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public static Invert ( q ) : |
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| q | The Quaterniond to invert | |
| return | ||
/// <summary>
/// Transforms a vector by a quaternion rotation.
/// </summary>
/// <param name="vec">The vector to transform.</param>
/// <param name="quat">The quaternion to rotate the vector by.</param>
/// <param name="result">The result of the operation.</param>
public static void Transform(ref Vector2d vec, ref Quaterniond quat, out Vector2d result)
{
Quaterniond v = new Quaterniond(vec.X, vec.Y, 0, 0), i, t;
Quaterniond.Invert(ref quat, out i);
Quaterniond.Multiply(ref quat, ref v, out t);
Quaterniond.Multiply(ref t, ref i, out v);
result = new Vector2d(v.X, v.Y);
}
public static void Transform(ref Vector2d vec, ref Quaterniond quat, out Vector2d result)
{
Quaterniond result1 = new Quaterniond(vec.X, vec.Y, 0.0, 0.0);
Quaterniond result2;
Quaterniond.Invert(ref quat, out result2);
Quaterniond result3;
Quaterniond.Multiply(ref quat, ref result1, out result3);
Quaterniond.Multiply(ref result3, ref result2, out result1);
result = new Vector2d(result1.X, result1.Y);
}