57 lines
2.6 KiB
Factor
57 lines
2.6 KiB
Factor
USING: help.markup help.syntax math math.vectors vectors ;
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IN: math.quaternions
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HELP: q+
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{ $values { "u" "a quaternion" } { "v" "a quaternion" } { "u+v" "a quaternion" } }
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{ $description "Add quaternions." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ C{ 0 1 } 0 } { 0 1 } q+ ." "{ C{ 0 1 } 1 }" } } ;
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HELP: q-
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{ $values { "u" "a quaternion" } { "v" "a quaternion" } { "u-v" "a quaternion" } }
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{ $description "Subtract quaternions." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ C{ 0 1 } 0 } { 0 1 } q- ." "{ C{ 0 1 } -1 }" } } ;
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HELP: q*
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{ $values { "u" "a quaternion" } { "v" "a quaternion" } { "u*v" "a quaternion" } }
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{ $description "Multiply quaternions." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ C{ 0 1 } 0 } { 0 1 } q* ." "{ 0 C{ 0 1 } }" } } ;
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HELP: qconjugate
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{ $values { "u" "a quaternion" } { "u'" "a quaternion" } }
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{ $description "Quaternion conjugate." } ;
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HELP: qrecip
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{ $values { "u" "a quaternion" } { "1/u" "a quaternion" } }
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{ $description "Quaternion inverse." } ;
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HELP: q/
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{ $values { "u" "a quaternion" } { "v" "a quaternion" } { "u/v" "a quaternion" } }
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{ $description "Divide quaternions." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ 0 C{ 0 1 } } { 0 1 } q/ ." "{ C{ 0 1 } 0 }" } } ;
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HELP: q*n
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{ $values { "q" "a quaternion" } { "n" number } { "q" "a quaternion" } }
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{ $description "Multiplies each element of " { $snippet "q" } " by " { $snippet "n" } "." }
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{ $notes "You will get the wrong result if you try to multiply a quaternion by a complex number on the right using " { $link v*n } ". Use this word instead."
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$nl "Note that " { $link v*n } " with a quaternion and a real is okay." } ;
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HELP: c>q
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{ $values { "c" number } { "q" "a quaternion" } }
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{ $description "Turn a complex number into a quaternion." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "C{ 0 1 } c>q ." "{ C{ 0 1 } 0 }" } } ;
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HELP: v>q
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{ $values { "v" vector } { "q" "a quaternion" } }
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{ $description "Turn a 3-vector into a quaternion with real part 0." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ 1 0 0 } v>q ." "{ C{ 0 1 } 0 }" } } ;
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HELP: q>v
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{ $values { "q" "a quaternion" } { "v" vector } }
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{ $description "Get the vector part of a quaternion, discarding the real part." }
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{ $examples { $example "USING: math.quaternions prettyprint ;" "{ C{ 0 1 } 0 } q>v ." "{ 1 0 0 }" } } ;
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HELP: euler
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{ $values { "phi" number } { "theta" number } { "psi" number } { "q" "a quaternion" } }
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{ $description "Convert a rotation given by Euler angles (phi, theta, and psi) to a quaternion." } ;
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