Simple Vector Library 1.5 http://www.cs.cmu.edu/~ajw/doc/svl.html
Quat.h@0:785cff1e5a7c, 2016-01-04 (annotated)
- Committer:
- BartJanssens
- Date:
- Mon Jan 04 15:19:10 2016 +0000
- Revision:
- 0:785cff1e5a7c
svl-1.5
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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BartJanssens | 0:785cff1e5a7c | 1 | #ifndef __Quat__ |
BartJanssens | 0:785cff1e5a7c | 2 | #define __Quat__ |
BartJanssens | 0:785cff1e5a7c | 3 | #include "Vec3.h" |
BartJanssens | 0:785cff1e5a7c | 4 | #include "Mat3.h" |
BartJanssens | 0:785cff1e5a7c | 5 | #include "Vec4.h" |
BartJanssens | 0:785cff1e5a7c | 6 | #include "Mat4.h" |
BartJanssens | 0:785cff1e5a7c | 7 | |
BartJanssens | 0:785cff1e5a7c | 8 | class Quat |
BartJanssens | 0:785cff1e5a7c | 9 | { |
BartJanssens | 0:785cff1e5a7c | 10 | public: |
BartJanssens | 0:785cff1e5a7c | 11 | // constructors |
BartJanssens | 0:785cff1e5a7c | 12 | Quat(); |
BartJanssens | 0:785cff1e5a7c | 13 | Quat(Real q0, Real q1, Real q2, Real q3); // [q0,(q1,q2,q3)] |
BartJanssens | 0:785cff1e5a7c | 14 | Quat (const Vec3 &axis, Real angle); |
BartJanssens | 0:785cff1e5a7c | 15 | Quat (const Mat3 &m); |
BartJanssens | 0:785cff1e5a7c | 16 | |
BartJanssens | 0:785cff1e5a7c | 17 | Int Elts() const { return (4); }; |
BartJanssens | 0:785cff1e5a7c | 18 | |
BartJanssens | 0:785cff1e5a7c | 19 | Real &operator [] (Int i); |
BartJanssens | 0:785cff1e5a7c | 20 | const Real &operator [] (Int i) const; |
BartJanssens | 0:785cff1e5a7c | 21 | |
BartJanssens | 0:785cff1e5a7c | 22 | // Assignment operators |
BartJanssens | 0:785cff1e5a7c | 23 | |
BartJanssens | 0:785cff1e5a7c | 24 | Quat &operator = (const Quat &a); |
BartJanssens | 0:785cff1e5a7c | 25 | Quat &operator += (const Quat &a); |
BartJanssens | 0:785cff1e5a7c | 26 | Quat &operator -= (const Quat &a); |
BartJanssens | 0:785cff1e5a7c | 27 | Quat &operator *= (const Quat &a); |
BartJanssens | 0:785cff1e5a7c | 28 | Quat &operator *= (Real s); |
BartJanssens | 0:785cff1e5a7c | 29 | Quat &operator /= (Real s); |
BartJanssens | 0:785cff1e5a7c | 30 | |
BartJanssens | 0:785cff1e5a7c | 31 | // Arithmetic operators |
BartJanssens | 0:785cff1e5a7c | 32 | |
BartJanssens | 0:785cff1e5a7c | 33 | Quat operator + (const Quat &a) const; // v + a |
BartJanssens | 0:785cff1e5a7c | 34 | Quat operator - (const Quat &a) const; // v - a |
BartJanssens | 0:785cff1e5a7c | 35 | Quat operator - () const; // -v |
BartJanssens | 0:785cff1e5a7c | 36 | Quat operator * (const Quat &a) const; // v * a (vx * ax, ...) |
BartJanssens | 0:785cff1e5a7c | 37 | Quat operator * (Real s) const; // v * s |
BartJanssens | 0:785cff1e5a7c | 38 | Quat operator / (Real s) const; // v / s |
BartJanssens | 0:785cff1e5a7c | 39 | |
BartJanssens | 0:785cff1e5a7c | 40 | |
BartJanssens | 0:785cff1e5a7c | 41 | Quat &Normalise(); // normalise vector |
