Добавление функций восстановления позиции в трёхмерном пространстве (position3) по аффинному преобрезованию (affine3); небольшие исправления в документации, а также переименование некоторых переменных

basic-geometry/position3.c

@@ -33,9 +33,15 @@ extern inline void bgc_fp64_position3_exclude(BGC_FP64_Position3* const differen
 extern inline void bgc_fp32_position3_get_affine(BGC_FP32_Affine3* const outward_affine_map, const BGC_FP32_Position3* const position);
 extern inline void bgc_fp64_position3_get_affine(BGC_FP64_Affine3* const outward_affine_map, const BGC_FP64_Position3* const position);
 
+extern inline int bgc_fp32_position3_set_affine(BGC_FP32_Position3* const position, const BGC_FP32_Affine3* const affine_map);
+extern inline int bgc_fp64_position3_set_affine(BGC_FP64_Position3* const position, const BGC_FP64_Affine3* const affine_map);
+
 extern inline void bgc_fp32_position3_get_reverse_affine(BGC_FP32_Affine3* const inward_affine_map, const BGC_FP32_Position3* const position);
 extern inline void bgc_fp64_position3_get_reverse_affine(BGC_FP64_Affine3* const inward_affine_map, const BGC_FP64_Position3* const position);
 
+extern inline int bgc_fp32_position3_set_reverse_affine(BGC_FP32_Position3* const position, const BGC_FP32_Affine3* const affine_map);
+extern inline int bgc_fp64_position3_set_reverse_affine(BGC_FP64_Position3* const position, const BGC_FP64_Affine3* const affine_map);
+
 extern inline void bgc_fp32_position3_transform_point(BGC_FP32_Vector3* const transformed_point, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_point);
 extern inline void bgc_fp64_position3_transform_point(BGC_FP64_Vector3* const transformed_point, const BGC_FP64_Position3* const position, const BGC_FP64_Vector3* const initial_point);
 

basic-geometry/position3.h

@@ -170,6 +170,28 @@ inline void bgc_fp64_position3_get_affine(BGC_FP64_Affine3* const affine_map, co
     bgc_fp64_vector3_copy(&affine_map->shift, &position->shift);
 }
 
+// ================= Set Affine ================== //
+
+inline int bgc_fp32_position3_set_affine(BGC_FP32_Position3* const position, const BGC_FP32_Affine3* const affine_map)
+{
+    if (bgc_fp32_quaternion_set_rotation_matrix(&position->turn._versor, &affine_map->distortion) == BGC_SUCCESS) {
+        bgc_fp32_vector3_copy(&position->shift, &affine_map->shift);
+        return BGC_SUCCESS;
+    }
+
+    return BGC_FAILURE;
+}
+
+inline int bgc_fp64_position3_set_affine(BGC_FP64_Position3* const position, const BGC_FP64_Affine3* const affine_map)
+{
+    if (bgc_fp64_quaternion_set_rotation_matrix(&position->turn._versor, &affine_map->distortion) == BGC_SUCCESS) {
+        bgc_fp64_vector3_copy(&position->shift, &affine_map->shift);
+        return BGC_SUCCESS;
+    }
+
+    return BGC_FAILURE;
+}
+
 // ============= Get Reverse Affine ============== //
 
 inline void bgc_fp32_position3_get_reverse_affine(BGC_FP32_Affine3* const affine_map, const BGC_FP32_Position3* const position)
@@ -186,6 +208,32 @@ inline void bgc_fp64_position3_get_reverse_affine(BGC_FP64_Affine3* const affine
     bgc_fp64_vector3_revert(&affine_map->shift);
 }
 
