quaternion.c File Reference

#include <vecmat.h>

Go to the source code of this file.

Functions
quaternion	quat_identity (void)
	Constructs the identity quaternion.
quaternion	quat_mul (const quaternion a, const quaternion b)
	Multiplies two quaternions (a * b).
quaternion	quat_normalize (const quaternion q)
	Normalizes a quaternion.
quaternion	quat_from_euler (const vector3 euler)
	Constructs a quaternion from Euler angles (in radians, XYZ order).
matrix4	quat_to_mat4 (const quaternion q)
	Converts a quaternion to a 4x4 rotation matrix.
quaternion	quat_conjugate (const quaternion q)
	Returns the conjugate of a quaternion.
quaternion	quat_inverse (const quaternion q)
	Returns the inverse of a quaternion.
quaternion	quat_from_axis_angle (const vector3 axis, const vm_float_t degrees)
	Builds a quaternion from an axis and an angle in degrees.
quaternion	quat_from_mat3 (const matrix3 m)
	Builds a quaternion from a 3x3 rotation matrix.
quaternion	quat_from_mat4 (const matrix4 m)
	Builds a quaternion from the rotation of a 4x4 matrix.
quaternion	quat_slerp (const quaternion a, const quaternion b, const vm_float_t t)
	Spherical-linearly interpolates from a to b by t.
quaternion	quat_nlerp (const quaternion a, const quaternion b, const vm_float_t t)
	Normalized-linearly interpolates from a to b by t.
vector3	quat_rotate_vec3 (const quaternion q, const vector3 v)
	Rotates a vector3 by a quaternion.
vector3	quat_to_euler (const quaternion q)
	Converts a quaternion to Euler angles in degrees (XYZ).
vector3	quat_to_axis_angle (const quaternion q, vm_float_t *degrees)
	Converts a quaternion to an axis and an angle in degrees.
matrix3	quat_to_mat3 (const quaternion q)
	Converts a quaternion to a 3x3 rotation matrix.
vm_float_t	quat_dot (const quaternion a, const quaternion b)
	Returns the dot product of two quaternions.
bool	quat_near (const quaternion a, const quaternion b, const vm_float_t eps)
	Returns true if a and b are within eps of each other.

Function Documentation

quat_conjugate()

quaternion quat_conjugate

(

const quaternion

q

)

Returns the conjugate of a quaternion.

See quat_conjugate_ptr instead.

Parameters

q	Input quaternion.

Returns

The resulting quaternion.

Definition at line 90 of file quaternion.c.

References quat_conjugate_ptr().

quat_dot()

vm_float_t quat_dot	(	const quaternion	a,
		const quaternion	b )

Returns the dot product of two quaternions.

Parameters

a	First input quaternion.
b	Second input quaternion.

Returns

The resulting vm_float_t.

Definition at line 261 of file quaternion.c.

References quaternion::w, quaternion::x, quaternion::y, and quaternion::z.

Referenced by quat_nlerp_ptr(), and quat_slerp_ptr().

quat_from_axis_angle()

quaternion quat_from_axis_angle	(	const vector3	axis,
		const vm_float_t	degrees )

Builds a quaternion from an axis and an angle in degrees.

See quat_from_axis_angle_ptr instead.

Parameters

axis	Rotation axis.
degrees	Rotation angle in degrees.

Returns

The resulting quaternion.

Definition at line 121 of file quaternion.c.

References quat_from_axis_angle_ptr().

quat_from_euler()

quaternion quat_from_euler

(

const vector3

euler

)

Constructs a quaternion from Euler angles (in radians, XYZ order).

See quat_from_euler_ptr instead.

Parameters

euler

The Euler angles vector (x=pitch, y=yaw, z=roll).

Returns

The resulting quaternion.

Definition at line 60 of file quaternion.c.

References quat_from_euler_ptr().

quat_from_mat3()

quaternion quat_from_mat3

(

const matrix3

m

)

Builds a quaternion from a 3x3 rotation matrix.

See quat_from_mat3_ptr instead.

Parameters

m	Input matrix.

Returns

The resulting quaternion.

Definition at line 136 of file quaternion.c.

References quat_from_mat3_ptr().

quat_from_mat4()

quaternion quat_from_mat4

(

const matrix4

m

)

Builds a quaternion from the rotation of a 4x4 matrix.

See quat_from_mat4_ptr instead.

Parameters

m	Input matrix.

Returns

The resulting quaternion.

