Переименование функций для лучшего соответствия названия операции
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7 changed files with 193 additions and 193 deletions
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@ -252,15 +252,15 @@ inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* const pose)
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bgc_fp64_quaternion_conjugate(&pose->_versor.dual_part);
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}
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// ================ Get Reverse ================= //
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// ============== Get Reverse Pose ============== //
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inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* const reverse, const BGC_FP32_RigidPose3* const pose)
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inline void bgc_fp32_rigid_pose3_get_reverse_pose(BGC_FP32_RigidPose3* const reverse, const BGC_FP32_RigidPose3* const pose)
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{
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bgc_fp32_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part);
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bgc_fp32_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part);
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}
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inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* const reverse, const BGC_FP64_RigidPose3* const pose)
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inline void bgc_fp64_rigid_pose3_get_reverse_pose(BGC_FP64_RigidPose3* const reverse, const BGC_FP64_RigidPose3* const pose)
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{
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bgc_fp64_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part);
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bgc_fp64_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part);
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@ -308,33 +308,33 @@ inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* const difference,
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_bgc_fp64_rigid_pose3_normalize(difference);
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}
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// ============= Get Outward Matrix ============= //
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// ============ Get Rotation Matrix ============= //
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inline void bgc_fp32_rigid_pose3_get_outward_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose)
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inline void bgc_fp32_rigid_pose3_get_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose)
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{
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_bgc_fp32_versor_get_rotation_matrix(matrix, &pose->_versor.real_part);
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}
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inline void bgc_fp64_rigid_pose3_get_outward_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose)
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inline void bgc_fp64_rigid_pose3_get_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose)
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{
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_bgc_fp64_versor_get_rotation_matrix(matrix, &pose->_versor.real_part);
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}
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// ============= Get Inward Matrix ============== //
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// ============= Get Reverse Matrix ============= //
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inline void bgc_fp32_rigid_pose3_get_inward_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose)
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inline void bgc_fp32_rigid_pose3_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_RigidPose3* const pose)
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{
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_bgc_fp32_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
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}
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inline void bgc_fp64_rigid_pose3_get_inward_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose)
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inline void bgc_fp64_rigid_pose3_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_RigidPose3* const pose)
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{
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_bgc_fp64_versor_get_reverse_matrix(matrix, &pose->_versor.real_part);
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}
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// ============== Get Outer Shift =============== //
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// ================= Get Shift ================== //
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inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose)
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inline void bgc_fp32_rigid_pose3_get_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose)
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{
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const BGC_FP32_Quaternion* const real = &pose->_versor.real_part;
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const BGC_FP32_Quaternion* const dual = &pose->_versor.dual_part;
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@ -344,7 +344,7 @@ inline void bgc_fp32_rigid_pose3_get_outer_shift(BGC_FP32_Vector3* const shift,
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shift->x3 = 2.0f * ((dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2));
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}
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inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose)
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inline void bgc_fp64_rigid_pose3_get_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose)
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{
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const BGC_FP64_Quaternion* const real = &pose->_versor.real_part;
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const BGC_FP64_Quaternion* const dual = &pose->_versor.dual_part;
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@ -354,9 +354,9 @@ inline void bgc_fp64_rigid_pose3_get_outer_shift(BGC_FP64_Vector3* const shift,
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shift->x3 = 2.0 * ((dual->x3 * real->s0 + dual->x2 * real->x1) - (dual->s0 * real->x3 + dual->x1 * real->x2));
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}
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// ============== Get Inner Shift ============== //
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// ============= Get Reverse Shift ============= //
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inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose)
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inline void bgc_fp32_rigid_pose3_get_reverse_shift(BGC_FP32_Vector3* const shift, const BGC_FP32_RigidPose3* const pose)
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{
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const BGC_FP32_Quaternion* const real = &pose->_versor.real_part;
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const BGC_FP32_Quaternion* const dual = &pose->_versor.dual_part;
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@ -366,7 +366,7 @@ inline void bgc_fp32_rigid_pose3_get_inner_shift(BGC_FP32_Vector3* const shift,
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shift->x3 = 2.0f * ((dual->s0 * real->x3 - dual->x3 * real->s0) + (dual->x2 * real->x1 - dual->x1 * real->x2));
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}
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inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose)
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inline void bgc_fp64_rigid_pose3_get_reverse_shift(BGC_FP64_Vector3* const shift, const BGC_FP64_RigidPose3* const pose)
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{
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const BGC_FP64_Quaternion* const real = &pose->_versor.real_part;
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const BGC_FP64_Quaternion* const dual = &pose->_versor.dual_part;
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@ -376,51 +376,51 @@ inline void bgc_fp64_rigid_pose3_get_inner_shift(BGC_FP64_Vector3* const shift,
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shift->x3 = 2.0 * ((dual->s0 * real->x3 - dual->x3 * real->s0) + (dual->x2 * real->x1 - dual->x1 * real->x2));
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}
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// ============ Get Outward Affine3 ============= //
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// ================ Get Affine3 ================= //
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inline void bgc_fp32_rigid_pose3_get_outward_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose)
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inline void bgc_fp32_rigid_pose3_get_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose)
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{
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_bgc_fp32_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
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bgc_fp32_rigid_pose3_get_outer_shift(&affine_map->shift, pose);
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bgc_fp32_rigid_pose3_get_shift(&affine_map->shift, pose);
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}
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inline void bgc_fp64_rigid_pose3_get_outward_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose)
