public static void QuatRot(Matrix q, Matrix x, Matrix y) { // p. 361 Watt and Watt Matrix p = new Matrix(4, 1); p[0] = x[0]; p[1] = x[1]; p[2] = x[2]; p[3] = 0.0; Matrix q1 = new Matrix(4, 1); Matrix q2 = new Matrix(4, 1); Matrix qi = new Matrix(4, 1); qi.QuatInvert(q); q1.QuatMult(q, p); q2.QuatMult(q1, qi); y[0] = q2[0]; y[1] = q2[1]; y[2] = q2[2]; }
public static void QuatRot(Matrix q, Matrix x, Matrix y) { // p. 361 Watt and Watt Matrix p = new Matrix(4,1); p[0] = x[0]; p[1] = x[1]; p[2] = x[2]; p[3] = 0.0; Matrix q1 = new Matrix(4,1); Matrix q2 = new Matrix(4,1); Matrix qi = new Matrix(4,1); qi.QuatInvert(q); q1.QuatMult(q, p); q2.QuatMult(q1, qi); y[0] = q2[0]; y[1] = q2[1]; y[2] = q2[2]; }