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DAMASK_EICMD
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consistent orientation/quaternion handling is in own submodule

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Martin Diehl 2019-09-19 13:59:18 -07:00
parent 7fa979f800
commit f6c616c84b
1 changed files with 0 additions and 29 deletions
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src/math.f90
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@ -933,35 +933,6 @@ pure function math_Voigt66to3333(m66)
end function math_Voigt66to3333
!--------------------------------------------------------------------------------------------------
!> @brief quaternion multiplication q1xq2 = q12
!--------------------------------------------------------------------------------------------------
pure function math_qMul(A,B)
real(pReal), dimension(4) :: math_qMul
real(pReal), dimension(4), intent(in) :: A, B
math_qMul = [ A(1)*B(1) - A(2)*B(2) - A(3)*B(3) - A(4)*B(4), &
A(1)*B(2) + A(2)*B(1) + A(3)*B(4) - A(4)*B(3), &
A(1)*B(3) - A(2)*B(4) + A(3)*B(1) + A(4)*B(2), &
A(1)*B(4) + A(2)*B(3) - A(3)*B(2) + A(4)*B(1) ]
end function math_qMul
!--------------------------------------------------------------------------------------------------
!> @brief quaternion conjugation
!--------------------------------------------------------------------------------------------------
pure function math_qConj(Q)
real(pReal), dimension(4) :: math_qConj
real(pReal), dimension(4), intent(in) :: Q
math_qConj = [Q(1), -Q(2:4)]
end function math_qConj
!--------------------------------------------------------------------------------------------------
!> @brief action of a quaternion on a vector (rotate vector v with Q)
!--------------------------------------------------------------------------------------------------