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2 commits
b470a3194b ... 57280ac3f3

Author SHA1 Message Date
Andrey Pokidov
57280ac3f3 Добавление арифметических операций для дуальных чисел, векторов и кватернионов 2026-02-05 01:58:09 +07:00
Andrey Pokidov
b0b064de5a Добавление арифметических операций для дуальных кватернионов 2026-02-05 01:47:52 +07:00
26 changed files with 334 additions and 142 deletions
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4
basic-geometry/angle.h
View file

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

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

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

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

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

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

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

53
basic-geometry/dual-number.c
View file

@ -1,34 +1,43 @@
#include "dual-number.h" #include "dual-number.h"
inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number); extern inline void bgc_fp32_dual_number_reset(BGC_FP32_DualNumber* number);
inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number); extern inline void bgc_fp64_dual_number_reset(BGC_FP64_DualNumber* number);
inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual); extern inline void bgc_fp32_dual_number_make(BGC_FP32_DualNumber* number, const float real, const float dual);
inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real, const double dual); extern inline void bgc_fp64_dual_number_make(BGC_FP64_DualNumber* number, const double real, const double dual);
inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source); extern inline void bgc_fp32_dual_number_copy(BGC_FP32_DualNumber* destination, const BGC_FP32_DualNumber* source);
inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source); extern inline void bgc_fp64_dual_number_copy(BGC_FP64_DualNumber* destination, const BGC_FP64_DualNumber* source);
inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second); extern inline void bgc_fp32_dual_number_swap(BGC_FP32_DualNumber* first, BGC_FP32_DualNumber* second);
inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second); extern inline void bgc_fp64_dual_number_swap(BGC_FP64_DualNumber* first, BGC_FP64_DualNumber* second);
inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second); extern inline void bgc_fp32_dual_number_add(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second);
inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second); extern inline void bgc_fp64_dual_number_add(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second);
inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale); extern inline void bgc_fp32_dual_number_add_scaled(BGC_FP32_DualNumber* sum, const BGC_FP32_DualNumber* base_number, const BGC_FP32_DualNumber* scalable_number, const float scale);
inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale); extern inline void bgc_fp64_dual_number_add_scaled(BGC_FP64_DualNumber* sum, const BGC_FP64_DualNumber* base_number, const BGC_FP64_DualNumber* scalable_number, const double scale);
inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend); extern inline void bgc_fp32_dual_number_subtract(BGC_FP32_DualNumber* difference, const BGC_FP32_DualNumber* minuend, const BGC_FP32_DualNumber* subtrahend);
inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* minuend, const BGC_FP64_DualNumber* subtrahend); extern inline void bgc_fp64_dual_number_subtract(BGC_FP64_DualNumber* difference, const BGC_FP64_DualNumber* minuend, const BGC_FP64_DualNumber* subtrahend);
inline void bgc_fp32_dual_number_multiply(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier); extern inline void bgc_fp32_dual_number_multiply(BGC_FP32_DualNumber* product, const BGC_FP32_DualNumber* multiplicand, const float multiplier);
inline void bgc_fp64_dual_number_multiply(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const double multiplier); extern inline void bgc_fp64_dual_number_multiply(BGC_FP64_DualNumber* product, const BGC_FP64_DualNumber* multiplicand, const double multiplier);
inline void bgc_fp32_dual_number_divide(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor); extern inline void bgc_fp32_dual_number_divide(BGC_FP32_DualNumber* quotient, const BGC_FP32_DualNumber* dividend, const float divisor);
inline void bgc_fp64_dual_number_divide(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const double divisor); extern inline void bgc_fp64_dual_number_divide(BGC_FP64_DualNumber* quotient, const BGC_FP64_DualNumber* dividend, const double divisor);
inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second); extern inline void bgc_fp32_dual_number_get_mean2(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second);
inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second); extern inline void bgc_fp64_dual_number_get_mean2(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second);
inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const BGC_FP32_DualNumber* third); extern inline void bgc_fp32_dual_number_get_mean3(BGC_FP32_DualNumber* mean, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const BGC_FP32_DualNumber* third);
inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const BGC_FP64_DualNumber* third); extern inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const BGC_FP64_DualNumber* third);
extern inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const float phase);
extern inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* interpolation, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const double phase);
extern inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* number);
extern inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number);
extern inline void bgc_fp32_number_get_reverse(BGC_FP32_DualNumber* reverse, const BGC_FP32_DualNumber* number);
extern inline void bgc_fp64_number_get_reverse(BGC_FP64_DualNumber* reverse, const BGC_FP64_DualNumber* number);