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inline void bgc_fp64_rigid_pose3_get_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose)
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{
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_bgc_fp64_versor_get_rotation_matrix(&affine_map->distortion, &pose->_versor.real_part);
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bgc_fp64_rigid_pose3_get_outer_shift(&affine_map->shift, pose);
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bgc_fp64_rigid_pose3_get_shift(&affine_map->shift, pose);
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}
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// ============= Get Inward Affine3 ============= //
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// ============ Get Reverse Affine3 ============= //
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inline void bgc_fp32_rigid_pose3_get_inward_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose)
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inline void bgc_fp32_rigid_pose3_get_reverse_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_RigidPose3* const pose)
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{
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_bgc_fp32_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
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bgc_fp32_rigid_pose3_get_inner_shift(&affine_map->shift, pose);
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bgc_fp32_rigid_pose3_get_reverse_shift(&affine_map->shift, pose);
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}
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inline void bgc_fp64_rigid_pose3_get_inward_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose)
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inline void bgc_fp64_rigid_pose3_get_reverse_affine(BGC_FP64_Affine3* const affine_map, const BGC_FP64_RigidPose3* const pose)
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{
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_bgc_fp64_versor_get_reverse_matrix(&affine_map->distortion, &pose->_versor.real_part);
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bgc_fp64_rigid_pose3_get_inner_shift(&affine_map->shift, pose);
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bgc_fp64_rigid_pose3_get_reverse_shift(&affine_map->shift, pose);
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}
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// ============ Get Outer Position3 ============= //
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// =============== Get Position3 ================ //
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inline void bgc_fp32_rigid_pose3_get_outer_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose)
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inline void bgc_fp32_rigid_pose3_get_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose)
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{
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bgc_fp32_quaternion_copy(&position->turn._versor, &pose->_versor.real_part);
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bgc_fp32_rigid_pose3_get_outer_shift(&position->shift, pose);
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bgc_fp32_rigid_pose3_get_shift(&position->shift, pose);
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}
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inline void bgc_fp64_rigid_pose3_get_outer_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose)
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inline void bgc_fp64_rigid_pose3_get_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose)
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{
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bgc_fp64_quaternion_copy(&position->turn._versor, &pose->_versor.real_part);
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bgc_fp64_rigid_pose3_get_outer_shift(&position->shift, pose);
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bgc_fp64_rigid_pose3_get_shift(&position->shift, pose);
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}
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// ============ Set Outer Position3 ============= //
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// =============== Set Position3 ================ //
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inline void bgc_fp32_rigid_pose3_set_outer_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position)
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inline void bgc_fp32_rigid_pose3_set_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position)
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{
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const BGC_FP32_Quaternion* const versor = &position->turn._versor;
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const BGC_FP32_Vector3* const shift = &position->shift;
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@ -433,7 +433,7 @@ inline void bgc_fp32_rigid_pose3_set_outer_position(BGC_FP32_RigidPose3* const p
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pose->_versor.dual_part.x3 = -0.5f * (shift->x2 * versor->x1 - shift->x1 * versor->x2 - shift->x3 * versor->s0);
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}
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inline void bgc_fp64_rigid_pose3_set_outer_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position)
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inline void bgc_fp64_rigid_pose3_set_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position)
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{
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const BGC_FP64_Quaternion* const versor = &position->turn._versor;
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const BGC_FP64_Vector3* const shift = &position->shift;
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@ -446,23 +446,23 @@ inline void bgc_fp64_rigid_pose3_set_outer_position(BGC_FP64_RigidPose3* const p
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pose->_versor.dual_part.x3 = -0.5 * (shift->x2 * versor->x1 - shift->x1 * versor->x2 - shift->x3 * versor->s0);
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}
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// ============ Get Inner Position3 ============= //
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// =========== Get Reverse Position3 ============ //
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inline void bgc_fp32_rigid_pose3_get_inner_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose)
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inline void bgc_fp32_rigid_pose3_get_reverse_position(BGC_FP32_Position3* const position, const BGC_FP32_RigidPose3* const pose)
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{
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bgc_fp32_quaternion_get_conjugate(&position->turn._versor, &pose->_versor.real_part);
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bgc_fp32_rigid_pose3_get_inner_shift(&position->shift, pose);
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bgc_fp32_rigid_pose3_get_reverse_shift(&position->shift, pose);
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}
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inline void bgc_fp64_rigid_pose3_get_inner_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose)
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inline void bgc_fp64_rigid_pose3_get_reverse_position(BGC_FP64_Position3* const position, const BGC_FP64_RigidPose3* const pose)
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{
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bgc_fp64_quaternion_get_conjugate(&position->turn._versor, &pose->_versor.real_part);
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bgc_fp64_rigid_pose3_get_inner_shift(&position->shift, pose);
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bgc_fp64_rigid_pose3_get_reverse_shift(&position->shift, pose);
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}
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// ============ Set Inner Position3 ============= //
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// =========== Set Reverse Position3 ============ //
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inline void bgc_fp32_rigid_pose3_set_inner_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position)
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inline void bgc_fp32_rigid_pose3_set_reverse_position(BGC_FP32_RigidPose3* const pose, const BGC_FP32_Position3* const position)
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{
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const BGC_FP32_Quaternion* const versor = &position->turn._versor;
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const BGC_FP32_Vector3* const shift = &position->shift;
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@ -475,7 +475,7 @@ inline void bgc_fp32_rigid_pose3_set_inner_position(BGC_FP32_RigidPose3* const p
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pose->_versor.dual_part.x3 = -0.5f * (versor->s0 * shift->x3 + versor->x2 * shift->x1 - versor->x1 * shift->x2);
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}
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inline void bgc_fp64_rigid_pose3_set_inner_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position)
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inline void bgc_fp64_rigid_pose3_set_reverse_position(BGC_FP64_RigidPose3* const pose, const BGC_FP64_Position3* const position)
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{
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const BGC_FP64_Quaternion* const versor = &position->turn._versor;
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const BGC_FP64_Vector3* const shift = &position->shift;
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