Развитие SLERP для трёхмерных пространств, а также развитие дуальных чисел, векторов и кватернионов
This commit is contained in:
parent
053af33444
commit
86ea23de7d
23 changed files with 1063 additions and 830 deletions
|
|
@ -8,112 +8,112 @@
|
|||
|
||||
inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion)
|
||||
{
|
||||
bgc_fp32_quaternion_reset(&quaternion->real);
|
||||
bgc_fp32_quaternion_reset(&quaternion->dual);
|
||||
bgc_fp32_quaternion_reset(&quaternion->real_part);
|
||||
bgc_fp32_quaternion_reset(&quaternion->dual_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion)
|
||||
{
|
||||
bgc_fp64_quaternion_reset(&quaternion->real);
|
||||
bgc_fp64_quaternion_reset(&quaternion->dual);
|
||||
bgc_fp64_quaternion_reset(&quaternion->real_part);
|
||||
bgc_fp64_quaternion_reset(&quaternion->dual_part);
|
||||
}
|
||||
|
||||
// ==================== Copy ==================== //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
|
||||
{
|
||||
bgc_fp32_quaternion_copy(&destination->real, &source->real);
|
||||
bgc_fp32_quaternion_copy(&destination->dual, &source->dual);
|
||||
bgc_fp32_quaternion_copy(&destination->real_part, &source->real_part);
|
||||
bgc_fp32_quaternion_copy(&destination->dual_part, &source->dual_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
|
||||
{
|
||||
bgc_fp64_quaternion_copy(&destination->real, &source->real);
|
||||
bgc_fp64_quaternion_copy(&destination->dual, &source->dual);
|
||||
bgc_fp64_quaternion_copy(&destination->real_part, &source->real_part);
|
||||
bgc_fp64_quaternion_copy(&destination->dual_part, &source->dual_part);
|
||||
}
|
||||
|
||||
// ==================== Swap ==================== //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second)
|
||||
{
|
||||
bgc_fp32_quaternion_swap(&first->real, &second->real);
|
||||
bgc_fp32_quaternion_swap(&first->dual, &second->dual);
|
||||
bgc_fp32_quaternion_swap(&first->real_part, &second->real_part);
|
||||
bgc_fp32_quaternion_swap(&first->dual_part, &second->dual_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second)
|
||||
{
|
||||
bgc_fp64_quaternion_swap(&first->real, &second->real);
|
||||
bgc_fp64_quaternion_swap(&first->dual, &second->dual);
|
||||
bgc_fp64_quaternion_swap(&first->real_part, &second->real_part);
|
||||
bgc_fp64_quaternion_swap(&first->dual_part, &second->dual_part);
|
||||
}
|
||||
|
||||
// ================== Convert =================== //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_convert_to_fp64(BGC_FP64_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
|
||||
{
|
||||
bgc_fp32_quaternion_convert_to_fp64(&destination->real, &source->real);
|
||||
bgc_fp32_quaternion_convert_to_fp64(&destination->dual, &source->dual);
|
||||
bgc_fp32_quaternion_convert_to_fp64(&destination->real_part, &source->real_part);
|
||||
bgc_fp32_quaternion_convert_to_fp64(&destination->dual_part, &source->dual_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_convert_to_fp32(BGC_FP32_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
|
||||
{
|
||||
bgc_fp64_quaternion_convert_to_fp32(&destination->real, &source->real);
|
||||
bgc_fp64_quaternion_convert_to_fp32(&destination->dual, &source->dual);
|
||||
bgc_fp64_quaternion_convert_to_fp32(&destination->real_part, &source->real_part);
|
||||
bgc_fp64_quaternion_convert_to_fp32(&destination->dual_part, &source->dual_part);
|
||||
}
|
||||
|
||||
// ==================== Add ===================== //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)
|
||||
{
|
||||
bgc_fp32_quaternion_add(&sum->real, &first->real, &second->real);
|
||||
bgc_fp32_quaternion_add(&sum->dual, &first->dual, &second->dual);
|
||||
bgc_fp32_quaternion_add(&sum->real_part, &first->real_part, &second->real_part);
|
||||
bgc_fp32_quaternion_add(&sum->dual_part, &first->dual_part, &second->dual_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second)
|
||||
{
|
||||
bgc_fp64_quaternion_add(&sum->real, &first->real, &second->real);
|
||||
bgc_fp64_quaternion_add(&sum->dual, &first->dual, &second->dual);
|
||||
