Переименование s0 -> s, x1 -> x, x2 -> y, x3 -> z, что должно упростить читаемость кода. Также обновление документации
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38 changed files with 2104 additions and 2070 deletions
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@ -214,48 +214,48 @@ inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion*
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inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* const quaternion)
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{
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quaternion->real_part.x1 = -quaternion->real_part.x1;
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quaternion->real_part.x2 = -quaternion->real_part.x2;
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quaternion->real_part.x3 = -quaternion->real_part.x3;
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quaternion->real_part.x = -quaternion->real_part.x;
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quaternion->real_part.y = -quaternion->real_part.y;
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quaternion->real_part.z = -quaternion->real_part.z;
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quaternion->dual_part.s0 = -quaternion->dual_part.s0;
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quaternion->dual_part.s = -quaternion->dual_part.s;
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}
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inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* const quaternion)
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{
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quaternion->real_part.x1 = -quaternion->real_part.x1;
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quaternion->real_part.x2 = -quaternion->real_part.x2;
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quaternion->real_part.x3 = -quaternion->real_part.x3;
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quaternion->real_part.x = -quaternion->real_part.x;
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quaternion->real_part.y = -quaternion->real_part.y;
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quaternion->real_part.z = -quaternion->real_part.z;
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quaternion->dual_part.s0 = -quaternion->dual_part.s0;
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quaternion->dual_part.s = -quaternion->dual_part.s;
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}
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// ============ Get Fully Conjugate ============= //
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inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* const conjugate, const BGC_FP32_DualQuaternion* const quaternion)
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{
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conjugate->real_part.s0 = quaternion->real_part.s0;
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conjugate->real_part.x1 = -quaternion->real_part.x1;
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conjugate->real_part.x2 = -quaternion->real_part.x2;
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conjugate->real_part.x3 = -quaternion->real_part.x3;
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conjugate->real_part.s = quaternion->real_part.s;
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conjugate->real_part.x = -quaternion->real_part.x;
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conjugate->real_part.y = -quaternion->real_part.y;
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conjugate->real_part.z = -quaternion->real_part.z;
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conjugate->dual_part.s0 = -quaternion->dual_part.s0;
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conjugate->dual_part.x1 = quaternion->dual_part.x1;
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conjugate->dual_part.x2 = quaternion->dual_part.x2;
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conjugate->dual_part.x3 = quaternion->dual_part.x3;
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conjugate->dual_part.s = -quaternion->dual_part.s;
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conjugate->dual_part.x = quaternion->dual_part.x;
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conjugate->dual_part.y = quaternion->dual_part.y;
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conjugate->dual_part.z = quaternion->dual_part.z;
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}
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inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* const conjugate, const BGC_FP64_DualQuaternion* const quaternion)
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{
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conjugate->real_part.s0 = quaternion->real_part.s0;
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conjugate->real_part.x1 = -quaternion->real_part.x1;
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conjugate->real_part.x2 = -quaternion->real_part.x2;
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conjugate->real_part.x3 = -quaternion->real_part.x3;
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conjugate->real_part.s = quaternion->real_part.s;
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conjugate->real_part.x = -quaternion->real_part.x;
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conjugate->real_part.y = -quaternion->real_part.y;
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conjugate->real_part.z = -quaternion->real_part.z;
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conjugate->dual_part.s0 = -quaternion->dual_part.s0;
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conjugate->dual_part.x1 = quaternion->dual_part.x1;
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conjugate->dual_part.x2 = quaternion->dual_part.x2;
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conjugate->dual_part.x3 = quaternion->dual_part.x3;
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conjugate->dual_part.s = -quaternion->dual_part.s;
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conjugate->dual_part.x = quaternion->dual_part.x;
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conjugate->dual_part.y = quaternion->dual_part.y;
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conjugate->dual_part.z = quaternion->dual_part.z;
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}
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// ================= Normalize ================== //
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@ -210,64 +210,64 @@ inline void bgc_fp64_dual_vector3_multiply_by_conjugate_dual_number(BGC_FP64_Dua
