add integration test
This commit is contained in:
Terence
parent
12c259f0b4
commit
6be0365203
|
|
@ -1,3 +1,5 @@
|
|||
#[cfg(feature = "arbitrary")]
|
||||
use quickcheck::{Arbitrary, Gen};
|
||||
use crate::{
|
||||
DualQuaternion, Quaternion, UnitDualQuaternion, SimdRealField, Isometry3,
|
||||
Translation3, UnitQuaternion
|
||||
|
|
@ -97,6 +99,21 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "arbitrary")]
|
||||
impl<N> Arbitrary for DualQuaternion<N>
|
||||
where
|
||||
N: SimdRealField + Arbitrary + Send,
|
||||
N::Element: SimdRealField,
|
||||
{
|
||||
#[inline]
|
||||
fn arbitrary<G: Gen>(rng: &mut G) -> Self {
|
||||
Self::from_real_and_dual(
|
||||
Arbitrary::arbitrary(rng),
|
||||
Arbitrary::arbitrary(rng)
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
impl<N: SimdRealField> UnitDualQuaternion<N> {
|
||||
/// The unit dual quaternion multiplicative identity, which also represents
|
||||
/// the identity transformation as an isometry.
|
||||
|
|
@ -195,3 +212,15 @@ where
|
|||
Self::identity()
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "arbitrary")]
|
||||
impl<N> Arbitrary for UnitDualQuaternion<N>
|
||||
where
|
||||
N: SimdRealField + Arbitrary + Send,
|
||||
N::Element: SimdRealField,
|
||||
{
|
||||
#[inline]
|
||||
fn arbitrary<G: Gen>(rng: &mut G) -> Self {
|
||||
Self::new_normalize(Arbitrary::arbitrary(rng))
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -25,7 +25,7 @@
|
|||
use crate::{
|
||||
DualQuaternion, SimdRealField, Point3, Point, Vector3, Isometry3, Quaternion,
|
||||
UnitDualQuaternion, UnitQuaternion, U1, U3, U4, Unit, Allocator,
|
||||
DefaultAllocator, Vector
|
||||
DefaultAllocator, Vector, Translation3
|
||||
};
|
||||
use crate::base::storage::Storage;
|
||||
use std::mem;
|
||||
|
|
@ -362,6 +362,223 @@ dual_quaternion_op_impl!(
|
|||
Output = UnitDualQuaternion<N> => U3, U3;
|
||||
UnitDualQuaternion::<N>::new_unchecked(DualQuaternion::from_real(self.into_inner())) * rhs;);
|
||||
|
||||
// UnitDualQuaternion ÷ UnitQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: &'a UnitDualQuaternion<N>, rhs: &'b UnitQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U1, U4;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * UnitDualQuaternion::<N>::from_rotation(rhs.inverse()) };
|
||||
'a, 'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: &'a UnitDualQuaternion<N>, rhs: UnitQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U3;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * UnitDualQuaternion::<N>::from_rotation(rhs.inverse()) };
|
||||
'a);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: &'b UnitQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U3;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * UnitDualQuaternion::<N>::from_rotation(rhs.inverse()) };
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: UnitQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U3;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * UnitDualQuaternion::<N>::from_rotation(rhs.inverse()) };);
|
||||
|
||||
// UnitQuaternion ÷ UnitDualQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U1, U4;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{
|
||||
UnitDualQuaternion::<N>::new_unchecked(
|
||||
DualQuaternion::from_real(self.into_inner())
|
||||
) * rhs.inverse()
|
||||
}; 'a, 'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: &'a UnitQuaternion<N>, rhs: UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U3;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{
|
||||
UnitDualQuaternion::<N>::new_unchecked(
|
||||
DualQuaternion::from_real(self.into_inner())
|
||||
) * rhs.inverse()
|
||||
}; 'a);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitQuaternion<N>, rhs: &'b UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U3;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{
|
||||
UnitDualQuaternion::<N>::new_unchecked(
|
||||
DualQuaternion::from_real(self.into_inner())
|
||||
) * rhs.inverse()
|
||||
