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Развитие структуры Posture3 для хранения пложения тела в виде нормализованного дуального кватерниона

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Andrey Pokidov 2026-02-26 02:36:03 +07:00
parent 0c27a6e59b
commit add4d89c80
3 changed files with 109 additions and 24 deletions
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31
basic-geometry/posture3.c
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Forgejo version: 11.0.1+gitea-1.22.0

 @ -3,10 +3,18 @@
extern inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture);
extern inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture);
void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture)
{
const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&posture->_dual_versor.real_part);
extern inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source);
extern inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source);
extern inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2);
extern inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2);
extern inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source);