/// <summary>
/// Calculates the logarithm of a given quaternion.
/// </summary>
/// <param name="a">A <see cref="QuaternionF"/> instance.</param>
/// <returns>The quaternion's logarithm.</returns>
public static QuaternionF Log(QuaternionF a)
{
QuaternionF result = new QuaternionF(0.0f, 0.0f, 0.0f, 0.0f);
if (MathFunctions.Abs(a.W) < 1.0f)
{
float angle = (float)System.Math.Acos(a.W);
float sin = (float)System.Math.Sin(angle);
if (MathFunctions.Abs(sin) >= 0.0f)
{
float coeff = angle / sin;
result.X = coeff * a.X;
result.Y = coeff * a.Y;
result.Z = coeff * a.Z;
}
else
{
result.X = a.X;
result.Y = a.Y;
result.Z = a.Z;
}
}
return(result);
}
/// <summary>
/// Calculates the logarithm of a given quaternion.
/// </summary>
/// <param name="a">A <see cref="QuaternionD"/> instance.</param>
/// <returns>The quaternion's logarithm.</returns>
public static QuaternionD Log(QuaternionD a)
{
QuaternionD result = new QuaternionD(0, 0, 0, 0);
if (MathFunctions.Abs(a.W) < 1.0)
{
double angle = System.Math.Acos(a.W);
double sin = System.Math.Sin(angle);
if (MathFunctions.Abs(sin) >= 0)
{
double coeff = angle / sin;
result.X = coeff * a.X;
result.Y = coeff * a.Y;
result.Z = coeff * a.Z;
}
else
{
result.X = a.X;
result.Y = a.Y;
result.Z = a.Z;
}
}
return(result);
}
/// <summary>
/// Calculates the exponent of a quaternion.
/// </summary>
/// <param name="a">A <see cref="QuaternionF"/> instance.</param>
/// <returns>The quaternion's exponent.</returns>
public QuaternionF Exp(QuaternionF a)
{
QuaternionF result = new QuaternionF(0.0f, 0.0f, 0.0f, 0.0f);
float angle = (float)System.Math.Sqrt(a.X * a.X + a.Y * a.Y + a.Z * a.Z);
float sin = (float)System.Math.Sin(angle);
if (MathFunctions.Abs(sin) > 0.0f)
{
float coeff = angle / sin;
result.X = coeff * a.X;
result.Y = coeff * a.Y;
result.Z = coeff * a.Z;
}
else
{
result.X = a.X;
result.Y = a.Y;
result.Z = a.Z;
}
return(result);
}
/// <summary>
/// Calculates the exponent of a quaternion.
/// </summary>
/// <param name="a">A <see cref="QuaternionD"/> instance.</param>
/// <returns>The quaternion's exponent.</returns>
public QuaternionD Exp(QuaternionD a)
{
QuaternionD result = new QuaternionD(0, 0, 0, 0);
double angle = System.Math.Sqrt(a.X * a.X + a.Y * a.Y + a.Z * a.Z);
double sin = System.Math.Sin(angle);
if (MathFunctions.Abs(sin) > 0)
{
double coeff = angle / sin;
result.X = coeff * a.X;
result.Y = coeff * a.Y;
result.Z = coeff * a.Z;
}
else
{
result.X = a.X;
result.Y = a.Y;
result.Z = a.Z;
}
return(result);
}