}; 'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitQuaternion<N>, rhs: UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U3;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{
|
||||
UnitDualQuaternion::<N>::new_unchecked(
|
||||
DualQuaternion::from_real(self.into_inner())
|
||||
) * rhs.inverse()
|
||||
};);
|
||||
|
||||
// UnitDualQuaternion × Translation3
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
self: &'a UnitDualQuaternion<N>, rhs: &'b Translation3<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
self * UnitDualQuaternion::<N>::from_parts(rhs.clone(), UnitQuaternion::identity());
|
||||
'a, 'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U3);
|
||||
self: &'a UnitDualQuaternion<N>, rhs: Translation3<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
self * UnitDualQuaternion::<N>::from_parts(rhs, UnitQuaternion::identity());
|
||||
'a);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitDualQuaternion<N>, rhs: &'b Translation3<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
self * UnitDualQuaternion::<N>::from_parts(rhs.clone(), UnitQuaternion::identity());
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitDualQuaternion<N>, rhs: Translation3<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
self * UnitDualQuaternion::<N>::from_parts(rhs, UnitQuaternion::identity()); );
|
||||
|
||||
// UnitDualQuaternion ÷ Translation3
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U1);
|
||||
self: &'a UnitDualQuaternion<N>, rhs: &'b Translation3<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * UnitDualQuaternion::<N>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };
|
||||
'a, 'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U3);
|
||||
self: &'a UnitDualQuaternion<N>, rhs: Translation3<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * UnitDualQuaternion::<N>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };
|
||||
'a);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitDualQuaternion<N>, rhs: &'b Translation3<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * UnitDualQuaternion::<N>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitDualQuaternion<N>, rhs: Translation3<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * UnitDualQuaternion::<N>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };);
|
||||
|
||||
// Translation3 × UnitDualQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U3, U1), (U4, U1);
|
||||
self: &'b Translation3<N>, rhs: &'a UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
UnitDualQuaternion::<N>::from_parts(self.clone(), UnitQuaternion::identity()) * rhs;
|
||||
'a, 'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U3, U1), (U4, U1);
|
||||
self: &'a Translation3<N>, rhs: UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
UnitDualQuaternion::<N>::from_parts(self.clone(), UnitQuaternion::identity()) * rhs;
|
||||
'a);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U3, U1), (U4, U1);
|
||||
self: Translation3<N>, rhs: &'b UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
UnitDualQuaternion::<N>::from_parts(self, UnitQuaternion::identity()) * rhs;
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U3, U1), (U4, U1);
|
||||
self: Translation3<N>, rhs: UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
UnitDualQuaternion::<N>::from_parts(self, UnitQuaternion::identity()) * rhs;);
|
||||
|
||||
// Translation3 ÷ UnitDualQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U3, U1), (U4, U1);
|
||||
self: &'b Translation3<N>, rhs: &'a UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
UnitDualQuaternion::<N>::from_parts(self.clone(), UnitQuaternion::identity()) / rhs;
|
||||
'a, 'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U3, U1), (U4, U1);
|
||||
self: &'a Translation3<N>, rhs: UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
UnitDualQuaternion::<N>::from_parts(self.clone(), UnitQuaternion::identity()) / rhs;
|
||||
'a);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U3, U1), (U4, U1);
|
||||
self: Translation3<N>, rhs: &'b UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
