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quat: use vector functions for available operations

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* provide quat_copy function
This commit is contained in:
Recep Aslantas
2018-04-10 10:47:55 +03:00
parent 591c881376
commit 1fb82a1922
1 changed files with 16 additions and 12 deletions
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28
include/cglm/quat.h
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@@ -133,6 +133,18 @@ glm_quatv(versor q, float angle, vec3 axis) {
q[3] = c; q[3] = c;
} }
/*!
* @brief copy quaternion to another one
*
* @param[in] q quaternion
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_quat_copy(versor q, versor dest) {
glm_vec4_copy(q, dest);
}
/*! /*!
* @brief returns norm (magnitude) of quaternion * @brief returns norm (magnitude) of quaternion
* *
@@ -185,8 +197,7 @@ glm_quat_dot(versor q1, versor q2) {
CGLM_INLINE CGLM_INLINE
void void
glm_quat_conjugate(versor q, versor dest) { glm_quat_conjugate(versor q, versor dest) {
glm_vec4_copy(q, dest); glm_vec4_flipsign_to(q, dest);
glm_vec4_flipsign(dest);
dest[3] = -dest[3]; dest[3] = -dest[3];
} }
@@ -442,23 +453,16 @@ glm_quat_slerp(versor q, versor r, float t, versor dest) {
cosTheta = glm_quat_dot(q, r); cosTheta = glm_quat_dot(q, r);
if (cosTheta < 0.0f) { if (cosTheta < 0.0f) {
q[0] *= -1.0f; glm_vec4_flipsign(q);
q[1] *= -1.0f;
q[2] *= -1.0f;
q[3] *= -1.0f;
cosTheta = -cosTheta; cosTheta = -cosTheta;
} }
if (fabs(cosTheta) >= 1.0f) { if (fabs(cosTheta) >= 1.0f) {
dest[0] = q[0]; glm_quat_copy(q, dest);
dest[1] = q[1];
dest[2] = q[2];
dest[3] = q[3];
return; return;
} }
sinTheta = sqrt(1.0f - cosTheta * cosTheta); sinTheta = sqrtf(1.0f - cosTheta * cosTheta);
c = 1.0f - t; c = 1.0f - t;