Module rs_pbrt::core::quaternion

Quaternions were originally invented by Sir William Rowan Hamilton in 1843 as a generalization of complex numbers. He determined that just as in two dimensions, where complex numbers could be defined as a sum of a real and an imaginary part, a generalization could be made to four dimensions, giving quaternions.

Structs

Quaternion

Functions

quat_dot_quat

The inner product of two quaterions.

quat_normalize

A quaternion can be normalized by dividing by its length.

quat_slerp

Spherical linear interpolation gives constant speed motion along great circle arcs on the surface of a sphere and consequently has two desirable properties for interpolating rotations: