ccore/include/core/Quaternion.h

#ifndef CORE_QUATERNION_H
#define CORE_QUATERNION_H

#include "core/Vector.h"

typedef struct {
    Vector3 xyz;
    float w;
} Quaternion;

#define UNIT_QUATERNION ((Quaternion){{{0.0f, 0.0f, 0.0f}}, 1.0f})

Quaternion* axisAngleQ(Quaternion* q, const Vector3* axis, float angle);
Quaternion* lerpQ(Quaternion* q, const Quaternion* a, float f,
                  const Quaternion* b);
Quaternion* mulSetQ(Quaternion* q, const Quaternion* other);
Quaternion* mulQ(Quaternion* q, const Quaternion* a, const Quaternion* b);
Vector3* mulQV3(Vector3* r, const Quaternion* q, const Vector3* v);
size_t toStringQ(const Quaternion* q, char* buffer, size_t n);

#endif