440 lines
15 KiB
C
440 lines
15 KiB
C
#ifndef _BGC_TURN3_H_INCLUDED_
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#define _BGC_TURN3_H_INCLUDED_
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#include <stdint.h>
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#include <math.h>
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#include "./utilities.h"
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#include "./types.h"
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#include "./angle.h"
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#include "./quaternion.h"
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#define BGC_ERROR_TURN3_FIRST_VECTOR_ZERO -3010
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#define BGC_ERROR_TURN3_SECOND_VECTOR_ZERO -3011
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#define BGC_ERROR_TURN3_VECTORS_OPPOSITE -3012
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#define _BGC_ERROR_TURN3_FIRST_PAIR -3020
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#define _BGC_ERROR_TURN3_SECOND_PAIR -3030
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#define _BGC_ERROR_TURN3_EMPTY_MAIN -1
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#define _BGC_ERROR_TURN3_EMPTY_BRANCH -2
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#define _BGC_ERROR_TURN3_PAIR_PARALLEL -3
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#define BGC_ERROR_TURN3_FIRST_PAIR_ZERO_MAIN -3021
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#define BGC_ERROR_TURN3_FIRST_PAIR_ZERO_BRANCH -3022
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#define BGC_ERROR_TURN3_FIRST_PAIR_PARALLEL -3023
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#define BGC_ERROR_TURN3_SECOND_PAIR_ZERO_MAIN -3031
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#define BGC_ERROR_TURN3_SECOND_PAIR_ZERO_BRANCH -3032
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#define BGC_ERROR_TURN3_SECOND_PAIR_PARALLEL -3033
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// ================= Constants ================== //
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extern const BGC_FP32_Turn3 BGC_FP32_IDLE_TURN3;
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extern const BGC_FP64_Turn3 BGC_FP64_IDLE_TURN3;
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// =================== Reset ==================== //
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inline void bgc_fp32_turn3_reset(BGC_FP32_Turn3* const turn)
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{
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turn->_versor.s = 1.0f;
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turn->_versor.x = 0.0f;
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turn->_versor.y = 0.0f;
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turn->_versor.z = 0.0f;
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}
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inline void bgc_fp64_turn3_reset(BGC_FP64_Turn3* const turn)
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{
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turn->_versor.s = 1.0;
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turn->_versor.x = 0.0;
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turn->_versor.y = 0.0;
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turn->_versor.z = 0.0;
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}
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// ============= Private: Normalize ============= //
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extern int64_t turn3_normalize_counter;
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inline void _bgc_fp32_turn3_normalize(BGC_FP32_Turn3* const turn)
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{
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&turn->_versor);
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if (bgc_fp32_is_square_unit(square_magnitude)) {
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return;
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}
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if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
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turn->_versor.s = 1.0f;
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turn->_versor.x = 0.0f;
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turn->_versor.y = 0.0f;
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turn->_versor.z = 0.0f;
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return;
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}
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const float multiplier = sqrtf(1.0f / square_magnitude);
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turn->_versor.s *= multiplier;
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turn->_versor.x *= multiplier;
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turn->_versor.y *= multiplier;
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turn->_versor.z *= multiplier;
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}
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inline void _bgc_fp64_turn3_normalize(BGC_FP64_Turn3* const turn)
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{
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&turn->_versor);
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if (bgc_fp64_is_square_unit(square_magnitude)) {
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return;
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}
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if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
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turn->_versor.s = 1.0;
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turn->_versor.x = 0.0;
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turn->_versor.y = 0.0;
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turn->_versor.z = 0.0;
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return;
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}
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const double multiplier = sqrt(1.0 / square_magnitude);
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turn->_versor.s *= multiplier;
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turn->_versor.x *= multiplier;
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turn->_versor.y *= multiplier;
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turn->_versor.z *= multiplier;
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}
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// ================= Set Values ================= //
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inline void bgc_fp32_turn3_set_values(BGC_FP32_Turn3* const turn, const float s, const float x, const float y, const float z)
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{
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turn->_versor.s = s;
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turn->_versor.x = x;
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turn->_versor.y = y;
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turn->_versor.z = z;
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_bgc_fp32_turn3_normalize(turn);
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}
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inline void bgc_fp64_turn3_set_values(BGC_FP64_Turn3* const turn, const double s, const double x, const double y, const double z)
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{
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turn->_versor.s = s;
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turn->_versor.x = x;
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turn->_versor.y = y;
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turn->_versor.z = z;
