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inverse of quaternion

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Recep Aslantas
2018-04-09 22:26:23 +03:00
parent 76e9f74020
commit b21df8fc37
1 changed files with 14 additions and 0 deletions
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14
include/cglm/quat.h
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@@ -196,6 +196,20 @@ glm_quat_conjugate(versor q, versor dest) {
dest[3] = -dest[3]; dest[3] = -dest[3];
} }
/*!
* @brief inverse of non-zero quaternion
*
* @param[in] q quaternion
* @param[out] dest inverse quaternion
*/
CGLM_INLINE
void
glm_quat_inv(versor q, versor dest) {
versor conj;
glm_quat_conjugate(q, conj);
glm_vec_scale(conj, glm_vec4_norm2(q), dest);
}
/*! /*!
* @brief convert quaternion to mat4 * @brief convert quaternion to mat4
* *