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quat_rotate_point_3dT_quat_rotate_point_3dQuatRotatePoint3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d (Operator)


quat_rotate_point_3dT_quat_rotate_point_3dQuatRotatePoint3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d — Perform a rotation by a unit quaternion.


quat_rotate_point_3d( : : Quaternion, Px, Py, Pz : Qx, Qy, Qz)

Herror T_quat_rotate_point_3d(const Htuple Quaternion, const Htuple Px, const Htuple Py, const Htuple Pz, Htuple* Qx, Htuple* Qy, Htuple* Qz)

Herror quat_rotate_point_3d(const HTuple& Quaternion, const HTuple& Px, const HTuple& Py, const HTuple& Pz, double* Qx, double* Qy, double* Qz)

void QuatRotatePoint3d(const HTuple& Quaternion, const HTuple& Px, const HTuple& Py, const HTuple& Pz, HTuple* Qx, HTuple* Qy, HTuple* Qz)

double HQuaternion::QuatRotatePoint3d(double Px, double Py, double Pz, double* Qy, double* Qz) const

void HOperatorSetX.QuatRotatePoint3d(
[in] VARIANT Quaternion, [in] VARIANT Px, [in] VARIANT Py, [in] VARIANT Pz, [out] VARIANT* Qx, [out] VARIANT* Qy, [out] VARIANT* Qz)

double HQuaternionX.QuatRotatePoint3d(
[in] double Px, [in] double Py, [in] double Pz, [out] double* Qy, [out] double* Qz)

static void HOperatorSet.QuatRotatePoint3d(HTuple quaternion, HTuple px, HTuple py, HTuple pz, out HTuple qx, out HTuple qy, out HTuple qz)

double HQuaternion.QuatRotatePoint3d(double px, double py, double pz, out double qy, out double qz)


Given a rotation quaternion (e.g. generated by axis_angle_to_quataxis_angle_to_quatAxisAngleToQuataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuat), the operator quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d can be used to rotate a 3D point (PxPxPxPxPxpx, PyPyPyPyPypy, PzPzPzPzPzpz). The rotated point is returned in (QxQxQxQxQxqx, QyQyQyQyQyqy, QzQzQzQzQzqz).

The rotation of a point x by an unit quaterion q is given by

  x' = q * x * conj(q).

conj(q) corresponds to the conjugation of a quaternion q (see quat_conjugatequat_conjugateQuatConjugatequat_conjugateQuatConjugateQuatConjugate). Note that x will be transformed into quaternion form to perform the rotation. This is done by setting the real part to zero and the three imaginary components to the three components of x.


The operator quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d does not check whether QuaternionQuaternionQuaternionQuaternionQuaternionquaternion is a unit quaternion. If QuaternionQuaternionQuaternionQuaternionQuaternionquaternion is not a unit quaternion, the result of this operator is not defined.



QuaternionQuaternionQuaternionQuaternionQuaternionquaternion (input_control)  quaternion HQuaternion, HTupleHTupleHTupleHQuaternionX, VARIANTHtuple (real) (double) (double) (double) (double) (double)

Rotation quaternion.

PxPxPxPxPxpx (input_control)  real HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

X coordinate of the point to be rotated.

PyPyPyPyPypy (input_control)  real HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Y coordinate of the point to be rotated.

PzPzPzPzPzpz (input_control)  real HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Z coordinate of the point to be rotated.

QxQxQxQxQxqx (output_control)  real HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

X coordinate of the rotated point.

QyQyQyQyQyqy (output_control)  real HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Y coordinate of the rotated point.

QzQzQzQzQzqz (output_control)  real HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Z coordinate of the rotated point.

Possible Predecessors


See also

axis_angle_to_quataxis_angle_to_quatAxisAngleToQuataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuat, quat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3d, quat_composequat_composeQuatComposequat_composeQuatComposeQuatCompose, quat_normalizequat_normalizeQuatNormalizequat_normalizeQuatNormalizeQuatNormalize, quat_conjugatequat_conjugateQuatConjugatequat_conjugateQuatConjugateQuatConjugate, quat_interpolatequat_interpolateQuatInterpolatequat_interpolateQuatInterpolateQuatInterpolate



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