.\" Automatically generated by Pandoc 1.17.0.3
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.TH "RTCQuaternionDecomposition" "3" "" "" "Embree Ray Tracing Kernels 3"
.hy
.SS NAME
.IP
.nf
\f[C]
RTCQuaternionDecomposition\ \-\ structure\ that\ represents\ a\ quaternion
\ \ decomposition\ of\ an\ affine\ transformation
\f[]
.fi
.SS SYNOPSIS
.IP
.nf
\f[C]
struct\ RTCQuaternionDecomposition
{
\ \ float\ scale_x,\ scale_y,\ scale_z;
\ \ float\ skew_xy,\ skew_xz,\ skew_yz;
\ \ float\ shift_x,\ shift_y,\ shift_z;
\ \ float\ quaternion_r,\ quaternion_i,\ quaternion_j,\ quaternion_k;
\ \ float\ translation_x,\ translation_y,\ translation_z;
};
\f[]
.fi
.SS DESCRIPTION
.PP
The struct \f[C]RTCQuaternionDecomposition\f[] represents an affine
transformation decomposed into three parts.
An upper triangular scaling/skew/shift matrix
.PP
.RS
$$
S = \\left( \\begin{array}{cccc}
scale_x & skew_{xy} & skew_{xz} & shift_x \\\\ 
0 & scale_y & skew_{yz} & shift_y \\\\ 
0 & 0 & scale_z & shift_z \\\\ 
0 & 0 & 0 & 1 \\\\ 
\\end{array} \\right),
$$
.RE
.PP
a translation matrix
.PP
.RS
$$
T = \\left( \\begin{array}{cccc}
1 & 0 & 0 & translation_x \\\\ 
0 & 1 & 0 & translation_y \\\\ 
0 & 0 & 1 & translation_z \\\\ 
0 & 0 & 0 & 1 \\\\ 
\\end{array} \\right),
$$
.RE
.PP
and a rotation matrix \f[I]R\f[], represented as a quaternion
.PP
\f[I]q\f[]\f[I]u\f[]\f[I]a\f[]\f[I]t\f[]\f[I]e\f[]\f[I]r\f[]\f[I]n\f[]\f[I]i\f[]\f[I]o\f[]\f[I]n\f[]~\f[I]r\f[]~ + \f[I]q\f[]\f[I]u\f[]\f[I]a\f[]\f[I]t\f[]\f[I]e\f[]\f[I]r\f[]\f[I]n\f[]\f[I]i\f[]\f[I]o\f[]\f[I]n\f[]~\f[I]i\f[]~\ \f[B]i\f[] + \f[I]q\f[]\f[I]u\f[]\f[I]a\f[]\f[I]t\f[]\f[I]e\f[]\f[I]r\f[]\f[I]n\f[]\f[I]i\f[]\f[I]o\f[]\f[I]n\f[]~\f[I]j\f[]~\ \f[B]i\f[] + \f[I]q\f[]\f[I]u\f[]\f[I]a\f[]\f[I]t\f[]\f[I]e\f[]\f[I]r\f[]\f[I]n\f[]\f[I]i\f[]\f[I]o\f[]\f[I]n\f[]~\f[I]k\f[]~\ \f[B]k\f[]
.PP
where \f[B]i\f[], \f[B]j\f[] \f[B]k\f[] are the imaginary quaternion
units.
The passed quaternion will be normalized internally.
.PP
The affine transformation matrix corresponding to a
\f[C]RTCQuaternionDecomposition\f[] is \f[I]T\f[]\f[I]R\f[]\f[I]S\f[]
and a point
\f[I]p\f[] = (\f[I]p\f[]~\f[I]x\f[]~, \f[I]p\f[]~\f[I]y\f[]~, \f[I]p\f[]~\f[I]z\f[]~, 1)^\f[I]T\f[]^
will be transformed as
.RS
\f[I]p\f[]′=\f[I]T\f[]\ \f[I]R\f[]\ \f[I]S\f[]\ \f[I]p\f[].
.RE
.PP
The functions \f[C]rtcInitQuaternionDecomposition\f[],
\f[C]rtcQuaternionDecompositionSetQuaternion\f[],
\f[C]rtcQuaternionDecompositionSetScale\f[],
\f[C]rtcQuaternionDecompositionSetSkew\f[],
\f[C]rtcQuaternionDecompositionSetShift\f[], and
\f[C]rtcQuaternionDecompositionSetTranslation\f[] allow to set the
fields of the structure more conveniently.
.SS EXIT STATUS
.PP
No error code is set by this function.
.SS SEE ALSO
.PP
[rtcSetGeometryTransformQuaternion], [rtcInitQuaternionDecomposition]