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revert hyperbolic qtm
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@ -1931,6 +1931,17 @@ EX namespace rots {
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/** reinterpret the given point of rotspace as a rotation matrix in the underlying geometry */
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/** reinterpret the given point of rotspace as a rotation matrix in the underlying geometry */
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EX transmatrix qtm(hyperpoint h) {
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EX transmatrix qtm(hyperpoint h) {
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if(hyperbolic) {
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hyperpoint k = slr::to_phigans(h);
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ld z = k[2]; k[2] = 0;
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ld r = hypot_d(2, k);
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// k[1] = -k[1];
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k[0] = -k[0];
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if(r) k = tangent_length(k, asinh(r) * 2);
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return spin(-z * 2) * rgpushxto0(direct_exp(k));
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}
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ld& x = h[0];
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ld& x = h[0];
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ld& y = h[1];
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ld& y = h[1];
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ld& z = h[2];
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ld& z = h[2];
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