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Добавление дополнительных операций умножения кватернионов, переименование функций для единообразия названий

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This commit is contained in:
Andrey Pokidov 2026-03-29 12:19:03 +07:00
parent 078512c3d5
commit d83ab7160d
18 changed files with 379 additions and 177 deletions
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76
basic-geometry/matrix3x3.h
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@ -786,7 +786,7 @@ inline void bgc_fp64_matrix3x3_subtract_scaled(BGC_FP64_Matrix3x3* const differe
// ================== Multiply ================== //
inline void bgc_fp32_matrix3x3_multiply_by_real(BGC_FP32_Matrix3x3* const product, const BGC_FP32_Matrix3x3* const multiplicand, const float multiplier)
inline void bgc_fp32_matrix3x3_multiply_by_real_number(BGC_FP32_Matrix3x3* const product, const BGC_FP32_Matrix3x3* const multiplicand, const float multiplier)
{
product->r1c1 = multiplicand->r1c1 * multiplier;
product->r1c2 = multiplicand->r1c2 * multiplier;
@ -801,7 +801,7 @@ inline void bgc_fp32_matrix3x3_multiply_by_real(BGC_FP32_Matrix3x3* const produc
product->r3c3 = multiplicand->r3c3 * multiplier;
}
inline void bgc_fp64_matrix3x3_multiply_by_real(BGC_FP64_Matrix3x3* const product, const BGC_FP64_Matrix3x3* const multiplicand, const double multiplier)
inline void bgc_fp64_matrix3x3_multiply_by_real_number(BGC_FP64_Matrix3x3* const product, const BGC_FP64_Matrix3x3* const multiplicand, const double multiplier)
{
product->r1c1 = multiplicand->r1c1 * multiplier;
product->r1c2 = multiplicand->r1c2 * multiplier;
@ -840,6 +840,46 @@ inline void bgc_fp64_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* const produ
product->x3 = x3;
}
// ========= Right Dual Vector Product ========== //
inline void bgc_fp32_matrix3x3_multiply_by_dual_vector3(BGC_FP32_DualVector3* const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_DualVector3* const vector)
{
const float real_x1 = matrix->r1c1 * vector->real_part.x1 + matrix->r1c2 * vector->real_part.x2 + matrix->r1c3 * vector->real_part.x3;
const float real_x2 = matrix->r2c1 * vector->real_part.x1 + matrix->r2c2 * vector->real_part.x2 + matrix->r2c3 * vector->real_part.x3;
const float real_x3 = matrix->r3c1 * vector->real_part.x1 + matrix->r3c2 * vector->real_part.x2 + matrix->r3c3 * vector->real_part.x3;
const float dual_x1 = matrix->r1c1 * vector->dual_part.x1 + matrix->r1c2 * vector->dual_part.x2 + matrix->r1c3 * vector->dual_part.x3;
const float dual_x2 = matrix->r2c1 * vector->dual_part.x1 + matrix->r2c2 * vector->dual_part.x2 + matrix->r2c3 * vector->dual_part.x3;
const float dual_x3 = matrix->r3c1 * vector->dual_part.x1 + matrix->r3c2 * vector->dual_part.x2 + matrix->r3c3 * vector->dual_part.x3;
product->real_part.x1 = real_x1;
product->real_part.x2 = real_x2;
product->real_part.x3 = real_x3;
product->real_part.x1 = real_x1;
product->real_part.x2 = real_x2;
product->real_part.x3 = real_x3;
}
inline void bgc_fp64_matrix3x3_multiply_by_dual_vector3(BGC_FP64_DualVector3* const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_DualVector3* const vector)
{
const double real_x1 = matrix->r1c1 * vector->real_part.x1 + matrix->r1c2 * vector->real_part.x2 + matrix->r1c3 * vector->real_part.x3;
const double real_x2 = matrix->r2c1 * vector->real_part.x1 + matrix->r2c2 * vector->real_part.x2 + matrix->r2c3 * vector->real_part.x3;
const double real_x3 = matrix->r3c1 * vector->real_part.x1 + matrix->r3c2 * vector->real_part.x2 + matrix->r3c3 * vector->real_part.x3;
const double dual_x1 = matrix->r1c1 * vector->dual_part.x1 + matrix->r1c2 * vector->dual_part.x2 + matrix->r1c3 * vector->dual_part.x3;
const double dual_x2 = matrix->r2c1 * vector->dual_part.x1 + matrix->r2c2 * vector->dual_part.x2 + matrix->r2c3 * vector->dual_part.x3;
const double dual_x3 = matrix->r3c1 * vector->dual_part.x1 + matrix->r3c2 * vector->dual_part.x2 + matrix->r3c3 * vector->dual_part.x3;
product->real_part.x1 = real_x1;
product->real_part.x2 = real_x2;
