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quat.C File Reference

#include "mlib/quat.H"

Defines

#define caseMacro(i, j, k, I, J, K)

Define Documentation

#define caseMacro (  i,
j,
k,
I,
J,
K    ) 
 

Value:

case I:\
             s = sqrt( (t(I,I) - (t(J,J)+t(K,K))) + t(3,3) );\
                _v[i] = s*0.5;\
                s = 0.5 / s;\
                _v[j] = (t(I,J) + t(J,I)) * s;\
                _v[k] = (t(K,I) + t(I,K)) * s;\
                _v[3] = (t(K,J) + t(J,K)) * s;\
                break

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