Добавление базисов как вспомогательной структуры

basic-geometry/basic-geometry.vcxproj

@@ -21,6 +21,7 @@
   <ItemGroup>
     <ClInclude Include="angle.h" />
     <ClInclude Include="basic-geometry.h" />
+    <ClInclude Include="basis3.h" />
     <ClInclude Include="complex.h" />
     <ClInclude Include="cotes-number.h" />
     <ClInclude Include="matrix2x2.h" />
@@ -40,6 +41,7 @@
     <ClCompile Include="angle.c" />
     <ClInclude Include="complex.c" />
     <ClInclude Include="cotes-number.c" />
+    <ClCompile Include="basis3.c" />
     <ClCompile Include="utilities.c" />
     <ClCompile Include="matrix2x2.c" />
     <ClCompile Include="matrix2x3.c" />

basic-geometry/basic-geometry.vcxproj.filters

@@ -69,6 +69,9 @@
     <ClInclude Include="slerp.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
+    <ClInclude Include="basis3.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="angle.c">
@@ -110,5 +113,8 @@
     <ClCompile Include="slerp.c">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
+    <ClCompile Include="basis3.c">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
   </ItemGroup>
 </Project>

basic-geometry/basis3.c

@@ -0,0 +1,232 @@
+#include <math.h>
+#include "./basis3.h"
+
+typedef struct {
+    int e1, e2, e3;
+} _BgcBasis3State;
+
+static inline void _bgc_basis3_state_reset(_BgcBasis3State* state)
+{
+    state->e1 = 0;
+    state->e2 = 0;
+    state->e3 = 0;
+}
+
+static inline int _bgc_basis3_validate_directions(const int primary_direction, const int auxiliary_direction)
+{
+    if (!bgc_is_correct_direction(primary_direction)) {
+        return BGC_ERROR_BASIS3_PRIMARY_DIRECTION_UNKNOWN;
+    }
+
+    if (!bgc_is_correct_direction(auxiliary_direction)) {
+        return BGC_ERROR_BASIS3_AUXILIARY_DIRECTION_UNKNOWN;
+    }
+
+    if (primary_direction == auxiliary_direction || primary_direction == -auxiliary_direction) {
+        return BGC_ERROR_BASIS3_PRIMARY_AUXILIARY_PARALLEL;
+    }
+
+    return BGC_SUCCESS;
+}
+
+static inline void _bgc_basis3_load_axis_fp32(const int direction, const BgcVector3FP32* axis, _BgcBasis3State* state, BgcBasis3FP32* basis)
+{
+    switch (direction) {
+    case BGC_DIRECTION_X1: