443 lines
23 KiB
C
443 lines
23 KiB
C
#ifndef _BGC_DUAL_VECTOR3_H_INCLUDED_
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#define _BGC_DUAL_VECTOR3_H_INCLUDED_
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#include "./types.h"
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#include "./vector3.h"
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// =================== Reset ==================== //
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inline void bgc_fp32_dual_vector3_reset(BGC_FP32_DualVector3* const vector)
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{
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bgc_fp32_vector3_reset(&vector->real_part);
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bgc_fp32_vector3_reset(&vector->dual_part);
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}
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inline void bgc_fp64_dual_vector3_reset(BGC_FP64_DualVector3* const vector)
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{
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bgc_fp64_vector3_reset(&vector->real_part);
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bgc_fp64_vector3_reset(&vector->dual_part);
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}
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// ==================== Copy ==================== //
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inline void bgc_fp32_dual_vector3_copy(BGC_FP32_DualVector3* const destination, const BGC_FP32_DualVector3* const source)
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{
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bgc_fp32_vector3_copy(&destination->real_part, &source->real_part);
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bgc_fp32_vector3_copy(&destination->dual_part, &source->dual_part);
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}
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inline void bgc_fp64_dual_vector3_copy(BGC_FP64_DualVector3* const destination, const BGC_FP64_DualVector3* const source)
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{
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bgc_fp64_vector3_copy(&destination->real_part, &source->real_part);
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bgc_fp64_vector3_copy(&destination->dual_part, &source->dual_part);
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}
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// ==================== Swap ==================== //
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inline void bgc_fp32_dual_vector3_swap(BGC_FP32_DualVector3* const first, BGC_FP32_DualVector3* const second)
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{
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bgc_fp32_vector3_swap(&first->real_part, &second->real_part);
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bgc_fp32_vector3_swap(&first->dual_part, &second->dual_part);
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}
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inline void bgc_fp64_dual_vector3_swap(BGC_FP64_DualVector3* const first, BGC_FP64_DualVector3* const second)
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{
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bgc_fp64_vector3_swap(&first->real_part, &second->real_part);
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bgc_fp64_vector3_swap(&first->dual_part, &second->dual_part);
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}
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// ================== Convert =================== //
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inline void bgc_fp32_dual_vector3_convert_to_fp64(BGC_FP64_DualVector3* const destination, const BGC_FP32_DualVector3* const source)
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{
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bgc_fp32_vector3_convert_to_fp64(&destination->real_part, &source->real_part);
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bgc_fp32_vector3_convert_to_fp64(&destination->dual_part, &source->dual_part);
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}
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inline void bgc_fp64_dual_vector3_convert_to_fp32(BGC_FP32_DualVector3* const destination, const BGC_FP64_DualVector3* const source)
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{
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bgc_fp64_vector3_convert_to_fp32(&destination->real_part, &source->real_part);
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bgc_fp64_vector3_convert_to_fp32(&destination->dual_part, &source->dual_part);
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}
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// =================== Revert =================== //
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inline void bgc_fp32_dual_vector3_revert(BGC_FP32_DualVector3* const vector)
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{
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bgc_fp32_vector3_revert(&vector->real_part);
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bgc_fp32_vector3_revert(&vector->dual_part);
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}
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inline void bgc_fp64_dual_vector3_revert(BGC_FP64_DualVector3* const vector)
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{
