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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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32
basic-geometry/rigid-pose3.h
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@ -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