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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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75
basic-geometry/posture3.h
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@ -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