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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@181 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-07-21 20:32:30 +00:00
parent ffd4efcca0
commit 6ba8476c78
1 changed files with 15 additions and 1 deletions
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16
sources/reactphysics3d/mathematics/mathematics.h
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@ -36,11 +36,25 @@
// ---------- Mathematics functions ---------- //
// Method to test if two numbers are (almost) equal
// function to test if two numbers are (almost) equal
// We test if two numbers a and b are such that (a-b) are in [-EPSILON; EPSILON]
inline bool equal(double a, double b) {
double difference = a - b;
return (difference < EPSILON && difference > -EPSILON);
}
// TODO : Test this method
// Rotate a vector according to a rotation quaternion.
// The function returns the vector rotated according to the quaternion in argument
inline reactphysics3d::Vector3D rotateVectorWithQuaternion(const reactphysics3d::Vector3D& vector, const reactphysics3d::Quaternion& quaternion) {
// Convert the vector into a quaternion
reactphysics3d::Quaternion vectorQuaternion(0, vector);
// Compute the quaternion rotation result
reactphysics3d::Quaternion quaternionResult = (quaternion * vectorQuaternion) * quaternion.getInverse();
// Convert the result quaternion into a vector
return quaternionResult.vectorV();
}
#endif