public quaternion get_rotateAroundAxe(quaternion Q, double f)
{
quaternion t = new quaternion(Q.ort(), f / 2);
quaternion QQ = this;
QQ = t * QQ * t.conj();
return(QQ);
}
public quaternion get_rotateAroundAxe(quaternion s, quaternion e, double f)
//posoka na zawyrtane: gledame ot E kam S i zavartame obratno na chasovnika
{
quaternion t = new quaternion((e - s).ort(), f / 2);
quaternion QQ = this;
QQ = t * (QQ - s) * t.conj();
QQ += s;
return(QQ);
}
public quaternion set_rotateAroundAxe(quaternion Q, double f)
{
quaternion t = new quaternion(Q.ort(), f / 2);
quaternion QQ = this;
QQ = t * QQ * t.conj();
this.q[0] = QQ.q[0];
this.q[1] = QQ.q[1];
this.q[2] = QQ.q[2];
this.q[3] = QQ.q[3];
return(this);
}