Добавление restricted функций, нормализация дуальных кватернионов и позиции твёрдого тела (rigid pose3)
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7 changed files with 130 additions and 82 deletions
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@ -98,8 +98,8 @@ inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion)
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BGC_FP32_Quaternion temporary;
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bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
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bgc_fp32_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
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