35 lines
1.2 KiB
C++
35 lines
1.2 KiB
C++
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "quat_mult.h"
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#include <cassert>
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// http://www.antisphere.com/Wiki/tools:anttweakbar
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template <typename Q_type>
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IGL_INLINE void igl::quat_mult(
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const Q_type *q1,
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const Q_type *q2,
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Q_type *out)
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{
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// output can't be either of the inputs
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assert(q1 != out);
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assert(q2 != out);
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out[0] = q1[3]*q2[0] + q1[0]*q2[3] + q1[1]*q2[2] - q1[2]*q2[1];
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out[1] = q1[3]*q2[1] + q1[1]*q2[3] + q1[2]*q2[0] - q1[0]*q2[2];
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out[2] = q1[3]*q2[2] + q1[2]*q2[3] + q1[0]*q2[1] - q1[1]*q2[0];
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out[3] = q1[3]*q2[3] - (q1[0]*q2[0] + q1[1]*q2[1] + q1[2]*q2[2]);
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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// generated by autoexplicit.sh
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template void igl::quat_mult<double>(double const*, double const*, double*);
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// generated by autoexplicit.sh
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template void igl::quat_mult<float>(float const*, float const*, float*);
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#endif
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