From 720802920c652ad1337264c31799fe35c5583551 Mon Sep 17 00:00:00 2001 From: rodri Date: Tue, 14 Apr 2020 19:53:51 +0000 Subject: struct filling corrections. --- quaternion.c | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) (limited to 'quaternion.c') diff --git a/quaternion.c b/quaternion.c index 3297788..8ef32b8 100644 --- a/quaternion.c +++ b/quaternion.c @@ -17,13 +17,13 @@ Quatvec(double s, Point3 v) Quaternion addq(Quaternion a, Quaternion b) { - return (Quaternion){a.r+b.r, a.i+b.i, a.j+b.j, a.k+b.k}; + return Quat(a.r+b.r, a.i+b.i, a.j+b.j, a.k+b.k); } Quaternion subq(Quaternion a, Quaternion b) { - return (Quaternion){a.r-b.r, a.i-b.i, a.j-b.j, a.k-b.k}; + return Quat(a.r-b.r, a.i-b.i, a.j-b.j, a.k-b.k); } Quaternion @@ -34,19 +34,19 @@ mulq(Quaternion q, Quaternion r) qv = Vec3(q.i, q.j, q.k); rv = Vec3(r.i, r.j, r.k); tmp = addpt3(addpt3(mulpt3(rv, q.r), mulpt3(qv, r.r)), crossvec3(qv, rv)); - return (Quaternion){q.r*r.r - dotvec3(qv, rv), tmp.x, tmp.y, tmp.z}; + return Quatvec(q.r*r.r - dotvec3(qv, rv), tmp); } Quaternion smulq(Quaternion q, double s) { - return (Quaternion){q.r*s, q.i*s, q.j*s, q.k*s}; + return Quat(q.r*s, q.i*s, q.j*s, q.k*s); } Quaternion sdivq(Quaternion q, double s) { - return (Quaternion){q.r/s, q.i/s, q.j/s, q.k/s}; + return Quat(q.r/s, q.i/s, q.j/s, q.k/s); } double @@ -62,14 +62,14 @@ invq(Quaternion q) len² = dotq(q, q); if(len² == 0) - return (Quaternion){0, 0, 0, 0}; - return (Quaternion){q.r/len², -q.i/len², -q.j/len², -q.k/len²}; + return Quat(0,0,0,0); + return Quat(q.r/len², -q.i/len², -q.j/len², -q.k/len²); } double qlen(Quaternion q) { - return sqrt(q.r*q.r + q.i*q.i + q.j*q.j + q.k*q.k); + return sqrt(dotq(q, q)); } Quaternion @@ -79,12 +79,12 @@ normq(Quaternion q) } Point3 -qrotate(Point3 p, Point3 axis, double angle) +qrotate(Point3 p, Point3 axis, double θ) { Quaternion qaxis, qr; - angle /= 2; - qaxis = Quatvec(cos(angle), mulpt3(axis, sin(angle))); + θ /= 2; + qaxis = Quatvec(cos(θ), mulpt3(axis, sin(θ))); qr = mulq(mulq(qaxis, Quatvec(0, p)), invq(qaxis)); - return Vec3(qr.i, qr.j, qr.k); + return Pt3(qr.i, qr.j, qr.k, p.w); } -- cgit v1.2.3