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bgc_fp64_vector3_revert(&vector->real_part);
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bgc_fp64_vector3_revert(&vector->dual_part);
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}
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// ================ Get Reverse ================= //
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inline void bgc_fp32_dual_vector3_get_reverse(BGC_FP32_DualVector3* const reverse, const BGC_FP32_DualVector3* const vector)
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{
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bgc_fp32_vector3_get_reverse(&reverse->real_part, &vector->real_part);
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bgc_fp32_vector3_get_reverse(&reverse->dual_part, &vector->dual_part);
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}
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inline void bgc_fp64_dual_vector3_get_reverse(BGC_FP64_DualVector3* const reverse, const BGC_FP64_DualVector3* const vector)
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{
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bgc_fp64_vector3_get_reverse(&reverse->real_part, &vector->real_part);
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bgc_fp64_vector3_get_reverse(&reverse->dual_part, &vector->dual_part);
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}
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// ==================== Add ===================== //
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inline void bgc_fp32_dual_vector3_add(BGC_FP32_DualVector3* const sum, const BGC_FP32_DualVector3* const first, const BGC_FP32_DualVector3* const second)
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{
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bgc_fp32_vector3_add(&sum->real_part, &first->real_part, &second->real_part);
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bgc_fp32_vector3_add(&sum->dual_part, &first->dual_part, &second->dual_part);
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}
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inline void bgc_fp64_dual_vector3_add(BGC_FP64_DualVector3* const sum, const BGC_FP64_DualVector3* const first, const BGC_FP64_DualVector3* const second)
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{
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bgc_fp64_vector3_add(&sum->real_part, &first->real_part, &second->real_part);
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bgc_fp64_vector3_add(&sum->dual_part, &first->dual_part, &second->dual_part);
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}
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// ================= Add Scaled ================= //
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inline void bgc_fp32_dual_vector3_add_scaled(BGC_FP32_DualVector3* const sum, const BGC_FP32_DualVector3* const base_vector, const BGC_FP32_DualVector3* const scalable_vector, const float scale)
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{
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bgc_fp32_vector3_add_scaled(&sum->real_part, &base_vector->real_part, &scalable_vector->real_part, scale);
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bgc_fp32_vector3_add_scaled(&sum->dual_part, &base_vector->dual_part, &scalable_vector->dual_part, scale);
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}
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inline void bgc_fp64_dual_vector3_add_scaled(BGC_FP64_DualVector3* const sum, const BGC_FP64_DualVector3* const base_vector, const BGC_FP64_DualVector3* const scalable_vector, const double scale)
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{
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bgc_fp64_vector3_add_scaled(&sum->real_part, &base_vector->real_part, &scalable_vector->real_part, scale);
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bgc_fp64_vector3_add_scaled(&sum->dual_part, &base_vector->dual_part, &scalable_vector->dual_part, scale);
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}
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// ================== Subtract ================== //
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inline void bgc_fp32_dual_vector3_subtract(BGC_FP32_DualVector3* const difference, const BGC_FP32_DualVector3* const minuend, const BGC_FP32_DualVector3* const subtrahend)
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{
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bgc_fp32_vector3_subtract(&difference->real_part, &minuend->real_part, &subtrahend->real_part);
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bgc_fp32_vector3_subtract(&difference->dual_part, &minuend->dual_part, &subtrahend->dual_part);
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}
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inline void bgc_fp64_dual_vector3_subtract(BGC_FP64_DualVector3* const difference, const BGC_FP64_DualVector3* const minuend, const BGC_FP64_DualVector3* const subtrahend)
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{
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bgc_fp64_vector3_subtract(&difference->real_part, &minuend->real_part, &subtrahend->real_part);
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bgc_fp64_vector3_subtract(&difference->dual_part, &minuend->dual_part, &subtrahend->dual_part);
