Kimelas/bgc-c
2
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Добавление position3 и aффинного преобразования

Browse source
This commit is contained in:
andrey 2026-01-26 20:00:12 +07:00
parent fd7c6c91cd
commit d8347656c7
7 changed files with 375 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

13
basic-geometry/affine3.c Normal file
View file

@ -0,0 +1,13 @@
#include "affine3.h"
extern inline void bgc_affine3_reset_fp32(BgcAffine3FP32 * affine);
extern inline void bgc_affine3_reset_fp64(BgcAffine3FP64 * affine);
extern inline void bgc_affine3_make_fp32(const BgcMatrix3x3FP32 * distortion, const BgcVector3FP32 * shift, BgcAffine3FP32 * affine);
extern inline void bgc_affine3_make_fp64(const BgcMatrix3x3FP64 * distortion, const BgcVector3FP64 * shift, BgcAffine3FP64 * affine);
extern inline void bgc_affine3_transform_point_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_point, BgcVector3FP32 * transformed_point);
extern inline void bgc_affine3_transform_point_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_point, BgcVector3FP64 * transformed_point);
extern inline void bgc_affine3_transform_vector_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_vector, BgcVector3FP32 * transformed_vector);
extern inline void bgc_affine3_transform_vector_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_vector, BgcVector3FP64 * transformed_vector);

