Anonymous committed 1074c75

Added dot() function for quaternions.

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Files changed (2)


         return quaternion<T>(q.w, -q.vec);
+    /* calculate the dot product */
+    template <typename T>
+    T dot(const quaternion<T> &lhs,
+          const quaternion<T> &rhs)
+    {
+        return lhs.w * rhs.w + dot(lhs.vec, rhs.vec);
+    }
     typedef quaternion<float> quat;
     typedef quaternion<int> quati;


         quat q1(1.0f, 1.0f, 2.0f, 3.0f);
         NUT_REQUIRE_EQUAL(inverse(q1), quat(1.0f, -1.0f, -2.0f, -3.0f));
+    NUT_TESTCASE(dot_product)
+    {
+        quat q1(1.0f, 2.0f, 3.0f, 4.0f);
+        quat q2(3.0f, 1.0f, 4.0f, 3.0f);
+        NUT_REQUIRE_EQUAL(dot(q1, q2), 29.0f);
+    }
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