Lines Matching refs:quat
227 * @param[in] quat 4-element quaternion in fixed point. One is 2^30.
234 void inv_quaternion_to_rotation(const long *quat, long *rot)
237 inv_q29_mult(quat[1], quat[1]) + inv_q29_mult(quat[0],
238 quat[0]) - 1073741824L;
239 rot[1] = inv_q29_mult(quat[1], quat[2]) - inv_q29_mult(quat[3], quat[0]);
240 rot[2] = inv_q29_mult(quat[1], quat[3]) + inv_q29_mult(quat[2], quat[0]);
241 rot[3] = inv_q29_mult(quat[1], quat[2]) + inv_q29_mult(quat[3], quat[0]);
243 inv_q29_mult(quat[2], quat[2]) + inv_q29_mult(quat[0],
244 quat[0]) - 1073741824L;
245 rot[5] = inv_q29_mult(quat[2], quat[3]) - inv_q29_mult(quat[1], quat[0]);
246 rot[6] = inv_q29_mult(quat[1], quat[3]) - inv_q29_mult(quat[2], quat[0]);
247 rot[7] = inv_q29_mult(quat[2], quat[3]) + inv_q29_mult(quat[1], quat[0]);
249 inv_q29_mult(quat[3], quat[3]) + inv_q29_mult(quat[0],
250 quat[0]) - 1073741824L;
