Улучшение документации по кватернионам и версорам

docs/versor-eng.md

@@ -2,11 +2,13 @@
 
 [Quaternions](./quaternion-eng.md) are hypercomplex numbers that have one real component and three imaginary components:
 
-q = w + ix + jy + kz, where w is the real component, x, y, z are the imaginary components, and i, j, k are the imaginary units
+q = w + ix + jy + kz
 
-i<sup>2</sup> = j<sup>2</sup> = k<sup>2</sup> = ijk = -1
+where:
 
-w, x, y, z &isin; R
+- w, x, y, z &isin; R are real numbers
+- i, j, k are imaginary units that satisfy the following conditions:
+   - i<sup>2</sup> = j<sup>2</sup> = k<sup>2</sup> = ijk = -1
 
 Quaternions were discovered by mathematician William Hamilton and introduced to the public in 1843. Hamilton later proposed a special class of quaternions, which he called versors.
 
@@ -18,11 +20,10 @@ It is sufficient to add the equation of the modulus being equal to one to the fo
 
 q = w + ix + jy + kz
 
-i<sup>2</sup> = j<sup>2</sup> = k<sup>2</sup> = -1
-
-w, x, y, z &isin; R
-
-w<sup>2</sup> + x<sup>2</sup> + y<sup>2</sup> + z<sup>2</sup> = 1
+- w, x, y, z &isin; R are real numbers
+- i, j, k are imaginary units that satisfy the following conditions:
+   - i<sup>2</sup> = j<sup>2</sup> = k<sup>2</sup> = ijk = -1
+- w<sup>2</sup> + x<sup>2</sup> + y<sup>2</sup> + z<sup>2</sup> = 1
 
 The name comes from the Latin verb "versare", meaning "to turn", "to rotate", to which the Latin ending -or is added, denoting the subject performing the action. Literally, the Latin word "versor" can be translated as "rotator" or "turner".
 
@@ -55,6 +56,7 @@ The BGC library provides a separate implementation for versors in the form of st
     } BgcVersorFP64;
 ```
 
+Fields:
 - s0 is the real part of the versor.
 - x1, x2, x3 are the imaginary components of the versor.