917 void C_QUATMtx( Quaternion *r, MTX_CONST Mtx m )  in C_QUATMtx()  argument
925     ASSERTMSG( ( m != 0 ), QUAT_MTX_2 );  in C_QUATMtx()
927     tr = m[0][0] + m[1][1] + m[2][2];  in C_QUATMtx()
933         r->x = (m[2][1] - m[1][2]) * s;  in C_QUATMtx()
934         r->y = (m[0][2] - m[2][0]) * s;  in C_QUATMtx()
935         r->z = (m[1][0] - m[0][1]) * s;  in C_QUATMtx()
940         if (m[1][1] > m[0][0]) i = 1;  in C_QUATMtx()
941         if (m[2][2] > m[i][i]) i = 2;  in C_QUATMtx()
944         s = (f32)sqrtf( (m[i][i] - (m[j][j] + m[k][k])) + 1.0f );  in C_QUATMtx()
950         r->w = (m[k][j] - m[j][k]) * s;  in C_QUATMtx()
951         q[j] = (m[i][j] + m[j][i]) * s;  in C_QUATMtx()
952         q[k] = (m[i][k] + m[k][i]) * s;  in C_QUATMtx()
1125 void C_MTXQuat ( Mtx m, const Quaternion *q )  in C_MTXQuat()  argument
1129     ASSERTMSG( (m != 0),                         MTX_QUAT_1     );  in C_MTXQuat()
1140     m[0][0] = 1.0f - (yy + zz);  in C_MTXQuat()
1141     m[0][1] = xy   - wz;  in C_MTXQuat()
1142     m[0][2] = xz   + wy;  in C_MTXQuat()
1143     m[0][3] = 0.0f;  in C_MTXQuat()
1145     m[1][0] = xy   + wz;  in C_MTXQuat()
1146     m[1][1] = 1.0f - (xx + zz);  in C_MTXQuat()
1147     m[1][2] = yz   - wx;  in C_MTXQuat()
1148     m[1][3] = 0.0f;  in C_MTXQuat()
1150     m[2][0] = xz   - wy;  in C_MTXQuat()
1151     m[2][1] = yz   + wx;  in C_MTXQuat()
1152     m[2][2] = 1.0f - (xx + yy);  in C_MTXQuat()
1153     m[2][3] = 0.0f;  in C_MTXQuat()
1162 void PSMTXQuat ( Mtx m, const Quaternion *q )  in PSMTXQuat()  argument
1233     __PSQ_STX(m, 12, c00, 1, 0);  in PSMTXQuat()
1243     __PSQ_STX(m, 44, c00, 1, 0);  in PSMTXQuat()
1253     __PSQ_STX(m, 40, tmp2, 1, 0);  in PSMTXQuat()
1267     __PSQ_STX(m, 16, D1, 0, 0);  in PSMTXQuat()
1281     __PSQ_STX(m, 0, D0, 0, 0);  in PSMTXQuat()
1285     __PSQ_STX(m, 8, tmp5, 1, 0);  in PSMTXQuat()
1296     __PSQ_STX(m, 24, D1, 0, 0);  in PSMTXQuat()
1301     __PSQ_STX(m, 32, D0, 0, 0);  in PSMTXQuat()