# GLM_GTC_quaternion

GLM_GTC_quaternion
GTC Extensions (Stable)

## Typedefs

typedef detail::tquat< double > | dquat
typedef detail::tquat< float > | fquat
typedef detail::tquat < highp_float > | highp_quat
typedef detail::tquat < detail::half > | hquat
typedef detail::tquat< lowp_float > | lowp_quat
typedef detail::tquat < mediump_float > | mediump_quat
typedef detail::tquat< float > | quat

## Functions

template<typename valType >
valType | angle (detail::tquat< valType > const &x)
template<typename valType >
detail::tquat< valType > | angleAxis (valType const &angle, valType const &x, valType const &y, valType const &z)
template<typename valType >
detail::tquat< valType > | angleAxis (valType const &angle, detail::tvec3< valType > const &axis)
template<typename valType >
detail::tvec3< valType > | axis (detail::tquat< valType > const &x)
template<typename T >
detail::tquat< T > | conjugate (detail::tquat< T > const &q)
template<typename T >
T | dot (detail::tquat< T > const &q1, detail::tquat< T > const &q2)
template<typename T >
detail::tvec3< T > | eulerAngles (detail::tquat< T > const &x)
template<typename T >
detail::tquat< T > | inverse (detail::tquat< T > const &q)
template<typename T >
T | length (detail::tquat< T > const &q)
template<typename T >
detail::tquat< T > | lerp (detail::tquat< T > const &x, detail::tquat< T > const &y, T const &a)
template<typename T >
detail::tmat3x3< T > | mat3_cast (detail::tquat< T > const &x)
template<typename T >
detail::tmat4x4< T > | mat4_cast (detail::tquat< T > const &x)
template<typename T >
detail::tquat< T > | mix (detail::tquat< T > const &x, detail::tquat< T > const &y, T const &a)
template<typename T >
detail::tquat< T > | normalize (detail::tquat< T > const &q)
template<typename valType >
valType | pitch (detail::tquat< valType > const &x)
template<typename T >
detail::tquat< T > | quat_cast (detail::tmat3x3< T > const &x)
template<typename T >
detail::tquat< T > | quat_cast (detail::tmat4x4< T > const &x)
template<typename valType >
valType | roll (detail::tquat< valType > const &x)
template<typename T >
detail::tquat< T > | rotate (detail::tquat< T > const &q, typename detail::tquat< T >::value_type const &angle, detail::tvec3< T > const &axis)
template<typename T >
detail::tquat< T > | slerp (detail::tquat< T > const &x, detail::tquat< T > const &y, T const &a)
template<typename valType >
valType | yaw (detail::tquat< valType > const &x)

## Detailed Description

Defines a templated quaternion type and several quaternion operations.

<glm/gtc/quaternion.hpp> need to be included to use these functionalities.

## Typedef Documentation

typedef detail::tquat<double> dquat

Quaternion of double-precision floating-point numbers.

See Also
  GLM_GTC_quaternion

Definition at line 359 of file gtc/quaternion.hpp.

typedef detail::tquat<float> fquat

Quaternion of single-precision floating-point numbers.

See Also
  GLM_GTC_quaternion

Definition at line 354 of file gtc/quaternion.hpp.

typedef detail::tquat<highp_float> highp_quat

Quaternion of high precision floating-point numbers.

See Also
  GLM_GTC_quaternion

Definition at line 374 of file gtc/quaternion.hpp.

typedef detail::tquat<detail::half> hquat

Quaternion of half-precision floating-point numbers.

See Also
  GLM_GTC_quaternion

Definition at line 349 of file gtc/quaternion.hpp.

typedef detail::tquat<lowp_float> lowp_quat

Quaternion of low precision floating-point numbers.

See Also
  GLM_GTC_quaternion

Definition at line 364 of file gtc/quaternion.hpp.

typedef detail::tquat<mediump_float> mediump_quat

Quaternion of medium precision floating-point numbers.

See Also
  GLM_GTC_quaternion

Definition at line 369 of file gtc/quaternion.hpp.

typedef detail::tquat<float> quat

Quaternion of floating-point numbers.

See Also
  GLM_GTC_quaternion

Definition at line 344 of file gtc/quaternion.hpp.

## Function Documentation

valType glm::angle | ( | detail::tquat< valType > const & | x | ) |

Returns the quaternion rotation angle.

See Also
  GLM_GTC_quaternion

detail::tquat<valType> glm::angleAxis | ( | valType const & | angle,
|  | valType const & | x,
|  | valType const & | y,
|  | valType const & | z
| ) |  |

Build a quaternion from an angle and a normalized axis.

Parameters

  angle | Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
  x | x component of the x-axis, x, y, z must be a normalized axis
  y | y component of the y-axis, x, y, z must be a normalized axis
  z | z component of the z-axis, x, y, z must be a normalized axis

See Also
  GLM_GTC_quaternion

detail::tquat<valType> glm::angleAxis | ( | valType const & | angle,
|  | detail::tvec3< valType > const & | axis
| ) |  |

Build a quaternion from an angle and a normalized axis.

