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jiri
2020-01-01 09:58:51 +00:00
parent 8529a746df
commit 2cb9b28ee3
2 changed files with 27 additions and 6 deletions
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25
quaternion.cc
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@@ -35,10 +35,31 @@ return Quaternion<T>
);
};
//basically the same code as in normquat2rotmat, but avoiding extra storage
template<typename T>
Quaternion<T> Quaternion<T>::rotateby(const Quaternion<T> &rhs, bool rhs_is_normalized)
void Quaternion<T>::rotate(T *to, const T *from) const
{
return rhs * *this * rhs.inverse(); //inefficient reference implementation
to[0] = (2*q[0]*q[0]-1+2*q[1]*q[1]) * from[0] +
2*(q[1]*q[2]+q[0]*q[3]) * from[1] +
2*(q[1]*q[3]-q[0]*q[2]) * from[2];
to[1] = 2*(q[1]*q[2]-q[0]*q[3]) * from[0] +
(2*q[0]*q[0]-1+2*q[2]*q[2]) * from[1] +
2*(q[2]*q[3]+q[0]*q[1]) * from[2];
to[2] = 2*(q[1]*q[3]+q[0]*q[2]) * from[0] +
2*(q[2]*q[3]-q[0]*q[1]) * from[1] +
(2*q[0]*q[0]-1+2*q[3]*q[3]) * from[2];
}
template<typename T>
Quaternion<T> Quaternion<T>::rotateby(const Quaternion<T> &rhs)
{
//return rhs.inverse() * *this * rhs; //inefficient reference implementation
Quaternion<T> r;
r[0]=0;
rhs.rotate(&r[1],&q[1]);
return r;
}