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Добавление арифметических операций для дуальных кватернионов

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This commit is contained in:
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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4
basic-geometry/angle.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_ANGLE_H_
#define _BGC_ANGLE_H_
#ifndef _BGC_ANGLE_H_INCLUDED_
#define _BGC_ANGLE_H_INCLUDED_
#include <math.h>
#include "utilities.h"

4
basic-geometry/basic-geometry.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_H_
#define _BGC_H_
#ifndef _BGC_H_INCLUDED_
#define _BGC_H_INCLUDED_
#include "./utilities.h"

11
basic-geometry/basic-geometry.vcxproj
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@ -24,7 +24,6 @@
<ClInclude Include="angle.h" />
<ClInclude Include="basic-geometry.h" />
<ClInclude Include="complex.h" />
<ClInclude Include="cotes-number.h" />
<ClInclude Include="dual-number.h" />
<ClInclude Include="dual-quaternion.h" />
<ClInclude Include="dual-vector3.h" />
@ -38,11 +37,10 @@
<ClInclude Include="position2.h" />
<ClInclude Include="position3.h" />
<ClInclude Include="quaternion.h" />
<ClInclude Include="rotation3.h" />
<ClInclude Include="types.h" />
<ClInclude Include="turn2.h" />
<ClInclude Include="turn3.h" />
<ClInclude Include="utilities.h" />
<ClInclude Include="slerp.h" />
<ClInclude Include="versor.h" />
<ClInclude Include="vector2.h" />
<ClInclude Include="vector3.h" />
</ItemGroup>
@ -51,7 +49,6 @@
<ClCompile Include="affine3.c" />
<ClCompile Include="angle.c" />
<ClInclude Include="complex.c" />
<ClInclude Include="cotes-number.c" />
<ClCompile Include="dual-number.c" />
<ClCompile Include="dual-quaternion.c" />
<ClCompile Include="dual-vector3.c" />
@ -59,6 +56,8 @@
<ClCompile Include="hg-vector3.c" />
<ClCompile Include="position2.c" />
<ClCompile Include="position3.c" />
<ClCompile Include="turn2.c" />
<ClCompile Include="turn3.c" />
<ClCompile Include="utilities.c" />
<ClCompile Include="matrix2x2.c" />
<ClCompile Include="matrix2x3.c" />
@ -66,9 +65,7 @@
<ClCompile Include="matrix3x3.c" />
<ClCompile Include="matrices.c" />
<ClCompile Include="quaternion.c" />
<ClCompile Include="rotation3.c" />
<ClCompile Include="slerp.c" />
<ClCompile Include="versor.c" />
<ClCompile Include="vector2.c" />
<ClCompile Include="vector3.c" />
</ItemGroup>

33
basic-geometry/basic-geometry.vcxproj.filters
View file

@ -21,9 +21,6 @@
<ClInclude Include="complex.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="cotes-number.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="utilities.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
@ -36,12 +33,6 @@
<ClInclude Include="matrix3x3.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="rotation3.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="versor.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="vector2.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
@ -63,15 +54,9 @@
<ClInclude Include="complex.c">
<Filter>Исходные файлы</Filter>
</ClInclude>
<ClInclude Include="cotes-number.c">
<Filter>Исходные файлы</Filter>
</ClInclude>
<ClInclude Include="slerp.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="types.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="affine3.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
@ -99,6 +84,12 @@
<ClInclude Include="hg-matrix3x3.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="turn2.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
<ClInclude Include="turn3.h">
<Filter>Файлы заголовков</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="angle.c">
@ -113,18 +104,12 @@
<ClCompile Include="matrix3x3.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
<ClCompile Include="versor.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
<ClCompile Include="vector2.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
<ClCompile Include="vector3.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
<ClCompile Include="rotation3.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
<ClCompile Include="quaternion.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
@ -167,5 +152,11 @@
<ClCompile Include="hg-matrix3x3.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
<ClCompile Include="turn2.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
<ClCompile Include="turn3.c">
<Filter>Исходные файлы</Filter>
</ClCompile>
</ItemGroup>
</Project>

4
basic-geometry/complex.h
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@ -1,5 +1,5 @@
#ifndef _BGC_COMPLEX_H_
#define _BGC_COMPLEX_H_
#ifndef _BGC_COMPLEX_H_INCLUDED_
#define _BGC_COMPLEX_H_INCLUDED_
#include "utilities.h"
#include "angle.h"

4
basic-geometry/dual-number.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_DUAL_NUMBER_H_
#define _BGC_DUAL_NUMBER_H_
#ifndef _BGC_DUAL_NUMBER_H_INCLUDED_
#define _BGC_DUAL_NUMBER_H_INCLUDED_
#include "utilities.h"

15
basic-geometry/dual-quaternion.c
View file

@ -20,3 +20,18 @@ extern inline void bgc_fp64_dual_quaternion_add_scaled(BGC_FP64_DualQuaternion*
extern inline void bgc_fp32_dual_quaternion_subtract(BGC_FP32_DualQuaternion* difference, const BGC_FP32_DualQuaternion* minuend, const BGC_FP32_DualQuaternion* subtrahend);
extern inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* difference, const BGC_FP64_DualQuaternion* minuend, const BGC_FP64_DualQuaternion* subtrahend);
extern inline void bgc_fp32_dual_quaternion_multiply(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const float multipier);
extern inline void bgc_fp64_dual_quaternion_multiply(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const double multipier);
extern inline void bgc_fp32_dual_quaternion_divide(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* divident, const float divisor);
extern inline void bgc_fp64_dual_quaternion_divide(BGC_FP64_DualQuaternion* quotient, const BGC_FP64_DualQuaternion* divident, const double divisor);
extern inline void bgc_fp32_dual_quaternion_get_mean2(BGC_FP32_DualQuaternion* mean, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2);
extern inline void bgc_fp64_dual_quaternion_get_mean2(BGC_FP64_DualQuaternion* mean, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2);
extern 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);
extern 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);
extern inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* quaternion1, const BGC_FP32_DualQuaternion* quaternion2, const float phase);
extern inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* quaternion1, const BGC_FP64_DualQuaternion* quaternion2, const double phase);

72
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

 @ -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);