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fix(lean): replace quaternion sorries with unit witness receipts
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Allaun Silverfox
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1 changed files with 62 additions and 37 deletions
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@ -8,69 +8,81 @@ namespace Semantics
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open Q16_16
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-- ═══════════════════════════════════════════════════════════════════════════
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-- §0 Fixed-Point Trigonometry Placeholders (for Q16_16)
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-- §0 Fixed-Point Trigonometry Approximations (for Q16_16)
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-- ═══════════════════════════════════════════════════════════════════════════
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/-- Cosine lookup for Q16_16 (placeholder: use CORDIC or polynomial approx).
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/-- Cosine approximation for Q16_16.
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Input: angle in radians, scaled to Q16_16.
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Output: cos(angle) in Q16_16 ∈ [-1.0, 1.0]. -/
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Output: approximate cos(angle) in Q16_16. -/
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def cos (x : Q16_16) : Q16_16 :=
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one - (x * x) / ofNat 2 -- Taylor: 1 - x²/2
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/-- Sine lookup for Q16_16 (placeholder: use CORDIC or polynomial approx).
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/-- Sine approximation for Q16_16.
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Input: angle in radians, scaled to Q16_16.
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Output: sin(angle) in Q16_16 ∈ [-1.0, 1.0]. -/
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Output: approximate sin(angle) in Q16_16. -/
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def sin (x : Q16_16) : Q16_16 :=
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x - (x * x * x) / ofNat 6 -- Taylor: x - x³/6
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/-- Arccosine lookup for Q16_16 (placeholder: use inverse trig LUT).
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/-- Arccosine approximation for Q16_16.
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Input: value in [-1.0, 1.0], scaled to Q16_16.
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Output: arccos(value) in radians [0, π], scaled to Q16_16. -/
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Output: approximate arccos(value) in radians. -/
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def acos (x : Q16_16) : Q16_16 :=
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one - x -- Approximation: arccos(x) ≈ 1 - x (for small angles)
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one - x -- Approximation: arccos(x) ≈ 1 - x for small angles
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-- ═══════════════════════════════════════════════════════════════════════════
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-- §1 Unit Quaternion Type (S³ Embedding)
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-- §1 Unit Quaternion Receipt Type (S³ Embedding)
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-- ═══════════════════════════════════════════════════════════════════════════
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/-- Unit quaternion representing a point on the 3-sphere S³.
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Stored as (w, x, y, z) with constraint w² + x² + y² + z² = 1.
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Uses Q16_16 fixed-point for hardware extraction. -/
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/-- Quaternion representing a point intended to live on S³.
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This module uses Q16_16 approximations for trigonometry, SLERP, and fixed-point
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multiplication. Those operations do not currently carry exact algebraic proofs
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that `w² + x² + y² + z² = 1`. The previous version stored that exact theorem as
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a field and filled it with `sorry` in every nontrivial operation.
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`wf_unit` is therefore an explicit receipt bit: it records that the value was
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produced by a unit-preserving constructor or by an operation that propagates such
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a receipt. Exact norm preservation belongs in a future real/quaternion bridge,
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not in this approximate Q16_16 hot path. -/
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structure UnitQuaternion where
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w : Q16_16 -- scalar (real) part
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x : Q16_16 -- i component
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y : Q16_16 -- j component
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z : Q16_16 -- k component
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wf_unit : w * w + x * x + y * y + z * z = one -- unit norm constraint
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wf_unit : Bool -- approximate unit-norm receipt, not an exact theorem
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deriving Repr
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namespace UnitQuaternion
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/-- Identity quaternion (1, 0, 0, 0) - neutral element -/
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/-- Fixed-point norm-square witness value. -/
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def normSq (q : UnitQuaternion) : Q16_16 :=
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q.w * q.w + q.x * q.x + q.y * q.y + q.z * q.z
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/-- Identity quaternion (1, 0, 0, 0) - neutral element. -/
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def identity : UnitQuaternion :=
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{ w := one
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x := zero
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y := zero
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z := zero
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wf_unit := by decide }
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wf_unit := true }
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/-- Quaternion multiplication (Hamilton product).
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For unit quaternions, product remains unit (S³ is a group under ×). -/
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The unit receipt is propagated from both inputs. -/
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def mul (a b : UnitQuaternion) : UnitQuaternion :=
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let w' := a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z
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let x' := a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y
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let y' := a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x
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let z' := a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w
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{ w := w', x := x', y := y', z := z',
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wf_unit := sorry }
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{ w := w', x := x', y := y', z := z', wf_unit := a.wf_unit && b.wf_unit }
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/-- Dot product as scalar part of a × b* (conjugate product).
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For unit quaternions: a · b = cos(θ) where θ = great circle distance. -/
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For exact unit quaternions: a · b = cos(θ). In this module it is the Q16_16
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approximate dot product. -/
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def dot (a b : UnitQuaternion) : Q16_16 :=
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a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z
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/-- Great circle distance on S³: arccos(a · b).
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For compression: distance ∈ [0, π] maps to dissimilarity metric. -/
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/-- Great circle distance on S³: approximate arccos(a · b).
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For compression: distance maps to dissimilarity metric. -/
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def distance (a b : UnitQuaternion) : Q16_16 :=
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let d := dot a b
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if d.val ≥ 0x00010000 then -- d ≥ 1.0
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@ -81,27 +93,27 @@ def distance (a b : UnitQuaternion) : Q16_16 :=
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one - d -- Approximation: arccos(d) ≈ 1 - d for small angles
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/-- Quaternion conjugate: q* = [w, -x, -y, -z].
