Добавление функций определения поворотов (versor) между направлениями и базисами

basic-geometry/versor.h

@@ -8,6 +8,20 @@
 #include "vector3.h"
 #include "rotation3.h"
 #include "matrix3x3.h"
+#include "quaternion.h"
+
+#define BGC_SOME_TURN 1
+#define BGC_ZERO_TURN 0
+#define BGC_OPPOSITE -1
+
+#define BGC_ERROR_PRIMARY_DIRECTION_UNKNOWN -3001
+#define BGC_ERROR_PRIMARY_VECTOR_IS_ZERO -3002
+
+#define BGC_ERROR_AUXILIARY_DIRECTION_UNKNOWN -3011
+#define BGC_ERROR_AUXILIARY_VECTOR_IS_ZERO -3012
+
+#define BGC_ERROR_DIRECTIONS_PARALLEL -3021
+#define BGC_ERROR_VECTORS_PARALLEL -3022
 
 // =================== Types ==================== //
 
@@ -112,6 +126,30 @@ inline void bgc_versor_set_rotation_fp64(const BgcRotation3FP64* rotation, BgcVe
     bgc_versor_set_turn_fp64(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BGC_ANGLE_UNIT_RADIANS, result);
 }
 
+// ========= Make Direction Difference ========== //
+
+int bgc_versor_make_direction_difference_fp32(const BgcVector3FP32* start, const BgcVector3FP32* end, BgcVersorFP32* result);
+
+int bgc_versor_make_direction_difference_fp64(const BgcVector3FP64* start, const BgcVector3FP64* end, BgcVersorFP64* result);
+
+// =============== Set Directions =============== //
+
+int bgc_versor_make_basis_difference_fp32(
+    const BgcVector3FP32* initial_primary_direction,
+    const BgcVector3FP32* initial_auxiliary_direction,
+    const BgcVector3FP32* final_primary_direction,
+    const BgcVector3FP32* final_auxiliary_direction,
+    BgcVersorFP32* result
+);
+
+int bgc_versor_make_basis_difference_fp64(
+    const BgcVector3FP64* initial_primary_direction,
+    const BgcVector3FP64* initial_auxiliary_direction,
+    const BgcVector3FP64* final_primary_direction,
+    const BgcVector3FP64* final_auxiliary_direction,
+    BgcVersorFP64* result
+);
+
 // ==================== Copy ==================== //
 
 inline void bgc_versor_copy_fp32(const BgcVersorFP32* source, BgcVersorFP32* destination)