BartJanssens | 0:785cff1e5a7c | 42 | |
BartJanssens | 0:785cff1e5a7c | 43 | protected: |
BartJanssens | 0:785cff1e5a7c | 44 | Real elt[4]; |
BartJanssens | 0:785cff1e5a7c | 45 | }; |
BartJanssens | 0:785cff1e5a7c | 46 | |
BartJanssens | 0:785cff1e5a7c | 47 | inline Quat operator * (Real s, const Quat &v); // Left mult. by s |
BartJanssens | 0:785cff1e5a7c | 48 | inline Real dot(const Quat &a, const Quat &b); // v . a |
BartJanssens | 0:785cff1e5a7c | 49 | inline Real len(const Quat &v); // || v || |
BartJanssens | 0:785cff1e5a7c | 50 | inline Real sqrlen(const Quat &v); // v . v |
BartJanssens | 0:785cff1e5a7c | 51 | inline Quat norm(const Quat &v); // v / || v || |
BartJanssens | 0:785cff1e5a7c | 52 | inline Void normalise(Quat &v); // v = norm(v) |
BartJanssens | 0:785cff1e5a7c | 53 | inline Quat slerp(const Quat &q1, const Quat &q2, Real t); |
BartJanssens | 0:785cff1e5a7c | 54 | inline Quat conjugate(const Quat &q); |
BartJanssens | 0:785cff1e5a7c | 55 | |
BartJanssens | 0:785cff1e5a7c | 56 | Mat3 Rot3(const Quat &q); |
BartJanssens | 0:785cff1e5a7c | 57 | Mat4 HRot4(const Quat &q); |
BartJanssens | 0:785cff1e5a7c | 58 | |
BartJanssens | 0:785cff1e5a7c | 59 | |
BartJanssens | 0:785cff1e5a7c | 60 | //std::ostream &operator << (std::ostream &s, const Quat &v); |
BartJanssens | 0:785cff1e5a7c | 61 | //std::istream &operator >> (std::istream &s, Quat &v); |
BartJanssens | 0:785cff1e5a7c | 62 | |
BartJanssens | 0:785cff1e5a7c | 63 | void printQuat(const Quat &v); |
BartJanssens | 0:785cff1e5a7c | 64 | |
BartJanssens | 0:785cff1e5a7c | 65 | inline Real &Quat::operator [] (Int i) |
BartJanssens | 0:785cff1e5a7c | 66 | { |
BartJanssens | 0:785cff1e5a7c | 67 | CheckRange(i, 0, 4, "(Quat::[i]) index out of range"); |
BartJanssens | 0:785cff1e5a7c | 68 | return(elt[i]); |
BartJanssens | 0:785cff1e5a7c | 69 | } |
BartJanssens | 0:785cff1e5a7c | 70 | |
BartJanssens | 0:785cff1e5a7c | 71 | inline const Real &Quat::operator [] (Int i) const |
BartJanssens | 0:785cff1e5a7c | 72 | { |
BartJanssens | 0:785cff1e5a7c | 73 | CheckRange(i, 0, 4, "(Quat::[i]) index out of range"); |
BartJanssens | 0:785cff1e5a7c | 74 | return(elt[i]); |
BartJanssens | 0:785cff1e5a7c | 75 | } |
BartJanssens | 0:785cff1e5a7c | 76 | |
BartJanssens | 0:785cff1e5a7c | 77 | inline Quat::Quat() |
BartJanssens | 0:785cff1e5a7c | 78 | { |
BartJanssens | 0:785cff1e5a7c | 79 | } |
BartJanssens | 0:785cff1e5a7c | 80 | |
BartJanssens | 0:785cff1e5a7c | 81 | inline Quat::Quat(Real q0, Real q1, Real q2, Real q3) |
BartJanssens | 0:785cff1e5a7c | 82 | { |
BartJanssens | 0:785cff1e5a7c | 83 | elt[0] = q0; |
BartJanssens | 0:785cff1e5a7c | 84 | elt[1] = q1; |
BartJanssens | 0:785cff1e5a7c | 85 | elt[2] = q2; |
BartJanssens | 0:785cff1e5a7c | 86 | elt[3] = q3; |
BartJanssens | 0:785cff1e5a7c | 87 | } |
BartJanssens | 0:785cff1e5a7c | 88 | |
