implement quaternion functions

src/util/vec/quaternion.h

@@ -1,44 +1,93 @@
-#include "../../error.h"
+#include <math.h>
+
 #include "float3.h"
 #include "float4.h"
 
+// converts a float3 to a quaternion
+static inline float4 quat_from_float3(float3 v) {
+    return (float4){
+        .w = 0.0F,
+        .x = v.x,
+        .y = v.y,
+        .z = v.z,
+    };
+}
 
-// converts euler angles into quaternion
+// converts euler angles into quaternion (ordered roll, pitch, yaw) (in radians)
 static inline float4 quat_from_euler(float3 euler) {
-    (void)euler;
+    euler = float3_mul_s(euler, 0.5F); // half the angles due to quaternions using θ/2 in the formula
-    error(STATUS_ERROR, __FILE_NAME__, __LINE__, "this function is not implemented"); // TODO: write an implementation for this function
+    float cx = cosf32(euler.x), sx = sinf32(euler.x);
+    float cy = cosf32(euler.y), sy = sinf32(euler.y);
+    float cz = cosf32(euler.z), sz = sinf32(euler.z);
+
+    return (float4){
+        .w = cx * cy * cz - sx * sy * sz,
+        .x = sx * cy * cz + cx * sy * sz,
+        .y = cx * sy * cz - sx * cy * sz,
+        .z = cx * cy * sz + sx * sy * cz,
+    };
 }
 
-// converts quaternion into euler angles
+// converts quaternion into euler angles (ordered as roll, pitch, yaw)
 static inline float3 quat_to_euler(float4 q) {
-    (void)q;
+    // warn: do not read from these variables until set
-    error(STATUS_ERROR, __FILE_NAME__, __LINE__, "this function is not implemented"); // TODO: write an implementation for this function
+    float3 euler;
-}
+    float a, b;
 
-// adds two quaternions
+    // compute the roll (Φ)
-static inline float4 quat_add(float4 q1, float4 q2) {
+    a = 2 * (q.w * q.x + q.y * q.z);     // sin(r)•cos(p)
-    (void)q1, (void)q2;
+    b = 1 - 2 * (q.x * q.x + q.y * q.y); // cos(r)•cos(p)
-    error(STATUS_ERROR, __FILE_NAME__, __LINE__, "this function is not implemented"); // TODO: write an implementation for this function
+    euler.x = atan2f(a, b);
-}
 
-// subtracts two quaternions
+    // compute the pitch (θ)
-static inline float4 quat_sub(float4 q1, float4 q2) {
+    a = 2 * (q.w * q.y - q.z * q.x);
-    (void)q1, (void)q2;
+    euler.y = fabsf(a) >= 1 ? copysignf(M_PI_2, a) : asinf(a); // if |a| >=1, sgn(a)•(π/2), else asin(a)
-    error(STATUS_ERROR, __FILE_NAME__, __LINE__, "this function is not implemented"); // TODO: write an implementation for this function
+
+    // compute the yaw (ψ)
+    a = 2 * (q.w * q.z + q.x * q.y);     // sin(y)•cos(y)
+    b = 1 - 2 * (q.y * q.y + q.z * q.z); // cos(y)•cos(y)
+    euler.z = atan2f(a, b);
+
+    // return the final angles
+    return euler;
 }
 
 // multiplies two quaternions
 static inline float4 quat_mul(float4 q1, float4 q2) {
     return (float4){
-        q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y, // x
+        .w = q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z,
-        q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z, // y
+        .x = q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y,
-        q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x, // z
+        .y = q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z,
-        q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z, // w
+        .z = q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x,
     };
 }
 
-// multiplies two quaternions
+// get the conjugate of the quaternion (negates the vector portion)
-static inline float4 quat_div(float4 q1, float4 q2) {
+static inline float4 quat_conj(float4 q) {
-    (void)q1, (void)q2;
+    return (float4){
-    error(STATUS_ERROR, __FILE_NAME__, __LINE__, "this function is not implemented"); // TODO: write an implementation for this function
+        .w = q.w,
+        .x = -q.x,
+        .y = -q.y,
+        .z = -q.z,
+    };
+}
+
+// get the multiplicative inverse of the quaternion (conj / mag²)
+static inline float4 quat_inv(float4 q) {
+    float mag2 = float4_mag2(q);
+    if (mag2 == 0.0F) return (float4){0};
+    mag2 = 1.0F / mag2;
+    return float4_mul_s(quat_conj(q), mag2);
+}
+
+// rotates a vector by the quaternion (q must be a unit quaternion (normalized))
+static inline float3 quat_rot(float4 q, float3 v) {
+    q = quat_mul(quat_mul(q, quat_from_float3(v)), quat_conj(q)); // q•v•q¯¹ (using conjugate for q⁻¹, as for unit quaternions this is the same as the multiplicative inverse)
+    return (float3){q.x, q.y, q.z};
+}
+
+// rotates a vector by the quaternion, q may be non-normalized
+static inline float3 quat_rot_s(float4 q, float3 v) {
+    q = quat_mul(quat_mul(q, quat_from_float3(v)), quat_inv(q)); // q•v•q¯¹
+    return (float3){q.x, q.y, q.z};
 }