50
basic-geometry/dual-number.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_DUAL_NUMBER_H_ #ifndef _BGC_DUAL_NUMBER_H_INCLUDED_
#define _BGC_DUAL_NUMBER_H_ #define _BGC_DUAL_NUMBER_H_INCLUDED_
#include "utilities.h" #include "utilities.h"
@ -165,4 +165,50 @@ inline void bgc_fp64_dual_number_get_mean3(BGC_FP64_DualNumber* mean, const BGC_
mean->dual = (first->dual + second->dual + third->dual) * BGC_FP64_ONE_THIRD; mean->dual = (first->dual + second->dual + third->dual) * BGC_FP64_ONE_THIRD;
} }
// ============ Linear Interpolation ============ //
inline void bgc_fp32_dual_number_interpolate(BGC_FP32_DualNumber* interpolation, const BGC_FP32_DualNumber* first, const BGC_FP32_DualNumber* second, const float phase)
{
const float counter_phase = 1.0f - phase;
interpolation->real = first->real *counter_phase + second->real * phase;
interpolation->dual = first->dual *counter_phase + second->dual * phase;
}
inline void bgc_fp64_dual_number_interpolate(BGC_FP64_DualNumber* interpolation, const BGC_FP64_DualNumber* first, const BGC_FP64_DualNumber* second, const double phase)
{
const double counter_phase = 1.0 - phase;
interpolation->real = first->real * counter_phase + second->real * phase;
interpolation->dual = first->dual * counter_phase + second->dual * phase;
}
// =================== Revert =================== //
inline void bgc_fp32_dual_number_revert(BGC_FP32_DualNumber* number)
{
number->real = -number->real;
number->dual = -number->dual;
}
inline void bgc_fp64_dual_number_revert(BGC_FP64_DualNumber* number)
{
number->real = -number->real;
number->dual = -number->dual;
}
// ================ Get Reverse ================= //
inline void bgc_fp32_number_get_reverse(BGC_FP32_DualNumber* reverse, const BGC_FP32_DualNumber* number)
{
reverse->real = -number->real;
reverse->dual = -number->dual;
}
inline void bgc_fp64_number_get_reverse(BGC_FP64_DualNumber* reverse, const BGC_FP64_DualNumber* number)
{
reverse->real = -number->real;
reverse->dual = -number->dual;
}
#endif #endif

21
basic-geometry/dual-quaternion.c
View file

@ -20,3 +20,24 @@ 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_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_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* first, const BGC_FP32_DualQuaternion* second, const float phase);
extern inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase);
extern inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion);
extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion);
extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion);

100
basic-geometry/dual-quaternion.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_DUAL_QUATERNION_H_ #ifndef _BGC_DUAL_QUATERNION_H_INCLUDED_
#define _BGC_DUAL_QUATERNION_H_ #define _BGC_DUAL_QUATERNION_H_INCLUDED_
#include "quaternion.h" #include "quaternion.h"
@ -111,4 +111,100 @@ inline void bgc_fp64_dual_quaternion_subtract(BGC_FP64_DualQuaternion* differenc
bgc_fp64_quaternion_subtract(&difference->dual, &minuend->dual, &subtrahend->dual); 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);
bgc_fp64_quaternion_get_mean3(&mean->dual, &quaternion1->dual, &quaternion2->dual, &quaternion3->dual);
}
// ============ Linear Interpolation ============ //
inline void bgc_fp32_dual_quaternion_interpolate(BGC_FP32_DualQuaternion* interpolation, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second, const float phase)
{
bgc_fp32_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase);
bgc_fp32_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
}
inline void bgc_fp64_dual_quaternion_interpolate(BGC_FP64_DualQuaternion* interpolation, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second, const double phase)
{
bgc_fp64_quaternion_interpolate(&interpolation->real, &first->real, &second->real, phase);
bgc_fp64_quaternion_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
}
// =================== Revert =================== //
inline void bgc_fp32_dual_quaternion_revert(BGC_FP32_DualQuaternion* quaternion)
{
bgc_fp32_quaternion_revert(&quaternion->real);
bgc_fp32_quaternion_revert(&quaternion->dual);
}
inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quaternion)
{
bgc_fp64_quaternion_revert(&quaternion->real);
bgc_fp64_quaternion_revert(&quaternion->dual);
}
// ================ Get Reverse ================= //
inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion)
{
bgc_fp32_quaternion_get_reverse(&reverse->real, &quaternion->real);
bgc_fp32_quaternion_get_reverse(&reverse->dual, &quaternion->dual);
}
inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion)
{
bgc_fp64_quaternion_get_reverse(&reverse->real, &quaternion->real);
bgc_fp64_quaternion_get_reverse(&reverse->dual, &quaternion->dual);
}
#endif #endif

