GPGPU Programming for Games and Science

xxii Listings

6.28 Source code for the rotation of a vector directly by quaternion

operations............................. 298

6.29 A direct implementation of SLERP . . . . . . . . . . . . . . . 301

6.30 A fast, accurate, and robust implementation of SLERP . . . . 304

6.31 An attempt to have compact conversion code . . . . . . . . . 308

6.32 A workaround for the compiler complaints of Listing 6.31 . . 308

6.33 The final conversion code that provides compact code but no

compilerwarnings ........................ 308

6.34 Determining the largest-magnitude component of q from the

productsofcomponents ..................... 310

6.35 Determining the largest-magnitude component of U from the

productsofcomponents ..................... 311

6.36 Conversion of an