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Исправление функции, которая находит трёхмерных поворот между двумя парами векторов

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Andrey Pokidov 2026-02-06 20:33:37 +07:00
parent 57280ac3f3
commit 2ce4b64ca3
7 changed files with 705 additions and 467 deletions
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20
basic-geometry/dual-quaternion.h
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@ -113,28 +113,28 @@ inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* differenc
// ================== Multiply ================== //
inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier)
inline void bgc_fp32_dual_quaternion_multiply_by_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier)
{
bgc_fp32_quaternion_multiply(&product->real, &multiplicand->real, multipier);
bgc_fp32_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
bgc_fp32_quaternion_multiply_by_number(&product->real, &multiplicand->real, multipier);
bgc_fp32_quaternion_multiply_by_number(&product->dual, &multiplicand->dual, multipier);
}
inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier)
inline void bgc_fp64_dual_quaternion_multiply_by_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier)
{
bgc_fp64_quaternion_multiply(&product->real, &multiplicand->real, multipier);
bgc_fp64_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
bgc_fp64_quaternion_multiply_by_number(&product->real, &multiplicand->real, multipier);
bgc_fp64_quaternion_multiply_by_number(&product->dual, &multiplicand->dual, multipier);
}
// =================== Divide =================== //
inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor)
inline void bgc_fp32_dual_quaternion_divide_by_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor)
{
bgc_fp32_dual_quaternion_multiply(quotient, divident, 1.0f / divisor);
bgc_fp32_dual_quaternion_multiply_by_number(quotient, divident, 1.0f / divisor);
}
inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor)
inline void bgc_fp64_dual_quaternion_divide_by_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor)
{
bgc_fp64_dual_quaternion_multiply(quotient, divident, 1.0 / divisor);
bgc_fp64_dual_quaternion_multiply_by_number(quotient, divident, 1.0 / divisor);
}
// ================ Mean of Two ================= //