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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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24
basic-geometry/complex.c
View file

@ -63,23 +63,23 @@ extern inline void bgc_fp64_complex_subtract(BGC_FP64_Complex* const difference,
extern inline void bgc_fp32_complex_subtract_scaled(BGC_FP32_Complex* const difference, const BGC_FP32_Complex* const basic_number, const BGC_FP32_Complex* const scalable_number, const float scale); extern inline void bgc_fp32_complex_subtract_scaled(BGC_FP32_Complex* const difference, const BGC_FP32_Complex* const basic_number, const BGC_FP32_Complex* const scalable_number, const float scale);
extern inline void bgc_fp64_complex_subtract_scaled(BGC_FP64_Complex* const difference, const BGC_FP64_Complex* const basic_number, const BGC_FP64_Complex* const scalable_number, const double scale); extern inline void bgc_fp64_complex_subtract_scaled(BGC_FP64_Complex* const difference, const BGC_FP64_Complex* const basic_number, const BGC_FP64_Complex* const scalable_number, const double scale);
extern inline void bgc_fp32_complex_multiply_by_real(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const float multiplier); extern inline void bgc_fp32_complex_multiply_by_real_number(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const float multiplier);
extern inline void bgc_fp64_complex_multiply_by_real(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const double multiplier); extern inline void bgc_fp64_complex_multiply_by_real_number(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const double multiplier);
extern inline void bgc_fp32_complex_multiply_by_complex(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier); extern inline void bgc_fp32_complex_multiply_by_complex_number(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier);
extern inline void bgc_fp64_complex_multiply_by_complex(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier); extern inline void bgc_fp64_complex_multiply_by_complex_number(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier);
extern inline void bgc_fp32_complex_multiply_by_conjugate(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier_to_conjugate); extern inline void bgc_fp32_complex_multiply_by_conjugate_complex_number(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier_to_conjugate);
extern inline void bgc_fp64_complex_multiply_by_conjugate(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier_to_conjugate); extern inline void bgc_fp64_complex_multiply_by_conjugate_complex_number(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier_to_conjugate);
extern inline int bgc_fp32_complex_divide_by_real(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const dividend, const float divisor); extern inline int bgc_fp32_complex_divide_by_real_number(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const dividend, const float divisor);
extern inline int bgc_fp64_complex_divide_by_real(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const dividend, const double divisor); extern inline int bgc_fp64_complex_divide_by_real_number(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const dividend, const double divisor);
extern inline int bgc_fp32_complex_divide_by_complex(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor); extern inline int bgc_fp32_complex_divide_by_complex_number(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor);
extern inline int bgc_fp64_complex_divide_by_complex(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor); extern inline int bgc_fp64_complex_divide_by_complex_number(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor);
extern inline int bgc_fp32_complex_divide_by_conjugate(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor_to_conjugate); extern inline int bgc_fp32_complex_divide_by_conjugate_complex_number(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor_to_conjugate);
extern inline int bgc_fp64_complex_divide_by_conjugate(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor_to_conjugate); extern inline int bgc_fp64_complex_divide_by_conjugate_complex_number(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor_to_conjugate);
extern inline void bgc_fp32_complex_get_mean2(BGC_FP32_Complex* const mean, const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2); extern inline void bgc_fp32_complex_get_mean2(BGC_FP32_Complex* const mean, const BGC_FP32_Complex* const number1, const BGC_FP32_Complex* const number2);
extern inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* const mean, const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2); extern inline void bgc_fp64_complex_get_mean2(BGC_FP64_Complex* const mean, const BGC_FP64_Complex* const number1, const BGC_FP64_Complex* const number2);

