Уменшение количества внутренних методов за счёт методов получения матрицы поворота для веросора; исправления в методах проверки матрицы поворота; добавление методов вычисления поворота (turn3) по матрице поворота 3x3

basic-geometry-dev/basic-geometry-dev.vcxproj

@@ -21,6 +21,8 @@
   <ItemGroup>
     <ClCompile Include="main.c" />
     <ClCompile Include="affine3.c" />
+    <ClCompile Include="printing_utils.c" />
+    <ClCompile Include="vector3_pair_difference.c" />
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="..\basic-geometry\basic-geometry.vcxproj">
@@ -29,6 +31,8 @@
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="affine3.h" />
+    <ClInclude Include="printing_utils.h" />
+    <ClInclude Include="vector3_pair_difference.h" />
   </ItemGroup>
   <PropertyGroup Label="Globals">
     <VCProjectVersion>16.0</VCProjectVersion>

basic-geometry-dev/basic-geometry-dev.vcxproj.filters

@@ -21,10 +21,22 @@
     <ClCompile Include="affine3.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
+    <ClCompile Include="printing_utils.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="vector3_pair_difference.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="affine3.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
+    <ClInclude Include="printing_utils.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="vector3_pair_difference.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>

basic-geometry-dev/main.c

@@ -9,7 +9,9 @@
 #include <time.h>
 #endif // _WINDOWS_
 
+#include "printing_utils.h"
 #include "vector3_pair_difference.h"
+#include "affine3.h"
 
 typedef struct {
     BGC_FP32_Turn3 versor1, versor2, result;
@@ -132,13 +134,48 @@ int main() {
 }
 */
 
+void test_fp32_quaternion_set_matrix()
+{
+    BGC_FP32_Turn3 turn;
+    BGC_FP32_Matrix3x3 rotation;
+    BGC_FP32_Quaternion quaternion;
     
-#include "affine3.h"
+    bgc_fp32_turn3_set_rotation(&turn, 1.0f, 1.0f, 1.0f, 120.0f, BGC_ANGLE_UNIT_DEGREES);
+
+    bgc_fp32_turn3_get_rotation_matrix(&rotation, &turn);
+
+    if (bgc_fp32_quaternion_set_rotation_matrix(&quaternion, &rotation) == BGC_FAILURE) {
+        printf("Failed\n");
+        return;
+    }
+
+    print_fp32_quaternion(&quaternion);
+    print_fp32_quaternion(&turn._versor);
+}
+
+void test_fp64_quaternion_set_matrix()
+{
+    BGC_FP64_Turn3 turn;
+    BGC_FP64_Matrix3x3 rotation;
+    BGC_FP64_Quaternion quaternion;
+
+    bgc_fp64_turn3_set_rotation(&turn, 1.0, 1.0, 1.0, 120.0, BGC_ANGLE_UNIT_DEGREES);
+
+    bgc_fp64_turn3_get_rotation_matrix(&rotation, &turn);
+
+    if (bgc_fp64_quaternion_set_rotation_matrix(&quaternion, &rotation) == BGC_FAILURE) {
+        printf("Failed\n");
+        return;
+    }
+
+    print_fp64_quaternion(&quaternion);
+    print_fp64_quaternion(&turn._versor);
+}
 
 int main()
 {
     //test_fp32_pair_difference();
-    test_fp64_pair_difference();
+    //test_fp64_pair_difference();
 
     //printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
 
@@ -146,6 +183,7 @@ int main()
     //printf("offsetof(shift)         = %zu\n", offsetof(BGC_FP32_Affine3, shift));
     //printf("sizeof(BGC_FP32_Matrix3x3) = %zu\n", sizeof(BGC_FP32_Matrix3x3));
     
+    test_fp32_quaternion_set_matrix();
+
     return 0;
 }
-

basic-geometry/matrix2x2.h

@@ -129,28 +129,20 @@ inline int bgc_fp64_matrix2x2_is_singular(const BGC_FP64_Matrix2x2* const matrix
 
 inline int bgc_fp32_matrix2x2_is_rotation(const BGC_FP32_Matrix2x2* const matrix)
 {
-    BGC_FP32_Matrix2x2 product;
+    const float r1r1 = matrix->r1c1 * matrix->r1c1 + matrix->r1c2 * matrix->r1c2;