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ctreffs merged 2 commits into from
Aug 24, 2026
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Enable missing_docs rule and add missing API documentation #62

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6e64df2
Enable missing_docs rule in SwiftLint config
ctreffs Aug 24, 2026
0f219f5
Add missing documentation comments to public declarations
ctreffs Aug 24, 2026
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2 changes: 1 addition & 1 deletion .swiftlint.yml
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Expand Up @@ -17,7 +17,7 @@ opt_in_rules:
#- file_name
#- file_types_order
#- indentation_width
#- missing_docs
- missing_docs
#- multiline_arguments_brackets
#- multiline_literal_brackets
#- multiline_parameters_brackets
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4 changes: 4 additions & 0 deletions Sources/FirebladeMath/Functions/radians.swift
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Expand Up @@ -14,6 +14,10 @@ public func radians(_ degrees: Double) -> Double {
degrees * kDegreeToRadians64
}

/// Converts degress to radians.
///
/// - Parameter degrees: an angle vector (in degrees)
/// - Returns: the argument converted to radians.
@inline(__always)
public func radians(_ degrees: Vec3f) -> Vec3f {
Vec3f(x: FirebladeMath.radians(degrees.x),
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45 changes: 45 additions & 0 deletions Sources/FirebladeMath/Quat/Quat4f+Euler.swift
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Expand Up @@ -12,6 +12,9 @@ extension Quat4f {
// return Quat4f(q1, q2, q3, q4)
// }

/// Creates a quaternion from Euler angles using 1-2-3 (X-Y-Z) rotation sequence.
/// - Parameter euler: Euler angles in radians.
/// - Returns: A quaternion representing the rotation.
public static func fromEulerAngles_123(_ euler: Vec3f) -> Quat4f {
let c1 = cos(euler.x / 2.0)
let s1 = sin(euler.x / 2.0)
Expand Down Expand Up @@ -41,6 +44,9 @@ extension Quat4f {
// return Quat4f(q1, q2, q3, q4)
// }

/// Creates a quaternion from Euler angles using 1-3-2 (X-Z-Y) rotation sequence.
/// - Parameter euler: Euler angles in radians.
/// - Returns: A quaternion representing the rotation.
public static func fromEulerAngles_132(_ euler: Vec3f) -> Quat4f {
let c1 = cos(euler.x / 2.0)
let s1 = sin(euler.x / 2.0)
Expand Down Expand Up @@ -70,6 +76,9 @@ extension Quat4f {
// return Quat4f(q1, q2, q3, q4)
// }

/// Creates a quaternion from Euler angles using 2-1-3 (Y-X-Z) rotation sequence.
/// - Parameter euler: Euler angles in radians.
/// - Returns: A quaternion representing the rotation.
public static func fromEulerAngles_213(_ euler: Vec3f) -> Quat4f {
let c1 = cos(euler.x / 2.0)
let s1 = sin(euler.x / 2.0)
Expand All @@ -86,6 +95,9 @@ extension Quat4f {
return Quat4f(q1, q2, q3, q4)
}

/// Creates a quaternion from Euler angles using 2-3-1 (Y-Z-X) rotation sequence.
/// - Parameter euler: Euler angles in radians.
/// - Returns: A quaternion representing the rotation.
public static func fromEulerAngles_231(_ euler: Vec3f) -> Quat4f {
let c1 = cos(euler.x / 2.0)
let s1 = sin(euler.x / 2.0)
Expand Down Expand Up @@ -115,6 +127,9 @@ extension Quat4f {
// return Quat4f(q1, q2, q3, q4)
// }

/// Creates a quaternion from Euler angles using 3-1-2 (Z-X-Y) rotation sequence.
/// - Parameter euler: Euler angles in radians.
/// - Returns: A quaternion representing the rotation.
public static func fromEulerAngles_312(_ euler: Vec3f) -> Quat4f {
let c1 = cos(euler.x / 2.0)
let s1 = sin(euler.x / 2.0)
Expand Down Expand Up @@ -144,6 +159,9 @@ extension Quat4f {
// return Quat4f(q1, q2, q3, q4)
// }

/// Creates a quaternion from Euler angles using 3-2-1 (Z-Y-X) rotation sequence.
/// - Parameter euler: Euler angles in radians.
/// - Returns: A quaternion representing the rotation.
public static func fromEulerAngles_321(_ euler: Vec3f) -> Quat4f {
let c1 = cos(euler.x / 2.0)
let s1 = sin(euler.x / 2.0)
Expand All @@ -160,23 +178,32 @@ extension Quat4f {
return Quat4f(q1, q2, q3, q4)
}

