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Нормализация унитарных дуальных кватернионов

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

4
basic-geometry/basic-geometry.vcxproj.filters
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@ -84,7 +84,7 @@
<ClInclude Include="slerp3.h"> <ClInclude Include="slerp3.h">
<Filter>Файлы заголовков</Filter> <Filter>Файлы заголовков</Filter>
</ClInclude> </ClInclude>
<ClInclude Include="posture3.h"> <ClInclude Include="rigid-pose3.h">
<Filter>Файлы заголовков</Filter> <Filter>Файлы заголовков</Filter>
</ClInclude> </ClInclude>
</ItemGroup> </ItemGroup>
@ -146,7 +146,7 @@
<ClCompile Include="slerp3.c"> <ClCompile Include="slerp3.c">
<Filter>Исходные файлы</Filter> <Filter>Исходные файлы</Filter>
</ClCompile> </ClCompile>
<ClCompile Include="posture3.c"> <ClCompile Include="rigid-pose3.c">
<Filter>Исходные файлы</Filter> <Filter>Исходные файлы</Filter>
</ClCompile> </ClCompile>
</ItemGroup> </ItemGroup>

4
basic-geometry/dual-quaternion.h
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Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -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 dual_part1, dual_part2;
bgc_fp32_quaternion_multiply_by_quaternion(&dual_part1, &left->real_part, &right->dual_part); _bgc_fp32_restrict_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_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_multiply_by_quaternion(&product->real_part, &left->real_part, &right->real_part);