Add quat_inv

armorcore/sources/iron_quat.c

@@ -173,3 +173,13 @@ quat_t quat_from_to(vec4_t v0, vec4_t v1) {
 		return quat_norm(q);
 	}
 }
+
+quat_t quat_inv(quat_t q) {
+	float l = q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w;
+	l = -1.0 / l;
+	q.x = q.x * l;
+	q.y = q.y * l;
+	q.z = q.z * l;
+	q.w = -q.w * l;
+	return q;
+}

armorcore/sources/iron_quat.h

@@ -16,3 +16,4 @@ quat_t quat_from_euler(float x, float y, float z);
 quat_t quat_lerp(quat_t from, quat_t to, float s);
 float quat_dot(quat_t a, quat_t b);
 quat_t quat_from_to(vec4_t v0, vec4_t v1);
+quat_t quat_inv(quat_t q);

armorcore/sources/ts/iron.ts

@@ -420,6 +420,7 @@ declare function quat_from_euler(x: f32, y: f32, z: f32): quat_t;
 declare function quat_lerp(from: quat_t, to: quat_t, s: f32): quat_t;
 declare function quat_dot(a: quat_t, b: quat_t): f32;
 declare function quat_from_to(v0: vec4_t, v1: vec4_t): quat_t;
+declare function quat_inv(q: quat_t): quat_t;
 
 declare type mat3_t = {
 	m?: f32_ptr;