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inline void bgc_fp32_dual_vector3_multiply_by_matrix3x3(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const vector, const BGC_FP32_Matrix3x3* const matrix)
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{
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const float real_x1 = vector->real_part.x1 * matrix->r1c1 + vector->real_part.x2 * matrix->r2c1 + vector->real_part.x3 * matrix->r3c1;
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const float real_x2 = vector->real_part.x1 * matrix->r1c2 + vector->real_part.x2 * matrix->r2c2 + vector->real_part.x3 * matrix->r3c2;
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const float real_x3 = vector->real_part.x1 * matrix->r1c3 + vector->real_part.x2 * matrix->r2c3 + vector->real_part.x3 * matrix->r3c3;
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const float real_x = vector->real_part.x * matrix->r1c1 + vector->real_part.y * matrix->r2c1 + vector->real_part.z * matrix->r3c1;
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const float real_y = vector->real_part.x * matrix->r1c2 + vector->real_part.y * matrix->r2c2 + vector->real_part.z * matrix->r3c2;
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const float real_z = vector->real_part.x * matrix->r1c3 + vector->real_part.y * matrix->r2c3 + vector->real_part.z * matrix->r3c3;
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const float dual_x1 = vector->real_part.x1 * matrix->r1c1 + vector->real_part.x2 * matrix->r2c1 + vector->real_part.x3 * matrix->r3c1;
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const float dual_x2 = vector->real_part.x1 * matrix->r1c2 + vector->real_part.x2 * matrix->r2c2 + vector->real_part.x3 * matrix->r3c2;
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const float dual_x3 = vector->real_part.x1 * matrix->r1c3 + vector->real_part.x2 * matrix->r2c3 + vector->real_part.x3 * matrix->r3c3;
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const float dual_x = vector->real_part.x * matrix->r1c1 + vector->real_part.y * matrix->r2c1 + vector->real_part.z * matrix->r3c1;
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const float dual_y = vector->real_part.x * matrix->r1c2 + vector->real_part.y * matrix->r2c2 + vector->real_part.z * matrix->r3c2;
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const float dual_z = vector->real_part.x * matrix->r1c3 + vector->real_part.y * matrix->r2c3 + vector->real_part.z * matrix->r3c3;
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product->real_part.x1 = real_x1;
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product->real_part.x2 = real_x2;
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product->real_part.x3 = real_x3;
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product->real_part.x = real_x;
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product->real_part.y = real_y;
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product->real_part.z = real_z;
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product->real_part.x1 = real_x1;
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product->real_part.x2 = real_x2;
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product->real_part.x3 = real_x3;
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product->real_part.x = real_x;
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product->real_part.y = real_y;
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product->real_part.z = real_z;
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}
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inline void bgc_fp64_dual_vector3_multiply_by_matrix3x3(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const vector, const BGC_FP64_Matrix3x3* const matrix)
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{
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const double real_x1 = vector->real_part.x1 * matrix->r1c1 + vector->real_part.x2 * matrix->r2c1 + vector->real_part.x3 * matrix->r3c1;
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const double real_x2 = vector->real_part.x1 * matrix->r1c2 + vector->real_part.x2 * matrix->r2c2 + vector->real_part.x3 * matrix->r3c2;
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const double real_x3 = vector->real_part.x1 * matrix->r1c3 + vector->real_part.x2 * matrix->r2c3 + vector->real_part.x3 * matrix->r3c3;
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const double real_x = vector->real_part.x * matrix->r1c1 + vector->real_part.y * matrix->r2c1 + vector->real_part.z * matrix->r3c1;
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const double real_y = vector->real_part.x * matrix->r1c2 + vector->real_part.y * matrix->r2c2 + vector->real_part.z * matrix->r3c2;
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const double real_z = vector->real_part.x * matrix->r1c3 + vector->real_part.y * matrix->r2c3 + vector->real_part.z * matrix->r3c3;
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const double dual_x1 = vector->real_part.x1 * matrix->r1c1 + vector->real_part.x2 * matrix->r2c1 + vector->real_part.x3 * matrix->r3c1;
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const double dual_x2 = vector->real_part.x1 * matrix->r1c2 + vector->real_part.x2 * matrix->r2c2 + vector->real_part.x3 * matrix->r3c2;
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const double dual_x3 = vector->real_part.x1 * matrix->r1c3 + vector->real_part.x2 * matrix->r2c3 + vector->real_part.x3 * matrix->r3c3;
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const double dual_x = vector->real_part.x * matrix->r1c1 + vector->real_part.y * matrix->r2c1 + vector->real_part.z * matrix->r3c1;
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const double dual_y = vector->real_part.x * matrix->r1c2 + vector->real_part.y * matrix->r2c2 + vector->real_part.z * matrix->r3c2;
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const double dual_z = vector->real_part.x * matrix->r1c3 + vector->real_part.y * matrix->r2c3 + vector->real_part.z * matrix->r3c3;
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product->real_part.x1 = real_x1;
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product->real_part.x2 = real_x2;
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product->real_part.x3 = real_x3;
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product->real_part.x = real_x;
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product->real_part.y = real_y;
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product->real_part.z = real_z;
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product->real_part.x1 = real_x1;
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product->real_part.x2 = real_x2;
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product->real_part.x3 = real_x3;
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product->real_part.x = real_x;
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