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use na::Unit;
use crate::aliases::Qua;
use crate::RealNumber;
/// The conjugate of `q`.
pub fn quat_conjugate<T: RealNumber>(q: &Qua<T>) -> Qua<T> {
q.conjugate()
}
/// The inverse of `q`.
pub fn quat_inverse<T: RealNumber>(q: &Qua<T>) -> Qua<T> {
q.try_inverse().unwrap_or_else(na::zero)
}
//pub fn quat_isinf<T: RealNumber>(x: &Qua<T>) -> TVec<bool, U4> {
// x.coords.map(|e| e.is_inf())
//}
//pub fn quat_isnan<T: RealNumber>(x: &Qua<T>) -> TVec<bool, U4> {
// x.coords.map(|e| e.is_nan())
//}
/// Interpolate linearly between `x` and `y`.
pub fn quat_lerp<T: RealNumber>(x: &Qua<T>, y: &Qua<T>, a: T) -> Qua<T> {
x.lerp(y, a)
}
//pub fn quat_mix<T: RealNumber>(x: &Qua<T>, y: &Qua<T>, a: T) -> Qua<T> {
// x * (T::one() - a) + y * a
//}
/// Interpolate spherically between `x` and `y`.
pub fn quat_slerp<T: RealNumber>(x: &Qua<T>, y: &Qua<T>, a: T) -> Qua<T> {
Unit::new_normalize(*x)
.slerp(&Unit::new_normalize(*y), a)
.into_inner()
}