258 lines
10 KiB
C
258 lines
10 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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BGC_FP32_Versor turn;
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BGC_FP32_Vector3 shift;
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} BGC_FP32_Position3;
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typedef struct {
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BGC_FP64_Versor turn;
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BGC_FP64_Vector3 shift;
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} BGC_FP64_Position3;
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// ==================== Reset ==================== //
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inline void bgc_fp32_position3_reset(BGC_FP32_Position3 * position)
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{
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bgc_fp32_versor_reset(&position->turn);
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bgc_fp32_vector3_reset(&position->shift);
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}
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inline void bgc_fp64_position3_reset(BGC_FP64_Position3 * position)
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{
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bgc_fp64_versor_reset(&position->turn);
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bgc_fp64_vector3_reset(&position->shift);
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}
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// ==================== Make ===================== //
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inline void bgc_fp32_position3_make(const BGC_FP32_Versor * turn, const BGC_FP32_Vector3 * shift, BGC_FP32_Position3 * position)
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{
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bgc_fp32_versor_copy(turn, &position->turn);
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bgc_fp32_vector3_copy(shift, &position->shift);
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}
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inline void bgc_fp64_position3_make(const BGC_FP64_Versor * turn, const BGC_FP64_Vector3 * shift, BGC_FP64_Position3 * position)
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{
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bgc_fp64_versor_copy(turn, &position->turn);
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bgc_fp64_vector3_copy(shift, &position->shift);
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}
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// ==================== Copy ===================== //
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inline void bgc_fp32_position3_copy(const BGC_FP32_Position3 * source, BGC_FP32_Position3 * destination)
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{
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bgc_fp32_versor_copy(&source->turn, &destination->turn);
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bgc_fp32_vector3_copy(&source->shift, &destination->shift);
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}
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inline void bgc_fp64_position3_copy(const BGC_FP64_Position3 * source, BGC_FP64_Position3 * destination)
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{
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bgc_fp64_versor_copy(&source->turn, &destination->turn);
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bgc_fp64_vector3_copy(&source->shift, &destination->shift);
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}
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// ==================== Swap ===================== //
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inline void bgc_fp32_position3_swap(BGC_FP32_Position3 * first, BGC_FP32_Position3 * second)
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{
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bgc_fp32_versor_swap(&first->turn, &second->turn);
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bgc_fp32_vector3_swap(&first->shift, &second->shift);
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}
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inline void bgc_fp64_position3_swap(BGC_FP64_Position3 * first, BGC_FP64_Position3 * second)
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{
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bgc_fp64_versor_swap(&first->turn, &second->turn);
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bgc_fp64_vector3_swap(&first->shift, &second->shift);
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}
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// =================== Convert =================== //
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inline void bgc_fp64_position3_convert_to_fp32(const BGC_FP64_Position3 * source, BGC_FP32_Position3 * destination)
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{
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bgc_fp64_versor_convert_to_fp32(&source->turn, &destination->turn);
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bgc_fp64_vector3_convert_to_fp32(&source->shift, &destination->shift);
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}
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inline void bgc_fp32_position3_convert_to_fp64(const BGC_FP32_Position3 * source, BGC_FP64_Position3 * destination)
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{
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bgc_fp32_versor_convert_to_fp64(&source->turn, &destination->turn);
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bgc_fp32_vector3_convert_to_fp64(&source->shift, &destination->shift);
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}
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// =================== Is Idle =================== //
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inline int bgc_fp32_position3_is_idle(const BGC_FP32_Position3 * position)
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{
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return bgc_fp32_vector3_is_zero(&position->shift) && bgc_fp32_versor_is_idle(&position->turn);
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}
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inline int bgc_fp64_position3_is_idle(const BGC_FP64_Position3 * position)
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{
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return bgc_fp64_vector3_is_zero(&position->shift) && bgc_fp64_versor_is_idle(&position->turn);
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}
