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Добавление операций сопряжения для дуальных кватернионов

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This commit is contained in:
Andrey Pokidov 2026-02-20 21:04:10 +07:00
parent 3aacc4489c
commit 3b7aa5088b
2 changed files with 120 additions and 24 deletions
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18
basic-geometry/dual-quaternion.c
View file

@ -18,6 +18,24 @@ extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quat
extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion); extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion); extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second); extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second);
extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second); extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second);

126
basic-geometry/dual-quaternion.h
View file

@ -88,6 +88,108 @@ inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* revers
bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part); bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
} }
// ============ Component Conjugate ============= //
inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion)
{
bgc_fp32_quaternion_conjugate(&quaternion->real_part);
bgc_fp32_quaternion_conjugate(&quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* quaternion)
{
bgc_fp64_quaternion_conjugate(&quaternion->real_part);
bgc_fp64_quaternion_conjugate(&quaternion->dual_part);
}
// ========== Get Component Conjugate =========== //
inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
{
bgc_fp32_quaternion_get_conjugate(&conjugate->real_part, &quaternion->real_part);
bgc_fp32_quaternion_get_conjugate(&conjugate->dual_part, &quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
{
bgc_fp64_quaternion_get_conjugate(&conjugate->real_part, &quaternion->real_part);
bgc_fp64_quaternion_get_conjugate(&conjugate->dual_part, &quaternion->dual_part);
}
// =============== Dual Conjugate =============== //
inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* quaternion)
{
bgc_fp32_quaternion_revert(&quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* quaternion)
{
bgc_fp64_quaternion_revert(&quaternion->dual_part);
}
// ============= Get Dual Conjugate ============= //
inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
{
bgc_fp32_quaternion_copy(&conjugate->real_part, &quaternion->dual_part);
bgc_fp32_quaternion_get_reverse(&conjugate->real_part, &quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
{
bgc_fp64_quaternion_copy(&conjugate->real_part, &quaternion->dual_part);
bgc_fp64_quaternion_get_reverse(&conjugate->real_part, &quaternion->dual_part);
}
// ============== Fully Conjugate =============== //
inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* quaternion)
{
quaternion->real_part.x1 = -quaternion->real_part.x1;
quaternion->real_part.x2 = -quaternion->real_part.x2;
quaternion->real_part.x3 = -quaternion->real_part.x3;
quaternion->dual_part.s0 = -quaternion->dual_part.s0;
}
inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* quaternion)
{
quaternion->real_part.x1 = -quaternion->real_part.x1;
quaternion->real_part.x2 = -quaternion->real_part.x2;
quaternion->real_part.x3 = -quaternion->real_part.x3;
quaternion->dual_part.s0 = -quaternion->dual_part.s0;
}
// ============ Get Fully Conjugate ============= //
inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
{
conjugate->real_part.s0 = quaternion->real_part.s0;
conjugate->real_part.x1 = -quaternion->real_part.x1;
conjugate->real_part.x2 = -quaternion->real_part.x2;
conjugate->real_part.x3 = -quaternion->real_part.x3;
conjugate->dual_part.s0 = -quaternion->dual_part.s0;
conjugate->dual_part.x1 = quaternion->dual_part.x1;
conjugate->dual_part.x2 = quaternion->dual_part.x2;
conjugate->dual_part.x3 = quaternion->dual_part.x3;
}
inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
{
conjugate->real_part.s0 = quaternion->real_part.s0;
conjugate->real_part.x1 = -quaternion->real_part.x1;
conjugate->real_part.x2 = -quaternion->real_part.x2;
conjugate->real_part.x3 = -quaternion->real_part.x3;
conjugate->dual_part.s0 = -quaternion->dual_part.s0;
conjugate->dual_part.x1 = quaternion->dual_part.x1;
conjugate->dual_part.x2 = quaternion->dual_part.x2;
conjugate->dual_part.x3 = quaternion->dual_part.x3;
}
// ==================== Add ===================== // // ==================== Add ===================== //
inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second) inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)
@ -258,30 +360,6 @@ inline void bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQu
bgc_fp64_quaternion_add(&product->dual_part, &dual_part1, &dual_part2); 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 =================== // // =================== Divide =================== //
inline int bgc_fp32_dual_quaternion_divide_by_real_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const float divisor) inline int bgc_fp32_dual_quaternion_divide_by_real_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const float divisor)