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Добавлены функции возведения в степень, экспоненты и логарифма для дуальных чисел, добавлены функции магнитуды для дуальных кватернионов

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Andrey Pokidov 2026-04-17 22:48:48 +07:00
parent 178e004e3f
commit cfb5fb7378
4 changed files with 121 additions and 0 deletions
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48
basic-geometry/dual-quaternion.h
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@ -18,6 +18,54 @@ inline void bgc_fp64_dual_quaternion_reset(BGC_FP64_DualQuaternion* const quater
bgc_fp64_quaternion_reset(&quaternion->dual_part);
}
// ============== Square Magnitude ============== //
inline void bgc_fp32_dual_quaternion_get_square_magnitude(BGC_FP32_DualNumber* const square_magnitude, const BGC_FP32_DualQuaternion* const quaternion)
{
square_magnitude->real_part = bgc_fp32_quaternion_get_square_magnitude(&quaternion->real_part);
square_magnitude->dual_part = 2.0f * bgc_fp32_quaternion_get_dot_product(&quaternion->real_part, &quaternion->dual_part);
}
inline void bgc_fp64_dual_quaternion_get_square_magnitude(BGC_FP64_DualNumber* const square_magnitude, const BGC_FP64_DualQuaternion* const quaternion)
{
square_magnitude->real_part = bgc_fp64_quaternion_get_square_magnitude(&quaternion->real_part);
square_magnitude->dual_part = 2.0 * bgc_fp64_quaternion_get_dot_product(&quaternion->real_part, &quaternion->dual_part);
}
// ================= Magnitude ================== //
inline void bgc_fp32_dual_quaternion_get_magnitude(BGC_FP32_DualNumber* const magnitude, const BGC_FP32_DualQuaternion* const quaternion)
{
const float square_real_part = bgc_fp32_quaternion_get_square_magnitude(&quaternion->real_part);
if (square_real_part <= BGC_FP32_SQUARE_EPSILON) {
magnitude->real_part = 0.0f;
magnitude->dual_part = 0.0f;
return;
}
const float real_part = sqrtf(square_real_part);
magnitude->real_part = real_part;
magnitude->dual_part = bgc_fp32_quaternion_get_dot_product(&quaternion->real_part, &quaternion->dual_part) / real_part;
}
inline void bgc_fp64_dual_quaternion_get_magnitude(BGC_FP64_DualNumber* const magnitude, const BGC_FP64_DualQuaternion* const quaternion)
{
const double square_real_part = bgc_fp64_quaternion_get_square_magnitude(&quaternion->real_part);
if (square_real_part <= BGC_FP64_SQUARE_EPSILON) {
magnitude->real_part = 0.0;
magnitude->dual_part = 0.0;
return;
}
const double real_part = sqrt(square_real_part);
magnitude->real_part = real_part;
magnitude->dual_part = bgc_fp64_quaternion_get_dot_product(&quaternion->real_part, &quaternion->dual_part) / real_part;
}
// ==================== Copy ==================== //
inline void bgc_fp32_dual_quaternion_copy(BGC_FP32_DualQuaternion* const destination, const BGC_FP32_DualQuaternion* const source)