430 typedef float quat[4];  typedef
431 static inline void quat_identity(quat q) {  in quat_identity()
435 static inline void quat_add(quat r, quat a, quat b) {  in quat_add()
440 static inline void quat_sub(quat r, quat a, quat b) {  in quat_sub()
445 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()
459 static inline float quat_inner_product(quat a, quat b) {  in quat_inner_product()
466 static inline void quat_conj(quat r, quat q) {  in quat_conj()
473 static inline void quat_mul_vec3(vec3 r, quat q, vec3 v) {  in quat_mul_vec3()
474     quat v_ = {v[0], v[1], v[2], 0.f};  in quat_mul_vec3()
481 static inline void mat4x4_from_quat(mat4x4 M, quat q) {  in mat4x4_from_quat()
510 static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q) {  in mat4x4o_mul_quat()
520 static inline void quat_from_mat4x4(quat q, mat4x4 M) {  in quat_from_mat4x4()