vtk中四元数的使用

1.使用

    //构造旋转四元数
    vtkQuaterniond rotation;
    rotation.SetRotationAngleAndAxis(vtkMath::RadiansFromDegrees(90.0),0.0, 1.0, 0.0);
    //构造旋转点四元数
    vtkQuaterniond p;
    p.Set(0.0,1.0,0.0,0.0);
    //转置
    vtkQuaterniond inverse = rotation.Inverse();
    //计算旋转结果
    vtkQuaterniond res = rotation*p*inverse;
    double resdata[4] = {0};
    res.Get(resdata);

2.自定义

void QuaternionMulti(float q1[4],float q2[4],float res[4]){
    float ww = q1[0]*q2[0];
    float wx = q1[0]*q2[1];
    float wy = q1[0]*q2[2];
    float wz = q1[0]*q2[3];

    float xw = q1[1]*q2[0];
    float xx = q1[1]*q2[1];
    float xy = q1[1]*q2[2];
    float xz = q1[1]*q2[3];

    float yw = q1[2]*q2[0];
    float yx = q1[2]*q2[1];
    float yy = q1[2]*q2[2];
    float yz = q1[2]*q2[3];

    float zw = q1[3]*q2[0];
    float zx = q1[3]*q2[1];
    float zy = q1[3]*q2[2];
    float zz = q1[3]*q2[3];

    res[0] = ww-xx-yy-zz;
    res[1] = wx+xw+yz-zy;
    res[2] = wy-xz+yw+zx;
    res[3] = wz+xy-yx+zw;
}

//angle使用角度,延旋转轴方向，逆时针
void RotateByQuaternion(float pos[3],float axis[3],float angle,float resPos[3]){
    float radian = angle*3.1415926/180.0;
    float axisNorm = sqrt(axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2]);
    float v1 = sin(0.5*radian);
    float r1 = cos(0.5*radian);
    float q1[4] = {r1,v1*(axis[0]/axisNorm),v1*(axis[1]/axisNorm),v1*(axis[2]/axisNorm)};
    float p[4] = {0.0,pos[0],pos[1],pos[2]};
    float tmpdata[4] = {0.0};
    QuaternionMulti(q1,p,tmpdata);
    float q1_[4] = {q1[0],-q1[1],-q1[2],-q1[3]};
    float resQuaternion[4] = {0.0};
    QuaternionMulti(tmpdata,q1_,resQuaternion);
    resPos[0] = resQuaternion[1];
    resPos[1] = resQuaternion[2];
    resPos[2] = resQuaternion[3];
}
//测试
int main(int argc, char *argv[])
{
    float pos[3] = {1.0,1.0,0.0};
    float axis[3] = {0.0,0.0,1.0};
    float angle = 90;
    float resdata[3] = {0.0};
    RotateByQuaternion(pos,axis,angle,resdata);
    qDebug() << "resdata:" << resdata[0]<<resdata[1]<<resdata[2];
    return 0;
}