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<div class="title">gtx/quaternion.hpp</div> </div>
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<a href="a01373.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// Dependency:</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include "../glm.hpp"</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include "../gtc/constants.hpp"</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "../gtc/quaternion.hpp"</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include "../ext/quaternion_exponential.hpp"</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "../gtx/norm.hpp"</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#ifndef GLM_ENABLE_EXPERIMENTAL</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor"># error "GLM: GLM_GTX_quaternion is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it."</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor"># pragma message("GLM: GLM_GTX_quaternion extension included")</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keyword">namespace </span><a class="code" href="a00792.html">glm</a></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> {</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  GLM_FUNC_DECL qua<T, Q> <a class="code" href="a00769.html#ga5ee8332600b2aca3a77622a28d857b55">quat_identity</a>();</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  GLM_FUNC_DECL vec<3, T, Q> <a class="code" href="a00769.html#ga9f5f77255756e5668dfee7f0d07ed021">cross</a>(</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  qua<T, Q> <span class="keyword">const</span>& q,</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  vec<3, T, Q> <span class="keyword">const</span>& v);</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  GLM_FUNC_DECL vec<3, T, Q> <a class="code" href="a00769.html#ga9f5f77255756e5668dfee7f0d07ed021">cross</a>(</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  vec<3, T, Q> <span class="keyword">const</span>& v,</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  qua<T, Q> <span class="keyword">const</span>& q);</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  GLM_FUNC_DECL qua<T, Q> <a class="code" href="a00769.html#ga0b9bf3459e132ad8a18fe970669e3e35">squad</a>(</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  qua<T, Q> <span class="keyword">const</span>& q1,</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  qua<T, Q> <span class="keyword">const</span>& q2,</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  qua<T, Q> <span class="keyword">const</span>& s1,</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  qua<T, Q> <span class="keyword">const</span>& s2,</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  T <span class="keyword">const</span>& h);</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  GLM_FUNC_DECL qua<T, Q> <a class="code" href="a00769.html#gacc5cd5f3e78de61d141c2355417424de">intermediate</a>(</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  qua<T, Q> <span class="keyword">const</span>& prev,</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  qua<T, Q> <span class="keyword">const</span>& curr,</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  qua<T, Q> <span class="keyword">const</span>& next);</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="comment">//template<typename T, qualifier Q></span></div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">//qua<T, Q> sqrt(</span></div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">// qua<T, Q> const& q);</span></div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  GLM_FUNC_DECL vec<3, T, Q> <a class="code" href="a00769.html#gafcb78dfff45fbf19a7fcb2bd03fbf196">rotate</a>(</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  qua<T, Q> <span class="keyword">const</span>& q,</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  vec<3, T, Q> <span class="keyword">const</span>& v);</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  GLM_FUNC_DECL vec<4, T, Q> <a class="code" href="a00769.html#gafcb78dfff45fbf19a7fcb2bd03fbf196">rotate</a>(</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  qua<T, Q> <span class="keyword">const</span>& q,</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  vec<4, T, Q> <span class="keyword">const</span>& v);</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  GLM_FUNC_DECL T <a class="code" href="a00769.html#ga321953c1b2e7befe6f5dcfddbfc6b76b">extractRealComponent</a>(</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  qua<T, Q> <span class="keyword">const</span>& q);</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="a00769.html#gaab0afabb894b28a983fb8ec610409d56"> 113</a></span>  GLM_FUNC_DECL mat<3, 3, T, Q> <a class="code" href="a00769.html#gaab0afabb894b28a983fb8ec610409d56">toMat3</a>(</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  qua<T, Q> <span class="keyword">const</span>& x){<span class="keywordflow">return</span> <a class="code" href="a00663.html#ga333ab70047fbe4132406100c292dbc89">mat3_cast</a>(x);}</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="a00769.html#gadfa2c77094e8cc9adad321d938855ffb"> 