rs2_pose pose_inverse(const rs2_pose& p) { rs2_pose i; i.rotation = quaternion_conjugate(p.rotation); i.translation = vector_negate(quaternion_rotate_vector(i.rotation, p.translation)); return i; }
void model_rotate_around(model_t *m, vector_t rotate, vector_t center) { model_translate(m, vector_negate(center)); model_rotate(m, rotate); model_translate(m, center); }