From 3f96b661a94eacbba7266c308a94ecb1dcbcff16 Mon Sep 17 00:00:00 2001 From: Andrey Pokidov Date: Tue, 3 Feb 2026 03:33:53 +0700 Subject: [PATCH] =?UTF-8?q?=D0=94=D0=BE=D0=B1=D0=B0=D0=B2=D0=BB=D0=B5?= =?UTF-8?q?=D0=BD=D0=B8=D0=B5=20=D0=B4=D1=83=D0=B0=D0=BB=D1=8C=D0=BD=D1=8B?= =?UTF-8?q?=D1=85=20=D1=87=D0=B8=D1=81=D0=B5=D0=BB,=20=D0=B4=D1=83=D0=B0?= =?UTF-8?q?=D0=BB=D1=8C=D0=BD=D1=8B=D1=85=20=D0=B2=D0=B5=D0=BA=D1=82=D0=BE?= =?UTF-8?q?=D1=80=D0=BE=D0=B2=20(3D)=20=D0=B8=20=D0=B4=D1=83=D0=B0=D0=BB?= =?UTF-8?q?=D1=8C=D0=BD=D1=8B=D1=85=20=D0=B2=D0=B5=D1=80=D1=81=D0=BE=D1=80?= =?UTF-8?q?=D0=BE=D0=B2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- basic-geometry/basic-geometry.vcxproj | 8 + basic-geometry/basic-geometry.vcxproj.filters | 24 +++ basic-geometry/dual-number.c | 13 ++ basic-geometry/dual-number.h | 70 +++++++++ basic-geometry/dual-vector3.c | 22 +++ basic-geometry/dual-vector3.h | 146 +++++++++++++++++ basic-geometry/dual-versor.c | 10 ++ basic-geometry/dual-versor.h | 147 ++++++++++++++++++ 8 files changed, 440 insertions(+) create mode 100644 basic-geometry/dual-number.c create mode 100644 basic-geometry/dual-number.h create mode 100644 basic-geometry/dual-vector3.c create mode 100644 basic-geometry/dual-vector3.h create mode 100644 basic-geometry/dual-versor.c create mode 100644 basic-geometry/dual-versor.h diff --git a/basic-geometry/basic-geometry.vcxproj b/basic-geometry/basic-geometry.vcxproj index 2b985f5..bd39f43 100644 --- a/basic-geometry/basic-geometry.vcxproj +++ b/basic-geometry/basic-geometry.vcxproj @@ -25,6 +25,10 @@ + + + + @@ -47,6 +51,10 @@ + + + + diff --git a/basic-geometry/basic-geometry.vcxproj.filters b/basic-geometry/basic-geometry.vcxproj.filters index 5200901..4f47928 100644 --- a/basic-geometry/basic-geometry.vcxproj.filters +++ b/basic-geometry/basic-geometry.vcxproj.filters @@ -84,6 +84,18 @@ Файлы заголовков + + Файлы заголовков + + + Файлы заголовков + + + Файлы заголовков + + + Файлы заголовков + @@ -137,5 +149,17 @@ Исходные файлы + + Исходные файлы + + + Исходные файлы + + + Исходные файлы + + + Исходные файлы + \ No newline at end of file diff --git a/basic-geometry/dual-number.c b/basic-geometry/dual-number.c new file mode 100644 index 0000000..a8da6d7 --- /dev/null +++ b/basic-geometry/dual-number.c @@ -0,0 +1,13 @@ +#include "dual-number.h" + +inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number); +inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number); + +inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual); +inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real, const double dual); + +inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source); +inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source); + +inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second); +inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second); diff --git a/basic-geometry/dual-number.h b/basic-geometry/dual-number.h new file mode 100644 index 0000000..3a1eaf5 --- /dev/null +++ b/basic-geometry/dual-number.h @@ -0,0 +1,70 @@ +#ifndef _BGC_DUAL_NUMBER_H_ +#define _BGC_DUAL_NUMBER_H_ + +// =================== Types ==================== // + +typedef struct { + float real, dual; +} BGC_FP32_DualNumber; + +typedef struct { + double real, dual; +} BGC_FP64_DualNumber; + +// =================== Reset ==================== // + +inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number) +{ + number->real = 0.0f; + number->dual = 0.0f; +} + +inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number) +{ + number->real = 0.0; + number->dual = 0.0; +} + +// ==================== Make ==================== // + +inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual) +{ + number->real = real; + number->dual = dual; +} + +inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real, const double dual) +{ + number->real = real; + number->dual = dual; +} + +// ==================== Copy ==================== // + +inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source) +{ + destination->real = source->real; + destination->dual = source->dual; +} + +inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source) +{ + destination->real = source->real; + destination->dual = source->dual; +} + +// ==================== Swap ==================== // + +inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second) +{ + first->real = second->real; + first->dual = second->dual; +} + +inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second) +{ + first->real = second->real; + first->dual = second->dual; +} + +#endif diff --git a/basic-geometry/dual-vector3.c b/basic-geometry/dual-vector3.c new file mode 100644 index 0000000..b222db1 --- /dev/null +++ b/basic-geometry/dual-vector3.c @@ -0,0 +1,22 @@ +#include "./dual-vector3.h" + +inline void bgc_fp32_dual_vector3_reset(BGC_FP32_DualVector3* vector); +inline void bgc_fp64_dual_vector3_reset(BGC_FP64_DualVector3* vector); + +inline void bgc_fp32_dual_vector3_make(BGC_FP32_DualVector3* vector, const BGC_FP32_Vector3* real, const BGC_FP32_Vector3* dual); +inline void bgc_fp64_dual_vector3_make(BGC_FP64_DualVector3* vector, const BGC_FP64_Vector3* real, const BGC_FP64_Vector3* dual); + +inline void bgc_fp32_dual_vector3_set_real_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3); +inline void bgc_fp64_dual_vector3_set_real_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3); + +inline void bgc_fp32_dual_vector3_set_dual_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3); +inline void bgc_fp64_dual_vector3_set_dual_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3); + +inline void bgc_fp32_dual_vector3_add(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second); +inline void bgc_fp64_dual_vector3_add(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second); + +inline void bgc_fp32_dual_vector3_add_scaled(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* base_vector, const BGC_FP32_DualVector3* scalable_vector, const float scale); +inline void bgc_fp64_dual_vector3_add_scaled(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* base_vector, const BGC_FP64_DualVector3* scalable_vector, const double scale); + +inline void bgc_fp32_dual_vector3_subtract(BGC_FP32_DualVector3* difference, const BGC_FP32_DualVector3* minuend, const BGC_FP32_DualVector3* subtrahend); +inline void bgc_fp64_dual_vector3_subtract(BGC_FP64_DualVector3* difference, const BGC_FP64_DualVector3* minuend, const BGC_FP64_DualVector3* subtrahend); diff --git a/basic-geometry/dual-vector3.h b/basic-geometry/dual-vector3.h new file mode 100644 index 0000000..b0df5b8 --- /dev/null +++ b/basic-geometry/dual-vector3.h @@ -0,0 +1,146 @@ +#ifndef _BGC_DUAL_VECTOR3_H_INCLUDE_ +#define _BGC_DUAL_VECTOR3_H_INCLUDE_ + +#include "./vector3.h" + +// =================== Types ==================== // + +typedef struct { + BGC_FP32_Vector3 real, dual; +} BGC_FP32_DualVector3; + +typedef struct { + BGC_FP64_Vector3 real, dual; +} BGC_FP64_DualVector3; + +// =================== Reset ==================== // + +inline void bgc_fp32_dual_vector3_reset(BGC_FP32_DualVector3* vector) +{ + bgc_fp32_vector3_reset(&vector->real); + bgc_fp32_vector3_reset(&vector->dual); +} + +inline void bgc_fp64_dual_vector3_reset(BGC_FP64_DualVector3* vector) +{ + bgc_fp64_vector3_reset(&vector->real); + bgc_fp64_vector3_reset(&vector->dual); +} + +// ==================== Make ==================== // + +inline void bgc_fp32_dual_vector3_make(BGC_FP32_DualVector3* vector, const BGC_FP32_Vector3* real, const BGC_FP32_Vector3* dual) +{ + bgc_fp32_vector3_copy(&vector->real, real); + bgc_fp32_vector3_copy(&vector->dual, dual); +} + +inline void bgc_fp64_dual_vector3_make(BGC_FP64_DualVector3* vector, const BGC_FP64_Vector3* real, const BGC_FP64_Vector3* dual) +{ + bgc_fp64_vector3_copy(&vector->real, real); + bgc_fp64_vector3_copy(&vector->dual, dual); +} + +// ================== Set Real ================== // + +inline void bgc_fp32_dual_vector3_set_real_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3) +{ + vector->real.x1 = x1; + vector->real.x2 = x2; + vector->real.x3 = x3; +} + +inline void bgc_fp64_dual_vector3_set_real_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3) +{ + vector->real.x1 = x1; + vector->real.x2 = x2; + vector->real.x3 = x3; +} + +// ================== Set Dual ================== // + +inline void bgc_fp32_dual_vector3_set_dual_values(BGC_FP32_DualVector3* vector, const float x1, const float x2, const float x3) +{ + vector->dual.x1 = x1; + vector->dual.x2 = x2; + vector->dual.x3 = x3; +} + +inline void bgc_fp64_dual_vector3_set_dual_values(BGC_FP64_DualVector3* vector, const double x1, const double x2, const double x3) +{ + vector->dual.x1 = x1; + vector->dual.x2 = x2; + vector->dual.x3 = x3; +} + +// ==================== Add ===================== // + +inline void bgc_fp32_dual_vector3_add(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second) +{ + bgc_fp32_vector3_add(&sum->real, &first->real, &second->real); + bgc_fp32_vector3_add(&sum->dual, &first->dual, &second->dual); +} + +inline void bgc_fp64_dual_vector3_add(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second) +{ + bgc_fp64_vector3_add(&sum->real, &first->real, &second->real); + bgc_fp64_vector3_add(&sum->dual, &first->dual, &second->dual); +} + +// ================= Add Scaled ================= // + +inline void bgc_fp32_dual_vector3_add_scaled(BGC_FP32_DualVector3* sum, const BGC_FP32_DualVector3* base_vector, const BGC_FP32_DualVector3* scalable_vector, const float scale) +{ + bgc_fp32_vector3_add_scaled(&sum->real, &base_vector->real, &scalable_vector->real, scale); + bgc_fp32_vector3_add_scaled(&sum->dual, &base_vector->dual, &scalable_vector->dual, scale); +} + +inline void bgc_fp64_dual_vector3_add_scaled(BGC_FP64_DualVector3* sum, const BGC_FP64_DualVector3* base_vector, const BGC_FP64_DualVector3* scalable_vector, const double scale) +{ + bgc_fp64_vector3_add_scaled(&sum->real, &base_vector->real, &scalable_vector->real, scale); + bgc_fp64_vector3_add_scaled(&sum->dual, &base_vector->dual, &scalable_vector->dual, scale); +} + +// ================== Subtract ================== // + +inline void bgc_fp32_dual_vector3_subtract(BGC_FP32_DualVector3* difference, const BGC_FP32_DualVector3* minuend, const BGC_FP32_DualVector3* subtrahend) +{ + bgc_fp32_vector3_subtract(&difference->real, &minuend->real, &subtrahend->real); + bgc_fp32_vector3_subtract(&difference->dual, &minuend->dual, &subtrahend->dual); +} + +inline void bgc_fp64_dual_vector3_subtract(BGC_FP64_DualVector3* difference, const BGC_FP64_DualVector3* minuend, const BGC_FP64_DualVector3* subtrahend) +{ + bgc_fp64_vector3_subtract(&difference->real, &minuend->real, &subtrahend->real); + bgc_fp64_vector3_subtract(&difference->dual, &minuend->dual, &subtrahend->dual); +} + +// ================== Average2 ================== // + +inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2) +{ + bgc_fp32_vector3_get_mean2(&mean->real, &vector1->real, &vector2->real); + bgc_fp32_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual); +} + +inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2) +{ + bgc_fp64_vector3_get_mean2(&mean->real, &vector1->real, &vector2->real); + bgc_fp64_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual); +} + +// ================== Average3 ================== // + +inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2, const BGC_FP32_DualVector3* vector3) +{ + bgc_fp32_vector3_get_mean2(&mean->real, &vector1->real, &vector2->real, &vector3->real); + bgc_fp32_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual, &vector3->dual); +} + +inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2, const BGC_FP64_DualVector3* vector3) +{ + bgc_fp64_vector3_get_mean2(&mean->real, &vector1->real, &vector2->real, &vector3->real); + bgc_fp64_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual, &vector3->dual); +} + +#endif diff --git a/basic-geometry/dual-versor.c b/basic-geometry/dual-versor.c new file mode 100644 index 0000000..e5ed49d --- /dev/null +++ b/basic-geometry/dual-versor.c @@ -0,0 +1,10 @@ +#include "dual-versor.h" + +extern inline void bgc_fp32_dual_versor_reset(BGC_FP32_DualVersor* number); +extern inline void bgc_fp64_dual_versor_reset(BGC_FP64_DualVersor* number); + +extern inline void bgc_fp32_dual_versor_copy(BGC_FP32_DualVersor* destination, const BGC_FP32_DualVersor* source); +extern inline void bgc_fp64_dual_versor_copy(BGC_FP64_DualVersor* destination, const