120</a></span>  GLM_FUNC_DECL mat<4, 4, T, Q> <a class="code" href="a00769.html#gadfa2c77094e8cc9adad321d938855ffb">toMat4</a>(</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  qua<T, Q> <span class="keyword">const</span>& x){<span class="keywordflow">return</span> <a class="code" href="a00663.html#ga1113212d9bdefc2e31ad40e5bbb506f3">mat4_cast</a>(x);}</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="a00769.html#ga798de5d186499c9a9231cd92c8afaef1"> 127</a></span>  GLM_FUNC_DECL qua<T, Q> <a class="code" href="a00769.html#ga5eb36f51e1638e710451eba194dbc011">toQuat</a>(</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  mat<3, 3, T, Q> <span class="keyword">const</span>& x){<span class="keywordflow">return</span> <a class="code" href="a00663.html#ga1108a4ab88ca87bac321454eea7702f8">quat_cast</a>(x);}</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="a00769.html#ga5eb36f51e1638e710451eba194dbc011"> 134</a></span>  GLM_FUNC_DECL qua<T, Q> <a class="code" href="a00769.html#ga5eb36f51e1638e710451eba194dbc011">toQuat</a>(</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  mat<4, 4, T, Q> <span class="keyword">const</span>& x){<span class="keywordflow">return</span> <a class="code" href="a00663.html#ga1108a4ab88ca87bac321454eea7702f8">quat_cast</a>(x);}</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  GLM_FUNC_DECL qua<T, Q> <a class="code" href="a00769.html#gadc576cc957adc2a568cdcbc3799175bc">shortMix</a>(</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  qua<T, Q> <span class="keyword">const</span>& x,</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  qua<T, Q> <span class="keyword">const</span>& y,</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  T <span class="keyword">const</span>& a);</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span> </div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  GLM_FUNC_DECL qua<T, Q> <a class="code" href="a00769.html#ga264e10708d58dd0ff53b7902a2bd2561">fastMix</a>(</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  qua<T, Q> <span class="keyword">const</span>& x,</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  qua<T, Q> <span class="keyword">const</span>& y,</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  T <span class="keyword">const</span>& a);</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  GLM_FUNC_DECL qua<T, Q> <a class="code" href="a00769.html#ga03e61282831cc3f52cc76f72f52ad2c5">rotation</a>(</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  vec<3, T, Q> <span class="keyword">const</span>& orig,</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  vec<3, T, Q> <span class="keyword">const</span>& dest);</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q></div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  GLM_FUNC_DECL T <a class="code" href="a00769.html#ga58a609b1b8ab965f5df2702e8ca4e75b">length2</a>(qua<T, Q> <span class="keyword">const</span>& q);</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span> }<span class="comment">//namespace glm</span></div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span> <span class="preprocessor">#include "quaternion.inl"</span></div><div class="ttc" id="a00769_html_ga58a609b1b8ab965f5df2702e8ca4e75b"><div class="ttname"><a href="a00769.html#ga58a609b1b8ab965f5df2702e8ca4e75b">glm::length2</a></div><div class="ttdeci">GLM_FUNC_DECL T length2(qua< T, Q > const &q)</div><div class="ttdoc">Returns the squared length of x. </div></div>
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<div class="ttc" id="a00663_html_ga1108a4ab88ca87bac321454eea7702f8"><div class="ttname"><a href="a00663.html#ga1108a4ab88ca87bac321454eea7702f8">glm::quat_cast</a></div><div class="ttdeci">GLM_FUNC_DECL qua< T, Q > quat_cast(mat< 3, 3, T, Q > const &x)</div><div class="ttdoc">Converts a pure rotation 3 * 3 matrix to a quaternion. </div></div>
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<div class="ttc" id="a00769_html_ga5ee8332600b2aca3a77622a28d857b55"><div class="ttname"><a href="a00769.html#ga5ee8332600b2aca3a77622a28d857b55">glm::quat_identity</a></div><div class="ttdeci">GLM_FUNC_DECL qua< T, Q > quat_identity()</div><div class="ttdoc">Create an identity quaternion. </div></div>
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<div class="ttc" id="a00769_html_ga264e10708d58dd0ff53b7902a2bd2561"><div class="ttname"><a href="a00769.html#ga264e10708d58dd0ff53b7902a2bd2561">glm::fastMix</a></div><div class="ttdeci">GLM_FUNC_DECL qua< T, Q > fastMix(qua< T, Q > const &x, qua< T, Q > const &y, T const &a)</div><div class="ttdoc">Quaternion normalized linear interpolation. </div></div>
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<div class="ttc" id="a00769_html_gafcb78dfff45fbf19a7fcb2bd03fbf196"><div class="ttname"><a href="a00769.html#gafcb78dfff45fbf19a7fcb2bd03fbf196">glm::rotate</a></div><div class="ttdeci">GLM_FUNC_DECL vec< 4, T, Q > rotate(qua< T, Q > const &q, vec< 4, T, Q > const &v)</div><div class="ttdoc">Rotates a 4 components vector by a quaternion. </div></div>
