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Add geom::log(quaternion)

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This commit is contained in:
Nikita Lisitsa 2022-01-09 19:21:35 +03:00
parent ae4ee3488a
commit 23551f681d
1 changed files with 15 additions and 0 deletions
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15
libs/geom/include/psemek/geom/quaternion.hpp
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@ -246,6 +246,21 @@ namespace psemek::geom
return std::exp(q[3]) * quaternion<T>({v[0] * s, v[1] * s, v[2] * s, std::cos(l)}); return std::exp(q[3]) * quaternion<T>({v[0] * s, v[1] * s, v[2] * s, std::cos(l)});
} }
template <typename T>
quaternion<T> log(quaternion<T> const & q)
{
auto v = vector{q[0], q[1], q[2]};
auto l = length(v);
auto n = length(q);
if (l == T{})
v = v.zero();
else
v = (v / l) * std::acos(q[3] / n);
return quaternion<T>{{v[0], v[1], v[2], std::log(n)}};
}
template <typename T> template <typename T>
std::ostream & operator << (std::ostream & os, quaternion<T> const & q) std::ostream & operator << (std::ostream & os, quaternion<T> const & q)
{ {