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19025d77ad
Reorganized. Created a new top level include directory that will hold all of Trick's header files. Moved all of the Trick headers to this directory. Created a libexec directory that holds all of the executables that users don't need to execute directly. Changed all of the executables remaining in bin to start with "trick-". In the sim_services directories changed all source files to find the Trick headers in their new location. Since all of the include files are gone in sim_services, removed the src directories as well, moving all of the source files up a level. Moved the makefiles, docs, man, and other architecture independent files into a top level share directory. Renamed lib_${TRICK_HOST_CPU} to lib64 or lib depending on the platform we're currently on.
refs #63
24 lines
818 B
C
24 lines
818 B
C
/*
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PURPOSE: (Multiply 2 quaternions, q3 = q1*q2)
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REFERENCE: ((Flight Control - Ascent Flight Phase) (FSSR STS 83-0008A, Section 4.7.10 QUAT_MULT) (Volume 1, June 30,
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1985))
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PROGRAMMERS: (((M Schira) (McDonnell Douglas) (Jan 1993) (v1.0) (Init Release)))
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*/
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#include "trick/trick_math.h"
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void quat_mult(double q3[4], /* Out: quaternion */
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double q1[4], /* In: quaternion */
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double q2[4])
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{ /* In: quaternion */
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q3[0] = q1[0] * q2[0] - (q1[1] * q2[1] + q1[2] * q2[2] + q1[3] * q2[3]);
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q3[1] = q1[0] * q2[1] + q2[0] * q1[1] + q1[2] * q2[3] - q1[3] * q2[2];
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q3[2] = q1[0] * q2[2] + q2[0] * q1[2] + q1[3] * q2[1] - q1[1] * q2[3];
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q3[3] = q1[0] * q2[3] + q2[0] * q1[3] + q1[1] * q2[2] - q1[2] * q2[1];
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return;
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}
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