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_bgc_fp64_turn3_normalize(turn);
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}
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// =============== Get Quaternion =============== //
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inline void bgc_fp32_turn3_get_quaternion(BGC_FP32_Quaternion* const quaternion, const BGC_FP32_Turn3* const turn)
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{
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bgc_fp32_quaternion_copy(quaternion, &turn->_versor);
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}
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inline void bgc_fp64_turn3_get_quaternion(BGC_FP64_Quaternion* const quaternion, const BGC_FP64_Turn3* const turn)
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{
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bgc_fp64_quaternion_copy(quaternion, &turn->_versor);
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}
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// =============== Set Quaternion =============== //
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inline void bgc_fp32_turn3_set_quaternion(BGC_FP32_Turn3* const turn, const BGC_FP32_Quaternion* const quaternion)
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{
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bgc_fp32_quaternion_copy(&turn->_versor, quaternion);
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_bgc_fp32_turn3_normalize(turn);
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}
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inline void bgc_fp64_turn3_set_quaternion(BGC_FP64_Turn3* const turn, const BGC_FP64_Quaternion* const quaternion)
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{
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bgc_fp64_quaternion_copy(&turn->_versor, quaternion);
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_bgc_fp64_turn3_normalize(turn);
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}
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// ================ Get Rotation ================ //
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float bgc_fp32_turn3_get_rotation(BGC_FP32_Vector3* const axis, const BGC_FP32_Turn3* const turn, const int angle_unit);
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double bgc_fp64_turn3_get_rotation(BGC_FP64_Vector3* const axis, const BGC_FP64_Turn3* const turn, const int angle_unit);
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// ================ Set Rotation ================ //
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void bgc_fp32_turn3_set_rotation(BGC_FP32_Turn3* const turn, const float x, const float y, const float z, const float angle, const int angle_unit);
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void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* const turn, const double x, const double y, const double z, const double angle, const int angle_unit);
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// ========= Find Direction Difference ========== //
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int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* const turn, const BGC_FP32_Vector3* const start, const BGC_FP32_Vector3* const end);
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int bgc_fp64_turn3_find_direction_difference(BGC_FP64_Turn3* const turn, const BGC_FP64_Vector3* const start, const BGC_FP64_Vector3* const end);
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// ======= Find Direction Pair Difference ======= //
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int bgc_fp32_turn3_find_pair_difference(
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BGC_FP32_Turn3* const turn,
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const BGC_FP32_Vector3* const first_pair_main,
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const BGC_FP32_Vector3* const first_pair_branch,
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const BGC_FP32_Vector3* const second_pair_main,
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const BGC_FP32_Vector3* const second_pair_branch
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);
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int bgc_fp64_turn3_find_pair_difference(
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BGC_FP64_Turn3* const turn,
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const BGC_FP64_Vector3* const first_pair_main,
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const BGC_FP64_Vector3* const first_pair_branch,
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const BGC_FP64_Vector3* const second_pair_main,
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const BGC_FP64_Vector3* const second_pair_branch
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);
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// ==================== Copy ==================== //
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inline void bgc_fp32_turn3_copy(BGC_FP32_Turn3* const destination, const BGC_FP32_Turn3* const source)
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{
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bgc_fp32_quaternion_copy(&destination->_versor, &source->_versor);
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}
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inline void bgc_fp64_turn3_copy(BGC_FP64_Turn3* const destination, const BGC_FP64_Turn3* const source)
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{
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bgc_fp64_quaternion_copy(&destination->_versor, &source->_versor);
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}
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// ==================== Swap ==================== //
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inline void bgc_fp32_turn3_swap(BGC_FP32_Turn3* const turn1, BGC_FP32_Turn3* const turn2)
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{
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bgc_fp32_quaternion_swap(&turn1->_versor, &turn2->_versor);
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}
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inline void bgc_fp64_turn3_swap(BGC_FP64_Turn3* const turn1, BGC_FP64_Turn3* const turn2)
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{
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bgc_fp64_quaternion_swap(&turn1->_versor, &turn2->_versor);
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}
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// ================= Comparison ================= //
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inline int bgc_fp32_turn3_is_idle(const BGC_FP32_Turn3* const turn)
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{
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return bgc_fp32_quaternion_is_real(&turn->_versor);
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}
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inline int bgc_fp64_turn3_is_idle(const BGC_FP64_Turn3* const turn)
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{
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return bgc_fp64_quaternion_is_real(&turn->_versor);
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}
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// ================== Convert =================== //
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inline void bgc_fp32_turn3_convert_to_fp64(BGC_FP64_Turn3* const destination, const BGC_FP32_Turn3* const source)
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{
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bgc_fp32_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
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_bgc_fp64_turn3_normalize(destination);
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}
