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Compute quaternion rotating a vector into another

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Both `vec3` inputs should be of unit length; returns a unit quaternion.
This commit is contained in:
Sundaram Ramaswamy
2021-06-10 22:53:28 +05:30
parent 8b958e9600
commit b5802b99b2
4 changed files with 61 additions and 2 deletions
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18
include/cglm/struct/quat.h
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@@ -16,6 +16,7 @@
CGLM_INLINE versors glms_quat_init(float x, float y, float z, float w)
CGLM_INLINE versors glms_quatv(float angle, vec3s axis)
CGLM_INLINE versors glms_quat(float angle, float x, float y, float z)
CGLM_INLINE versors glms_quat_from_vecs(vec3s a, vec3s b)
CGLM_INLINE float glms_quat_norm(versors q)
CGLM_INLINE versors glms_quat_normalize(versors q)
CGLM_INLINE float glms_quat_dot(versors p, versors q)
@@ -147,10 +148,25 @@ glms_quat(float angle, float x, float y, float z) {
return dest;
}
/*!
* @brief compute quaternion rotating vector A to vector B
*
* @param[in] a vec3 (must have unit length)
* @param[in] b vec3 (must have unit length)
* @returns quaternion (of unit length)
*/
CGLM_INLINE
versors
glms_quat_from_vecs(vec3s a, vec3s b) {
versors dest;
glm_quat_from_vecs(a.raw, b.raw, dest.raw);
return dest;
}
/*!
* @brief returns norm (magnitude) of quaternion
*
* @param[out] q quaternion
* @param[in] q quaternion
*/
CGLM_INLINE
float