kindred/create
1
1
Fork 0
Code Issues 37 Pull Requests Actions Packages Projects 9 Releases 2 Wiki Activity

All: Reformat according to new standard

Browse Source
This commit is contained in:
pre-commit-ci[bot]
2025-11-11 13:49:01 +01:00
committed by Kacper Donat
parent eafd18dac0
commit 25c3ba7338
2390 changed files with 154630 additions and 115818 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
src/Base/DualQuaternion.cpp
View File

@@ -39,10 +39,12 @@ Base::DualQuat Base::operator-(Base::DualQuat a, Base::DualQuat b)
Base::DualQuat Base::operator*(Base::DualQuat a, Base::DualQuat b)
{
return {a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
a.w * b.y + a.y * b.w + a.z * b.x - a.x * b.z,
a.w * b.z + a.z * b.w + a.x * b.y - a.y * b.x,
a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z};
return {
a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
a.w * b.y + a.y * b.w + a.z * b.x - a.x * b.z,
a.w * b.z + a.z * b.w + a.x * b.y - a.y * b.x,
a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z
};
}
Base::DualQuat Base::operator*(Base::DualQuat a, double b)
@@ -109,9 +111,9 @@ Base::DualQuat Base::DualQuat::pow(double t, bool shorten) const
DualQuat self = *this;
if (shorten) {
if (dot(self, identity())
< -1e-12) { // using negative tolerance instead of zero, for stability in situations
// the choice is ambiguous (180-degree rotations)
if (dot(self, identity()) < -1e-12) { // using negative tolerance instead of zero, for
// stability in situations the choice is ambiguous
// (180-degree rotations)
self = -self;
}
}
@@ -128,8 +130,10 @@ Base::DualQuat Base::DualQuat::pow(double t, bool shorten) const
pitch *= t;
// back to quaternion
return {l * sin(theta / 2) + DualQuat(0, 0, 0, cos(theta / 2)),
m * sin(theta / 2) + pitch / 2 * cos(theta / 2) * l
+ DualQuat(0, 0, 0, -pitch / 2 * sin(theta / 2))};
return {
l * sin(theta / 2) + DualQuat(0, 0, 0, cos(theta / 2)),
m * sin(theta / 2) + pitch / 2 * cos(theta / 2) * l
+ DualQuat(0, 0, 0, -pitch / 2 * sin(theta / 2))
};
}
// NOLINTEND(readability-identifier-length)