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