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Improved formatting.
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src/Math-Quaternion/PMQuaternion.class.st

Lines changed: 23 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -78,29 +78,33 @@ PMQuaternion class >> zero [
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]
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{ #category : #arithmetic }
81-
PMQuaternion >> * multiplier [
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PMQuaternion >> * multiplier [
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"Answer the result of multiplying self with aQuaternion.
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Distribute the product (qr + qi i +qj j + qk k)*(tr+ti i + tj j + tk k)
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with rules i*i=j*j=k*k=-1 and i*j=-k, j*k=-i, k*i=-j"
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^ multiplier isQuaternion
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ifTrue: [| tr ti tj tk |
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tr := multiplier qr.
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ti := multiplier qi.
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tj := multiplier qj.
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tk := multiplier qk.
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^ self species
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qr: qr * tr - (qi * ti) - (qj * tj) - (qk * tk)
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qi: qr * ti + (qi * tr) + (qj * tk) - (qk * tj)
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qj: qr * tj + (qj * tr) + (qk * ti) - (qi * tk)
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qk: qr * tk + (qk * tr) + (qi * tj) - (qj * ti)]
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ifFalse: [(multiplier isNumber and: [multiplier isComplexNumber not])
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ifTrue: ["handle case much faster than adapt..."
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self species
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qr: qr * multiplier
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qi: qi * multiplier
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qj: qj * multiplier
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qk: qk * multiplier]
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ifFalse: [multiplier adaptToQuaternion: self andSend: #*]]
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ifTrue: [
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| tr ti tj tk |
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tr := multiplier qr.
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ti := multiplier qi.
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tj := multiplier qj.
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tk := multiplier qk.
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^ self species
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qr: qr * tr - (qi * ti) - (qj * tj) - (qk * tk)
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qi: qr * ti + (qi * tr) + (qj * tk) - (qk * tj)
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qj: qr * tj + (qj * tr) + (qk * ti) - (qi * tk)
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qk: qr * tk + (qk * tr) + (qi * tj) - (qj * ti) ]
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ifFalse: [
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(multiplier isNumber and: [ multiplier isComplexNumber not ])
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ifTrue: [ "handle case much faster than adapt..."
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self species
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qr: qr * multiplier
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qi: qi * multiplier
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qj: qj * multiplier
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qk: qk * multiplier ]
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ifFalse: [ multiplier adaptToQuaternion: self andSend: #* ] ]
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]
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{ #category : #arithmetic }

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