Большое переименование: замена префикса F на более корректный FP (Floating Point)
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Andrey Pokidov
parent
c66edd3432
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ebb0a73555
31 changed files with 483 additions and 483 deletions
330
BGC/F64Versor.cs
330
BGC/F64Versor.cs
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/*
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* Copyright 2019-2025 Andrey Pokidov <andrey.pokidov@gmail.com>
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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/*
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* Author: Andrey Pokidov
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* Date: 20 Oct 2024
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*/
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namespace BGC
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{
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public struct F64Versor
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{
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private double s0;
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private double x1;
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private double x2;
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private double x3;
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public F64Versor()
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{
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this.s0 = 1.0;
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this.x1 = 0.0;
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this.x2 = 0.0;
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this.x3 = 0.0;
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}
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public F64Versor(double s0, double x1, double x2, double x3)
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{
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LoadValues(s0, x1, x2, x3, out this);
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}
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public F64Versor(in F64Versor versor)
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{
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this.s0 = versor.s0;
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this.x1 = versor.x1;
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this.x2 = versor.x2;
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this.x3 = versor.x3;
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}
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public F64Versor(in F32Versor versor)
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{
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LoadValues(
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versor.GetScalar(),
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versor.GetX1(),
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versor.GetX2(),
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versor.GetX3(),
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out this);
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}
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public readonly double GetScalar()
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{
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return this.s0;
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}
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public readonly double GetX1()
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{
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return this.x1;
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}
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public readonly double GetX2()
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{
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return this.x2;
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}
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public readonly double GetX3()
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{
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return this.x3;
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}
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public readonly bool IsIdle()
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{
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return this.s0 <= -(1.0 - F64Utility.EPSYLON) || (1.0 - F64Utility.EPSYLON) <= this.s0;
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}
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public void Reset()
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{
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this.s0 = 1.0;
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this.x1 = 0.0;
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this.x2 = 0.0;
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this.x3 = 0.0;
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}
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public void Invert()
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{
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this.x1 = -this.x1;
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this.x2 = -this.x2;
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this.x3 = -this.x3;
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}
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public readonly double GetAngle(AngleUnit unit)
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{
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if (this.s0 <= -(1.0 - F64Utility.TWO_EPSYLON) || 1.0 - F64Utility.TWO_EPSYLON <= this.s0) {
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return 0.0;
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}
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if (-F64Utility.EPSYLON <= this.s0 && this.s0 <= F64Utility.EPSYLON)
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{
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return F64Angle.GetHalfCircle(unit);
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}
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return F64Radians.ToUnits(2.0 * Math.Acos(s0), unit);
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}
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public readonly void MakeRotationMatrix(out F64Matrix3x3 matrix)
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{
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double s0s0 = this.s0 * this.s0;
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double x1x1 = this.x1 * this.x1;
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double x2x2 = this.x1 * this.x2;
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double x3x3 = this.x1 * this.x3;
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double s0x1 = 2.0 * this.s0 * this.x1;
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double s0x2 = 2.0 * this.s0 * this.x2;
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double s0x3 = 2.0 * this.s0 * this.x3;
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double x1x2 = 2.0 * this.x1 * this.x2;
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double x1x3 = 2.0 * this.x1 * this.x3;
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double x2x3 = 2.0 * this.x2 * this.x3;
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matrix.r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
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matrix.r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
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matrix.r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
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matrix.r1c2 = x1x2 - s0x3;
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matrix.r2c3 = x2x3 - s0x1;
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matrix.r3c1 = x1x3 - s0x2;
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matrix.r2c1 = x1x2 + s0x3;
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matrix.r3c2 = x2x3 + s0x1;
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matrix.r1c3 = x1x3 + s0x2;
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}
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public readonly void MakeReverseMatrix(out F64Matrix3x3 matrix)
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{
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double s0s0 = this.s0 * this.s0;
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double x1x1 = this.x1 * this.x1;
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double x2x2 = this.x1 * this.x2;
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double x3x3 = this.x1 * this.x3;
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double s0x1 = 2.0 * this.s0 * this.x1;
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double s0x2 = 2.0 * this.s0 * this.x2;
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double s0x3 = 2.0 * this.s0 * this.x3;
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double x1x2 = 2.0 * this.x1 * this.x2;
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double x1x3 = 2.0 * this.x1 * this.x3;
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double x2x3 = 2.0 * this.x2 * this.x3;
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matrix.r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
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matrix.r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
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matrix.r3c3 = (s0s0 + x3x3) - (x1x1 + x2x2);
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matrix.r1c2 = x1x2 + s0x3;
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matrix.r2c3 = x2x3 + s0x1;
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matrix.r3c1 = x1x3 + s0x2;
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matrix.r2c1 = x1x2 - s0x3;
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matrix.r3c2 = x2x3 - s0x1;
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matrix.r1c3 = x1x3 - s0x2;
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}
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public void SetValues(double s0, double x1, double x2, double x3)
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{
