Определены и реализованы основные функции кватернионов

Source/INS/geometry/quaternion.h

@@ -3,7 +3,27 @@
 #ifndef QUATERNION_H
 #define QUATERNION_H
 
+#include "vector.h"
+#include <stdbool.h>
 
+typedef struct
+{
+	float x, y, z, w;
+} Quaternion;
+
+Quaternion QuatNormalize(const Quaternion* q, const float gain);
+Quaternion QuatConjugate(const Quaternion* q);
+Quaternion QuatInvert(const Quaternion* q);
+Quaternion QuatNegate(const Quaternion* q);
+
+Quaternion QuatSum(const Quaternion* q1, const Quaternion* q2);
+Quaternion QuatDiff(const Quaternion* q1, const Quaternion* q2);
+Quaternion QuatConstProd(const Quaternion* q, const float value);
+Quaternion QuatProd(const Quaternion* q1, const Quaternion* q2);
+
+Vector3 QuatRotateAroundZ(const Vector3* vec, bool CCW);
+Quaternion QuatCreateRollPitchYaw(const Vector3* RollPitchYawRad);
+Quaternion QuatGetError(const Quaternion* current, const Quaternion* target, bool fastWay);
 
 
 #endif