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Развитие дуальный чисел, векторов и кватернионов, а также гомогенных векторов и матриц

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Andrey Pokidov 2026-02-03 19:56:56 +07:00
parent 3f96b661a9
commit b87518cd3f
21 changed files with 1787 additions and 1511 deletions
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58
basic-geometry/dual-quaternion.h Normal file
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#ifndef _BGC_DUAL_QUATERNION_H_
#define _BGC_DUAL_QUATERNION_H_
#include "quaternion.h"
// =================== Types ==================== //
typedef struct {
BGC_FP32_Quaternion real, dual;
} BGC_FP32_DualQuaternion;
typedef struct {
BGC_FP64_Quaternion real, dual;
} BGC_FP64_DualQuaternion;
// =================== Reset ==================== //
inline void bgc_fp32_dual_quaternion_reset(BGC_FP32_DualQuaternion* quaternion)
{
bgc_fp32_quaternion_reset(&quaternion->real);
bgc_fp32_quaternion_reset(&quaternion->dual);
}
inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* quaternion)
{
bgc_fp64_quaternion_reset(&quaternion->real);
bgc_fp64_quaternion_reset(&quaternion->dual);
}
// ==================== Copy ==================== //
inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* destination, const BGC_FP32_DualQuaternion* source)
{
bgc_fp32_quaternion_copy(&destination->real, &source->real);
bgc_fp32_quaternion_copy(&destination->dual, &source->dual);
}
inline void bgc_fp64_dual_quaternion_copy(BGC_FP64_DualQuaternion* destination, const BGC_FP64_DualQuaternion* source)
{
bgc_fp64_quaternion_copy(&destination->real, &source->real);
bgc_fp64_quaternion_copy(&destination->dual, &source->dual);
}
// ==================== Swap ==================== //
inline void bgc_fp32_dual_quaternion_swap(BGC_FP32_DualQuaternion* first, BGC_FP32_DualQuaternion* second)
{
bgc_fp32_quaternion_swap(&first->real, &second->real);
bgc_fp32_quaternion_swap(&first->dual, &second->dual);
}
inline void bgc_fp64_dual_quaternion_swap(BGC_FP64_DualQuaternion* first, BGC_FP64_DualQuaternion* second)
{
bgc_fp64_quaternion_swap(&first->real, &second->real);
bgc_fp64_quaternion_swap(&first->dual, &second->dual);
}
#endif