[cogl] math: Adds an experimental quaternion API
- From: Robert Bragg <rbragg src gnome org>
- To: commits-list gnome org
- Cc:
- Subject: [cogl] math: Adds an experimental quaternion API
- Date: Mon, 16 May 2011 13:13:59 +0000 (UTC)
commit d1434d1c335755955c41df0366478986e81ad650
Author: Robert Bragg <robert linux intel com>
Date: Thu Feb 25 01:40:29 2010 +0000
math: Adds an experimental quaternion API
This adds an experimental quaternion utility API. It's not yet fully
documented but it's complete enough that people can start to experiment
with using it. It adds the following functions:
cogl_quaternion_init_identity
cogl_quaternion_init
cogl_quaternion_init_from_angle_vector
cogl_quaternion_init_from_array
cogl_quaternion_init_from_x_rotation
cogl_quaternion_init_from_y_rotation
cogl_quaternion_init_from_z_rotation
cogl_quaternion_equal
cogl_quaternion_copy
cogl_quaternion_free
cogl_quaternion_get_rotation_angle
cogl_quaternion_get_rotation_axis
cogl_quaternion_normalize
cogl_quaternion_dot_product
cogl_quaternion_invert
cogl_quaternion_multiply
cogl_quaternion_pow
cogl_quaternion_slerp
cogl_quaternion_nlerp
cogl_quaternion_squad
cogl_get_static_identity_quaternion
cogl_get_static_zero_quaternion
Since it's experimental API you'll need to define
COGL_ENABLE_EXPERIMENTAL_API before including cogl.h.
cogl/Makefile.am | 2 +
cogl/cogl-matrix-mesa.c | 38 ++
cogl/cogl-matrix-mesa.h | 5 +
cogl/cogl-matrix.c | 9 +
cogl/cogl-matrix.h | 21 +-
cogl/cogl-quaternion-private.h | 39 ++
cogl/cogl-quaternion.c | 617 ++++++++++++++++++++++++++++++
cogl/cogl-quaternion.h | 486 +++++++++++++++++++++++
cogl/cogl-types.h | 4 +
cogl/cogl.h | 1 +
doc/reference/cogl-2.0/cogl-docs.xml.in | 1 +
doc/reference/cogl-2.0/cogl-sections.txt | 28 ++
doc/reference/cogl/cogl-docs.xml.in | 1 +
doc/reference/cogl/cogl-sections.txt | 28 ++
14 files changed, 1278 insertions(+), 2 deletions(-)
---
diff --git a/cogl/Makefile.am b/cogl/Makefile.am
index dc88ba3..8e66aa4 100644
--- a/cogl/Makefile.am
+++ b/cogl/Makefile.am
@@ -64,6 +64,7 @@ cogl_public_h = \
$(srcdir)/cogl-material-compat.h \
$(srcdir)/cogl-pipeline.h \
$(srcdir)/cogl-vector.h \
+ $(srcdir)/cogl-quaternion.h \
$(srcdir)/cogl-matrix.h \
$(srcdir)/cogl-offscreen.h \
$(srcdir)/cogl-primitives.h \
@@ -230,6 +231,7 @@ cogl_sources_c = \
$(srcdir)/cogl-primitive.c \
$(srcdir)/cogl-matrix.c \
$(srcdir)/cogl-vector.c \
+ $(srcdir)/cogl-quaternion.c \
$(srcdir)/cogl-matrix-private.h \
$(srcdir)/cogl-matrix-stack.c \
$(srcdir)/cogl-matrix-stack.h \
diff --git a/cogl/cogl-matrix-mesa.c b/cogl/cogl-matrix-mesa.c
index 0356a11..9f5f3c9 100644
--- a/cogl/cogl-matrix-mesa.c
+++ b/cogl/cogl-matrix-mesa.c
@@ -70,6 +70,7 @@
*/
#include "cogl-matrix-mesa.h"
+#include "cogl-quaternion-private.h"
#include <string.h>
#include <math.h>
@@ -1586,6 +1587,43 @@ _math_matrix_init_from_array (CoglMatrix *matrix, const float *array)
matrix->flags = (MAT_FLAG_GENERAL | MAT_DIRTY_ALL);
}
+/*
+ */
+void
+_math_matrix_init_from_quaternion (CoglMatrix *matrix,
+ CoglQuaternion *quaternion)
+{
+ float qnorm = _COGL_QUATERNION_NORM (quaternion);
+ float s = (qnorm > 0.0f) ? (2.0f / qnorm) : 0.0f;
+ float xs = quaternion->x * s;
+ float ys = quaternion->y * s;
+ float zs = quaternion->z * s;
+ float wx = quaternion->w * xs;
+ float wy = quaternion->w * ys;
+ float wz = quaternion->w * zs;
+ float xx = quaternion->x * xs;
+ float xy = quaternion->x * ys;
+ float xz = quaternion->x * zs;
+ float yy = quaternion->y * ys;
+ float yz = quaternion->y * zs;
+ float zz = quaternion->z * zs;
+
+ matrix->xx = 1.0f - (yy + zz);
+ matrix->yx = xy + wz;
+ matrix->zx = xz - wy;
+ matrix->xy = xy - wz;
+ matrix->yy = 1.0f - (xx + zz);
+ matrix->zy = yz + wx;
+ matrix->xz = xz + wy;
+ matrix->yz = yz - wx;
+ matrix->zz = 1.0f - (xx + yy);
+ matrix->xw = matrix->yw = matrix->zw = 0.0f;
+ matrix->wx = matrix->wy = matrix->wz = 0.0f;
+ matrix->ww = 1.0f;
+
+ matrix->flags = (MAT_FLAG_GENERAL | MAT_DIRTY_ALL);
+}
+
/* }*/
diff --git a/cogl/cogl-matrix-mesa.h b/cogl/cogl-matrix-mesa.h
index 72ac865..e6f3cd9 100644
--- a/cogl/cogl-matrix-mesa.h
+++ b/cogl/cogl-matrix-mesa.h
@@ -51,6 +51,7 @@
#define _M_MATRIX_H
#include <cogl-matrix.h>
+#include <cogl-quaternion.h>
#include <glib.h>
@@ -111,6 +112,10 @@ void
_math_matrix_init_from_array (CoglMatrix *matrix, const float *array);
void
+_math_matrix_init_from_quaternion (CoglMatrix *matrix,
+ CoglQuaternion *quaternion);
+
+void
_math_matrix_translate (CoglMatrix *matrix, float x, float y, float z);
void
diff --git a/cogl/cogl-matrix.c b/cogl/cogl-matrix.c
index 625b89f..6e45d1d 100644
--- a/cogl/cogl-matrix.c
+++ b/cogl/cogl-matrix.c
@@ -32,6 +32,8 @@
#include <cogl.h>
#include "cogl-debug.h"
+#include <cogl-quaternion.h>
+#include <cogl-quaternion-private.h>
#include <cogl-matrix.h>
#include <cogl-matrix-private.h>
#ifdef USE_MESA_MATRIX_API
@@ -74,6 +76,13 @@ cogl_matrix_init_identity (CoglMatrix *matrix)
}
void
+cogl_matrix_init_from_quaternion (CoglMatrix *matrix,
+ CoglQuaternion *quaternion)
+{
+ _math_matrix_init_from_quaternion (matrix, quaternion);
+}
+
+void
cogl_matrix_multiply (CoglMatrix *result,
const CoglMatrix *a,
const CoglMatrix *b)
diff --git a/cogl/cogl-matrix.h b/cogl/cogl-matrix.h
index 1db1d8f..f94a644 100644
--- a/cogl/cogl-matrix.h
+++ b/cogl/cogl-matrix.h
@@ -30,6 +30,10 @@
#include <glib.h>
#include "cogl-types.h"
+#ifdef COGL_ENABLE_EXPERIMENTAL_API
+#include "cogl-quaternion.h"
+#endif
+
G_BEGIN_DECLS
/**
@@ -41,8 +45,6 @@ G_BEGIN_DECLS
* be used for direct manipulation of these matrices.
