From 0c27a6e59baf65c9262cdd5e52d23786d64cc8c2 Mon Sep 17 00:00:00 2001
From: Andrey Pokidov <andrey.pokidov@gmail.com>
Date: Wed, 25 Feb 2026 09:40:50 +0700
Subject: [PATCH] =?UTF-8?q?=D0=94=D0=BE=D0=B1=D0=B0=D0=B2=D0=BB=D0=B5?=
 =?UTF-8?q?=D0=BD=D0=B8=D0=B5=20=D1=81=D1=82=D1=80=D1=83=D0=BA=D1=82=D1=83?=
 =?UTF-8?q?=D1=80=20=D0=B4=D0=BB=D1=8F=20=D0=BE=D0=BF=D0=B8=D1=81=D0=B0?=
 =?UTF-8?q?=D0=BD=D0=B8=D1=8F=20=D0=BF=D0=BE=D0=BB=D0=BE=D0=B6=D0=B5=D0=BD?=
 =?UTF-8?q?=D0=B8=D1=8F=20=D1=87=D0=B5=D1=80=D0=B5=D0=B7=20=D0=B4=D1=83?=
 =?UTF-8?q?=D0=B0=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9=20=D0=BA=D0=B2=D0=B0=D1=82?=
 =?UTF-8?q?=D0=B5=D1=80=D0=BD=D0=B8=D0=BE=D0=BD?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 basic-geometry/basic-geometry.vcxproj         |  2 +
 basic-geometry/basic-geometry.vcxproj.filters |  6 +++
 basic-geometry/posture3.c                     | 19 +++++++++
 basic-geometry/posture3.h                     | 39 +++++++++++++++++++
 basic-geometry/types.h                        | 10 +++++
 5 files changed, 76 insertions(+)
 create mode 100644 basic-geometry/posture3.c
 create mode 100644 basic-geometry/posture3.h

diff --git a/basic-geometry/basic-geometry.vcxproj b/basic-geometry/basic-geometry.vcxproj
index 42d8983..5bbc782 100644
--- a/basic-geometry/basic-geometry.vcxproj
+++ b/basic-geometry/basic-geometry.vcxproj
@@ -31,6 +31,7 @@
     <ClInclude Include="matrix2x3.h" />
     <ClInclude Include="matrix3x2.h" />
     <ClInclude Include="matrix3x3.h" />
+    <ClInclude Include="posture3.h" />
     <ClInclude Include="types.h" />
     <ClInclude Include="position2.h" />
     <ClInclude Include="position3.h" />
@@ -52,6 +53,7 @@
     <ClCompile Include="dual-vector3.c" />
     <ClCompile Include="position2.c" />
     <ClCompile Include="position3.c" />
+    <ClCompile Include="posture3.c" />
     <ClCompile Include="turn2.c" />
     <ClCompile Include="turn3.c" />
     <ClCompile Include="utilities.c" />
diff --git a/basic-geometry/basic-geometry.vcxproj.filters b/basic-geometry/basic-geometry.vcxproj.filters
index c94a8ad..49d9826 100644
--- a/basic-geometry/basic-geometry.vcxproj.filters
+++ b/basic-geometry/basic-geometry.vcxproj.filters
@@ -84,6 +84,9 @@
     <ClInclude Include="slerp3.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
+    <ClInclude Include="posture3.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="angle.c">
@@ -143,5 +146,8 @@
     <ClCompile Include="slerp3.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
+    <ClCompile Include="posture3.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
   </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/basic-geometry/posture3.c b/basic-geometry/posture3.c
new file mode 100644
index 0000000..8c248f0
--- /dev/null
+++ b/basic-geometry/posture3.c
@@ -0,0 +1,19 @@
+#include "posture3.h"
+
+extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture);
+extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture);
+
+void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture)
+{
+    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&posture->_dual_versor.real_part);
+
+    if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
+        bgc_fp32_posture3_reset(posture);
+        return;
+    }
+
+    const float multiplier = sqrtf(1.0f / square_magnitude);
+
+    bgc_fp32_quaternion_multiply_by_real(&posture->_dual_versor.real_part, &posture->_dual_versor.real_part, multiplier);
+    bgc_fp32_quaternion_multiply_by_real(&posture->_dual_versor.dual_part, &posture->_dual_versor.dual_part, multiplier);
+}
diff --git a/basic-geometry/posture3.h b/basic-geometry/posture3.h
new file mode 100644
index 0000000..e89c642
--- /dev/null
+++ b/basic-geometry/posture3.h
@@ -0,0 +1,39 @@
+#ifndef _BGC_POSTURE3_H_INCLUDED_
+#define _BGC_POSTURE3_H_INCLUDED_
+
+#include "types.h"
+#include "quaternion.h"
+#include "dual-quaternion.h"
+
+// ==================== Reset =================== //
+
+inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
+{
+    posture->_dual_versor.real_part.s0 = 1.0f;
+    posture->_dual_versor.real_part.x1 = 0.0f;
+    posture->_dual_versor.real_part.x2 = 0.0f;
+    posture->_dual_versor.real_part.x3 = 0.0f;
+
+    posture->_dual_versor.dual_part.s0 = 0.0f;
+    posture->_dual_versor.dual_part.x1 = 0.0f;
+    posture->_dual_versor.dual_part.x2 = 0.0f;
+    posture->_dual_versor.dual_part.x3 = 0.0f;
+}
+
+inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
+{
+    posture->_dual_versor.real_part.s0 = 1.0;
+    posture->_dual_versor.real_part.x1 = 0.0;
+    posture->_dual_versor.real_part.x2 = 0.0;
+    posture->_dual_versor.real_part.x3 = 0.0;
+
+    posture->_dual_versor.dual_part.s0 = 0.0;
+    posture->_dual_versor.dual_part.x1 = 0.0;
+    posture->_dual_versor.dual_part.x2 = 0.0;
+    posture->_dual_versor.dual_part.x3 = 0.0;
+}
+
+void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture);
+
+
+#endif
diff --git a/basic-geometry/types.h b/basic-geometry/types.h
index 1d0e564..ce6c8d4 100644
--- a/basic-geometry/types.h
+++ b/basic-geometry/types.h
@@ -211,4 +211,14 @@ typedef struct {
     BGC_FP64_Quaternion real_part, dual_part;
 } BGC_FP64_DualQuaternion;
 
+// ================== Posture3 ================== //
+
+typedef struct {
+    BGC_FP32_DualQuaternion _dual_versor;
+} BGC_FP32_Posture3;
+
+typedef struct {
+    BGC_FP64_DualQuaternion _dual_versor;
+} BGC_FP64_Posture3;
+
 #endif