Diff: quaternion.h

Revision:

0:f43994f44684

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/quaternion.h	Thu Nov 08 20:48:47 2018 +0000
@@ -0,0 +1,91 @@
+/*
+ * @author: Thomas Garcia, 2017
+ */
+
+#ifndef __QUATERNION_H
+#define __QUATERNION_H
+
+struct vector {
+  float x;
+  float y;
+  float z;
+};
+
+struct quaternion {
+  float r;
+  float i;
+  float j;
+  float k;
+};
+
+/**
+ * Normalizes a vector.
+ *
+ * raw: pointer to the vector to be normalized.
+ * unit: pointer to where unit vector dimensions should be stored.
+ *
+ * returns: length of original vector
+ */
+float vector_normalize(struct vector *raw, struct vector *unit);
+
+/**
+ * Adds two vectors together.
+ *
+ * v1: pointer to the first vector to be added.
+ * v2: pointer to the second vector to be added.
+ * result: pointer where the sum of v1 and v2 should be stored.
+ */
+void vector_add(struct vector *v1, struct vector *v2, struct vector *result);
+
+/**
+ * Multiples a vector by a constant.
+ *
+ * v: pointer to the vector to be multiplied.
+ * c: scalar constant to multiply vector by.
+ * result: pointer where the c * v should be stored.
+ */
+void vector_multiply(struct vector *v, float c, struct vector *result);
+
+/**
+ * Creates a quaternion representing a rotation.
+ *
+ * v: unit vector representing the axis of rotation.
+ * angle: angle of rotation.
+ * result: quaternion representing a rotation of degree angle around the unit vector of v.
+ */
+void quaternion_create(struct vector *v, float angle, struct quaternion *result);
+
+/**
+ * Rotates a vector based on a quaternion.
+ *
+ * v: vector to be rotated.
+ * q: quaternion representing the rotation to be performed.
+ * result: The rotated vector.
+ */
+void quaternion_rotate(struct vector *v, struct quaternion *q, struct vector *result);
+
+/**
+ * Multiplies two quaternions together.
+ *
+ * q1: The first quaternion to be multiplied.
+ * q2: The second quaternion to be multiplied.
+ * result: q1 * q2.
+ */
+void quaternion_multiply(struct quaternion *q1, struct quaternion *q2, struct quaternion *result);
+
+/**
+ * Returns the roll, given a vector.
+ *
+ * v: The vector.
+ */
+float vector_roll(struct vector *v);
+
+/**
+ * Returns the pitch, given a vector.
+ *
+ * v: The vector.
+ */
+float vector_pitch(struct vector *v);
+
+#endif
+