426 typedef float quat[4];  typedef
427 static inline void quat_identity(quat q)  in quat_identity()
432 static inline void quat_add(quat r, quat a, quat b)  in quat_add()
438 static inline void quat_sub(quat r, quat a, quat b)  in quat_sub()
444 static inline void quat_mul(quat r, quat p, quat q)  in quat_mul()
454 static inline void quat_scale(quat r, quat v, float s)  in quat_scale()
460 static inline float quat_inner_product(quat a, quat b)  in quat_inner_product()
468 static inline void quat_conj(quat r, quat q)  in quat_conj()
475 static inline void quat_rotate(quat r, float angle, vec3 axis) {  in quat_rotate()
484 static inline void quat_mul_vec3(vec3 r, quat q, vec3 v)  in quat_mul_vec3()
503 static inline void mat4x4_from_quat(mat4x4 M, quat q)  in mat4x4_from_quat()
533 static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)  in mat4x4o_mul_quat()
544 static inline void quat_from_mat4x4(quat q, mat4x4 M)  in quat_from_mat4x4()