void M_QuaternionpToAxisAngle (const M_Quaternion *q, M_Vector3 *axis, M_Real *theta)
void M_QuaternionpToAxisAngle3 (const M_Quaternion *q, M_Real *theta, M_Real *x, M_Real *y, M_Real *z)
M_Quaternion M_QuaternionFromAxisAngle (M_Vector3 axis, M_Real theta)
M_Quaternion M_QuaternionFromAxisAngle3 (M_Real theta, M_Real x, M_Real y, M_Real z)
void M_QuaternionpFromAxisAngle (M_Quaternion *q, M_Vector3 axis, M_Real theta)
void M_QuaternionpFromAxisAngle3 (M_Quaternion *q, M_Real theta, M_Real x, M_Real y, M_Real z)
void M_QuaternionFromEulv (M_Quaternion *q, M_Real a, M_Real b, M_Real c)
M_Quaternion M_QuaternionFromEul (M_Real a, M_Real b, M_Real c)
void M_QuaternionToMatrix44 (M_Matrix44 *A, const M_Quaternion *q)
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The
M_QuaternionpToAxisAngle() function obtains a rotation in axis-angle format from a quaternion
q. The axis is returned into
v and angle into
theta. The
M_QuaternionpToAxisAngle3() variant returns the axis into
x, y and
z.
M_QuaternionFromAxisAngle() returns a quaternion describing a rotation of
theta radians about the
axis vector.
The
M_QuaternionFromAxisAngle3() form accepts individual
x, y, z arguments.
The
M_QuaternionpFromAxisAngle() and
M_QuaternionpFromAxisAngle3() variants write the resulting quaternion into
q as opposed to returning it.
M_QuaternionFromEulv() and
M_QuaternionFromEul() return a quaternion describing a rotation given the set of Euler angles.
M_QuaternionToMatrix44() converts the rotation described by quaternion
q into a 4x4 matrix
A. |