1 files changed, 15 insertions, 15 deletions

diff --git a/include/math/quat.h b/include/math/quat.h
index 4503abd..b284567 100644
--- a/include/math/quat.h
+++ b/include/math/quat.h
@@ -23,14 +23,14 @@ static inline quat quat_from_array(const R xyzw[4]) {
 
 /// Construct a rotation quaternion.
 static inline quat qmake_rot(R angle, R x, R y, R z) {
-  const R a = angle * 0.5;
-  const R sa = sin(a);
-  const R w = cos(a);
-  R mag = sqrt(x * x + y * y + z * z);
-  mag = mag == 0.0 ? 1.0 : mag;
-  x = x * sa;
-  y = y * sa;
-  z = z * sa;
+  const R a   = angle * 0.5;
+  const R sa  = sin(a);
+  const R w   = cos(a);
+  R       mag = sqrt(x * x + y * y + z * z);
+  mag         = mag == 0.0 ? 1.0 : mag;
+  x           = x * sa;
+  y           = y * sa;
+  z           = z * sa;
   return (quat){x / mag, y / mag, z / mag, w};
 }
 
@@ -46,7 +46,7 @@ static inline quat qmul(quat q1, quat q2) {
 /// Invert the quaternion.
 static inline quat qinv(quat q) {
   R magsq = q.w * q.w + q.x * q.x + q.y * q.y + q.z * q.z;
-  magsq = magsq == 0.0f ? 1.0f : magsq;
+  magsq   = magsq == 0.0f ? 1.0f : magsq;
   return (quat){-q.x / magsq, -q.y / magsq, -q.z / magsq, q.w / magsq};
 }
 
@@ -55,9 +55,9 @@ static inline quat qconj(quat q) { return (quat){-q.x, -q.y, -q.z, q.w}; }
 
 /// Rotate the given vector by the given unit quaternion.
 static inline vec3 qrot(quat q, vec3 v) {
-  const quat p = qconj(q);
+  const quat p  = qconj(q);
   const quat qv = (quat){v.x, v.y, v.z, 0};
-  const quat u = qmul(qmul(q, qv), p);
+  const quat u  = qmul(qmul(q, qv), p);
   return vec3_make(u.x, u.y, u.z);
 }
 
@@ -72,8 +72,8 @@ static inline mat4 mat4_from_quat(quat q) {
   const R wx = q.w * q.x;
   const R wy = q.w * q.y;
   const R wz = q.w * q.z;
-  return mat4_make(1 - 2 * yy - 2 * zz, 2 * xy - 2 * wz, 2 * xz + 2 * wy, 0,
-                   2 * xy + 2 * wz, 1 - 2 * xx - 2 * zz, 2 * yz - 2 * wx, 0,
-                   2 * xz - 2 * wy, 2 * yz + 2 * wx, 1 - 2 * xx - 2 * yy, 0, 0,
-                   0, 0, 1);
+  return mat4_make(
+      1 - 2 * yy - 2 * zz, 2 * xy - 2 * wz, 2 * xz + 2 * wy, 0, 2 * xy + 2 * wz,
+      1 - 2 * xx - 2 * zz, 2 * yz - 2 * wx, 0, 2 * xz - 2 * wy, 2 * yz + 2 * wx,
+      1 - 2 * xx - 2 * yy, 0, 0, 0, 0, 1);
 }