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qtm rewritten

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Zeno Rogue 2020-02-26 01:44:04 +01:00
parent 02017ef88b
commit 6eb3270900
1 changed files with 25 additions and 29 deletions
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52
nonisotropic.cpp
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@ -1864,41 +1864,37 @@ EX namespace rots {
/** reinterpret the given point of rotspace as a rotation matrix in the underlying geometry */ /** reinterpret the given point of rotspace as a rotation matrix in the underlying geometry */
EX transmatrix qtm(hyperpoint h) { EX transmatrix qtm(hyperpoint h) {
if(hyperbolic) { ld& x = h[0];
hyperpoint k = slr::to_phigans(h); ld& y = h[1];
ld z = k[2]; k[2] = 0; ld& z = h[2];
ld r = hypot_d(2, k); ld& w = h[3];
// k[1] = -k[1];
k[0] = -k[0];
if(r) k = tangent_length(k, asinh(r) * 2);
return spin(-z * 2) * rgpushxto0(direct_exp(k, 0));
}
double sq0 = h[0]*h[0]; ld xx = x*x;
double sq1 = h[1]*h[1]; ld yy = y*y;
double sq2 = h[2]*h[2]; ld zz = z*z;
double sq3 = h[3]*h[3]; ld ww = w*w;
ld xy = x*y;
ld xz = x*z;
ld xw = x*w;
ld yz = y*z;
ld yw = y*w;
ld zw = z*w;
transmatrix M; transmatrix M;
M[0][0] = sq0 - sq1 - sq2 + sq3; M[0][0] = +xx - yy - zz + ww;
M[1][1] = -sq0 + sq1 - sq2 + sq3; M[1][1] = -xx + yy - zz + ww;
M[2][2] = -sq0 - sq1 + sq2 + sq3; M[2][2] = -xx - yy + zz + ww;
double tmp1 = h[0]*h[1]; M[0][1] = -2 * (xy + zw);
double tmp2 = h[2]*h[3]; M[1][0] = -2 * (xy - zw);
M[0][1] = -2 * (tmp1 + tmp2);
M[1][0] = -2 * (tmp1 - tmp2);
tmp1 = h[0]*h[2]; M[0][2] = 2 * (xz - yw);
tmp2 = h[1]*h[3]; M[2][0] = 2 * (xz + yw);
M[0][2] = 2 * (tmp1 - tmp2);
M[2][0] = 2 * (tmp1 + tmp2);
tmp1 = h[1]*h[2]; M[1][2] = -2 * (yz + xw);
tmp2 = h[0]*h[3]; M[2][1] = -2 * (yz - xw);
M[1][2] = -2 * (tmp1 + tmp2);
M[2][1] = -2 * (tmp1 - tmp2);
return M; return M;
} }