forked from M-Labs/nalgebra
38 lines
932 B
Rust
38 lines
932 B
Rust
use na::{self, Real, Unit};
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use aliases::Qua;
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/// The conjugate of `q`.
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pub fn quat_conjugate<N: Real>(q: &Qua<N>) -> Qua<N> {
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q.conjugate()
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}
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/// The inverse of `q`.
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pub fn quat_inverse<N: Real>(q: &Qua<N>) -> Qua<N> {
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q.try_inverse().unwrap_or_else(na::zero)
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}
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//pub fn quat_isinf<N: Real>(x: &Qua<N>) -> TVec<bool, U4> {
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// x.coords.map(|e| e.is_inf())
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//}
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//pub fn quat_isnan<N: Real>(x: &Qua<N>) -> TVec<bool, U4> {
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// x.coords.map(|e| e.is_nan())
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//}
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/// Interpolate linearly between `x` and `y`.
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pub fn quat_lerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
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x.lerp(y, a)
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}
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//pub fn quat_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
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// x * (N::one() - a) + y * a
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//}
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/// Interpolate spherically between `x` and `y`.
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pub fn quat_slerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
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Unit::new_normalize(*x)
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.slerp(&Unit::new_normalize(*y), a)
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.into_inner()
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}
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