vector3.cpp

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#include "vector3.h"
#include "quaternion.h"
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
   const CVector3 CVector3::X(1.0, 0.0, 0.0);
   const CVector3 CVector3::Y(0.0, 1.0, 0.0);
   const CVector3 CVector3::Z(0.0, 0.0, 1.0);
   const CVector3 CVector3::ZERO;
 
   /****************************************/
   /****************************************/
 
   CVector3& CVector3::Rotate(const CQuaternion& c_quaternion) {
      CQuaternion cResult;
      cResult = c_quaternion;
      cResult *= CQuaternion(0.0f, m_fX, m_fY, m_fZ);
      cResult *= c_quaternion.Inverse();
      m_fX = cResult.GetX();
      m_fY = cResult.GetY();
      m_fZ = cResult.GetZ();
      return *this;
   }
 
   /****************************************/
   /****************************************/
 
}