Man page - rtcquaterniondecomposition(3)

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Manual

RTCQuaternionDecomposition

NAME
SYNOPSIS
DESCRIPTION
EXIT STATUS
SEE ALSO

NAME

RTCQuaternionDecomposition - structure that represents a quaternion
  decomposition of an affine transformation

SYNOPSIS

struct RTCQuaternionDecomposition
{
  float scale_x, scale_y, scale_z;
  float skew_xy, skew_xz, skew_yz;
  float shift_x, shift_y, shift_z;
  float quaternion_r, quaternion_i, quaternion_j, quaternion_k;
  float translation_x, translation_y, translation_z;
};

DESCRIPTION

The struct RTCQuaternionDecomposition represents an affine transformation decomposed into three parts. An upper triangular scaling/skew/shift matrix

$$ S = \left( \begin{array}{cccc} scale_x & skew_{xy} & skew_{xz} & shift_x \\ 0 & scale_y & skew_{yz} & shift_y \\ 0 & 0 & scale_z & shift_z \\ 0 & 0 & 0 & 1 \\ \end{array} \right), $$

a translation matrix

$$ T = \left( \begin{array}{cccc} 1 & 0 & 0 & translation_x \\ 0 & 1 & 0 & translation_y \\ 0 & 0 & 1 & translation_z \\ 0 & 0 & 0 & 1 \\ \end{array} \right), $$

and a rotation matrix R , represented as a quaternion

quaternion ˜ r ˜ + quaternion ˜ i ˜ i + quaternion ˜ j ˜ i + quaternion ˜ k ˜ k

where i , j k are the imaginary quaternion units. The passed quaternion will be normalized internally.

The affine transformation matrix corresponding to a RTCQuaternionDecomposition is TRS and a point p = ( p ˜ x ˜, p ˜ y ˜, p ˜ z ˜, 1)ˆ T ˆ will be transformed as

p ′ = T R S p .

The functions rtcInitQuaternionDecomposition , rtcQuaternionDecompositionSetQuaternion , rtcQuaternionDecompositionSetScale , rtcQuaternionDecompositionSetSkew , rtcQuaternionDecompositionSetShift , and rtcQuaternionDecompositionSetTranslation allow to set the fields of the structure more conveniently.

EXIT STATUS

No error code is set by this function.