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qtm:: fixed

This commit is contained in:
Zeno Rogue 2020-05-09 02:35:15 +02:00
parent 83c0ade9d6
commit ecb88d8501
1 changed files with 10 additions and 10 deletions
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20
nonisotropic.cpp
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@ -1932,16 +1932,6 @@ EX namespace rots {
/** reinterpret the given point of rotspace as a rotation matrix in the underlying geometry */
EX transmatrix qtm(hyperpoint h) {
if(hyperbolic) {
hyperpoint k = slr::to_phigans(h);
ld z = k[2]; k[2] = 0;
ld r = hypot_d(2, k);
// 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));
}
ld& x = h[0];
ld& y = h[1];
ld& z = h[2];
@ -1974,6 +1964,16 @@ EX namespace rots {
M[1][2] = -2 * (yz + xw);
M[2][1] = -2 * (yz - xw);
if(hyperbolic) {
swap(M[0][2], M[1][2]);
swap(M[2][0], M[2][1]);
M[1][2] *= -1;
M[2][0] *= -1;
M[2][2] = xx + yy + zz + ww;
return M;
}
return M;
}