15
basic-geometry/dual-vector3.c
View file

@ -32,3 +32,18 @@ extern inline void bgc_fp64_dual_vector3_multiply(BGC_FP64_DualVector3* product,
extern inline void bgc_fp32_dual_vector3_divide(BGC_FP32_DualVector3* quotient, const BGC_FP32_DualVector3* dividend, const float divisor); extern inline void bgc_fp32_dual_vector3_divide(BGC_FP32_DualVector3* quotient, const BGC_FP32_DualVector3* dividend, const float divisor);
extern inline void bgc_fp64_dual_vector3_divide(BGC_FP64_DualVector3* quotient, const BGC_FP64_DualVector3* dividend, const double divisor); extern inline void bgc_fp64_dual_vector3_divide(BGC_FP64_DualVector3* quotient, const BGC_FP64_DualVector3* dividend, const double divisor);
extern inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2);
extern inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2);
extern inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2, const BGC_FP32_DualVector3* vector3);
extern inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* mean, const BGC_FP64_DualVector3* vector1, const BGC_FP64_DualVector3* vector2, const BGC_FP64_DualVector3* vector3);
extern inline void bgc_fp32_dual_vector3_interpolate(BGC_FP32_DualVector3* interpolation, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second, const float phase);
extern inline void bgc_fp64_dual_vector3_interpolate(BGC_FP64_DualVector3* interpolation, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second, const double phase);
extern inline void bgc_fp32_dual_vector3_revert(BGC_FP32_DualVector3* vector);
extern inline void bgc_fp64_dual_vector3_revert(BGC_FP64_DualVector3* vector);
extern inline void bgc_fp32_dual_vector3_get_reverse(BGC_FP32_DualVector3* reverse, const BGC_FP32_DualVector3* vector);
extern inline void bgc_fp64_dual_vector3_get_reverse(BGC_FP64_DualVector3* reverse, const BGC_FP64_DualVector3* vector);

