From: Jason Hise (chaos_at_[hidden])
Date: 2006-03-26 16:21:51
Andy Little wrote:
>FWIW boost boost has a quaternion class
>
>http://www.boost.org/libs/math/quaternion/quaternion.html
>
>Even some preliminary info on rotations:
>
>http://www.boost.org/libs/math/quaternion/HSO3.hpp
>
>Is it possible to reuse Boost.Quaternion in a geometry library or are
>there problems associated with that?
>
Probably, although because it was written with the intention of being a
mathematical class instead of being a geometry class it appears there
are some minor details missing. Namely, the ability to convert from an
angle and axis of rotation to a unit quaternion and back again, and to
convert a quaternion to a transformation matrix. Also, when you know in
advance that you are only working with unit quaternions (the only valid
quaternions for storing orientations) you can make certain optimizations
(the inverse simplifies to the complex conjugate).
-Jason