QuaternionExp

/* QuaternionExp(Quaternion const&, Quaternion&) */

void QuaternionExp(Quaternion *param_1,Quaternion *param_2)

{
  longdouble lVar1;
  float fVar2;
  float fVar3;
  float fVar4;
  float fVar5;
  float fVar6;
  double dVar7;
  double local_14;
  
  fVar4 = *(float *)param_1;
  fVar5 = *(float *)(param_1 + 4);
  fVar6 = *(float *)(param_1 + 8);
  fVar2 = SQRT(fVar5 * fVar5 + fVar4 * fVar4 + fVar6 * fVar6);
  lVar1 = (longdouble)__expf_finite(*(undefined4 *)(param_1 + 0xc));
  if (fVar2 < 1e-05) {
    fVar4 = 0.0;
    local_14 = (double)(float)lVar1;
    fVar5 = fVar4;
    fVar6 = fVar4;
  }
  else {
    local_14 = (double)(float)lVar1;
    dVar7 = sin((double)fVar2);
    fVar3 = (float)((dVar7 * local_14) / (double)fVar2);
    fVar4 = fVar4 * fVar3;
    fVar5 = fVar5 * fVar3;
    fVar6 = fVar6 * fVar3;
  }
  dVar7 = cos((double)fVar2);
  *(float *)param_2 = fVar4;
  *(float *)(param_2 + 4) = fVar5;
  *(float *)(param_2 + 8) = fVar6;
  *(float *)(param_2 + 0xc) = (float)(dVar7 * local_14);
  return;
}