197
basic-geometry/affine3.h Normal file
View file

@ -0,0 +1,197 @@
#ifndef _BGC_AFFINE3_H_INCLUDED_
#define _BGC_AFFINE3_H_INCLUDED_
#include "utilities.h"
#include "vector3.h"
#include "matrixes.h"
#include "matrix3x3.h"
// ==================== Types ==================== //
typedef struct {
#if BGC_AFFINE_USE_MATRIX
BgcMatrix3x3FP32 distortion;
BgcVector3FP32 shift;
#else
float r1c1, r1c2, r1c3, shift1;
float r2c1, r2c2, r2c3, shift2;
float r3c1, r3c2, r3c3, shift3;
#endif
} BgcAffine3FP32;
typedef struct {
#if BGC_AFFINE_USE_MATRIX
BgcMatrix3x3FP64 distortion;
BgcVector3FP64 shift;
#else
double r1c1, r1c2, r1c3, shift1;
double r2c1, r2c2, r2c3, shift2;
double r3c1, r3c2, r3c3, shift3;
#endif
} BgcAffine3FP64;
// ==================== Reset ==================== //
inline void bgc_affine3_reset_fp32(BgcAffine3FP32 * affine)
{
#if BGC_AFFINE_USE_MATRIX
bgc_matrix3x3_set_to_identity_fp32(&affine->distortion);
bgc_vector3_reset_fp32(&affine->shift);
#else
affine->r1c1 = 1.0f;
affine->r1c2 = 0.0f;
affine->r1c3 = 0.0f;
affine->shift1 = 0.0f;
affine->r2c1 = 0.0f;
affine->r2c2 = 1.0f;
affine->r2c3 = 0.0f;
affine->shift2 = 0.0f;
affine->r3c1 = 0.0f;
affine->r3c2 = 0.0f;
affine->r3c3 = 1.0f;
affine->shift3 = 0.0f;
#endif
}
inline void bgc_affine3_reset_fp64(BgcAffine3FP64 * affine)
{
#if BGC_AFFINE_USE_MATRIX
bgc_matrix3x3_set_to_identity_fp64(&affine->distortion);
bgc_vector3_reset_fp64(&affine->shift);
#else
affine->r1c1 = 1.0;
affine->r1c2 = 0.0;
affine->r1c3 = 0.0;
affine->shift1 = 0.0;
affine->r2c1 = 0.0;
affine->r2c2 = 1.0;
affine->r2c3 = 0.0;
affine->shift2 = 0.0;
affine->r3c1 = 0.0;
affine->r3c2 = 0.0;
affine->r3c3 = 1.0;
affine->shift3 = 0.0;
#endif
}
// ==================== Make ===================== //
inline void bgc_affine3_make_fp32(const BgcMatrix3x3FP32 * distortion, const BgcVector3FP32 * shift, BgcAffine3FP32 * affine)
{
#if BGC_AFFINE_USE_MATRIX
bgc_matrix3x3_copy_fp32(distortion, &affine->distortion);
bgc_vector3_copy_fp32(shift, &affine->shift);
#else
affine->r1c1 = distortion->r1c1;
affine->r1c2 = distortion->r1c2;
affine->r1c3 = distortion->r1c3;
affine->shift1 = shift->x1;
affine->r2c1 = distortion->r2c1;
affine->r2c2 = distortion->r2c2;
affine->r2c3 = distortion->r2c3;
affine->shift2 = shift->x2;
affine->r3c1 = distortion->r3c1;
affine->r3c2 = distortion->r3c2;
affine->r3c3 = distortion->r3c3;
affine->shift3 = shift->x3;
#endif
}
inline void bgc_affine3_make_fp64(const BgcMatrix3x3FP64 * distortion, const BgcVector3FP64 * shift, BgcAffine3FP64 * affine)
{
#if BGC_AFFINE_USE_MATRIX
bgc_matrix3x3_copy_fp64(distortion, &affine->distortion);
bgc_vector3_copy_fp64(shift, &affine->shift);
#else
affine->r1c1 = distortion->r1c1;
affine->r1c2 = distortion->r1c2;
affine->r1c3 = distortion->r1c3;
affine->shift1 = shift->x1;
affine->r2c1 = distortion->r2c1;
affine->r2c2 = distortion->r2c2;
affine->r2c3 = distortion->r2c3;
affine->shift2 = shift->x2;
affine->r3c1 = distortion->r3c1;
affine->r3c2 = distortion->r3c2;
affine->r3c3 = distortion->r3c3;
affine->shift3 = shift->x3;
#endif
}
// =============== Transform Point =============== //
inline void bgc_affine3_transform_point_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_point, BgcVector3FP32 * transformed_point)
{
#if BGC_AFFINE_USE_MATRIX
BgcVector3FP32 distorted;
bgc_matrix3x3_get_right_product_fp32(&affine->distortion, initial_point, &distorted);
bgc_vector3_add_fp32(&affine->shift, &distorted, transformed_point);
#else
const float x1 = affine->r1c1 * initial_point->x1 + affine->r1c2 * initial_point->x2 + affine->r1c3 * initial_point->x3 + affine->shift1;
const float x2 = affine->r2c1 * initial_point->x1 + affine->r2c2 * initial_point->x2 + affine->r2c3 * initial_point->x3 + affine->shift2;
const float x3 = affine->r3c1 * initial_point->x1 + affine->r3c2 * initial_point->x2 + affine->r3c3 * initial_point->x3 + affine->shift3;
transformed_point->x1 = x1;
transformed_point->x2 = x2;
transformed_point->x3 = x3;
#endif
}
inline void bgc_affine3_transform_point_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_point, BgcVector3FP64 * transformed_point)
{
#if BGC_AFFINE_USE_MATRIX
BgcVector3FP64 distorted;
bgc_matrix3x3_get_right_product_fp64(&affine->distortion, initial_point, &distorted);
bgc_vector3_add_fp64(&affine->shift, &distorted, transformed_point);
#else
const double x1 = affine->r1c1 * initial_point->x1 + affine->r1c2 * initial_point->x2 + affine->r1c3 * initial_point->x3 + affine->shift1;
const double x2 = affine->r2c1 * initial_point->x1 + affine->r2c2 * initial_point->x2 + affine->r2c3 * initial_point->x3 + affine->shift2;
const double x3 = affine->r3c1 * initial_point->x1 + affine->r3c2 * initial_point->x2 + affine->r3c3 * initial_point->x3 + affine->shift3;
transformed_point->x1 = x1;
transformed_point->x2 = x2;
transformed_point->x3 = x3;
#endif
}
// ============== Transform Vector =============== //
inline void bgc_affine3_transform_vector_fp32(const BgcAffine3FP32 * affine, const BgcVector3FP32 * initial_vector, BgcVector3FP32 * transformed_vector)
{
#if BGC_AFFINE_USE_MATRIX
bgc_matrix3x3_get_right_product_fp32(&affine->distortion, initial_vector, transformed_vector);
#else
const float x1 = affine->r1c1 * initial_vector->x1 + affine->r1c2 * initial_vector->x2 + affine->r1c3 * initial_vector->x3;
const float x2 = affine->r2c1 * initial_vector->x1 + affine->r2c2 * initial_vector->x2 + affine->r2c3 * initial_vector->x3;
const float x3 = affine->r3c1 * initial_vector->x1 + affine->r3c2 * initial_vector->x2 + affine->r3c3 * initial_vector->x3;
transformed_vector->x1 = x1;
transformed_vector->x2 = x2;
transformed_vector->x3 = x3;
#endif
}
inline void bgc_affine3_transform_vector_fp64(const BgcAffine3FP64 * affine, const BgcVector3FP64 * initial_vector, BgcVector3FP64 * transformed_vector)
{
#if BGC_AFFINE_USE_MATRIX
bgc_matrix3x3_get_right_product_fp64(&affine->distortion, initial_vector, transformed_vector);
#else
const double x1 = affine->r1c1 * initial_vector->x1 + affine->r1c2 * initial_vector->x2 + affine->r1c3 * initial_vector->x3;
const double x2 = affine->r2c1 * initial_vector->x1 + affine->r2c2 * initial_vector->x2 + affine->r2c3 * initial_vector->x3;
const double x3 = affine->r3c1 * initial_vector->x1 + affine->r3c2 * initial_vector->x2 + affine->r3c3 * initial_vector->x3;
transformed_vector->x1 = x1;
transformed_vector->x2 = x2;
transformed_vector->x3 = x3;
#endif
}
#endif // _BGC_AFFINE3_H_INCLUDED_

