Function v_euler_from_quat

include/vecmath/dag_vecMath_common.h:1386–1408

.xyz = heading, attitude, bank

// .xyz = heading, attitude, bank
VECTORCALL inline vec3f v_euler_from_quat(quat4f quat)
{
  vec4f test = v_dot2(v_perm_xzxz(quat), v_perm_ywyw(quat));
  vec4f testSign = v_and(test, V_CI_SIGN_MASK);
  vec4f testAbs = v_xor(test, testSign);
  vec4f specialCase = v_cmp_ge(testAbs, v_splats(0.49999f));
  vec4f m1 = v_perm_xxyy(quat);
  vec4f m2 = v_perm_zwzw(quat);
  vec4f m = v_mul(m1, m2);
  vec4f s = v_rot_2(v_perm_yyww(m));
  vec4f x = v_sub(s, m);
  vec4f qSq = v_sqr(quat);
  vec4f y = v_sub(V_C_HALF, v_add(v_perm_yzxw(qSq), v_splat_z(qSq)));
  x = v_sel(x, quat, specialCase);
  y = v_sel(y, v_splat_w(quat), specialCase);
  vec4f attX = v_add(test, test);
  vec4f attY = v_cos_from_sin_x(attX);
  x = v_sel(x, attX, V_CI_MASK0100);
  y = v_sel(y, v_splat_x(attY), V_CI_MASK0100);
  vec4f angles = v_atan2(x, y);
  vec4f specialAngles = v_perm_xycd(v_or(v_perm_xaxa(v_add_x(angles, angles), V_C_HALFPI), testSign), v_zero());
  return v_sel(angles, specialAngles, specialCase);
}

VECTORCALL inline quat4f v_quat_slerp(vec4f t, quat4f a, quat4f b)
{