+// ============= Set Reverse Affine ============== //
+
+inline int bgc_fp32_position3_set_reverse_affine(BGC_FP32_Position3* const position, const BGC_FP32_Affine3* const affine_map)
+{
+    if (bgc_fp32_quaternion_set_rotation_matrix(&position->turn._versor, &affine_map->distortion) == BGC_SUCCESS) {
+        bgc_fp32_vector3_multiply_by_matrix3x3(&position->shift, &affine_map->shift, &affine_map->distortion);
+        bgc_fp32_quaternion_conjugate(&position->turn._versor);
+        bgc_fp32_vector3_revert(&position->shift);
+        return BGC_SUCCESS;
+    }
+
+    return BGC_FAILURE;
+}
+
+inline int bgc_fp64_position3_set_reverse_affine(BGC_FP64_Position3* const position, const BGC_FP64_Affine3* const affine_map)
+{
+    if (bgc_fp64_quaternion_set_rotation_matrix(&position->turn._versor, &affine_map->distortion) == BGC_SUCCESS) {
+        bgc_fp64_vector3_multiply_by_matrix3x3(&position->shift, &affine_map->shift, &affine_map->distortion);
+        bgc_fp64_quaternion_conjugate(&position->turn._versor);
+        bgc_fp64_vector3_revert(&position->shift);
+        return BGC_SUCCESS;
+    }
+
+    return BGC_FAILURE;
+}
+
 // =============== Transform Point =============== //
 
 inline void bgc_fp32_position3_transform_point(BGC_FP32_Vector3* const transformed_point, const BGC_FP32_Position3* const position, const BGC_FP32_Vector3* const initial_point)

basic-geometry/quaternion.c

@@ -303,64 +303,64 @@ int bgc_fp32_quaternion_set_rotation_matrix(BGC_FP32_Quaternion* const quaternio
         return BGC_FAILURE;
     }
 
-    const float ss_4 = (1 + matrix->r1c1) + (matrix->r2c2 + matrix->r3c3);
+    const float ss4 = (1 + matrix->r1c1) + (matrix->r2c2 + matrix->r3c3);
-    const float xx_4 = (1 + matrix->r1c1) - (matrix->r2c2 + matrix->r3c3);
+    const float xx4 = (1 + matrix->r1c1) - (matrix->r2c2 + matrix->r3c3);
-    const float yy_4 = (1 + matrix->r2c2) - (matrix->r1c1 + matrix->r3c3);
+    const float yy4 = (1 + matrix->r2c2) - (matrix->r1c1 + matrix->r3c3);
-    const float zz_4 = (1 + matrix->r3c3) - (matrix->r1c1 + matrix->r2c2);
+    const float zz4 = (1 + matrix->r3c3) - (matrix->r1c1 + matrix->r2c2);
 
-    const float sx_4 = matrix->r3c2 - matrix->r2c3;
+    const float sx4 = matrix->r3c2 - matrix->r2c3;
-    const float sy_4 = matrix->r1c3 - matrix->r3c1;
+    const float sy4 = matrix->r1c3 - matrix->r3c1;
-    const float sz_4 = matrix->r2c1 - matrix->r1c2;
+    const float sz4 = matrix->r2c1 - matrix->r1c2;
 
-    const float yz_4 = matrix->r3c2 + matrix->r2c3;
+    const float yz4 = matrix->r3c2 + matrix->r2c3;
-    const float xz_4 = matrix->r1c3 + matrix->r3c1;
+    const float xz4 = matrix->r1c3 + matrix->r3c1;
-    const float xy_4 = matrix->r2c1 + matrix->r1c2;
+    const float xy4 = matrix->r2c1 + matrix->r1c2;
 
-    float max = ss_4;
+    float max = ss4;
     int index = 0;
 
-    if (xx_4 > max) {
+    if (xx4 > max) {
-        max = xx_4;
+        max = xx4;
         index = 1;
     }
 
-    if (yy_4 > max) {
+    if (yy4 > max) {
-        max = yy_4;
+        max = yy4;
         index = 2;
     }
 
-    if (zz_4 > max) {
+    if (zz4 > max) {
-        max = zz_4;
+        max = zz4;
         index = 3;