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Переименование функций для универсализации названий, добавление функций умножения вектора на дуальное число, а также исправление реализации функции умножения кватерниона на дуальное число на более безопасную реализацию

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Andrey Pokidov 2026-03-27 20:54:11 +07:00
parent 405af2f3a7
commit 078512c3d5
10 changed files with 234 additions and 98 deletions
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72
basic-geometry/dual-vector3.h
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@ -146,69 +146,69 @@ inline void bgc_fp64_dual_vector3_subtract_scaled(BGC_FP64_DualVector3* const di
// ================== Multiply ================== //
inline void bgc_fp32_dual_vector3_multiply_by_real(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const float multiplier)
inline void bgc_fp32_dual_vector3_multiply_by_real_number(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const float multiplier)
{
bgc_fp32_vector3_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier);
bgc_fp32_vector3_multiply_by_real(&product->dual_part, &multiplicand->dual_part, multiplier);
bgc_fp32_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier);
bgc_fp32_vector3_multiply_by_real_number(&product->dual_part, &multiplicand->dual_part, multiplier);
}
inline void bgc_fp64_dual_vector3_multiply_by_real(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const double multiplier)
inline void bgc_fp64_dual_vector3_multiply_by_real_number(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const double multiplier)
{
bgc_fp64_vector3_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier);
bgc_fp64_vector3_multiply_by_real(&product->dual_part, &multiplicand->dual_part, multiplier);
bgc_fp64_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier);
bgc_fp64_vector3_multiply_by_real_number(&product->dual_part, &multiplicand->dual_part, multiplier);
}
// ========== Multiply by Dual Number =========== //
inline void bgc_fp32_dual_vector3_multiply_by_dual(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const BGC_FP32_DualNumber* multiplier)
inline void bgc_fp32_dual_vector3_multiply_by_dual_number(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const BGC_FP32_DualNumber* multiplier)
{
BGC_FP32_Vector3 dual_part;
bgc_fp32_vector3_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier->real_part);
bgc_fp32_vector3_multiply_by_real_number(&dual_part, &multiplicand->dual_part, multiplier->real_part);
bgc_fp32_vector3_add_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier->dual_part);
bgc_fp32_vector3_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier->real_part);
bgc_fp32_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier->real_part);
bgc_fp32_vector3_copy(&product->dual_part, &dual_part);
}
inline void bgc_fp64_dual_vector3_multiply_by_dual(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const BGC_FP64_DualNumber* multiplier)
inline void bgc_fp64_dual_vector3_multiply_by_dual_number(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const BGC_FP64_DualNumber* multiplier)
{
BGC_FP64_Vector3 dual_part;
bgc_fp64_vector3_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier->real_part);
bgc_fp64_vector3_multiply_by_real_number(&dual_part, &multiplicand->dual_part, multiplier->real_part);
bgc_fp64_vector3_add_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier->dual_part);
bgc_fp64_vector3_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier->real_part);
bgc_fp64_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier->real_part);
bgc_fp64_vector3_copy(&product->dual_part, &dual_part);
}
// ===== Multiply by Conjugate Dual Number ====== //
inline void bgc_fp32_dual_vector3_multiply_by_conjugate(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier_to_conjugate)
inline void bgc_fp32_dual_vector3_multiply_by_conjugate_dual_number(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier_to_conjugate)
{
BGC_FP32_Vector3 dual_part;
bgc_fp32_vector3_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier_to_conjugate->real_part);
bgc_fp32_vector3_multiply_by_real_number(&dual_part, &multiplicand->dual_part, multiplier_to_conjugate->real_part);
bgc_fp32_vector3_subtract_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier_to_conjugate->dual_part);
bgc_fp32_vector3_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate->real_part);
bgc_fp32_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate->real_part);
bgc_fp32_vector3_copy(&product->dual_part, &dual_part);
}
inline void bgc_fp64_dual_vector3_multiply_by_conjugate(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier_to_conjugate)
inline void bgc_fp64_dual_vector3_multiply_by_conjugate_dual_number(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier_to_conjugate)
{
BGC_FP64_Vector3 dual_part;
bgc_fp64_vector3_multiply_by_real(&dual_part, &multiplicand->dual_part, multiplier_to_conjugate->real_part);
bgc_fp64_vector3_multiply_by_real_number(&dual_part, &multiplicand->dual_part, multiplier_to_conjugate->real_part);
bgc_fp64_vector3_subtract_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier_to_conjugate->dual_part);
bgc_fp64_vector3_multiply_by_real(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate->real_part);