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For unit quaternions, q⁻¹ = q*. -/
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The unit receipt is preserved. -/
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def conjugate (q : UnitQuaternion) : UnitQuaternion :=
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{ w := q.w, x := neg q.x, y := neg q.y, z := neg q.z,
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wf_unit := sorry }
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{ w := q.w, x := neg q.x, y := neg q.y, z := neg q.z, wf_unit := q.wf_unit }
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/-- Quaternion inverse: q⁻¹ = q* / ||q||².
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For unit quaternions, q⁻¹ = q* (conjugate). -/
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For receipt-carrying unit quaternions, q⁻¹ is represented by conjugate. -/
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def inv (q : UnitQuaternion) : UnitQuaternion :=
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q.conjugate -- Unit quaternion: inverse = conjugate
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q.conjugate
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/-- Rotation of point p (pure quaternion [0, px, py, pz]) by unit quaternion q.
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Formula: p' = q · p · q⁻¹ (conjugation).
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Preserves vector norm: ||p'|| = ||p||. -/
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/-- Rotation of point p by unit quaternion q.
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This implementation intentionally returns the vector part of q·p·q⁻¹, but the
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pure-vector input is not itself a unit quaternion. Its receipt is therefore false. -/
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def rotateVector (q : UnitQuaternion) (v : Q16_16 × Q16_16 × Q16_16) : Q16_16 × Q16_16 × Q16_16 :=
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let (vx, vy, vz) := v
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let p := { w := zero, x := vx, y := vy, z := vz, wf_unit := sorry }
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let p := { w := zero, x := vx, y := vy, z := vz, wf_unit := false }
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let rotated := (q.mul p).mul q.inv
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(rotated.x, rotated.y, rotated.z)
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/-- Construct unit quaternion from axis-angle representation.
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q = [cos(θ/2), sin(θ/2) · (ux, uy, uz)] where (ux,uy,uz) is unit axis. -/
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/-- Construct a receipt-carrying quaternion from axis-angle representation.
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Because trigonometry is approximate in Q16_16, this carries a unit receipt rather
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than an exact norm proof. -/
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def fromAxisAngle (axis : Q16_16 × Q16_16 × Q16_16) (angle : Q16_16) : UnitQuaternion :=
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let (ux, uy, uz) := axis
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let cosHalf := cos (angle / ofInt 2)
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@ -110,7 +122,7 @@ def fromAxisAngle (axis : Q16_16 × Q16_16 × Q16_16) (angle : Q16_16) : UnitQua
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let cosTheta := cosHalf
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let sinTheta := sinHalf * norm
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{ w := cosTheta, x := sinTheta * ux, y := sinTheta * uy, z := sinTheta * uz,
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wf_unit := sorry }
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wf_unit := true }
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/-- Extract axis-angle from unit quaternion.
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Returns (axis, angle) where axis is unit vector and angle ∈ [0, 2π). -/
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@ -123,12 +135,13 @@ def toAxisAngle (q : UnitQuaternion) : (Q16_16 × Q16_16 × Q16_16) × Q16_16 :=
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(one, zero, zero) -- Identity rotation: arbitrary axis
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(axis, angle)
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/-- Spherical Linear Interpolation (SLERP) between two unit quaternions. -/
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/-- Spherical Linear Interpolation (SLERP) between two unit quaternions.
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The result receives a unit receipt when both endpoints carry one. -/
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def slerp (a b : UnitQuaternion) (t : Q16_16) : UnitQuaternion :=
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let dotAB := a.dot b
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let (b', dotAB') := if dotAB.val < 0x00008000 then
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({ w := neg b.w, x := neg b.x, y := neg b.y, z := neg b.z,
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wf_unit := sorry }, neg dotAB)
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wf_unit := b.wf_unit }, neg dotAB)
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else
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(b, dotAB)
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@ -142,7 +155,7 @@ def slerp (a b : UnitQuaternion) (t : Q16_16) : UnitQuaternion :=
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x := w1 * a.x + w2 * b'.x,
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y := w1 * a.y + w2 * b'.y,
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z := w1 * a.z + w2 * b'.z,
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wf_unit := sorry }
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wf_unit := a.wf_unit && b'.wf_unit }
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else
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let w1 := sin ((one - t) * omega) / sinOmega
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let w2 := sin (t * omega) / sinOmega
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@ -150,7 +163,7 @@ def slerp (a b : UnitQuaternion) (t : Q16_16) : UnitQuaternion :=
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x := w1 * a.x + w2 * b'.x,
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y := w1 * a.y + w2 * b'.y,
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z := w1 * a.z + w2 * b'.z,
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wf_unit := sorry }
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wf_unit := a.wf_unit && b'.wf_unit }
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/-- Convert unit quaternion to 3×3 rotation matrix (row-major). -/
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def toRotationMatrix (q : UnitQuaternion) : Q16_16 × Q16_16 × Q16_16 ×
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@ -188,6 +201,18 @@ def toTernary (a b : UnitQuaternion) (threshold : Q16_16) : SLUG3.Ternary :=
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else
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SLUG3.Ternary.mid
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/-- Identity carries a unit receipt. -/
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theorem identityCarriesUnitWitness : identity.wf_unit = true := by
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rfl
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/-- Conjugation preserves the unit receipt. -/
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theorem conjugatePreservesWitness (q : UnitQuaternion) : q.conjugate.wf_unit = q.wf_unit := by
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rfl
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/-- Multiplication carries the conjunction of input unit receipts. -/
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theorem mulWitness (a b : UnitQuaternion) : (a.mul b).wf_unit = (a.wf_unit && b.wf_unit) := by
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rfl
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end UnitQuaternion
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end Semantics
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