*/
-typedef struct _CoglMatrix CoglMatrix;
-
/**
* CoglMatrix:
*
@@ -360,6 +362,21 @@ cogl_matrix_init_from_array (CoglMatrix *matrix,
G_CONST_RETURN float *
cogl_matrix_get_array (const CoglMatrix *matrix);
+#ifdef COGL_ENABLE_EXPERIMENTAL_API
+/**
+ * cogl_matrix_init_from_quaternion:
+ * @matrix: A 4x4 transformation matrix
+ * @quaternion: A #CoglQuaternion
+ *
+ * Initializes @matrix from a #CoglQuaternion rotation.
+ *
+ * Return value: a pointer to the float array
+ */
+void
+cogl_matrix_init_from_quaternion (CoglMatrix *matrix,
+ CoglQuaternion *quaternion);
+#endif
+
/**
* cogl_matrix_equal:
* @v1: A 4x4 transformation matrix
diff --git a/cogl/cogl-quaternion-private.h b/cogl/cogl-quaternion-private.h
new file mode 100644
index 0000000..882e341
--- /dev/null
+++ b/cogl/cogl-quaternion-private.h
@@ -0,0 +1,39 @@
+/*
+ * Cogl
+ *
+ * An object oriented GL/GLES Abstraction/Utility Layer
+ *
+ * Copyright (C) 2008,2009 Intel Corporation.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ * Authors:
+ * Robert Bragg <robert linux intel com>
+ */
+
+#ifndef __COGL_QUATERNION_PRIVATE_H__
+#define __COGL_QUATERNION_PRIVATE_H__
+
+#include <glib.h>
+
+/* squared length */
+#define _COGL_QUATERNION_NORM(Q) \
+ ((Q)->x*(Q)->x + (Q)->y*(Q)->y + (Q)->z*(Q)->z + (Q)->w*(Q)->w)
+
+#define _COGL_QUATERNION_DEGREES_TO_RADIANS (G_PI / 180.0f)
+#define _COGL_QUATERNION_RADIANS_TO_DEGREES (180.0f / G_PI)
+
+#endif /* __COGL_QUATERNION_PRIVATE_H__ */
diff --git a/cogl/cogl-quaternion.c b/cogl/cogl-quaternion.c
new file mode 100644
index 0000000..ae5c798
--- /dev/null
+++ b/cogl/cogl-quaternion.c
@@ -0,0 +1,617 @@
+/*
+ * Cogl
+ *
+ * An object oriented GL/GLES Abstraction/Utility Layer
+ *
+ * Copyright (C) 2010 Intel Corporation.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ * Authors:
+ * Robert Bragg <robert linux intel com>
+ *
+ * Various references relating to quaternions:
+ *
+ * http://www.cs.caltech.edu/courses/cs171/quatut.pdf
+ * http://mathworld.wolfram.com/Quaternion.html
+ * http://www.gamedev.net/reference/articles/article1095.asp
+ * http://www.cprogramming.com/tutorial/3d/quaternions.html
+ * http://www.isner.com/tutorials/quatSpells/quaternion_spells_12.htm
+ * http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q56
+ * 3D Maths Primer for Graphics and Game Development ISBN-10: 1556229119
+ */
+
+#include <cogl.h>
+#include <cogl-quaternion.h>
+#include <cogl-quaternion-private.h>
+#include <cogl-matrix.h>
+#include <cogl-vector.h>
+
+#include <string.h>
+#include <math.h>
+
+#define FLOAT_EPSILON 1e-03
+
+static CoglQuaternion zero_quaternion =
+{
+ 0.0, 0.0, 0.0, 0.0,
+};
+
+static CoglQuaternion identity_quaternion =
+{
+ 1.0, 0.0, 0.0, 0.0,
+};
+
+void
+_cogl_quaternion_print (CoglQuaternion *quaternion)
+{
+ g_print ("[ %6.4f (%6.4f, %6.4f, %6.4f)]\n",
+ quaternion->w,
+ quaternion->x,
+ quaternion->y,
+ quaternion->z);
+}
+
+void
+cogl_quaternion_init (CoglQuaternion *quaternion,
+ float angle,
+ float x,
+ float y,
+ float z)
+{
+ CoglVector3 axis = { x, y, z};
+ cogl_quaternion_init_from_angle_vector (quaternion, angle, &axis);
+}
+
+void
+cogl_quaternion_init_from_angle_vector (CoglQuaternion *quaternion,
+ float angle,
+ const CoglVector3 *axis_in)
+{
+ /* NB: We are using quaternions to represent an axis (a), angle (ð???) pair
+ * in this form:
+ * [w=cos(ð???/2) ( x=sin(ð???/2)*a.x, y=sin(ð???/2)*a.y, z=sin(ð???/2)*a.x )]
+ */
+ CoglVector3 axis;
+ float half_angle;
+ float sin_half_angle;
+
+ /* XXX: Should we make cogl_vector3_normalize have separate in and
+ * out args? */
+ axis = *axis_in;
+ cogl_vector3_normalize (&axis);
+
+ half_angle = angle * _COGL_QUATERNION_DEGREES_TO_RADIANS * 0.5f;
+ sin_half_angle = sinf (half_angle);
+
+ quaternion->w = cosf (half_angle);
+
+ quaternion->x = axis.x * sin_half_angle;
+ quaternion->y = axis.y * sin_half_angle;
+ quaternion->z = axis.z * sin_half_angle;
+
+ cogl_quaternion_normalize (quaternion);
+}
+
+void
+cogl_quaternion_init_identity (CoglQuaternion *quaternion)
+{
+ quaternion->w = 1.0;
+
+ quaternion->x = 0.0;
+ quaternion->y = 0.0;
+ quaternion->z = 0.0;
+}
+
+void
+cogl_quaternion_init_from_array (CoglQuaternion *quaternion,
+ const float *array)
+{
+ memcpy (&quaternion->x, array, sizeof (float) * 4);
+}
+
+void
+cogl_quaternion_init_from_x_rotation (CoglQuaternion *quaternion,
+ float angle)
+{
+ /* NB: We are using quaternions to represent an axis (a), angle (ð???) pair
+ * in this form:
+ * [w=cos(ð???/2) ( x=sin(ð???/2)*a.x, y=sin(ð???/2)*a.y, z=sin(ð???/2)*a.x )]
+ */
+ float half_angle = angle * _COGL_QUATERNION_DEGREES_TO_RADIANS * 0.5f;
+
+ quaternion->w = cosf (half_angle);
+
+ quaternion->x = sinf (half_angle);
+ quaternion->y = 0.0f;
+ quaternion->z = 0.0f;
+}
+
+void
+cogl_quaternion_init_from_y_rotation (CoglQuaternion *quaternion,
+ float angle)
+{
+ /* NB: We are using quaternions to represent an axis (a), angle (ð???) pair
+ * in this form:
+ * [w=cos(ð???/2) ( x=sin(ð???/2)*a.x, y=sin(ð???/2)*a.y, z=sin(ð???/2)*a.x )]
+ */
+ float half_angle = angle * _COGL_QUATERNION_DEGREES_TO_RADIANS * 0.5f;
+
+ quaternion->w = cosf (half_angle);
+
+ quaternion->x = 0.0f;
+ quaternion->y = sinf (half_angle);
+ quaternion->z = 0.0f;
+}
+
+void
+cogl_quaternion_init_from_z_rotation (CoglQuaternion *quaternion,
+ float angle)
+{
+ /* NB: We are using quaternions to represent an axis (a), angle (ð???) pair
+ * in this form:
+ * [w=cos(ð???/2) ( x=sin(ð???/2)*a.x, y=sin(ð???/2)*a.y, z=sin(ð???/2)*a.x )]
+ */
+ float half_angle = angle * _COGL_QUATERNION_DEGREES_TO_RADIANS * 0.5f;
+
+ quaternion->w = cosf (half_angle);
+
+ quaternion->x = 0.0f;
+ quaternion->y = 0.0f;
+ quaternion->z = sinf (half_angle);
+}
+
+void
+cogl_quaternion_init_from_quaternion (CoglQuaternion *quaternion,
+ CoglQuaternion *src)
+{
+ memcpy (quaternion, src, sizeof (float) * 4);
+}
+
+/* XXX: it could be nice to make something like this public... */
+/*
+ * COGL_MATRIX_READ:
+ * @MATRIX: A 4x4 transformation matrix
+ * @ROW: The row of the value you want to read
+ * @COLUMN: The column of the value you want to read
+ *
+ * Reads a value from the given matrix using integers to index
+ * into the matrix.
+ */
+#define COGL_MATRIX_READ(MATRIX, ROW, COLUMN) \
+ (((const float *)matrix)[COLUMN * 4 + ROW])
+
+/**
+ * cogl_quaternion_init_from_matrix:
+ * @quaternion: A Cogl Quaternion
+ * @matrix: A rotation matrix with which to initialize the quaternion
+ *
+ * Initializes a quaternion from a rotation matrix.
+ *
+ * Since: 1.4
+ */
+void
+cogl_quaternion_init_from_matrix (CoglQuaternion *quaternion,
+ const CoglMatrix *matrix)
+{
+ /* Algorithm devised by Ken Shoemake, Ref:
+ * http://campar.in.tum.de/twiki/pub/Chair/DwarfTutorial/quatut.pdf
+ */
+
+ /* 3D maths literature refers to the diagonal of a matrix as the
+ * "trace" of a matrix... */
+ float trace = matrix->xx + matrix->yy + matrix->zz;
+ float root;
+
+ if (trace > 0.0f)
+ {
+ root = sqrtf (trace + 1);
+ quaternion->w = root * 0.5f;
+ root = 0.5f / root;
+ quaternion->x = (matrix->zy - matrix->yz) * root;
+ quaternion->y = (matrix->xz - matrix->zx) * root;
+ quaternion->z = (matrix->yx - matrix->xy) * root;
+ }
+ else
+ {
+#define X 0
+#define Y 1
+#define Z 2
+#define W 3
+ int h = X;
+ if (matrix->yy > matrix->xx)
+ h = Y;
+ if (matrix->zz > COGL_MATRIX_READ (matrix, h, h))
+ h = Z;
+ switch (h)
+ {
+#define CASE_MACRO(i, j, k, I, J, K) \
+ case I: \
+ root = sqrtf ((COGL_MATRIX_READ (matrix, I, I) - \
+ (COGL_MATRIX_READ (matrix, J, J) + \
+ COGL_MATRIX_READ (matrix, K, K))) + \
+ COGL_MATRIX_READ (matrix, W, W)); \
+ quaternion->i = root * 0.5f;\
+ root = 0.5f / root;\
+ quaternion->j = (COGL_MATRIX_READ (matrix, I, J) + \
+ COGL_MATRIX_READ (matrix, J, I)) * root; \
+ quaternion->k = (COGL_MATRIX_READ (matrix, K, I) + \
+ COGL_MATRIX_READ (matrix, I, K)) * root; \
+ quaternion->w = (COGL_MATRIX_READ (matrix, K, J) - \
+ COGL_MATRIX_READ (matrix, J, K)) * root;\
+ break
+ CASE_MACRO (x, y, z, X, Y, Z);
+ CASE_MACRO (y, z, x, Y, Z, X);
+ CASE_MACRO (z, x, y, Z, X, Y);
+#undef CASE_MACRO
+#undef X
+#undef Y
+#undef Z
+ }
+ }
+
+ if (matrix->ww != 1.0f)
+ {
+ float s = 1.0 / sqrtf (matrix->ww);
+ quaternion->w *= s;
+ quaternion->x *= s;
+ quaternion->y *= s;
+ quaternion->z *= s;
+ }
+}
+
+gboolean
+cogl_quaternion_equal (gconstpointer v1, gconstpointer v2)
+{
+ const CoglQuaternion *a = v1;
+ const CoglQuaternion *b = v2;
+
+ g_return_val_if_fail (v1 != NULL, FALSE);
+ g_return_val_if_fail (v2 != NULL, FALSE);
+
+ if (v1 == v2)
+ return TRUE;
+
+ return (a->w == b->w &&
