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Реорганизация функций для получения матрицы повотора и матрицы обратного поворота для версоров, добавлены функции получения матриц поворота и аффинных преобразований для Rigid Pose3

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This commit is contained in:
Andrey Pokidov 2026-03-20 20:57:09 +07:00
parent b2af8408ce
commit 4ead7ca106
6 changed files with 220 additions and 116 deletions
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4
basic-geometry/turn3.c
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@ -468,7 +468,7 @@ int bgc_fp32_turn3_find_pair_difference(
_bgc_fp32_turn3_get_turning_quaternion(&q1, &first_fixed_main, &second_fixed_main, &first_fixed_branch);
// Roughly turn first_fixed_branch with q1 turn
_bgc_fp32_quaternion_turn_vector_roughly(&first_turned_branch, &q1, &first_fixed_branch);
_bgc_fp32_versor_turn_vector(&first_turned_branch, &q1, &first_fixed_branch);
// Calculation of a turn (q2) which turns first_turned_branch into second_fixed_branch
_bgc_fp32_turn3_get_turning_quaternion(&q2, &first_turned_branch, &second_fixed_branch, &second_fixed_main);
@ -515,7 +515,7 @@ int bgc_fp64_turn3_find_pair_difference(
_bgc_fp64_turn3_get_turning_quaternion(&q1, &first_fixed_main, &second_fixed_main, &first_fixed_branch);
// Roughly turn first_fixed_branch with q1 turn
_bgc_fp64_quaternion_turn_vector_roughly(&first_turned_branch, &q1, &first_fixed_branch);
_bgc_fp64_versor_turn_vector(&first_turned_branch, &q1, &first_fixed_branch);
// Calculation of a turn (q2) which turns first_turned_branch into second_fixed_branch
_bgc_fp64_turn3_get_turning_quaternion(&q2, &first_turned_branch, &second_fixed_branch, &second_fixed_main);