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-- { dg-do compile }
-- { dg-options "-O3" }
with Opt18_Pkg; use Opt18_Pkg;
package body Opt18 is
function Mag (Item : in Cart_Vector_Type) return Float is
begin
return Sqrt (Item (X) * Item (X) + Item (Y) * Item (Y)
+ Item (Z) * Item (Z));
end;
function Unit_Quaternion_To_Mag_Axis (Quaternion : in Unit_Quaternion_Type)
return Mag_Axis_Type is
Sin_Half : Float
:= Mag (Cart_Vector_Type'(Quaternion.X, Quaternion.Y, Quaternion.Z));
begin
if Sin_Half > 3.0 * First_Order_Trig then
return
(Mag => Atan2 (Double_Trig (Unchecked_Trig_Pair (Sin_Half,
Quaternion.S))),
Axis => Unit_Vector_Type'(Quaternion.X / Sin_Half,
Quaternion.Y / Sin_Half,
Quaternion.Z / Sin_Half));
else
return (0.0, X_Unit);
end if;
end;
end Opt18;
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