4
basic-geometry/basic-geometry.cbp
View file

@ -76,6 +76,10 @@
<Option compilerVar="CC" />
</Unit>
<Unit filename="matrixes.h" />
<Unit filename="position.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="position.h" />
<Unit filename="quaternion.c">
<Option compilerVar="CC" />
</Unit>

4
basic-geometry/basic-geometry.h
View file

@ -13,6 +13,8 @@
#include "./matrix2x3.h"
#include "./matrix3x2.h"
#include "./matrix3x3.h"
#include "./affine3.h"
#include "./complex.h"
#include "./cotes-number.h"
@ -22,5 +24,7 @@
#include "./quaternion.h"
#include "./versor.h"
#include "./slerp.h"
#include "./position3.h"
#endif

13
basic-geometry/position3.c Normal file
View file

@ -0,0 +1,13 @@
#include "position3.h"
extern inline void bgc_position3_reset_fp32(BgcPosition3FP32 * node);
extern inline void bgc_position3_reset_fp64(BgcPosition3FP64 * node);
extern inline void bgc_position3_make_fp32(const BgcVersorFP32 * turn, const BgcVector3FP32 * shift, BgcPosition3FP32 * position);
extern inline void bgc_position3_make_fp64(const BgcVersorFP64 * turn, const BgcVector3FP64 * shift, BgcPosition3FP64 * position);
extern inline void bgc_position3_combine_fp32(const BgcPosition3FP32 * parent, const BgcPosition3FP32 * child, BgcPosition3FP32 * combination);
extern inline void bgc_position3_combine_fp64(const BgcPosition3FP64 * parent, const BgcPosition3FP64 * child, BgcPosition3FP64 * combination);
extern inline void bgc_position3_get_affine3_map_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * affine_map);
extern inline void bgc_position3_get_affine3_map_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * affine_map);