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}
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// ============== Subtract Scaled =============== //
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inline void bgc_fp32_dual_vector3_subtract_scaled(BGC_FP32_DualVector3* const difference, const BGC_FP32_DualVector3* const base_vector, const BGC_FP32_DualVector3* const scalable_vector, const float scale)
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{
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bgc_fp32_vector3_subtract_scaled(&difference->real_part, &base_vector->real_part, &scalable_vector->real_part, scale);
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bgc_fp32_vector3_subtract_scaled(&difference->dual_part, &base_vector->dual_part, &scalable_vector->dual_part, scale);
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}
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inline void bgc_fp64_dual_vector3_subtract_scaled(BGC_FP64_DualVector3* const difference, const BGC_FP64_DualVector3* const base_vector, const BGC_FP64_DualVector3* const scalable_vector, const double scale)
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{
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bgc_fp64_vector3_subtract_scaled(&difference->real_part, &base_vector->real_part, &scalable_vector->real_part, scale);
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bgc_fp64_vector3_subtract_scaled(&difference->dual_part, &base_vector->dual_part, &scalable_vector->dual_part, scale);
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}
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// ================== Multiply ================== //
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inline void bgc_fp32_dual_vector3_multiply_by_real_number(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const float multiplier)
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{
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bgc_fp32_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier);
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bgc_fp32_vector3_multiply_by_real_number(&product->dual_part, &multiplicand->dual_part, multiplier);
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}
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inline void bgc_fp64_dual_vector3_multiply_by_real_number(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const double multiplier)
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{
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bgc_fp64_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier);
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bgc_fp64_vector3_multiply_by_real_number(&product->dual_part, &multiplicand->dual_part, multiplier);
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}
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// ========== Multiply by Dual Number =========== //
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inline void bgc_fp32_dual_vector3_multiply_by_dual_number(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const BGC_FP32_DualNumber* multiplier)
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{
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BGC_FP32_Vector3 dual_part;
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bgc_fp32_vector3_multiply_by_real_number(&dual_part, &multiplicand->dual_part, multiplier->real_part);
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bgc_fp32_vector3_add_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier->dual_part);
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bgc_fp32_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier->real_part);
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bgc_fp32_vector3_copy(&product->dual_part, &dual_part);
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}
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inline void bgc_fp64_dual_vector3_multiply_by_dual_number(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const BGC_FP64_DualNumber* multiplier)
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{
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BGC_FP64_Vector3 dual_part;
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bgc_fp64_vector3_multiply_by_real_number(&dual_part, &multiplicand->dual_part, multiplier->real_part);
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bgc_fp64_vector3_add_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier->dual_part);
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bgc_fp64_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier->real_part);
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bgc_fp64_vector3_copy(&product->dual_part, &dual_part);
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}
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// ===== Multiply by Conjugate Dual Number ====== //
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inline void bgc_fp32_dual_vector3_multiply_by_conjugate_dual_number(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const multiplicand, const BGC_FP32_DualNumber* const multiplier_to_conjugate)
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{
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BGC_FP32_Vector3 dual_part;
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bgc_fp32_vector3_multiply_by_real_number(&dual_part, &multiplicand->dual_part, multiplier_to_conjugate->real_part);
