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Нормализация унитарных дуальных кватернионов

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This commit is contained in:
Andrey Pokidov 2026-03-16 20:12:09 +07:00
parent a5a59f72f5
commit 7591b20f41
6 changed files with 78 additions and 12 deletions
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4
basic-geometry/basic-geometry.vcxproj
View file

@ -31,7 +31,7 @@
<ClInclude Include="matrix2x3.h" />
<ClInclude Include="matrix3x2.h" />
<ClInclude Include="matrix3x3.h" />
<ClInclude Include="posture3.h" />
<ClInclude Include="rigid-pose3.h" />
<ClInclude Include="types.h" />
<ClInclude Include="position2.h" />
<ClInclude Include="position3.h" />
@ -53,7 +53,7 @@
<ClCompile Include="dual-vector3.c" />
<ClCompile Include="position2.c" />
<ClCompile Include="position3.c" />
<ClCompile Include="posture3.c" />
<ClCompile Include="rigid-pose3.c" />
<ClCompile Include="turn2.c" />
<ClCompile Include="turn3.c" />
<ClCompile Include="utilities.c" />

4
basic-geometry/basic-geometry.vcxproj.filters
View file

@ -84,7 +84,7 @@
<ClInclude Include="slerp3.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="posture3.h">
<ClInclude Include="rigid-pose3.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
</ItemGroup>
@ -146,7 +146,7 @@
<ClCompile Include="slerp3.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
<ClCompile Include="posture3.c">
<ClCompile Include="rigid-pose3.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
</ItemGroup>

4
basic-geometry/dual-quaternion.h
View file

@ -410,8 +410,8 @@ inline void bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQu
{
BGC_FP32_Quaternion dual_part1, dual_part2;
bgc_fp32_quaternion_multiply_by_quaternion(&dual_part1, &left->real_part, &right->dual_part);
bgc_fp32_quaternion_multiply_by_quaternion(&dual_part2, &left->dual_part, &right->real_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&dual_part1, &left->real_part, &right->dual_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&dual_part2, &left->dual_part, &right->real_part);
bgc_fp32_quaternion_multiply_by_quaternion(&product->real_part, &left->real_part, &right->real_part);
bgc_fp32_quaternion_add(&product->dual_part, &dual_part1, &dual_part2);

6
basic-geometry/quaternion.c
View file

@ -58,6 +58,12 @@ extern inline void bgc_fp64_quaternion_multiply_by_dual_quaternion(BGC_FP64_Dual
extern inline void bgc_fp32_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void bgc_fp64_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void _bgc_fp32_restrict_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* restrict product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void _bgc_fp64_restrict_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* restrict product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* restrict product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right);
extern inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* restrict product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right);
extern inline int bgc_fp32_quaternion_divide_by_real(BGC_FP32_Quaternion* quotient, const BGC_FP32_Quaternion* dividend, const float divisor);
extern inline int bgc_fp64_quaternion_divide_by_real(BGC_FP64_Quaternion* quotient, const BGC_FP64_Quaternion* dividend, const double divisor);

