Merge branch 'main' into animation

doc/en/scripting/builtins/libquat.md

@@ -2,14 +2,36 @@
 
 Quaternions manipulation library.
 
-## Quaternion from matrix - *mat4.from_quat(...)*
+Quaternions can be created as a table of 4 numbers:
+`{w, x, y, z}`
+
+## Quaternion from matrix - *quat.from_mat4(...)*
 
 ```lua
 -- creates a quaternion based on the rotation matrix
-quat.from_mat4(m: matrix)
+quat.from_mat4(m: matrix, [optional] dst: quat) -> quat
+```
 
--- writes a quaternion from the rotation matrix to dst
-quat.from_mat4(m: matrix, dst: quat)
+## Quaternion of Euler angles - *quat.from_euler(...)*
+
+```lua
+-- creates quaternion from euler angles passed as XYZ (pitch, yaw, roll)
+-- angles in degrees
+quat.from_euler(euler: vec3, [optional] dst: quat) -> quat
+```
+
+## Quaternion composition - quat.mul(...)
+
+```lua
+-- multiplies quaternions
+quat.mul(a: quat, b: quat, [optional] dst: quat) -> quat
+```
+
+## 3D vector rotation - quat.mul_vec3(...)
+
+```lua
+-- rotates vector by quaternion
+quat.mul_vec3(a: quat, b: vec3, [optional] dst: vec3) -> vec3
 ```
 
 ## Spherical linear interpolation - *quat.slerp(...)*
@@ -19,16 +41,12 @@ The interpolation always take the short path and the rotation is performed at co
 ```lua
 -- creates a quaternion as an interpolation between a and b,
 -- where t is interpolation factor
-quat.slerp(a: quat, b: quat, t: number)
-
--- writes a quaternion as an interpolation between a and b to dst,
--- where t is interpolation factor
-quat.slerp(a: quat, b: quat, t: number, dst: quat)
+quat.slerp(a: quat, b: quat, t: number, [optional] dst: quat) -> quat
 ```
 
 ## Casting to string - *quat.tostring(...)*
 
 ```lua
 -- returns a string representing the contents of the quaternion
-quat.tostring(q: quat)
+quat.tostring(q: quat) -> string
 ```