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Add quaternion/scalar operator & rename quaternion norm -> length

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This commit is contained in:
Nikita Lisitsa 2022-01-07 23:51:34 +03:00
parent 1f0e4e545e
commit 4c48790497
1 changed files with 15 additions and 3 deletions
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18
libs/geom/include/psemek/geom/quaternion.hpp
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@ -128,6 +128,12 @@ namespace psemek::geom
return {s * q.coords};
}
template <typename T>
quaternion<T> operator / (quaternion<T> const & q, T s)
{
return {q.coords / s};
}
template <typename T>
quaternion<T> operator * (quaternion<T> const & q1, quaternion<T> const & q2)
{
@ -154,17 +160,23 @@ namespace psemek::geom
}
template <typename T>
T norm_sqr(quaternion<T> const & q)
T length_sqr(quaternion<T> const & q)
{
return length_sqr(q.coords);
}
template <typename T>
T norm(quaternion<T> const & q)
T length(quaternion<T> const & q)
{
return length(q.coords);
}
template <typename T>
quaternion<T> normalized(quaternion<T> const & q)
{
return {normalized(q.coords)};
}
template <typename T>
quaternion<T> conjugate(quaternion<T> const & q)
{
@ -174,7 +186,7 @@ namespace psemek::geom
template <typename T>
quaternion<T> inverse(quaternion<T> const & q)
{
return {conjugate(q).coords / norm(q)};
return conjugate(q) / length(q);
}
template <typename T>