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Добавлены функции swap, shorten и exclude для версоров / Functions swap, shorten and exclude have been added for versors

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Andrey Pokidov 2024-11-27 01:39:24 +07:00
parent 081f794eb1
commit 5d4472150b
3 changed files with 172 additions and 16 deletions
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4
basic-geometry/quaternion.h
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@ -231,7 +231,7 @@ static inline int bg_fp64_quaternion_normalize(BgFP64Quaternion* quaternion)
// ============ Make Rotation Matrix ============ //
void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
static inline void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
{
const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1;
@ -269,7 +269,7 @@ void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion,
matrix->r1c3 = corrector2 * (x1x3 + s0x2);
}
void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix)
static inline void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix)
{
const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1;