quat.h File Reference

#include <banjo/api.h>
#include <banjo/mat.h>
#include <banjo/math.h>
#include <banjo/vec.h>

Include dependency graph for quat.h:

Go to the source code of this file.

Macros
#define	bj_quat_add   bj_vec4_add
#define	bj_quat_sub   bj_vec4_sub
#define	bj_quat_norm   bj_vec4_normalize
#define	bj_quat_scale   bj_vec4_scale
#define	bj_quat_dot   bj_vec4_dot

Typedefs
typedef bj_real	bj_quat[4]

Functions
static void	bj_quat_identity (bj_quat q)
static void	bj_quat_mul (bj_quat res, const bj_quat p, const bj_quat q)
static void	bj_quat_conjugate (bj_quat res, const bj_quat q)
static void	bj_quat_rotation (bj_quat res, bj_real angle, const bj_vec3 axis)
static void	bj_quat_mul_vec3 (bj_vec3 res, const bj_quat q, const bj_vec3 v)
static void	bj_mat4_from_quat (bj_mat4 res, const bj_quat q)
static void	bj_mat4_rotate_from_quat (bj_mat4 R, const bj_mat4 M, const bj_quat q)
static void	bj_quat_from_mat4 (bj_quat q, const bj_mat4 M)

Detailed Description

Quaternion manipulation API.

Quaternions are stored as a 4-tuple where the vector part is (x,y,z) and scalar part is w.

Quaternion utilities using bj_real with {x,y,z,w} layout.

The functions here support identity, multiplication, conjugation, axis-angle creation, rotating vectors, and conversions to/from 4×4 rotation matrices.