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

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Andrey Pokidov 2026-02-18 22:53:39 +07:00
parent a8a22cdcc1
commit 3aacc4489c
2 changed files with 118 additions and 8 deletions
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10
basic-geometry/dual-quaternion.c
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@ -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_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_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_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);

116
basic-geometry/dual-quaternion.h
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Internal server error - Personal Git Server: Beyond coding. We Forge.

500

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Forgejo version: 11.0.1+gitea-1.22.0

 @ -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);