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