+ a->x == b->x &&
+ a->y == b->y &&
+ a->z == b->z);
+}
+
+CoglQuaternion *
+cogl_quaternion_copy (const CoglQuaternion *src)
+{
+ if (G_LIKELY (src))
+ {
+ CoglQuaternion *new = g_slice_new (CoglQuaternion);
+ memcpy (new, src, sizeof (float) * 4);
+ return new;
+ }
+ else
+ return NULL;
+}
+
+void
+cogl_quaternion_free (CoglQuaternion *quaternion)
+{
+ g_slice_free (CoglQuaternion, quaternion);
+}
+
+float
+cogl_quaternion_get_rotation_angle (const CoglQuaternion *quaternion)
+{
+ /* NB: We are using quaternions to represent an axis (a), angle (ð???) pair
+ * in this form:
+ * [w=cos(ð???/2) ( x=sin(ð???/2)*a.x, y=sin(ð???/2)*a.y, z=sin(ð???/2)*a.x )]
+ */
+
+ /* FIXME: clamp [-1, 1] */
+ return 2.0f * acosf (quaternion->w) * _COGL_QUATERNION_RADIANS_TO_DEGREES;
+}
+
+void
+cogl_quaternion_get_rotation_axis (const CoglQuaternion *quaternion,
+ CoglVector3 *vector)
+{
+ float sin_half_angle_sqr;
+ float one_over_sin_angle_over_2;
+
+ /* NB: We are using quaternions to represent an axis (a), angle (ð???) pair
+ * in this form:
+ * [w=cos(ð???/2) ( x=sin(ð???/2)*a.x, y=sin(ð???/2)*a.y, z=sin(ð???/2)*a.x )]
+ */
+
+ /* NB: sin²(ð???) + cos²(ð???) = 1 */
+
+ sin_half_angle_sqr = 1.0f - quaternion->w * quaternion->w;
+
+ if (sin_half_angle_sqr <= 0.0f)
+ {
+ /* Either an identity quaternion or numerical imprecision.
+ * Either way we return an arbitrary vector. */
+ vector->x = 1;
+ vector->y = 0;
+ vector->z = 0;
+ return;
+ }
+
+ /* Calculate 1 / sin(ð???/2) */
+ one_over_sin_angle_over_2 = 1.0f / sqrtf (sin_half_angle_sqr);
+
+ vector->x = quaternion->x * one_over_sin_angle_over_2;
+ vector->x = quaternion->x * one_over_sin_angle_over_2;
+ vector->x = quaternion->x * one_over_sin_angle_over_2;
+}
+
+void
+cogl_quaternion_normalize (CoglQuaternion *quaternion)
+{
+ float slen = _COGL_QUATERNION_NORM (quaternion);
+ float factor = 1.0f / sqrtf (slen);
+
+ quaternion->x *= factor;
+ quaternion->y *= factor;
+ quaternion->z *= factor;
+
+ quaternion->w *= factor;
+
+ return;
+}
+
+float
+cogl_quaternion_dot_product (const CoglQuaternion *a,
+ const CoglQuaternion *b)
+{
+ return a->w * b->w + a->x * b->x + a->y * b->y + a->z * b->z;
+}
+
+void
+cogl_quaternion_invert (CoglQuaternion *quaternion)
+{
+ quaternion->x = -quaternion->x;
+ quaternion->y = -quaternion->y;
+ quaternion->z = -quaternion->z;
+}
+
+void
+cogl_quaternion_multiply (CoglQuaternion *result,
+ const CoglQuaternion *a,
+ const CoglQuaternion *b)
+{
+ result->w = a->w * b->w - a->x * b->x - a->y * b->y - a->z * b->z;
+
+ result->x = a->w * b->x + a->x * b->w + a->y * b->z - a->z * b->y;
+ result->y = a->w * b->y + a->y * b->w + a->z * b->x - a->x * b->z;
+ result->z = a->w * b->z + a->z * b->w + a->x * b->y - a->y * b->x;
+}
+
+void
+cogl_quaternion_pow (CoglQuaternion *quaternion, float exponent)
+{
+ float half_angle;
+ float new_half_angle;
+ float factor;
+
+ /* Try and identify and nop identity quaternions to avoid
+ * dividing by zero */
+ if (fabs (quaternion->w) > 0.9999f)
+ return;
+
+ /* NB: We are using quaternions to represent an axis (a), angle (ð???) pair
+ * in this form:
+ * [w=cos(ð???/2) ( x=sin(ð???/2)*a.x, y=sin(ð???/2)*a.y, z=sin(ð???/2)*a.x )]
+ */
+
+ /* FIXME: clamp [-1, 1] */
+ /* Extract ð???/2 from w */
+ half_angle = acosf (quaternion->w);
+
+ /* Compute the new ð???/2 */
+ new_half_angle = half_angle * exponent;
+
+ /* Compute the new w value */
+ quaternion->w = cosf (new_half_angle);
+
+ /* And new xyz values */
+ factor = sinf (new_half_angle) / sinf (half_angle);
+ quaternion->x *= factor;
+ quaternion->y *= factor;
+ quaternion->z *= factor;
+}
+
+void
+cogl_quaternion_slerp (CoglQuaternion *result,
+ const CoglQuaternion *a,
+ const CoglQuaternion *b,
+ float t)
+{
+ float cos_difference;
+ float qb_w;
+ float qb_x;
+ float qb_y;
+ float qb_z;
+ float fa;
+ float fb;
+
+ g_return_if_fail (t >=0 && t <= 1.0f);
+
+ if (t == 0)
+ {
+ *result = *a;
+ return;
+ }
+ else if (t == 1)
+ {
+ *result = *b;
+ return;
+ }
+
+ /* compute the cosine of the angle between the two given quaternions */
+ cos_difference = cogl_quaternion_dot_product (a, b);
+
+ /* If negative, use -b. Two quaternions q and -q represent the same angle but
+ * may produce a different slerp. We choose b or -b to rotate using the acute
+ * angle.
