15 lines
398 B
R
15 lines
398 B
R
typedef @algebra(float(3,0,1)) PGA;
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typedef PGA.group_mask(0xa) bivector_t;
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typedef PGA.group_mask(0x1e) motor_t;
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motor_t
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make_motor (vec4 translation, vec4 rotation)
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{
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auto dt = (PGA.group_mask(0x18)) translation;
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auto q = (PGA.group_mask(0x06)) rotation;
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motor_t t = { .scalar = 1, .bvecp = -dt.bvecp };
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motor_t r = { .scalar = q.scalar, .bvect = q.bvect };
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motor_t m = t * r;
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return m;
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}
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