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bgc_fp32_vector3_subtract_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier_to_conjugate->dual_part);
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bgc_fp32_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate->real_part);
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bgc_fp32_vector3_copy(&product->dual_part, &dual_part);
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}
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inline void bgc_fp64_dual_vector3_multiply_by_conjugate_dual_number(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const multiplicand, const BGC_FP64_DualNumber* const multiplier_to_conjugate)
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{
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BGC_FP64_Vector3 dual_part;
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bgc_fp64_vector3_multiply_by_real_number(&dual_part, &multiplicand->dual_part, multiplier_to_conjugate->real_part);
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bgc_fp64_vector3_subtract_scaled(&dual_part, &dual_part, &multiplicand->real_part, multiplier_to_conjugate->dual_part);
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bgc_fp64_vector3_multiply_by_real_number(&product->real_part, &multiplicand->real_part, multiplier_to_conjugate->real_part);
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bgc_fp64_vector3_copy(&product->dual_part, &dual_part);
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}
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// ========== Left Dual Vector Product ========== //
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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 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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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.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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}
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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 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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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.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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}
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// ===== Restrict Left Dual Vector Product ====== //
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inline void _bgc_fp32_restrict_dual_vector3_multiply_by_matrix3x3(BGC_FP32_DualVector3* restrict const product, const BGC_FP32_DualVector3* const vector, const BGC_FP32_Matrix3x3* const matrix)
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{
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product->real_part.x1 = vector->real_part.x1 * matrix->r1c1 + vector->real_part.x2 * matrix->r2c1 + vector->real_part.x3 * matrix->r3c1;
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product->real_part.x2 = vector->real_part.x1 * matrix->r1c2 + vector->real_part.x2 * matrix->r2c2 + vector->real_part.x3 * matrix->r3c2;
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product->real_part.x3 = vector->real_part.x1 * matrix->r1c3 + vector->real_part.x2 * matrix->r2c3 + vector->real_part.x3 * matrix->r3c3;
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product->real_part.x1 = vector->real_part.x1 * matrix->r1c1 + vector->real_part.x2 * matrix->r2c1 + vector->real_part.x3 * matrix->r3c1;
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product->real_part.x2 = vector->real_part.x1 * matrix->r1c2 + vector->real_part.x2 * matrix->r2c2 + vector->real_part.x3 * matrix->r3c2;
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product->real_part.x3 = vector->real_part.x1 * matrix->r1c3 + vector->real_part.x2 * matrix->r2c3 + vector->real_part.x3 * matrix->r3c3;
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}
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inline void _bgc_fp64_restrict_dual_vector3_multiply_by_matrix3x3(BGC_FP64_DualVector3* restrict const product, const BGC_FP64_DualVector3* const vector, const BGC_FP64_Matrix3x3* const matrix)
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{
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product->real_part.x1 = vector->real_part.x1 * matrix->r1c1 + vector->real_part.x2 * matrix->r2c1 + vector->real_part.x3 * matrix->r3c1;
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product->real_part.x2 = vector->real_part.x1 * matrix->r1c2 + vector->real_part.x2 * matrix->r2c2 + vector->real_part.x3 * matrix->r3c2;
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product->real_part.x3 = vector->real_part.x1 * matrix->r1c3 + vector->real_part.x2 * matrix->r2c3 + vector->real_part.x3 * matrix->r3c3;
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product->real_part.x1 = vector->real_part.x1 * matrix->r1c1 + vector->real_part.x2 * matrix->r2c1 + vector->real_part.x3 * matrix->r3c1;
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product->real_part.x2 = vector->real_part.x1 * matrix->r1c2 + vector->real_part.x2 * matrix->r2c2 + vector->real_part.x3 * matrix->r3c2;
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product->real_part.x3 = vector->real_part.x1 * matrix->r1c3 + vector->real_part.x2 * matrix->r2c3 + vector->real_part.x3 * matrix->r3c3;
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}
