114 lines
4 KiB
C
114 lines
4 KiB
C
#ifndef _BGC_POSTURE3_H_INCLUDED_
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#define _BGC_POSTURE3_H_INCLUDED_
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#include "types.h"
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#include "quaternion.h"
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#include "dual-quaternion.h"
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// ================= Normalize ================== //
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void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude);
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void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude);
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// ==================== Reset =================== //
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inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
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{
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posture->_versor.real_part.s0 = 1.0f;
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posture->_versor.real_part.x1 = 0.0f;
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posture->_versor.real_part.x2 = 0.0f;
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posture->_versor.real_part.x3 = 0.0f;
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posture->_versor.dual_part.s0 = 0.0f;
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posture->_versor.dual_part.x1 = 0.0f;
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posture->_versor.dual_part.x2 = 0.0f;
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posture->_versor.dual_part.x3 = 0.0f;
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}
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inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
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{
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posture->_versor.real_part.s0 = 1.0;
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posture->_versor.real_part.x1 = 0.0;
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posture->_versor.real_part.x2 = 0.0;
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posture->_versor.real_part.x3 = 0.0;
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posture->_versor.dual_part.s0 = 0.0;
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posture->_versor.dual_part.x1 = 0.0;
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posture->_versor.dual_part.x2 = 0.0;
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posture->_versor.dual_part.x3 = 0.0;
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}
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// ==================== Copy ==================== //
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inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source)
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{
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bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
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}
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inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source)
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{
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bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
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}
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// ==================== Swap ==================== //
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inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2)
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{
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bgc_fp32_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
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}
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inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2)
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{
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bgc_fp64_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
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}
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// ================== Convert =================== //
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inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source)
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{
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bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_versor.real_part);
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if (!bgc_fp64_is_square_unit(square_magnitude)) {
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_bgc_fp64_posture3_normalize(destination, square_magnitude);
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}
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}
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inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source)
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{
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bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_versor.real_part);
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if (!bgc_fp32_is_square_unit(square_magnitude)) {
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_bgc_fp32_posture3_normalize(destination, square_magnitude);
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}
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}
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// ================== Combine =================== //
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inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second)
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{
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bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_versor.real_part);
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if (!bgc_fp32_is_square_unit(square_magnitude)) {
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_bgc_fp32_posture3_normalize(combination, square_magnitude);
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}
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}
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inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second)
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{
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bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_versor.real_part);
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if (!bgc_fp64_is_square_unit(square_magnitude)) {
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_bgc_fp64_posture3_normalize(combination, square_magnitude);
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}
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}
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#endif
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