RTCQuaternionDecomposition - Online Linux Manual Page

Section : 3
Updated :
Source :
Note : Embree Ray Tracing Kernels 3

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

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

a translation matrix

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

and a rotation matrix R

, represented as a quaternion

~ +

where i

are the imaginary quaternion units. The passed quaternion will be normalized internally.

The affine transformation matrix corresponding to a RTCQuaternionDecomposition

and a point

= (

~, 1)^

^ will be transformed as

′=

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.