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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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6
basic-geometry/dual-quaternion.c
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@ -42,6 +42,12 @@ extern inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuatern
extern inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion);
extern inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* quaternion);
extern inline int bgc_fp64_dual_quaternion_normalize(BGC_FP64_DualQuaternion* quaternion);
extern inline int bgc_fp32_dual_quaternion_get_normalized(BGC_FP32_DualQuaternion* normalized, const BGC_FP32_DualQuaternion* quaternion);
extern inline int bgc_fp64_dual_quaternion_get_normalized(BGC_FP64_DualQuaternion* normalized, const BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second);
extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second);

138
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

 @ -260,34 +260,102 @@ inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion
// ================= Normalize ================== //
void _bgc_fp32_dual_quaternion_normalize_parts(BGC_FP32_DualQuaternion* quaternion, const float square_magnitude);
void _bgc_fp64_dual_quaternion_normalize_parts(BGC_FP64_DualQuaternion* quaternion, const double square_magnitude);
inline void bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* quaternion)
inline int bgc_fp32_dual_quaternion_normalize(BGC_FP32_DualQuaternion* quaternion)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&quaternion->real_part);
if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
return BGC_FAILURE;
}
if (!bgc_fp32_is_square_unit(square_magnitude)) {
_bgc_fp32_quaternion_normalize_normalize_parts(quaternion, square_magnitude);
const float multiplier = sqrtf(1.0f / square_magnitude);
bgc_fp32_quaternion_multiply_by_real_number(&quaternion->real_part, &quaternion->real_part, multiplier);
bgc_fp32_quaternion_multiply_by_real_number(&quaternion->dual_part, &quaternion->dual_part, multiplier);
}
const float dot_product = bgc_fp32_quaternion_get_dot_product(&quaternion->real_part, &quaternion->dual_part);
bgc_fp32_quaternion_subtract_scaled(&quaternion->dual_part, &quaternion->dual_part, &quaternion->real_part, dot_product);