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use crate::storage::Storage;
use crate::{
Allocator, DefaultAllocator, Dim, OVector, One, RealField, Scalar, Unit, Vector, Zero,
};
use simba::scalar::{ClosedAdd, ClosedMul, ClosedSub};
impl<T: Scalar + Zero + One + ClosedAdd + ClosedSub + ClosedMul, D: Dim, S: Storage<T, D>>
Vector<T, D, S>
{
#[must_use]
pub fn lerp<S2: Storage<T, D>>(&self, rhs: &Vector<T, D, S2>, t: T) -> OVector<T, D>
where
DefaultAllocator: Allocator<T, D>,
{
let mut res = self.clone_owned();
res.axpy(t.clone(), rhs, T::one() - t);
res
}
#[must_use]
pub fn slerp<S2: Storage<T, D>>(&self, rhs: &Vector<T, D, S2>, t: T) -> OVector<T, D>
where
T: RealField,
DefaultAllocator: Allocator<T, D>,
{
let me = Unit::new_normalize(self.clone_owned());
let rhs = Unit::new_normalize(rhs.clone_owned());
me.slerp(&rhs, t).into_inner()
}
}
impl<T: RealField, D: Dim, S: Storage<T, D>> Unit<Vector<T, D, S>> {
#[must_use]
pub fn slerp<S2: Storage<T, D>>(
&self,
rhs: &Unit<Vector<T, D, S2>>,
t: T,
) -> Unit<OVector<T, D>>
where
DefaultAllocator: Allocator<T, D>,
{
self.try_slerp(rhs, t, T::default_epsilon())
.unwrap_or_else(|| Unit::new_unchecked(self.clone_owned()))
}
#[must_use]
pub fn try_slerp<S2: Storage<T, D>>(
&self,
rhs: &Unit<Vector<T, D, S2>>,
t: T,
epsilon: T,
) -> Option<Unit<OVector<T, D>>>
where
DefaultAllocator: Allocator<T, D>,
{
let c_hang = self.dot(rhs);
if c_hang >= T::one() {
return Some(Unit::new_unchecked(self.clone_owned()));
}
let hang = c_hang.clone().acos();
let s_hang = (T::one() - c_hang.clone() * c_hang).sqrt();
if relative_eq!(s_hang, T::zero(), epsilon = epsilon) {
None
} else {
let ta = ((T::one() - t.clone()) * hang.clone()).sin() / s_hang.clone();
let tb = (t * hang).sin() / s_hang;
let mut res = self.scale(ta);
res.axpy(tb, &**rhs, T::one());
Some(Unit::new_unchecked(res))
}
}
}