// operator* in this context means composition
FgQuaternion
operator*(const FgQuaternion &rhs) const
{
return FgQuaternion(
m_real*(rhs.m_real) - fgDot(m_comp,rhs.m_comp),
m_real*(rhs.m_comp) + (rhs.m_real)*m_comp + fgCrossProduct(m_comp,rhs.m_comp));
}
inline
double
pointToPlaneDistSqr(FgVect3D pnt,FgVect4D planeH)
{
FgVect3D planeN(planeH[0],planeH[1],planeH[2]);
return (fgSqr(fgDot(pnt,planeN) + planeH[3]) / planeN.lengthSqr());
}
typename FgTraits<T>::Accumulator
fgDot(
const vector<FgMatrixC<T,nrows,ncols> > & v0,
const vector<FgMatrixC<T,nrows,ncols> > & v1)
{
FGASSERT(v0.size() == v1.size());
typename FgTraits<T>::Accumulator acc(0);
for (size_t ii=0; ii<v0.size(); ++ii)
acc += fgDot(v0[ii],v1[ii]);
return acc;
}
FgMatrixV<T>
fgMatRandOrtho(uint dim)
{
FGASSERT(dim > 1);
FgMatrixV<T> ret(dim,dim);
for (uint row=0; row<dim; ++row) {
FgMatrixV<T> vec = fgMatRandNormal<T>(1,dim);
for (uint rr=0; rr<row; ++rr) {
FgMatrixV<T> axis = ret.rowVector(rr);
vec -= axis * fgDot(vec,axis);
}
ret.setSubMat(row,0,fgNormalize(vec));
}
return ret;
}
T
fgDot(const FgMatrixV<T> & lhs,const FgMatrixV<T> & rhs)
{return fgDot(lhs.m_data,rhs.m_data); }