UnitDualQuaternion::<N>::from_parts(self, UnitQuaternion::identity()) / rhs;
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U3, U1), (U4, U1);
|
||||
self: Translation3<N>, rhs: UnitDualQuaternion<N>,
|
||||
Output = UnitDualQuaternion<N> => U3, U1;
|
||||
UnitDualQuaternion::<N>::from_parts(self, UnitQuaternion::identity()) / rhs;);
|
||||
|
||||
// UnitDualQuaternion × Isometry3
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
|
|
@ -738,6 +955,78 @@ dual_quaternion_op_impl!(
|
|||
self: UnitDualQuaternion<N>, rhs: UnitDualQuaternion<N>;
|
||||
*self /= &rhs; );
|
||||
|
||||
// UnitDualQuaternion ×= UnitQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: UnitQuaternion<N>;
|
||||
{
|
||||
let res = &*self * UnitDualQuaternion::from_rotation(rhs);
|
||||
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
|
||||
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
|
||||
};);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: &'b UnitQuaternion<N>;
|
||||
*self *= rhs.clone(); 'b);
|
||||
|
||||
// UnitDualQuaternion ÷= UnitQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
DivAssign, div_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: &'b UnitQuaternion<N>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{
|
||||
let res = &*self * UnitDualQuaternion::from_rotation(rhs.inverse());
|
||||
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
|
||||
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
|
||||
};
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
DivAssign, div_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: UnitQuaternion<N>;
|
||||
*self /= &rhs; );
|
||||
|
||||
// UnitDualQuaternion ×= Translation3
|
||||
dual_quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: Translation3<N>;
|
||||
{
|
||||
let res = &*self * UnitDualQuaternion::from_parts(rhs, UnitQuaternion::identity());
|
||||
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
|
||||
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
|
||||
};);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: &'b Translation3<N>;
|
||||
*self *= rhs.clone(); 'b);
|
||||
|
||||
// UnitDualQuaternion ÷= Translation3
|
||||
dual_quaternion_op_impl!(
|
||||
DivAssign, div_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: &'b Translation3<N>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{
|
||||
let res = &*self * UnitDualQuaternion::from_parts(rhs.inverse(), UnitQuaternion::identity());
|
||||
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
|
||||
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
|
||||
};
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
DivAssign, div_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: Translation3<N>;
|
||||
*self /= &rhs; );
|
||||
|
||||
// UnitDualQuaternion ×= Isometry3
|
||||
dual_quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,172 @@
|
|||
#![cfg(feature = "arbitrary")]
|
||||
#![allow(non_snake_case)]
|
||||
|
||||
use na::{
|
||||
Isometry3, Point3, Translation3, UnitQuaternion, UnitDualQuaternion, Vector3,
|
||||
};
|
||||
|
||||
quickcheck!(
|
||||
fn isometry_equivalence(iso: Isometry3<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool {
|
||||
let dq = UnitDualQuaternion::from_isometry(&iso);
|
||||
|
||||
relative_eq!(iso * p, dq * p, epsilon = 1.0e-7)
|
||||
&& relative_eq!(iso * v, dq * v, epsilon = 1.0e-7)
|
||||
}
|
||||
|
||||
fn inverse_is_identity(i: UnitDualQuaternion<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool {
|
||||
let ii = i.inverse();
|
||||
|
||||
relative_eq!(i * ii, UnitDualQuaternion::identity(), epsilon = 1.0e-7)
|
||||
&& relative_eq!(ii * i, UnitDualQuaternion::identity(), epsilon = 1.0e-7)
|
||||
&& relative_eq!((i * ii) * p, p, epsilon = 1.0e-7)
|
||||
&& relative_eq!((ii * i) * p, p, epsilon = 1.0e-7)
|
||||
&& relative_eq!((i * ii) * v, v, epsilon = 1.0e-7)
|
||||
&& relative_eq!((ii * i) * v, v, epsilon = 1.0e-7)
|
||||
}
|
||||
|
||||
fn multiply_equals_alga_transform(
|
||||
dq: UnitDualQuaternion<f64>, v: Vector3<f64>, p: Point3<f64>