BartJanssens | 0:785cff1e5a7c | 89 | inline Quat::Quat(const Vec3 &axis, Real angle) |
BartJanssens | 0:785cff1e5a7c | 90 | { |
BartJanssens | 0:785cff1e5a7c | 91 | Vec3 n = norm(axis); |
BartJanssens | 0:785cff1e5a7c | 92 | Real sinhalf = sin(angle/2); |
BartJanssens | 0:785cff1e5a7c | 93 | elt[1] = sinhalf*n[0]; |
BartJanssens | 0:785cff1e5a7c | 94 | elt[2] = sinhalf*n[1]; |
BartJanssens | 0:785cff1e5a7c | 95 | elt[3] = sinhalf*n[2]; |
BartJanssens | 0:785cff1e5a7c | 96 | |
BartJanssens | 0:785cff1e5a7c | 97 | elt[0] = cos(angle/2); |
BartJanssens | 0:785cff1e5a7c | 98 | } |
BartJanssens | 0:785cff1e5a7c | 99 | |
BartJanssens | 0:785cff1e5a7c | 100 | |
BartJanssens | 0:785cff1e5a7c | 101 | inline Quat &Quat::operator = (const Quat &v) |
BartJanssens | 0:785cff1e5a7c | 102 | { |
BartJanssens | 0:785cff1e5a7c | 103 | elt[0] = v[0]; |
BartJanssens | 0:785cff1e5a7c | 104 | elt[1] = v[1]; |
BartJanssens | 0:785cff1e5a7c | 105 | elt[2] = v[2]; |
BartJanssens | 0:785cff1e5a7c | 106 | elt[3] = v[3]; |
BartJanssens | 0:785cff1e5a7c | 107 | |
BartJanssens | 0:785cff1e5a7c | 108 | return(SELF); |
BartJanssens | 0:785cff1e5a7c | 109 | } |
BartJanssens | 0:785cff1e5a7c | 110 | |
BartJanssens | 0:785cff1e5a7c | 111 | inline Quat &Quat::operator += (const Quat &v) |
BartJanssens | 0:785cff1e5a7c | 112 | { |
BartJanssens | 0:785cff1e5a7c | 113 | elt[0] += v[0]; |
BartJanssens | 0:785cff1e5a7c | 114 | elt[1] += v[1]; |
BartJanssens | 0:785cff1e5a7c | 115 | elt[2] += v[2]; |
BartJanssens | 0:785cff1e5a7c | 116 | elt[3] += v[3]; |
BartJanssens | 0:785cff1e5a7c | 117 | |
BartJanssens | 0:785cff1e5a7c | 118 | return(SELF); |
BartJanssens | 0:785cff1e5a7c | 119 | } |
BartJanssens | 0:785cff1e5a7c | 120 | |
BartJanssens | 0:785cff1e5a7c | 121 | inline Quat &Quat::operator -= (const Quat &v) |
BartJanssens | 0:785cff1e5a7c | 122 | { |
BartJanssens | 0:785cff1e5a7c | 123 | elt[0] -= v[0]; |
BartJanssens | 0:785cff1e5a7c | 124 | elt[1] -= v[1]; |
BartJanssens | 0:785cff1e5a7c | 125 | elt[2] -= v[2]; |
BartJanssens | 0:785cff1e5a7c | 126 | elt[3] -= v[3]; |
BartJanssens | 0:785cff1e5a7c | 127 | |
BartJanssens | 0:785cff1e5a7c | 128 | return(SELF); |
BartJanssens | 0:785cff1e5a7c | 129 | } |
BartJanssens | 0:785cff1e5a7c | 130 | |
BartJanssens | 0:785cff1e5a7c | 131 | inline Quat &Quat::operator *= (const Quat &v) |
BartJanssens | 0:785cff1e5a7c | 132 | { |
BartJanssens | 0:785cff1e5a7c | 133 | Quat tmp(elt[0],elt[1],elt[2],elt[3]); |
BartJanssens | 0:785cff1e5a7c | 134 | tmp = tmp * v; |
BartJanssens | 0:785cff1e5a7c | 135 | |
BartJanssens | 0:785cff1e5a7c | 136 | elt[0] = tmp[0]; |
BartJanssens | 0:785cff1e5a7c | 137 | elt[1] = tmp[1]; |
BartJanssens | 0:785cff1e5a7c | 138 | elt[2] = tmp[2]; |
BartJanssens | 0:785cff1e5a7c | 139 | elt[3] = tmp[3]; |
BartJanssens | 0:785cff1e5a7c | 140 | |