Parameters

  angle | Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
  axis | Axis of the quaternion, must be normalized.

See Also
  GLM_GTC_quaternion

detail::tvec3<valType> glm::axis | ( | detail::tquat< valType > const & | x | ) |

Returns the q rotation axis.

See Also
  GLM_GTC_quaternion

detail::tquat<T> glm::conjugate | ( | detail::tquat< T > const & | q | ) |

Returns the q conjugate.

See Also
  GLM_GTC_quaternion

T glm::dot | ( | detail::tquat< T > const & | q1,
|  | detail::tquat< T > const & | q2
| ) |  |

Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...

See Also
  GLM_GTC_quaternion

detail::tvec3<T> glm::eulerAngles | ( | detail::tquat< T > const & | x | ) |

Returns euler angles, yitch as x, yaw as y, roll as z.

See Also
  GLM_GTC_quaternion

detail::tquat<T> glm::inverse | ( | detail::tquat< T > const & | q | ) |

Returns the q inverse.

See Also
  GLM_GTC_quaternion

T glm::length | ( | detail::tquat< T > const & | q | ) |

Returns the length of the quaternion.

See Also
  GLM_GTC_quaternion

detail::tquat<T> glm::lerp | ( | detail::tquat< T > const & | x,
|  | detail::tquat< T > const & | y,
|  | T const & | a
| ) |  |

Linear interpolation of two quaternions.

The interpolation is oriented.

Parameters

  x | A quaternion
  y | A quaternion
  a | Interpolation factor. The interpolation is defined in the range [0, 1].

Template Parameters

  T | Value type used to build the quaternion. Supported: half, float or double.

See Also
  GLM_GTC_quaternion

detail::tmat3x3<T> glm::mat3_cast | ( | detail::tquat< T > const & | x | ) |

Converts a quaternion to a 3 * 3 matrix.

See Also
  GLM_GTC_quaternion

Referenced by glm::toMat3().

detail::tmat4x4<T> glm::mat4_cast | ( | detail::tquat< T > const & | x | ) |

Converts a quaternion to a 4 * 4 matrix.

See Also
  GLM_GTC_quaternion

Referenced by glm::toMat4().

detail::tquat<T> glm::mix | ( | detail::tquat< T > const & | x,
|  | detail::tquat< T > const & | y,
|  | T const & | a
| ) |  |

Spherical linear interpolation of two quaternions.

The interpolation is oriented and the rotation is performed at constant speed. For short path spherical linear interpolation, use the slerp function.

Parameters

  x | A quaternion
  y | A quaternion
  a | Interpolation factor. The interpolation is defined beyond the range [0, 1].

Template Parameters

  T | Value type used to build the quaternion. Supported: half, float or double.

See Also
  GLM_GTC_quaternion
  - slerp(detail::tquat<T> const & x, detail::tquat<T> const & y, T const & a)

detail::tquat<T> glm::normalize | ( | detail::tquat< T > const & | q | ) |

Returns the normalized quaternion.

See Also
  GLM_GTC_quaternion

valType glm::pitch | ( | detail::tquat< valType > const & | x | ) |

Returns pitch value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.

See Also
  GLM_GTX_quaternion

detail::tquat<T> glm::quat_cast | ( | detail::tmat3x3< T > const & | x | ) |

Converts a 3 * 3 matrix to a quaternion.

See Also
  GLM_GTC_quaternion

Referenced by glm::toQuat().

detail::tquat<T> glm::quat_cast | ( | detail::tmat4x4< T > const & | x | ) |

Converts a 4 * 4 matrix to a quaternion.

See Also
  GLM_GTC_quaternion

valType glm::roll | ( | detail::tquat< valType > const & | x | ) |

Returns roll value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.

See Also
  GLM_GTX_quaternion

detail::tquat<T> glm::rotate | ( | detail::tquat< T > const & | q,
|  | typename detail::tquat< T >::value_type const & | angle,
|  | detail::tvec3< T > const & | axis
| ) |  |

Rotates a quaternion from an vector of 3 components axis and an angle.

Parameters

  q | Source orientation
  angle | Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
  axis | Axis of the rotation, must be normalized.

See Also
  GLM_GTC_quaternion

GLM_FUNC_QUALIFIER T slerp | ( | detail::tquat< T > const & | x,
|  | detail::tquat< T > const & | y,
|  | T const & | a
| ) |  |

Spherical linear interpolation of two quaternions.

Returns the slurp interpolation between two quaternions.

The interpolation always take the short path and the rotation is performed at constant speed.

Parameters

  x | A quaternion
  y | A quaternion
  a | Interpolation factor. The interpolation is defined beyond the range [0, 1].

Template Parameters

  T | Value type used to build the quaternion. Supported: half, float or double.

See Also
  GLM_GTC_quaternion

Definition at line 73 of file compatibility.hpp.

References glm::mix().

valType glm::yaw | ( | detail::tquat< valType > const & | x | ) |

Returns yaw value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.

See Also
  GLM_GTX_quaternion