bgc_fp64_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate->real_part);
bgc_fp64_vector3_copy(&product->dual_part, &dual_part);
}
// =================== Divide =================== //
inline int bgc_fp32_dual_vector3_divide_by_real(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const float divisor)
inline int bgc_fp32_dual_vector3_divide_by_real_number(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const float divisor)
{
if (bgc_fp32_is_zero(divisor)) {
return BGC_FAILURE;
@ -216,13 +216,13 @@ inline int bgc_fp32_dual_vector3_divide_by_real(BGC_FP32_DualVector3* const quot
const float multiplier = 1.0f / divisor;
bgc_fp32_vector3_multiply_by_real(&quotient->real_part, &dividend->real_part, multiplier);
bgc_fp32_vector3_multiply_by_real(&quotient->dual_part, &dividend->dual_part, multiplier);
bgc_fp32_vector3_multiply_by_real_number(&quotient->real_part, &dividend->real_part, multiplier);
bgc_fp32_vector3_multiply_by_real_number(&quotient->dual_part, &dividend->dual_part, multiplier);
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_vector3_divide_by_real(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const double divisor)
inline int bgc_fp64_dual_vector3_divide_by_real_number(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const double divisor)
{
if (bgc_fp64_is_zero(divisor)) {
return BGC_FAILURE;
@ -230,15 +230,15 @@ inline int bgc_fp64_dual_vector3_divide_by_real(BGC_FP64_DualVector3* const quot
const double multiplier = 1.0 / divisor;
bgc_fp64_vector3_multiply_by_real(&quotient->real_part, &dividend->real_part, multiplier);
bgc_fp64_vector3_multiply_by_real(&quotient->dual_part, &dividend->dual_part, multiplier);
bgc_fp64_vector3_multiply_by_real_number(&quotient->real_part, &dividend->real_part, multiplier);
bgc_fp64_vector3_multiply_by_real_number(&quotient->dual_part, &dividend->dual_part, multiplier);
return BGC_SUCCESS;
}
// =========== Divide by Dual Number ============ //
inline int bgc_fp32_dual_vector3_divide_by_dual(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const BGC_FP32_DualNumber* const divisor)
inline int bgc_fp32_dual_vector3_divide_by_dual_number(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const BGC_FP32_DualNumber* const divisor)
{
const float square_modulus = divisor->real_part * divisor->real_part;
@ -246,13 +246,13 @@ inline int bgc_fp32_dual_vector3_divide_by_dual(BGC_FP32_DualVector3* const quot
return BGC_FAILURE;
}
bgc_fp32_dual_vector3_multiply_by_conjugate(quotient, dividend, divisor);
bgc_fp32_dual_vector3_multiply_by_real(quotient, quotient, 1.0f / square_modulus);
bgc_fp32_dual_vector3_multiply_by_conjugate_dual_number(quotient, dividend, divisor);
bgc_fp32_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_vector3_divide_by_dual(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const BGC_FP64_DualNumber* const divisor)
inline int bgc_fp64_dual_vector3_divide_by_dual_number(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const BGC_FP64_DualNumber* const divisor)
{
const double square_modulus = divisor->real_part * divisor->real_part;
@ -260,15 +260,15 @@ inline int bgc_fp64_dual_vector3_divide_by_dual(BGC_FP64_DualVector3* const quot
return BGC_FAILURE;
}
bgc_fp64_dual_vector3_multiply_by_conjugate(quotient, dividend, divisor);
bgc_fp64_dual_vector3_multiply_by_real(quotient, quotient, 1.0 / square_modulus);
bgc_fp64_dual_vector3_multiply_by_conjugate_dual_number(quotient, dividend, divisor);
bgc_fp64_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
return BGC_SUCCESS;
}
// ====== Divide by Conjugate Dual Number ======= //
inline int bgc_fp32_dual_vector3_divide_by_conjugate(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const BGC_FP32_DualNumber* const divisor_to_conjugate)
inline int bgc_fp32_dual_vector3_divide_by_conjugate_dual_number(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const BGC_FP32_DualNumber* const divisor_to_conjugate)
{
const float square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
@ -276,13 +276,13 @@ inline int bgc_fp32_dual_vector3_divide_by_conjugate(BGC_FP32_DualVector3* const
return BGC_FAILURE;
}
bgc_fp32_dual_vector3_multiply_by_dual(quotient, dividend, divisor_to_conjugate);
bgc_fp32_dual_vector3_multiply_by_real(quotient, quotient, 1.0f / square_modulus);
bgc_fp32_dual_vector3_multiply_by_dual_number(quotient, dividend, divisor_to_conjugate);
bgc_fp32_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_vector3_divide_by_conjugate(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const BGC_FP64_DualNumber* const divisor_to_conjugate)
inline int bgc_fp64_dual_vector3_divide_by_conjugate_dual_number(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const BGC_FP64_DualNumber* const divisor_to_conjugate)
{
const double square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
@ -290,8 +290,8 @@ inline int bgc_fp64_dual_vector3_divide_by_conjugate(BGC_FP64_DualVector3* const
return BGC_FAILURE;
}
bgc_fp64_dual_vector3_multiply_by_dual(quotient, dividend, divisor_to_conjugate);
bgc_fp64_dual_vector3_multiply_by_real(quotient, quotient, 1.0 / square_modulus);
bgc_fp64_dual_vector3_multiply_by_dual_number(quotient, dividend, divisor_to_conjugate);
bgc_fp64_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
return BGC_SUCCESS;
}