BartJanssens | 0:785cff1e5a7c | 141 | return(SELF); |
BartJanssens | 0:785cff1e5a7c | 142 | } |
BartJanssens | 0:785cff1e5a7c | 143 | |
BartJanssens | 0:785cff1e5a7c | 144 | inline Quat &Quat::operator *= (Real s) |
BartJanssens | 0:785cff1e5a7c | 145 | { |
BartJanssens | 0:785cff1e5a7c | 146 | elt[0] *= s; |
BartJanssens | 0:785cff1e5a7c | 147 | elt[1] *= s; |
BartJanssens | 0:785cff1e5a7c | 148 | elt[2] *= s; |
BartJanssens | 0:785cff1e5a7c | 149 | elt[3] *= s; |
BartJanssens | 0:785cff1e5a7c | 150 | |
BartJanssens | 0:785cff1e5a7c | 151 | return(SELF); |
BartJanssens | 0:785cff1e5a7c | 152 | } |
BartJanssens | 0:785cff1e5a7c | 153 | |
BartJanssens | 0:785cff1e5a7c | 154 | inline Quat &Quat::operator /= (Real s) |
BartJanssens | 0:785cff1e5a7c | 155 | { |
BartJanssens | 0:785cff1e5a7c | 156 | elt[0] /= s; |
BartJanssens | 0:785cff1e5a7c | 157 | elt[1] /= s; |
BartJanssens | 0:785cff1e5a7c | 158 | elt[2] /= s; |
BartJanssens | 0:785cff1e5a7c | 159 | elt[3] /= s; |
BartJanssens | 0:785cff1e5a7c | 160 | |
BartJanssens | 0:785cff1e5a7c | 161 | return(SELF); |
BartJanssens | 0:785cff1e5a7c | 162 | } |
BartJanssens | 0:785cff1e5a7c | 163 | |
BartJanssens | 0:785cff1e5a7c | 164 | |
BartJanssens | 0:785cff1e5a7c | 165 | inline Quat Quat::operator + (const Quat &a) const |
BartJanssens | 0:785cff1e5a7c | 166 | { |
BartJanssens | 0:785cff1e5a7c | 167 | Quat result; |
BartJanssens | 0:785cff1e5a7c | 168 | |
BartJanssens | 0:785cff1e5a7c | 169 | result[0] = elt[0] + a[0]; |
BartJanssens | 0:785cff1e5a7c | 170 | result[1] = elt[1] + a[1]; |
BartJanssens | 0:785cff1e5a7c | 171 | result[2] = elt[2] + a[2]; |
BartJanssens | 0:785cff1e5a7c | 172 | result[3] = elt[3] + a[3]; |
BartJanssens | 0:785cff1e5a7c | 173 | |
BartJanssens | 0:785cff1e5a7c | 174 | return(result); |
BartJanssens | 0:785cff1e5a7c | 175 | } |
BartJanssens | 0:785cff1e5a7c | 176 | |
BartJanssens | 0:785cff1e5a7c | 177 | inline Quat Quat::operator - (const Quat &a) const |
BartJanssens | 0:785cff1e5a7c | 178 | { |
BartJanssens | 0:785cff1e5a7c | 179 | Quat result; |
BartJanssens | 0:785cff1e5a7c | 180 | |
BartJanssens | 0:785cff1e5a7c | 181 | result[0] = elt[0] - a[0]; |
BartJanssens | 0:785cff1e5a7c | 182 | result[1] = elt[1] - a[1]; |
BartJanssens | 0:785cff1e5a7c | 183 | result[2] = elt[2] - a[2]; |
BartJanssens | 0:785cff1e5a7c | 184 | result[3] = elt[3] - a[3]; |
BartJanssens | 0:785cff1e5a7c | 185 | |
BartJanssens | 0:785cff1e5a7c | 186 | return(result); |
BartJanssens | 0:785cff1e5a7c | 187 | } |
BartJanssens | 0:785cff1e5a7c | 188 | |
BartJanssens | 0:785cff1e5a7c | 189 | inline Quat Quat::operator - () const |
BartJanssens | 0:785cff1e5a7c | 190 | { |
BartJanssens | 0:785cff1e5a7c | 191 | Quat result; |
BartJanssens | 0:785cff1e5a7c | 192 | |
BartJanssens | 0:785cff1e5a7c | 193 | result[0] = -elt[0]; |
BartJanssens | 0:785cff1e5a7c | 194 | result[1] = -elt[1]; |
