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Исправления в нормализации дуальных кватернионов и позиционирования с помощью дуальных кватернионов

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This commit is contained in:
Andrey Pokidov 2026-03-18 20:23:50 +07:00
parent 24d37be75d
commit a57f13f4a9
9 changed files with 206 additions and 170 deletions
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28
basic-geometry/quaternion.h
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@ -258,7 +258,7 @@ inline void bgc_fp64_quaternion_subtract_scaled(BGC_FP64_Quaternion* difference,
// ============= Multiply By Number ============= //
inline void bgc_fp32_quaternion_multiply_by_real(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multiplier)
inline void bgc_fp32_quaternion_multiply_by_real_number(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multiplier)
{
product->s0 = multiplicand->s0 * multiplier;
product->x1 = multiplicand->x1 * multiplier;
@ -266,7 +266,7 @@ inline void bgc_fp32_quaternion_multiply_by_real(BGC_FP32_Quaternion* product, c
product->x3 = multiplicand->x3 * multiplier;
}
inline void bgc_fp64_quaternion_multiply_by_real(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multiplier)
inline void bgc_fp64_quaternion_multiply_by_real_number(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* multiplicand, const double multiplier)
{
product->s0 = multiplicand->s0 * multiplier;
product->x1 = multiplicand->x1 * multiplier;
@ -370,14 +370,14 @@ inline void _bgc_fp64_restrict_quaternion_multiply_by_conjugate(BGC_FP64_Quatern
inline void bgc_fp32_quaternion_multiply_by_dual_number(BGC_FP32_DualQuaternion* product, const BGC_FP32_Quaternion* multiplicand, const BGC_FP32_DualNumber* multiplier)
{
bgc_fp32_quaternion_multiply_by_real(&product->real_part, multiplicand, multiplier->real_part);
bgc_fp32_quaternion_multiply_by_real(&product->dual_part, multiplicand, multiplier->dual_part);
bgc_fp32_quaternion_multiply_by_real_number(&product->real_part, multiplicand, multiplier->real_part);
bgc_fp32_quaternion_multiply_by_real_number(&product->dual_part, multiplicand, multiplier->dual_part);
}
inline void bgc_fp64_quaternion_multiply_by_dual_number(BGC_FP64_DualQuaternion* product, const BGC_FP64_Quaternion* multiplicand, const BGC_FP64_DualNumber* multiplier)
{
bgc_fp64_quaternion_multiply_by_real(&product->real_part, multiplicand, multiplier->real_part);
bgc_fp64_quaternion_multiply_by_real(&product->dual_part, multiplicand, multiplier->dual_part);
bgc_fp64_quaternion_multiply_by_real_number(&product->real_part, multiplicand, multiplier->real_part);
bgc_fp64_quaternion_multiply_by_real_number(&product->dual_part, multiplicand, multiplier->dual_part);
}
// ======== Multiply By Dual Quaternion ========= //
@ -402,7 +402,7 @@ inline int bgc_fp32_quaternion_divide_by_real(BGC_FP32_Quaternion* quotient, con
return BGC_FAILURE;
}
bgc_fp32_quaternion_multiply_by_real(quotient, dividend, 1.0f / divisor);
bgc_fp32_quaternion_multiply_by_real_number(quotient, dividend, 1.0f / divisor);
return BGC_SUCCESS;
}
@ -413,7 +413,7 @@ inline int bgc_fp64_quaternion_divide_by_real(BGC_FP64_Quaternion* quotient, con
return BGC_FAILURE;
}
bgc_fp64_quaternion_multiply_by_real(quotient, dividend, 1.0 / divisor);
bgc_fp64_quaternion_multiply_by_real_number(quotient, dividend, 1.0 / divisor);
return BGC_SUCCESS;
}
@ -429,7 +429,7 @@ inline int bgc_fp32_quaternion_divide_by_quaternion(BGC_FP32_Quaternion* quotien
}
bgc_fp32_quaternion_multiply_by_conjugate(quotient, divident, divisor);
bgc_fp32_quaternion_multiply_by_real(quotient, quotient, 1.0f / square_modulus);
bgc_fp32_quaternion_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
return BGC_SUCCESS;
}
@ -443,7 +443,7 @@ inline int bgc_fp64_quaternion_divide_by_quaternion(BGC_FP64_Quaternion* quotien
}
bgc_fp64_quaternion_multiply_by_conjugate(quotient, divident, divisor);
bgc_fp64_quaternion_multiply_by_real(quotient, quotient, 1.0 / square_modulus);
bgc_fp64_quaternion_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
return BGC_SUCCESS;
}
@ -459,7 +459,7 @@ inline int bgc_fp32_quaternion_divide_by_conjugate(BGC_FP32_Quaternion* quotient
}
bgc_fp32_quaternion_multiply_by_quaternion(quotient, divisor_to_conjugate, divisor_to_conjugate);
bgc_fp32_quaternion_multiply_by_real(quotient, quotient, 1.0f / square_modulus);
bgc_fp32_quaternion_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
return BGC_SUCCESS;
}
@ -473,7 +473,7 @@ inline int bgc_fp64_quaternion_divide_by_conjugate(BGC_FP64_Quaternion* quotient
}
bgc_fp64_quaternion_multiply_by_quaternion(quotient, divisor_to_conjugate, divisor_to_conjugate);
bgc_fp64_quaternion_multiply_by_real(quotient, quotient, 1.0 / square_modulus);
bgc_fp64_quaternion_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
return BGC_SUCCESS;
}
@ -722,7 +722,7 @@ inline int bgc_fp32_quaternion_get_normalized(BGC_FP32_Quaternion* normalized, c
return BGC_SUCCESS;
}
bgc_fp32_quaternion_multiply_by_real(normalized, quaternion, sqrtf(1.0f / square_modulus));
bgc_fp32_quaternion_multiply_by_real_number(normalized, quaternion, sqrtf(1.0f / square_modulus));
return BGC_SUCCESS;
}
@ -740,7 +740,7 @@ inline int bgc_fp64_quaternion_get_normalized(BGC_FP64_Quaternion* normalized, c
return BGC_SUCCESS;
}
bgc_fp64_quaternion_multiply_by_real(normalized, quaternion, sqrt(1.0 / square_modulus));
bgc_fp64_quaternion_multiply_by_real_number(normalized, quaternion, sqrt(1.0 / square_modulus));
return BGC_SUCCESS;
}