public void Invert_Instance()
{
var quat = new QuaternionD(1, 1, 1, 1);
var actual = quat.Invert();
Assert.Equal(new QuaternionD(-0.25f, -0.25f, -0.25f, 0.25f), actual);
}
public void Invert_Static()
{
var quat = new QuaternionD(1, 1, 1, 1);
var actual = QuaternionD.Invert(quat);
Assert.Equal(new QuaternionD(-0.25f, -0.25f, -0.25f, 0.25f), actual);
}
/// <summary>
/// Transforms a vector by a QuaternionD rotation.
/// </summary>
/// <param name="vec">The vector to transform.</param>
/// <param name="quat">The QuaternionD to rotate the vector by.</param>
/// <param name="result">The result of the operation.</param>
public static void Transform(ref double4 vec, ref QuaternionD quat, out double4 result)
{
QuaternionD v = new QuaternionD(vec.x, vec.y, vec.z, vec.w), 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 double4(v.x, v.y, v.z, v.w);
}