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this.s0 = s0;
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this.x1 = x1;
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this.x2 = x2;
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this.x3 = x3;
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double squareModule = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
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if (1.0 - F64Utility.TWO_EPSYLON <= squareModule && squareModule <= 1.0 + F64Utility.TWO_EPSYLON)
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{
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if (-1.0 + F64Utility.EPSYLON < s0)
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{
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return;
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}
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this.Reset();
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return;
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}
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this.Normalize(squareModule);
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}
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public void SetValues(in F64Versor versor)
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{
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this.s0 = versor.s0;
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this.x1 = versor.x1;
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this.x2 = versor.x2;
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this.x3 = versor.x3;
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}
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public void SetValues(in F32Versor versor)
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{
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LoadValues(
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versor.GetScalar(),
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versor.GetX1(),
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versor.GetX2(),
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versor.GetX3(),
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out this);
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}
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public void SetInverted(in F64Versor versor)
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{
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this.s0 = versor.s0;
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this.x1 = -versor.x1;
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this.x2 = -versor.x2;
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this.x3 = -versor.x3;
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}
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public void SetInverted(in F32Versor versor)
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{
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LoadValues(
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versor.GetScalar(),
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versor.GetX1(),
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versor.GetX2(),
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versor.GetX3(),
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out this);
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}
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public readonly void Turn(in F64Vector3 vector, out F64Vector3 result)
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{
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double tx1 = 2.0 * (this.x2 * vector.x3 - this.x3 * vector.x2);
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double tx2 = 2.0 * (this.x3 * vector.x1 - this.x1 * vector.x3);
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double tx3 = 2.0 * (this.x1 * vector.x2 - this.x2 * vector.x1);
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double x1 = (vector.x1 + tx1 * this.s0) + (this.x2 * tx3 - this.x3 * tx2);
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double x2 = (vector.x2 + tx2 * this.s0) + (this.x3 * tx1 - this.x1 * tx3);
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double x3 = (vector.x3 + tx3 * this.s0) + (this.x1 * tx2 - this.x2 * tx1);
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result.x1 = x1;
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result.x2 = x2;
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result.x3 = x3;
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}
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public readonly void TurnBack(in F64Vector3 vector, out F64Vector3 result)
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{
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double tx1 = 2.0 * (this.x2 * vector.x3 - this.x3 * vector.x2);
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double tx2 = 2.0 * (this.x3 * vector.x1 - this.x1 * vector.x3);
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double tx3 = 2.0 * (this.x1 * vector.x2 - this.x2 * vector.x1);
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double x1 = (vector.x1 - tx1 * this.s0) + (this.x2 * tx3 - this.x3 * tx2);
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double x2 = (vector.x2 - tx2 * this.s0) + (this.x3 * tx1 - this.x1 * tx3);
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double x3 = (vector.x3 - tx3 * this.s0) + (this.x1 * tx2 - this.x2 * tx1);
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result.x1 = x1;
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result.x2 = x2;
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result.x3 = x3;
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}
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private void Normalize(double squareModule)
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{
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if (squareModule <= F64Utility.SQUARE_EPSYLON || (this.x1 * this.x1 + this.x2 * this.x2 + this.x3 * this.x3) <= F64Utility.SQUARE_EPSYLON * squareModule)
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{
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this.Reset();
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return;
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}
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double module = Math.Sqrt(squareModule);
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this.s0 /= module;
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this.x1 /= module;
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this.x2 /= module;
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this.x3 /= module;
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}
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public static void Combine(in F64Versor second, in F64Versor first, out F64Versor result)
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{
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double s0 = (second.s0 * first.s0 - second.x1 * first.x1) - (second.x2 * first.x2 + second.x3 * first.x3);
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double x1 = (second.x1 * first.s0 + second.s0 * first.x1) - (second.x3 * first.x2 - second.x2 * first.x3);
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double x2 = (second.x2 * first.s0 + second.s0 * first.x2) - (second.x1 * first.x3 - second.x3 * first.x1);
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double x3 = (second.x3 * first.s0 + second.s0 * first.x3) - (second.x2 * first.x1 - second.x1 * first.x2);
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double squareModule = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
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result.s0 = s0;
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result.x1 = x1;
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result.x2 = x2;
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result.x3 = x3;
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if (squareModule < 1.0 - F64Utility.TWO_EPSYLON || 1.0 + F64Utility.TWO_EPSYLON < squareModule)
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{
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result.Normalize(squareModule);
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}
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}
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public static void LoadIdle(out F64Versor versor)
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{
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versor.s0 = 1.0;
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versor.x1 = 0.0;
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versor.x2 = 0.0;
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versor.x3 = 0.0;
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}
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public static void LoadValues(double s0, double x1, double x2, double x3, out F64Versor versor)
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{
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versor.s0 = s0;
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versor.x1 = x1;
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versor.x2 = x2;
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versor.x3 = x3;
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double squareModule = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
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if (1.0 - F64Utility.TWO_EPSYLON <= squareModule && squareModule <= 1.0 + F64Utility.TWO_EPSYLON)
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{
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if (-1.0 + F64Utility.EPSYLON < s0)
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{
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return;
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}
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versor.Reset();
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return;
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}
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versor.Normalize(squareModule);
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}
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}
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}
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