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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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70
basic-geometry/quaternion.h
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@ -394,14 +394,76 @@ inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quatern
inline void bgc_fp32_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* const product, const BGC_FP32_Quaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier)
{
bgc_fp32_quaternion_multiply_by_real_number(&product->real_part, multiplicand, multiplier->real_part);
bgc_fp32_quaternion_multiply_by_real_number(&product->dual_part, multiplicand, multiplier->dual_part);
const float real_s0 = multiplicand->s0 * multiplier->real_part;
const float real_x1 = multiplicand->x1 * multiplier->real_part;
const float real_x2 = multiplicand->x2 * multiplier->real_part;
const float real_x3 = multiplicand->x3 * multiplier->real_part;
const float dual_s0 = multiplicand->s0 * multiplier->dual_part;
const float dual_x1 = multiplicand->x1 * multiplier->dual_part;
const float dual_x2 = multiplicand->x2 * multiplier->dual_part;
const float dual_x3 = multiplicand->x3 * multiplier->dual_part;
product->real_part.s0 = real_s0;
product->real_part.x1 = real_x1;
product->real_part.x2 = real_x2;
product->real_part.x3 = real_x3;
product->dual_part.s0 = dual_s0;
product->dual_part.x1 = dual_x1;
product->dual_part.x2 = dual_x2;
product->dual_part.x3 = dual_x3;
}
inline void bgc_fp64_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* const product, const BGC_FP64_Quaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier)
{
bgc_fp64_quaternion_multiply_by_real_number(&product->real_part, multiplicand, multiplier->real_part);
bgc_fp64_quaternion_multiply_by_real_number(&product->dual_part, multiplicand, multiplier->dual_part);
const double real_s0 = multiplicand->s0 * multiplier->real_part;
const double real_x1 = multiplicand->x1 * multiplier->real_part;
const double real_x2 = multiplicand->x2 * multiplier->real_part;
const double real_x3 = multiplicand->x3 * multiplier->real_part;
const double dual_s0 = multiplicand->s0 * multiplier->dual_part;
const double dual_x1 = multiplicand->x1 * multiplier->dual_part;
const double dual_x2 = multiplicand->x2 * multiplier->dual_part;
const double dual_x3 = multiplicand->x3 * multiplier->dual_part;
product->real_part.s0 = real_s0;
product->real_part.x1 = real_x1;
product->real_part.x2 = real_x2;
product->real_part.x3 = real_x3;
product->dual_part.s0 = dual_s0;
product->dual_part.x1 = dual_x1;
product->dual_part.x2 = dual_x2;
product->dual_part.x3 = dual_x3;
}
// ====== Restrict Multiply By Dual Number ====== //
inline void _bgc_fp32_restrict_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* restrict const product, const BGC_FP32_Quaternion* const multiplicand, const BGC_FP32_DualNumber* const multiplier)
{
product->real_part.s0 = multiplicand->s0 * multiplier->real_part;
product->real_part.x1 = multiplicand->x1 * multiplier->real_part;
product->real_part.x2 = multiplicand->x2 * multiplier->real_part;
product->real_part.x3 = multiplicand->x3 * multiplier->real_part;
product->dual_part.s0 = multiplicand->s0 * multiplier->dual_part;
product->dual_part.x1 = multiplicand->x1 * multiplier->dual_part;
product->dual_part.x2 = multiplicand->x2 * multiplier->dual_part;
product->dual_part.x3 = multiplicand->x3 * multiplier->dual_part;
}
inline void _bgc_fp64_restrict_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* restrict const product, const BGC_FP64_Quaternion* const multiplicand, const BGC_FP64_DualNumber* const multiplier)
{
product->real_part.s0 = multiplicand->s0 * multiplier->real_part;
product->real_part.x1 = multiplicand->x1 * multiplier->real_part;
product->real_part.x2 = multiplicand->x2 * multiplier->real_part;
product->real_part.x3 = multiplicand->x3 * multiplier->real_part;
product->dual_part.s0 = multiplicand->s0 * multiplier->dual_part;
product->dual_part.x1 = multiplicand->x1 * multiplier->dual_part;
product->dual_part.x2 = multiplicand->x2 * multiplier->dual_part;
product->dual_part.x3 = multiplicand->x3 * multiplier->dual_part;
}
// ======== Multiply By Dual Quaternion ========= //