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Поправки в документацию: кватернионы и версоры / Little fixes in documentation: quaternions and versors

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Andrey Pokidov 2024-11-25 15:55:36 +07:00
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docs/quaternion-eng.md
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@ -1,6 +1,6 @@
# Quaternions
If brief, quaternions are hypercompex numbers with one real component and three
If brief, quaternions are hypercomplex numbers with one real component and three
complex components. Quaternions can be represented with formulas:
![Definition of quaternions](./media/quaternion_definition.png)
@ -23,8 +23,8 @@ as for a four-dimensional vector;
* modulus of a quaternion is calculated the same way as for four-dimensional
vector.
But the product of two quaternions is comletely different result than the dot
product of two four-dimensional vectors.
But the product of two quaternions is comletely different than the dot product
of two four-dimensional vectors.
Another way to represent a quaternion is a pair of a real number and
a three-dimensional vector:
@ -52,13 +52,17 @@ Versors are not possible to add and subtract. Versors cannot be mutiplied
or divided with a real number. But quaternions can be added and subtracted,
multiplied and divided with a number.
But versors can be combined. It is the same operation as multiplication of
Versors can be combined. It is the same operation as multiplication of
two quaternions but the function of combination of two versors watches that
the resulting versor has modulus equal to 1.
All the functions which change the state of a versor keep the modulus of
a versor close to 1.
Yes, the modulus of a versor is very close to 1 because floating point numbers
are not perfect and have little aberrations. Thus the modulus is not always
equal to 1 but very close to 1.
There two structural types for quaternions:
typedef struct {