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Compute the inverse quaternion using its conjugate

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This commit is contained in:
Daniel Chappuis 2017-11-26 12:07:58 +01:00
parent fea467f112
commit c8e9cca912
1 changed files with 7 additions and 17 deletions
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24
src/mathematics/Quaternion.h
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@ -224,16 +224,11 @@ inline void Quaternion::normalize() {
// Inverse the quaternion // Inverse the quaternion
inline void Quaternion::inverse() { inline void Quaternion::inverse() {
// Get the square length of the quaternion // Use the conjugate of the current quaternion
decimal lengthSquareQuaternion = lengthSquare(); x = -x;
y = -y;
assert (lengthSquareQuaternion > MACHINE_EPSILON); z = -z;
w = w;
// Compute and return the inverse quaternion
x /= -lengthSquareQuaternion;
y /= -lengthSquareQuaternion;
z /= -lengthSquareQuaternion;
w /= lengthSquareQuaternion;
} }
// Return the unit quaternion // Return the unit quaternion
@ -261,13 +256,8 @@ inline Quaternion Quaternion::getConjugate() const {
// Return the inverse of the quaternion (inline) // Return the inverse of the quaternion (inline)
inline Quaternion Quaternion::getInverse() const { inline Quaternion Quaternion::getInverse() const {
decimal lengthSquareQuaternion = lengthSquare(); // Return the conjugate quaternion
return Quaternion(-x, -y, -z, w);
assert (lengthSquareQuaternion > MACHINE_EPSILON);
// Compute and return the inverse quaternion
return Quaternion(-x / lengthSquareQuaternion, -y / lengthSquareQuaternion,
-z / lengthSquareQuaternion, w / lengthSquareQuaternion);
} }
// Scalar product between two quaternions // Scalar product between two quaternions