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| author | Petter Rodhelind <petter.rodhelind@gmail.com> | 2020-01-14 11:41:08 +0100 |
|---|---|---|
| committer | Petter Rodhelind <petter.rodhelind@gmail.com> | 2020-01-14 11:41:08 +0100 |
| commit | 02d7aa8915f9c3a3288dab01f321eb94ba219e3b (patch) | |
| tree | f053238978479e408a2b83571443e132f30586ab /src/libgeometry/quaternion.c | |
| parent | c0c9d8f883dfd3a7f5a74499d91bb95884b15873 (diff) | |
| parent | 3d1382b98a502d0c34d5ba2c462396acc515016e (diff) | |
| download | plan9port-02d7aa8915f9c3a3288dab01f321eb94ba219e3b.tar.gz plan9port-02d7aa8915f9c3a3288dab01f321eb94ba219e3b.tar.bz2 plan9port-02d7aa8915f9c3a3288dab01f321eb94ba219e3b.zip | |
Merge remote-tracking branch 'upstream/master'
Diffstat (limited to 'src/libgeometry/quaternion.c')
| -rw-r--r-- | src/libgeometry/quaternion.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/libgeometry/quaternion.c b/src/libgeometry/quaternion.c index 1f920f5a..0da22145 100644 --- a/src/libgeometry/quaternion.c +++ b/src/libgeometry/quaternion.c @@ -10,7 +10,7 @@ * qunit(q) returns a unit quaternion parallel to q * The following only work on unit quaternions and rotation matrices: * slerp(q, r, a) returns q*(r*q^-1)^a - * qmid(q, r) slerp(q, r, .5) + * qmid(q, r) slerp(q, r, .5) * qsqrt(q) qmid(q, (Quaternion){1,0,0,0}) * qtom(m, q) converts a unit quaternion q into a rotation matrix m * mtoq(m) returns a quaternion equivalent to a rotation matrix m @@ -93,7 +93,7 @@ Quaternion mtoq(Matrix mat){ */ Quaternion qu; double tr, s; - + tr = mat[0][0] + mat[1][1] + mat[2][2]; if (tr >= 0.0) { s = sqrt(tr + mat[3][3]); |