+ */
+ if (cos_difference < 0.0f)
+ {
+ qb_w = -b->w;
+ qb_x = -b->x;
+ qb_y = -b->y;
+ qb_z = -b->z;
+ cos_difference = -cos_difference;
+ }
+ else
+ {
+ qb_w = b->w;
+ qb_x = b->x;
+ qb_y = b->y;
+ qb_z = b->z;
+ }
+
+ /* If we have two unit quaternions the dot should be <= 1.0 */
+ g_assert (cos_difference < 1.1f);
+
+
+ /* Determine the interpolation factors for each quaternion, simply using
+ * linear interpolation for quaternions that are nearly exactly the same.
+ * (this will avoid divisions by zero)
+ */
+
+ if (cos_difference > 0.9999f)
+ {
+ fa = 1.0f - t;
+ fb = t;
+
+ /* XXX: should we also normalize() at the end in this case? */
+ }
+ else
+ {
+ /* Calculate the sin of the angle between the two quaternions using the
+ * trig identity: sin²(ð???) + cos²(ð???) = 1
+ */
+ float sin_difference = sqrtf (1.0f - cos_difference * cos_difference);
+
+ float difference = atan2f (sin_difference, cos_difference);
+ float one_over_sin_difference = 1.0f / sin_difference;
+ fa = sinf ((1.0f - t) * difference) * one_over_sin_difference;
+ fb = sinf (t * difference) * one_over_sin_difference;
+ }
+
+ /* Finally interpolate the two quaternions */
+
+ result->x = fa * a->x + fb * qb_x;
+ result->y = fa * a->y + fb * qb_y;
+ result->z = fa * a->z + fb * qb_z;
+ result->w = fa * a->w + fb * qb_w;
+}
+
+void
+cogl_quaternion_nlerp (CoglQuaternion *result,
+ const CoglQuaternion *a,
+ const CoglQuaternion *b,
+ float t)
+{
+ float cos_difference;
+ float qb_w;
+ float qb_x;
+ float qb_y;
+ float qb_z;
+ float fa;
+ float fb;
+
+ g_return_if_fail (t >=0 && t <= 1.0f);
+
+ if (t == 0)
+ {
+ *result = *a;
+ return;
+ }
+ else if (t == 1)
+ {
+ *result = *b;
+ return;
+ }
+
+ /* compute the cosine of the angle between the two given quaternions */
+ cos_difference = cogl_quaternion_dot_product (a, b);
+
+ /* If negative, use -b. Two quaternions q and -q represent the same angle but
+ * may produce a different slerp. We choose b or -b to rotate using the acute
+ * angle.
+ */
+ if (cos_difference < 0.0f)
+ {
+ qb_w = -b->w;
+ qb_x = -b->x;
+ qb_y = -b->y;
+ qb_z = -b->z;
+ cos_difference = -cos_difference;
+ }
+ else
+ {
+ qb_w = b->w;
+ qb_x = b->x;
+ qb_y = b->y;
+ qb_z = b->z;
+ }
+
+ /* If we have two unit quaternions the dot should be <= 1.0 */
+ g_assert (cos_difference < 1.1f);
+
+ fa = 1.0f - t;
+ fb = t;
+
+ result->x = fa * a->x + fb * qb_x;
+ result->y = fa * a->y + fb * qb_y;
+ result->z = fa * a->z + fb * qb_z;
+ result->w = fa * a->w + fb * qb_w;
+
+ cogl_quaternion_normalize (result);
+}
+
+/**
+ * cogl_quaternion_squad:
+ *
+ */
+void
+cogl_quaternion_squad (CoglQuaternion *result,
+ const CoglQuaternion *prev,
+ const CoglQuaternion *a,
+ const CoglQuaternion *b,
+ const CoglQuaternion *next,
+ float t)
+{
+ CoglQuaternion slerp0;
+ CoglQuaternion slerp1;
+
+ cogl_quaternion_slerp (&slerp0, a, b, t);
+ cogl_quaternion_slerp (&slerp1, prev, next, t);
+ cogl_quaternion_slerp (result, &slerp0, &slerp1, 2.0f * t * (1.0f - t));
+}
+
+const CoglQuaternion *
+cogl_get_static_identity_quaternion (void)
+{
+ return &identity_quaternion;
+}
+
+const CoglQuaternion *
+cogl_get_static_zero_quaternion (void)
+{
+ return &zero_quaternion;
+}
+
diff --git a/cogl/cogl-quaternion.h b/cogl/cogl-quaternion.h
new file mode 100644
index 0000000..da4e765
--- /dev/null
+++ b/cogl/cogl-quaternion.h
@@ -0,0 +1,486 @@
+/*
+ * Cogl
+ *
+ * An object oriented GL/GLES Abstraction/Utility Layer
+ *
+ * Copyright (C) 2010 Intel Corporation.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the
+ * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ * Authors:
+ * Robert Bragg <robert linux intel com>
+ */
+
+#if !defined(__COGL_H_INSIDE__) && !defined(CLUTTER_COMPILATION)
+#error "Only <cogl/cogl.h> can be included directly."
+#endif
+
+#ifndef __COGL_QUATERNION_H__
+#define __COGL_QUATERNION_H__
+
+#include <cogl/cogl-types.h>
+#include <cogl/cogl-vector.h>
+
+G_BEGIN_DECLS
+
+/**
+ * SECTION:cogl-quaternion
+ * @short_description: Functions for initializing and manipulating
+ * quaternions.