50
basic-geometry/dual-vector3.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_DUAL_VECTOR3_H_INCLUDE_ #ifndef _BGC_DUAL_VECTOR3_H_INCLUDED_
#define _BGC_DUAL_VECTOR3_H_INCLUDE_ #define _BGC_DUAL_VECTOR3_H_INCLUDED_
#include "./vector3.h" #include "./vector3.h"
@ -169,7 +169,7 @@ inline void bgc_fp64_dual_vector3_divide(BGC_FP64_DualVector3* quotient, const B
bgc_fp64_dual_vector3_multiply(quotient, dividend, 1.0 / divisor); bgc_fp64_dual_vector3_multiply(quotient, dividend, 1.0 / divisor);
} }
// ================== Average2 ================== // // ================ Mean of Two ================= //
inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2) inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2)
{ {
@ -183,7 +183,7 @@ inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* mean, const BG
bgc_fp64_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual); bgc_fp64_vector3_get_mean2(&mean->dual, &vector1->dual, &vector2->dual);
} }
// ================== Average3 ================== // // =============== Mean of Three ================ //
inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2, const BGC_FP32_DualVector3* vector3) inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* mean, const BGC_FP32_DualVector3* vector1, const BGC_FP32_DualVector3* vector2, const BGC_FP32_DualVector3* vector3)
{ {
@ -197,4 +197,46 @@ inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* mean, const BG
bgc_fp64_vector3_get_mean3(&mean->dual, &vector1->dual, &vector2->dual, &vector3->dual); bgc_fp64_vector3_get_mean3(&mean->dual, &vector1->dual, &vector2->dual, &vector3->dual);
} }
// ============ Linear Interpolation ============ //
inline void bgc_fp32_dual_vector3_interpolate(BGC_FP32_DualVector3* interpolation, const BGC_FP32_DualVector3* first, const BGC_FP32_DualVector3* second, const float phase)
{
bgc_fp32_vector3_interpolate(&interpolation->real, &first->real, &second->real, phase);
bgc_fp32_vector3_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
}
inline void bgc_fp64_dual_vector3_interpolate(BGC_FP64_DualVector3* interpolation, const BGC_FP64_DualVector3* first, const BGC_FP64_DualVector3* second, const double phase)
{
bgc_fp64_vector3_interpolate(&interpolation->real, &first->real, &second->real, phase);
bgc_fp64_vector3_interpolate(&interpolation->dual, &first->dual, &second->dual, phase);
}
// =================== Revert =================== //
inline void bgc_fp32_dual_vector3_revert(BGC_FP32_DualVector3* vector)
{
bgc_fp32_vector3_revert(&vector->real);
bgc_fp32_vector3_revert(&vector->dual);
}
inline void bgc_fp64_dual_vector3_revert(BGC_FP64_DualVector3* vector)
{
bgc_fp64_vector3_revert(&vector->real);
bgc_fp64_vector3_revert(&vector->dual);
}
// ================ Get Reverse ================= //
inline void bgc_fp32_dual_vector3_get_reverse(BGC_FP32_DualVector3* reverse, const BGC_FP32_DualVector3* vector)
{
bgc_fp32_vector3_get_reverse(&reverse->real, &vector->real);
bgc_fp32_vector3_get_reverse(&reverse->dual, &vector->dual);
}
inline void bgc_fp64_dual_vector3_get_reverse(BGC_FP64_DualVector3* reverse, const BGC_FP64_DualVector3* vector)
{
bgc_fp64_vector3_get_reverse(&reverse->real, &vector->real);
bgc_fp64_vector3_get_reverse(&reverse->dual, &vector->dual);
}
#endif #endif

4
basic-geometry/matrices.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_MATRICES_H_ #ifndef _BGC_MATRICES_H_INCLUDED_
#define _BGC_MATRICES_H_ #define _BGC_MATRICES_H_INCLUDED_
// ================== Matrix2x2 ================= // // ================== Matrix2x2 ================= //

4
basic-geometry/matrix2x2.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_MATRIX2X2_H_ #ifndef _BGC_MATRIX2X2_H_INCLUDED_
#define _BGC_MATRIX2X2_H_ #define _BGC_MATRIX2X2_H_INCLUDED_
#include "angle.h" #include "angle.h"
#include "vector2.h" #include "vector2.h"

4
basic-geometry/matrix2x3.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_MATRIX2X3_H_ #ifndef _BGC_MATRIX2X3_H_INCLUDED_
#define _BGC_MATRIX2X3_H_ #define _BGC_MATRIX2X3_H_INCLUDED_
#include "vector2.h" #include "vector2.h"
#include "vector3.h" #include "vector3.h"

4
basic-geometry/matrix3x2.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_MATRIX3X2_H_ #ifndef _BGC_MATRIX3X2_H_INCLUDED_
#define _BGC_MATRIX3X2_H_ #define _BGC_MATRIX3X2_H_INCLUDED_
#include "vector2.h" #include "vector2.h"
#include "vector3.h" #include "vector3.h"

4
basic-geometry/matrix3x3.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_MATRIX3X3_H_ #ifndef _BGC_MATRIX3X3_H_INCLUDED_
#define _BGC_MATRIX3X3_H_ #define _BGC_MATRIX3X3_H_INCLUDED_
#include "vector3.h" #include "vector3.h"
#include "matrices.h" #include "matrices.h"

