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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
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@ -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
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@ -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

Internal server error - Personal Git Server: Beyond coding. We Forge.

500

Internal server error

Forgejo version: 11.0.1+gitea-1.22.0

 @ -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);