Добавление дуальных чисел, дуальных векторов (3D) и дуальных версоров

basic-geometry/basic-geometry.vcxproj

@@ -25,6 +25,10 @@
     <ClInclude Include="basic-geometry.h" />
     <ClInclude Include="complex.h" />
     <ClInclude Include="cotes-number.h" />
+    <ClInclude Include="dual-number.h" />
+    <ClInclude Include="dual-vector3.h" />
+    <ClInclude Include="dual-versor.h" />
+    <ClInclude Include="hg-vector3.h" />
     <ClInclude Include="matrix2x2.h" />
     <ClInclude Include="matrix2x3.h" />
     <ClInclude Include="matrix3x2.h" />
@@ -47,6 +51,10 @@
     <ClCompile Include="angle.c" />
     <ClInclude Include="complex.c" />
     <ClInclude Include="cotes-number.c" />
+    <ClCompile Include="dual-number.c" />
+    <ClCompile Include="dual-vector3.c" />
+    <ClCompile Include="dual-versor.c" />
+    <ClCompile Include="hg-vector3.c" />
     <ClCompile Include="position2.c" />
     <ClCompile Include="position3.c" />
     <ClCompile Include="utilities.c" />

basic-geometry/basic-geometry.vcxproj.filters

@@ -84,6 +84,18 @@
     <ClInclude Include="position3.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
+    <ClInclude Include="hg-vector3.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="dual-number.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="dual-versor.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="dual-vector3.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="angle.c">
@@ -137,5 +149,17 @@
     <ClCompile Include="position3.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
+    <ClCompile Include="hg-vector3.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="dual-versor.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="dual-number.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="dual-vector3.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
   </ItemGroup>
 </Project>

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);

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

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);

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

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);

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