Update >r r> to dip in math.quaternions
parent
774cb858d5
commit
326ce8c71b
|
@ -16,9 +16,9 @@ IN: math.quaternions
|
|||
|
||||
: 2q ( u v -- u' u'' v' v'' ) [ first2 ] bi@ ; inline
|
||||
|
||||
: q*a ( u v -- a ) 2q swapd ** >r * r> - ; inline
|
||||
: q*a ( u v -- a ) 2q swapd ** [ * ] dip - ; inline
|
||||
|
||||
: q*b ( u v -- b ) 2q >r ** swap r> * + ; inline
|
||||
: q*b ( u v -- b ) 2q [ ** swap ] dip * + ; inline
|
||||
|
||||
PRIVATE>
|
||||
|
||||
|
@ -51,12 +51,12 @@ PRIVATE>
|
|||
|
||||
: v>q ( v -- q )
|
||||
#! Turn a 3-vector into a quaternion with real part 0.
|
||||
first3 rect> >r 0 swap rect> r> 2array ;
|
||||
first3 rect> [ 0 swap rect> ] dip 2array ;
|
||||
|
||||
: q>v ( q -- v )
|
||||
#! Get the vector part of a quaternion, discarding the real
|
||||
#! part.
|
||||
first2 >r imaginary-part r> >rect 3array ;
|
||||
first2 [ imaginary-part ] dip >rect 3array ;
|
||||
|
||||
! Zero
|
||||
: q0 { 0 0 } ;
|
||||
|
@ -71,7 +71,7 @@ PRIVATE>
|
|||
! http://www.mathworks.com/access/helpdesk/help/toolbox/aeroblks/euleranglestoquaternions.html
|
||||
|
||||
: (euler) ( theta unit -- q )
|
||||
>r -0.5 * dup cos c>q swap sin r> n*v v- ;
|
||||
[ -0.5 * dup cos c>q swap sin ] dip n*v v- ;
|
||||
|
||||
: euler ( phi theta psi -- q )
|
||||
[ qi (euler) ] [ qj (euler) ] [ qk (euler) ] tri* q* q* ;
|
||||
|
|
Loading…
Reference in New Issue