Esempi in C++ (Cpp) per Quaternionr::y

Esempio n. 1

File: Leapfrog.cpp Progetto: CrazyHeex/woo

// http://www.euclideanspace.com/physics/kinematics/angularvelocity/QuaternionDifferentiation2.pdf
Quaternionr Leapfrog::DotQ(const Vector3r& angVel, const Quaternionr& Q){
	Quaternionr dotQ;
	dotQ.w() = (-Q.x()*angVel[0]-Q.y()*angVel[1]-Q.z()*angVel[2])/2;
	dotQ.x() = ( Q.w()*angVel[0]-Q.z()*angVel[1]+Q.y()*angVel[2])/2;
	dotQ.y() = ( Q.z()*angVel[0]+Q.w()*angVel[1]-Q.x()*angVel[2])/2;
	dotQ.z() = (-Q.y()*angVel[0]+Q.x()*angVel[1]+Q.w()*angVel[2])/2;
	return dotQ;
}