Quaternion Mathematics

Typedefs
typedef float	Lib3dsQuat [4]
Functions
void	lib3ds_quat_zero (Lib3dsQuat c)
void	lib3ds_quat_identity (Lib3dsQuat c)
void	lib3ds_quat_copy (Lib3dsQuat dest, Lib3dsQuat src)
void	lib3ds_quat_axis_angle (Lib3dsQuat c, Lib3dsVector axis, Lib3dsFloat angle)
void	lib3ds_quat_neg (Lib3dsQuat c)
void	lib3ds_quat_abs (Lib3dsQuat c)
void	lib3ds_quat_cnj (Lib3dsQuat c)
void	lib3ds_quat_mul (Lib3dsQuat c, Lib3dsQuat a, Lib3dsQuat b)
void	lib3ds_quat_scalar (Lib3dsQuat c, Lib3dsFloat k)
void	lib3ds_quat_normalize (Lib3dsQuat c)
void	lib3ds_quat_inv (Lib3dsQuat c)
Lib3dsFloat	lib3ds_quat_dot (Lib3dsQuat a, Lib3dsQuat b)
Lib3dsFloat	lib3ds_quat_squared (Lib3dsQuat c)
Lib3dsFloat	lib3ds_quat_length (Lib3dsQuat c)
void	lib3ds_quat_ln (Lib3dsQuat c)
void	lib3ds_quat_ln_dif (Lib3dsQuat c, Lib3dsQuat a, Lib3dsQuat b)
void	lib3ds_quat_exp (Lib3dsQuat c)
void	lib3ds_quat_slerp (Lib3dsQuat c, Lib3dsQuat a, Lib3dsQuat b, Lib3dsFloat t)
void	lib3ds_quat_squad (Lib3dsQuat c, Lib3dsQuat a, Lib3dsQuat p, Lib3dsQuat q, Lib3dsQuat b, Lib3dsFloat t)
void	lib3ds_quat_tangent (Lib3dsQuat c, Lib3dsQuat p, Lib3dsQuat q, Lib3dsQuat n)
void	lib3ds_quat_dump (Lib3dsQuat q)

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Function Documentation

void lib3ds_quat_abs

(

Lib3dsQuat

c

)

Compute the absolute value of a quaternion

Definition at line 126 of file quat.c.

void lib3ds_quat_axis_angle	(	Lib3dsQuat	c,
		Lib3dsVector	axis,
		Lib3dsFloat	angle
	)

Compute a quaternion from axis and angle.

Parameters:

	c	Computed quaternion
	axis	Rotation axis
	angle	Angle of rotation, radians.

Definition at line 84 of file quat.c.

Referenced by lib3ds_matrix_rotate_axis(), lib3ds_quat_key_setup(), and lib3ds_quat_track_setup().

void lib3ds_quat_cnj

(

Lib3dsQuat

c

)

Compute the conjugate of a quaternion

Definition at line 141 of file quat.c.

void lib3ds_quat_copy	(	Lib3dsQuat	dest,
		Lib3dsQuat	src
	)

Copy a quaternion.

Definition at line 65 of file quat.c.

Referenced by lib3ds_quat_key_setup(), lib3ds_quat_ln_dif(), lib3ds_quat_track_eval(), and lib3ds_quat_track_setup().

Lib3dsFloat lib3ds_quat_dot	(	Lib3dsQuat	a,
		Lib3dsQuat	b
	)

Compute the dot-product of a quaternion.

Definition at line 238 of file quat.c.

Referenced by lib3ds_quat_key_setup().

void lib3ds_quat_identity

(

Lib3dsQuat

c

)

Set a quaternion to Identity

Definition at line 53 of file quat.c.

Referenced by lib3ds_quat_track_eval().

void lib3ds_quat_inv

(

Lib3dsQuat

c

)

Compute the inverse of a quaternion.

Definition at line 213 of file quat.c.

Referenced by lib3ds_quat_ln_dif().

void lib3ds_quat_mul	(	Lib3dsQuat	c,
		Lib3dsQuat	a,
		Lib3dsQuat	b
	)

Multiply two quaternions.

Parameters:

	c	Result
	a,b	Inputs

Definition at line 158 of file quat.c.

Referenced by lib3ds_quat_key_setup(), lib3ds_quat_ln_dif(), lib3ds_quat_tangent(), and lib3ds_quat_track_setup().

void lib3ds_quat_neg

(

Lib3dsQuat

c

)

Negate a quaternion

Definition at line 111 of file quat.c.

Referenced by lib3ds_quat_key_setup().

void lib3ds_quat_normalize

(

Lib3dsQuat

c

)

Normalize a quaternion.

Definition at line 188 of file quat.c.

void lib3ds_quat_scalar	(	Lib3dsQuat	c,
		Lib3dsFloat	k
	)

Multiply a quaternion by a scalar.

Definition at line 173 of file quat.c.

void lib3ds_quat_zero

(

Lib3dsQuat

c

)

Clear a quaternion.

Definition at line 42 of file quat.c.