Function TriQuaternionArcFromForward

trinity/TriMath.cpp:341–356

}

Quaternion* TriQuaternionArcFromForward(
	Quaternion* out,
	const Vector3* v )
{
	Vector3 temp = Normalize( *v );
	if( temp.z < 0.99999f )
	{
		temp.z = 1.0f - temp.z;
		temp.z = sqrtf( temp.z );
		float div = 0.707106781187f / temp.z;
		*out = Quaternion( temp.y * div, -temp.x * div, 0.0f, 0.707106781187f * temp.z );
		return out;
	}
	*out = Quaternion( 1.0f, 0.0f, 0.0f, 0.0f );
	return out;
}

void TriQuaternionToYawPitchRoll(
	float* yaw,