[Mar. 15th 2005] The first version of QVM was released.
QVM is a quaternion, vector, and matrix class set in C++ for 3D kinematics.
This library does not handle general matrix-vector problems but is specialized for 3D kinetic problems.
"*"
means the matrix product. "%"
means the inner product. "/"
means the outer product. v1*v2
returns mat
as the result of the matrix product between column-vector v1
and row-vector v2
. On the other hand, v1%v2
returns double
as the result of the inner product, and v1/v2
returns vec
as the result of the outer product.
quat
to vec
, use vec im(const quat&)
function. vec
to quat
, use vr2q(const vec&, const double&)
function or vt2q(const vec&, const double&)
function. See How to Convert "quat to vec" and "vec to quat" for the detail.
rotate(const vec&, const quat&)
function. See How to Rotate "vec" for the detail.
QVM is an open-source, free, and unguaranteed software.
Author: Yuki ONISHI
Please send bug reports to yuki.onishi@nifty.com. I also welcome any kind of comments.