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(root)/trunk/src/CGLA/ArithQuat.h – Rev 303 → 306



    }
 
    /// Rotate vector according to unit quaternion
    V apply_unit(const V& vec) const
    {
	  assert(abs(norm() - 1.0) < SMALL);
      return ((*this)*Q(vec)*conjugate()).qv;
    }
  };
 
  template<class T, class V, class Q>

Rev 303	Rev 306
Line 167...	Line 167...
167	`}`	167	`}`
168		168
169	`/// Rotate vector according to unit quaternion`	169	`/// Rotate vector according to unit quaternion`
170	`V apply_unit(const V& vec) const`	170	`V apply_unit(const V& vec) const`
171	`{`	171	`{`
-		172	`assert(abs(norm() - 1.0) < SMALL);`
172	`return ((this)Q(vec)*conjugate()).qv;`	173	`return ((this)Q(vec)*conjugate()).qv;`
173	`}`	174	`}`
174	`};`	175	`};`
175		176
176	`template<class T, class V, class Q>`	177	`template<class T, class V, class Q>`