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

basic-geometry-dev/affine3.c

@@ -40,7 +40,7 @@ BGC_FP32_Affine3* _create_bgc_affine3_random_list(int affine_amount)
     BGC_FP32_Position3 position;
 
     for (int i = 0; i < affine_amount; i++) {
-        bgc_fp32_versor_make(
+        bgc_fp32_turn3_set_raw_values(
             &position.turn,
             get_random_value_fp32(),
             get_random_value_fp32(),

basic-geometry-dev/main.c

@@ -10,7 +10,7 @@
 #endif // _WINDOWS_
 
 typedef struct {
-    BGC_FP32_Versor versor1, versor2, result;
+    BGC_FP32_Turn3 versor1, versor2, result;
 } structure_fp32_t;
 
 structure_fp32_t* allocate_structures(const unsigned int amount)
@@ -29,7 +29,7 @@ structure_fp32_t* make_structures(const unsigned int amount)
     const float multiplier = 2.0f / RAND_MAX;
 
     for (unsigned int i = 0; i < amount; i++) {
-        bgc_fp32_versor_make(
+        bgc_fp32_turn3_set_raw_values(
             &list[i].versor1,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
@@ -37,7 +37,7 @@ structure_fp32_t* make_structures(const unsigned int amount)
             rand() * multiplier - 1.0f
         );
 
-        bgc_fp32_versor_make(
+        bgc_fp32_turn3_set_raw_values(
             &list[i].versor2,
             rand() * multiplier - 1.0f,
             rand() * multiplier - 1.0f,
@@ -45,20 +45,20 @@ structure_fp32_t* make_structures(const unsigned int amount)
             rand() * multiplier - 1.0f
         );
 
-        bgc_fp32_versor_reset(&list[i].result);
+        bgc_fp32_turn3_reset(&list[i].result);
     }
 
     return list;
 }
 
-void print_versor_fp32(const BGC_FP32_Versor* versor)
+void print_quaternion_fp32(const BGC_FP32_Quaternion* quaternion)
 {
-    printf("Versor (s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3);
+    printf("Quaternion FP32(s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", quaternion->s0, quaternion->x1, quaternion->x2, quaternion->x3);
 }
 
-void print_versor_fp64(const BGC_FP64_Versor* versor)
+void print_quaternion_fp64(const BGC_FP64_Quaternion* quaternion)
 {
-    printf("Versor (s0 = %0.20f, x1 = %0.20f, x2 = %0.20f, x3 = %0.20f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3);
+    printf("Quaternion FP64(s0 = %0.12f, x1 = %0.12f, x2 = %0.12f, x3 = %0.12f)\n", quaternion->s0, quaternion->x1, quaternion->x2, quaternion->x3);
 }
 
 void print_vector_fp32(const BGC_FP32_Vector3* vector)
@@ -75,11 +75,11 @@ void list_work(const uint_fast32_t amount, structure_fp32_t* list)
 {
     for (uint_fast32_t j = 0; j < 1000; j++) {
         for (uint_fast32_t i = 0; i < amount; i++) {
-            bgc_fp32_versor_combine(&list[i].versor1, &list[i].versor1, &list[i].result);
+            bgc_fp32_turn3_combine(&list[i].result, &list[i].versor1, &list[i].versor2);
         }
     }
 }
-/*
+
 int main()
 {
     const unsigned int amount = 1000000;
@@ -113,15 +113,15 @@ int main()
     printf("Time: %lf\n", (end.tv_sec - start.tv_sec) * 1000.0 + (end.tv_nsec - start.tv_nsec) * 0.000001);
 #endif // _WIN64
 
-    print_versor_fp32(&list[10].versor1);
-    print_versor_fp32(&list[10].versor2);
-    print_versor_fp32(&list[10].result);
+    print_quaternion_fp32(&list[10].versor1._versor);
+    print_quaternion_fp32(&list[10].versor2._versor);
+    print_quaternion_fp32(&list[10].result._versor);
 
     free(list);
 
     return 0;
 }
-*/
+
 
 /*
 int main() {
@@ -140,10 +140,10 @@ int main() {
 */
 /*
 int main() {
-    BGC_FP32_Versor start = { 1.0f, 0.0f, 0.0f, 0.0f };
-    BGC_FP32_Versor end = { 0.0f, 1.0f, 0.0f, 0.0f };
-    BGC_FP32_Versor result;
-    bgc_fp32_versor_spherical_interpolation(&start, &end, 0.5f, &result);
+    BGC_FP32_Turn3 start = { 1.0f, 0.0f, 0.0f, 0.0f };
+    BGC_FP32_Turn3 end = { 0.0f, 1.0f, 0.0f, 0.0f };
+    BGC_FP32_Turn3 result;
+    bgc_fp32_turn3_spherical_interpolation(&start, &end, 0.5f, &result);
     printf("Result: %0.12f, %0.12f, %0.12f, %0.12f\n", result.s0, result.x1, result.x2, result.x3);
     return 0;
 }
@@ -154,7 +154,7 @@ void test_basis_difference_fp32()
 
