/// <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);
}
public void Multiply_QuaternionScalar_Staic(QuaternionD quat, double scale, QuaternionD expected)
{
var actual = QuaternionD.Multiply(quat, scale);
Assert.Equal(expected, actual);
}
public void Multiply_TwoQuaternions_Static(QuaternionD left, QuaternionD right, QuaternionD expected)
{
var actual = QuaternionD.Multiply(left, right);
Assert.Equal(expected, actual);
}
/// <summary>
/// Divides a scalar by a quaternion.
/// </summary>
/// <param name="q">A <see cref="QuaternionD"/> instance.</param>
/// <param name="s">A scalar.</param>
/// <returns>A <see cref="QuaternionD"/> instance to hold the result.</returns>
public static QuaternionD operator/(double s, QuaternionD q)
{
return(QuaternionD.Multiply(q, 1 / s));
}
/// <summary>
/// Multiplies a quaternion by a scalar.
/// </summary>
/// <param name="q">A <see cref="QuaternionD"/> instance.</param>
/// <param name="s">A scalar.</param>
/// <returns>A <see cref="QuaternionD"/> instance to hold the result.</returns>
public static QuaternionD operator*(QuaternionD q, double s)
{
return(QuaternionD.Multiply(q, s));
}
/// <summary>
/// Multiplies quaternion <paramref name="a"/> by quaternion <paramref name="b"/>.
/// </summary>
/// <param name="a">A <see cref="QuaternionD"/> instance.</param>
/// <param name="b">A <see cref="QuaternionD"/> instance.</param>
/// <returns>A new <see cref="QuaternionD"/> containing the result.</returns>
public static QuaternionD operator*(QuaternionD a, QuaternionD b)
{
return(QuaternionD.Multiply(a, b));
}