44
basic-geometry/complex.h
View file

@ -381,13 +381,13 @@ inline void bgc_fp64_complex_subtract_scaled(BGC_FP64_Complex* const difference,
// ========== Multiply By Real Number =========== // // ========== Multiply By Real Number =========== //
inline void bgc_fp32_complex_multiply_by_real(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const float multiplier) inline void bgc_fp32_complex_multiply_by_real_number(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const float multiplier)
{ {
product->real = multiplicand->real * multiplier; product->real = multiplicand->real * multiplier;
product->imaginary = multiplicand->imaginary * multiplier; product->imaginary = multiplicand->imaginary * multiplier;
} }
inline void bgc_fp64_complex_multiply_by_real(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const double multiplier) inline void bgc_fp64_complex_multiply_by_real_number(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const double multiplier)
{ {
product->real = multiplicand->real * multiplier; product->real = multiplicand->real * multiplier;
product->imaginary = multiplicand->imaginary * multiplier; product->imaginary = multiplicand->imaginary * multiplier;
@ -395,7 +395,7 @@ inline void bgc_fp64_complex_multiply_by_real(BGC_FP64_Complex* const product, c
// ========= Multiply By Complex Number ========= // // ========= Multiply By Complex Number ========= //
inline void bgc_fp32_complex_multiply_by_complex(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier) inline void bgc_fp32_complex_multiply_by_complex_number(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier)
{ {
const float real = multiplicand->real * multiplier->real - multiplicand->imaginary * multiplier->imaginary; const float real = multiplicand->real * multiplier->real - multiplicand->imaginary * multiplier->imaginary;
const float imaginary = multiplicand->real * multiplier->imaginary + multiplicand->imaginary * multiplier->real; const float imaginary = multiplicand->real * multiplier->imaginary + multiplicand->imaginary * multiplier->real;
@ -404,7 +404,7 @@ inline void bgc_fp32_complex_multiply_by_complex(BGC_FP32_Complex* const product
product->imaginary = imaginary; product->imaginary = imaginary;
} }
inline void bgc_fp64_complex_multiply_by_complex(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier) inline void bgc_fp64_complex_multiply_by_complex_number(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier)
{ {
const double real = multiplicand->real * multiplier->real - multiplicand->imaginary * multiplier->imaginary; const double real = multiplicand->real * multiplier->real - multiplicand->imaginary * multiplier->imaginary;
const double imaginary = multiplicand->real * multiplier->imaginary + multiplicand->imaginary * multiplier->real; const double imaginary = multiplicand->real * multiplier->imaginary + multiplicand->imaginary * multiplier->real;
@ -415,7 +415,7 @@ inline void bgc_fp64_complex_multiply_by_complex(BGC_FP64_Complex* const product
// ======== Multiply By Conjugate Number ======== // // ======== Multiply By Conjugate Number ======== //
inline void bgc_fp32_complex_multiply_by_conjugate(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier_to_conjugate) inline void bgc_fp32_complex_multiply_by_conjugate_complex_number(BGC_FP32_Complex* const product, const BGC_FP32_Complex* const multiplicand, const BGC_FP32_Complex* const multiplier_to_conjugate)
{ {
const float real = multiplicand->real * multiplier_to_conjugate->real + multiplicand->imaginary * multiplier_to_conjugate->imaginary; const float real = multiplicand->real * multiplier_to_conjugate->real + multiplicand->imaginary * multiplier_to_conjugate->imaginary;
const float imaginary = multiplicand->imaginary * multiplier_to_conjugate->real - multiplicand->real * multiplier_to_conjugate->imaginary; const float imaginary = multiplicand->imaginary * multiplier_to_conjugate->real - multiplicand->real * multiplier_to_conjugate->imaginary;
@ -424,7 +424,7 @@ inline void bgc_fp32_complex_multiply_by_conjugate(BGC_FP32_Complex* const produ
product->imaginary = imaginary; product->imaginary = imaginary;
} }
inline void bgc_fp64_complex_multiply_by_conjugate(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier_to_conjugate) inline void bgc_fp64_complex_multiply_by_conjugate_complex_number(BGC_FP64_Complex* const product, const BGC_FP64_Complex* const multiplicand, const BGC_FP64_Complex* const multiplier_to_conjugate)
{ {
const double real = multiplicand->real * multiplier_to_conjugate->real + multiplicand->imaginary * multiplier_to_conjugate->imaginary; const double real = multiplicand->real * multiplier_to_conjugate->real + multiplicand->imaginary * multiplier_to_conjugate->imaginary;
const double imaginary = multiplicand->imaginary * multiplier_to_conjugate->real - multiplicand->real * multiplier_to_conjugate->imaginary; const double imaginary = multiplicand->imaginary * multiplier_to_conjugate->real - multiplicand->real * multiplier_to_conjugate->imaginary;
@ -435,31 +435,31 @@ inline void bgc_fp64_complex_multiply_by_conjugate(BGC_FP64_Complex* const produ
// =========== Divide by Real Number ============ // // =========== Divide by Real Number ============ //
