lygia
/v1.1.6
/math
/quat
/mul
)Quaternion multiplication. Based on http://mathworld.wolfram.com/Quaternion.html
Dependencies:
Use:
<QUAT> quatMul(<QUAT> a, <QUAT> b)
#ifndef FNC_QUATMUL
#define FNC_QUATMUL
QUAT quatMul(QUAT q1, QUAT q2) {
return QUAT(
q2.xyz * q1.w + q1.xyz * q2.w + cross(q1.xyz, q2.xyz),
q1.w * q2.w - dot(q1.xyz, q2.xyz)
);
}
QUAT quatMul(QUAT q, float s) {
return QUAT(q.xyz * s, q.w * s);
}
#endif
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