crown-engine/game/lua/quat.lua

require("vec3")

local ffi = require("ffi")

ffi.cdef
[[
	typedef struct
	{
		Vec3  v;
		float w;

	} Quat;

	Quat&		quat(float angle, const Vec3& v);

	void		quat_negate(Quat& self);

	void		quat_load_identity(Quat& self);

	float		quat_length(Quat& self);	

	void		quat_conjugate(Quat& self);

	Quat&		quat_inverse(Quat& self);			

	Quat&		quat_cross(Quat& self, const Quat& b);

	Quat&		quat_multiply(Quat& self, const float& k);

	Quat&		quat_power(Quat& self, float exp);
]]

Quat = {}

Quat.quat 			= lib.quat
Quat.negate  		= lib.quat_negate
Quat.load_identity  = lib.quat_load_identity
Quat.length  		= lib.quat_length	
Quat.conjugate 		= lib.quat_conjugate
Quat.inverse  		= lib.quat_inverse			
Quat.cross  		= lib.quat_cross
Quat.multiply 		= lib.quat_multiply
Quat.power  		= lib.quat_power