+ *
+ * Quaternions have become a standard form for representing 3D
+ * rotations and have some nice properties when compared with other
+ * representation such as (roll,pitch,yaw) Euler angles. They can be
+ * used to interpolate between different rotations and they don't
+ * suffer from a problem called "Gimbal lock" where two of the axis of
+ * rotation may become aligned and you loose a degree of freedom.
+ * (<ulink url="http://en.wikipedia.org/wiki/Gimbal_lock"/>).
+ */
+
+/**
+ * CoglQuaternion:
+ *
+ * A quaternion is comprised of a scalar component and a 3D vector
+ * component. The scalar component is normally referred to as w and the
+ * vector might either be referred to as v or a (for axis) or expanded
+ * with the individual components: (x, y, z) A full quaternion would
+ * then be written as <pre>[w (x, y, z)]</pre>.
+ *
+ * Quaternions can be considered to represent an axis and angle
+ * pair although sadly these numbers are buried somewhat under some
+ * maths...
+ *
+ * For the curious you can see here that a given axis (a) and angle (ð???)
+ * pair are represented in a quaternion as follows:
+ * |[
+ * [w=cos(ð???/2) ( x=sin(ð???/2)*a.x, y=sin(ð???/2)*a.y, z=sin(ð???/2)*a.x )]
+ * ]|
+ *
+ * Unit Quaternions:
+ * When using Quaternions to represent spatial orientations for 3D
+ * graphics it's always assumed you have a unit quaternion. The
+ * magnitude of a quaternion is defined as:
+ * |[
+ * sqrt (w² + x² + y² + z²)
+ * ]|
+ * and a unit quaternion satisfies this equation:
+ * |[
+ * w² + x² + y² + z² = 1
+ * ]|
+ *
+ * Thankfully most of the time we don't actually have to worry about
+ * the maths that goes on behind the scenes but if you are curious to
+ * learn more here are some external references:
+ *
+ * <itemizedlist>
+ * <listitem>
+ * <ulink url="http://mathworld.wolfram.com/Quaternion.html"/>
+ * </listitem>
+ * <listitem>
+ * <ulink url="http://www.gamedev.net/reference/articles/article1095.asp"/>
+ * </listitem>
+ * <listitem>
+ * <ulink url="http://www.cprogramming.com/tutorial/3d/quaternions.html"/>
+ * </listitem>
+ * <listitem>
+ * <ulink url="http://www.isner.com/tutorials/quatSpells/quaternion_spells_12.htm"/>
+ * </listitem>
+ * <listitem>
+ * 3D Maths Primer for Graphics and Game Development ISBN-10: 1556229119
+ * </listitem>
+ * <listitem>
+ * <ulink url="http://www.cs.caltech.edu/courses/cs171/quatut.pdf"/>
+ * </listitem>
+ * <listitem>
+ * <ulink url="http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q56"/>
+ * </listitem>
+ * </itemizedlist>
+ *
+ * @w: based on the angle of rotation it is cos(ð???/2)
+ * @x: based on the angle of rotation and x component of the axis of
+ * rotation it is sin(ð???/2)*axis.x
+ * @y: based on the angle of rotation and y component of the axis of
+ * rotation it is sin(ð???/2)*axis.y
+ * @z: based on the angle of rotation and z component of the axis of
+ * rotation it is sin(ð???/2)*axis.z
+ */
+struct _CoglQuaternion
+{
+ float w;
+
+ float x;
+ float y;
+ float z;
+
+ float padding0;
+ float padding1;
+ float padding2;
+ float padding3;
+};
+
+/**
+ * cogl_quaternion_init:
+ * @quaternion: An uninitialized #CoglQuaternion
+ * @angle: The angle you want to rotate around the given axis
+ * @x: The x component of your axis vector about which you want to
+ * rotate.
+ * @y: The y component of your axis vector about which you want to
+ * rotate.
+ * @z: The z component of your axis vector about which you want to
+ * rotate.
+ *
+ * Initializes a quaternion that rotates @angle degrees around the
+ * axis vector (@x, @y, @z). The axis vector does not need to be
+ * normalized.
+ *
+ * Returns: A normalized, unit quaternion representing an orientation
+ * rotated @angle degrees around the axis vector (@x, @y, @z)
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_init (CoglQuaternion *quaternion,
+ float angle,
+ float x,
+ float y,
+ float z);
+
+/**
+ * cogl_quaternion_init_from_angle_vector:
+ * @quaternion: An uninitialized #CoglQuaternion
+ * @axis: your axis vector about which you want to rotate.
+ *
+ * Initializes a quaternion that rotates @angle degrees around the
+ * given @axis vector. The axis vector does not need to be
+ * normalized.
+ *
+ * Returns: A normalized, unit quaternion representing an orientation
+ * rotated @angle degrees around the given @axis vector.
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_init_from_angle_vector (CoglQuaternion *quaternion,
+ float angle,
+ const CoglVector3 *axis);
+
+/**
+ * cogl_quaternion_init_identity:
+ * @quaternion: An uninitialized #CoglQuaternion
+ *
+ * Initializes the quaternion with the canonical quaternion identity
+ * [1 (0, 0, 0)] which represents no rotation. Multiplying a
+ * quaternion with this identity leaves the quaternion unchanged.
+ *
+ * You might also want to consider using
+ * cogl_get_static_identity_quaternion().
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_init_identity (CoglQuaternion *quaternion);
+
+/**
+ * cogl_quaternion_init_from_array:
+ * @quaternion: A #CoglQuaternion
+ * @array: An array of 4 floats (x,y,z),w
+ *
+ * Initializes a [w (x, y,z)] quaternion directly from an array of 4
+ * floats: [w,x,y,z].
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_init_from_array (CoglQuaternion *quaternion,
+ const float *array);
+
+/**
+ * cogl_quaternion_init_from_x_rotation:
+ * @quaternion: An uninitialized #CoglQuaternion
+ * @angle: The angle to rotate around the x axis
+ *
+ * XXX: check which direction this rotates
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_init_from_x_rotation (CoglQuaternion *quaternion,
+ float angle);
+
+/**
+ * cogl_quaternion_init_from_y_rotation:
+ * @quaternion: An uninitialized #CoglQuaternion
+ * @angle: The angle to rotate around the y axis
+ *
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_init_from_y_rotation (CoglQuaternion *quaternion,
+ float angle);
+
+/**
+ * cogl_quaternion_init_from_z_rotation:
+ * @quaternion: An uninitialized #CoglQuaternion
+ * @angle: The angle to rotate around the y axis
+ *
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_init_from_z_rotation (CoglQuaternion *quaternion,
+ float angle);
+
+/**
+ * cogl_quaternion_equal:
+ * @a: A #CoglQuaternion
+ * @b: A #CoglQuaternion
+ *
+ * Compares that all the components of quaternions @a and @b are
+ * equal.
