linear 1.8 → 1.8.1

raw patch · 3 files changed

+10/−5 lines, 3 files

Files

• CHANGELOG.markdown +4/−0
• linear.cabal +1/−1
• src/Linear/Quaternion.hs +5/−4

@@ -1,3 +1,7 @@+1.8.1+-----+* Bugfixed `slerp`+ 1.8 --- * Added missing `Unbox` instances for working with unboxed vectors of `linear` data types.

@@ -1,6 +1,6 @@ name:          linear category:      Math, Algebra-version:       1.8+version:       1.8.1 license:       BSD3 cabal-version: >= 1.8 license-file:  LICENSE

@@ -469,14 +469,15 @@ {-# INLINE atanhq #-}  -- | Spherical linear interpolation between two quaternions.+ slerp :: RealFloat a => Quaternion a -> Quaternion a -> a -> Quaternion a slerp q p t   | 1.0 - cosphi < 1e-8 = q-  | phi <- acos cosphi, r <- recip (sin phi)-  = (sin ((1-t)*phi)*r *^ q ^+^ f (sin (t*phi)*r) *^ p) ^/ sin phi+  | otherwise           = ((sin ((1-t)*phi) *^ q) + (sin (t*phi)) *^ (f p)) ^/ (sin phi)   where-   dqp = dot q p-   (cosphi, f) = if dqp < 0 then (-dqp, negate) else (dqp, id)+    dqp = dot q p+    (cosphi, f) = if dqp < 0 then (-dqp, negate) else (dqp, id)+    phi = acos cosphi {-# SPECIALIZE slerp :: Quaternion Float -> Quaternion Float -> Float -> Quaternion Float #-} {-# SPECIALIZE slerp :: Quaternion Double -> Quaternion Double -> Double -> Quaternion Double #-}