inline int bgc_fp32_complex_divide_by_real(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const dividend, const float divisor) inline int bgc_fp32_complex_divide_by_real_number(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const dividend, const float divisor)
{ {
if (bgc_fp32_is_zero(divisor) || isnan(divisor)) { if (bgc_fp32_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE; return BGC_FAILURE;
} }
bgc_fp32_complex_multiply_by_real(quotient, dividend, 1.0f / divisor); bgc_fp32_complex_multiply_by_real_number(quotient, dividend, 1.0f / divisor);
return BGC_SUCCESS; return BGC_SUCCESS;
} }
inline int bgc_fp64_complex_divide_by_real(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const dividend, const double divisor) inline int bgc_fp64_complex_divide_by_real_number(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const dividend, const double divisor)
{ {
if (bgc_fp64_is_zero(divisor) || isnan(divisor)) { if (bgc_fp64_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE; return BGC_FAILURE;
} }
bgc_fp64_complex_multiply_by_real(quotient, dividend, 1.0 / divisor); bgc_fp64_complex_multiply_by_real_number(quotient, dividend, 1.0 / divisor);
return BGC_SUCCESS; return BGC_SUCCESS;
} }
// ========== Divide by Complex Number ========== // // ========== Divide by Complex Number ========== //
inline int bgc_fp32_complex_divide_by_complex(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor) inline int bgc_fp32_complex_divide_by_complex_number(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor)
{ {
const float square_modulus = bgc_fp32_complex_get_square_modulus(divisor); const float square_modulus = bgc_fp32_complex_get_square_modulus(divisor);
@ -467,13 +467,13 @@ inline int bgc_fp32_complex_divide_by_complex(BGC_FP32_Complex* const quotient,
return BGC_FAILURE; return BGC_FAILURE;
} }
bgc_fp32_complex_multiply_by_conjugate(quotient, divident, divisor); bgc_fp32_complex_multiply_by_conjugate_complex_number(quotient, divident, divisor);
bgc_fp32_complex_multiply_by_real(quotient, quotient, 1.0f / square_modulus); bgc_fp32_complex_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
return BGC_SUCCESS; return BGC_SUCCESS;
} }
inline int bgc_fp64_complex_divide_by_complex(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor) inline int bgc_fp64_complex_divide_by_complex_number(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor)
{ {
const double square_modulus = bgc_fp64_complex_get_square_modulus(divisor); const double square_modulus = bgc_fp64_complex_get_square_modulus(divisor);
@ -481,15 +481,15 @@ inline int bgc_fp64_complex_divide_by_complex(BGC_FP64_Complex* const quotient,
return BGC_FAILURE; return BGC_FAILURE;
} }
bgc_fp64_complex_multiply_by_conjugate(quotient, divident, divisor); bgc_fp64_complex_multiply_by_conjugate_complex_number(quotient, divident, divisor);
bgc_fp64_complex_multiply_by_real(quotient, quotient, 1.0 / square_modulus); bgc_fp64_complex_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
return BGC_SUCCESS; return BGC_SUCCESS;
} }
// ========= Divide By Conjugate Number ========= // // ========= Divide By Conjugate Number ========= //
inline int bgc_fp32_complex_divide_by_conjugate(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor_to_conjugate) inline int bgc_fp32_complex_divide_by_conjugate_complex_number(BGC_FP32_Complex* const quotient, const BGC_FP32_Complex* const divident, const BGC_FP32_Complex* const divisor_to_conjugate)
{ {
const float square_modulus = bgc_fp32_complex_get_square_modulus(divisor_to_conjugate); const float square_modulus = bgc_fp32_complex_get_square_modulus(divisor_to_conjugate);
@ -497,13 +497,13 @@ inline int bgc_fp32_complex_divide_by_conjugate(BGC_FP32_Complex* const quotient
return BGC_FAILURE; return BGC_FAILURE;
} }
bgc_fp32_complex_multiply_by_complex(quotient, divident, divisor_to_conjugate); bgc_fp32_complex_multiply_by_complex_number(quotient, divident, divisor_to_conjugate);
bgc_fp32_complex_multiply_by_real(quotient, quotient, 1.0f / square_modulus); bgc_fp32_complex_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
return BGC_SUCCESS; return BGC_SUCCESS;
} }
inline int bgc_fp64_complex_divide_by_conjugate(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor_to_conjugate) inline int bgc_fp64_complex_divide_by_conjugate_complex_number(BGC_FP64_Complex* const quotient, const BGC_FP64_Complex* const divident, const BGC_FP64_Complex* const divisor_to_conjugate)
{ {
const double square_modulus = bgc_fp64_complex_get_square_modulus(divisor_to_conjugate); const double square_modulus = bgc_fp64_complex_get_square_modulus(divisor_to_conjugate);
@ -511,8 +511,8 @@ inline int bgc_fp64_complex_divide_by_conjugate(BGC_FP64_Complex* const quotient
return BGC_FAILURE; return BGC_FAILURE;
} }
bgc_fp64_complex_multiply_by_complex(quotient, divident, divisor_to_conjugate); bgc_fp64_complex_multiply_by_complex_number(quotient, divident, divisor_to_conjugate);
bgc_fp64_complex_multiply_by_real(quotient, quotient, 1.0 / square_modulus); bgc_fp64_complex_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
return BGC_SUCCESS; return BGC_SUCCESS;
} }