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// =================== Divide =================== //
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inline int bgc_fp32_dual_vector3_divide_by_real_number(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const float divisor)
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{
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if (bgc_fp32_is_zero(divisor)) {
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return BGC_FAILURE;
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}
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const float multiplier = 1.0f / divisor;
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bgc_fp32_vector3_multiply_by_real_number("ient->real_part, ÷nd->real_part, multiplier);
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bgc_fp32_vector3_multiply_by_real_number("ient->dual_part, ÷nd->dual_part, multiplier);
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_vector3_divide_by_real_number(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const double divisor)
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{
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if (bgc_fp64_is_zero(divisor)) {
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return BGC_FAILURE;
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}
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const double multiplier = 1.0 / divisor;
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bgc_fp64_vector3_multiply_by_real_number("ient->real_part, ÷nd->real_part, multiplier);
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bgc_fp64_vector3_multiply_by_real_number("ient->dual_part, ÷nd->dual_part, multiplier);
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return BGC_SUCCESS;
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}
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// =========== Divide by Dual Number ============ //
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inline int bgc_fp32_dual_vector3_divide_by_dual_number(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const BGC_FP32_DualNumber* const divisor)
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{
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const float square_modulus = divisor->real_part * divisor->real_part;
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp32_dual_vector3_multiply_by_conjugate_dual_number(quotient, dividend, divisor);
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bgc_fp32_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_vector3_divide_by_dual_number(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const BGC_FP64_DualNumber* const divisor)
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{
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const double square_modulus = divisor->real_part * divisor->real_part;
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp64_dual_vector3_multiply_by_conjugate_dual_number(quotient, dividend, divisor);
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bgc_fp64_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
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return BGC_SUCCESS;
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}
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// ====== Divide by Conjugate Dual Number ======= //
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inline int bgc_fp32_dual_vector3_divide_by_conjugate_dual_number(BGC_FP32_DualVector3* const quotient, const BGC_FP32_DualVector3* const dividend, const BGC_FP32_DualNumber* const divisor_to_conjugate)
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{
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const float square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
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if (square_modulus <= BGC_FP32_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp32_dual_vector3_multiply_by_dual_number(quotient, dividend, divisor_to_conjugate);
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bgc_fp32_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0f / square_modulus);
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return BGC_SUCCESS;
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}
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inline int bgc_fp64_dual_vector3_divide_by_conjugate_dual_number(BGC_FP64_DualVector3* const quotient, const BGC_FP64_DualVector3* const dividend, const BGC_FP64_DualNumber* const divisor_to_conjugate)
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{
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const double square_modulus = divisor_to_conjugate->real_part * divisor_to_conjugate->real_part;
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if (square_modulus <= BGC_FP64_SQUARE_EPSILON) {
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return BGC_FAILURE;
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}
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bgc_fp64_dual_vector3_multiply_by_dual_number(quotient, dividend, divisor_to_conjugate);
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bgc_fp64_dual_vector3_multiply_by_real_number(quotient, quotient, 1.0 / square_modulus);
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return BGC_SUCCESS;
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}
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// ================ Mean of Two ================= //
