RealmOA Library

oa::core::transform

Module published by the oa::core module.

MdRust public API

Public Types

St

Public Functions

pub fn quaternion_from_six_d(d: [f32; 6]) -> Quat
pub fn quaternion_to_six_d(q: Quat) -> [f32; 6]

Function Documentation

pub fn quaternion_from_six_d( d: [f32; 6] ) -> Quat
Recover a unit quaternion from a 6-component rotation representation. Donor: oa::FnTransform::quaternionFromSixD.
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.