#include <vecmat.h>
#include "features/cpu.h"

Functions
void	quat_identity_ptr (quaternion *res)
	Sets the quaternion to the identity quaternion (x=0, y=0, z=0, w=1).
VECMAT_SCALAR_API void	quat_mul_ptr_scalar (quaternion res, const quaternion a, const quaternion *b)
	Multiplies two quaternions using Hamilton product (a * b) and stores the result in res.
void	quat_mul_ptr (quaternion res, const quaternion a, const quaternion *b)
VECMAT_SCALAR_API void	quat_normalize_ptr_scalar (quaternion res, const quaternion q)
	Normalizes the input quaternion and stores the result in res.
void	quat_normalize_ptr (quaternion res, const quaternion q)
void	quat_from_euler_ptr (quaternion res, const vector3 euler)
	Converts Euler angles (in degrees, XYZ order: pitch, yaw, roll) to a quaternion and stores in res.
void	quat_to_mat4_ptr (matrix4 res, const quaternion q)
	Converts a unit quaternion to a 4x4 rotation matrix and stores in res.
void	quat_conjugate_ptr (quaternion res, const quaternion q)
	Writes the conjugate of a quaternion.
void	quat_inverse_ptr (quaternion res, const quaternion q)
	Writes the inverse of a quaternion.
void	quat_from_axis_angle_ptr (quaternion res, const vector3 axis, const vm_float_t degrees)
	Builds a quaternion from an axis and an angle in degrees.
void	quat_from_mat3_ptr (quaternion res, const matrix3 m)
	Builds a quaternion from a 3x3 rotation matrix.
void	quat_from_mat4_ptr (quaternion res, const matrix4 m)
	Builds a quaternion from the rotation of a 4x4 matrix.
void	quat_nlerp_ptr (quaternion res, const quaternion a, const quaternion *b, const vm_float_t t)
	Normalized-linearly interpolates from a to b by t.
void	quat_slerp_ptr (quaternion res, const quaternion a, const quaternion *b, const vm_float_t t)
	Spherical-linearly interpolates from a to b by t.
void	quat_rotate_vec3_ptr (vector3 res, const quaternion q, const vector3 *v)
	Rotates a vector3 by a quaternion.
void	quat_to_euler_ptr (vector3 res, const quaternion q)
	Converts a quaternion to Euler angles in degrees (XYZ).
void	quat_to_axis_angle_ptr (vector3 axis, vm_float_t degrees, const quaternion *q)
	Converts a quaternion to an axis and an angle in degrees.
void	quat_to_mat3_ptr (matrix3 res, const quaternion q)
	Converts a quaternion to a 3x3 rotation matrix.

Function Documentation

◆ quat_conjugate_ptr()

void quat_conjugate_ptr	(	quaternion *	res,
		const quaternion *	q )

Writes the conjugate of a quaternion.

Parameters

res	Output value.
q	Input quaternion.

Definition at line 149 of file quaternion_ptr.c.

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

Referenced by quat_conjugate().

◆ quat_from_axis_angle_ptr()

void quat_from_axis_angle_ptr	(	quaternion *	res,
		const vector3 *	axis,
		const vm_float_t	degrees )

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

Parameters

res	Output value.
axis	Rotation axis.
degrees	Rotation angle in degrees.

Definition at line 184 of file quaternion_ptr.c.

References deg_to_rad(), vec3_normalize(), VECMAT_COS, VECMAT_SIN, quaternion::w, quaternion::x, vector3::x, quaternion::y, vector3::y, quaternion::z, and vector3::z.

Referenced by quat_from_axis_angle().

◆ quat_from_euler_ptr()

void quat_from_euler_ptr	(	quaternion *	res,
		const vector3 *	euler )

Converts Euler angles (in degrees, XYZ order: pitch, yaw, roll) to a quaternion and stores in res.

Internally converts to radians, computes quaternion, and normalizes.

Parameters

res	Pointer to the output quaternion.
euler	Pointer to the input Euler angles vector.

Definition at line 91 of file quaternion_ptr.c.

References deg_to_rad(), quat_normalize_ptr(), VECMAT_COS, VECMAT_SIN, vector3::x, vector3::y, and vector3::z.

Referenced by quat_from_euler().

◆ quat_from_mat3_ptr()

void quat_from_mat3_ptr	(	quaternion *	res,
		const matrix3 *	m )

Builds a quaternion from a 3x3 rotation matrix.

