Quaternions

Support for quaternion algebra using 4D vectors of arbitrary length, representing xi + yj + zk + w. More...

Functions
template<class T >
constexpr vec< T, 4 >	qconj (const vec< T, 4 > &q)
	conjugate of quaternion q
template<class T >
vec< T, 4 >	qinv (const vec< T, 4 > &q)
	inverse or reciprocal of quaternion q (undefined for zero-length quaternions)
template<class T >
vec< T, 4 >	qexp (const vec< T, 4 > &q)
	exponential of quaternion q
template<class T >
vec< T, 4 >	qlog (const vec< T, 4 > &q)
	logarithm of quaternion q
template<class T >
vec< T, 4 >	qpow (const vec< T, 4 > &q, const T &p)
	quaternion q raised to the exponent p
template<class T >
constexpr vec< T, 4 >	qmul (const vec< T, 4 > &a, const vec< T, 4 > &b)
	Hamilton product of quaternions a and b
template<class T , class... R>
constexpr vec< T, 4 >	qmul (const vec< T, 4 > &a, R... r)
	Multiply as many input quaternions together as desired.

Detailed Description

Support for quaternion algebra using 4D vectors of arbitrary length, representing xi + yj + zk + w.