From 7a4e9e70f99dcb215b349d4842448b36ba0096b1 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Fri, 22 Sep 2023 08:21:14 +0300
Subject: [PATCH] add some quaternion operations

---
 .../space/kscience/kmath/ejml/_generated.kt   | 10 +++++--
 .../kmath/geometry/quaternionOperations.kt    | 29 +++++++++++--------
 2 files changed, 25 insertions(+), 14 deletions(-)

diff --git a/kmath-ejml/src/main/kotlin/space/kscience/kmath/ejml/_generated.kt b/kmath-ejml/src/main/kotlin/space/kscience/kmath/ejml/_generated.kt
index f48ab4c19..984f1619b 100644
--- a/kmath-ejml/src/main/kotlin/space/kscience/kmath/ejml/_generated.kt
+++ b/kmath-ejml/src/main/kotlin/space/kscience/kmath/ejml/_generated.kt
@@ -19,13 +19,19 @@ import org.ejml.sparse.csc.factory.DecompositionFactory_DSCC
 import org.ejml.sparse.csc.factory.DecompositionFactory_FSCC
 import org.ejml.sparse.csc.factory.LinearSolverFactory_DSCC
 import org.ejml.sparse.csc.factory.LinearSolverFactory_FSCC
-import space.kscience.kmath.UnstableKMathAPI
 import space.kscience.kmath.linear.*
 import space.kscience.kmath.linear.Matrix
+import space.kscience.kmath.UnstableKMathAPI
 import space.kscience.kmath.nd.StructureFeature
-import space.kscience.kmath.operations.Float32Field
+import space.kscience.kmath.structures.Float64
+import space.kscience.kmath.structures.Float32
 import space.kscience.kmath.operations.Float64Field
+import space.kscience.kmath.operations.Float32Field
+import space.kscience.kmath.operations.DoubleField
+import space.kscience.kmath.operations.FloatField
 import space.kscience.kmath.operations.invoke
+import space.kscience.kmath.structures.Float64Buffer
+import space.kscience.kmath.structures.Float32Buffer
 import space.kscience.kmath.structures.DoubleBuffer
 import space.kscience.kmath.structures.FloatBuffer
 import kotlin.reflect.KClass
diff --git a/kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/quaternionOperations.kt b/kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/quaternionOperations.kt
index 49ceda04c..b6ad5009e 100644
--- a/kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/quaternionOperations.kt
+++ b/kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/quaternionOperations.kt
@@ -28,22 +28,27 @@ public fun Quaternion.power(number: Number): Quaternion = QuaternionAlgebra.powe
 public fun QuaternionAlgebra.slerp(from: Quaternion, to: Quaternion, fraction: Double): Quaternion =
     (to / from).pow(fraction) * from
 
+/**
+ * Scalar angle between two quaternions
+ */
 public fun QuaternionAlgebra.angleBetween(q1: Quaternion, q2: Quaternion): Angle = (q1.conjugate * q2).theta
 
-public val Quaternion.inclination: Radians get() = asin(2 * (w * y - x * z)).radians
-
-public val Quaternion.azimuth: Angle get() = atan2(2 * (w * z + x * y), 1 - 2 * (y.pow(2) + z.pow(2))).radians.normalized()
-
+/**
+ * Euclidean product of two quaternions
+ */
 public infix fun Quaternion.dot(other: Quaternion): Double = w * other.w + x * other.x + y * other.y + z * other.z
 
-
-private fun Quaternion.normalizedToEuler(): Float32Vector3D {
-    val roll = atan2(2 * y * w + 2 * x * z, 1 - 2 * y * y - 2 * z * z);
-    val pitch = atan2(2 * x * w - 2 * y * z, 1 - 2 * x * x - 2 * z * z);
-    val yaw = asin(2 * x * y + 2 * z * w);
-
-    return Float32Vector3D(roll, pitch, yaw)
-}
+//
+///**
+// * Convert a quaternion to XYZ Cardan angles assuming it is normalized.
+// */
+//private fun Quaternion.normalizedToEuler(): Float32Vector3D {
+//    val roll = atan2(2 * y * w + 2 * x * z, 1 - 2 * y * y - 2 * z * z)
+//    val pitch = atan2(2 * x * w - 2 * y * z, 1 - 2 * x * x - 2 * z * z)
+//    val yaw = asin(2 * x * y + 2 * z * w)
+//
+//    return Float32Vector3D(roll, pitch, yaw)
+//}
 
 /**
  * Quaternion to XYZ Cardan angles