From 9406b5755848d6d63eb57a433bd025f5c817e7ae Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Thu, 26 Sep 2024 12:29:04 +0200
Subject: [PATCH] SwingTwist::AngleAxis using Direction

---
 SwingTwist.cpp | 8 +++-----
 SwingTwist.h   | 2 +-
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/SwingTwist.cpp b/SwingTwist.cpp
index aeba4cc..0971b78 100644
--- a/SwingTwist.cpp
+++ b/SwingTwist.cpp
@@ -105,17 +105,15 @@ SwingTwistOf<T> SwingTwistOf<T>::operator*=(const SwingTwistOf<T>& rotation) {
 }
 
 template <typename T>
-SwingTwistOf<T> Passer::LinearAlgebra::SwingTwistOf<T>::Inverse(
-    SwingTwistOf<T> rotation) {
+SwingTwistOf<T> SwingTwistOf<T>::Inverse(SwingTwistOf<T> rotation) {
   SwingTwistOf<T> r = SwingTwistOf<T>(
       -rotation.swing.horizontal, -rotation.swing.vertical, -rotation.twist);
   return r;
 }
 
 template <typename T>
-SwingTwistOf<T> Passer::LinearAlgebra::SwingTwistOf<T>::AngleAxis(
-    float angle,
-    const SphericalOf<T>& axis) {
+SwingTwistOf<T> SwingTwistOf<T>::AngleAxis(float angle,
+                                           const DirectionOf<T>& axis) {
   Vector3 axis_vector = axis.ToVector3();
   Quaternion q = Quaternion::AngleAxis(angle, axis_vector);
   SwingTwistOf<T> r = SwingTwistOf<T>::FromQuaternion(q);
diff --git a/SwingTwist.h b/SwingTwist.h
index e5b43a4..d5e27a0 100644
--- a/SwingTwist.h
+++ b/SwingTwist.h
@@ -58,7 +58,7 @@ class SwingTwistOf {
   /// <param name="angle">The angle</param>
   /// <param name="axis">The axis</param>
   /// <returns>The resulting quaternion</returns>
-  static SwingTwistOf<T> AngleAxis(float angle, const SphericalOf<T>& axis);
+  static SwingTwistOf<T> AngleAxis(float angle, const DirectionOf<T>& axis);
 };
 
 using SwingTwistSingle = SwingTwistOf<float>;