devtools/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2026-04-10 11:34:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

* Quaternion: added dot product and angularDistance functions. The latter is

Browse Source 
based on the former.
* opengl_demo: makes IcoSphere better (vertices are instanciated only once) and
               removed the generation of a big geometry for the fancy spheres...
This commit is contained in:
Gael Guennebaud
2008-09-11 11:19:34 +00:00
parent 5e9ee8863e
commit e5c50afed6
4 changed files with 156 additions and 119 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
Eigen/src/Geometry/Quaternion.h
View File

@@ -163,6 +163,15 @@ public:
*/
inline Scalar norm() const { return m_coeffs.norm(); }
/** \returns the dot product of \c *this and \a other
* Geometrically speaking, the dot product of two unit quaternions
* corresponds to the cosine of half the angle between the two rotations.
* \sa angularDistance()
*/
inline Scalar dot(const Quaternion& other) const { return m_coeffs.dot(other.m_coeffs); }
inline Scalar angularDistance(const Quaternion& other) const;
Matrix3 toRotationMatrix(void) const;
template<typename Derived1, typename Derived2>
@@ -357,22 +366,28 @@ inline Quaternion<Scalar> Quaternion<Scalar>::conjugate() const
return Quaternion(this->w(),-this->x(),-this->y(),-this->z());
}
/** \returns the angle (in radian) between two rotations
* \sa dot()
*/
template <typename Scalar>
inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
{
double d = ei_abs(this->dot(other));
if (d>=1.0)
return 0;
return 2.0 * std::acos(d);
}
/** \returns the spherical linear interpolation between the two quaternions
* \c *this and \a other at the parameter \a t
*/
template <typename Scalar>
Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const
{
// FIXME options for this function would be:
// 1 - Quaternion& fromSlerp(Scalar t, const Quaternion& q0, const Quaternion& q1);
// which set *this from the s-lerp and returns *this
// 2 - Quaternion slerp(Scalar t, const Quaternion& other) const
// which returns the s-lerp between this and other
// ??
static const Scalar one = Scalar(1) - precision<Scalar>();
Scalar d = m_coeffs.dot(other.m_coeffs);
Scalar d = this->dot(other);
Scalar absD = ei_abs(d);
if (d>=one)
if (absD>=one)
return *this;
// theta is the angle between the 2 quaternions