40
basic-geometry/quaternion.h
View file

@ -330,6 +330,42 @@ inline void bgc_fp64_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* produ
product->x3 = x3;
}
// ====== Restrict Multiply By Quaternion ======= //
inline void _bgc_fp32_restrict_quaternion_multiply_by_quaternion(BGC_FP32_Quaternion* restrict product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
{
product->s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
product->x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
product->x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
product->x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
}
inline void _bgc_fp64_restrict_quaternion_multiply_by_quaternion(BGC_FP64_Quaternion* restrict product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
{
product->s0 = (left->s0 * right->s0 - left->x1 * right->x1) - (left->x2 * right->x2 + left->x3 * right->x3);
product->x1 = (left->x1 * right->s0 + left->s0 * right->x1) - (left->x3 * right->x2 - left->x2 * right->x3);
product->x2 = (left->x2 * right->s0 + left->s0 * right->x2) - (left->x1 * right->x3 - left->x3 * right->x1);
product->x3 = (left->x3 * right->s0 + left->s0 * right->x3) - (left->x2 * right->x1 - left->x1 * right->x2);
}
// = Restrict Multiply By Conjugate Quaternion == //
inline void _bgc_fp32_restrict_quaternion_multiply_by_conjugate(BGC_FP32_Quaternion* restrict product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
{
product->s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3);
product->x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
product->x2 = (left->x2 * right->s0 + left->x1 * right->x3) - (left->s0 * right->x2 + left->x3 * right->x1);
product->x3 = (left->x3 * right->s0 + left->x2 * right->x1) - (left->s0 * right->x3 + left->x1 * right->x2);
}
inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quaternion* restrict product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
{
product->s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3);
product->x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
product->x2 = (left->x2 * right->s0 + left->x1 * right->x3) - (left->s0 * right->x2 + left->x3 * right->x1);
product->x3 = (left->x3 * right->s0 + left->x2 * right->x1) - (left->s0 * right->x3 + left->x1 * right->x2);
}
// ========== Multiply By Dual Number =========== //
inline void bgc_fp32_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_Quaternion* multiplicand, const BGC_FP32_DualNumber* multiplier)
@ -504,12 +540,12 @@ inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation,
inline float bgc_fp32_quaternion_get_dot_product(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
{
return (quaternion1->s0 * quaternion2->s0 + quaternion1->x1 * quaternion2->x1) + (quaternion1->x2 * quaternion2->x2 + quaternion1->x3 * quaternion2->x3)
return (quaternion1->s0 * quaternion2->s0 + quaternion1->x1 * quaternion2->x1) + (quaternion1->x2 * quaternion2->x2 + quaternion1->x3 * quaternion2->x3);
}
inline double bgc_fp64_quaternion_get_dot_product(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
{
return (quaternion1->s0 * quaternion2->s0 + quaternion1->x1 * quaternion2->x1) + (quaternion1->x2 * quaternion2->x2 + quaternion1->x3 * quaternion2->x3)
return (quaternion1->s0 * quaternion2->s0 + quaternion1->x1 * quaternion2->x1) + (quaternion1->x2 * quaternion2->x2 + quaternion1->x3 * quaternion2->x3);
}
// ================= Conjugate ================== //

32
basic-geometry/rigid-pose3.h
View file

@ -79,9 +79,9 @@ inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destinatio
_bgc_fp64_rigid_pose3_normalize(destination, square_magnitude);
}
const double square_magnitude = bgc_fp64_quaternion_get_(&destination->_real_part);
const double dot_product = bgc_fp64_quaternion_get_dot_product(&destination->_real_part, &destination->_dual_part);
bgc_fp64_quaternion_subtract_scaled(&destination->_dual_part, &destination->_dual_part, &destination->_real_part);
bgc_fp64_quaternion_subtract_scaled(&destination->_dual_part, &destination->_dual_part, &destination->_real_part, dot_product);
}
inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
@ -94,30 +94,54 @@ inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destinatio
if (!bgc_fp32_is_square_unit(square_magnitude)) {
_bgc_fp32_rigid_pose3_normalize(destination, square_magnitude);
}
const float dot_product = bgc_fp32_quaternion_get_dot_product(&destination->_real_part, &destination->_dual_part);
bgc_fp32_quaternion_subtract_scaled(&destination->_dual_part, &destination->_dual_part, &destination->_real_part, dot_product);
}
// ================== Combine =================== //
inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second)
{
bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
BGC_FP32_Quaternion dual_part1, dual_part2;
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&dual_part1, &second->_real_part, &first->_dual_part);
_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&dual_part2, &second->_dual_part, &first->_real_part);
bgc_fp32_quaternion_multiply_by_quaternion(&combination->_real_part, &second->_real_part, &first->_real_part);
bgc_fp32_quaternion_add(&combination->_dual_part, &dual_part1, &dual_part2);
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_real_part);
if (!bgc_fp32_is_square_unit(square_magnitude)) {
_bgc_fp32_rigid_pose3_normalize(combination, square_magnitude);
}
const float dot_product = bgc_fp32_quaternion_get_dot_product(&combination->_real_part, &combination->_dual_part);
bgc_fp32_quaternion_subtract_scaled(&combination->_dual_part, &combination->_dual_part, &combination->_real_part, dot_product);
}
inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second)
{
bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
BGC_FP64_Quaternion dual_part1, dual_part2;
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&dual_part1, &second->_real_part, &first->_dual_part);
_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&dual_part2, &second->_dual_part, &first->_real_part);
bgc_fp64_quaternion_multiply_by_quaternion(&combination->_real_part, &second->_real_part, &first->_real_part);
bgc_fp64_quaternion_add(&combination->_dual_part, &dual_part1, &dual_part2);
const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_real_part);
if (!bgc_fp64_is_square_unit(square_magnitude)) {
_bgc_fp64_rigid_pose3_normalize(combination, square_magnitude);
}
const double dot_product = bgc_fp64_quaternion_get_dot_product(&combination->_real_part, &combination->_dual_part);
bgc_fp64_quaternion_subtract_scaled(&combination->_dual_part, &combination->_dual_part, &combination->_real_part, dot_product);
}
#endif