Добавление функций определения поворотов (versor) между направлениями и базисами

basic-geometry-dev/main.c

@@ -53,12 +53,12 @@ structure_fp32_t* make_structures(const unsigned int amount)
 
 void print_versor_fp32(const BgcVersorFP32* versor)
 {
-    printf("Versor (%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
+    printf("Versor (s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
 }
 
 void print_versor_fp64(const BgcVersorFP64* versor)
 {
-    printf("Versor (%lf, %lf, %lf, %lf)\n", versor->s0, versor->x1, versor->x2, versor->x3);
+    printf("Versor (s0 = %0.20f, x1 = %0.20f, x2 = %0.20f, x3 = %0.20f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
 }
 
 void print_vector_fp32(const BgcVector3FP32* vector)
@@ -79,7 +79,7 @@ void list_work(const uint_fast32_t amount, structure_fp32_t* list)
         }
     }
 }
-
+/*
 int main()
 {
     const unsigned int amount = 1000000;
@@ -121,3 +121,369 @@ int main()
 
     return 0;
 }
+*/
+
+/*
+int main() {
+    BgcComplexFP32 complex, exponent, result;
+
+    bgc_complex_set_values_fp32(0, 1, &complex);
+
+    bgc_complex_set_values_fp32(4, 0, &exponent);
+
+    bgc_complex_get_exponation_fp32(&complex, exponent.real, exponent.imaginary, &result);
+
+    printf("(%f, %f) ^ (%f, %f) = (%f, %f)\n", complex.real, complex.imaginary, exponent.real, exponent.imaginary, result.real, result.imaginary);
+
+    return 0;
+}
+*/
+/*
+int main() {
+    BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
+    BgcVersorFP32 end = { 0.0f, 1.0f, 0.0f, 0.0f };
+    BgcVersorFP32 result;
+    bgc_versor_spherical_interpolation_fp32(&start, &end, 0.5f, &result);
+    printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
+    return 0;
+}
+*/
+
+void test_basis_difference_fp32()
+{
+
+    BgcVector3FP32 initial_primary, initial_auxiliary;
+    BgcVector3FP32 final_primary, final_auxiliary;
+    BgcVersorFP32 turn;
+
+    // No turn
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nNo turn:\n");
+    print_versor_fp32(&turn);
+
+    // Turn around (1, 1, 0) axis on 180 degrees
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
+    print_versor_fp32(&turn);
+
+    // 180 degree turn
+    bgc_vector3_set_values_fp32(1.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\n180 degree turn around (0, 1, 0):\n");
+    print_versor_fp32(&turn);
+
+    // 90 degree turn around x3 axis
+    bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 3.1f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(-1.0f, 0.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\n90 degree turn around (0, 0, 1):\n");
+    print_versor_fp32(&turn);
+
+    // Unorthogonal pairs turn at 90 degrees around x3 axis
+    bgc_vector3_set_values_fp32(2.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(-2.0f, 3.1f, 0.0f, &initial_auxiliary);
+
+    bgc_vector3_set_values_fp32(0.0f, 10.0f, 0.0f, &final_primary);
+    bgc_vector3_set_values_fp32(-1.0f, 5.0f, 0.0f, &final_auxiliary);
+
+    bgc_versor_make_basis_difference_fp32(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
+
+    printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
+    print_versor_fp32(&turn);
+
+    // Zero vectors
+    bgc_vector3_set_values_fp32(0.0f, 0.0f, 0.0f, &initial_primary);
+    bgc_vector3_set_values_fp32(0.0f, 1.0f, 0.0f, &initial_auxiliary);