BartJanssens | 0:785cff1e5a7c | 195 | result[2] = -elt[2]; |
BartJanssens | 0:785cff1e5a7c | 196 | result[3] = -elt[3]; |
BartJanssens | 0:785cff1e5a7c | 197 | |
BartJanssens | 0:785cff1e5a7c | 198 | return(result); |
BartJanssens | 0:785cff1e5a7c | 199 | } |
BartJanssens | 0:785cff1e5a7c | 200 | |
BartJanssens | 0:785cff1e5a7c | 201 | inline Quat Quat::operator * (const Quat &a) const |
BartJanssens | 0:785cff1e5a7c | 202 | { |
BartJanssens | 0:785cff1e5a7c | 203 | Quat result; |
BartJanssens | 0:785cff1e5a7c | 204 | |
BartJanssens | 0:785cff1e5a7c | 205 | Vec3 qv(elt[1],elt[2],elt[3]); Real qs = elt[0]; |
BartJanssens | 0:785cff1e5a7c | 206 | Vec3 av(a[1],a[2],a[3]); Real as = a[0]; |
BartJanssens | 0:785cff1e5a7c | 207 | |
BartJanssens | 0:785cff1e5a7c | 208 | Vec3 rv = qs*av + as*qv + cross(qv,av); |
BartJanssens | 0:785cff1e5a7c | 209 | Real rs = qs*as - dot(qv,av); |
BartJanssens | 0:785cff1e5a7c | 210 | |
BartJanssens | 0:785cff1e5a7c | 211 | result[1] = rv[0]; |
BartJanssens | 0:785cff1e5a7c | 212 | result[2] = rv[1]; |
BartJanssens | 0:785cff1e5a7c | 213 | result[3] = rv[2]; |
BartJanssens | 0:785cff1e5a7c | 214 | result[0] = rs; |
BartJanssens | 0:785cff1e5a7c | 215 | |
BartJanssens | 0:785cff1e5a7c | 216 | return(result); |
BartJanssens | 0:785cff1e5a7c | 217 | } |
BartJanssens | 0:785cff1e5a7c | 218 | |
BartJanssens | 0:785cff1e5a7c | 219 | inline Quat Quat::operator * (Real s) const |
BartJanssens | 0:785cff1e5a7c | 220 | { |
BartJanssens | 0:785cff1e5a7c | 221 | Quat result; |
BartJanssens | 0:785cff1e5a7c | 222 | |
BartJanssens | 0:785cff1e5a7c | 223 | result[0] = elt[0] * s; |
BartJanssens | 0:785cff1e5a7c | 224 | result[1] = elt[1] * s; |
BartJanssens | 0:785cff1e5a7c | 225 | result[2] = elt[2] * s; |
BartJanssens | 0:785cff1e5a7c | 226 | result[3] = elt[3] * s; |
BartJanssens | 0:785cff1e5a7c | 227 | |
BartJanssens | 0:785cff1e5a7c | 228 | return(result); |
BartJanssens | 0:785cff1e5a7c | 229 | } |
BartJanssens | 0:785cff1e5a7c | 230 | |
BartJanssens | 0:785cff1e5a7c | 231 | inline Quat Quat::operator / (Real s) const |
BartJanssens | 0:785cff1e5a7c | 232 | { |
BartJanssens | 0:785cff1e5a7c | 233 | Quat result; |
BartJanssens | 0:785cff1e5a7c | 234 | |
BartJanssens | 0:785cff1e5a7c | 235 | result[0] = elt[0] / s; |
BartJanssens | 0:785cff1e5a7c | 236 | result[1] = elt[1] / s; |
BartJanssens | 0:785cff1e5a7c | 237 | result[2] = elt[2] / s; |
BartJanssens | 0:785cff1e5a7c | 238 | result[3] = elt[3] / s; |
BartJanssens | 0:785cff1e5a7c | 239 | |
BartJanssens | 0:785cff1e5a7c | 240 | return(result); |
BartJanssens | 0:785cff1e5a7c | 241 | } |
BartJanssens | 0:785cff1e5a7c | 242 | |
BartJanssens | 0:785cff1e5a7c | 243 | inline Quat operator * (Real s, const Quat &v) |
BartJanssens | 0:785cff1e5a7c | 244 | { |
BartJanssens | 0:785cff1e5a7c | 245 | return(v * s); |
