FUNCTION SMC_Quat1_AxisAngle : BOOL
Creates a unit quaternion that represents a rotation of the given angle around the given (unit) axis.
This function is equivalent to Quat1_ExpV(u*dAlpha_rad/2).
(Note: each rotation is represented by two quaternions: if q represents a rotation (i.e. if |q| = 1) then -q represents the same rotation.)
InOut:
|
Scope |
Name |
Type |
Comment |
|
Inout |
q |
||
|
Inout Const |
u |
The axis of rotation. Must be a unit vector. |
|
|
Input |
dAlpha_rad |
LREAL |
The angle of rotation |
|
Return |
SMC_Quat1_AxisAngle |
BOOL |
