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

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This commit is contained in:
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
View file

@ -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
View file

@ -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)