4
basic-geometry/quaternion.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_QUATERNION_H_ #ifndef _BGC_QUATERNION_H_INCLUDED_
#define _BGC_QUATERNION_H_ #define _BGC_QUATERNION_H_INCLUDED_
#include <math.h> #include <math.h>

4
basic-geometry/slerp.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_VERSOR_SLERP_H_ #ifndef _BGC_SLERP_H_INCLUDED_
#define _BGC_VERSOR_SLERP_H_ #define _BGC_SLERP_H_INCLUDED_
#include "./turn3.h" #include "./turn3.h"

4
basic-geometry/turn2.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_COTES_NUMBER_H_ #ifndef _BGC_TURN2_H_INCLUDED_
#define _BGC_COTES_NUMBER_H_ #define _BGC_TURN2_H_INCLUDED_
#include <math.h> #include <math.h>

23
basic-geometry/turn3.c
View file

@ -192,7 +192,7 @@ void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* turn, const double x1, const do
const double multiplier = sine / sqrt(square_vector); const double multiplier = sine / sqrt(square_vector);
bgc_fp64_quaternion_make(&turn->_versor, cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier); bgc_fp64_quaternion_make(&turn->_versor, cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier);
const double square_modulus = bgc_fp64_quaternion_get_square_modulus(&turn->_versor); const double square_modulus = bgc_fp64_quaternion_get_square_modulus(&turn->_versor);
@ -203,7 +203,7 @@ void bgc_fp64_turn3_set_rotation(BGC_FP64_Turn3* turn, const double x1, const do
// ========= Make Direction Difference ========== // // ========= Make Direction Difference ========== //
static int _bgc_fp32_turn3_make_direction_turn(BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* start, const BGC_FP32_Vector3* end, const float square_modulus) static int _bgc_fp32_turn3_make_direction_turn(BGC_FP32_Turn3* turn, const BGC_FP32_Vector3* start, const BGC_FP32_Vector3* end, const float square_modulus_product)
{ {
BGC_FP32_Vector3 orthogonal_axis; BGC_FP32_Vector3 orthogonal_axis;
@ -213,13 +213,13 @@ static int _bgc_fp32_turn3_make_direction_turn(BGC_FP32_Turn3* turn, const BGC_F
const float square_modulus = bgc_fp32_vector3_get_square_modulus(&orthogonal_axis); const float square_modulus = bgc_fp32_vector3_get_square_modulus(&orthogonal_axis);
const float square_sine = square_modulus / square_modulus_product; const float square_sine = square_modulus / square_modulus_product;
if (square_sine > BGC_FP64_SQUARE_EPSILON) { if (square_sine > BGC_FP32_SQUARE_EPSILON) {
const float cosine = scalar_product / sqrtf(square_modulus_product); const float cosine = scalar_product / sqrtf(square_modulus_product);
const float angle = 0.5 * atan2f(sqrtf(square_sine), cosine); const float angle = 0.5f * atan2f(sqrtf(square_sine), cosine);
const float multiplier = sin(angle) * sqrtf(1.0f / square_modulus); const float multiplier = sinf(angle) * sqrtf(1.0f / square_modulus);
bgc_fp32_turn3_set_raw_values(versor, cosf(angle), orthogonal_axis.x1 * multiplier, orthogonal_axis.x2 * multiplier, orthogonal_axis.x3 * multiplier); bgc_fp32_turn3_set_raw_values(turn, cosf(angle), orthogonal_axis.x1 * multiplier, orthogonal_axis.x2 * multiplier, orthogonal_axis.x3 * multiplier);
return BGC_SOME_TURN; return BGC_SOME_TURN;
} }
@ -227,7 +227,7 @@ static int _bgc_fp32_turn3_make_direction_turn(BGC_FP32_Turn3* turn, const BGC_F
return BGC_OPPOSITE; return BGC_OPPOSITE;
} }
bgc_fp32_turn3_reset(versor); bgc_fp32_turn3_reset(turn);
return BGC_ZERO_TURN; return BGC_ZERO_TURN;
} }
@ -273,15 +273,6 @@ int bgc_fp32_turn3_find_direction_difference(BGC_FP32_Turn3* difference, const B
return BGC_ZERO_TURN; return BGC_ZERO_TURN;
} }
const double scalar_product = bgc_fp64_vector3_get_dot_product(start, end);
if () {
}
BGC_FP64_Vector3 orthogonal_axis;
bgc_fp64_vector3_get_cross_product(&orthogonal_axis, start, end);
return _bgc_fp32_turn3_make_direction_turn(difference, start, end, start_square_modulus * end_square_modulus); return _bgc_fp32_turn3_make_direction_turn(difference, start, end, start_square_modulus * end_square_modulus);
} }

