Lines Matching refs:psi
396 // O(w) = | cos(0.5*||w||*dT)*I33 - [psi]x psi |
397 // | -psi' cos(0.5*||w||*dT) |
399 // psi = sin(0.5*||w||*dT)*w / ||w||
429 const vec3_t psi(sinf(hlwedT)*ilwe*we);
430 const mat33_t O33(crossMatrix(-psi, k2));
432 O[0].xyz = O33[0]; O[0].w = -psi.x;
433 O[1].xyz = O33[1]; O[1].w = -psi.y;
434 O[2].xyz = O33[2]; O[2].w = -psi.z;
435 O[3].xyz = psi; O[3].w = k2;
