0.0;
posture->_versor.dual_part.s0 = 0.0;
posture->_versor.dual_part.x1 = 0.0;
posture->_versor.dual_part.x2 = 0.0;
posture->_versor.dual_part.x3 = 0.0;
}
// ==================== Copy ==================== //
inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source)
{
bgc_fp32_quaternion_copy(&destination->_real_part, &source->_real_part);
bgc_fp32_quaternion_copy(&destination->_dual_part, &source->_dual_part);
bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
}
inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source)
{
bgc_fp64_quaternion_copy(&destination->_real_part, &source->_real_part);
bgc_fp64_quaternion_copy(&destination->_dual_part, &source->_dual_part);
bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
}
// ==================== Swap ==================== //
inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2)
{
bgc_fp32_quaternion_swap(&posture1->_real_part, &posture2->_real_part);
bgc_fp32_quaternion_swap(&posture1->_dual_part, &posture2->_dual_part);
bgc_fp32_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
}
inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2)
{
bgc_fp64_quaternion_swap(&posture1->_real_part, &posture2->_real_part);
bgc_fp64_quaternion_swap(&posture1->_dual_part, &posture2->_dual_part);
bgc_fp64_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
}
// ================== Convert =================== //
inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source)
{
bgc_fp32_quaternion_convert_to_fp64(&destination->_real_part, &source->_real_part);
bgc_fp32_quaternion_convert_to_fp64(&destination->_dual_part, &source->_dual_part);
bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_real_part);
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_versor.real_part);
if (!bgc_fp64_is_square_unit(square_magnitude)) {
_bgc_fp64_posture3_normalize(destination, square_magnitude);
@ -83,10 +78,9 @@ inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, co
inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source)
{
bgc_fp64_quaternion_convert_to_fp32(&destination->_real_part, &source->_real_part);
bgc_fp64_quaternion_convert_to_fp32(&destination->_dual_part, &source->_dual_part);
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_real_part);
bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_versor.real_part);
if (!bgc_fp32_is_square_unit(square_magnitude)) {
_bgc_fp32_posture3_normalize(destination, square_magnitude);
@ -95,9 +89,26 @@ inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, co
// ================== Combine =================== //
inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second)
inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second)
{
bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_versor.real_part);
if (!bgc_fp32_is_square_unit(square_magnitude)) {
_bgc_fp32_posture3_normalize(combination, square_magnitude);
}
}
inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second)
{
bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_versor.real_part);
if (!bgc_fp64_is_square_unit(square_magnitude)) {
_bgc_fp64_posture3_normalize(combination, square_magnitude);
}
}
#endif

4
basic-geometry/types.h
View file

@ -214,11 +214,11 @@ typedef struct {
// ================== Posture3 ================== //
typedef struct {
BGC_FP32_Quaternion _real_part, _dual_part;
BGC_FP32_DualQuaternion _versor;
} BGC_FP32_Posture3;
typedef struct {
BGC_FP64_Quaternion _real_part, _dual_part;
BGC_FP64_DualQuaternion _versor;
} BGC_FP64_Posture3;
#endif