[Boost-commit] svn:boost r84585 - trunk/boost/geometry/extensions/algebra/algorithms

Subject: [Boost-commit] svn:boost r84585 - trunk/boost/geometry/extensions/algebra/algorithms
From: adam.wulkiewicz_at_[hidden]
Date: 2013-05-31 15:43:39

Author: awulkiew
Date: 2013-05-31 15:43:38 EDT (Fri, 31 May 2013)
New Revision: 84585
URL: http://svn.boost.org/trac/boost/changeset/84585

Log:
geometry extensions: quaternion_rotate moved to detail::algebra
Text files modified: 
   trunk/boost/geometry/extensions/algebra/algorithms/detail.hpp                  |    23 ++++++++++++++++++++++-                 
   trunk/boost/geometry/extensions/algebra/algorithms/transform_geometrically.hpp |    18 ++----------------                      
   2 files changed, 24 insertions(+), 17 deletions(-)

Modified: trunk/boost/geometry/extensions/algebra/algorithms/detail.hpp
==============================================================================
--- trunk/boost/geometry/extensions/algebra/algorithms/detail.hpp	(original)
+++ trunk/boost/geometry/extensions/algebra/algorithms/detail.hpp	2013-05-31 15:43:38 EDT (Fri, 31 May 2013)
@@ -151,13 +151,34 @@
 };
 
 template <typename M, typename V, typename VD>
-inline static void matrix_mul(M const& m, V const& v, VD & vd)
+inline static void matrix_rotate(M const& m, V const& v, VD & vd)
 {
     static const std::size_t dimension = traits::dimension<M>::value;
 
     matrix_mul_impl<M, V, VD, 0, dimension>::apply(m, v, vd);
 }
 
+template <typename V, typename Q>
+inline static void quaternion_rotate(V & v, Q const& q)
+{
+    // TODO - choose more precise type?
+
+    typedef typename select_most_precise<
+        typename traits::coordinate_type<V>::type,
+        typename traits::coordinate_type<Q>::type
+    >::type T;
+
+    // Hamilton product T=Q*V
+    T a = /*get<0>(r) * 0 */- get<1>(r) * get<0>(v) - get<2>(r) * get<1>(v) - get<3>(r) * get<2>(v);
+    T b = get<0>(r) * get<0>(v)/* + get<1>(r) * 0*/ + get<2>(r) * get<2>(v) - get<3>(r) * get<1>(v);
+    T c = get<0>(r) * get<1>(v) - get<1>(r) * get<2>(v)/* + get<2>(r) * 0*/ + get<3>(r) * get<0>(v);
+    T d = get<0>(r) * get<2>(v) + get<1>(r) * get<1>(v) - get<2>(r) * get<0>(v)/* + get<3>(r) * 0*/;
+    // Hamilton product V=T*inv(Q)
+    set<0>(v, - a * get<1>(r) + b * get<0>(r) - c * get<3>(r) + d * get<2>(r));
+    set<1>(v, - a * get<2>(r) + b * get<3>(r) + c * get<0>(r) - d * get<1>(r));
+    set<2>(v, - a * get<3>(r) - b * get<2>(r) + c * get<1>(r) + d * get<0>(r));
+}
+
 }} // namespace detail::algebra
 
 }} // namespace boost::geometry

Modified: trunk/boost/geometry/extensions/algebra/algorithms/transform_geometrically.hpp
==============================================================================
--- trunk/boost/geometry/extensions/algebra/algorithms/transform_geometrically.hpp	(original)
+++ trunk/boost/geometry/extensions/algebra/algorithms/transform_geometrically.hpp	2013-05-31 15:43:38 EDT (Fri, 31 May 2013)
@@ -126,21 +126,7 @@
     {
         concept::check_concepts_and_equal_dimensions<Vector, RotationQuaternion const>();
 
-        // TODO - choose more precise type?
-
-        typedef typename select_most_precise<
-            typename traits::coordinate_type<Vector>::type,
-            typename traits::coordinate_type<RotationQuaternion>::type
-        >::type T;
-
-        T a = /*get<0>(r) * 0 */- get<1>(r) * get<0>(v) - get<2>(r) * get<1>(v) - get<3>(r) * get<2>(v);
-        T b = get<0>(r) * get<0>(v)/* + get<1>(r) * 0*/ + get<2>(r) * get<2>(v) - get<3>(r) * get<1>(v);
-        T c = get<0>(r) * get<1>(v) - get<1>(r) * get<2>(v)/* + get<2>(r) * 0*/ + get<3>(r) * get<0>(v);
-        T d = get<0>(r) * get<2>(v) + get<1>(r) * get<1>(v) - get<2>(r) * get<0>(v)/* + get<3>(r) * 0*/;
-
-        set<0>(v, - a * get<1>(r) + b * get<0>(r) - c * get<3>(r) + d * get<2>(r));
-        set<1>(v, - a * get<2>(r) + b * get<3>(r) + c * get<0>(r) - d * get<1>(r));
-        set<2>(v, - a * get<3>(r) - b * get<2>(r) + c * get<1>(r) + d * get<0>(r));
+        detail::algebra::quaternion_rotate(v, r);
     }
 };
 
@@ -154,7 +140,7 @@
 
         // TODO vector_type and convert from Vector
         Vector tmp(v);
-        detail::algebra::matrix_mul(r, tmp, v);
+        detail::algebra::matrix_rotate(r, tmp, v);
     }
 };