diff options
Diffstat (limited to 'sly/quaternion.scm')
| -rw-r--r-- | sly/quaternion.scm | 21 |
1 files changed, 1 insertions, 20 deletions
diff --git a/sly/quaternion.scm b/sly/quaternion.scm index fe5cce9..48ebba4 100644 --- a/sly/quaternion.scm +++ b/sly/quaternion.scm @@ -26,7 +26,6 @@ #:use-module (srfi srfi-1) #:use-module (srfi srfi-9) #:use-module (sly math) - #:use-module (sly transform) #:use-module (sly math vector) #:export (<quaternion> make-quaternion quaternion quaternion? @@ -34,8 +33,7 @@ identity-quaternion null-quaternion quaternion* quaternion-slerp quaternion-magnitude quaternion-normalize - vector->quaternion quaternion->vector - rotate)) + vector->quaternion quaternion->vector)) (define-record-type <quaternion> (%make-quaternion w x y z) @@ -112,20 +110,3 @@ Q2 and blending factor DELTA." (match-lambda (($ <vector4> x y z w) (make-quaternion x y z w)))) - -(define rotate - (match-lambda - (($ <quaternion> w x y z) - (make-transform - (- 1 (* 2 (square y)) (* 2 (square z))) - (- (* 2 x y) (* 2 w z)) - (+ (* 2 x z) (* 2 w y)) - 0 - (+ (* 2 x y) (* 2 w z)) - (- 1 (* 2 (square x)) (* 2 (square z))) - (- (* 2 y z) (* 2 w x)) - 0 - (- (* 2 x z) (* 2 w y)) - (+ (* 2 y z) (* 2 w x)) - (- 1 (* 2 (square x)) (* 2 (square y))) - 0 0 0 0 1)))) |