1
basic-geometry/dual-number.h
View file

@ -311,6 +311,7 @@ inline void bgc_fp64_dual_number_multiply_by_conjugate(BGC_FP64_DualNumber* cons
product->real_part = real_part; product->real_part = real_part;
product->dual_part = dual_part; product->dual_part = dual_part;
} }
// =================== Divide =================== // // =================== Divide =================== //
inline int bgc_fp32_dual_number_divide_by_real(BGC_FP32_DualNumber* const quotient, const BGC_FP32_DualNumber* const dividend, const float divisor) inline int bgc_fp32_dual_number_divide_by_real(BGC_FP32_DualNumber* const quotient, const BGC_FP32_DualNumber* const dividend, const float divisor)

24
basic-geometry/dual-vector3.c
View file

@ -30,23 +30,23 @@ extern inline void bgc_fp64_dual_vector3_subtract(BGC_FP64_DualVector3* const di
extern inline void bgc_fp32_dual_vector3_subtract_scaled(BGC_FP32_DualVector3* const difference, const BGC_FP32_DualVector3* const base_vector, const BGC_FP32_DualVector3* const scalable_vector, const float scale); extern inline void bgc_fp32_dual_vector3_subtract_scaled(BGC_FP32_DualVector3* const difference, const BGC_FP32_DualVector3* const base_vector, const BGC_FP32_DualVector3* const scalable_vector, const float scale);
extern inline void bgc_fp64_dual_vector3_subtract_scaled(BGC_FP64_DualVector3* const difference, const BGC_FP64_DualVector3* const base_vector, const BGC_FP64_DualVector3* const scalable_vector, const double scale); extern inline void bgc_fp64_dual_vector3_subtract_scaled(BGC_FP64_DualVector3* const difference, const BGC_FP64_DualVector3* const base_vector, const BGC_FP64_DualVector3* const scalable_vector, const double scale);
extern inline void bgc_fp32_dual_vector3_multiply_by_real(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const float multiplier); extern inline void bgc_fp32_dual_vector3_multiply_by_real_number(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const float multiplier);
extern inline void bgc_fp64_dual_vector3_multiply_by_real(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const double multiplier); extern inline void bgc_fp64_dual_vector3_multiply_by_real_number(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const double multiplier);
extern inline void bgc_fp32_dual_vector3_multiply_by_dual(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier); extern 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* const multiplier);
extern inline void bgc_fp64_dual_vector3_multiply_by_dual(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier); extern 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* const multiplier);
extern 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); extern 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);
extern 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); extern 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);
extern inline int bgc_fp32_dual_vector3_divide_by_real(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const float divisor); extern inline int bgc_fp32_dual_vector3_divide_by_real_number(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const float divisor);
extern inline int bgc_fp64_dual_vector3_divide_by_real(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const double divisor); extern inline int bgc_fp64_dual_vector3_divide_by_real_number(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const double divisor);
extern 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); extern 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);
extern 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); extern 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);
extern 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); extern 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);
extern 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); extern 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);
extern inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* const mean, const BGC_FP32_DualVector3* const first, const BGC_FP32_DualVector3* const second); extern inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* const mean, const BGC_FP32_DualVector3* const first, const BGC_FP32_DualVector3* const second);
extern inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* const mean, const BGC_FP64_DualVector3* const first, const BGC_FP64_DualVector3* const second); extern inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* const mean, const BGC_FP64_DualVector3* const first, const BGC_FP64_DualVector3* const second);

