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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/dual-quaternion.h
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@ -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);