Results
* Note: angle-axis can be stored as 3 elements by multiplying the unit rotation axis by the rotation angle, forming the logarithm of the quaternion, at the cost of additional calculations.
Performance comparison of rotation chaining operations
Method |
# multiplies |
# add/subtracts |
total operations
|
Rotation matrices |
27 |
18 |
45
|
Quaternions |
16 |
12 |
28
|
Performance comparison of vector rotating operations
Method |
# multiplies |
# add/subtracts |
# sin/cos |
total operations
|
Rotation matrix |
9 |
6 |
0 |
15
|
Quaternions |
18 |
12 |
0 |
30
|
Angle/axis3 (via matrix) |
23 |
16 |
2 |
41
|
Angle/axis4 (Rodrigues' rotation formula) |
16 |
9 |
2 |
27
|
Barnstar
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