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use core::ops::Neg;
#[inline]
pub fn conj<'out, T>(out: &'out mut [T; 4], q: &[T; 4]) -> &'out mut [T; 4]
where
T: Clone,
for<'a, 'b> &'a T: Neg<Output = T>,
{
out[0] = -&q[0];
out[1] = -&q[1];
out[2] = -&q[2];
out[3] = q[3].clone();
out
}
#[inline(always)]
pub fn inv<'out, T>(out: &'out mut [T; 4], q: &[T; 4]) -> &'out mut [T; 4]
where
T: Clone,
for<'a, 'b> &'a T: Neg<Output = T>,
{
conj(out, q)
}
#[inline]
pub fn conj_mut<'out, T>(out: &'out mut [T; 4]) -> &'out mut [T; 4]
where
T: Clone,
for<'a, 'b> &'a T: Neg<Output = T>,
{
let tmp = out.clone();
conj(out, &tmp)
}
#[inline]
pub fn inv_mut<'out, T>(out: &'out mut [T; 4]) -> &'out mut [T; 4]
where
T: Clone,
for<'a, 'b> &'a T: Neg<Output = T>,
{
conj_mut(out)
}