fmt and test fixes
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3235751526
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0c343fd9ac
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@ -113,7 +113,6 @@ where
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#[inline]
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#[must_use]
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pub fn slerp(&self, other: &Self, t: T) -> Self {
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//The best option here would be to use #[feature(specialization)], but until
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//that's stabilized, this is the best we can do. Theoretically, the compiler should
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//pretty thoroughly optimize away all the excess checks and conversions
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@ -125,29 +124,35 @@ where
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2 => {
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let self2d = Rotation2::from_matrix_unchecked(
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self.clone().into_inner().fixed_resize(T::zero())
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self.clone().into_inner().fixed_resize(T::zero()),
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);
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let other2d = Rotation2::from_matrix_unchecked(
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other.clone().into_inner().fixed_resize(T::zero())
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other.clone().into_inner().fixed_resize(T::zero()),
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);
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Self::from_matrix_unchecked(
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self2d.slerp_2d(&other2d, t).into_inner().fixed_resize(T::zero())
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self2d
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.slerp_2d(&other2d, t)
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.into_inner()
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.fixed_resize(T::zero()),
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)
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},
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}
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3 => {
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let self3d = Rotation3::from_matrix_unchecked(
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self.clone().into_inner().fixed_resize(T::zero())
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self.clone().into_inner().fixed_resize(T::zero()),
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);
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let other3d = Rotation3::from_matrix_unchecked(
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other.clone().into_inner().fixed_resize(T::zero())
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other.clone().into_inner().fixed_resize(T::zero()),
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);
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Self::from_matrix_unchecked(
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self3d.slerp_3d(&other3d, t).into_inner().fixed_resize(T::zero())
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self3d
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.slerp_3d(&other3d, t)
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.into_inner()
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.fixed_resize(T::zero()),
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)
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},
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}
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//the multiplication order matters here
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_ => (other / self).powf(t) * self,
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@ -341,7 +341,7 @@ mod proptest_tests {
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//ambiguous when at ends of angle range, so we don't really care here
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if let Some(axis) = q.axis() {
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if dtheta.abs() != f64::pi() {
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//make two quaternions separated by an angle between -pi and pi
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let (q1, q2) = (q, q * UnitQuaternion::from_axis_angle(&axis, dtheta));
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let q3 = q1.slerp(&q2, t);
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@ -349,8 +349,8 @@ mod proptest_tests {
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//since the angle is no larger than a half-turn, and t is between 0 and 1,
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//the shortest path just corresponds to adding the scaled angle
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let q4 = q1 * UnitQuaternion::from_axis_angle(&axis, dtheta*t);
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prop_assert!(relative_eq!(q3, q4, epsilon=1e-10));
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prop_assert!(relative_eq!(q3, q4, epsilon=1e-9));
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}
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}
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}
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