Добавление методов умножения и деления дуальных кватернионов на прямой и сопряжённый обычный кватернион

basic-geometry/dual-quaternion.c

@@ -54,8 +54,14 @@ extern inline int bgc_fp64_dual_quaternion_divide_by_real_number(BGC_FP64_DualQu
 extern inline int bgc_fp32_dual_quaternion_divide_by_dual_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor);
 extern inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor);
 
-extern inline int bgc_fp32_dual_quaternion_divide_by_conjugate_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor_to_conjugate);
+extern inline int bgc_fp32_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor_to_conjugate);
-extern inline int bgc_fp64_dual_quaternion_divide_by_conjugate_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor_to_conjugate);
+extern inline int bgc_fp64_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor_to_conjugate);
+
+extern inline int bgc_fp32_dual_quaternion_divide_by_quaternion(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_Quaternion* divisor);
+extern inline int bgc_fp64_dual_quaternion_divide_by_quaternion(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_Quaternion* divisor);
+
+extern inline int bgc_fp32_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_Quaternion* divisor_to_conjugate);
+extern inline int bgc_fp64_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_Quaternion* divisor_to_conjugate);
 
 extern inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2);
 extern inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2);

basic-geometry/dual-quaternion.h

@@ -184,7 +184,7 @@ inline void bgc_fp64_dual_quaternion_multiply_by_dual_number(BGC_FP64_DualQuater
 
 // ===== Multiply by Conjugate Dual Number ====== //
 
-inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualNumber* multiplier_to_conjugate)
+inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualNumber* multiplier_to_conjugate)
 {
     BGC_FP32_Quaternion dual_part;
 
@@ -195,7 +195,7 @@ inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_number(BGC_FP32_DualQ
     bgc_fp32_quaternion_copy(&product->dual_part, &dual_part);
 }
 
-inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualNumber* multiplier_to_conjugate)
+inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_dual_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualNumber* multiplier_to_conjugate)
 {
     BGC_FP64_Quaternion dual_part;
 
@@ -258,6 +258,30 @@ inline void bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQu
     bgc_fp64_quaternion_add(&product->dual_part, &dual_part1, &dual_part2);
 }
 
+// === Multiply by Conjugate Dual Quaternion ==== //
+
+inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_dual_quaternion(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualQuaternion* multiplier_to_conjugate)
+{
+    BGC_FP32_Quaternion dual_part1, dual_part2;
+
+    bgc_fp32_quaternion_multiply_by_conjugate(&dual_part1, &multiplicand->real_part, &multiplier_to_conjugate->dual_part);
+    bgc_fp32_quaternion_multiply_by_conjugate(&dual_part2, &multiplicand->dual_part, &multiplier_to_conjugate->real_part);
+
+    bgc_fp32_quaternion_multiply_by_conjugate(&product->real_part, &multiplicand->real_part, &multiplier_to_conjugate->real_part);
+    bgc_fp32_quaternion_add(&product->dual_part, &dual_part1, &dual_part2);
+}
+
+inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_dual_quaternion(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualQuaternion* multiplier_to_conjugate)
+{
+    BGC_FP64_Quaternion dual_part1, dual_part2;
+
+    bgc_fp64_quaternion_multiply_by_conjugate(&dual_part1, &multiplicand->real_part, &multiplier_to_conjugate->dual_part);
+    bgc_fp64_quaternion_multiply_by_conjugate(&dual_part2, &multiplicand->dual_part, &multiplier_to_conjugate->real_part);
+
+    bgc_fp64_quaternion_multiply_by_quaternion(&product->real_part, &multiplicand->real_part, &multiplier_to_conjugate->real_part);
+    bgc_fp64_quaternion_add(&product->dual_part, &dual_part1, &dual_part2);
+}
+
 // =================== Divide =================== //
 
 inline int bgc_fp32_dual_quaternion_divide_by_real_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const float divisor)
@@ -298,7 +322,7 @@ inline int bgc_fp32_dual_quaternion_divide_by_dual_number(BGC_FP32_DualQuaternio
         return BGC_FAILURE;
     }
 
-    bgc_fp32_dual_quaternion_multiply_by_conjugate_number(quotient, dividend, divisor);
+    bgc_fp32_dual_quaternion_multiply_by_conjugate_dual_number(quotient, dividend, divisor);
     bgc_fp32_dual_quaternion_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
 
     return BGC_SUCCESS;
@@ -312,7 +336,7 @@ inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternio
         return BGC_FAILURE;
     }
 
-    bgc_fp64_dual_quaternion_multiply_by_conjugate_number(quotient, dividend, divisor);
+    bgc_fp64_dual_quaternion_multiply_by_conjugate_dual_number(quotient, dividend, divisor);
     bgc_fp64_dual_quaternion_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
 
     return BGC_SUCCESS;
@@ -320,7 +344,7 @@ inline int bgc_fp64_dual_quaternion_divide_by_dual_number(BGC_FP64_DualQuaternio
 
 // ====== Divide by Conjugate Dual Number ======= //
 
-inline int bgc_fp32_dual_quaternion_divide_by_conjugate_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor_to_conjugate)
+inline int bgc_fp32_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_DualNumber* divisor_to_conjugate)
 {
     const float square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
 
@@ -334,7 +358,7 @@ inline int bgc_fp32_dual_quaternion_divide_by_conjugate_number(BGC_FP32_DualQuat
     return BGC_SUCCESS;
 }
 
-inline int bgc_fp64_dual_quaternion_divide_by_conjugate_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor_to_conjugate)
+inline int bgc_fp64_dual_quaternion_divide_by_conjugate_dual_number(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_DualNumber* divisor_to_conjugate)
 {
     const double square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
 
@@ -348,6 +372,86 @@ inline int bgc_fp64_dual_quaternion_divide_by_conjugate_number(BGC_FP64_DualQuat
     return BGC_SUCCESS;
 }
 
+// ======= Divide by (Regular) Quaternion ======= //
+
+inline int bgc_fp32_dual_quaternion_divide_by_quaternion(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_Quaternion* divisor)
+{
+    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(divisor);
+
+    if (square_magnitude <= BGC_FP32_SQUARE_EPSILON) {
+        return BGC_FAILURE;
+    }
+
+    const float multiplier = 1.0f / square_magnitude;
+
+    bgc_fp32_quaternion_multiply_by_conjugate(&quotient->real_part, &dividend->real_part, divisor);
+    bgc_fp32_quaternion_multiply_by_conjugate(&quotient->dual_part, &dividend->dual_part, divisor);
+
+    bgc_fp32_quaternion_multiply_by_real(&quotient->real_part, &quotient->real_part, multiplier);
+    bgc_fp32_quaternion_multiply_by_real(&quotient->dual_part, &quotient->dual_part, multiplier);
+
+    return BGC_SUCCESS;
+}
+
+inline int bgc_fp64_dual_quaternion_divide_by_quaternion(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_Quaternion* divisor)
+{
+    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(divisor);
+
+    if (square_magnitude <= BGC_FP64_SQUARE_EPSILON) {
+        return BGC_FAILURE;
+    }
+
+    const double multiplier = 1.0 / square_magnitude;
+
+    bgc_fp64_quaternion_multiply_by_conjugate(&quotient->real_part, &dividend->real_part, divisor);
+    bgc_fp64_quaternion_multiply_by_conjugate(&quotient->dual_part, &dividend->dual_part, divisor);
+
+    bgc_fp64_quaternion_multiply_by_real(&quotient->real_part, &quotient->real_part, multiplier);
+    bgc_fp64_quaternion_multiply_by_real(&quotient->dual_part, &quotient->dual_part, multiplier);
+
+    return BGC_SUCCESS;
+}
+
+// ======= Divide by Conjugate Quaternion ======= //
+
+inline int bgc_fp32_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const BGC_FP32_Quaternion* divisor_to_conjugate)
+{
+    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(divisor_to_conjugate);
+
+    if (square_magnitude <= BGC_FP32_SQUARE_EPSILON) {
+        return BGC_FAILURE;
+    }
+
+    const float multiplier = 1.0f / square_magnitude;
+
+    bgc_fp32_quaternion_multiply_by_quaternion(&quotient->real_part, &dividend->real_part, divisor_to_conjugate);
+    bgc_fp32_quaternion_multiply_by_quaternion(&quotient->dual_part, &dividend->dual_part, divisor_to_conjugate);
+
+    bgc_fp32_quaternion_multiply_by_real(&quotient->real_part, &quotient->real_part, multiplier);
+    bgc_fp32_quaternion_multiply_by_real(&quotient->dual_part, &quotient->dual_part, multiplier);
+
+    return BGC_SUCCESS;
+}
+
+inline int bgc_fp64_dual_quaternion_divide_by_conjugate_quaternion(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* dividend, const BGC_FP64_Quaternion* divisor_to_conjugate)
+{
+    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(divisor_to_conjugate);
+
+    if (square_magnitude <= BGC_FP64_SQUARE_EPSILON) {
+        return BGC_FAILURE;
+    }
+
+    const double multiplier = 1.0 / square_magnitude;
+
+    bgc_fp64_quaternion_multiply_by_quaternion(&quotient->real_part, &dividend->real_part, divisor_to_conjugate);
+    bgc_fp64_quaternion_multiply_by_quaternion(&quotient->dual_part, &dividend->dual_part, divisor_to_conjugate);
+
+    bgc_fp64_quaternion_multiply_by_real(&quotient->real_part, &quotient->real_part, multiplier);
+    bgc_fp64_quaternion_multiply_by_real(&quotient->dual_part, &quotient->dual_part, multiplier);
+
+    return BGC_SUCCESS;
+}
+
 // ================ Mean of Two ================= //
 
 inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2)