From 614daf8ebde8133fb478c7d70d14387a43e6a6a5 Mon Sep 17 00:00:00 2001
From: Andrey Pokidov <andrey.pokidov@gmail.com>
Date: Thu, 12 Mar 2026 20:50:21 +0700
Subject: [PATCH] =?UTF-8?q?=D0=9F=D0=B5=D1=80=D0=B5=D0=B8=D0=BC=D0=B5?=
 =?UTF-8?q?=D0=BD=D0=BE=D0=B2=D0=B0=D0=BD=D0=B8=D0=B5=20Posture=20=D0=B2?=
 =?UTF-8?q?=20Rigit=20Pose,=20=D0=B8=D0=B7=D0=BC=D0=B5=D0=BD=D0=B5=D0=BD?=
 =?UTF-8?q?=D0=B8=D0=B5=20=D0=B2=D0=BD=D1=83=D1=82=D1=80=D0=B5=D0=BD=D0=BD?=
 =?UTF-8?q?=D0=B5=D0=B9=20=D0=BE=D1=80=D0=B3=D0=B0=D0=BD=D0=B8=D0=B7=D0=B0?=
 =?UTF-8?q?=D1=86=D0=B8=D0=B8=20Rigid=20Pose?=
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---
 basic-geometry/basic-geometry.cbp |   4 +
 basic-geometry/posture3.c         |  40 ----------
 basic-geometry/posture3.h         | 114 ---------------------------
 basic-geometry/rigid-pose3.c      |  42 ++++++++++
 basic-geometry/rigid-pose3.h      | 123 ++++++++++++++++++++++++++++++
 basic-geometry/types.h            |  10 +--
 6 files changed, 174 insertions(+), 159 deletions(-)
 delete mode 100644 basic-geometry/posture3.c
 delete mode 100644 basic-geometry/posture3.h
 create mode 100644 basic-geometry/rigid-pose3.c
 create mode 100644 basic-geometry/rigid-pose3.h