product->real_part.x3 = real_x3;
product->real_part.x1 = real_x1;
product->real_part.x2 = real_x2;
product->real_part.x3 = real_x3;
}
// ======= Restrict Right Vector Product ======== //
inline void _bgc_fp32_restrict_matrix3x3_multiply_by_vector3(BGC_FP32_Vector3* restrict const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_Vector3* const vector)
@ -856,6 +896,30 @@ inline void _bgc_fp64_restrict_matrix3x3_multiply_by_vector3(BGC_FP64_Vector3* r
product->x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
}
// ========= Right Dual Vector Product ========== //
inline void _bgc_fp32_restrict_matrix3x3_multiply_by_dual_vector3(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_Matrix3x3* const matrix, const BGC_FP32_DualVector3* const vector)
{
product->real_part.x1 = matrix->r1c1 * vector->real_part.x1 + matrix->r1c2 * vector->real_part.x2 + matrix->r1c3 * vector->real_part.x3;
product->real_part.x2 = matrix->r2c1 * vector->real_part.x1 + matrix->r2c2 * vector->real_part.x2 + matrix->r2c3 * vector->real_part.x3;
product->real_part.x3 = matrix->r3c1 * vector->real_part.x1 + matrix->r3c2 * vector->real_part.x2 + matrix->r3c3 * vector->real_part.x3;
product->real_part.x1 = matrix->r1c1 * vector->dual_part.x1 + matrix->r1c2 * vector->dual_part.x2 + matrix->r1c3 * vector->dual_part.x3;
product->real_part.x2 = matrix->r2c1 * vector->dual_part.x1 + matrix->r2c2 * vector->dual_part.x2 + matrix->r2c3 * vector->dual_part.x3;
product->real_part.x3 = matrix->r3c1 * vector->dual_part.x1 + matrix->r3c2 * vector->dual_part.x2 + matrix->r3c3 * vector->dual_part.x3;
}
inline void _bgc_fp64_restrict_matrix3x3_multiply_by_dual_vector3(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_Matrix3x3* const matrix, const BGC_FP64_DualVector3* const vector)
{
product->real_part.x1 = matrix->r1c1 * vector->real_part.x1 + matrix->r1c2 * vector->real_part.x2 + matrix->r1c3 * vector->real_part.x3;
product->real_part.x2 = matrix->r2c1 * vector->real_part.x1 + matrix->r2c2 * vector->real_part.x2 + matrix->r2c3 * vector->real_part.x3;
product->real_part.x3 = matrix->r3c1 * vector->real_part.x1 + matrix->r3c2 * vector->real_part.x2 + matrix->r3c3 * vector->real_part.x3;
product->real_part.x1 = matrix->r1c1 * vector->dual_part.x1 + matrix->r1c2 * vector->dual_part.x2 + matrix->r1c3 * vector->dual_part.x3;
product->real_part.x2 = matrix->r2c1 * vector->dual_part.x1 + matrix->r2c2 * vector->dual_part.x2 + matrix->r2c3 * vector->dual_part.x3;
product->real_part.x3 = matrix->r3c1 * vector->dual_part.x1 + matrix->r3c2 * vector->dual_part.x2 + matrix->r3c3 * vector->dual_part.x3;
}
// ========== Matrix Product 3x3 at 2x3 ========= //
inline void bgc_fp32_matrix3x3_multiply_by_matrix2x3(BGC_FP32_Matrix2x3* const product, const BGC_FP32_Matrix3x3* const matrix1, const BGC_FP32_Matrix2x3* const matrix2)
@ -958,23 +1022,23 @@ inline void bgc_fp64_matrix3x3_multiply_by_matrix3x3(BGC_FP64_Matrix3x3* const p
// =================== Divide =================== //
inline int bgc_fp32_matrix3x3_divide_by_real(BGC_FP32_Matrix3x3* const quotient, const BGC_FP32_Matrix3x3* const dividend, const float divisor)
inline int bgc_fp32_matrix3x3_divide_by_real_number(BGC_FP32_Matrix3x3* const quotient, const BGC_FP32_Matrix3x3* const dividend, const float divisor)
{
if (bgc_fp32_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE;
}
bgc_fp32_matrix3x3_multiply_by_real(quotient, dividend, 1.0f / divisor);
bgc_fp32_matrix3x3_multiply_by_real_number(quotient, dividend, 1.0f / divisor);
return BGC_SUCCESS;
}
inline int bgc_fp64_matrix3x3_divide_by_real(BGC_FP64_Matrix3x3* const quotient, const BGC_FP64_Matrix3x3* const dividend, const double divisor)
inline int bgc_fp64_matrix3x3_divide_by_real_number(BGC_FP64_Matrix3x3* const quotient, const BGC_FP64_Matrix3x3* const dividend, const double divisor)
{
if (bgc_fp64_is_zero(divisor) || isnan(divisor)) {
return BGC_FAILURE;
}
bgc_fp64_matrix3x3_multiply_by_real(quotient, dividend, 1.0 / divisor);
bgc_fp64_matrix3x3_multiply_by_real_number(quotient, dividend, 1.0 / divisor);
return BGC_SUCCESS;
}