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Добавление арифметических операций для дуальных кватернионов

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Andrey Pokidov 2026-02-05 01:47:52 +07:00
parent b470a3194b
commit b0b064de5a
24 changed files with 171 additions and 102 deletions
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72
basic-geometry/dual-quaternion.h
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@ -1,5 +1,5 @@
#ifndef _BGC_DUAL_QUATERNION_H_
#define _BGC_DUAL_QUATERNION_H_
#ifndef _BGC_DUAL_QUATERNION_H_INCLUDED_
#define _BGC_DUAL_QUATERNION_H_INCLUDED_
#include "quaternion.h"
@ -111,4 +111,72 @@ inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* differenc
bgc_fp64_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual);
}
// ================== Multiply ================== //
inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier)
{
bgc_fp32_quaternion_multiply(&product->real, &multiplicand->real, multipier);
bgc_fp32_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
}
inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier)
{
bgc_fp64_quaternion_multiply(&product->real, &multiplicand->real, multipier);
bgc_fp64_quaternion_multiply(&product->dual, &multiplicand->dual, multipier);
}
// =================== Divide =================== //
inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor)
{
bgc_fp32_dual_quaternion_multiply(quotient, divident, 1.0f / divisor);
}
inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor)
{
bgc_fp64_dual_quaternion_multiply(quotient, divident, 1.0 / divisor);
}
// ================ Mean of Two ================= //
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);
}
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);
}
// =============== 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);
}
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);
}
// ============ Linear Interpolation ============ //
inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const float phase)
{
bgc_fp32_quaternion_interpolate(&interpolation->real, &quaternion1->real, &quaternion2->real, phase);
bgc_fp32_quaternion_interpolate(&interpolation->dual, &quaternion1->dual, &quaternion2->dual, phase);
}
inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const double phase)
{
bgc_fp64_quaternion_interpolate(&interpolation->real, &quaternion1->real, &quaternion2->real, phase);
bgc_fp64_quaternion_interpolate(&interpolation->dual, &quaternion1->dual, &quaternion2->dual, phase);
}
#endif