quat.h

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#ifndef QUAT_H
#define QUAT_H
 
#include "dolphin/mtx/vec.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct Quaternion {
    f32 x, y, z, w;
} Quaternion;
 
typedef f32 PSQuaternion[4];
 
void PSQUATMultiply(const Quaternion* a, const Quaternion* b, Quaternion* ab);
void C_QUATRotAxisRad(Quaternion* q, const Vec* axis, f32 rad);
void C_QUATSlerp(const Quaternion* p, const Quaternion* q, Quaternion* r, f32 t);
 
/* When compiling in debug mode, use C implementations */
#ifdef DEBUG
// TODO: Add debug rom C implementations
/* #define QUATMultiply C_QUATMultiply */
 
#define QUATMultiply PSQUATMultiply
#else
#define QUATMultiply PSQUATMultiply
#endif
 
#ifdef __cplusplus
};
#endif
 
#endif /* QUAT_H */