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add documentation to quaternion header

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Recep Aslantas
2018-01-15 16:33:57 +03:00
parent 37f6bb8725
commit ee78459340
1 changed files with 74 additions and 2 deletions
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76
include/cglm/quat.h
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@@ -32,9 +32,27 @@
# include "simd/sse2/quat.h" # include "simd/sse2/quat.h"
#endif #endif
#define GLM_QUAT_IDENTITY_INIT {1.0f, 0.0f, 0.0f, 0.0f} /*
#define GLM_QUAT_IDENTITY (versor){1.0f, 0.0f, 0.0f, 0.0f} * IMPORTANT! cglm stores quat as [w, x, y, z]
*
* Possible changes (these may be changed in the future):
* - versor is identity quat, we can define new type for quat.
* it can't be quat or quaternion becuase someone can use that name for
* variable name. maybe just vec4.
* - it stores [w, x, y, z] but it may change to [x, y, z, w] if we get enough
* feedback to change it.
* - in general we use last param as dest, but this header used first param
* as dest this may be changed but decided yet
*/
#define GLM_QUAT_IDENTITY_INIT {1.0f, 0.0f, 0.0f, 0.0f}
#define GLM_QUAT_IDENTITY (versor)GLM_QUAT_IDENTITY_INIT
/*!
* @brief makes given quat to identity
*
* @param[in, out] q quaternion
*/
CGLM_INLINE CGLM_INLINE
void void
glm_quat_identity(versor q) { glm_quat_identity(versor q) {
@@ -42,6 +60,15 @@ glm_quat_identity(versor q) {
glm_vec4_copy(v, q); glm_vec4_copy(v, q);
} }
/*!
* @brief creates NEW quaternion with individual axis components
*
* @param[out] q quaternion
* @param[in] angle angle (radians)
* @param[in] x axis.x
* @param[in] y axis.y
* @param[in] z axis.z
*/
CGLM_INLINE CGLM_INLINE
void void
glm_quat(versor q, glm_quat(versor q,
@@ -61,6 +88,13 @@ glm_quat(versor q,
q[3] = s * z; q[3] = s * z;
} }
/*!
* @brief creates NEW quaternion with axis vector
*
* @param[out] q quaternion
* @param[in] angle angle (radians)
* @param[in] v axis
*/
CGLM_INLINE CGLM_INLINE
void void
glm_quatv(versor q, glm_quatv(versor q,
@@ -78,12 +112,22 @@ glm_quatv(versor q,
q[3] = s * v[2]; q[3] = s * v[2];
} }
/*!
* @brief returns norm (magnitude) of quaternion
*
* @param[out] q quaternion
*/
CGLM_INLINE CGLM_INLINE
float float
glm_quat_norm(versor q) { glm_quat_norm(versor q) {
return glm_vec4_norm(q); return glm_vec4_norm(q);
} }
/*!
* @brief normalize quaternion
*
* @param[in, out] m quaternion
*/
CGLM_INLINE CGLM_INLINE
void void
glm_quat_normalize(versor q) { glm_quat_normalize(versor q) {
@@ -98,12 +142,25 @@ glm_quat_normalize(versor q) {
glm_vec4_scale(q, 1.0f / sqrtf(sum), q); glm_vec4_scale(q, 1.0f / sqrtf(sum), q);
} }
/*!
* @brief dot product of two quaternion
*
* @param[in] m quaternion 1
* @param[in] r quaternion 2
*/
CGLM_INLINE CGLM_INLINE
float float
glm_quat_dot(versor q, versor r) { glm_quat_dot(versor q, versor r) {
return glm_vec4_dot(q, r); return glm_vec4_dot(q, r);
} }
/*!
* @brief multiplies two quaternion and stores result in dest
*
* @param[in] q1 quaternion 1
* @param[in] q2 quaternion 2
* @param[out] dest result quaternion
*/
CGLM_INLINE CGLM_INLINE
void void
glm_quat_mulv(versor q1, versor q2, versor dest) { glm_quat_mulv(versor q1, versor q2, versor dest) {
@@ -115,6 +172,12 @@ glm_quat_mulv(versor q1, versor q2, versor dest) {
glm_quat_normalize(dest); glm_quat_normalize(dest);
} }
/*!
* @brief convert quaternion to mat4
*
* @param[in] q quaternion
* @param[out] dest result matrix
*/
CGLM_INLINE CGLM_INLINE
void void
glm_quat_mat4(versor q, mat4 dest) { glm_quat_mat4(versor q, mat4 dest) {
@@ -153,6 +216,15 @@ glm_quat_mat4(versor q, mat4 dest) {
dest[3][3] = 1.0f; dest[3][3] = 1.0f;
} }
/*!
* @brief interpolates between two quaternions
* using spherical linear interpolation (SLERP)
*
* @param[in] q from
* @param[in] r to
* @param[in] t amout
* @param[out] dest result quaternion
*/
CGLM_INLINE CGLM_INLINE
void void
glm_quat_slerp(versor q, glm_quat_slerp(versor q,