Добавлена комбинация трёх версоров одной операцией

basic-geometry/versor.h

@@ -440,6 +440,74 @@ static inline void bg_fp64_versor_combine(const BgFP64Versor* second, const BgFP
     twin->x3 *= multiplier;
 }
 
+// ============ Combination of three ============ //
+
+static inline void bg_fp32_versor_combine3(const BgFP32Versor* third, const BgFP32Versor* second, const BgFP32Versor* first, BgFP32Versor* result)
+{
+    const float s0a = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
+    const float x1a = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
+    const float x2a = (second->x2 * first->s0 + second->s0 * first->x2) - (second->x1 * first->x3 - second->x3 * first->x1);
+    const float x3a = (second->x3 * first->s0 + second->s0 * first->x3) - (second->x2 * first->x1 - second->x1 * first->x2);
+
+    const float s0b = (third->s0 * s0a - third->x1 * x1a) - (third->x2 * x2a + third->x3 * x3a);
+    const float x1b = (third->x1 * s0a + third->s0 * x1a) - (third->x3 * x2a - third->x2 * x3a);
+    const float x2b = (third->x2 * s0a + third->s0 * x2a) - (third->x1 * x3a - third->x3 * x1a);