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Исправление опечатки в функциях получения сопряжённых дуальных кватернионов, добавление функций получения обратного кватерниона

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Andrey Pokidov 2026-02-27 20:22:19 +07:00
parent c857c251c3
commit 2bb542688e
2 changed files with 76 additions and 2 deletions
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6
basic-geometry/dual-quaternion.c
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@ -18,6 +18,12 @@ extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quat
extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion);
extern inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion);
extern inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion);
extern inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse, const BGC_FP32_DualQuaternion* quaternion);
extern inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse, const BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* quaternion);

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

Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -88,6 +88,74 @@ inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* revers
bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
}
// =================== Invert =================== //
inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion)
{
if (bgc_fp32_quaternion_get_inverse(&quaternion->real_part, &quaternion->real_part) !== BGC_SUCCESS) {
return BGC_FAILURE;
}
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_quaternion_revert(&quaternion->dual_part);
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion)
{
if (bgc_fp64_quaternion_get_inverse(&quaternion->real_part, &quaternion->real_part) !== BGC_SUCCESS) {
return BGC_FAILURE;
}
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_quaternion_revert(&quaternion->dual_part);
return BGC_SUCCESS;
}
// ================ Get Inverse ================= //
inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse, const BGC_FP32_DualQuaternion* quaternion)
{
if (bgc_fp32_quaternion_get_inverse(&inverse->real_part, &quaternion->real_part) !== BGC_SUCCESS) {
return BGC_FAILURE;
}
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_quaternion_revert(&inverse->dual_part);
return BGC_SUCCESS;
}
inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse, const BGC_FP64_DualQuaternion* quaternion)
{
if (bgc_fp64_quaternion_get_inverse(&inverse->real_part, &quaternion->real_part) !== BGC_SUCCESS) {
return BGC_FAILURE;
}
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_quaternion_revert(&inverse->dual_part);
return BGC_SUCCESS;
}
// ============ Component Conjugate ============= //
inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion)
@ -132,13 +200,13 @@ inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* qua
inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
{
bgc_fp32_quaternion_copy(&conjugate->real_part, &quaternion->dual_part);