quat_rotate_point_3dT_quat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3d (Operator)


quat_rotate_point_3dT_quat_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)

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

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_quatAxisAngleToQuatAxisAngleToQuatAxisAngleToQuat), the operator quat_rotate_point_3dquat_rotate_point_3dQuatRotatePoint3dQuatRotatePoint3dQuatRotatePoint3d can be used to rotate a 3D point (PxPxPxPxpx, PyPyPyPypy, PzPzPzPzpz). The rotated point is returned in (QxQxQxQxqx, QyQyQyQyqy, QzQzQzQzqz).

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

corresponds to the conjugation of a quaternion q (see quat_conjugatequat_conjugateQuatConjugateQuatConjugateQuatConjugate). 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_3dQuatRotatePoint3dQuatRotatePoint3dQuatRotatePoint3d does not check whether QuaternionQuaternionQuaternionQuaternionquaternion is a unit quaternion. If QuaternionQuaternionQuaternionQuaternionquaternion is not a unit quaternion, the result of this operator is not defined.

Execution Information


QuaternionQuaternionQuaternionQuaternionquaternion (input_control)  quaternion HQuaternion, HTupleHTupleHtuple (real) (double) (double) (double)

Rotation quaternion.

PxPxPxPxpx (input_control)  real HTupleHTupleHtuple (real) (double) (double) (double)

X coordinate of the point to be rotated.

PyPyPyPypy (input_control)  real HTupleHTupleHtuple (real) (double) (double) (double)

Y coordinate of the point to be rotated.

PzPzPzPzpz (input_control)  real HTupleHTupleHtuple (real) (double) (double) (double)

Z coordinate of the point to be rotated.

QxQxQxQxqx (output_control)  real HTupleHTupleHtuple (real) (double) (double) (double)

X coordinate of the rotated point.

QyQyQyQyqy (output_control)  real HTupleHTupleHtuple (real) (double) (double) (double)

Y coordinate of the rotated point.

QzQzQzQzqz (output_control)  real HTupleHTupleHtuple (real) (double) (double) (double)

Z coordinate of the rotated point.

Possible Predecessors


See also

axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuatAxisAngleToQuat, quat_to_hom_mat3dquat_to_hom_mat3dQuatToHomMat3dQuatToHomMat3dQuatToHomMat3d, quat_composequat_composeQuatComposeQuatComposeQuatCompose, quat_normalizequat_normalizeQuatNormalizeQuatNormalizeQuatNormalize, quat_conjugatequat_conjugateQuatConjugateQuatConjugateQuatConjugate, quat_interpolatequat_interpolateQuatInterpolateQuatInterpolateQuatInterpolate, dual_quat_trans_line_3ddual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3dDualQuatTransLine3d