72
basic-geometry/dual-vector3.h
View file

@ -146,69 +146,69 @@ inline void bgc_fp64_dual_vector3_subtract_scaled(BGC_FP64_DualVector3* const di
// ================== Multiply ================== // // ================== 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_number(&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->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_number(&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->dual_part, &multiplicand->dual_part, multiplier);
} }
// ========== Multiply by Dual Number =========== // // ========== 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 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_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); 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 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_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); bgc_fp64_vector3_copy(&product->dual_part, &dual_part);
} }
// ===== Multiply by Conjugate Dual Number ====== // // ===== 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 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_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); 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 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_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); bgc_fp64_vector3_copy(&product->dual_part, &dual_part);
} }
// =================== Divide =================== // // =================== 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)) { if (bgc_fp32_is_zero(divisor)) {
return BGC_FAILURE; 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; 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_number(&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->dual_part, &dividend->dual_part, multiplier);
return BGC_SUCCESS; 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)) { if (bgc_fp64_is_zero(divisor)) {
return BGC_FAILURE; 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; 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_number(&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->dual_part, &dividend->dual_part, multiplier);
return BGC_SUCCESS; return BGC_SUCCESS;
} }
// =========== Divide by Dual Number ============ // // =========== 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; 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; return BGC_FAILURE;
} }
bgc_fp32_dual_vector3_multiply_by_conjugate(quotient, dividend, divisor); bgc_fp32_dual_vector3_multiply_by_conjugate_dual_number(quotient, dividend, divisor);
bgc_fp32_dual_vector3_multiply_by_real(quotient, quotient, 1.0f / square_modulus); bgc_fp32_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
return BGC_SUCCESS; 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; 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; return BGC_FAILURE;
} }
bgc_fp64_dual_vector3_multiply_by_conjugate(quotient, dividend, divisor); bgc_fp64_dual_vector3_multiply_by_conjugate_dual_number(quotient, dividend, divisor);
bgc_fp64_dual_vector3_multiply_by_real(quotient, quotient, 1.0 / square_modulus); bgc_fp64_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
return BGC_SUCCESS; return BGC_SUCCESS;
} }
// ====== Divide by Conjugate Dual Number ======= // // ====== 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; 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; return BGC_FAILURE;
} }
bgc_fp32_dual_vector3_multiply_by_dual(quotient, dividend, divisor_to_conjugate); bgc_fp32_dual_vector3_multiply_by_dual_number(quotient, dividend, divisor_to_conjugate);
bgc_fp32_dual_vector3_multiply_by_real(quotient, quotient, 1.0f / square_modulus); bgc_fp32_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
return BGC_SUCCESS; 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; 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; return BGC_FAILURE;
} }
bgc_fp64_dual_vector3_multiply_by_dual(quotient, dividend, divisor_to_conjugate); bgc_fp64_dual_vector3_multiply_by_dual_number(quotient, dividend, divisor_to_conjugate);
bgc_fp64_dual_vector3_multiply_by_real(quotient, quotient, 1.0 / square_modulus); bgc_fp64_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
return BGC_SUCCESS; return BGC_SUCCESS;
} }

