std::string tq2pov(const Vector3r& t, const Quaternionr& q){
Matrix3r m=q.toRotationMatrix();
return "matrix <"
+to_string(m(0,0))+","+to_string(m(0,1))+","+to_string(m(0,2))+", "
+to_string(m(1,0))+","+to_string(m(1,1))+","+to_string(m(1,2))+", "
+to_string(m(2,0))+","+to_string(m(2,1))+","+to_string(m(2,2))+", "
+to_string(t[0])+","+to_string(t[1])+","+to_string(t[2])+">";
}
/*! @brief Recalculate body's inertia tensor in rotated coordinates.
*
* @param I inertia tensor in old coordinates
* @param rot quaternion that describes rotation from old to new coordinates
* @return inertia tensor in new coordinates
*/
Matrix3r woo::Volumetric::inertiaTensorRotate(const Matrix3r& I, const Quaternionr& rot){
Matrix3r T=rot.toRotationMatrix();
return inertiaTensorRotate(I,T);
}