     BGC_FP32_Vector3 initial_primary, initial_auxiliary;
     BGC_FP32_Vector3 final_primary, final_auxiliary;
-    BGC_FP32_Versor turn;
+    BGC_FP32_Turn3 turn;
 
     // No turn
     bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
@@ -163,10 +163,10 @@ void test_basis_difference_fp32()
     bgc_fp32_vector3_make(&final_primary,   1.0f, 0.0f, 0.0f);
     bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
 
-    bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nNo turn:\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // Turn around (1, 1, 0) axis on 180 degrees
     bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
@@ -175,10 +175,10 @@ void test_basis_difference_fp32()
     bgc_fp32_vector3_make(&final_primary,   0.0f, 1.0f, 0.0f);
     bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f);
 
-    bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // 180 degree turn
     bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
@@ -187,10 +187,10 @@ void test_basis_difference_fp32()
     bgc_fp32_vector3_make(&final_primary,  -1.0f, 0.0f, 0.0f);
     bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
 
-    bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\n180 degree turn around (0, 1, 0):\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // 90 degree turn around x3 axis
     bgc_fp32_vector3_make(&initial_primary,   2.0f, 0.0f, 0.0f);
@@ -199,10 +199,10 @@ void test_basis_difference_fp32()
     bgc_fp32_vector3_make(&final_primary,  0.0f, 10.0f, 0.0f);
     bgc_fp32_vector3_make(&final_auxiliary,-1.0f, 0.0f, 0.0f);
 
-    bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\n90 degree turn around (0, 0, 1):\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // Unorthogonal pairs turn at 90 degrees around x3 axis
     bgc_fp32_vector3_make(&initial_primary,    2.0f, 0.0f, 0.0f);
@@ -211,10 +211,10 @@ void test_basis_difference_fp32()
     bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
     bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 5.0f, 0.0f);
 
-    bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // Zero vectors
     bgc_fp32_vector3_make(&initial_primary,   0.0f, 0.0f, 0.0f);
@@ -224,11 +224,11 @@ void test_basis_difference_fp32()
 
     int code;
 
-    code = bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     if (code >= 0) {
         printf("\nZero vectors: this cannot be!\n");
-        print_versor_fp32(&turn);
+        print_quaternion_fp32(&turn._versor);
     }
     else {
         printf("\nZero vector validation works fine\n");
@@ -240,11 +240,11 @@ void test_basis_difference_fp32()
     bgc_fp32_vector3_make(&final_primary,     1.0f, 0.0f, 0.0f);
     bgc_fp32_vector3_make(&final_auxiliary,   0.0f, 1.0f, 0.0f);
 
-    code = bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    code = bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     if (code >= 0) {
         printf("\nParallel vectors: this cannot be!\n");
-        print_versor_fp32(&turn);
+        print_quaternion_fp32(&turn._versor);
     }
     else {
         printf("\nParallelism validation works fine\n");
@@ -257,10 +257,10 @@ void test_basis_difference_fp32()
     bgc_fp32_vector3_make(&final_primary,    0.999848f, 0.017452f, 0.0f);
     bgc_fp32_vector3_make(&final_auxiliary, -0.017452f, 0.999848f, 0.0f);
 
-    bgc_fp32_versor_make_basis_difference(&turn , &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    bgc_fp32_turn3_make_basis_difference(&turn , &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nSmall angle turn (about 1 degree):\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // About 179 degrees turn
     bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
@@ -269,10 +269,10 @@ void test_basis_difference_fp32()
     bgc_fp32_vector3_make(&final_primary,  -0.999848f, -0.017452f, 0.0f);
     bgc_fp32_vector3_make(&final_auxiliary, 0.017452f, -0.999848f, 0.0f);
 
-    bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nAbout 179 degrees turn:\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
     // 120 degrees around (-1, -1, 1)
     bgc_fp32_vector3_make(&initial_primary,   1.0f, 0.0f, 0.0f);
@@ -281,10 +281,10 @@ void test_basis_difference_fp32()
     bgc_fp32_vector3_make(&final_primary,   0.0f, 1.0f, 0.0f);
     bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 0.0f, -1.0f);
 
-    bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\n120 degees turn:\n");
-    print_versor_fp32(&turn);
+    print_quaternion_fp32(&turn._versor);
 
 
     // About 1 degree turn difference between initial_primary and initial_auxiliary directions
@@ -293,10 +293,10 @@ void test_basis_difference_fp32()
     bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
     bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 0.0f, 0.0f);
 
-    bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
+    bgc_fp32_turn3_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
 
     printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");