polyadvent

A game engine from scratch in C
git clone git://jb55.com/polyadvent
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quat.h (586B)

      1 
      2 
      3 #ifndef POLYADVENT_QUAT4_
      4 #define POLYADVENT_QUAT4_
      5 
      6 #include <math.h>
      7 
      8 typedef float quat;
      9 #define QUAT(x,y,z,w) ((quat[4]){x,y,z,w})
     10 
     11 void quat_id(quat *dest);
     12 void quat_multiply(quat *a, quat *b, quat *dest);
     13 void quat_axis_angle(float *axis, float angle, quat *dest);
     14 void quat_from_axes(float yaw, float pitch, float roll);
     15 void quat_to_mat3(quat *quat, float *dest);
     16 void quat_multiply_vec3(quat *quat, float *vec, float *dest);
     17 quat *quat_inverse(quat *q, quat *dest);
     18 
     19 static inline float quat_yaw(quat *q) {
     20     return atan2(q[2],q[3])*2.0;
     21 }
     22 
     23 #endif /* POLYADVENT_QUAT4_ */