physics.spatial.frame — net.clojars.helsingin/physics 0.1.4

Coordinate frame primitives and rigid transforms.

->transform clj

(->transform {:keys [translation rotation frame]
              :or {translation [0.0 0.0 0.0] rotation identity-quaternion}})

Create a transform map ensuring proper defaults.

compose clj

(compose t1 t2)

Compose transforms T1 followed by T2.

identity-quaternion clj

Unit quaternion representing no rotation.

identity-transform clj

(identity-transform)

normalize-quaternion clj

(normalize-quaternion [w x y z :as q])

Normalize quaternion Q to unit length.

quaternion-dot clj

(quaternion-dot [w1 x1 y1 z1] [w2 x2 y2 z2])

rotate-vector clj

(rotate-vector q v)

Rotate vector V with quaternion Q.

slerp clj

(slerp q0 q1 t)

Spherical linear interpolation between q0 and q1 by factor t in [0,1].

transform-point clj

(transform-point {:keys [translation rotation]} point)

Apply TRANSFORM to POINT (3-vector).

transform-vector clj

(transform-vector {:keys [rotation]} v)

Rotate vector using the transform without applying translation.