12 lines
377 B
C
12 lines
377 B
C
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#include <c3d/maths.h>
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C3D_FQuat Quat_Multiply(C3D_FQuat lhs, C3D_FQuat rhs)
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{
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float i = lhs.r*rhs.i + lhs.i*rhs.r + lhs.j*rhs.k - lhs.k*rhs.j;
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float j = lhs.r*rhs.j + lhs.j*rhs.r + lhs.k*rhs.i - lhs.i*rhs.k;
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float k = lhs.r*rhs.k + lhs.k*rhs.r + lhs.i*rhs.j - lhs.j*rhs.i;
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float r = lhs.r*rhs.r - lhs.i*rhs.i - lhs.j*rhs.j - lhs.k*rhs.k;
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return Quat_New(i, j, k, r);
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}
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