RealmOA Library

oa::core::quaternion_to_six_d

Pack a unit quaternion into a 6-component continuous rotation representation. The first two columns of the rotation matrix (rows in row-vector convention) are stored as [r0x, r0y, r0z, r1x, r1y, r1z]. The third column is recovered by the cross product at decode time. Donor: oa::FnTransform::quaternionToSixD.

FnRust public API

Function Documentation

pub fn quaternion_to_six_d( q: Quat ) -> [f32; 6]
Pack a unit quaternion into a 6-component continuous rotation representation. The first two columns of the rotation matrix (rows in row-vector convention) are stored as [r0x, r0y, r0z, r1x, r1y, r1z]. The third column is recovered by the cross product at decode time. Donor: oa::FnTransform::quaternionToSixD.