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#pragma once
#include "compat/math.hpp"
constexpr double TO_RAD = (M_PI / 180);
constexpr double TO_DEG = (180 / M_PI);
constexpr double EPSILON = 1e-30;
struct tVector
{
double v[3];
tVector(double X = 0, double Y = 0, double Z = 0) {v[0]=X; v[1]=Y; v[2]=Z;}
tVector(double V[]) {v[0]=V[0]; v[1]=V[1]; v[2]=V[2];}
};
struct tQuat
{
double x, y, z, w;
tQuat(double X = 0, double Y = 0, double Z = 0, double W = 1)
{x = X; y = Y; z = Z; w = W;}
};
double VectorDistance(const double v1[], const tVector v2);
tVector Lerp (const tVector s, const double d[], const double alpha);
tQuat QuatFromYPR (const double YPR[]);
double AngleBetween (const tQuat S, const tQuat D);
tQuat Slerp (const tQuat S, const tQuat D, const double alpha);
void QuatToYPR (const tQuat Q, double YPR[]);
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