140
basic-geometry/position3.h Normal file
View file

@ -0,0 +1,140 @@
#ifndef _BGC_POSITION3_H_INCLUDED_
#define _BGC_POSITION3_H_INCLUDED_
#include "vector3.h"
#include "affine3.h"
#include "versor.h"
// ==================== Types ==================== //
typedef struct {
BgcVersorFP32 turn;
BgcVector3FP32 shift;
} BgcPosition3FP32;
typedef struct {
BgcVersorFP64 turn;
BgcVector3FP64 shift;
} BgcPosition3FP64;
// ==================== Reset ==================== //
inline void bgc_position3_reset_fp32(BgcPosition3FP32 * position)
{
bgc_versor_reset_fp32(&position->turn);
bgc_vector3_reset_fp32(&position->shift);
}
inline void bgc_position3_reset_fp64(BgcPosition3FP64 * position)
{
bgc_versor_reset_fp64(&position->turn);
bgc_vector3_reset_fp64(&position->shift);
}
// ==================== Make ===================== //
inline void bgc_position3_make_fp32(const BgcVersorFP32 * turn, const BgcVector3FP32 * shift, BgcPosition3FP32 * position)
{
bgc_versor_copy_fp32(turn, &position->turn);
bgc_vector3_copy_fp32(shift, &position->shift);
}
inline void bgc_position3_make_fp64(const BgcVersorFP64 * turn, const BgcVector3FP64 * shift, BgcPosition3FP64 * position)
{
bgc_versor_copy_fp64(turn, &position->turn);
bgc_vector3_copy_fp64(shift, &position->shift);
}
// =================== Combine =================== //
inline void bgc_position3_combine_fp32(const BgcPosition3FP32 * parent, const BgcPosition3FP32 * child, BgcPosition3FP32 * combination)
{
BgcVector3FP32 relative_shift;
bgc_versor_turn_vector_fp32(&parent->turn, &child->shift, &relative_shift);
bgc_versor_combine_fp32(&child->turn, &parent->turn, &combination->turn);
bgc_vector3_add_fp32(&parent->shift, &relative_shift, &combination->shift);
}
inline void bgc_position3_combine_fp64(const BgcPosition3FP64 * parent, const BgcPosition3FP64 * child, BgcPosition3FP64 * combination)
{
BgcVector3FP64 relative_shift;
bgc_versor_turn_vector_fp64(&parent->turn, &child->shift, &relative_shift);
bgc_versor_combine_fp64(&child->turn, &parent->turn, &combination->turn);
bgc_vector3_add_fp64(&parent->shift, &relative_shift, &combination->shift);
}
// ================= Get Affine ================== //
inline void bgc_position3_get_affine3_map_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * affine_map)
{
#if BGC_AFFINE_USE_MATRIX
bgc_versor_get_rotation_matrix_fp32(&position->turn, &affine_map->distortion);
bgc_vector3_copy_fp32(&position->shift, &affine_map->shift);
#else
const float s0s0 = position->turn._s0 * position->turn._s0;
const float x1x1 = position->turn._x1 * position->turn._x1;
const float x2x2 = position->turn._x2 * position->turn._x2;
const float x3x3 = position->turn._x3 * position->turn._x3;
const float s0x1 = position->turn._s0 * position->turn._x1;
const float s0x2 = position->turn._s0 * position->turn._x2;
const float s0x3 = position->turn._s0 * position->turn._x3;
const float x1x2 = position->turn._x1 * position->turn._x2;
const float x1x3 = position->turn._x1 * position->turn._x3;
const float x2x3 = position->turn._x2 * position->turn._x3;
affine_map->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
affine_map->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
affine_map->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
affine_map->r1c2 = 2.0f * (x1x2 - s0x3);
affine_map->r2c3 = 2.0f * (x2x3 - s0x1);
affine_map->r3c1 = 2.0f * (x1x3 - s0x2);
affine_map->r2c1 = 2.0f * (x1x2 + s0x3);
affine_map->r3c2 = 2.0f * (x2x3 + s0x1);
affine_map->r1c3 = 2.0f * (x1x3 + s0x2);
affine_map->shift1 = position->shift.x1;
affine_map->shift2 = position->shift.x2;
affine_map->shift3 = position->shift.x3;
#endif
}
inline void bgc_position3_get_affine3_map_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * affine_map)
{
#if BGC_AFFINE_USE_MATRIX
bgc_versor_get_rotation_matrix_fp64(&position->turn, &affine_map->distortion);
bgc_vector3_copy_fp64(&position->shift, &affine_map->shift);
#else
const double s0s0 = position->turn._s0 * position->turn._s0;
const double x1x1 = position->turn._x1 * position->turn._x1;
const double x2x2 = position->turn._x2 * position->turn._x2;
const double x3x3 = position->turn._x3 * position->turn._x3;
const double s0x1 = position->turn._s0 * position->turn._x1;
const double s0x2 = position->turn._s0 * position->turn._x2;
const double s0x3 = position->turn._s0 * position->turn._x3;
const double x1x2 = position->turn._x1 * position->turn._x2;
const double x1x3 = position->turn._x1 * position->turn._x3;
const double x2x3 = position->turn._x2 * position->turn._x3;
affine_map->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
affine_map->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
affine_map->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
affine_map->r1c2 = 2.0 * (x1x2 - s0x3);
affine_map->r2c3 = 2.0 * (x2x3 - s0x1);
affine_map->r3c1 = 2.0 * (x1x3 - s0x2);
affine_map->r2c1 = 2.0 * (x1x2 + s0x3);
affine_map->r3c2 = 2.0 * (x2x3 + s0x1);
affine_map->r1c3 = 2.0 * (x1x3 + s0x2);
affine_map->shift1 = position->shift.x1;
affine_map->shift2 = position->shift.x2;
affine_map->shift3 = position->shift.x3;
#endif
}
#endif // _BGC_POSITION_H_INCLUDED_

4
basic-geometry/utilities.h
View file

@ -46,6 +46,10 @@
#define BGC_AXIS_REVERSE_X2 -2
#define BGC_AXIS_REVERSE_X3 -3
#if !defined(BGC_AFFINE_USE_MATRIX)
#define BGC_AFFINE_USE_MATRIX 1
#endif
inline int bgc_is_correct_axis(const int axis)
{
return axis == BGC_AXIS_X1 || axis == BGC_AXIS_REVERSE_X1