4
basic-geometry/turn3.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_VERSOR_H_ #ifndef _BGC_TURN3_H_INCLUDED_
#define _BGC_VERSOR_H_ #define _BGC_TURN3_H_INCLUDED_
#include <stdint.h> #include <stdint.h>

16
basic-geometry/types.h
View file

@ -1,16 +0,0 @@
#ifndef _BGC_TYPES_H_
#define _BGC_TYPES_H_
// ================== Complex =================== //
typedef struct
{
float real, imaginary;
} BgcComplexFP32;
typedef struct
{
double real, imaginary;
} BgcComplexFP64;
#endif

4
basic-geometry/utilities.h
View file

@ -1,5 +1,5 @@
#ifndef _BGC_UTILITIES_H_ #ifndef _BGC_UTILITIES_H_INCLUDED_
#define _BGC_UTILITIES_H_ #define _BGC_UTILITIES_H_INCLUDED_
#define BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT 1.0f #define BGC_FP32_EPSILON_EFFECTIVENESS_LIMIT 1.0f

4
basic-geometry/vector2.c
View file

@ -48,8 +48,8 @@ extern inline void bgc_fp64_vector2_get_mean2(BGC_FP64_Vector2* mean, const BGC_
extern inline void bgc_fp32_vector2_get_mean3(BGC_FP32_Vector2* mean, const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2, const BGC_FP32_Vector2* vector3); extern inline void bgc_fp32_vector2_get_mean3(BGC_FP32_Vector2* mean, const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2, const BGC_FP32_Vector2* vector3);
extern inline void bgc_fp64_vector2_get_mean3(BGC_FP64_Vector2* mean, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const BGC_FP64_Vector2* vector3); extern inline void bgc_fp64_vector2_get_mean3(BGC_FP64_Vector2* mean, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const BGC_FP64_Vector2* vector3);
extern inline void bgc_fp32_vector2_interpolate(BGC_FP32_Vector2* interpolation, const BGC_FP32_Vector2* vector1, const BGC_FP32_Vector2* vector2, const float phase); extern inline void bgc_fp32_vector2_interpolate(BGC_FP32_Vector2* interpolation, const BGC_FP32_Vector2* first, const BGC_FP32_Vector2* second, const float phase);
extern inline void bgc_fp64_vector2_interpolate(BGC_FP64_Vector2* interpolation, const BGC_FP64_Vector2* vector1, const BGC_FP64_Vector2* vector2, const double phase); extern inline void bgc_fp64_vector2_interpolate(BGC_FP64_Vector2* interpolation, const BGC_FP64_Vector2* first, const BGC_FP64_Vector2* second, const double phase);
extern inline void bgc_fp32_vector2_revert(BGC_FP32_Vector2* vector); extern inline void bgc_fp32_vector2_revert(BGC_FP32_Vector2* vector);
extern inline void bgc_fp64_vector2_revert(BGC_FP64_Vector2* vector); extern inline void bgc_fp64_vector2_revert(BGC_FP64_Vector2* vector);

16
basic-geometry/vector2.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_VECTOR2_H_ #ifndef _BGC_VECTOR2_H_INCLUDED_
#define _BGC_VECTOR2_H_ #define _BGC_VECTOR2_H_INCLUDED_
#include "utilities.h" #include "utilities.h"
#include "angle.h" #include "angle.h"
@ -240,20 +240,20 @@ inline void bgc_fp64_vector2_get_mean3(BGC_FP64_Vector2* mean, const BGC_FP64_Ve
// =================== Linear =================== // // =================== Linear =================== //