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GLM_GTC_quaternion
GTC Extensions (Stable)

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

## Functions
template<typename T , precision P>
GLM_FUNC_DECL T | angle (tquat< T, P > const &x)
| Returns the quaternion rotation angle. More...
template<typename T , precision P>
GLM_FUNC_DECL tquat< T, P > | angleAxis (T const &angle, tvec3< T, P > const &axis)
| Build a quaternion from an angle and a normalized axis. More...
template<typename T , precision P>
GLM_FUNC_DECL tvec3< T, P > | axis (tquat< T, P > const &x)
| Returns the q rotation axis. More...
template<typename T , precision P>
GLM_FUNC_DECL tquat< T, P > | conjugate (tquat< T, P > const &q)
| Returns the q conjugate. More...
template<typename T , precision P, template< typename, precision > class quatType>
GLM_FUNC_DECL T | dot (quatType< T, P > const &x, quatType< T, P > const &y)
| Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ... More...
template<typename T , precision P>
GLM_FUNC_DECL tvec4< bool, P > | equal (tquat< T, P > const &x, tquat< T, P > const &y)
| Returns the component-wise comparison of result x == y. More...
template<typename T , precision P>
GLM_FUNC_DECL tvec3< T, P > | eulerAngles (tquat< T, P > const &x)
| Returns euler angles, pitch as x, yaw as y, roll as z. More...
template<typename T , precision P>
GLM_FUNC_DECL tvec4< bool, P > | greaterThan (tquat< T, P > const &x, tquat< T, P > const &y)
| Returns the component-wise comparison of result x > y. More...
template<typename T , precision P>
GLM_FUNC_DECL tvec4< bool, P > | greaterThanEqual (tquat< T, P > const &x, tquat< T, P > const &y)
| Returns the component-wise comparison of result x >= y. More...
template<typename T , precision P>
GLM_FUNC_DECL tquat< T, P > | inverse (tquat< T, P > const &q)
| Returns the q inverse. More...
template<typename T , precision P>
GLM_FUNC_DECL tvec4< bool, P > | isinf (tquat< T, P > 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 , precision P>
GLM_FUNC_DECL tvec4< bool, P > | isnan (tquat< T, P > 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 , precision P>
GLM_FUNC_DECL T | length (tquat< T, P > const &q)
| Returns the length of the quaternion. More...
template<typename T , precision P>
GLM_FUNC_DECL tquat< T, P > | lerp (tquat< T, P > const &x, tquat< T, P > const &y, T a)
| Linear interpolation of two quaternions. More...
template<typename T , precision P>
GLM_FUNC_DECL tvec4< bool, P > | lessThan (tquat< T, P > const &x, tquat< T, P > const &y)
| Returns the component-wise comparison result of x < y. More...
template<typename T , precision P>
GLM_FUNC_DECL tvec4< bool, P > | lessThanEqual (tquat< T, P > const &x, tquat< T, P > const &y)
| Returns the component-wise comparison of result x <= y. More...
template<typename T , precision P>
GLM_FUNC_DECL tmat3x3< T, P > | mat3_cast (tquat< T, P > const &x)
| Converts a quaternion to a 3 * 3 matrix. More...
template<typename T , precision P>
GLM_FUNC_DECL tmat4x4< T, P > | mat4_cast (tquat< T, P > const &x)
| Converts a quaternion to a 4 * 4 matrix. More...
template<typename T , precision P>
GLM_FUNC_DECL tquat< T, P > | mix (tquat< T, P > const &x, tquat< T, P > const &y, T a)
| Spherical linear interpolation of two quaternions. More...
template<typename T , precision P>
GLM_FUNC_DECL tquat< T, P > | normalize (tquat< T, P > const &q)
| Returns the normalized quaternion. More...
template<typename T , precision P>
GLM_FUNC_DECL tvec4< bool, P > | notEqual (tquat< T, P > const &x, tquat< T, P > const &y)
| Returns the component-wise comparison of result x != y. More...
template<typename T , precision P>
GLM_FUNC_DECL T | pitch (tquat< T, P > const &x)
| Returns pitch value of euler angles expressed in radians. More...
template<typename T , precision P>
GLM_FUNC_DECL tquat< T, P > | quat_cast (tmat3x3< T, P > const &x)
| Converts a 3 * 3 matrix to a quaternion. More...
template<typename T , precision P>
GLM_FUNC_DECL tquat< T, P > | quat_cast (tmat4x4< T, P > const &x)
| Converts a 4 * 4 matrix to a quaternion. More...
template<typename T , precision P>
GLM_FUNC_DECL T | roll (tquat< T, P > const &x)
| Returns roll value of euler angles expressed in radians. More...
template<typename T , precision P>
GLM_FUNC_DECL tquat< T, P > | rotate (tquat< T, P > const &q, T const &angle, tvec3< T, P > const &axis)
| Rotates a quaternion from a vector of 3 components axis and an angle. More...
template<typename T , precision P>
GLM_FUNC_DECL tquat< T, P > | slerp (tquat< T, P > const &x, tquat< T, P > const &y, T a)
| Spherical linear interpolation of two quaternions. More...
template<typename T , precision P>
GLM_FUNC_DECL T | yaw (tquat< T, P > const &x)
| Returns yaw value of euler angles expressed in radians. More...