BGC_FP64_DualVersor* source); + +extern inline void bgc_fp32_dual_versor_swap(BGC_FP32_DualVersor* first, BGC_FP32_DualVersor* second); +extern inline void bgc_fp64_dual_versor_swap(BGC_FP64_DualVersor* first, BGC_FP64_DualVersor* second); diff --git a/basic-geometry/dual-versor.h b/basic-geometry/dual-versor.h new file mode 100644 index 0000000..b1b6e81 --- /dev/null +++ b/basic-geometry/dual-versor.h @@ -0,0 +1,147 @@ +#ifndef _BGC_DUAL_VERSOR_H_ +#define _BGC_DUAL_VERSOR_H_ + +// =================== Types ==================== // + +typedef struct { + struct { + float s0, x1, x2, x3; + } _real, _dual; +} BGC_FP32_DualVersor; + +typedef struct { + struct { + double s0, x1, x2, x3; + } _real, _dual; +} BGC_FP64_DualVersor; + +// =================== Reset ==================== // + +inline void bgc_fp32_dual_versor_reset(BGC_FP32_DualVersor* number) +{ + number->_real.s0 = 1.0f; + number->_real.x1 = 0.0f; + number->_real.x2 = 0.0f; + number->_real.x3 = 0.0f; + + number->_dual.s0 = 0.0f; + number->_dual.x1 = 0.0f; + number->_dual.x2 = 0.0f; + number->_dual.x3 = 0.0f; +} + +inline void bgc_fp64_dual_versor_reset(BGC_FP64_DualVersor* number) +{ + number->_real.s0 = 1.0f; + number->_real.x1 = 0.0f; + number->_real.x2 = 0.0f; + number->_real.x3 = 0.0f; + + number->_dual.s0 = 0.0f; + number->_dual.x1 = 0.0f; + number->_dual.x2 = 0.0f; + number->_dual.x3 = 0.0f; +} + +// ==================== Copy ==================== // + +inline void bgc_fp32_dual_versor_copy(BGC_FP32_DualVersor* destination, const BGC_FP32_DualVersor* source) +{ + destination->_real.s0 = source->_real.s0; + destination->_real.x1 = source->_real.x1; + destination->_real.x2 = source->_real.x2; + destination->_real.x3 = source->_real.x3; + + destination->_dual.s0 = source->_dual.s0; + destination->_dual.x1 = source->_dual.x1; + destination->_dual.x2 = source->_dual.x2; + destination->_dual.x3 = source->_dual.x3; +} + +inline void bgc_fp64_dual_versor_copy(BGC_FP64_DualVersor* destination, const BGC_FP64_DualVersor* source) +{ + destination->_real.s0 = source->_real.s0; + destination->_real.x1 = source->_real.x1; + destination->_real.x2 = source->_real.x2; + destination->_real.x3 = source->_real.x3; + + destination->_dual.s0 = source->_dual.s0; + destination->_dual.x1 = source->_dual.x1; + destination->_dual.x2 = source->_dual.x2; + destination->_dual.x3 = source->_dual.x3; +} + +// ==================== Swap ==================== // + +inline void bgc_fp32_dual_versor_swap(BGC_FP32_DualVersor* first, BGC_FP32_DualVersor* second) +{ + // Real + float s0 = second->_real.s0; + float x1 = second->_real.x1; + float x2 = second->_real.x2; + float x3 = second->_real.x3; + + second->_real.s0 = first->_real.s0; + second->_real.x1 = first->_real.x1; + second->_real.x2 = first->_real.x2; + second->_real.x3 = first->_real.x3; + + first->_real.s0 = s0; + first->_real.x1 = x1; + first->_real.x2 = x2; + first->_real.x3 = x3; + + // Dual + s0 = second->_dual.s0; + x1 = second->_dual.x1; + x2 = second->_dual.x2; + x3 = second->_dual.x3; + + second->_dual.s0 = first->_dual.s0; + second->_dual.x1 = first->_dual.x1; + second->_dual.x2 = first->_dual.x2; + second->_dual.x3 = first->_dual.x3; + + first->_dual.s0 = s0; + first->_dual.x1 = x1; + first->_dual.x2 = x2; + first->_dual.x3 = x3; +} + +inline void bgc_fp64_dual_versor_swap(BGC_FP64_DualVersor* first, BGC_FP64_DualVersor* second) +{ + // Real + double s0 = second->_real.s0; + double x1 = second->_real.x1; + double x2 = second->_real.x2; + double x3 = second->_real.x3; + + second->_real.s0 = first->_real.s0; + second->_real.x1 = first->_real.x1; + second->_real.x2 = first->_real.x2; + second->_real.x3 = first->_real.x3; + + first->_real.s0 = s0; + first->_real.x1 = x1; + first->_real.x2 = x2; + first->_real.x3 = x3; + + // Dual + s0 = second->_dual.s0; + x1 = second->_dual.x1; + x2 = second->_dual.x2; + x3 = second->_dual.x3; + + second->_dual.s0 = first->_dual.s0; + second->_dual.x1 = first->_dual.x1; + second->_dual.x2 = first->_dual.x2; + second->_dual.x3 = first->_dual.x3; + + first->_dual.s0 = s0; + first->_dual.x1 = x1; + first->_dual.x2 = x2; + first->_dual.x3 = x3; +} + + +#endif