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jiri
2020-01-04 21:58:49 +00:00
parent 2ab28bb5e8
commit 20a34fbc52
3 changed files with 47 additions and 13 deletions
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36
quaternion.cc
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@@ -24,17 +24,43 @@
template<typename T>
const Quaternion<T> Quaternion<T>::operator*(const Quaternion<T> &rhs) const
Quaternion<T> Quaternion<T>::operator*(const Quaternion<T> &rhs) const
{
return Quaternion<T>
(
this->q[0]*rhs.q[0]-this->q[1]*rhs.q[1]-this->q[2]*rhs.q[2]-this->q[3]*rhs.q[3],
this->q[0]*rhs.q[1]+this->q[1]*rhs.q[0]+this->q[2]*rhs.q[3]-this->q[3]*rhs.q[2],
this->q[0]*rhs.q[2]+this->q[2]*rhs.q[0]+this->q[3]*rhs.q[1]-this->q[1]*rhs.q[3],
this->q[0]*rhs.q[3]+this->q[3]*rhs.q[0]+this->q[1]*rhs.q[2]-this->q[2]*rhs.q[1]
q[0]*rhs.q[0]-q[1]*rhs.q[1]-q[2]*rhs.q[2]-q[3]*rhs.q[3],
q[0]*rhs.q[1]+q[1]*rhs.q[0]+q[2]*rhs.q[3]-q[3]*rhs.q[2],
q[0]*rhs.q[2]+q[2]*rhs.q[0]+q[3]*rhs.q[1]-q[1]*rhs.q[3],
q[0]*rhs.q[3]+q[3]*rhs.q[0]+q[1]*rhs.q[2]-q[2]*rhs.q[1]
);
};
template<typename T>
Quaternion<T> Quaternion<T>::times_vec3(const T *rhs) const
{
return Quaternion<T>
(
-q[1]*rhs[0]-q[2]*rhs[1]-q[3]*rhs[2],
q[0]*rhs[0]+q[2]*rhs[2]-q[3]*rhs[1],
q[0]*rhs[1]+q[3]*rhs[0]-q[1]*rhs[2],
q[0]*rhs[2]+q[1]*rhs[1]-q[2]*rhs[0]
);
};
template<typename T>
Quaternion<T> Quaternion<T>::vec3_times(const T *lhs) const
{
return Quaternion<T>
(
-lhs[0]*q[1]-lhs[1]*q[2]-lhs[2]*q[3],
lhs[0]*q[0]+lhs[1]*q[3]-lhs[2]*q[2],
lhs[1]*q[0]+lhs[2]*q[1]-lhs[0]*q[3],
lhs[2]*q[0]+lhs[0]*q[2]-lhs[1]*q[1]
);
};
//basically the same code as in normquat2rotmat, but avoiding extra storage
template<typename T>