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inline void bgc_fp64_turn3_convert_to_fp32(BGC_FP32_Turn3* const destination, const BGC_FP64_Turn3* const source)
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{
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bgc_fp64_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
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_bgc_fp32_turn3_normalize(destination);
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}
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// ================== Shorten =================== //
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inline void bgc_fp32_turn3_shorten(BGC_FP32_Turn3* const turn)
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{
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if (turn->_versor.s < 0.0f) {
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bgc_fp32_quaternion_revert(&turn->_versor);
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}
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}
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inline void bgc_fp64_turn3_shorten(BGC_FP64_Turn3* const turn)
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{
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if (turn->_versor.s < 0.0) {
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bgc_fp64_quaternion_revert(&turn->_versor);
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}
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}
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inline void bgc_fp32_turn3_get_shortened(BGC_FP32_Turn3* const shortened, const BGC_FP32_Turn3* const turn)
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{
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if (turn->_versor.s >= 0.0f) {
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bgc_fp32_quaternion_copy(&shortened->_versor, &turn->_versor);
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}
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else {
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bgc_fp32_quaternion_get_reverse(&shortened->_versor, &turn->_versor);
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}
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}
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inline void bgc_fp64_turn3_get_shortened(BGC_FP64_Turn3* const shortened, const BGC_FP64_Turn3* const turn)
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{
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if (turn->_versor.s >= 0.0) {
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bgc_fp64_quaternion_copy(&shortened->_versor, &turn->_versor);
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}
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else {
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bgc_fp64_quaternion_get_reverse(&shortened->_versor, &turn->_versor);
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}
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}
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// ================= Alternate ================== //
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inline void bgc_fp32_turn3_alternate(BGC_FP32_Turn3* const turn)
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{
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bgc_fp32_quaternion_revert(&turn->_versor);
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}
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inline void bgc_fp64_turn3_alternate(BGC_FP64_Turn3* const turn)
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{
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bgc_fp64_quaternion_revert(&turn->_versor);
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}
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inline void bgc_fp32_turn3_get_alternative(BGC_FP32_Turn3* const alternative, const BGC_FP32_Turn3* const turn)
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{
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bgc_fp32_quaternion_get_reverse(&alternative->_versor, &turn->_versor);
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}
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inline void bgc_fp64_turn3_get_alternative(BGC_FP64_Turn3* const alternative, const BGC_FP64_Turn3* const turn)
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{
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bgc_fp64_quaternion_get_reverse(&alternative->_versor, &turn->_versor);
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}
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// =================== Revert =================== //
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inline void bgc_fp32_turn3_revert(BGC_FP32_Turn3* const turn)
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{
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bgc_fp32_quaternion_conjugate(&turn->_versor);
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}
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inline void bgc_fp64_turn3_revert(BGC_FP64_Turn3* const turn)
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{
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bgc_fp64_quaternion_conjugate(&turn->_versor);
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}
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inline void bgc_fp32_turn3_get_reverse(BGC_FP32_Turn3* const inverse, const BGC_FP32_Turn3* const turn)
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{
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bgc_fp32_quaternion_get_conjugate(&inverse->_versor, &turn->_versor);
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}
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inline void bgc_fp64_turn3_get_reverse(BGC_FP64_Turn3* const inverse, const BGC_FP64_Turn3* const turn)
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{
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bgc_fp64_quaternion_get_conjugate(&inverse->_versor, &turn->_versor);
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}
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// =============== Get Exponation =============== //
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void bgc_fp32_turn3_get_power(BGC_FP32_Turn3* const power, const BGC_FP32_Turn3* const base, const float exponent);
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void bgc_fp64_turn3_get_power(BGC_FP64_Turn3* const power, const BGC_FP64_Turn3* const base, const double exponent);
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// ================ Combination ================= //
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inline void bgc_fp32_turn3_combine(BGC_FP32_Turn3* const combination, const BGC_FP32_Turn3* const external_turn, const BGC_FP32_Turn3* const internal_turn)
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{
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bgc_fp32_quaternion_multiply_by_quaternion(&combination->_versor, &external_turn->_versor, &internal_turn->_versor);
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_bgc_fp32_turn3_normalize(combination);
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}
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inline void bgc_fp64_turn3_combine(BGC_FP64_Turn3* const combination, const BGC_FP64_Turn3* const external_turn, const BGC_FP64_Turn3* const internal_turn)
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{
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bgc_fp64_quaternion_multiply_by_quaternion(&combination->_versor, &external_turn->_versor, &internal_turn->_versor);
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_bgc_fp64_turn3_normalize(combination);
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}
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// ================= Exclusion ================== //
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inline void bgc_fp32_turn3_exclude(BGC_FP32_Turn3* const difference, const BGC_FP32_Turn3* const turn, const BGC_FP32_Turn3* const excludant)
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{
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bgc_fp32_quaternion_multiply_by_conjugate(&difference->_versor, &turn->_versor, &excludant->_versor);
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_bgc_fp32_turn3_normalize(difference);
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}
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inline void bgc_fp64_turn3_exclude(BGC_FP64_Turn3* const difference, const BGC_FP64_Turn3* const turn, const BGC_FP64_Turn3* const excludant)
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{
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bgc_fp64_quaternion_multiply_by_conjugate(&difference->_versor, &turn->_versor, &excludant->_versor);
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_bgc_fp64_turn3_normalize(difference);
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}
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// ============ Sphere Interpolation ============ //
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void bgc_fp32_turn3_spherically_interpolate(BGC_FP32_Turn3* const interpolation, const BGC_FP32_Turn3* const start, const BGC_FP32_Turn3* const end, const float phase);
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void bgc_fp64_turn3_spherically_interpolate(BGC_FP64_Turn3* const interpolation, const BGC_FP64_Turn3* const start, const BGC_FP64_Turn3* const end, const double phase);
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// ============ Get Rotation Matrix ============= //
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inline void bgc_fp32_turn3_get_rotation_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Turn3* const turn)
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{
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bgc_fp32_quaternion_get_rotation_matrix(matrix, &turn->_versor);
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}
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inline void bgc_fp64_turn3_get_rotation_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Turn3* const turn)
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{
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bgc_fp64_quaternion_get_rotation_matrix(matrix, &turn->_versor);
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}
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// ============= Get Reverse Matrix ============= //
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inline void bgc_fp32_turn3_get_reverse_matrix(BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Turn3* const turn)
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{
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bgc_fp32_quaternion_get_reverse_matrix(matrix, &turn->_versor);
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}
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inline void bgc_fp64_turn3_get_reverse_matrix(BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_Turn3* const turn)
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{
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bgc_fp64_quaternion_get_reverse_matrix(matrix, &turn->_versor);
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}
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// ============= Get Both Matrixes ============== //
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inline void bgc_fp32_turn3_get_both_matrices(BGC_FP32_Matrix3x3* const rotation, BGC_FP32_Matrix3x3* const reverse, const BGC_FP32_Turn3* const turn)
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{
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bgc_fp32_quaternion_get_reverse_matrix(reverse, &turn->_versor);
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bgc_fp32_matrix3x3_get_transposed(rotation, reverse);
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}
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inline void bgc_fp64_turn3_get_both_matrices(BGC_FP64_Matrix3x3* const rotation, BGC_FP64_Matrix3x3* const reverse, const BGC_FP64_Turn3* const turn)
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{
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bgc_fp64_quaternion_get_reverse_matrix(reverse, &turn->_versor);
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bgc_fp64_matrix3x3_get_transposed(rotation, reverse);
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}
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// ================ Turn Vector ================= //
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inline void bgc_fp32_turn3_vector(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Turn3* const turn, const BGC_FP32_Vector3* const original_vector)
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{
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_bgc_fp32_versor_turn_vector(turned_vector, &turn->_versor, original_vector);
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}
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inline void bgc_fp64_turn3_vector(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Turn3* const turn, const BGC_FP64_Vector3* const original_vector)
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{
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_bgc_fp64_versor_turn_vector(turned_vector, &turn->_versor, original_vector);
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}
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// ============== Turn Vector Back ============== //
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inline void bgc_fp32_turn3_vector_back(BGC_FP32_Vector3* const turned_vector, const BGC_FP32_Turn3* const turn, const BGC_FP32_Vector3* const original_vector)
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{
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_bgc_fp32_versor_turn_vector_back(turned_vector, &turn->_versor, original_vector);
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}
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inline void bgc_fp64_turn3_vector_back(BGC_FP64_Vector3* const turned_vector, const BGC_FP64_Turn3* const turn, const BGC_FP64_Vector3* const original_vector)
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{
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_bgc_fp64_versor_turn_vector_back(turned_vector, &turn->_versor, original_vector);
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}
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// ================== Are Close ================= //
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inline int bgc_fp32_turn3_are_close(const BGC_FP32_Turn3* const turn1, const BGC_FP32_Turn3* const turn2)
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{
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BGC_FP32_Quaternion difference;
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bgc_fp32_quaternion_subtract(&difference, &turn1->_versor, &turn2->_versor);
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return bgc_fp32_quaternion_get_square_magnitude(&difference) <= BGC_FP32_SQUARE_EPSILON;
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}
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inline int bgc_fp64_turn3_are_close(const BGC_FP64_Turn3* const turn1, const BGC_FP64_Turn3* const turn2)
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{
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BGC_FP64_Quaternion difference;
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bgc_fp64_quaternion_subtract(&difference, &turn1->_versor, &turn2->_versor);
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return bgc_fp64_quaternion_get_square_magnitude(&difference) <= BGC_FP64_SQUARE_EPSILON;
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}
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#endif
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