static int
Qs(q_g_mul_p_)(lua_State *L)
{
mClifford *m = qlua_checkClifford(L, 1);
Qs(mSeqDirProp) *f = Qs(qlua_checkSeqDirProp)(L, 2, -1);
Qs(mSeqDirProp) *mf = Qs(qlua_newSeqDirProp)(L, QC(f));
Qs(mSeqDirProp) *r = Qs(qlua_newZeroSeqDirProp)(L, QC(f));
int i;
for (i = 0; i < 16; i++) {
switch (m->g[i].t) {
case qG_z: continue;
case qG_p:
Qx(QLA_D,_P_eq_gamma_times_P)(QNC(QC(f)) mf->ptr, f->ptr, i);
Qx(QLA_D,_P_peq_P)(QNC(QC(f)) r->ptr, mf->ptr);
break;
case qG_m:
Qx(QLA_D,_P_eq_gamma_times_P)(QNC(QC(f)) mf->ptr, f->ptr, i);
Qx(QLA_D,_P_meq_P)(QNC(QC(f)) r->ptr, mf->ptr);
break;
case qG_r:
Qx(QLA_D,_P_eq_gamma_times_P)(QNC(QC(f)) mf->ptr, f->ptr, i);
Qx(QLA_D,_P_peq_r_times_P)(QNC(QC(f)) r->ptr, &m->g[i].r, mf->ptr);
break;
case qG_c:
Qx(QLA_D,_P_eq_gamma_times_P)(QNC(QC(f)) mf->ptr, f->ptr, i);
Qx(QLA_D,_P_peq_c_times_P)(QNC(QC(f)) r->ptr, &m->g[i].c, mf->ptr);
break;
}
}
return 1;
}
static int
Qs(q_g_mul_D_)(lua_State *L)
{
mClifford *m = qlua_checkClifford(L, 1);
Qs(mLatDirFerm) *f = Qs(qlua_checkLatDirFerm)(L, 2, NULL, -1);
mLattice *S = qlua_ObjLattice(L, 2);
int Sidx = lua_gettop(L);
Qs(mLatDirFerm) *mf = Qs(qlua_newLatDirFerm)(L, Sidx, QC(f));
Qs(mLatDirFerm) *r = Qs(qlua_newZeroLatDirFerm)(L, Sidx, QC(f));
int i;
CALL_QDP(L);
for (i = 0; i < 16; i++) {
switch (m->g[i].t) {
case qG_z: continue;
case qG_p:
Qx(QDP_D,_D_eq_gamma_times_D)(mf->ptr, f->ptr, i, *S->qss);
Qx(QDP_D,_D_peq_D)(r->ptr, mf->ptr, *S->qss);
break;
case qG_m:
Qx(QDP_D,_D_eq_gamma_times_D)(mf->ptr, f->ptr, i, *S->qss);
Qx(QDP_D,_D_meq_D)(r->ptr, mf->ptr, *S->qss);
break;
case qG_r:
Qx(QDP_D,_D_eq_gamma_times_D)(mf->ptr, f->ptr, i, *S->qss);
Qx(QDP_D,_D_peq_r_times_D)(r->ptr, &m->g[i].r, mf->ptr, *S->qss);
break;
case qG_c:
Qx(QDP_D,_D_eq_gamma_times_D)(mf->ptr, f->ptr, i, *S->qss);
Qx(QDP_D,_D_peq_c_times_D)(r->ptr, &m->g[i].c, mf->ptr, *S->qss);
break;
}
}
return 1;
}
/////////////////////////////////////////////////////////////
/// Construit le quaternion à partir de 3 angles d'Euler
///
/// \param X : Angle autour de X
/// \param Y : Angle autour de Y
/// \param Z : Angle autour de Z
///
////////////////////////////////////////////////////////////
void Quaternion::FromEulerAngles(float X, float Y, float Z)
{
Quaternion Qx(Vector3F(1, 0, 0), X);
Quaternion Qy(Vector3F(0, 1, 0), Y);
Quaternion Qz(Vector3F(0, 0, 1), Z);
*this = Qx * Qy * Qz;
}
static int
Qs(q_M_gc)(lua_State *L)
{
Qs(mLatColMat) *b = Qs(qlua_checkLatColMat)(L, 1, NULL, -1);
Qx(QDP_D,_destroy_M)(b->ptr);
b->ptr = 0;
return 0;
}
int main() {
coord t(3);
coord Q(3);
coord R(3);
coord pi(3);
coord QxtxQ(3);
coord txQ(3);
double k;
t[0] = 1.0;
t[1] = 2.0;
t[2] = 3.0;
pi[0] = -0.5;
pi[1] = -2.345;
pi[2] = 1.2345;
Q = pi;
R = pi - t;
transformMatrix tx(cross_prod, t[0], t[1], t[2]);
transformMatrix Qx(cross_prod, Q[0], Q[1], Q[2]);
// txQ = tx*Q;
QxtxQ = Qx*tx*Q;
std::cout << "R0 = " << (R*Q).sum() << std::endl;
std::cout << "R1 = " << (R*QxtxQ).sum() << std::endl;
//std::cout << "R2 = " << (R*txQ).sum() << std::endl;
k = ((t*Q).sum() - (t*QxtxQ).sum()*(R*Q).sum()/(R*QxtxQ).sum())/(Q*Q).sum();
std::cout << "pi = " << k*Q << std::endl;
return(0);
}
