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Исправления в нормализации дуальных кватернионов и позиционирования с помощью дуальных кватернионов

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This commit is contained in:
Andrey Pokidov 2026-03-18 20:23:50 +07:00
parent 24d37be75d
commit a57f13f4a9
9 changed files with 206 additions and 170 deletions
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4
basic-geometry/types.h
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@ -214,11 +214,11 @@ typedef struct {
// ================ Rigid Pose3 ================= //
typedef struct {
BGC_FP32_Quaternion _real_part, _dual_part;
BGC_FP32_DualQuaternion _versor;
} BGC_FP32_RigidPose3;
typedef struct {
BGC_FP64_Quaternion _real_part, _dual_part;
BGC_FP64_DualQuaternion _versor;
} BGC_FP64_RigidPose3;
#endif