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

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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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Forgejo version: 11.0.1+gitea-1.22.0

 @ -98,8 +98,8 @@ inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion)
BGC_FP32_Quaternion temporary; BGC_FP32_Quaternion temporary;
bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part); _bgc_fp32_restrict_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(&quaternion->dual_part, &temporary, &quaternion->real_part);
bgc_fp32_quaternion_revert(&quaternion->dual_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 temporary;
bgc_fp64_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part); _bgc_fp64_restrict_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(&quaternion->dual_part, &temporary, &quaternion->real_part);
bgc_fp64_quaternion_revert(&quaternion->dual_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 temporary;
bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part); _bgc_fp32_restrict_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);