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# GLM_GTC_quaternion: Quaternion types and functions

GTC Extensions (Stable)

Defines a templated quaternion type and several quaternion operations. More...

## Classes
struct | tquat< T >
| Template for quaternion. More...
## Typedefs
typedef detail::tquat< double > | dquat
| Quaternion of double-precision floating-point numbers.
typedef detail::tquat< float > | fquat
| Quaternion of single-precision floating-point numbers.
typedef detail::tquat < detail::thalf > | hquat
| Quaternion of half-precision floating-point numbers.
typedef detail::tquat< float > | quat
| Quaternion of floating-point numbers.
## Functions
template<typename T >
detail::tquat< T > | conjugate (detail::tquat< T > const &q)
| Returns the q conjugate.
template<typename T >
GLM_DEPRECATED detail::tquat< T > | cross (detail::tquat< T > const &q1, detail::tquat< T > const &q2)
| Returns the cross product of q1 and q2.
template<typename T >
detail::tquat< T >::value_type | 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] + ...
template<typename T >
detail::tquat< T > | inverse (detail::tquat< T > const &q)
| Returns the q inverse.
template<typename T >
detail::tquat< T >::value_type | length (detail::tquat< T > const &q)
| Returns the length of the quaternion x.
template<typename T >
detail::tmat3x3< T > | mat3_cast (detail::tquat< T > const &x)
| Converts a quaternion to a 3 * 3 matrix.
template<typename T >
detail::tmat4x4< T > | mat4_cast (detail::tquat< T > const &x)
| Converts a quaternion to a 4 * 4 matrix.
template<typename T >
detail::tquat< T > | mix (detail::tquat< T > const &x, detail::tquat< T > const &y, typename detail::tquat< T >::value_type const &a)
| Returns a SLERP interpolated quaternion of x and y according a.
template<typename T >
detail::tquat< T > | normalize (detail::tquat< T > const &q)
| Returns the normalized quaternion of from x.
template<typename T >
detail::tquat< T > | quat_cast (detail::tmat4x4< T > const &x)
| Converts a 4 * 4 matrix to a quaternion.
template<typename T >
detail::tquat< T > | quat_cast (detail::tmat3x3< T > const &x)
| Converts a 3 * 3 matrix to a quaternion.
template<typename T >
detail::tquat< T > | rotate (detail::tquat< T > const &q, typename detail::tquat< T >::value_type const &angle, detail::tvec3< T > const &v)
| Rotates a quaternion from an vector of 3 components axis and an angle expressed in degrees.

## 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.

From GLM_GTC_quaternion extension.

Definition at line 223 of file gtc/quaternion.hpp.

typedef detail::tquat<float> fquat

Quaternion of single-precision floating-point numbers.

From GLM_GTC_quaternion extension.

Definition at line 219 of file gtc/quaternion.hpp.

typedef detail::tquat<detail::thalf> hquat

Quaternion of half-precision floating-point numbers.

From GLM_GTC_quaternion extension.

Definition at line 215 of file gtc/quaternion.hpp.

typedef detail::tquat<float> quat

Quaternion of floating-point numbers.

From GLM_GTC_quaternion extension.

Definition at line 211 of file gtc/quaternion.hpp.

## Function Documentation

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

Returns the q conjugate.

From GLM_GTC_quaternion extension.

GLM_DEPRECATED detail::tquat<T> glm::gtc::quaternion::cross | ( | detail::tquat< T > const & | q1,
|  | detail::tquat< T > const & | q2
| ) |  |

Returns the cross product of q1 and q2.

From GLM_GTC_quaternion extension.

detail::tquat<T>::value_type glm::gtc::quaternion::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] + ...

From GLM_GTC_quaternion extension.

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

Returns the q inverse.

From GLM_GTC_quaternion extension.

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

Returns the length of the quaternion x.

From GLM_GTC_quaternion extension.

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

Converts a quaternion to a 3 * 3 matrix.

From GLM_GTC_quaternion extension.

Referenced by glm::gtx::quaternion::toMat3().

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

Converts a quaternion to a 4 * 4 matrix.

From GLM_GTC_quaternion extension.

Referenced by glm::gtx::quaternion::toMat4().

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

Returns a SLERP interpolated quaternion of x and y according a.

From GLM_GTC_quaternion extension.

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

Returns the normalized quaternion of from x.

From GLM_GTC_quaternion extension.

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

Converts a 4 * 4 matrix to a quaternion.

From GLM_GTC_quaternion extension.

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

Converts a 3 * 3 matrix to a quaternion.

From GLM_GTC_quaternion extension.

Referenced by glm::gtx::quaternion::toQuat().

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

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

From GLM_GTC_quaternion extension.