Parameters

res	Output value.
m	Input matrix.

Definition at line 201 of file quaternion_ptr.c.

References matrix3::m11, matrix3::m12, matrix3::m13, matrix3::m21, matrix3::m22, matrix3::m23, matrix3::m31, matrix3::m32, matrix3::m33, quat_normalize_ptr(), VECMAT_SQRT, quaternion::w, quaternion::x, quaternion::y, and quaternion::z.

Referenced by mat4_extract_rotation_ptr(), quat_from_mat3(), and quat_from_mat4_ptr().

◆ quat_from_mat4_ptr()

void quat_from_mat4_ptr	(	quaternion *	res,
		const matrix4 *	m )

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

Parameters

res	Output value.
m	Input matrix.

Definition at line 238 of file quaternion_ptr.c.

References matrix4::m11, matrix4::m12, matrix4::m13, matrix4::m21, matrix4::m22, matrix4::m23, matrix4::m31, matrix4::m32, matrix4::m33, and quat_from_mat3_ptr().

Referenced by quat_from_mat4().

◆ quat_identity_ptr()

void quat_identity_ptr ( quaternion * res )

Sets the quaternion to the identity quaternion (x=0, y=0, z=0, w=1).

Parameters

res	Pointer to the quaternion to initialize.

Definition at line 13 of file quaternion_ptr.c.

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

Referenced by quat_identity().

◆ quat_inverse_ptr()

void quat_inverse_ptr	(	quaternion *	res,
		const quaternion *	q )

Writes the inverse of a quaternion.

Parameters

res	Output value.
q	Input quaternion.

Definition at line 163 of file quaternion_ptr.c.

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

Referenced by quat_inverse(), and quat_rotate_vec3_ptr().

◆ quat_mul_ptr()

void quat_mul_ptr	(	quaternion *	res,
		const quaternion *	a,
		const quaternion *	b )

Definition at line 37 of file quaternion_ptr.c.

References quat_mul_ptr_scalar(), and vm_cpu_init().

Referenced by quat_mul(), and quat_rotate_vec3_ptr().

◆ quat_mul_ptr_scalar()

VECMAT_SCALAR_API void quat_mul_ptr_scalar	(	quaternion *	res,
		const quaternion *	a,
		const quaternion *	b )

Multiplies two quaternions using Hamilton product (a * b) and stores the result in res.

Parameters

res	Pointer to the output quaternion.
a	Pointer to the first quaternion.
b	Pointer to the second quaternion.

Definition at line 29 of file quaternion_ptr.c.

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

Referenced by quat_mul_ptr().

◆ quat_nlerp_ptr()

void quat_nlerp_ptr	(	quaternion *	res,
		const quaternion *	a,
		const quaternion *	b,
		const vm_float_t	t )

Normalized-linearly interpolates from a to b by t.

Parameters

res	Output value.
a	First input quaternion.
b	Second input quaternion.
t	Interpolation factor.

Definition at line 256 of file quaternion_ptr.c.

References quat_dot(), quat_normalize_ptr(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.

Referenced by quat_nlerp(), and quat_slerp_ptr().

◆ quat_normalize_ptr()

void quat_normalize_ptr	(	quaternion *	res,
		const quaternion *	q )

Definition at line 72 of file quaternion_ptr.c.

References quat_normalize_ptr_scalar(), and vm_cpu_init().

Referenced by quat_from_euler_ptr(), quat_from_mat3_ptr(), quat_nlerp_ptr(), quat_normalize(), and quat_to_axis_angle_ptr().

◆ quat_normalize_ptr_scalar()

VECMAT_SCALAR_API void quat_normalize_ptr_scalar	(	quaternion *	res,
		const quaternion *	q )

Normalizes the input quaternion and stores the result in res.

If the quaternion length is zero, copies the input unchanged.

Parameters

res	Pointer to the output quaternion.
q	Pointer to the input quaternion.

Definition at line 55 of file quaternion_ptr.c.

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

Referenced by quat_normalize_ptr().

◆ quat_rotate_vec3_ptr()

void quat_rotate_vec3_ptr	(	vector3 *	res,
		const quaternion *	q,
		const vector3 *	v )

Rotates a vector3 by a quaternion.

Parameters

res	Output value.
q	Input quaternion.
v	Input vector.

Definition at line 314 of file quaternion_ptr.c.

