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Add geom::shortest_arc to compute smallest rotation between two 3D vectors

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This commit is contained in:
Nikita Lisitsa 2022-07-05 18:32:33 +03:00
parent d405d3d502
commit 11c431f38c
1 changed files with 14 additions and 0 deletions
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14
libs/geom/include/psemek/geom/quaternion.hpp
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@ -224,6 +224,20 @@ namespace psemek::geom
return {res[0], res[1], res[2]}; return {res[0], res[1], res[2]};
} }
// v0 & v1 assumed to be normalized
template <typename T>
quaternion<T> shortest_arc(vector<T, 3> const & v0, vector<T, 3> const & v1)
{
auto axis = cross(v0, v1);
quaternion<T> result;
result[0] = axis[0];
result[1] = axis[1];
result[2] = axis[2];
result[3] = T{1} + dot(v0, v1);
result.coords = normalized(result.coords);
return result;
}
template <typename T> template <typename T>
T angle(quaternion<T> const & q0, quaternion<T> const & q1) T angle(quaternion<T> const & q0, quaternion<T> const & q1)
{ {