diff --git a/basic-geometry/basic-geometry.cbp b/basic-geometry/basic-geometry.cbp
index 28ce0a6..e7896ef 100644
--- a/basic-geometry/basic-geometry.cbp
+++ b/basic-geometry/basic-geometry.cbp
@@ -100,6 +100,10 @@
 			<Option compilerVar="CC" />
 		</Unit>
 		<Unit filename="quaternion.h" />
+		<Unit filename="rigid-pose3.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="rigid-pose3.h" />
 		<Unit filename="slerp3.c">
 			<Option compilerVar="CC" />
 		</Unit>
diff --git a/basic-geometry/posture3.c b/basic-geometry/posture3.c
deleted file mode 100644
index 87dd872..0000000
--- a/basic-geometry/posture3.c
+++ /dev/null
@@ -1,40 +0,0 @@
-#include "posture3.h"
-
-extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture);
-extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture);
-
-extern inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source);
-extern inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source);
-
-extern inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2);
-extern inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2);
-
-extern inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source);
-extern inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source);
-
-extern inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second);
-extern inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second);
-
-void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude)
-{
-    if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
-        bgc_fp32_posture3_reset(posture);
-        return;
-    }
-
-    const float multiplier = sqrtf(1.0f / square_magnitude);
-
-    bgc_fp32_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
-}
-
-void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude)
-{
-    if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
-        bgc_fp64_posture3_reset(posture);
-        return;
-    }
-
-    const double multiplier = sqrt(1.0 / square_magnitude);
-
-    bgc_fp64_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
-}
diff --git a/basic-geometry/posture3.h b/basic-geometry/posture3.h
deleted file mode 100644
index 1427bb0..0000000
--- a/basic-geometry/posture3.h
+++ /dev/null
@@ -1,114 +0,0 @@
-#ifndef _BGC_POSTURE3_H_INCLUDED_
-#define _BGC_POSTURE3_H_INCLUDED_
-
-#include "types.h"
-#include "quaternion.h"
-#include "dual-quaternion.h"
-
-// ================= Normalize ================== //
-
-void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude);
-
-void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude);
-
-// ==================== Reset =================== //
-
-inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
-{
-    posture->_versor.real_part.s0 = 1.0f;
-    posture->_versor.real_part.x1 = 0.0f;
-    posture->_versor.real_part.x2 = 0.0f;
-    posture->_versor.real_part.x3 = 0.0f;
-
-    posture->_versor.dual_part.s0 = 0.0f;
-    posture->_versor.dual_part.x1 = 0.0f;
-    posture->_versor.dual_part.x2 = 0.0f;
-    posture->_versor.dual_part.x3 = 0.0f;
-}
-
-inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
-{
-    posture->_versor.real_part.s0 = 1.0;
-    posture->_versor.real_part.x1 = 0.0;
-    posture->_versor.real_part.x2 = 0.0;
-    posture->_versor.real_part.x3 = 0.0;
-
-    posture->_versor.dual_part.s0 = 0.0;
-    posture->_versor.dual_part.x1 = 0.0;
-    posture->_versor.dual_part.x2 = 0.0;
-    posture->_versor.dual_part.x3 = 0.0;
-}
-
-// ==================== Copy ==================== //
-
-inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source)
-{
-    bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
-}
-
-inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source)
-{
-    bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
-}
-
-// ==================== Swap ==================== //
-
-inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2)
-{
-    bgc_fp32_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
-}
-
-inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2)
-{
-    bgc_fp64_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
-}
-
-// ================== Convert =================== //
-
-inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source)
-{
-    bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
-
-    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_versor.real_part);
-
-    if (!bgc_fp64_is_square_unit(square_magnitude)) {
-        _bgc_fp64_posture3_normalize(destination, square_magnitude);
-    }
-}
-
-inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source)
-{
-    bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
-    
-    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_versor.real_part);
-
-    if (!bgc_fp32_is_square_unit(square_magnitude)) {
-        _bgc_fp32_posture3_normalize(destination, square_magnitude);
-    }
-}
-
-// ================== Combine =================== //
-
-inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second)
-{
-    bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
-
-    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_versor.real_part);
-
-    if (!bgc_fp32_is_square_unit(square_magnitude)) {
-        _bgc_fp32_posture3_normalize(combination, square_magnitude);
-    }
-}
-
-inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second)
-{
-    bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
-
-    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_versor.real_part);
-
-    if (!bgc_fp64_is_square_unit(square_magnitude)) {
-        _bgc_fp64_posture3_normalize(combination, square_magnitude);
-    }
-}
-
-#endif
diff --git a/basic-geometry/rigid-pose3.c b/basic-geometry/rigid-pose3.c
new file mode 100644
index 0000000..afae546
--- /dev/null
+++ b/basic-geometry/rigid-pose3.c
@@ -0,0 +1,42 @@
+#include "rigid-pose3.h"
+
+extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose);
+extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose);
+
+extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
+extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source);
+
+extern inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2);
+extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2);
+
+extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
+extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source);
+
+extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second);
+extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second);
+
+void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose, const float square_magnitude)
+{
+    if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
+        bgc_fp32_rigid_pose3_reset(pose);
+        return;
+    }
+
+    const float multiplier = sqrtf(1.0f / square_magnitude);
+
+    bgc_fp32_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
+    bgc_fp32_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
+}
+
+void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose, const double square_magnitude)
+{
+    if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
+        bgc_fp64_rigid_pose3_reset(pose);
+        return;
+    }
+
+    const double multiplier = sqrt(1.0 / square_magnitude);
+
+    bgc_fp64_quaternion_multiply_by_real(&pose->_real_part, &pose->_real_part, multiplier);
+    bgc_fp64_quaternion_multiply_by_real(&pose->_dual_part, &pose->_dual_part, multiplier);
+}
diff --git a/basic-geometry/rigid-pose3.h b/basic-geometry/rigid-pose3.h
new file mode 100644
index 0000000..10b1f3f
--- /dev/null
+++ b/basic-geometry/rigid-pose3.h
@@ -0,0 +1,123 @@
+#ifndef _BGC_RIGID_POSE3_H_INCLUDED_
+#define _BGC_RIGID_POSE3_H_INCLUDED_
+
+#include "types.h"
+#include "quaternion.h"
+
+// ================= Normalize ================== //
+
+void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose, const float square_magnitude);
+
+void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose, const double square_magnitude);
+
+// ==================== Reset =================== //
+
+inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose)
+{
+    pose->_real_part.s0 = 1.0f;
+    pose->_real_part.x1 = 0.0f;
+    pose->_real_part.x2 = 0.0f;
+    pose->_real_part.x3 = 0.0f;
+
+    pose->_dual_part.s0 = 0.0f;
+    pose->_dual_part.x1 = 0.0f;
+    pose->_dual_part.x2 = 0.0f;
+    pose->_dual_part.x3 = 0.0f;
+}
+
+inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose)
+{
+    pose->_real_part.s0 = 1.0;
+    pose->_real_part.x1 = 0.0;
+    pose->_real_part.x2 = 0.0;
+    pose->_real_part.x3 = 0.0;
+
+    pose->_dual_part.s0 = 0.0;
+    pose->_dual_part.x1 = 0.0;
+    pose->_dual_part.x2 = 0.0;
+    pose->_dual_part.x3 = 0.0;
+}
+
+// ==================== Copy ==================== //
+
+inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
+{
+    bgc_fp32_quaternion_copy(&destination->_real_part, &source->_real_part);
+    bgc_fp32_quaternion_copy(&destination->_dual_part, &source->_dual_part);
+}
+
+inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
+{
+    bgc_fp64_quaternion_copy(&destination->_real_part, &source->_real_part);
+    bgc_fp64_quaternion_copy(&destination->_dual_part, &source->_dual_part);
+}
+
+// ==================== Swap ==================== //
+
+inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2)
+{
+    bgc_fp32_quaternion_swap(&pose1->_real_part, &pose2->_real_part);
+    bgc_fp32_quaternion_swap(&pose1->_dual_part, &pose2->_dual_part);
+}
+
+inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2)
+{
+    bgc_fp64_quaternion_swap(&pose1->_real_part, &pose2->_real_part);
+    bgc_fp64_quaternion_swap(&pose1->_dual_part, &pose2->_dual_part);
+}
+
+// ================== Convert =================== //
+
+inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
+{
+    bgc_fp32_quaternion_convert_to_fp64(&destination->_real_part, &source->_real_part);
+    bgc_fp32_quaternion_convert_to_fp64(&destination->_dual_part, &source->_dual_part);
+
+    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_real_part);
+
+    if (!bgc_fp64_is_square_unit(square_magnitude)) {
+        _bgc_fp64_rigid_pose3_normalize(destination, square_magnitude);
+    }
+
+    const double square_magnitude = bgc_fp64_quaternion_get_(&destination->_real_part);
+
+    bgc_fp64_quaternion_subtract_scaled(&destination->_dual_part, &destination->_dual_part, &destination->_real_part);
+}
+
+inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
+{
+    bgc_fp64_quaternion_convert_to_fp32(&destination->_real_part, &source->_real_part);
+    bgc_fp64_quaternion_convert_to_fp32(&destination->_dual_part, &source->_dual_part);
+
+    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_real_part);
+
+    if (!bgc_fp32_is_square_unit(square_magnitude)) {
+        _bgc_fp32_rigid_pose3_normalize(destination, square_magnitude);
+    }
+}
+
+// ================== Combine =================== //
+
+inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second)
+{
+    bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
+
+    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_real_part);
+
+    if (!bgc_fp32_is_square_unit(square_magnitude)) {
+        _bgc_fp32_rigid_pose3_normalize(combination, square_magnitude);
+    }
+}
+
+inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second)
+{
+    bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
+
+    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_real_part);
+
+    if (!bgc_fp64_is_square_unit(square_magnitude)) {
+        _bgc_fp64_rigid_pose3_normalize(combination, square_magnitude);
+    }
+}
+
+#endif
diff --git a/basic-geometry/types.h b/basic-geometry/types.h
index ba9961e..bf34326 100644
--- a/basic-geometry/types.h
+++ b/basic-geometry/types.h
@@ -211,14 +211,14 @@ typedef struct {
     BGC_FP64_Quaternion real_part, dual_part;
 } BGC_FP64_DualQuaternion;
 
-// ================== Posture3 ================== //
+// ================ Rigid Pose3 ================= //
 
 typedef struct {
-    BGC_FP32_DualQuaternion _versor;
-} BGC_FP32_Posture3;
+    BGC_FP32_Quaternion _real_part, _dual_part;
+} BGC_FP32_RigidPose3;
 
 typedef struct {
-    BGC_FP64_DualQuaternion _versor;
-} BGC_FP64_Posture3;
+    BGC_FP64_Quaternion _real_part, _dual_part;
+} BGC_FP64_RigidPose3;
 
 #endif