|
||||
) -> bool {
|
||||
dq * v == dq.transform_vector(&v)
|
||||
&& dq * p == dq.transform_point(&p)
|
||||
&& relative_eq!(
|
||||
dq.inverse() * v,
|
||||
dq.inverse_transform_vector(&v),
|
||||
epsilon = 1.0e-7
|
||||
)
|
||||
&& relative_eq!(
|
||||
dq.inverse() * p,
|
||||
dq.inverse_transform_point(&p),
|
||||
epsilon = 1.0e-7
|
||||
)
|
||||
}
|
||||
|
||||
#[cfg_attr(rustfmt, rustfmt_skip)]
|
||||
fn composition(
|
||||
dq: UnitDualQuaternion<f64>,
|
||||
uq: UnitQuaternion<f64>,
|
||||
t: Translation3<f64>,
|
||||
v: Vector3<f64>,
|
||||
p: Point3<f64>
|
||||
) -> bool {
|
||||
// (rotation × dual quaternion) * point = rotation × (dual quaternion * point)
|
||||
relative_eq!((uq * dq) * v, uq * (dq * v), epsilon = 1.0e-7) &&
|
||||
relative_eq!((uq * dq) * p, uq * (dq * p), epsilon = 1.0e-7) &&
|
||||
|
||||
// (dual quaternion × rotation) * point = dual quaternion × (rotation * point)
|
||||
relative_eq!((dq * uq) * v, dq * (uq * v), epsilon = 1.0e-7) &&
|
||||
relative_eq!((dq * uq) * p, dq * (uq * p), epsilon = 1.0e-7) &&
|
||||
|
||||
// (translation × dual quaternion) * point = translation × (dual quaternion * point)
|
||||
relative_eq!((t * dq) * v, (dq * v), epsilon = 1.0e-7) &&
|
||||
relative_eq!((t * dq) * p, t * (dq * p), epsilon = 1.0e-7) &&
|
||||
|
||||
// (dual quaternion × translation) * point = dual quaternion × (translation * point)
|
||||
relative_eq!((dq * t) * v, dq * v, epsilon = 1.0e-7) &&
|
||||
relative_eq!((dq * t) * p, dq * (t * p), epsilon = 1.0e-7)
|
||||
}
|
||||
|
||||
#[cfg_attr(rustfmt, rustfmt_skip)]
|
||||
fn all_op_exist(
|
||||
dq: UnitDualQuaternion<f64>,
|
||||
uq: UnitQuaternion<f64>,
|
||||
t: Translation3<f64>,
|
||||
v: Vector3<f64>,
|
||||
p: Point3<f64>
|
||||
) -> bool {
|
||||
let iMi = dq * dq;
|
||||
let iMuq = dq * uq;
|
||||
let iDi = dq / dq;
|
||||
let iDuq = dq / uq;
|
||||
|
||||
let iMp = dq * p;
|
||||
let iMv = dq * v;
|
||||
|
||||
let iMt = dq * t;
|
||||
let tMi = t * dq;
|
||||
|
||||
let tMuq = t * uq;
|
||||
|
||||
let uqMi = uq * dq;
|
||||
let uqDi = uq / dq;
|
||||
|
||||
let uqMt = uq * t;
|
||||
|
||||
let mut iMt1 = dq;
|
||||
let mut iMt2 = dq;
|
||||
|
||||
let mut iMi1 = dq;
|
||||
let mut iMi2 = dq;
|
||||
|
||||
let mut iMuq1 = dq;
|
||||
let mut iMuq2 = dq;
|
||||
|
||||
let mut iDi1 = dq;
|
||||
let mut iDi2 = dq;
|
||||
|
||||
let mut iDuq1 = dq;
|
||||
let mut iDuq2 = dq;
|
||||
|
||||
iMt1 *= t;
|
||||
iMt2 *= &t;
|
||||
|
||||
iMi1 *= dq;
|
||||
iMi2 *= &dq;
|
||||
|
||||
iMuq1 *= uq;
|
||||
iMuq2 *= &uq;
|
||||
|
||||
iDi1 /= dq;
|
||||
iDi2 /= &dq;
|
||||
|
||||
iDuq1 /= uq;
|
||||
iDuq2 /= &uq;
|
||||
|
||||
iMt == iMt1
|
||||
&& iMt == iMt2
|
||||
&& iMi == iMi1
|
||||
&& iMi == iMi2
|
||||
&& iMuq == iMuq1
|
||||
&& iMuq == iMuq2
|
||||
&& iDi == iDi1
|
||||
&& iDi == iDi2
|
||||
&& iDuq == iDuq1
|
||||
&& iDuq == iDuq2
|
||||
&& iMi == &dq * &dq
|
||||
&& iMi == dq * &dq
|
||||
&& iMi == &dq * dq
|
||||
&& iMuq == &dq * &uq
|
||||
&& iMuq == dq * &uq
|
||||
&& iMuq == &dq * uq
|
||||
&& iDi == &dq / &dq
|
||||
&& iDi == dq / &dq
|
||||
&& iDi == &dq / dq
|
||||
&& iDuq == &dq / &uq
|
||||
&& iDuq == dq / &uq
|
||||
&& iDuq == &dq / uq
|
||||
&& iMp == &dq * &p
|
||||
&& iMp == dq * &p
|
||||
&& iMp == &dq * p
|
||||
&& iMv == &dq * &v
|
||||
&& iMv == dq * &v
|
||||
&& iMv == &dq * v
|
||||
&& iMt == &dq * &t
|
||||
&& iMt == dq * &t
|
||||
&& iMt == &dq * t
|
||||
&& tMi == &t * &dq
|
||||
&& tMi == t * &dq
|
||||
&& tMi == &t * dq
|
||||
&& tMuq == &t * &uq
|
||||
&& tMuq == t * &uq
|
||||
&& tMuq == &t * uq
|
||||
&& uqMi == &uq * &dq
|
||||
&& uqMi == uq * &dq
|
||||
&& uqMi == &uq * dq
|
||||
&& uqDi == &uq / &dq
|
||||
&& uqDi == uq / &dq
|
||||
&& uqDi == &uq / dq
|
||||
&& uqMt == &uq * &t
|
||||
&& uqMt == uq * &t
|
||||
&& uqMt == &uq * t
|
||||
}
|
||||
);
|
||||
|
|
@ -5,3 +5,4 @@ mod quaternion;
|
|||
mod rotation;
|
||||
mod similarity;
|
||||
mod unit_complex;
|
||||
mod dual_quaternion;
|
||||
|
|
|
|||
Loading…
Reference in New Issue