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<div class="ttc" id="a00769_html_gadc576cc957adc2a568cdcbc3799175bc"><div class="ttname"><a href="a00769.html#gadc576cc957adc2a568cdcbc3799175bc">glm::shortMix</a></div><div class="ttdeci">GLM_FUNC_DECL qua< T, Q > shortMix(qua< T, Q > const &x, qua< T, Q > const &y, T const &a)</div><div class="ttdoc">Quaternion interpolation using the rotation short path. </div></div>
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<div class="ttc" id="a00769_html_ga5eb36f51e1638e710451eba194dbc011"><div class="ttname"><a href="a00769.html#ga5eb36f51e1638e710451eba194dbc011">glm::toQuat</a></div><div class="ttdeci">GLM_FUNC_DECL qua< T, Q > toQuat(mat< 4, 4, T, Q > const &x)</div><div class="ttdoc">Converts a 4 * 4 matrix to a quaternion. </div><div class="ttdef"><b>Definition:</b> <a href="a01373_source.html#l00134">gtx/quaternion.hpp:134</a></div></div>
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<div class="ttc" id="a00769_html_gaab0afabb894b28a983fb8ec610409d56"><div class="ttname"><a href="a00769.html#gaab0afabb894b28a983fb8ec610409d56">glm::toMat3</a></div><div class="ttdeci">GLM_FUNC_DECL mat< 3, 3, T, Q > toMat3(qua< T, Q > const &x)</div><div class="ttdoc">Converts a quaternion to a 3 * 3 matrix. </div><div class="ttdef"><b>Definition:</b> <a href="a01373_source.html#l00113">gtx/quaternion.hpp:113</a></div></div>
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<div class="ttc" id="a00769_html_gacc5cd5f3e78de61d141c2355417424de"><div class="ttname"><a href="a00769.html#gacc5cd5f3e78de61d141c2355417424de">glm::intermediate</a></div><div class="ttdeci">GLM_FUNC_DECL qua< T, Q > intermediate(qua< T, Q > const &prev, qua< T, Q > const &curr, qua< T, Q > const &next)</div><div class="ttdoc">Returns an intermediate control point for squad interpolation. </div></div>
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<div class="ttc" id="a00769_html_ga9f5f77255756e5668dfee7f0d07ed021"><div class="ttname"><a href="a00769.html#ga9f5f77255756e5668dfee7f0d07ed021">glm::cross</a></div><div class="ttdeci">GLM_FUNC_DECL vec< 3, T, Q > cross(vec< 3, T, Q > const &v, qua< T, Q > const &q)</div><div class="ttdoc">Compute a cross product between a vector and a quaternion. </div></div>
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<div class="ttc" id="a00663_html_ga333ab70047fbe4132406100c292dbc89"><div class="ttname"><a href="a00663.html#ga333ab70047fbe4132406100c292dbc89">glm::mat3_cast</a></div><div class="ttdeci">GLM_FUNC_DECL mat< 3, 3, T, Q > mat3_cast(qua< T, Q > const &x)</div><div class="ttdoc">Converts a quaternion to a 3 * 3 matrix. </div></div>
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<div class="ttc" id="a00769_html_ga321953c1b2e7befe6f5dcfddbfc6b76b"><div class="ttname"><a href="a00769.html#ga321953c1b2e7befe6f5dcfddbfc6b76b">glm::extractRealComponent</a></div><div class="ttdeci">GLM_FUNC_DECL T extractRealComponent(qua< T, Q > const &q)</div><div class="ttdoc">Extract the real component of a quaternion. </div></div>
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<div class="ttc" id="a00769_html_ga0b9bf3459e132ad8a18fe970669e3e35"><div class="ttname"><a href="a00769.html#ga0b9bf3459e132ad8a18fe970669e3e35">glm::squad</a></div><div class="ttdeci">GLM_FUNC_DECL qua< T, Q > squad(qua< T, Q > const &q1, qua< T, Q > const &q2, qua< T, Q > const &s1, qua< T, Q > const &s2, T const &h)</div><div class="ttdoc">Compute a point on a path according squad equation. </div></div>
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<div class="ttc" id="a00769_html_ga03e61282831cc3f52cc76f72f52ad2c5"><div class="ttname"><a href="a00769.html#ga03e61282831cc3f52cc76f72f52ad2c5">glm::rotation</a></div><div class="ttdeci">GLM_FUNC_DECL qua< T, Q > rotation(vec< 3, T, Q > const &orig, vec< 3, T, Q > const &dest)</div><div class="ttdoc">Compute the rotation between two vectors. </div></div>
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<div class="ttc" id="a00769_html_gadfa2c77094e8cc9adad321d938855ffb"><div class="ttname"><a href="a00769.html#gadfa2c77094e8cc9adad321d938855ffb">glm::toMat4</a></div><div class="ttdeci">GLM_FUNC_DECL mat< 4, 4, T, Q > toMat4(qua< T, Q > const &x)</div><div class="ttdoc">Converts a quaternion to a 4 * 4 matrix. </div><div class="ttdef"><b>Definition:</b> <a href="a01373_source.html#l00120">gtx/quaternion.hpp:120</a></div></div>
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<div class="ttc" id="a00663_html_ga1113212d9bdefc2e31ad40e5bbb506f3"><div class="ttname"><a href="a00663.html#ga1113212d9bdefc2e31ad40e5bbb506f3">glm::mat4_cast</a></div><div class="ttdeci">GLM_FUNC_DECL mat< 4, 4, T, Q > mat4_cast(qua< T, Q > const &x)</div><div class="ttdoc">Converts a quaternion to a 4 * 4 matrix. </div></div>
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<div class="ttc" id="a00792_html"><div class="ttname"><a href="a00792.html">glm</a></div><div class="ttdef"><b>Definition:</b> <a href="a00002_source.html#l00020">common.hpp:20</a></div></div>
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