#
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# Copyright (C) 2015 The Android Open Source Project
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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header:
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summary: Quaternion Functions
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description:
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The following functions manipulate quaternions.
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end:
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function: rsQuaternionAdd
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version: 9 23
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ret: void
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arg: rs_quaternion* q, "Destination quaternion to add to."
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arg: const rs_quaternion* rhs, "Quaternion to add."
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summary: Add two quaternions
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description:
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Adds two quaternions, i.e. <code>*q += *rhs;</code>
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inline:
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q->w += rhs->w;
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q->x += rhs->x;
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q->y += rhs->y;
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q->z += rhs->z;
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test: none
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end:
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function: rsQuaternionConjugate
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version: 9 23
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ret: void
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arg: rs_quaternion* q, "Quaternion to modify."
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summary: Conjugate a quaternion
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description:
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Conjugates the quaternion.
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inline:
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q->x = -q->x;
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q->y = -q->y;
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q->z = -q->z;
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test: none
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end:
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function: rsQuaternionDot
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version: 9 23
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ret: float
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arg: const rs_quaternion* q0, "First quaternion."
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arg: const rs_quaternion* q1, "Second quaternion."
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summary: Dot product of two quaternions
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description:
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Returns the dot product of two quaternions.
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inline:
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return q0->w*q1->w + q0->x*q1->x + q0->y*q1->y + q0->z*q1->z;
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test: none
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end:
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function: rsQuaternionGetMatrixUnit
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version: 9 23
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ret: void
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arg: rs_matrix4x4* m, "Resulting matrix."
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arg: const rs_quaternion* q, "Normalized quaternion."
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summary: Get a rotation matrix from a quaternion
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description:
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Computes a rotation matrix from the normalized quaternion.
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inline:
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float xx = q->x * q->x;
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float xy = q->x * q->y;
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float xz = q->x * q->z;
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float xw = q->x * q->w;
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float yy = q->y * q->y;
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float yz = q->y * q->z;
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float yw = q->y * q->w;
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float zz = q->z * q->z;
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float zw = q->z * q->w;
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m->m[0] = 1.0f - 2.0f * ( yy + zz );
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m->m[4] = 2.0f * ( xy - zw );
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m->m[8] = 2.0f * ( xz + yw );
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m->m[1] = 2.0f * ( xy + zw );
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m->m[5] = 1.0f - 2.0f * ( xx + zz );
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m->m[9] = 2.0f * ( yz - xw );
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m->m[2] = 2.0f * ( xz - yw );
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m->m[6] = 2.0f * ( yz + xw );
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m->m[10] = 1.0f - 2.0f * ( xx + yy );
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m->m[3] = m->m[7] = m->m[11] = m->m[12] = m->m[13] = m->m[14] = 0.0f;
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m->m[15] = 1.0f;
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test: none
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end:
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function: rsQuaternionLoadRotateUnit
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version: 9 23
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ret: void
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arg: rs_quaternion* q, "Destination quaternion."
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arg: float rot, "Angle to rotate by, in radians."
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arg: float x, "X component of the vector."
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arg: float y, "Y component of the vector."
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arg: float z, "Z component of the vector."
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summary: Quaternion that represents a rotation about an arbitrary unit vector
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description:
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Loads a quaternion that represents a rotation about an arbitrary unit vector.
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inline:
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rot *= (float)(M_PI / 180.0f) * 0.5f;
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float c = cos(rot);
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float s = sin(rot);
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q->w = c;
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q->x = x * s;
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q->y = y * s;
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q->z = z * s;
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test: none
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end:
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function: rsQuaternionSet
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version: 9 23
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ret: void
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arg: rs_quaternion* q, "Destination quaternion."
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arg: float w, "W component."
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arg: float x, "X component."
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arg: float y, "Y component."
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arg: float z, "Z component."
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summary: Create a quaternion
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description:
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Creates a quaternion from its four components or from another quaternion.
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inline:
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q->w = w;
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q->x = x;
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q->y = y;
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q->z = z;
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test: none
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end:
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function: rsQuaternionSet
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version: 9 23
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ret: void
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arg: rs_quaternion* q
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arg: const rs_quaternion* rhs, "Source quaternion."
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inline:
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q->w = rhs->w;
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q->x = rhs->x;
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q->y = rhs->y;
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q->z = rhs->z;
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test: none
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end:
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# NOTE: The following inline definitions depend on each other. The order must be preserved
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# for the compilation to work.
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function: rsQuaternionLoadRotate
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version: 9 23
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ret: void
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arg: rs_quaternion* q, "Destination quaternion."
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arg: float rot, "Angle to rotate by."
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arg: float x, "X component of a vector."
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arg: float y, "Y component of a vector."
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arg: float z, "Z component of a vector."
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summary: Create a rotation quaternion
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description:
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Loads a quaternion that represents a rotation about an arbitrary vector
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(doesn't have to be unit)
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inline:
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const float len = x*x + y*y + z*z;
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if (len != 1) {
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const float recipLen = 1.f / sqrt(len);
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x *= recipLen;
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y *= recipLen;
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z *= recipLen;
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}
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rsQuaternionLoadRotateUnit(q, rot, x, y, z);
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test: none
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end:
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function: rsQuaternionNormalize
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version: 9 23
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ret: void
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arg: rs_quaternion* q, "Quaternion to normalize."
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summary: Normalize a quaternion
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description:
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Normalizes the quaternion.
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inline:
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const float len = rsQuaternionDot(q, q);
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if (len != 1) {
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const float recipLen = 1.f / sqrt(len);
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q->w *= recipLen;
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q->x *= recipLen;
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q->y *= recipLen;
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q->z *= recipLen;
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}
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test: none
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end:
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function: rsQuaternionMultiply
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version: 9 23
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ret: void
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arg: rs_quaternion* q, "Destination quaternion."
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arg: float scalar, "Scalar to multiply the quaternion by."
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summary: Multiply a quaternion by a scalar or another quaternion
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description:
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Multiplies a quaternion by a scalar or by another quaternion, e.g
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<code>*q = *q * scalar;</code> or <code>*q = *q * *rhs;</code>.
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inline:
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q->w *= scalar;
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q->x *= scalar;
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q->y *= scalar;
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q->z *= scalar;
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test: none
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end:
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function: rsQuaternionMultiply
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version: 9 23
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ret: void
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arg: rs_quaternion* q
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arg: const rs_quaternion* rhs, "Quaternion to multiply the destination quaternion by."
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inline:
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rs_quaternion qtmp;
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rsQuaternionSet(&qtmp, q);
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q->w = qtmp.w*rhs->w - qtmp.x*rhs->x - qtmp.y*rhs->y - qtmp.z*rhs->z;
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q->x = qtmp.w*rhs->x + qtmp.x*rhs->w + qtmp.y*rhs->z - qtmp.z*rhs->y;
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q->y = qtmp.w*rhs->y + qtmp.y*rhs->w + qtmp.z*rhs->x - qtmp.x*rhs->z;
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q->z = qtmp.w*rhs->z + qtmp.z*rhs->w + qtmp.x*rhs->y - qtmp.y*rhs->x;
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rsQuaternionNormalize(q);
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test: none
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end:
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function: rsQuaternionSlerp
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version: 9 23
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ret: void
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arg: rs_quaternion* q, "Result quaternion from the interpolation."
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arg: const rs_quaternion* q0, "First input quaternion."
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arg: const rs_quaternion* q1, "Second input quaternion."
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arg: float t, "How much to interpolate by."
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summary: Spherical linear interpolation between two quaternions
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description:
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Performs spherical linear interpolation between two quaternions.
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inline:
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if (t <= 0.0f) {
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rsQuaternionSet(q, q0);
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return;
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}
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if (t >= 1.0f) {
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rsQuaternionSet(q, q1);
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return;
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}
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rs_quaternion tempq0, tempq1;
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rsQuaternionSet(&tempq0, q0);
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rsQuaternionSet(&tempq1, q1);
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float angle = rsQuaternionDot(q0, q1);
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if (angle < 0) {
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rsQuaternionMultiply(&tempq0, -1.0f);
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angle *= -1.0f;
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}
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float scale, invScale;
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if (angle + 1.0f > 0.05f) {
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if (1.0f - angle >= 0.05f) {
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float theta = acos(angle);
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float invSinTheta = 1.0f / sin(theta);
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scale = sin(theta * (1.0f - t)) * invSinTheta;
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invScale = sin(theta * t) * invSinTheta;
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} else {
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scale = 1.0f - t;
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invScale = t;
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}
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} else {
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rsQuaternionSet(&tempq1, tempq0.z, -tempq0.y, tempq0.x, -tempq0.w);
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scale = sin(M_PI * (0.5f - t));
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invScale = sin(M_PI * t);
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}
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rsQuaternionSet(q, tempq0.w*scale + tempq1.w*invScale, tempq0.x*scale + tempq1.x*invScale,
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tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale);
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test: none
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end:
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# New versions. Same signatures but don't contain a body.
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function: rsQuaternionAdd
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version: 24
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ret: void
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arg: rs_quaternion* q
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arg: const rs_quaternion* rhs
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test: none
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end:
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function: rsQuaternionConjugate
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version: 24
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ret: void
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arg: rs_quaternion* q
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test: none
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end:
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function: rsQuaternionDot
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version: 24
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ret: float
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arg: const rs_quaternion* q0
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arg: const rs_quaternion* q1
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test: none
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end:
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function: rsQuaternionGetMatrixUnit
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version: 24
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ret: void
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arg: rs_matrix4x4* m
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arg: const rs_quaternion* q
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test: none
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end:
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function: rsQuaternionLoadRotateUnit
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version: 24
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ret: void
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arg: rs_quaternion* q
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arg: float rot
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arg: float x
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arg: float y
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arg: float z
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test: none
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end:
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function: rsQuaternionSet
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version: 24
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ret: void
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arg: rs_quaternion* q
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arg: float w
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arg: float x
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arg: float y
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arg: float z
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test: none
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end:
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function: rsQuaternionSet
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version: 24
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ret: void
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arg: rs_quaternion* q
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arg: const rs_quaternion* rhs
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test: none
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end:
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# NOTE: The following inline definitions depend on each other. The order must be preserved
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# for the compilation to work.
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function: rsQuaternionLoadRotate
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version: 24
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ret: void
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arg: rs_quaternion* q
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arg: float rot
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arg: float x
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arg: float y
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arg: float z
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test: none
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end:
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function: rsQuaternionNormalize
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version: 24
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ret: void
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arg: rs_quaternion* q
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test: none
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end:
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function: rsQuaternionMultiply
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version: 24
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ret: void
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arg: rs_quaternion* q
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arg: float scalar
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test: none
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end:
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function: rsQuaternionMultiply
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version: 24
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ret: void
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arg: rs_quaternion* q
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arg: const rs_quaternion* rhs
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test: none
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end:
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function: rsQuaternionSlerp
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version: 24
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ret: void
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arg: rs_quaternion* q
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arg: const rs_quaternion* q0
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arg: const rs_quaternion* q1
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arg: float t
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test: none
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end:
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