BartJanssens | 0:785cff1e5a7c | 246 | } |
BartJanssens | 0:785cff1e5a7c | 247 | |
BartJanssens | 0:785cff1e5a7c | 248 | // for convenience. Quat has no dot operation. |
BartJanssens | 0:785cff1e5a7c | 249 | inline Real dot(const Quat &a, const Quat &b) |
BartJanssens | 0:785cff1e5a7c | 250 | { |
BartJanssens | 0:785cff1e5a7c | 251 | return(a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3]); |
BartJanssens | 0:785cff1e5a7c | 252 | } |
BartJanssens | 0:785cff1e5a7c | 253 | |
BartJanssens | 0:785cff1e5a7c | 254 | inline Real len(const Quat &v) |
BartJanssens | 0:785cff1e5a7c | 255 | { |
BartJanssens | 0:785cff1e5a7c | 256 | return(sqrt(dot(v, v))); |
BartJanssens | 0:785cff1e5a7c | 257 | } |
BartJanssens | 0:785cff1e5a7c | 258 | |
BartJanssens | 0:785cff1e5a7c | 259 | inline Real sqrlen(const Quat &v) |
BartJanssens | 0:785cff1e5a7c | 260 | { |
BartJanssens | 0:785cff1e5a7c | 261 | return(dot(v, v)); |
BartJanssens | 0:785cff1e5a7c | 262 | } |
BartJanssens | 0:785cff1e5a7c | 263 | |
BartJanssens | 0:785cff1e5a7c | 264 | inline Quat norm(const Quat &v) |
BartJanssens | 0:785cff1e5a7c | 265 | { |
BartJanssens | 0:785cff1e5a7c | 266 | Assert(sqrlen(v) > 0.0, "normalising length-zero vector"); |
BartJanssens | 0:785cff1e5a7c | 267 | return(v / len(v)); |
BartJanssens | 0:785cff1e5a7c | 268 | } |
BartJanssens | 0:785cff1e5a7c | 269 | |
BartJanssens | 0:785cff1e5a7c | 270 | inline Void normalise(Quat &v) |
BartJanssens | 0:785cff1e5a7c | 271 | { |
BartJanssens | 0:785cff1e5a7c | 272 | v /= len(v); |
BartJanssens | 0:785cff1e5a7c | 273 | } |
BartJanssens | 0:785cff1e5a7c | 274 | |
BartJanssens | 0:785cff1e5a7c | 275 | inline Quat slerp (const Quat& q1, const Quat& q2, Real t) |
BartJanssens | 0:785cff1e5a7c | 276 | { |
BartJanssens | 0:785cff1e5a7c | 277 | Quat result; |
BartJanssens | 0:785cff1e5a7c | 278 | Quat qq = q1; |
BartJanssens | 0:785cff1e5a7c | 279 | |
BartJanssens | 0:785cff1e5a7c | 280 | if (dot(qq,q2) < 0) |
BartJanssens | 0:785cff1e5a7c | 281 | qq = -q1; |
BartJanssens | 0:785cff1e5a7c | 282 | |
BartJanssens | 0:785cff1e5a7c | 283 | Real phi = acos(dot (qq, q2)); |
BartJanssens | 0:785cff1e5a7c | 284 | Real denom = sin(phi); |
BartJanssens | 0:785cff1e5a7c | 285 | |
BartJanssens | 0:785cff1e5a7c | 286 | result = sin(phi*(1-t))/denom * qq + sin(phi*t)/denom * q2; |
BartJanssens | 0:785cff1e5a7c | 287 | |
BartJanssens | 0:785cff1e5a7c | 288 | return result; |
BartJanssens | 0:785cff1e5a7c | 289 | } |
BartJanssens | 0:785cff1e5a7c | 290 | |
BartJanssens | 0:785cff1e5a7c | 291 | inline Quat conjugate(const Quat &q) |
BartJanssens | 0:785cff1e5a7c | 292 | { |
BartJanssens | 0:785cff1e5a7c | 293 | return Quat (q[0], -q[1], -q[2], -q[3]); |
BartJanssens | 0:785cff1e5a7c | 294 | } |
BartJanssens | 0:785cff1e5a7c | 295 | |
BartJanssens | 0:785cff1e5a7c | 296 | #endif |