0.9.9 API documenation
GLM_GTC_quaternion

Include <glm/gtc/quaternion.hpp> to use the features of this extension. More...

## Functions

template<typename T , qualifier Q>
GLM_FUNC_DECL T angle (tquat< T, Q > const &x)
Returns the quaternion rotation angle. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL tquat< T, Q > angleAxis (T const &angle, vec< 3, T, Q > const &axis)
Build a quaternion from an angle and a normalized axis. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL vec< 3, T, Q > axis (tquat< T, Q > const &x)
Returns the q rotation axis. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL tquat< T, Q > conjugate (tquat< T, Q > const &q)
Returns the q conjugate. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL T dot (tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ... More...

template<typename T , qualifier Q>
GLM_FUNC_DECL vec< 4, bool, Q > equal (tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x == y. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL vec< 3, T, Q > eulerAngles (tquat< T, Q > const &x)
Returns euler angles, pitch as x, yaw as y, roll as z. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL vec< 4, bool, Q > greaterThan (tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x > y. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL vec< 4, bool, Q > greaterThanEqual (tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x >= y. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL tquat< T, Q > inverse (tquat< T, Q > const &q)
Returns the q inverse. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL vec< 4, bool, Q > isinf (tquat< T, Q > const &x)
Returns true if x holds a positive infinity or negative infinity representation in the underlying implementation's set of floating point representations. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL vec< 4, bool, Q > isnan (tquat< T, Q > const &x)
Returns true if x holds a NaN (not a number) representation in the underlying implementation's set of floating point representations. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL T length (tquat< T, Q > const &q)
Returns the length of the quaternion. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL tquat< T, Q > lerp (tquat< T, Q > const &x, tquat< T, Q > const &y, T a)
Linear interpolation of two quaternions. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL vec< 4, bool, Q > lessThan (tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison result of x < y. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL vec< 4, bool, Q > lessThanEqual (tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x <= y. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL mat< 3, 3, T, Q > mat3_cast (tquat< T, Q > const &x)
Converts a quaternion to a 3 * 3 matrix. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL mat< 4, 4, T, Q > mat4_cast (tquat< T, Q > const &x)
Converts a quaternion to a 4 * 4 matrix. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL tquat< T, Q > mix (tquat< T, Q > const &x, tquat< T, Q > const &y, T a)
Spherical linear interpolation of two quaternions. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL tquat< T, Q > normalize (tquat< T, Q > const &q)
Returns the normalized quaternion. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL vec< 4, bool, Q > notEqual (tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x != y. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL T pitch (tquat< T, Q > const &x)
Returns pitch value of euler angles expressed in radians. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL tquat< T, Q > quat_cast (mat< 3, 3, T, Q > const &x)
Converts a pure rotation 3 * 3 matrix to a quaternion. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL tquat< T, Q > quat_cast (mat< 4, 4, T, Q > const &x)
Converts a pure rotation 4 * 4 matrix to a quaternion. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL T roll (tquat< T, Q > const &x)
Returns roll value of euler angles expressed in radians. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL tquat< T, Q > rotate (tquat< T, Q > const &q, T const &angle, vec< 3, T, Q > const &axis)
Rotates a quaternion from a vector of 3 components axis and an angle. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL tquat< T, Q > slerp (tquat< T, Q > const &x, tquat< T, Q > const &y, T a)
Spherical linear interpolation of two quaternions. More...

template<typename T , qualifier Q>
GLM_FUNC_DECL T yaw (tquat< T, Q > const &x)
Returns yaw value of euler angles expressed in radians. More...

## Detailed Description

Include <glm/gtc/quaternion.hpp> to use the features of this extension.

Defines a templated quaternion type and several quaternion operations.

## Function Documentation

 GLM_FUNC_DECL T glm::angle ( tquat< T, Q > const & x )

Returns the quaternion rotation angle.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL tquat glm::angleAxis ( T const & angle, vec< 3, T, Q > const & axis )

Build a quaternion from an angle and a normalized axis.

Parameters
 angle Angle expressed in radians. axis Axis of the quaternion, must be normalized.
Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL vec<3, T, Q> glm::axis ( tquat< T, Q > const & x )

Returns the q rotation axis.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL tquat glm::conjugate ( tquat< T, Q > const & q )

Returns the q conjugate.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL T glm::dot ( tquat< T, Q > const & x, tquat< T, Q > const & y )

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

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL vec<4, bool, Q> glm::equal ( tquat< T, Q > const & x, tquat< T, Q > const & y )

Returns the component-wise comparison of result x == y.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL vec<3, T, Q> glm::eulerAngles ( tquat< T, Q > const & x )

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

The result is expressed in radians.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL vec<4, bool, Q> glm::greaterThan ( tquat< T, Q > const & x, tquat< T, Q > const & y )

Returns the component-wise comparison of result x > y.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL vec<4, bool, Q> glm::greaterThanEqual ( tquat< T, Q > const & x, tquat< T, Q > const & y )

Returns the component-wise comparison of result x >= y.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL tquat glm::inverse ( tquat< T, Q > const & q )

Returns the q inverse.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL vec<4, bool, Q> glm::isinf ( tquat< T, Q > const & x )

Returns true if x holds a positive infinity or negative infinity representation in the underlying implementation's set of floating point representations.

Returns false otherwise, including for implementations with no infinity representations.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL vec<4, bool, Q> glm::isnan ( tquat< T, Q > const & x )

Returns true if x holds a NaN (not a number) representation in the underlying implementation's set of floating point representations.

Returns false otherwise, including for implementations with no NaN representations.

/!\ When using compiler fast math, this function may fail.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL T glm::length ( tquat< T, Q > const & q )

Returns the length of the quaternion.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL tquat glm::lerp ( tquat< T, Q > const & x, tquat< T, Q > const & y, T 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 Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL vec<4, bool, Q> glm::lessThan ( tquat< T, Q > const & x, tquat< T, Q > const & y )

Returns the component-wise comparison result of x < y.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL vec<4, bool, Q> glm::lessThanEqual ( tquat< T, Q > const & x, tquat< T, Q > const & y )

Returns the component-wise comparison of result x <= y.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL mat<3, 3, T, Q> glm::mat3_cast ( tquat< T, Q > const & x )

Converts a quaternion to a 3 * 3 matrix.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion

Referenced by glm::toMat3().

 GLM_FUNC_DECL mat<4, 4, T, Q> glm::mat4_cast ( tquat< T, Q > const & x )

Converts a quaternion to a 4 * 4 matrix.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion

Referenced by glm::toMat4().

 GLM_FUNC_DECL tquat glm::mix ( tquat< T, Q > const & x, tquat< T, Q > const & y, T 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 Floating-point scalar types.
- slerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T const& a)
GLM_GTC_quaternion
 GLM_FUNC_DECL tquat glm::normalize ( tquat< T, Q > const & q )

Returns the normalized quaternion.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL vec<4, bool, Q> glm::notEqual ( tquat< T, Q > const & x, tquat< T, Q > const & y )

Returns the component-wise comparison of result x != y.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL T glm::pitch ( tquat< T, Q > const & x )

Returns pitch value of euler angles expressed in radians.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL tquat glm::quat_cast ( mat< 3, 3, T, Q > const & x )

Converts a pure rotation 3 * 3 matrix to a quaternion.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion

Referenced by glm::toQuat().

 GLM_FUNC_DECL tquat glm::quat_cast ( mat< 4, 4, T, Q > const & x )

Converts a pure rotation 4 * 4 matrix to a quaternion.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL T glm::roll ( tquat< T, Q > const & x )

Returns roll value of euler angles expressed in radians.

Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL tquat glm::rotate ( tquat< T, Q > const & q, T const & angle, vec< 3, T, Q > const & axis )

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

Parameters
 q Source orientation angle Angle expressed in radians. axis Axis of the rotation
Template Parameters
 T Floating-point scalar types.
GLM_GTC_quaternion
 GLM_FUNC_DECL tquat glm::slerp ( tquat< T, Q > const & x, tquat< T, Q > const & y, T a )

Spherical linear interpolation of 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 Floating-point scalar types.