Use Quaternions for Rotate3 #314
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isovector
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What a fitting PR number :) |
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Just wait until PR #628, where we rip this all out and switch to rotors. Projective Geometric Algebra is fun! |
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This PR replaces the 3d implementations of rotation with one based on quaternions. There were previously four separate implementations of rotation, and at least one (#313) but more likely two were wrong.
By using @ekmett's industrial-strength linear algebra package, we can consolidate all four implementations into two library calls. This package is already in the transitive dependencies, and is a step towards #286.
The result: we now have the identity
getBox (rotate3 (2 * pi, 0, 0) x) = getBox x(well, with errorO(1e-16)).Furthermore, it removes the
Rotate3Vprimitive, which was just a quaternion encoding in disguise.Fixes #313.