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Отказ от терминов Versor и Cotes Number в пользу Turn3 и Turn2, использование кватернионов внутри Turn3

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This commit is contained in:
Andrey Pokidov 2026-02-04 21:02:15 +07:00
parent 38cff7e27d
commit b470a3194b
27 changed files with 1815 additions and 2045 deletions
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26
basic-geometry/quaternion.h
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@ -273,6 +273,32 @@ inline void bgc_fp64_quaternion_get_product(BGC_FP64_Quaternion* product, const
product->x3 = x3;
}
inline void bgc_fp32_quaternion_get_product_by_conjugate(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* left, const BGC_FP32_Quaternion* right)
{
const float s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3);
const float x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
const float x2 = (left->x2 * right->s0 + left->x1 * right->x3) - (left->s0 * right->x2 + left->x3 * right->x1);
const float x3 = (left->x3 * right->s0 + left->x2 * right->x1) - (left->s0 * right->x3 + left->x1 * right->x2);
product->s0 = s0;
product->x1 = x1;
product->x2 = x2;
product->x3 = x3;
}
inline void bgc_fp64_quaternion_get_product_by_conjugate(BGC_FP64_Quaternion* product, const BGC_FP64_Quaternion* left, const BGC_FP64_Quaternion* right)
{
const double s0 = (left->s0 * right->s0 + left->x1 * right->x1) + (left->x2 * right->x2 + left->x3 * right->x3);
const double x1 = (left->x1 * right->s0 + left->x3 * right->x2) - (left->s0 * right->x1 + left->x2 * right->x3);
const double x2 = (left->x2 * right->s0 + left->x1 * right->x3) - (left->s0 * right->x2 + left->x3 * right->x1);
const double x3 = (left->x3 * right->s0 + left->x2 * right->x1) - (left->s0 * right->x3 + left->x1 * right->x2);
product->s0 = s0;
product->x1 = x1;
product->x2 = x2;
product->x3 = x3;
}
inline void bgc_fp32_quaternion_multiply(BGC_FP32_Quaternion* product, const BGC_FP32_Quaternion* multiplicand, const float multipier)
{
product->s0 = multiplicand->s0 * multipier;