Нормализация унитарных дуальных кватернионов

basic-geometry/basic-geometry.vcxproj

@@ -31,7 +31,7 @@
     <ClInclude Include="matrix2x3.h" />
     <ClInclude Include="matrix3x2.h" />
     <ClInclude Include="matrix3x3.h" />
-    <ClInclude Include="posture3.h" />
+    <ClInclude Include="rigid-pose3.h" />
     <ClInclude Include="types.h" />
     <ClInclude Include="position2.h" />
     <ClInclude Include="position3.h" />
@@ -53,7 +53,7 @@
     <ClCompile Include="dual-vector3.c" />
     <ClCompile Include="position2.c" />
     <ClCompile Include="position3.c" />
-    <ClCompile Include="posture3.c" />
+    <ClCompile Include="rigid-pose3.c" />
     <ClCompile Include="turn2.c" />
     <ClCompile Include="turn3.c" />
     <ClCompile Include="utilities.c" />

basic-geometry/basic-geometry.vcxproj.filters

@@ -84,7 +84,7 @@
     <ClInclude Include="slerp3.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
-    <ClInclude Include="posture3.h">
+    <ClInclude Include="rigid-pose3.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
   </ItemGroup>
@@ -146,7 +146,7 @@
     <ClCompile Include="slerp3.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
-    <ClCompile Include="posture3.c">
+    <ClCompile Include="rigid-pose3.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
   </ItemGroup>

basic-geometry/dual-quaternion.h

@@ -410,8 +410,8 @@ inline void bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(BGC_FP32_DualQu
 {
     BGC_FP32_Quaternion dual_part1, dual_part2;