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