UnitQuat should have to_rot4

[dimforge]

UnitQuat should have to_rot4

[milibopp]

You can call unit_quad.to_rot().to_homogeneous() to do just that.

[sebcrozet]

And note that to call .to_homogeneous(), you have to import the nalgebra::ToHomogeneous trait. In general, .to_homogeneous() will take and algebraic object, assume it is expressed in the trivial basis of dimension Dim::dim(), and immerse it into a projective space (aka. "homogeneous" coordinates).

Hence, it will add a 0 to vectors, a 1 to points, add a line and column filled with zeros (everywhere but in the diagonal) to matrices, and assemble correctly the isometric (Iso) transformation into a matrix combining both the translation and rotation (using right-multiplication as a convention).

[andrewrk]

Thank you for the explanation. For someone whose linear algebra skills are underdeveloped this information is helpful.

If this kind of info were in the docs I think it would make it possible for people who are not already experts to use the library. (I say this in a "let's improve things" attitude rather than a criticism)