quaternion.c

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// SPDX-FileCopyrightText: 2025-2026 Igal Alkon
// SPDX-FileCopyrightText: 2026 ALKONTEK <git@alkontek.com>
// SPDX-License-Identifier: BSD-3-Clause
 
#include <vecmat.h>

quaternion quat_identity(void)
{
    quaternion res;
    quat_identity_ptr(&res);
    return res;
}

quaternion quat_mul(const quaternion a, const quaternion b)
{
    quaternion res;
    quat_mul_ptr(&res, &a, &b);
    return res;
}

quaternion quat_normalize(const quaternion q)
{
    quaternion res;
    quat_normalize_ptr(&res, &q);
    return res;
}

quaternion quat_from_euler(const vector3 euler)
{
    quaternion res;
    quat_from_euler_ptr(&res, &euler);
    return res;
}

matrix4 quat_to_mat4(const quaternion q)
{
    matrix4 res;
    quat_to_mat4_ptr(&res, &q);
    return res;
}

quaternion quat_conjugate(const quaternion q)
{
    quaternion res;
    quat_conjugate_ptr(&res, &q);
    return res;
}

quaternion quat_inverse(const quaternion q)
{
    quaternion res;
    quat_inverse_ptr(&res, &q);
    return res;
}

quaternion quat_from_axis_angle(const vector3 axis, const vm_float_t degrees)
{
    quaternion res;
    quat_from_axis_angle_ptr(&res, &axis, degrees);
    return res;
}

quaternion quat_from_mat3(const matrix3 m)
{
    quaternion res;
    quat_from_mat3_ptr(&res, &m);
    return res;
}

quaternion quat_from_mat4(const matrix4 m)
{
    quaternion res;
    quat_from_mat4_ptr(&res, &m);
    return res;
}

quaternion quat_slerp(const quaternion a, const quaternion b, const vm_float_t t)
{
    quaternion res;
    quat_slerp_ptr(&res, &a, &b, t);
    return res;
}

quaternion quat_nlerp(const quaternion a, const quaternion b, const vm_float_t t)
{
    quaternion res;
    quat_nlerp_ptr(&res, &a, &b, t);
    return res;
}

vector3 quat_rotate_vec3(const quaternion q, const vector3 v)
{
    vector3 res;
    quat_rotate_vec3_ptr(&res, &q, &v);
    return res;
}

vector3 quat_to_euler(const quaternion q)
{
    vector3 res;
    quat_to_euler_ptr(&res, &q);
    return res;
}

vector3 quat_to_axis_angle(const quaternion q, vm_float_t *degrees)
{
    vector3 axis;
    quat_to_axis_angle_ptr(&axis, degrees, &q);
    return axis;
}

matrix3 quat_to_mat3(const quaternion q)
{
    matrix3 res;
    quat_to_mat3_ptr(&res, &q);
    return res;
}

vm_float_t quat_dot(const quaternion a, const quaternion b)
{
    return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
}

bool quat_near(const quaternion a, const quaternion b, const vm_float_t eps)
{
    return VECMAT_FABS(a.x - b.x) <= eps
        && VECMAT_FABS(a.y - b.y) <= eps
        && VECMAT_FABS(a.z - b.z) <= eps
        && VECMAT_FABS(a.w - b.w) <= eps;
}