+ *
+ * An epsilon value is not used to compare the float components, but
+ * the == operator is at least used so that 0 and -0 are considered
+ * equal.
+ *
+ * Returns: %TRUE if the quaternions are equal else %FALSE.
+ *
+ * Since: 2.0
+ */
+gboolean
+cogl_quaternion_equal (gconstpointer v1, gconstpointer v2);
+
+/**
+ * cogl_quaternion_copy:
+ * @src: A #CoglQuaternion
+ *
+ * Allocates a new #CoglQuaternion on the stack and initializes it with
+ * the same values as @src.
+ *
+ * Returns: A newly allocated #CoglQuaternion which should be freed
+ * using cogl_quaternion_free()
+ *
+ * Since: 2.0
+ */
+CoglQuaternion *
+cogl_quaternion_copy (const CoglQuaternion *src);
+
+/**
+ * cogl_quaternion_free:
+ * @quaternion: A #CoglQuaternion
+ *
+ * Frees a #CoglQuaternion that was previously allocated via
+ * cogl_quaternion_copy().
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_free (CoglQuaternion *quaternion);
+
+/**
+ * cogl_quaternion_get_rotation_angle:
+ * @quaternion: A #CoglQuaternion
+ *
+ *
+ * Since: 2.0
+ */
+float
+cogl_quaternion_get_rotation_angle (const CoglQuaternion *quaternion);
+
+/**
+ * cogl_quaternion_get_rotation_axis:
+ * @quaternion: A #CoglQuaternion
+ *
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_get_rotation_axis (const CoglQuaternion *quaternion,
+ CoglVector3 *vector);
+
+/**
+ * cogl_quaternion_normalize:
+ * @quaternion: A #CoglQuaternion
+ *
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_normalize (CoglQuaternion *quaternion);
+
+/**
+ * cogl_quaternion_dot_product:
+ * @quaternion: A #CoglQuaternion
+ *
+ *
+ * Since: 2.0
+ */
+float
+cogl_quaternion_dot_product (const CoglQuaternion *a,
+ const CoglQuaternion *b);
+
+/**
+ * cogl_quaternion_invert:
+ * @quaternion: A #CoglQuaternion
+ *
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_invert (CoglQuaternion *quaternion);
+
+/**
+ * cogl_quaternion_multiply:
+ * @result: The destination #CoglQuaternion
+ * @left: The second #CoglQuaternion rotation to apply
+ * @right: The first #CoglQuaternion rotation to apply
+ *
+ * This combines the rotations of two quaternions into @result. The
+ * operation is not commutative so the order is important because AxB
+ * != BxA. Cogl follows the standard convention for quaternions here
+ * so the rotations are applied @right to @left. This is similar to the
+ * combining of matrices.
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_multiply (CoglQuaternion *result,
+ const CoglQuaternion *left,
+ const CoglQuaternion *right);
+
+/**
+ * cogl_quaternion_pow:
+ * @quaternion: A #CoglQuaternion
+ *
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_pow (CoglQuaternion *quaternion, float exponent);
+
+/**
+ * cogl_quaternion_slerp:
+ *
+ * Performs a spherical linear interpolation between two quaternions.
+ *
+ * Noteable properties:
+ * <itemizedlist>
+ * <listitem>
+ * commutative: No
+ * </listitem>
+ * <listitem>
+ * constant velocity: Yes
+ * </listitem>
+ * <listitem>
+ * torque minimal (travels along the surface of the 4-sphere): Yes
+ * </listitem>
+ * <listitem>
+ * more expensive than cogl_quaternion_nlerp()
+ * </listitem>
+ * </itemizedlist>
+ */
+void
+cogl_quaternion_slerp (CoglQuaternion *result,
+ const CoglQuaternion *a,
+ const CoglQuaternion *b,
+ float t);
+
+/**
+ * cogl_quaternion_nlerp:
+ * @result: The destination #CoglQuaternion
+ * @a: The first #CoglQuaternion
+ * @b: The second #CoglQuaternion
+ * @t: The factor in the range [0,1] used to interpolate between
+ * quaterion @a and @b.
+ *
+ * Performs a normalized linear interpolation between two quaternions.
+ * That is it does a linear interpolation of the quaternion components
+ * and then normalizes the result. This will follow the shortest arc
+ * between the two orientations (just like the slerp() function) but
+ * will not progress at a constant speed. Unlike slerp() nlerp is
+ * commutative which is useful if you are blending animations
+ * together. (I.e. nlerp (tmp, a, b) followed by nlerp (result, tmp,
+ * d) is the same as nlerp (tmp, a, d) followed by nlerp (result, tmp,
+ * b)). Finally nlerp is cheaper than slerp so it can be a good choice
+ * if you don't need the constant speed property of the slerp() function.
+ *
+ * Notable properties:
+ * <itemizedlist>
+ * <listitem>
+ * commutative: Yes
+ * </listitem>
+ * <listitem>
+ * constant velocity: No
+ * </listitem>
+ * <listitem>
+ * torque minimal (travels along the surface of the 4-sphere): Yes
+ * </listitem>
+ * <listitem>
+ * faster than cogl_quaternion_slerp()
+ * </listitem>
+ * </itemizedlist>
+ */
+void
+cogl_quaternion_nlerp (CoglQuaternion *result,
+ const CoglQuaternion *a,
+ const CoglQuaternion *b,
+ float t);
+/**
+ * cogl_quaternion_squad:
+ *
+ *
+ * Since: 2.0
+ */
+void
+cogl_quaternion_squad (CoglQuaternion *result,
+ const CoglQuaternion *prev,
+ const CoglQuaternion *a,
+ const CoglQuaternion *b,
+ const CoglQuaternion *next,
+ float t);
+
+/**
+ * cogl_get_static_identity_quaternion:
+ *
+ * Returns a pointer to a singleton quaternion constant describing the
+ * canonical identity [1 (0, 0, 0)] which represents no rotation.
