Quaternion Quaternion::inverse() const
{
float lenSquared = lengthSquared();
if(lenSquared > EPSILON)
{
float invLenSquared = 1.0f / lenSquared;
Quaternion conj = conjugated();
return conj * invLenSquared;
}
else
return IDENTITY;
}
vec3 operator*(quaternion const& lhs,vec3 const& rhs)
{
quaternion q=conjugated(lhs)*quaternion(rhs.x(),rhs.y(),rhs.z(),0.0f)*lhs;
return {q.x(),q.y(),q.z()};
}
/*!
Rotates \a vector with this quaternion to produce a new vector
in 3D space. The following code:
\code
QVector3D result = q.rotatedVector(vector);
\endcode
is equivalent to the following:
\code
QVector3D result = (q * QQuaternion(0, vector) * q.conjugated()).vector();
\endcode
*/
QVector3D QQuaternion::rotatedVector(const QVector3D& vector) const
{
return (*this * QQuaternion(0, vector) * conjugated()).vector();
}