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// =================== Invert ==================== //
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inline void bgc_fp32_position3_invert(BGC_FP32_Position3 * position)
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{
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bgc_fp32_versor_turn_vector_back(&position->turn, &position->shift, &position->shift);
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bgc_fp32_versor_revert(&position->turn);
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bgc_fp32_vector3_revert(&position->shift);
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}
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inline void bgc_fp64_position3_invert(BGC_FP64_Position3 * position)
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{
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bgc_fp64_versor_turn_vector_back(&position->turn, &position->shift, &position->shift);
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bgc_fp64_versor_revert(&position->turn);
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bgc_fp64_vector3_revert(&position->shift);
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}
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// ================= Get Inverse ================= //
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inline void bgc_fp32_position3_get_inverse(const BGC_FP32_Position3 * position, BGC_FP32_Position3 * inverted)
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{
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bgc_fp32_versor_turn_vector_back(&position->turn, &position->shift, &inverted->shift);
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bgc_fp32_versor_get_reverse(&position->turn, &inverted->turn);
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bgc_fp32_vector3_revert(&inverted->shift);
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}
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inline void bgc_fp64_position3_get_inverse(const BGC_FP64_Position3 * position, BGC_FP64_Position3 * inverted)
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{
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bgc_fp64_versor_turn_vector_back(&position->turn, &position->shift, &inverted->shift);
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bgc_fp64_versor_get_reverse(&position->turn, &inverted->turn);
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bgc_fp64_vector3_revert(&inverted->shift);
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}
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// =================== Combine =================== //
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inline void bgc_fp32_position3_combine(const BGC_FP32_Position3 * first, const BGC_FP32_Position3 * second, BGC_FP32_Position3 * combination)
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{
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BGC_FP32_Vector3 relative_shift;
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bgc_fp32_versor_turn_vector(&second->turn, &first->shift, &relative_shift);
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bgc_fp32_versor_combine(&first->turn, &second->turn, &combination->turn);
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bgc_fp32_vector3_add(&relative_shift, &second->shift, &combination->shift);
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}
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inline void bgc_fp64_position3_combine(const BGC_FP64_Position3 * first, const BGC_FP64_Position3 * second, BGC_FP64_Position3 * combination)
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{
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BGC_FP64_Vector3 relative_shift;
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bgc_fp64_versor_turn_vector(&second->turn, &first->shift, &relative_shift);
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bgc_fp64_versor_combine(&first->turn, &second->turn, &combination->turn);
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bgc_fp64_vector3_add(&relative_shift, &second->shift, &combination->shift);
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}
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// =================== Exclude =================== //
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inline void bgc_fp32_position3_exclude(const BGC_FP32_Position3 * base, const BGC_FP32_Position3 * excludant, BGC_FP32_Position3 * difference)
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{
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BGC_FP32_Vector3 relative_shift;
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bgc_fp32_vector3_subtract(&base->shift, &excludant->shift, &relative_shift);
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bgc_fp32_versor_turn_vector_back(&excludant->turn, &relative_shift, &difference->shift);
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bgc_fp32_versor_exclude(&base->turn, &excludant->turn, &difference->turn);
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}
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inline void bgc_fp64_position3_exclude(const BGC_FP64_Position3 * base, const BGC_FP64_Position3 * excludant, BGC_FP64_Position3 * difference)
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{
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BGC_FP64_Vector3 relative_shift;
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bgc_fp64_vector3_subtract(&base->shift, &excludant->shift, &relative_shift);
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bgc_fp64_versor_turn_vector_back(&excludant->turn, &relative_shift, &difference->shift);
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bgc_fp64_versor_exclude(&base->turn, &excludant->turn, &difference->turn);
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}
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// ============= Get Outward Affine ============== //
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inline void bgc_fp32_position3_get_outward_affine(const BGC_FP32_Position3 * position, BGC_FP32_Affine3 * outward_affine_map)
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{
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bgc_fp32_versor_get_rotation_matrix(&position->turn, &outward_affine_map->distortion);
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bgc_fp32_vector3_copy(&position->shift, &outward_affine_map->shift);
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}
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inline void bgc_fp64_position3_get_outward_affine(const BGC_FP64_Position3 * position, BGC_FP64_Affine3 * outward_affine_map)
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{
