physics.core — net.clojars.helsingin/physics 0.1.4

Shared physics utilities: rotational algebra, vector helpers, constants.

body->inertial clj

(body->inertial attitude)

clamp clj

(clamp x min-val max-val)

cross clj

(cross [ax ay az] [bx by bz])

deg->rad clj

dot clj

(dot a b)

euler->quaternion clj

(euler->quaternion {:keys [roll pitch yaw]})

euler->rot-matrix clj

(euler->rot-matrix {:keys [roll pitch yaw]})

Return body→inertial rotation matrix for ZYX (yaw-pitch-roll) angles.

inertial->body clj

(inertial->body attitude)

integrate-quaternion clj

(integrate-quaternion q angular-rate dt)

magnitude clj

(magnitude v)

matmul clj

(matmul m v)

normalize clj

(normalize v)

Return unit vector in direction of v.

pi clj

quaternion->dcm clj

(quaternion->dcm [w x y z])

quaternion-derivative clj

(quaternion-derivative [qw qx qy qz] [p q r])

Return quaternion derivative given angular rate vector (rad/s).

quaternion-normalize clj

(quaternion-normalize [w x y z])

rad->deg clj

transpose clj

(transpose m)

two-pi clj