C语言quaternion(四元数)(附完整源码)

quaternion四元数类型定义 geometry_datatypes.h

#ifndef __LIBQUAT_H_
#define __LIBQUAT_H_

/** Minimum recognizable value. Any value less than this is considered to be
 * @f$=0@f$ */
#define EPSILON 1e-9

/**
 * @addtogroup vec_3d 3D Vector operations
 *