| 166 |
|
void setupRotMat(Real w, Real x, Real y, Real z) { |
| 167 |
|
Quaternion<Real> q(w, x, y, z); |
| 168 |
|
*this = q.toRotationMatrix3(); |
| 169 |
+ |
} |
| 170 |
+ |
|
| 171 |
+ |
void setupSkewMat(Vector3<Real> v) { |
| 172 |
+ |
setupSkewMat(v[0], v[1], v[2]); |
| 173 |
+ |
} |
| 174 |
+ |
|
| 175 |
+ |
void setupSkewMat(Real v1, Real v2, Real v3) { |
| 176 |
+ |
this->data_[0][0] = 0; |
| 177 |
+ |
this->data_[0][1] = -v3; |
| 178 |
+ |
this->data_[0][2] = v2; |
| 179 |
+ |
this->data_[1][0] = v3; |
| 180 |
+ |
this->data_[1][1] = 0; |
| 181 |
+ |
this->data_[1][2] = -v1; |
| 182 |
+ |
this->data_[2][0] = -v2; |
| 183 |
+ |
this->data_[2][1] = v1; |
| 184 |
+ |
this->data_[2][2] = 0; |
| 185 |
+ |
|
| 186 |
+ |
|
| 187 |
|
} |
| 188 |
+ |
|
| 189 |
+ |
|
| 190 |
|
|
| 191 |
|
/** |
| 192 |
|
* Returns the quaternion from this rotation matrix |
