StackGenVis: Alignment of Data, Algorithms, and Models for Stacking Ensemble Learning Using Performance Metrics
https://doi.org/10.1109/TVCG.2020.3030352
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28 lines
848 B
28 lines
848 B
4 years ago
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module.exports = transformQuat;
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/**
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* Transforms the vec3 with a quat
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*
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* @param {vec3} out the receiving vector
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* @param {vec3} a the vector to transform
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* @param {quat} q quaternion to transform with
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* @returns {vec3} out
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*/
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function transformQuat(out, a, q) {
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// benchmarks: http://jsperf.com/quaternion-transform-vec3-implementations
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var x = a[0], y = a[1], z = a[2],
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qx = q[0], qy = q[1], qz = q[2], qw = q[3],
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// calculate quat * vec
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ix = qw * x + qy * z - qz * y,
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iy = qw * y + qz * x - qx * z,
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iz = qw * z + qx * y - qy * x,
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iw = -qx * x - qy * y - qz * z
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// calculate result * inverse quat
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out[0] = ix * qw + iw * -qx + iy * -qz - iz * -qy
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out[1] = iy * qw + iw * -qy + iz * -qx - ix * -qz
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out[2] = iz * qw + iw * -qz + ix * -qy - iy * -qx
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return out
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}
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