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Add geom::angle(quaternion, quaternion)

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This commit is contained in:
Nikita Lisitsa 2021-07-14 22:35:03 +03:00
parent 4b711fc1c4
commit e8076f528f
1 changed files with 6 additions and 1 deletions
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7
libs/geom/include/psemek/geom/quaternion.hpp
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@ -165,6 +165,12 @@ namespace psemek::geom
return {res[0], res[1], res[2]};
}
template <typename T>
T angle(quaternion<T> const & q0, quaternion<T> const & q1)
{
return std::acos(std::min(T{1}, std::abs(dot(q0.coords, q1.coords))));
}
template <typename T>
quaternion<T> slerp(quaternion<T> const & q0, quaternion<T> const & q1, T const & t)
{
@ -191,5 +197,4 @@ namespace psemek::geom
}
}
}