140 lines
5.1 KiB
C
140 lines
5.1 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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// =================== 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 Affine ================== //
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inline void bgc_position3_get_affine3_map_fp32(const BgcPosition3FP32 * position, BgcAffine3FP32 * affine_map)
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{
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#if BGC_AFFINE_USE_MATRIX
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bgc_versor_get_rotation_matrix_fp32(&position->turn, &affine_map->distortion);
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bgc_vector3_copy_fp32(&position->shift, &affine_map->shift);
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#else
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const float s0s0 = position->turn._s0 * position->turn._s0;
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const float x1x1 = position->turn._x1 * position->turn._x1;
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const float x2x2 = position->turn._x2 * position->turn._x2;
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const float x3x3 = position->turn._x3 * position->turn._x3;
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const float s0x1 = position->turn._s0 * position->turn._x1;
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const float s0x2 = position->turn._s0 * position->turn._x2;
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const float s0x3 = position->turn._s0 * position->turn._x3;
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const float x1x2 = position->turn._x1 * position->turn._x2;
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const float x1x3 = position->turn._x1 * position->turn._x3;
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const float x2x3 = position->turn._x2 * position->turn._x3;
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affine_map->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
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affine_map->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
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affine_map->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
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affine_map->r1c2 = 2.0f * (x1x2 - s0x3);
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affine_map->r2c3 = 2.0f * (x2x3 - s0x1);
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affine_map->r3c1 = 2.0f * (x1x3 - s0x2);
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affine_map->r2c1 = 2.0f * (x1x2 + s0x3);
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affine_map->r3c2 = 2.0f * (x2x3 + s0x1);
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affine_map->r1c3 = 2.0f * (x1x3 + s0x2);
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affine_map->shift1 = position->shift.x1;
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affine_map->shift2 = position->shift.x2;
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affine_map->shift3 = position->shift.x3;
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#endif
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}
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inline void bgc_position3_get_affine3_map_fp64(const BgcPosition3FP64 * position, BgcAffine3FP64 * affine_map)
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{
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#if BGC_AFFINE_USE_MATRIX
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bgc_versor_get_rotation_matrix_fp64(&position->turn, &affine_map->distortion);
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bgc_vector3_copy_fp64(&position->shift, &affine_map->shift);
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#else
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const double s0s0 = position->turn._s0 * position->turn._s0;
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const double x1x1 = position->turn._x1 * position->turn._x1;
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const double x2x2 = position->turn._x2 * position->turn._x2;
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const double x3x3 = position->turn._x3 * position->turn._x3;
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const double s0x1 = position->turn._s0 * position->turn._x1;
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const double s0x2 = position->turn._s0 * position->turn._x2;
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const double s0x3 = position->turn._s0 * position->turn._x3;
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const double x1x2 = position->turn._x1 * position->turn._x2;
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const double x1x3 = position->turn._x1 * position->turn._x3;
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const double x2x3 = position->turn._x2 * position->turn._x3;
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affine_map->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
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affine_map->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
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affine_map->r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
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affine_map->r1c2 = 2.0 * (x1x2 - s0x3);
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affine_map->r2c3 = 2.0 * (x2x3 - s0x1);
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affine_map->r3c1 = 2.0 * (x1x3 - s0x2);
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affine_map->r2c1 = 2.0 * (x1x2 + s0x3);
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affine_map->r3c2 = 2.0 * (x2x3 + s0x1);
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affine_map->r1c3 = 2.0 * (x1x3 + s0x2);
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affine_map->shift1 = position->shift.x1;
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affine_map->shift2 = position->shift.x2;
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affine_map->shift3 = position->shift.x3;
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#endif
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}
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#endif // _BGC_POSITION_H_INCLUDED_
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