onion (version 1.2-4)

rotate: Rotates 3D vectors using quaternions

Description

Rotates a three-column matrix whose rows are vectors in 3D space, using quaternions

Usage

rotate(x, H)

Arguments

x

A matrix of three columns whose rows are points in 3D space

H

A quaternion. Does not need to have unit modulus

Value

Returns a matrix of the same size as x

Examples

# NOT RUN {
data(bunny)
par(mfrow=c(2,2))
par(mai=rep(0,4))
p3d(rotate(bunny,Hi),box=FALSE)
p3d(rotate(bunny,H1-Hi+Hj),box=FALSE)
p3d(rotate(bunny,Hk),box=FALSE)
p3d(rotate(bunny,Hall),box=FALSE)
# }