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inline void bgc_fp32_dual_vector3_get_mean2(BGC_FP32_DualVector3* const mean, const BGC_FP32_DualVector3* const first, const BGC_FP32_DualVector3* const second)
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{
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bgc_fp32_vector3_get_mean2(&mean->real_part, &first->real_part, &second->real_part);
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bgc_fp32_vector3_get_mean2(&mean->dual_part, &first->dual_part, &second->dual_part);
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}
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inline void bgc_fp64_dual_vector3_get_mean2(BGC_FP64_DualVector3* const mean, const BGC_FP64_DualVector3* const first, const BGC_FP64_DualVector3* const second)
|
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{
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bgc_fp64_vector3_get_mean2(&mean->real_part, &first->real_part, &second->real_part);
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bgc_fp64_vector3_get_mean2(&mean->dual_part, &first->dual_part, &second->dual_part);
|
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}
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|
|
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// =============== Mean of Three ================ //
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|
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inline void bgc_fp32_dual_vector3_get_mean3(BGC_FP32_DualVector3* const mean, const BGC_FP32_DualVector3* const first, const BGC_FP32_DualVector3* const second, const BGC_FP32_DualVector3* const third)
|
|
{
|
|
bgc_fp32_vector3_get_mean3(&mean->real_part, &first->real_part, &second->real_part, &third->real_part);
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|
bgc_fp32_vector3_get_mean3(&mean->dual_part, &first->dual_part, &second->dual_part, &third->dual_part);
|
|
}
|
|
|
|
inline void bgc_fp64_dual_vector3_get_mean3(BGC_FP64_DualVector3* const mean, const BGC_FP64_DualVector3* const first, const BGC_FP64_DualVector3* const second, const BGC_FP64_DualVector3* const third)
|
|
{
|
|
bgc_fp64_vector3_get_mean3(&mean->real_part, &first->real_part, &second->real_part, &third->real_part);
|
|
bgc_fp64_vector3_get_mean3(&mean->dual_part, &first->dual_part, &second->dual_part, &third->dual_part);
|
|
}
|
|
|
|
// ============ Linear Interpolation ============ //
|
|
|
|
inline void bgc_fp32_dual_vector3_interpolate(BGC_FP32_DualVector3* const interpolation, const BGC_FP32_DualVector3* const first, const BGC_FP32_DualVector3* const second, const float phase)
|
|
{
|
|
bgc_fp32_vector3_interpolate(&interpolation->real_part, &first->real_part, &second->real_part, phase);
|
|
bgc_fp32_vector3_interpolate(&interpolation->dual_part, &first->dual_part, &second->dual_part, phase);
|
|
}
|
|
|
|
inline void bgc_fp64_dual_vector3_interpolate(BGC_FP64_DualVector3* const interpolation, const BGC_FP64_DualVector3* const first, const BGC_FP64_DualVector3* const second, const double phase)
|
|
{
|
|
bgc_fp64_vector3_interpolate(&interpolation->real_part, &first->real_part, &second->real_part, phase);
|
|
bgc_fp64_vector3_interpolate(&interpolation->dual_part, &first->dual_part, &second->dual_part, phase);
|
|
}
|
|
|
|
// ================ Dot Product ================= //
|
|
|
|
inline void bgc_fp32_dual_vector3_get_dot_product(BGC_FP32_DualNumber* const product, const BGC_FP32_DualVector3* const first, const BGC_FP32_DualVector3* const second)
|
|
{
|
|
product->real_part = bgc_fp32_vector3_get_dot_product(&first->real_part, &second->real_part);
|
|
product->dual_part = bgc_fp32_vector3_get_dot_product(&first->dual_part, &second->real_part) + bgc_fp32_vector3_get_dot_product(&first->real_part, &second->dual_part);
|
|
}
|
|
|
|
inline void bgc_fp64_dual_vector3_get_dot_product(BGC_FP64_DualNumber* const product, const BGC_FP64_DualVector3* const first, const BGC_FP64_DualVector3* const second)
|
|
{
|
|
product->real_part = bgc_fp64_vector3_get_dot_product(&first->real_part, &second->real_part);
|
|
product->dual_part = bgc_fp64_vector3_get_dot_product(&first->dual_part, &second->real_part) + bgc_fp64_vector3_get_dot_product(&first->real_part, &second->dual_part);
|
|
}
|
|
|
|
// =============== Cross Product ================ //
|
|
|
|
inline void bgc_fp32_dual_vector3_get_cross_product(BGC_FP32_DualVector3* const product, const BGC_FP32_DualVector3* const first, const BGC_FP32_DualVector3* const second)
|
|
{
|
|
BGC_FP32_Vector3 part1, part2;
|
|
|
|
_bgc_fp32_restrict_vector3_get_cross_product(&part1, &first->dual_part, &second->real_part);
|
|
_bgc_fp32_restrict_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
|
|
|
|
bgc_fp32_vector3_get_cross_product(&product->real_part, &first->real_part, &second->real_part);
|
|
bgc_fp32_vector3_add(&product->dual_part, &part1, &part2);
|
|
}
|
|
|
|
inline void bgc_fp64_dual_vector3_get_cross_product(BGC_FP64_DualVector3* const product, const BGC_FP64_DualVector3* const first, const BGC_FP64_DualVector3* const second)
|
|
{
|
|
BGC_FP64_Vector3 part1, part2;
|
|
|
|
_bgc_fp64_restrict_vector3_get_cross_product(&part1, &first->dual_part, &second->real_part);
|
|
_bgc_fp64_restrict_vector3_get_cross_product(&part2, &first->real_part, &second->dual_part);
|
|
|
|
bgc_fp64_vector3_get_cross_product(&product->real_part, &first->real_part, &second->real_part);
|
|
bgc_fp64_vector3_add(&product->dual_part, &part1, &part2);
|
|
}
|
|
|
|
#endif
|