Added the basic Rotors Template#2
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Apr 3, 2026
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Mainly just some formatting / styling fixes. Otherwise looks great!
| result.yz = -r.yz; | ||
| result.zx = -r.zx; | ||
| return result; | ||
| } |
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You can do result = .{ } and use aggregate struct initialization.
| result[0] = S_x * r.scalar + S_y * r.xy + S_xyz * r.yz - S_z * r.zx; | ||
| result[1] = S_y * r.scalar - S_x * r.xy + S_z * r.yz + S_xyz * r.zx; | ||
| result[2] = S_z * r.scalar + S_xyz * r.xy - S_y * r.yz + S_x * r.zx; | ||
| return result; |
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Same here, you can just do
return .{
result[0] = S_x * r.scalar + S_y * r.xy + S_xyz * r.yz - S_z * r.zx;
result[1] = S_y * r.scalar - S_x * r.xy + S_z * r.yz + S_xyz * r.zx;
result[2] = S_z * r.scalar + S_xyz * r.xy - S_y * r.yz + S_x * r.zx;
}| const new_z: @Vector(3, T) = transform(r, @Vector(3, f32){ 0.0, 0.0, 1.0 }); | ||
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| const result: Mat4x4(T) = .new(.{ new_x[0], new_x[1], new_x[2], 0.0, new_y[0], new_y[1], new_y[2], 0.0, new_z[0], new_z[1], new_z[2], 0.0, 0.0, 0.0, 0.0, 0.0 }); | ||
| return result; |
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you can instantly just do
return .new( [...] )|
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| if (dot > 0.99995) { | ||
| return nlerp(from, to, t); | ||
| } |
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I would do
if (dot > 0.99995) return nlerp(from, to, t);| const to_factor: f32 = std.math.sin((t * theta) / std.math.sin(theta)); | ||
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| var result: @This() = undefined; | ||
| result.scalar = from_factor * from.scalar + to_factor * to.scalar; |
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same here just do
return .{
.scalar = from_factor * from.scalar + to_factor * to.scalar;
.xy = from_factor * from.xy + to_factor * to.xy;
.yz = from_factor * from.yz + to_factor * to.yz;
.zx = from_factor * from.zx + to_factor * to.zx;
};| return result; | ||
| } | ||
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| pub fn from_vec_to_rotor(from_dir: @Vector(3, T), to_dir: @Vector(3, T)) @This() { |
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functions are typicaly camelCase, not snake_case
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| fn lerp(a: f32, b: f32, t: f32) f32 { | ||
| return a + t * (b - a); | ||
| } |
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I believe there is std.math.lerp
| } | ||
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| pub fn transform(r: @This(), v: @Vector(3, T)) @Vector(3, T) { | ||
| const S_x: f32 = r.scalar * v[0] + r.xy * v[1] - r.zx * v[2]; |
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always have variables and constants as snake_case with no upper case letters
| const std = @import("std"); | ||
| const vec = @import("vector.zig"); | ||
| const Mat4x4 = @import("matrix.zig").@"4x4"; | ||
| const Quaternion = @import("quaternion.zig").Hamiltonian; |
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Added rotors, review needed and it might not work idk we'll see where this goes :)