Quaternion to Rotation

Collaboration diagram for Quaternion to Rotation:

Functions
void	tpt_quaternion2rotation_f32 (f32_t *aOutRotations, const f32_t *aInQuater, uint32_t aCount)
	Conversion of quaternion to equivalent rotation matrix.

Detailed Description

Conversions from quaternion to rotation.

Function Documentation

tpt_quaternion2rotation_f32()

void tpt_quaternion2rotation_f32	(	f32_t *	aOutRotations,
		const f32_t *	aInQuater,
		uint32_t	aCount )

Conversion of quaternion to equivalent rotation matrix.

Parameters

[out]	aOutRotations	points to an array of 3x3 rotations (in row order)
[in]	aInQuater	points to an array of normalized quaternions
[in]	aCount	number of quaternions

Returns

none

Note

Format of rotation matrix

The quaternion a + ib + jc + kd is converted into rotation matrix:

      a^2 + b^2 - c^2 - d^2                 2bc - 2ad 2bd +

      2ac

                  2bc + 2ad     a^2 - b^2 + c^2 - d^2 2cd -

                  2ab 2bd - 2ac                 2cd + 2ab     a^2 -
b^2 - c^2

                  + d^2

Rotation matrix is saved in row order : R00 R01 R02 R10 R11 R12 R20 R21

R22