24 void initQuat(Quat *q, const struct Mat33 *R) {  in initQuat()  argument
29     q->x = sqrtf(clamp(Hx - My - Az + 1.0f) * 0.25f);  in initQuat()
30     q->y = sqrtf(clamp(-Hx + My - Az + 1.0f) * 0.25f);  in initQuat()
31     q->z = sqrtf(clamp(-Hx - My + Az + 1.0f) * 0.25f);  in initQuat()
32     q->w = sqrtf(clamp(Hx + My + Az + 1.0f) * 0.25f);  in initQuat()
33     q->x = copysignf(q->x, R->elem[1][2] - R->elem[2][1]);  in initQuat()
34     q->y = copysignf(q->y, R->elem[2][0] - R->elem[0][2]);  in initQuat()
35     q->z = copysignf(q->z, R->elem[0][1] - R->elem[1][0]);  in initQuat()
38 void quatToMatrix(struct Mat33 *R, const Quat *q) {  in quatToMatrix()  argument
39     float q0 = q->w;  in quatToMatrix()
40     float q1 = q->x;  in quatToMatrix()
41     float q2 = q->y;  in quatToMatrix()
42     float q3 = q->z;  in quatToMatrix()
64 void quatNormalize(Quat *q) {  in quatNormalize()  argument
65     if (q->w < 0.0f) {  in quatNormalize()
66         q->x = -q->x;  in quatNormalize()
67         q->y = -q->y;  in quatNormalize()
68         q->z = -q->z;  in quatNormalize()
69         q->w = -q->w;  in quatNormalize()
73         1.0f / sqrtf(q->x * q->x + q->y * q->y + q->z * q->z + q->w * q->w);  in quatNormalize()
75     q->x *= invNorm;  in quatNormalize()
76     q->y *= invNorm;  in quatNormalize()
77     q->z *= invNorm;  in quatNormalize()
78     q->w *= invNorm;  in quatNormalize()