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add some quaternion operations

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This commit is contained in:
Alexander Nozik 2023-09-22 08:21:14 +03:00
parent efb853c1bc
commit 7a4e9e70f9
2 changed files with 25 additions and 14 deletions
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10
kmath-ejml/src/main/kotlin/space/kscience/kmath/ejml/_generated.kt
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@ -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

29
kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/quaternionOperations.kt
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@ -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