bgc_fp64_quaternion_add(&sum->real_part, &first->real_part, &second->real_part);
|
||||
bgc_fp64_quaternion_add(&sum->dual_part, &first->dual_part, &second->dual_part);
|
||||
}
|
||||
|
||||
// ================= Add Scaled ================= //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_add_scaled(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* base_quaternion, const BGC_FP32_DualQuaternion* scalable_quaternion, const float scale)
|
||||
{
|
||||
bgc_fp32_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale);
|
||||
bgc_fp32_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale);
|
||||
bgc_fp32_quaternion_add_scaled(&sum->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
|
||||
bgc_fp32_quaternion_add_scaled(&sum->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* base_quaternion, const BGC_FP64_DualQuaternion* scalable_quaternion, const double scale)
|
||||
{
|
||||
bgc_fp64_quaternion_add_scaled(&sum->real, &base_quaternion->real, &scalable_quaternion->real, scale);
|
||||
bgc_fp64_quaternion_add_scaled(&sum->dual, &base_quaternion->dual, &scalable_quaternion->dual, scale);
|
||||
bgc_fp64_quaternion_add_scaled(&sum->real_part, &base_quaternion->real_part, &scalable_quaternion->real_part, scale);
|
||||
bgc_fp64_quaternion_add_scaled(&sum->dual_part, &base_quaternion->dual_part, &scalable_quaternion->dual_part, scale);
|
||||
}
|
||||
|
||||
// ================== Subtract ================== //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend)
|
||||
{
|
||||
bgc_fp32_quaternion_subtract(&difference->real, &minuend->real, &subtrahend->real);
|
||||
bgc_fp32_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
|
||||
bgc_fp32_quaternion_subtract(&difference->real_part, &minuend->real_part, &subtrahend->real_part);
|
||||
bgc_fp32_quaternion_subtract(&difference->dual_part, &minuend->dual_part, &subtrahend->dual_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend)
|
||||
{
|
||||
bgc_fp64_quaternion_subtract(&difference->real, &minuend->real, &subtrahend->real);
|
||||
bgc_fp64_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
|
||||
bgc_fp64_quaternion_subtract(&difference->real_part, &minuend->real_part, &subtrahend->real_part);
|
||||
bgc_fp64_quaternion_subtract(&difference->dual_part, &minuend->dual_part, &subtrahend->dual_part);
|
||||
}
|
||||
|
||||
// ================== Multiply ================== //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_multiply_by_real(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier)
|
||||
{
|
||||
bgc_fp32_quaternion_multiply_by_real(&product->real, &multiplicand->real, multipier);
|
||||
bgc_fp32_quaternion_multiply_by_real(&product->dual, &multiplicand->dual, multipier);
|
||||
bgc_fp32_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multipier);
|
||||
bgc_fp32_quaternion_multiply_by_real(&product->dual_part, &multiplicand->dual_part, multipier);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_multiply_by_real(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier)
|
||||
{
|
||||
bgc_fp64_quaternion_multiply_by_real(&product->real, &multiplicand->real, multipier);
|
||||
bgc_fp64_quaternion_multiply_by_real(&product->dual, &multiplicand->dual, multipier);
|
||||
bgc_fp64_quaternion_multiply_by_real(&product->real_part, &multiplicand->real_part, multipier);
|
||||
bgc_fp64_quaternion_multiply_by_real(&product->dual_part, &multiplicand->dual_part, multipier);
|
||||
}
|
||||
|
||||
// =================== Divide =================== //
|
||||
|
|
@ -132,70 +132,70 @@ inline void bgc_fp64_dual_quaternion_divide_by_real(BGC_FP64_DualQuaternion* quo
|
|||
|
||||
inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2)
|
||||
{
|
||||
bgc_fp32_quaternion_get_mean2(&mean->real, &quaternion1->real, &quaternion2->real);
|
||||
bgc_fp32_quaternion_get_mean2(&mean->dual, &quaternion1->dual, &quaternion2->dual);
|
||||
bgc_fp32_quaternion_get_mean2(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part);
|
||||
bgc_fp32_quaternion_get_mean2(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2)
|
||||
{
|
||||
bgc_fp64_quaternion_get_mean2(&mean->real, &quaternion1->real, &quaternion2->real);
|
||||
bgc_fp64_quaternion_get_mean2(&mean->dual, &quaternion1->dual, &quaternion2->dual);
|
||||
bgc_fp64_quaternion_get_mean2(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part);
|
||||
bgc_fp64_quaternion_get_mean2(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part);
|
||||
}
|
||||
|
||||
// =============== Mean of Three ================ //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_get_mean3(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const BGC_FP32_DualQuaternion* quaternion3)
|
||||
{
|
||||
bgc_fp32_quaternion_get_mean3(&mean->real, &quaternion1->real, &quaternion2->real, &quaternion3->real);
|
||||
bgc_fp32_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual);
|
||||
bgc_fp32_quaternion_get_mean3(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part, &quaternion3->real_part);
|
||||
bgc_fp32_quaternion_get_mean3(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part, &quaternion3->dual_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_get_mean3(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const BGC_FP64_DualQuaternion* quaternion3)
|
||||
{
|
||||
bgc_fp64_quaternion_get_mean3(&mean->real, &quaternion1->real, &quaternion2->real, &quaternion3->real);
|
||||
bgc_fp64_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual);
|
||||
bgc_fp64_quaternion_get_mean3(&mean->real_part, &quaternion1->real_part, &quaternion2->real_part, &quaternion3->real_part);
|
||||
bgc_fp64_quaternion_get_mean3(&mean->dual_part, &quaternion1->dual_part, &quaternion2->dual_part, &quaternion3->dual_part);
|
||||
}
|
||||
|
||||
// ============ Linear Interpolation ============ //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase)
|
||||
{
|
||||
bgc_fp32_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase);
|
||||
bgc_fp32_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
|
||||
bgc_fp32_quaternion_interpolate(&interpolation->real_part, &first->real_part, &second->real_part, phase);
|
||||
bgc_fp32_quaternion_interpolate(&interpolation->dual_part, &first->dual_part, &second->dual_part, phase);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase)
|
||||
{
|
||||
bgc_fp64_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase);
|
||||
bgc_fp64_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
|
||||
bgc_fp64_quaternion_interpolate(&interpolation->real_part, &first->real_part, &second->real_part, phase);
|
||||
bgc_fp64_quaternion_interpolate(&interpolation->dual_part, &first->dual_part, &second->dual_part, phase);
|
||||
}
|
||||
|
||||
// =================== Revert =================== //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion)
|
||||
{
|
||||
bgc_fp32_quaternion_revert(&quaternion->real);
|
||||
bgc_fp32_quaternion_revert(&quaternion->dual);
|
||||
bgc_fp32_quaternion_revert(&quaternion->real_part);
|
||||
bgc_fp32_quaternion_revert(&quaternion->dual_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
|
||||
{
|
||||
bgc_fp64_quaternion_revert(&quaternion->real);
|
||||
bgc_fp64_quaternion_revert(&quaternion->dual);
|
||||
bgc_fp64_quaternion_revert(&quaternion->real_part);
|
||||
bgc_fp64_quaternion_revert(&quaternion->dual_part);
|
||||
}
|
||||
|
||||
// ================ Get Reverse ================= //
|
||||
|
||||
inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion)
|
||||
{
|
||||
bgc_fp32_quaternion_get_reverse(&reverse->real, &quaternion->real);
|
||||
bgc_fp32_quaternion_get_reverse(&reverse->dual, &quaternion->dual);
|
||||
bgc_fp32_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
|
||||
bgc_fp32_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
|
||||
}
|
||||
|
||||
inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion)
|
||||
{
|
||||
bgc_fp64_quaternion_get_reverse(&reverse->real, &quaternion->real);
|
||||
bgc_fp64_quaternion_get_reverse(&reverse->dual, &quaternion->dual);
|
||||
bgc_fp64_quaternion_get_reverse(&reverse->real_part, &quaternion->real_part);
|
||||
bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue