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Added QuaternionInvert()

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raysan5 2016-05-12 13:02:04 +02:00
parent 075f51e0a3
commit e060944b34
1 changed files with 18 additions and 0 deletions
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18
src/raymath.h
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@ -158,6 +158,7 @@ RMDEF void PrintMatrix(Matrix m); // Print matrix ut
//------------------------------------------------------------------------------------ //------------------------------------------------------------------------------------
RMDEF float QuaternionLength(Quaternion quat); // Compute the length of a quaternion RMDEF float QuaternionLength(Quaternion quat); // Compute the length of a quaternion
RMDEF void QuaternionNormalize(Quaternion *q); // Normalize provided quaternion RMDEF void QuaternionNormalize(Quaternion *q); // Normalize provided quaternion
RMDEF void QuaternionInvert(Quaternion *quat); // Invert provided quaternion
RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2); // Calculate two quaternion multiplication RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2); // Calculate two quaternion multiplication
RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float slerp); // Calculates spherical linear interpolation between two quaternions RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float slerp); // Calculates spherical linear interpolation between two quaternions
RMDEF Quaternion QuaternionFromMatrix(Matrix matrix); // Returns a quaternion for a given rotation matrix RMDEF Quaternion QuaternionFromMatrix(Matrix matrix); // Returns a quaternion for a given rotation matrix
@ -908,6 +909,23 @@ RMDEF void QuaternionNormalize(Quaternion *q)
q->w *= ilength; q->w *= ilength;
} }
// Invert provided quaternion
RMDEF void QuaternionInvert(Quaternion *quat)
{
float length = QuaternionLength(*quat);
float lengthSq = length*length;
if (lengthSq != 0.0)
{
float i = 1.0f/lengthSq;
quat->x *= -i;
quat->y *= -i;
quat->z *= -i;
quat->w *= i;
}
}
// Calculate two quaternion multiplication // Calculate two quaternion multiplication
RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2) RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2)
{ {