Добавление сферической интерполяции, переход от применения acos к применению atan2, исправление ошибок

basic-geometry-dev/main.c

@@ -138,17 +138,36 @@ int main() {
     return 0;
 }
 */
-
+/*
 int main() {
-    const float exponent = 2.0f;
+    BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
-
+    BgcVersorFP32 end = { 0.0f, 1.0f, 0.0f, 0.0f };
-    BgcVersorFP32 turn, result;
+    BgcVersorFP32 result;
-
+    bgc_versor_spherical_interpolation_fp32(&start, &end, 0.5f, &result);
-    bgc_versor_set_turn_fp32(0, 0, 1, 120, BGC_ANGLE_UNIT_DEGREES, &turn);
+    printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
-
+    return 0;
-    bgc_versor_get_exponation_fp32(&turn, exponent, &result);
+}
-
+*/
-    printf("(%f, %f, %f, %f) ^ %f = (%f, %f, %f, %f)\n", turn.s0, turn.x1, turn.x2, turn.x3, exponent, result.s0, result.x1, result.x2, result.x3);
+
-
+int main() {
+    //BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
+    //BgcVersorFP32 end = { 0.0f, 1.0f, 0.0f, 0.0f };
+    /*
+    BgcVersorFP32 start = { 1.0f, 0.0f, 0.0f, 0.0f };
+    BgcVersorFP32 end = { 0.9999f, 0.01414f, 0.0f, 0.0f };
+    BgcSlerpFP32 slerp;
+    BgcVersorFP32 result;
+    bgc_slerp_make_fp32(&start, &end, &slerp);
+    bgc_slerp_get_turn_for_phase_fp32(&slerp, 0.5f, &result);
+    printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
+    */
+
+    BgcVersorFP64 start = { 1.0, 0.0, 0.0, 0.0 };
+    BgcVersorFP64 end = { -0.707, 0.707, 0.0, 0.0 };
+    BgcVersorFP64 result;
+    BgcSlerpFP64 slerp;
+    bgc_slerp_make_full_fp64(&start, &end, &slerp);
+    bgc_slerp_get_turn_for_phase_fp64(&slerp, 0.5f, &result);