3
basic-geometry/quaternion.c
View file

@ -58,6 +58,9 @@ extern inline void bgc_fp64_quaternion_multiply_by_quaternion(BGC_FP64_Quaternio
extern 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); extern 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);
extern 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); extern 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);
extern 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);
extern 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);
extern inline void bgc_fp32_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_DualQuaternion* const right); extern inline void bgc_fp32_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQuaternion* const product, const BGC_FP32_Quaternion* const left, const BGC_FP32_DualQuaternion* const right);
extern inline void bgc_fp64_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_DualQuaternion* const right); extern inline void bgc_fp64_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQuaternion* const product, const BGC_FP64_Quaternion* const left, const BGC_FP64_DualQuaternion* const right);

70
basic-geometry/quaternion.h
View file

@ -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) 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); const float real_s0 = multiplicand->s0 * multiplier->real_part;
bgc_fp32_quaternion_multiply_by_real_number(&product->dual_part, multiplicand, multiplier->dual_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) 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); const double real_s0 = multiplicand->s0 * multiplier->real_part;
bgc_fp64_quaternion_multiply_by_real_number(&product->dual_part, multiplicand, multiplier->dual_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 ========= // // ======== Multiply By Dual Quaternion ========= //

8
basic-geometry/turn3.c
View file

@ -272,7 +272,7 @@ static inline int _bgc_fp32_turn3_get_orthogonal_pair(BGC_FP32_Vector3* const un
return _BGC_ERROR_TURN3_EMPTY_BRANCH; return _BGC_ERROR_TURN3_EMPTY_BRANCH;
} }
bgc_fp32_vector3_multiply_by_real(unit_main, main, sqrtf(1.0f / main_square_modulus)); bgc_fp32_vector3_multiply_by_real_number(unit_main, main, sqrtf(1.0f / main_square_modulus));
bgc_fp32_vector3_add_scaled(unit_branch, branch, unit_main, -bgc_fp32_vector3_get_dot_product(branch, unit_main)); bgc_fp32_vector3_add_scaled(unit_branch, branch, unit_main, -bgc_fp32_vector3_get_dot_product(branch, unit_main));
@ -282,7 +282,7 @@ static inline int _bgc_fp32_turn3_get_orthogonal_pair(BGC_FP32_Vector3* const un
return _BGC_ERROR_TURN3_PAIR_PARALLEL; return _BGC_ERROR_TURN3_PAIR_PARALLEL;
} }
bgc_fp32_vector3_multiply_by_real(unit_branch, unit_branch, sqrtf(1.0f / orthogonal_square_modulus)); bgc_fp32_vector3_multiply_by_real_number(unit_branch, unit_branch, sqrtf(1.0f / orthogonal_square_modulus));
return BGC_SUCCESS; return BGC_SUCCESS;
} }
@ -301,7 +301,7 @@ static inline int _bgc_fp64_turn3_get_orthogonal_pair(BGC_FP64_Vector3* const un
return _BGC_ERROR_TURN3_EMPTY_BRANCH; return _BGC_ERROR_TURN3_EMPTY_BRANCH;
} }
bgc_fp64_vector3_multiply_by_real(unit_main, main, sqrt(1.0 / main_square_modulus)); bgc_fp64_vector3_multiply_by_real_number(unit_main, main, sqrt(1.0 / main_square_modulus));
bgc_fp64_vector3_add_scaled(unit_branch, branch, unit_main, -bgc_fp64_vector3_get_dot_product(branch, unit_main)); bgc_fp64_vector3_add_scaled(unit_branch, branch, unit_main, -bgc_fp64_vector3_get_dot_product(branch, unit_main));
@ -311,7 +311,7 @@ static inline int _bgc_fp64_turn3_get_orthogonal_pair(BGC_FP64_Vector3* const un
return _BGC_ERROR_TURN3_PAIR_PARALLEL; return _BGC_ERROR_TURN3_PAIR_PARALLEL;
} }
bgc_fp64_vector3_multiply_by_real(unit_branch, unit_branch, sqrt(1.0 / orthogonal_square_modulus)); bgc_fp64_vector3_multiply_by_real_number(unit_branch, unit_branch, sqrt(1.0 / orthogonal_square_modulus));
return BGC_SUCCESS; return BGC_SUCCESS;
} }

