Leap MotionTouchless Hand Tracking

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sm_quat q(axis, theta);vec3 result = q.rotate(v);

quat p(1.0, v.x, v.y, v.z);quat q(cos(theta/2), axis.x*sin(theta/2), axis.y*sin(theta/2), axis.z*sin(theta/2));quat result = cross(cross(q, p), conjugate(q));