四元素与点的乘法－得到的是空间点做旋转后的点的坐标－AR开发常用

最新推荐文章于 2025-06-20 14:47:14 发布

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最新推荐文章于 2025-06-20 14:47:14 发布

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分类专栏：算法四元素

本文链接：https://blog.youkuaiyun.com/jjgg171314/article/details/80048681

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本文介绍了一个用于计算四元数旋转矢量的函数SCNVector3QuaternionMultVector。该函数通过复杂的数学运算实现了三维空间中矢量点绕指定轴的旋转，常应用于3D图形处理和游戏开发中。

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SCNVector3 QuaternionMultVector(SCNQuaternion rotation, SCNVector3 point)
{
    float num = rotation.x * 2;
    float num2 = rotation.y * 2;
    float num3 = rotation.z * 2;
    float num4 = rotation.x * num;
    float num5 = rotation.y * num2;
    float num6 = rotation.z * num3;
    float num7 = rotation.x * num2;
    float num8 = rotation.x * num3;
    float num9 = rotation.y * num3;
    float num10 = rotation.w * num;
    float num11 = rotation.w * num2;
    float num12 = rotation.w * num3;
    SCNVector3 result;
    result.x = (1 - (num5 + num6)) * point.x + (num7 - num12) * point.y + (num8 + num11) * point.z;
    result.y = (num7 + num12) * point.x + (1 - (num4 + num6)) * point.y + (num9 - num10) * point.z;
    result.z = (num8 - num11) * point.x + (num9 + num10) * point.y + (1 - (num4 + num5)) * point.z;
    return result;
}