10
basic-geometry/vector3.c
View file

@ -39,8 +39,14 @@ extern inline void bgc_fp64_vector3_subtract(BGC_FP64_Vector3* const difference,
extern inline void bgc_fp32_vector3_subtract_scaled(BGC_FP32_Vector3* const difference, const BGC_FP32_Vector3* const basic_vector, const BGC_FP32_Vector3* const scalable_vector, const float scale); extern inline void bgc_fp32_vector3_subtract_scaled(BGC_FP32_Vector3* const difference, const BGC_FP32_Vector3* const basic_vector, const BGC_FP32_Vector3* const scalable_vector, const float scale);
extern inline void bgc_fp64_vector3_subtract_scaled(BGC_FP64_Vector3* const difference, const BGC_FP64_Vector3* const basic_vector, const BGC_FP64_Vector3* const scalable_vector, const double scale); extern inline void bgc_fp64_vector3_subtract_scaled(BGC_FP64_Vector3* const difference, const BGC_FP64_Vector3* const basic_vector, const BGC_FP64_Vector3* const scalable_vector, const double scale);
extern inline void bgc_fp32_vector3_multiply_by_real(BGC_FP32_Vector3* const product, const BGC_FP32_Vector3* const multiplicand, const float multiplier); extern inline void bgc_fp32_vector3_multiply_by_real_number(BGC_FP32_Vector3* const product, const BGC_FP32_Vector3* const multiplicand, const float multiplier);
extern inline void bgc_fp64_vector3_multiply_by_real(BGC_FP64_Vector3* const product, const BGC_FP64_Vector3* const multiplicand, const double multiplier); extern inline void bgc_fp64_vector3_multiply_by_real_number(BGC_FP64_Vector3* const product, const BGC_FP64_Vector3* const multiplicand, const double multiplier);
extern inline void bgc_fp32_vector3_multiply_by_dual_number(BGC_FP32_DualVector3* const product, const BGC_FP32_Vector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier);
extern inline void bgc_fp64_vector3_multiply_by_dual_number(BGC_FP64_DualVector3* const product, const BGC_FP64_Vector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier);
extern inline void _bgc_fp32_restrict_vector3_multiply_by_dual_number(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_Vector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier);
extern inline void _bgc_fp64_restrict_vector3_multiply_by_dual_number(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_Vector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier);
extern inline void bgc_fp32_vector3_multiply_by_matrix2x3(BGC_FP32_Vector2* const product, const BGC_FP32_Vector3* const vector, const BGC_FP32_Matrix2x3* const matrix); extern inline void bgc_fp32_vector3_multiply_by_matrix2x3(BGC_FP32_Vector2* const product, const BGC_FP32_Vector3* const vector, const BGC_FP32_Matrix2x3* const matrix);
extern inline void bgc_fp64_vector3_multiply_by_matrix2x3(BGC_FP64_Vector2* const product, const BGC_FP64_Vector3* const vector, const BGC_FP64_Matrix2x3* const matrix); extern inline void bgc_fp64_vector3_multiply_by_matrix2x3(BGC_FP64_Vector2* const product, const BGC_FP64_Vector3* const vector, const BGC_FP64_Matrix2x3* const matrix);

