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=encoding UTF-8
=head1 NAME
BH_Quat - Quaternion
=head1 SYNTAX
#include <BH/Math/Quat.h>
cc prog.c -o prog -lbh
=head1 DESCRIPTION
This module provides a set of functions for working with quaternions.
Quaternions are used to represent rotations in three-dimensional space and have
advantages over other methods, such as rotation matrices or Euler angles, in
terms of stability against error accumulation during multiple rotation
operations.
=head1 API CALLS
=head2 BH_Quat4fAdd
#define BH_Quat4fAdd(a, b, out) \
BH_Vec4fAdd(a, b, out)
Calculates the sum of two quaternions I<a> and I<b>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fSub
#define BH_Quat4fSub(a, b, out) \
BH_Vec4fSub(a, b, out)
Calculates the difference between two quaternions I<a> and I<b>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fScale
#define BH_Quat4fScale(a, b, out) \
BH_Vec4fScale(a, b, out)
Calculates the result of multiplying quaternion I<a> by value I<b>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fNegate
#define BH_Quat4fNegate(in, out) \
BH_Vec4fNegate(in, out)
Calculates the opposite quaternion from quaternion I<in>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fDot
#define BH_Quat4fDot(a, b) \
BH_Vec4fDot(a, b)
Calculates the dot product of quaternions I<a> and I<b>.
=head2 BH_Quat4fLength
#define BH_Quat4fLength(in) \
BH_Vec4fLength(in)
float BH_Vec4fLength(const float in[4]);
Calculates the length of quaternion I<in>.
=head2 BH_Quat4fNormal
#define BH_Quat4fNormal(in, out) \
BH_Vec4fNormal(in, out)
Calculates the normalized form of quaternion I<in>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fLerp
#define BH_Quat4fLerp(a, b, t, out) \
BH_Vec4fLerp(a, b, t, out)
Performs linear interpolation between two quaternions I<a> and I<b> with
parameter I<t>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fIdentity
void BH_Quat4fIdentity(float out[4]);
Writes the identity quaternion to I<out>.
=head2 BH_Quat4fConjugate
void BH_Quat4fConjugate(const float in[4],
float out[4]);
Calculates the conjugate quaternion from I<in>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fInverse
void BH_Quat4fInverse(const float in[4],
float out[4]);
Calculates the inverse quaternion from I<in>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fMul
void BH_Quat4fMul(const float a[4],
const float b[4],
float out[4]);
Calculates the result of multiplying two quaternions I<a> and I<b>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fSlerp
void BH_Quat4fSlerp(const float a[4],
const float b[4],
float t,
float out[4]);
Performs spherical linear interpolation between two quaternions I<a> and I<b>
with parameter I<t>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fFromEuler
void BH_Quat4fFromEuler(float roll,
float pitch,
float yaw,
float out[4]);
Calculates the quaternion from the angles of the associated coordinate system
I<roll>, I<pitch>, and I<yaw>.
The order of rotation application is ZYX (yaw, pitch, roll).
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fFromAxis
void BH_Quat4fFromAxis(const float axis[3],
float angle,
float out[4]);
Calculates the quaternion from rotation around the I<axis> with the given
I<angle>.
The parameter I<out> describes the resulting quaternion.
=head2 BH_Quat4fToEuler
void BH_Quat4fToEuler(const float in[4],
float *roll,
float *pitch,
float *yaw);
Calculates the angles of the associated coordinate system I<roll>, I<pitch>,
and I<yaw> from quaternion I<in>.
The order of rotation application is ZYX (yaw, pitch, roll).
=head2 BH_Quat4fToAxis
void BH_Quat4fToAxis(const float in[4],
float axis[3],
float *angle);
Calculates the rotation I<axis> and I<angle> from quaternion I<in>.
=head2 BH_Quat4fToMat4f
void BH_Quat4fToMat4f(const float in[4],
float out[16]);
Calculates the rotation matrix from quaternion I<in>.
The parameter I<out> describes the resulting matrix.
=head1 SEE ALSO
L<BH>
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