/// Creates a quaternion from pitch, yaw, and roll angles in radians.
/// - Parameters:
/// - pitch: Rotation around the X axis in radians.
/// - yaw: Rotation around the Y axis in radians.
/// - roll: Rotation around the Z axis in radians.
@inlinable
public init(pitch: Float, yaw: Float, roll: Float) {
self = Quat4f.fromEulerAngles_321(Vec3f(pitch, yaw, roll))
}

/// The Euler angles (pitch, yaw, roll) in radians.
@inlinable public var eulerAngles: Vec3f {
quaternionToEulerAngles_321(self)
}

/// The pitch angle in radians (rotation around the X axis).
@inlinable public var pitch: Float {
eulerAngles.x
}

/// The yaw angle in radians (rotation around the Y axis).
@inlinable public var yaw: Float {
eulerAngles.y
}

/// The roll angle in radians (rotation around the Z axis).
@inlinable public var roll: Float {
eulerAngles.z
}
Expand Down Expand Up @@ -208,6 +235,9 @@ extension Quat4f {
// return Vec3f(e1, e2, e3)
// }

/// Converts a quaternion to Euler angles using 1-2-3 (X-Y-Z) rotation sequence.
/// - Parameter quat: The input quaternion.
/// - Returns: The Euler angles in radians.
public func quaternionToEulerAngles_123(_ quat: Quat4f) -> Vec3f {
let q0 = quat.w
let q1 = quat.z
Expand All @@ -231,6 +261,9 @@ public func quaternionToEulerAngles_123(_ quat: Quat4f) -> Vec3f {
// return Vec3f(e1, e2, e3)
// }

/// Converts a quaternion to Euler angles using 1-3-2 (X-Z-Y) rotation sequence.
/// - Parameter quat: The input quaternion.
/// - Returns: The Euler angles in radians.
public func quaternionToEulerAngles_132(_ quat: Quat4f) -> Vec3f {
let q0 = quat.w
let q1 = quat.z
Expand All @@ -255,6 +288,9 @@ public func quaternionToEulerAngles_132(_ quat: Quat4f) -> Vec3f {
// return Vec3f(e1, e2, e3)
// }

/// Converts a quaternion to Euler angles using 2-1-3 (Y-X-Z) rotation sequence.
/// - Parameter quat: The input quaternion.
/// - Returns: The Euler angles in radians.
public func quaternionToEulerAngles_213(_ quat: Quat4f) -> Vec3f {
let q0 = quat.w
let q1 = quat.z
Expand All @@ -268,6 +304,9 @@ public func quaternionToEulerAngles_213(_ quat: Quat4f) -> Vec3f {
return Vec3f(e1, e2, e3)
}

/// Converts a quaternion to Euler angles using 2-3-1 (Y-Z-X) rotation sequence.
/// - Parameter quat: The input quaternion.
/// - Returns: The Euler angles in radians.
public func quaternionToEulerAngles_231(_ quat: Quat4f) -> Vec3f {
let q0 = quat.w
let q1 = quat.z
Expand All @@ -292,6 +331,9 @@ public func quaternionToEulerAngles_231(_ quat: Quat4f) -> Vec3f {
// return Vec3f(e1, e2, e3)
// }

/// Converts a quaternion to Euler angles using 3-1-2 (Z-X-Y) rotation sequence.
/// - Parameter quat: The input quaternion.
/// - Returns: The Euler angles in radians.
public func quaternionToEulerAngles_312(_ quat: Quat4f) -> Vec3f {
let q0 = quat.w
let q1 = quat.z
Expand All @@ -316,6 +358,9 @@ public func quaternionToEulerAngles_312(_ quat: Quat4f) -> Vec3f {
// return Vec3f(e1, e2, e3)
// }

/// Converts a quaternion to Euler angles using 3-2-1 (Z-Y-X) rotation sequence.
/// - Parameter quat: The input quaternion.
/// - Returns: The Euler angles in radians.
public func quaternionToEulerAngles_321(_ quat: Quat4f) -> Vec3f {
let q0 = quat.w
let q1 = quat.z
Expand Down
2 changes: 2 additions & 0 deletions Sources/FirebladeMath/Quat/Quaternion+Identity.swift
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@@ -1,10 +1,12 @@
extension Quat4d {
/// Returns the identity quaternion.
public static var identity: Quat4d {
Quat4d(0.0, 0.0, 0.0, 1.0)
}
}

extension Quat4f {
/// Returns the identity quaternion.
public static var identity: Quat4f {
Quat4f(0.0, 0.0, 0.0, 1.0)
}
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