214 lines
8.4 KiB
C
214 lines
8.4 KiB
C
#ifndef _BGC_POSITION3_H_INCLUDED_
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#define _BGC_POSITION3_H_INCLUDED_
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#include "vector3.h"
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#include "affine3.h"
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#include "versor.h"
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// ==================== Types ==================== //
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typedef struct {
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BgcVersorFP32 turn;
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BgcVector3FP32 shift;
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} BgcPosition3FP32;
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typedef struct {
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BgcVersorFP64 turn;
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BgcVector3FP64 shift;
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} BgcPosition3FP64;
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// ==================== Reset ==================== //
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inline void bgc_position3_reset_fp32(BgcPosition3FP32 * position)
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{
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bgc_versor_reset_fp32(&position->turn);
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bgc_vector3_reset_fp32(&position->shift);
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}
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inline void bgc_position3_reset_fp64(BgcPosition3FP64 * position)
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{
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bgc_versor_reset_fp64(&position->turn);
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bgc_vector3_reset_fp64(&position->shift);
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}
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// ==================== Make ===================== //
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inline void bgc_position3_make_fp32(const BgcVersorFP32 * turn, const BgcVector3FP32 * shift, BgcPosition3FP32 * position)
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{
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bgc_versor_copy_fp32(turn, &position->turn);
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bgc_vector3_copy_fp32(shift, &position->shift);
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}
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inline void bgc_position3_make_fp64(const BgcVersorFP64 * turn, const BgcVector3FP64 * shift, BgcPosition3FP64 * position)
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{
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bgc_versor_copy_fp64(turn, &position->turn);
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bgc_vector3_copy_fp64(shift, &position->shift);
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}
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// ==================== Copy ===================== //
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inline void bgc_position3_copy_fp32(const BgcPosition3FP32 * source, BgcPosition3FP32 * destination)
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{
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bgc_versor_copy_fp32(&source->turn, &destination->turn);
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bgc_vector3_copy_fp32(&source->shift, &destination->shift);
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}
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inline void bgc_position3_copy_fp64(const BgcPosition3FP64 * source, BgcPosition3FP64 * destination)
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{
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bgc_versor_copy_fp64(&source->turn, &destination->turn);
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bgc_vector3_copy_fp64(&source->shift, &destination->shift);
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}
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// =================== Convert =================== //
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inline void bgc_position3_convert_fp64_to_fp32(const BgcPosition3FP64 * source, BgcPosition3FP32 * destination)
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{
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bgc_versor_convert_fp64_to_fp32(&source->turn, &destination->turn);
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bgc_vector3_convert_fp64_to_fp32(&source->shift, &destination->shift);
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}
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inline void bgc_position3_convert_fp32_to_fp64(const BgcPosition3FP32 * source, BgcPosition3FP64 * destination)
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{
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bgc_versor_convert_fp32_to_fp64(&source->turn, &destination->turn);
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bgc_vector3_convert_fp32_to_fp64(&source->shift, &destination->shift);
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}
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// =================== Invert ==================== //
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inline void bgc_position3_invert_fp32(BgcPosition3FP32 * position)
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{
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bgc_versor_turn_vector_back_fp32(&position->turn, &position->shift, &position->shift);
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bgc_versor_invert_fp32(&position->turn);
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bgc_vector3_make_opposite_fp32(&position->shift);
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}
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inline void bgc_position3_invert_fp64(BgcPosition3FP64 * position)
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{
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bgc_versor_turn_vector_back_fp64(&position->turn, &position->shift, &position->shift);
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bgc_versor_invert_fp64(&position->turn);
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bgc_vector3_make_opposite_fp64(&position->shift);
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}
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// ================= Get Inverse ================= //
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inline void bgc_position3_get_inverse_fp32(const BgcPosition3FP32 * position, BgcPosition3FP32 * inverted)
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{
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bgc_versor_turn_vector_back_fp32(&position->turn, &position->shift, &inverted->shift);
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bgc_versor_get_inverse_fp32(&position->turn, &inverted->turn);
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bgc_vector3_make_opposite_fp32(&inverted->shift);
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}
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inline void bgc_position3_get_inverse_fp64(const BgcPosition3FP64 * position, BgcPosition3FP64 * inverted)
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{
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bgc_versor_turn_vector_back_fp64(&position->turn, &position->shift, &inverted->shift);
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bgc_versor_get_inverse_fp64(&position->turn, &inverted->turn);
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bgc_vector3_make_opposite_fp64(&inverted->shift);
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}
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// =================== Combine =================== //
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inline void bgc_position3_combine_fp32(const BgcPosition3FP32 * parent, const BgcPosition3FP32 * child, BgcPosition3FP32 * combination)
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{
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BgcVector3FP32 relative_shift;
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bgc_versor_turn_vector_fp32(&parent->turn, &child->shift, &relative_shift);
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bgc_versor_combine_fp32(&child->turn, &parent->turn, &combination->turn);
