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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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29
basic-geometry/rigid-pose3.c
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@ -1,34 +1,5 @@
#include "rigid-pose3.h"
void _bgc_fp32_rigid_pose3_normalize_parts(BGC_FP32_RigidPose3* pose, const float square_magnitude)
{
if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
bgc_fp32_rigid_pose3_reset(pose);
return;
}
const float multiplier = sqrtf(1.0f / square_magnitude);
bgc_fp32_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
bgc_fp32_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
}
void _bgc_fp64_rigid_pose3_normalize_parts(BGC_FP64_RigidPose3* pose, const double square_magnitude)
{
if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
bgc_fp64_rigid_pose3_reset(pose);
return;
}
const double multiplier = sqrt(1.0 / square_magnitude);
bgc_fp64_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
bgc_fp64_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
}
extern inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose);
extern inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose);
extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose);
extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose);