3 ms·

LOL ok yeah, that's a copy-paste issue. I'll fix it up here shortly.

• xeonmc 1y ago
  imo it's better to express the conversion relation as exp-log pairs: fn exp(q: Quat) -> Quat { let ijk = sqrt(q.i*q.i + q.j*q.j + q.k*q.k); Quat { i: exp(q.l) * sin(ijk) * q.i / ijk, j: exp(q.l) * sin(ijk) * q.j / ijk, k: exp(q.l) * sin(ijk) * q.k / ijk, l: exp(q.l) * cos(ijk), } } fn log(q: Quat) -> Quat { let ijk = sqrt(q.i*q.i + q.j*q.j + q.k*q.k); Quat { i: atan2(ijk, q.l) * q.i / ijk, j: atan2(ijk, q.l) * q.j / ijk, k: atan2(ijk, q.l) * q.k / ijk, l: 0.5 * log(q.i*q.i + q.j*q.j + q.k*q.k + q.l*q.l), } }