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Скалярное произведение кватернионов: нужно для нормализации дуальных кватернионов

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Andrey Pokidov 2026-03-13 21:10:16 +07:00
parent 614daf8ebd
commit a5a59f72f5
2 changed files with 15 additions and 0 deletions
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3
basic-geometry/quaternion.c
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@ -76,6 +76,9 @@ extern inline void bgc_fp64_quaternion_get_mean3(BGC_FP64_Quaternion* mean, cons
extern inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase); extern inline void bgc_fp32_quaternion_interpolate(BGC_FP32_Quaternion* interpolation, const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2, const float phase);
extern inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase); extern inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation, const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2, const double phase);
extern inline float bgc_fp32_quaternion_get_dot_product(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2);
extern inline double bgc_fp64_quaternion_get_dot_product(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2);
extern inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion); extern inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion);
extern inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion); extern inline void bgc_fp64_quaternion_conjugate(BGC_FP64_Quaternion* quaternion);

12
basic-geometry/quaternion.h
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@ -500,6 +500,18 @@ inline void bgc_fp64_quaternion_interpolate(BGC_FP64_Quaternion* interpolation,
interpolation->x3 = quaternion1->x3 * counter_phase + quaternion2->x3 * phase; interpolation->x3 = quaternion1->x3 * counter_phase + quaternion2->x3 * phase;
} }
// ============== Get Dot Product =============== //
inline float bgc_fp32_quaternion_get_dot_product(const BGC_FP32_Quaternion* quaternion1, const BGC_FP32_Quaternion* quaternion2)
{
return (quaternion1->s0 * quaternion2->s0 + quaternion1->x1 * quaternion2->x1) + (quaternion1->x2 * quaternion2->x2 + quaternion1->x3 * quaternion2->x3)
}
inline double bgc_fp64_quaternion_get_dot_product(const BGC_FP64_Quaternion* quaternion1, const BGC_FP64_Quaternion* quaternion2)
{
return (quaternion1->s0 * quaternion2->s0 + quaternion1->x1 * quaternion2->x1) + (quaternion1->x2 * quaternion2->x2 + quaternion1->x3 * quaternion2->x3)
}
// ================= Conjugate ================== // // ================= Conjugate ================== //
inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion) inline void bgc_fp32_quaternion_conjugate(BGC_FP32_Quaternion* quaternion)