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Добавление арифметических операций для дуальных кватернионов

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This commit is contained in:
Andrey Pokidov 2026-02-04 03:44:09 +07:00
parent b87518cd3f
commit 38cff7e27d
4 changed files with 83 additions and 7 deletions
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56
basic-geometry/dual-quaternion.h
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@ -55,4 +55,60 @@ inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP
bgc_fp64_quaternion_swap(&first->dual, &second->dual);
}
// ================== Convert =================== //
inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
{
bgc_fp32_quaternion_convert_to_fp64(&destination->real, &source->real);
bgc_fp32_quaternion_convert_to_fp64(&destination->dual, &source->dual);
}
inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
{
bgc_fp64_quaternion_convert_to_fp32(&destination->real, &source->real);
bgc_fp64_quaternion_convert_to_fp32(&destination->dual, &source->dual);
}
// ==================== Add ===================== //
inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)
{
bgc_fp32_quaternion_add(&sum->real, &first->real, &second->real);
bgc_fp32_quaternion_add(&sum->dual, &first->dual, &second->dual);
}
inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second)
{
bgc_fp64_quaternion_add(&sum->real, &first->real, &second->real);
bgc_fp64_quaternion_add(&sum->dual, &first->dual, &second->dual);
}
// ================= Add Scaled ================= //
inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
{
bgc_fp32_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale);
bgc_fp32_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale);
}
inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
{
bgc_fp64_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale);
bgc_fp64_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale);
}
// ================== Subtract ================== //
inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend)
{
bgc_fp32_quaternion_subtract(&difference->real, &minuend->real, &subtrahend->real);
bgc_fp32_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
}
inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend)
{
bgc_fp64_quaternion_subtract(&difference->real, &minuend->real, &subtrahend->real);
bgc_fp64_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
}
#endif