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Добавление restricted функций, нормализация дуальных кватернионов и позиции твёрдого тела (rigid pose3)

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This commit is contained in:
Andrey Pokidov 2026-03-17 19:54:53 +07:00
parent 7591b20f41
commit 24d37be75d
7 changed files with 130 additions and 82 deletions
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48
basic-geometry/dual-quaternion.h
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@ -98,8 +98,8 @@ inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion)
BGC_FP32_Quaternion temporary;
bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
bgc_fp32_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
bgc_fp32_quaternion_revert(&quaternion->dual_part);
@ -114,8 +114,8 @@ inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion)
BGC_FP64_Quaternion temporary;
bgc_fp64_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
bgc_fp64_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
bgc_fp64_quaternion_revert(&quaternion->dual_part);
@ -132,8 +132,8 @@ inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse
BGC_FP32_Quaternion temporary;
bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
bgc_fp32_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
bgc_fp32_quaternion_revert(&inverse->dual_part);
@ -148,8 +148,8 @@ inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse
BGC_FP64_Quaternion temporary;
bgc_fp64_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
bgc_fp64_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
bgc_fp64_quaternion_revert(&inverse->dual_part);
@ -258,6 +258,38 @@ inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion
conjugate->dual_part.x3 = quaternion->dual_part.x3;
}
// ================= Normalize ================== //
void _bgc_fp32_dual_quaternion_normalize_parts(BGC_FP32_DualQuaternion* quaternion, const float square_magnitude);
void _bgc_fp64_dual_quaternion_normalize_parts(BGC_FP64_DualQuaternion* quaternion, const double square_magnitude);
inline void bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* quaternion)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&quaternion->real_part);
if (!bgc_fp32_is_square_unit(square_magnitude)) {
_bgc_fp32_quaternion_normalize_normalize_parts(quaternion, square_magnitude);
}
const float dot_product = bgc_fp32_quaternion_get_dot_product(&quaternion->real_part, &quaternion->dual_part);
bgc_fp32_quaternion_subtract_scaled(&quaternion->dual_part, &quaternion->dual_part, &quaternion->real_part, dot_product);
}
inline void bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* quaternion)
{
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&quaternion->real_part);
if (!bgc_fp64_is_square_unit(square_magnitude)) {
_bgc_fp64_quaternion_normalize_normalize_parts(quaternion, square_magnitude);
}
const double dot_product = bgc_fp64_quaternion_get_dot_product(&pose->_real_part, &pose->_dual_part);
bgc_fp64_quaternion_subtract_scaled(&pose->_dual_part, &pose->_dual_part, &pose->_real_part, dot_product);
}
// ==================== Add ===================== //
inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)