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bgc_fp64_versor_get_rotation_matrix(&position->turn, &outward_affine_map->distortion);
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bgc_fp64_vector3_copy(&position->shift, &outward_affine_map->shift);
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}
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// ============== Get Inward Affine ============== //
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inline void bgc_fp32_position3_get_inward_affine(const BGC_FP32_Position3 * position, BGC_FP32_Affine3 * inward_affine_map)
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{
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bgc_fp32_versor_get_reverse_matrix(&position->turn, &inward_affine_map->distortion);
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bgc_fp32_multiply_matrix3x3_by_vector3(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
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bgc_fp32_vector3_revert(&inward_affine_map->shift);
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}
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inline void bgc_fp64_position3_get_inward_affine(const BGC_FP64_Position3 * position, BGC_FP64_Affine3 * inward_affine_map)
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{
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bgc_fp64_versor_get_reverse_matrix(&position->turn, &inward_affine_map->distortion);
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bgc_fp64_multiply_matrix3x3_by_vector3(&inward_affine_map->distortion, &position->shift, &inward_affine_map->shift);
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bgc_fp64_vector3_revert(&inward_affine_map->shift);
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}
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// ========== Transform Point Outwards =========== //
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inline void bgc_fp32_position3_transform_point_outwards(const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_point, BGC_FP32_Vector3 * outer_point)
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{
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BGC_FP32_Vector3 turned_point;
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bgc_fp32_versor_turn_vector(&position->turn, inner_point, &turned_point);
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bgc_fp32_vector3_add(&position->shift, &turned_point, outer_point);
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}
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inline void bgc_fp64_position3_transform_point_outwards(const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_point, BGC_FP64_Vector3 * outer_point)
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{
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BGC_FP64_Vector3 turned_point;
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bgc_fp64_versor_turn_vector(&position->turn, inner_point, &turned_point);
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bgc_fp64_vector3_add(&position->shift, &turned_point, outer_point);
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}
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// =========== Transform Point Inwards =========== //
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inline void bgc_fp32_position3_transform_point_inwards(const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_point, BGC_FP32_Vector3 * inner_point)
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{
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BGC_FP32_Vector3 relative_point;
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bgc_fp32_vector3_subtract(outer_point, &position->shift, &relative_point);
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bgc_fp32_versor_turn_vector_back(&position->turn, &relative_point, inner_point);
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}
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inline void bgc_fp64_position3_transform_point_inwards(const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_point, BGC_FP64_Vector3 * inner_point)
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{
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BGC_FP64_Vector3 relative_point;
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bgc_fp64_vector3_subtract(outer_point, &position->shift, &relative_point);
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bgc_fp64_versor_turn_vector_back(&position->turn, &relative_point, inner_point);
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}
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// ========== Transform Vector Outwards ========== //
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inline void bgc_fp32_position3_transform_vector_outwards(const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * inner_vector, BGC_FP32_Vector3 * outer_vector)
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{
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bgc_fp32_versor_turn_vector(&position->turn, inner_vector, outer_vector);
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}
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inline void bgc_fp64_position3_transform_vector_outwards(const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * inner_vector, BGC_FP64_Vector3 * outer_vector)
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{
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bgc_fp64_versor_turn_vector(&position->turn, inner_vector, outer_vector);
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}
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// ========== Transform Vector Inwards =========== //
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inline void bgc_fp32_position3_transform_vector_inwards(const BGC_FP32_Position3 * position, const BGC_FP32_Vector3 * outer_vector, BGC_FP32_Vector3 * inner_vector)
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{
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bgc_fp32_versor_turn_vector_back(&position->turn, outer_vector, inner_vector);
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}
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inline void bgc_fp64_position3_transform_vector_inwards(const BGC_FP64_Position3 * position, const BGC_FP64_Vector3 * outer_vector, BGC_FP64_Vector3 * inner_vector)
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{
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bgc_fp64_versor_turn_vector_back(&position->turn, outer_vector, inner_vector);
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}
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#endif // _BGC_POSITION_H_INCLUDED_
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