/// <summary>
/// 四元数的逆
/// </summary>
/// <param name="rotation"></param>
/// <returns></returns>
public static Quaterniond Inverse(Quaterniond rotation)
{
return(new Quaterniond(-rotation.x, -rotation.y, -rotation.z, rotation.w));
}
/// <summary>
/// 夹角大小
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
public static double Angle(Quaterniond a, Quaterniond b)
{
double single = Dot(a, b);
return(Math.Acos(Math.Min(Math.Abs(single), 1f)) * 2f * (180 / Math.PI));
}
/// <summary>
/// 点乘
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
public static double Dot(Quaterniond a, Quaterniond b)
{
return(a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w);
}
/// <summary>
/// 设置平移旋转缩放矩阵
/// </summary>
/// <param name="pos"></param>
/// <param name="q"></param>
/// <param name="s"></param>
public void SetTRS(Vector3d pos, Quaterniond q, Vector3d s)
{
this = TRS(pos, q, s);
}