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use na::{Unit, UnitQuaternion};
use crate::aliases::{Qua, TVec3};
use crate::RealNumber;
pub fn quat_angle<T: RealNumber>(x: &Qua<T>) -> T {
UnitQuaternion::from_quaternion(*x).angle()
}
pub fn quat_angle_axis<T: RealNumber>(angle: T, axis: &TVec3<T>) -> Qua<T> {
UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).into_inner()
}
pub fn quat_axis<T: RealNumber>(x: &Qua<T>) -> TVec3<T> {
if let Some(a) = UnitQuaternion::from_quaternion(*x).axis() {
a.into_inner()
} else {
TVec3::zeros()
}
}