39 lines
1.1 KiB
C
39 lines
1.1 KiB
C
#ifndef _BGC_POSTURE3_H_INCLUDED_
|
|
#define _BGC_POSTURE3_H_INCLUDED_
|
|
|
|
#include "types.h"
|
|
#include "quaternion.h"
|
|
#include "dual-quaternion.h"
|
|
|
|
// ==================== Reset =================== //
|
|
|
|
inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
|
|
{
|
|
posture->_dual_versor.real_part.s0 = 1.0f;
|
|
posture->_dual_versor.real_part.x1 = 0.0f;
|
|
posture->_dual_versor.real_part.x2 = 0.0f;
|
|
posture->_dual_versor.real_part.x3 = 0.0f;
|
|
|
|
posture->_dual_versor.dual_part.s0 = 0.0f;
|
|
posture->_dual_versor.dual_part.x1 = 0.0f;
|
|
posture->_dual_versor.dual_part.x2 = 0.0f;
|
|
posture->_dual_versor.dual_part.x3 = 0.0f;
|
|
}
|
|
|
|
inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
|
|
{
|
|
posture->_dual_versor.real_part.s0 = 1.0;
|
|
posture->_dual_versor.real_part.x1 = 0.0;
|
|
posture->_dual_versor.real_part.x2 = 0.0;
|
|
posture->_dual_versor.real_part.x3 = 0.0;
|
|
|
|
posture->_dual_versor.dual_part.s0 = 0.0;
|
|
posture->_dual_versor.dual_part.x1 = 0.0;
|
|
posture->_dual_versor.dual_part.x2 = 0.0;
|
|
posture->_dual_versor.dual_part.x3 = 0.0;
|
|
}
|
|
|
|
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture);
|
|
|
|
|
|
#endif
|