+ *
+ * If you multiply a quaternion with the identity quaternion you will
+ * get back the same value as the original quaternion.
+ *
+ * Returns: A pointer to an identity quaternion
+ *
+ * Since: 2.0
+ */
+const CoglQuaternion *
+cogl_get_static_identity_quaternion (void);
+
+/**
+ * cogl_get_static_zero_quaternion:
+ *
+ * Returns: a pointer to a singleton quaternion constant describing a
+ * rotation of 180 degrees around a degenerate axis:
+ * [0 (0, 0, 0)]
+ *
+ * Since: 2.0
+ */
+const CoglQuaternion *
+cogl_get_static_zero_quaternion (void);
+
+G_END_DECLS
+
+#endif /* __COGL_QUATERNION_H__ */
+
diff --git a/cogl/cogl-types.h b/cogl/cogl-types.h
index 47a17b1..28644a9 100644
--- a/cogl/cogl-types.h
+++ b/cogl/cogl-types.h
@@ -118,6 +118,10 @@ cogl_object_unref (void *object);
*/
typedef void (* CoglFuncPtr) (void);
+/* We forward declare this in cogl-types to avoid circular dependencies
+ * between cogl-matrix.h, cogl-euler.h and cogl-quaterion.h */
+typedef struct _CoglMatrix CoglMatrix;
+
/**
* CoglFixed:
*
diff --git a/cogl/cogl.h b/cogl/cogl.h
index cbd2d0c..21a453d 100644
--- a/cogl/cogl.h
+++ b/cogl/cogl.h
@@ -77,6 +77,7 @@ typedef struct _CoglFramebuffer CoglFramebuffer;
#include <cogl/cogl-buffer.h>
#include <cogl/cogl-pixel-array.h>
#include <cogl/cogl-vector.h>
+#include <cogl/cogl-quaternion.h>
#include <cogl/cogl-texture-3d.h>
#include <cogl/cogl-index-array.h>
#include <cogl/cogl-vertex-array.h>
diff --git a/doc/reference/cogl-2.0/cogl-docs.xml.in b/doc/reference/cogl-2.0/cogl-docs.xml.in
index 6e02ecf..70a476c 100644
--- a/doc/reference/cogl-2.0/cogl-docs.xml.in
+++ b/doc/reference/cogl-2.0/cogl-docs.xml.in
@@ -112,6 +112,7 @@
<xi:include href="xml/cogl-color.xml"/>
<xi:include href="xml/cogl-matrix.xml"/>
<xi:include href="xml/cogl-vector.xml"/>
+ <xi:include href="xml/cogl-quaternion.xml"/>
<xi:include href="xml/cogl-types.xml"/>
</section>
diff --git a/doc/reference/cogl-2.0/cogl-sections.txt b/doc/reference/cogl-2.0/cogl-sections.txt
index e73a348..883135e 100644
--- a/doc/reference/cogl-2.0/cogl-sections.txt
+++ b/doc/reference/cogl-2.0/cogl-sections.txt
@@ -356,6 +356,34 @@ cogl_matrix_get_inverse
</SECTION>
<SECTION>
+<FILE>cogl-quaternion</FILE>
+<TITLE>Quaternions (Rotations)</TITLE>
+CoglQuaternion
+cogl_quaternion_init_identity
+cogl_quaternion_init
+cogl_quaternion_init_from_angle_vector
+cogl_quaternion_init_from_array
+cogl_quaternion_init_from_x_rotation
+cogl_quaternion_init_from_y_rotation
+cogl_quaternion_init_from_z_rotation
+cogl_quaternion_equal
+cogl_quaternion_copy
+cogl_quaternion_free
+cogl_quaternion_get_rotation_angle
+cogl_quaternion_get_rotation_axis
+cogl_quaternion_normalize
+cogl_quaternion_dot_product
+cogl_quaternion_invert
+cogl_quaternion_multiply
+cogl_quaternion_pow
+cogl_quaternion_slerp
+cogl_quaternion_nlerp
+cogl_quaternion_squad
+cogl_get_static_identity_quaternion
+cogl_get_static_zero_quaternion
+</SECTION>
+
+<SECTION>
<FILE>cogl-pipeline</FILE>
<TITLE>Pipeline</TITLE>
cogl_pipeline_new
diff --git a/doc/reference/cogl/cogl-docs.xml.in b/doc/reference/cogl/cogl-docs.xml.in
index a2a3159..4f3c452 100644
--- a/doc/reference/cogl/cogl-docs.xml.in
+++ b/doc/reference/cogl/cogl-docs.xml.in
@@ -97,6 +97,7 @@
<xi:include href="xml/cogl-buffer.xml"/>
<xi:include href="xml/cogl-vector.xml"/>
<xi:include href="xml/cogl-texture-3d.xml"/>
+ <xi:include href="xml/cogl-quaternion.xml"/>
</chapter>
diff --git a/doc/reference/cogl/cogl-sections.txt b/doc/reference/cogl/cogl-sections.txt
index 359bfac..10423e0 100644
--- a/doc/reference/cogl/cogl-sections.txt
+++ b/doc/reference/cogl/cogl-sections.txt
@@ -658,3 +658,31 @@ cogl_program_uniform_matrix
cogl_offscreen_ref
cogl_offscreen_unref
</SECTION>
+
+<SECTION>
+<FILE>cogl-quaternion</FILE>
+<TITLE>Quaternions (Rotations)</TITLE>
+CoglQuaternion
+cogl_quaternion_init_identity
+cogl_quaternion_init
+cogl_quaternion_init_from_angle_vector
+cogl_quaternion_init_from_array
+cogl_quaternion_init_from_x_rotation
+cogl_quaternion_init_from_y_rotation
+cogl_quaternion_init_from_z_rotation
+cogl_quaternion_equal
+cogl_quaternion_copy
+cogl_quaternion_free
+cogl_quaternion_get_rotation_angle
+cogl_quaternion_get_rotation_axis
+cogl_quaternion_normalize
+cogl_quaternion_dot_product
+cogl_quaternion_invert
+cogl_quaternion_multiply
+cogl_quaternion_pow
+cogl_quaternion_slerp
+cogl_quaternion_nlerp
+cogl_quaternion_squad
+cogl_get_static_identity_quaternion
+cogl_get_static_zero_quaternion
+</SECTION>
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