| 9 |
|
} |
| 10 |
|
|
| 11 |
|
Quaternion::Quaternion(const Euler3& e){ |
| 12 |
< |
quat[0] = cos(e.theta/2) * cos((e.phi + e.psi)/2); |
| 13 |
< |
quat[1] = sin(e.theta/2) * cos((e.phi - e.psi)/2); |
| 14 |
< |
quat[2] = sin(e.theta/2) * sin((e.phi - e.psi)/2); |
| 15 |
< |
quat[3] = cos(e.theta/2) * sin((e.phi + e.psi)/2); |
| 12 |
> |
x = cos(e.theta/2) * cos((e.phi + e.psi)/2); |
| 13 |
> |
y = sin(e.theta/2) * cos((e.phi - e.psi)/2); |
| 14 |
> |
z = sin(e.theta/2) * sin((e.phi - e.psi)/2); |
| 15 |
> |
w = cos(e.theta/2) * sin((e.phi + e.psi)/2); |
| 16 |
|
} |
| 17 |
|
|
| 18 |
|
Mat3x3d Quaternion::toRotationMatrix(){ |