76
basic-geometry/vector3.h
View file

@ -213,20 +213,84 @@ inline void bgc_fp64_vector3_subtract_scaled(BGC_FP64_Vector3* const difference,
// ================== Multiply ================== // // ================== Multiply ================== //
inline void bgc_fp32_vector3_multiply_by_real(BGC_FP32_Vector3* const product, const BGC_FP32_Vector3* const multiplicand, const float multiplier) inline void bgc_fp32_vector3_multiply_by_real_number(BGC_FP32_Vector3* const product, const BGC_FP32_Vector3* const multiplicand, const float multiplier)
{ {
product->x1 = multiplicand->x1 * multiplier; product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier; product->x2 = multiplicand->x2 * multiplier;
product->x3 = multiplicand->x3 * multiplier; product->x3 = multiplicand->x3 * multiplier;
} }
inline void bgc_fp64_vector3_multiply_by_real(BGC_FP64_Vector3* const product, const BGC_FP64_Vector3* const multiplicand, const double multiplier) inline void bgc_fp64_vector3_multiply_by_real_number(BGC_FP64_Vector3* const product, const BGC_FP64_Vector3* const multiplicand, const double multiplier)
{ {
product->x1 = multiplicand->x1 * multiplier; product->x1 = multiplicand->x1 * multiplier;
product->x2 = multiplicand->x2 * multiplier; product->x2 = multiplicand->x2 * multiplier;
product->x3 = multiplicand->x3 * multiplier; product->x3 = multiplicand->x3 * multiplier;
} }
// ========== Multiply by Dual Number =========== //
inline void bgc_fp32_vector3_multiply_by_dual_number(BGC_FP32_DualVector3* const product, const BGC_FP32_Vector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier)
{
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_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.x1 = real_x1;
product->real_part.x2 = real_x2;
product->real_part.x3 = real_x3;
product->dual_part.x1 = dual_x1;
product->dual_part.x2 = dual_x2;
product->dual_part.x3 = dual_x3;
}
inline void bgc_fp64_vector3_multiply_by_dual_number(BGC_FP64_DualVector3* const product, const BGC_FP64_Vector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier)
{
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_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.x1 = real_x1;
product->real_part.x2 = real_x2;
product->real_part.x3 = real_x3;
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_vector3_multiply_by_dual_number(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_Vector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier)
{
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.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_vector3_multiply_by_dual_number(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_Vector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier)
{
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.x1 = multiplicand->x1 * multiplier->dual_part;
product->dual_part.x2 = multiplicand->x2 * multiplier->dual_part;
product->dual_part.x3 = multiplicand->x3 * multiplier->dual_part;
}
// ============ Left Vector Product ============= // // ============ Left Vector Product ============= //
inline void bgc_fp32_vector3_multiply_by_matrix2x3(BGC_FP32_Vector2* const product, const BGC_FP32_Vector3* const vector, const BGC_FP32_Matrix2x3* const matrix) inline void bgc_fp32_vector3_multiply_by_matrix2x3(BGC_FP32_Vector2* const product, const BGC_FP32_Vector3* const vector, const BGC_FP32_Matrix2x3* const matrix)
@ -273,7 +337,7 @@ inline int bgc_fp32_vector3_divide_by_real(BGC_FP32_Vector3* const quotient, con
return BGC_FAILURE; return BGC_FAILURE;
} }
bgc_fp32_vector3_multiply_by_real(quotient, dividend, 1.0f / divisor); bgc_fp32_vector3_multiply_by_real_number(quotient, dividend, 1.0f / divisor);
return BGC_SUCCESS; return BGC_SUCCESS;
} }
@ -284,7 +348,7 @@ inline int bgc_fp64_vector3_divide_by_real(BGC_FP64_Vector3* const quotient, con
return BGC_FAILURE; return BGC_FAILURE;
} }
bgc_fp64_vector3_multiply_by_real(quotient, dividend, 1.0 / divisor); bgc_fp64_vector3_multiply_by_real_number(quotient, dividend, 1.0 / divisor);
return BGC_SUCCESS; return BGC_SUCCESS;
} }
@ -429,7 +493,7 @@ inline int bgc_fp32_vector3_get_normalized(BGC_FP32_Vector3* const normalized, c
return BGC_SUCCESS; return BGC_SUCCESS;
} }
bgc_fp32_vector3_multiply_by_real(normalized, vector, sqrtf(1.0f / square_modulus)); bgc_fp32_vector3_multiply_by_real_number(normalized, vector, sqrtf(1.0f / square_modulus));
return BGC_SUCCESS; return BGC_SUCCESS;
} }
@ -447,7 +511,7 @@ inline int bgc_fp64_vector3_get_normalized(BGC_FP64_Vector3* const normalized, c
return BGC_SUCCESS; return BGC_SUCCESS;
} }
bgc_fp64_vector3_multiply_by_real(normalized, vector, sqrt(1.0 / square_modulus)); bgc_fp64_vector3_multiply_by_real_number(normalized, vector, sqrt(1.0 / square_modulus));
return BGC_SUCCESS; return BGC_SUCCESS;
} }