public static Quaternion cosh(Quaternion q) { Double3Vector imag = q.imag(); final double imagNorm = imag.norm(); return new Quaternion( ExtraMath.cosh(q.re) * Math.cos(imagNorm), (Double3Vector) imag.normalize().scalarMultiply(ExtraMath.sinh(q.re) * Math.sin(imagNorm))); }
public static Quaternion exp(Quaternion q) { final double k = Math.exp(q.re); Double3Vector imag = q.imag(); final double imagNorm = imag.norm(); return new Quaternion( k * Math.cos(imagNorm), (Double3Vector) imag.normalize().scalarMultiply(k * Math.sin(imagNorm))); }
public static Quaternion log(Quaternion q) { final double norm = q.norm(); return new Quaternion( Math.log(norm), (Double3Vector) q.imag().normalize().scalarMultiply(Math.acos(q.re / norm))); }