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bgc_vector3_add_fp32(&parent->shift, &relative_shift, &combination->shift);
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}
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inline void bgc_position3_combine_fp64(const BgcPosition3FP64 * parent, const BgcPosition3FP64 * child, BgcPosition3FP64 * combination)
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{
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BgcVector3FP64 relative_shift;
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bgc_versor_turn_vector_fp64(&parent->turn, &child->shift, &relative_shift);
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bgc_versor_combine_fp64(&child->turn, &parent->turn, &combination->turn);
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bgc_vector3_add_fp64(&parent->shift, &relative_shift, &combination->shift);
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}
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// ============= Get Outward Affine ============== //
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inline void bgc_position3_get_outward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * outward_affine_map)
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{
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bgc_versor_get_rotation_matrix_fp32(&position->turn, &outward_affine_map->distortion);
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bgc_vector3_copy_fp32(&position->shift, &outward_affine_map->shift);
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}
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inline void bgc_position3_get_outward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * outward_affine_map)
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{
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bgc_versor_get_rotation_matrix_fp64(&position->turn, &outward_affine_map->distortion);
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bgc_vector3_copy_fp64(&position->shift, &outward_affine_map->shift);
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}
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// ============== Get Inward Affine ============== //
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inline void bgc_position3_get_inward_affine_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * inward_affine_map)
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{
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bgc_versor_get_reverse_matrix_fp32(&position->turn, &inward_affine_map->distortion);
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bgc_matrix3x3_get_right_product_fp32(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
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bgc_vector3_make_opposite_fp32(&inward_affine_map->shift);
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}
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inline void bgc_position3_get_inward_affine_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * inward_affine_map)
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{
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bgc_versor_get_reverse_matrix_fp64(&position->turn, &inward_affine_map->distortion);
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bgc_matrix3x3_get_right_product_fp64(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
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bgc_vector3_make_opposite_fp64(&inward_affine_map->shift);
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}
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// ========== Transform Point Outwards =========== //
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inline void bgc_position3_transform_point_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_point, BgcVector3FP32 * outer_point)
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{
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BgcVector3FP32 turned_point;
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bgc_versor_turn_vector_fp32(&position->turn, inner_point, &turned_point);
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bgc_vector3_add_fp32(&position->shift, &turned_point, outer_point);
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}
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inline void bgc_position3_transform_point_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_point, BgcVector3FP64 * outer_point)
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{
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BgcVector3FP64 turned_point;
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bgc_versor_turn_vector_fp64(&position->turn, inner_point, &turned_point);
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bgc_vector3_add_fp64(&position->shift, &turned_point, outer_point);
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}
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// =========== Transform Point Inwards =========== //
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inline void bgc_position3_transform_point_inwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_point, BgcVector3FP32 * inner_point)
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{
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BgcVector3FP32 relative_point;
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bgc_vector3_subtract_fp32(outer_point, &position->shift, &relative_point);
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bgc_versor_turn_vector_back_fp32(&position->turn, &relative_point, inner_point);
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}
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inline void bgc_position3_transform_point_inwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_point, BgcVector3FP64 * inner_point)
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{
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BgcVector3FP64 relative_point;
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bgc_vector3_subtract_fp64(outer_point, &position->shift, &relative_point);
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bgc_versor_turn_vector_back_fp64(&position->turn, &relative_point, inner_point);
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}
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// ========== Transform Vector Outwards ========== //
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inline void bgc_position3_transform_vector_outwards_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * inner_vector, BgcVector3FP32 * outer_vector)
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{
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bgc_versor_turn_vector_fp32(&position->turn, inner_vector, outer_vector);
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}
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inline void bgc_position3_transform_vector_outwards_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * inner_vector, BgcVector3FP64 * outer_vector)
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{
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bgc_versor_turn_vector_fp64(&position->turn, inner_vector, outer_vector);
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}
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// ========== Transform Vector Inwards =========== //
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inline void bgc_position3_transform_vector_inward_fp32(const BgcPosition3FP32 * position, const BgcVector3FP32 * outer_vector, BgcVector3FP32 * inner_vector)
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{
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bgc_versor_turn_vector_back_fp32(&position->turn, outer_vector, inner_vector);
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}
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inline void bgc_position3_transform_vector_inward_fp64(const BgcPosition3FP64 * position, const BgcVector3FP64 * outer_vector, BgcVector3FP64 * inner_vector)
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{
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bgc_versor_turn_vector_back_fp64(&position->turn, outer_vector, inner_vector);
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}
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#endif // _BGC_POSITION_H_INCLUDED_
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