Definition at line 151 of file quaternion.c.

References quat_from_mat4_ptr().

quat_identity()

quaternion quat_identity

(

void

)

Constructs the identity quaternion.

See quat_identity_ptr instead.

Returns

The identity quaternion.

Definition at line 14 of file quaternion.c.

References quat_identity_ptr().

quat_inverse()

quaternion quat_inverse

(

const quaternion

q

)

Returns the inverse of a quaternion.

See quat_inverse_ptr instead.

Parameters

q	Input quaternion.

Returns

The resulting quaternion.

Definition at line 105 of file quaternion.c.

References quat_inverse_ptr().

quat_mul()

quaternion quat_mul	(	const quaternion	a,
		const quaternion	b )

Multiplies two quaternions (a * b).

See quat_mul_ptr instead.

Parameters

a	The first quaternion.
b	The second quaternion.

Returns

The resulting product quaternion.

Definition at line 30 of file quaternion.c.

References quat_mul_ptr().

quat_near()

bool quat_near	(	const quaternion	a,
		const quaternion	b,
		const vm_float_t	eps )

Returns true if a and b are within eps of each other.

Parameters

a	First input quaternion.
b	Second input quaternion.
eps	Distance tolerance.

Returns

True if a and b are within eps.

Definition at line 274 of file quaternion.c.

References VECMAT_FABS, quaternion::w, quaternion::x, quaternion::y, and quaternion::z.

quat_nlerp()

quaternion quat_nlerp	(	const quaternion	a,
		const quaternion	b,
		const vm_float_t	t )

Normalized-linearly interpolates from a to b by t.

See quat_nlerp_ptr instead.

Parameters

a	First input quaternion.
b	Second input quaternion.
t	Interpolation factor.

Returns

The resulting quaternion.

Definition at line 185 of file quaternion.c.

References quat_nlerp_ptr().

quat_normalize()

quaternion quat_normalize

(

const quaternion

q

)

Normalizes a quaternion.

See quat_normalize_ptr instead.

Parameters

q	The input quaternion.

Returns

The normalized quaternion.

Definition at line 45 of file quaternion.c.

References quat_normalize_ptr().

quat_rotate_vec3()

vector3 quat_rotate_vec3	(	const quaternion	q,
		const vector3	v )

Rotates a vector3 by a quaternion.

See quat_rotate_vec3_ptr instead.

Parameters

q	Input quaternion.
v	Input vector.

Returns

The resulting vector3.

Definition at line 201 of file quaternion.c.

References quat_rotate_vec3_ptr().

quat_slerp()

quaternion quat_slerp	(	const quaternion	a,
		const quaternion	b,
		const vm_float_t	t )

Spherical-linearly interpolates from a to b by t.

See quat_slerp_ptr instead.

Parameters

a	First input quaternion.
b	Second input quaternion.
t	Interpolation factor.

Returns

The resulting quaternion.

Definition at line 168 of file quaternion.c.

References quat_slerp_ptr().

quat_to_axis_angle()

vector3 quat_to_axis_angle	(	const quaternion	q,
		vm_float_t *	degrees )

Converts a quaternion to an axis and an angle in degrees.

See quat_to_axis_angle_ptr instead.

Parameters

q	Input quaternion.
degrees	Optional output angle in degrees.

Returns

The rotation axis.

Definition at line 232 of file quaternion.c.

References quat_to_axis_angle_ptr().

quat_to_euler()

vector3 quat_to_euler

(

const quaternion

q

)

Converts a quaternion to Euler angles in degrees (XYZ).

See quat_to_euler_ptr instead.

Parameters

q	Input quaternion.

Returns

The resulting vector3.

Definition at line 216 of file quaternion.c.

References quat_to_euler_ptr().

quat_to_mat3()

matrix3 quat_to_mat3

(

const quaternion

q

)

Converts a quaternion to a 3x3 rotation matrix.

See quat_to_mat3_ptr instead.

Parameters

q	Input quaternion.

Returns

The resulting matrix3.

Definition at line 247 of file quaternion.c.

References quat_to_mat3_ptr().

quat_to_mat4()

matrix4 quat_to_mat4

(

const quaternion

q

)

Converts a quaternion to a 4x4 rotation matrix.

See quat_to_mat4_ptr instead.

Parameters

q	The input quaternion.

Returns

The equivalent matrix4.

Definition at line 75 of file quaternion.c.

References quat_to_mat4_ptr().