Развитие SLERP для трёхмерных пространств, а также развитие дуальных чисел, векторов и кватернионов

basic-geometry/types.h

@@ -145,23 +145,41 @@ typedef struct {
     BGC_FP64_Quaternion _versor;
 } BGC_FP64_Turn3;
 
-// ================ Turn3 Slerp ================= //
+// =================== Slerp3 =================== //
 
 typedef struct {
-    float _s0_cos_weight, _s0_sin_weight;
-    float _x1_cos_weight, _x1_sin_weight;
-    float _x2_cos_weight, _x2_sin_weight;
-    float _x3_cos_weight, _x3_sin_weight;
+    BGC_FP32_Quaternion _cosine_weight, _sine_weight;
     float radians;
-} BGC_FP32_Turn3Slerp;
+} BGC_FP32_Slerp3;
 
 typedef struct {
-    double _s0_cos_weight, _s0_sin_weight;
-    double _x1_cos_weight, _x1_sin_weight;
-    double _x2_cos_weight, _x2_sin_weight;
-    double _x3_cos_weight, _x3_sin_weight;
+    BGC_FP64_Quaternion _cosine_weight, _sine_weight;
     double radians;
-} BGC_FP64_Turn3Slerp;
+} BGC_FP64_Slerp3;
+
+// ================= Position2 ================== //
+
+typedef struct {
+    BGC_FP32_Turn2 turn;
+    BGC_FP32_Vector2 shift;
+} BGC_FP32_Position2;
+
+typedef struct {
+    BGC_FP64_Turn2 turn;
+    BGC_FP64_Vector2 shift;
+} BGC_FP64_Position2;
+
+// ================= Position3 ================== //
+
+typedef struct {
+    BGC_FP32_Turn3 turn;
+    BGC_FP32_Vector3 shift;
+} BGC_FP32_Position3;
+
+typedef struct {
+    BGC_FP64_Turn3 turn;
+    BGC_FP64_Vector3 shift;
+} BGC_FP64_Position3;
 
 // =========== Homogeneous 3D Vector ============ //
 
@@ -169,13 +187,13 @@ typedef struct {
 typedef struct
 {
     float x1, x2, x3, d0;
-} BGC_FP32_HgVector3;
+} BGC_FP32_HmgVector3;
 
 // Homogeneous 3D Vector
 typedef struct
 {
     double x1, x2, x3, d0;
-} BGC_FP64_HgVector3;
+} BGC_FP64_HmgVector3;
 
 // =========== Homogeneous Matrix3x3 ============ //
 
@@ -186,7 +204,7 @@ typedef struct
     float r2c1, r2c2, r2c3, r2d0;
     float r3c1, r3c2, r3c3, r3d0;
     float d0c1, d0c2, d0c3, d0d0;
-} BGC_FP32_HgMatrix3x3;
+} BGC_FP32_HmgMatrix3x3;
 
 // Homogeneous Matrix3x3 based on double type
 typedef struct
@@ -195,36 +213,36 @@ typedef struct
     double r2c1, r2c2, r2c3, r2d0;
     double r3c1, r3c2, r3c3, r3d0;
     double d0c1, d0c2, d0c3, d0d0;
-} BGC_FP64_HgMatrix3x3;
+} BGC_FP64_HmgMatrix3x3;
 
-// ================ Dual Number ================= //
+// ================ Dual Scalar ================= //
 
 typedef struct {
-    float real, dual;
-} BGC_FP32_DualNumber;
+    float real_part, dual_part;
+} BGC_FP32_DualScalar;
 
 typedef struct {
-    double real, dual;
-} BGC_FP64_DualNumber;
+    double real_part, dual_part;
+} BGC_FP64_DualScalar;
 
 // ================ Dual Vector ================= //
 
 typedef struct {
-    BGC_FP32_Vector3 real, dual;
+    BGC_FP32_Vector3 real_part, dual_part;
 } BGC_FP32_DualVector3;
 
 typedef struct {
-    BGC_FP64_Vector3 real, dual;
+    BGC_FP64_Vector3 real_part, dual_part;
 } BGC_FP64_DualVector3;
 
 // ============== Dual Quaternion =============== //
 
 typedef struct {
-    BGC_FP32_Quaternion real, dual;
+    BGC_FP32_Quaternion real_part, dual_part;
 } BGC_FP32_DualQuaternion;
 
 typedef struct {
-    BGC_FP64_Quaternion real, dual;
+    BGC_FP64_Quaternion real_part, dual_part;
 } BGC_FP64_DualQuaternion;
 
-#endif // _BGC_MATRIX_TYPES_H_
+#endif