References quat_inverse_ptr(), quat_mul_ptr(), quaternion::x, vector3::x, quaternion::y, vector3::y, quaternion::z, and vector3::z.

Referenced by quat_rotate_vec3().

◆ quat_slerp_ptr()

void quat_slerp_ptr	(	quaternion *	res,
		const quaternion *	a,
		const quaternion *	b,
		const vm_float_t	t )

Spherical-linearly interpolates from a to b by t.

Parameters

res	Output value.
a	First input quaternion.
b	Second input quaternion.
t	Interpolation factor.

Definition at line 282 of file quaternion_ptr.c.

References quat_dot(), quat_nlerp_ptr(), VECMAT_ACOS, VECMAT_SIN, quaternion::w, quaternion::x, quaternion::y, and quaternion::z.

Referenced by quat_slerp().

◆ quat_to_axis_angle_ptr()

void quat_to_axis_angle_ptr	(	vector3 *	axis,
		vm_float_t *	degrees,
		const quaternion *	q )

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

Parameters

axis	Output rotation axis.
degrees	Optional output angle in degrees.
q	Input quaternion.

Definition at line 364 of file quaternion_ptr.c.

References quat_normalize_ptr(), rad_to_deg(), VECMAT_ACOS, VECMAT_EPSILON, VECMAT_SQRT, quaternion::w, quaternion::x, vector3::x, quaternion::y, vector3::y, quaternion::z, and vector3::z.

Referenced by quat_to_axis_angle().

◆ quat_to_euler_ptr()

void quat_to_euler_ptr	(	vector3 *	res,
		const quaternion *	q )

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

Parameters

res	Output value.
q	Input quaternion.

Definition at line 334 of file quaternion_ptr.c.

References M_PI_2, VECMAT_ASIN, VECMAT_ATAN2, VECMAT_COPYSIGN, VECMAT_FABS, VM_RAD_TO_DEG, quaternion::w, quaternion::x, vector3::x, quaternion::y, vector3::y, quaternion::z, and vector3::z.

Referenced by quat_to_euler().

◆ quat_to_mat3_ptr()

void quat_to_mat3_ptr	(	matrix3 *	res,
		const quaternion *	q )

Converts a quaternion to a 3x3 rotation matrix.

Parameters

res	Output value.
q	Input quaternion.

Definition at line 391 of file quaternion_ptr.c.

References matrix3::m11, matrix4::m11, matrix3::m12, matrix4::m12, matrix3::m13, matrix4::m13, matrix3::m21, matrix4::m21, matrix3::m22, matrix4::m22, matrix3::m23, matrix4::m23, matrix3::m31, matrix4::m31, matrix3::m32, matrix4::m32, matrix3::m33, matrix4::m33, and quat_to_mat4_ptr().

Referenced by quat_to_mat3().

◆ quat_to_mat4_ptr()

void quat_to_mat4_ptr	(	matrix4 *	res,
		const quaternion *	q )

Converts a unit quaternion to a 4x4 rotation matrix and stores in res.

Starts with the identity matrix and applies rotation components.

Parameters

res	Pointer to the output matrix4.
q	Pointer to the input quaternion (should be normalized).

Definition at line 118 of file quaternion_ptr.c.

References matrix4::m11, matrix4::m12, matrix4::m13, matrix4::m21, matrix4::m22, matrix4::m23, matrix4::m31, matrix4::m32, matrix4::m33, mat4_identity_ptr(), quaternion::w, quaternion::x, quaternion::y, and quaternion::z.

Referenced by mat4_trs_ptr(), quat_to_mat3_ptr(), and quat_to_mat4().

Functions

Function Documentation

◆ quat_conjugate_ptr()

◆ quat_from_axis_angle_ptr()

◆ quat_from_euler_ptr()

◆ quat_from_mat3_ptr()

◆ quat_from_mat4_ptr()

◆ quat_identity_ptr()

◆ quat_inverse_ptr()

◆ quat_mul_ptr()

◆ quat_mul_ptr_scalar()

◆ quat_nlerp_ptr()

◆ quat_normalize_ptr()

◆ quat_normalize_ptr_scalar()

◆ quat_rotate_vec3_ptr()

◆ quat_slerp_ptr()

◆ quat_to_axis_angle_ptr()

◆ quat_to_euler_ptr()

◆ quat_to_mat3_ptr()

◆ quat_to_mat4_ptr()