vecn<3, COMP_T>::vecn(vecn<3, OTHER_COMP_T> const& rhs)
{
set(
static_cast<COMP_T>(rhs.x()),
static_cast<COMP_T>(rhs.y()),
static_cast<COMP_T>(rhs.z()) );
}
void rot(const vecn<T,3>& n,const T& t)
{ if( t != T(0) && ( n.x() != T(0) || n.y() != T(0) || n.z() != T(0) ) )
{ //assert(n.length());
m_quat *= Quaternion<T>(n,t);
m_cache.invalidate();
m_inv_cache.invalidate();
}
}
void look_at(vecn<T,3> dir,vecn<T,3> up)
{ std::cout<<"utk::inertial::look_at\t|dir\t"<<dir<<"\t|up\t"<<up<<std::endl;
dir.normalize();
up.normalize();
//assert(fabs(dot(dir,up))<std::numeric_limits<T>::epsilon()*10.);
veca<T,3> right(cross(dir,up));
mata<T,3> m;
m[0]=right;
m[1]=up;
m[2]=-dir;//you look along the z-axis in negative direction
std::clog << "utk::inertial::look_at\t|"
<< " " << Quaternion<T>(m)
<< std::endl;
std::clog << "utk::inertial::look_at\t|"
<< " x " << m[0]
<< " y " << m[1]
<< " z " << m[2]
<< std::endl;
orientation<T>::quat() = Quaternion<T>(m);
}
veca<T,3> inv_rot_vec(const vecn<T,3>& v) const
{ veca<T,3> qres( m_quat * Quaternion<T>(v.x(),v.y(),v.z(),T(0)) * m_quat.conjugated() );
return qres;
}