[WIP] Implement swing/twist decomposition

rustgd / cgmath

A linear algebra and mathematics library for computer graphics.

https://docs.rs/cgmath

Apache License 2.0

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[WIP] Implement swing/twist decomposition #452

Closed richard-uk1 closed 5 years ago

richard-uk1 commented 6 years ago

This PR implements a decomposition of a quaternion into a swing and a twist.

I have realised that I don't actually need this functionality to do what I want, but since I have implemented it I thought I would submit a PR to see if there was interest in merging it. If there is, and people have valid use cases, I can finish off handling the degenerate case.

richard-uk1 commented 5 years ago

I'm closing this since peeps seem to be coalescing around nalgebra