## Detailed Description

Defines a templated quaternion type and several quaternion operations.

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

## Function Documentation

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

Returns the quaternion rotation angle.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tquat<T, P> glm::angleAxis | ( | T const & | angle,
|  | tvec3< T, P > 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.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tvec3<T, P> glm::axis | ( | tquat< T, P > const & | x | ) |

Returns the q rotation axis.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tquat<T, P> glm::conjugate | ( | tquat< T, P > const & | q | ) |

Returns the q conjugate.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL T glm::dot | ( | quatType< T, P > const & | x,
|  | quatType< T, P > const & | y
| ) |  |

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

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tvec4<bool, P> glm::equal | ( | tquat< T, P > const & | x,
|  | tquat< T, P > const & | y
| ) |  |

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

Template Parameters

  quatType | Floating-point quaternion types.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tvec3<T, P> glm::eulerAngles | ( | tquat< T, P > const & | x | ) |

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

The result is expressed in radians if GLM_FORCE_RADIANS is defined or degrees otherwise.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tvec4<bool, P> glm::greaterThan | ( | tquat< T, P > const & | x,
|  | tquat< T, P > const & | y
| ) |  |

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

Template Parameters

  quatType | Floating-point quaternion types.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tvec4<bool, P> glm::greaterThanEqual | ( | tquat< T, P > const & | x,
|  | tquat< T, P > const & | y
| ) |  |

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

Template Parameters

  quatType | Floating-point quaternion types.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tquat<T, P> glm::inverse | ( | tquat< T, P > const & | q | ) |

Returns the q inverse.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tvec4<bool, P> glm::isinf | ( | tquat< T, P > 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

  genType | Floating-point scalar or vector types.

GLM_FUNC_DECL tvec4<bool, P> glm::isnan | ( | tquat< T, P > 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

  genType | Floating-point scalar or vector types.

GLM_FUNC_DECL T glm::length | ( | tquat< T, P > const & | q | ) |

Returns the length of the quaternion.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tquat<T, P> glm::lerp | ( | tquat< T, P > const & | x,
|  | tquat< T, P > 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 | Value type used to build the quaternion. Supported: half, float or double.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tvec4<bool, P> glm::lessThan | ( | tquat< T, P > const & | x,
|  | tquat< T, P > const & | y
| ) |  |

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

Template Parameters

  quatType | Floating-point quaternion types.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tvec4<bool, P> glm::lessThanEqual | ( | tquat< T, P > const & | x,
|  | tquat< T, P > const & | y
| ) |  |

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

Template Parameters

  quatType | Floating-point quaternion types.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tmat3x3<T, P> glm::mat3_cast | ( | tquat< T, P > const & | x | ) |

Converts a quaternion to a 3 * 3 matrix.

See also
  GLM_GTC_quaternion

Referenced by glm::toMat3().

GLM_FUNC_DECL tmat4x4<T, P> glm::mat4_cast | ( | tquat< T, P > const & | x | ) |

Converts a quaternion to a 4 * 4 matrix.

See also
  GLM_GTC_quaternion

Referenced by glm::toMat4().

GLM_FUNC_DECL tquat<T, P> glm::mix | ( | tquat< T, P > const & | x,
|  | tquat< T, P > 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 | Value type used to build the quaternion. Supported: half, float or double.

See also
  GLM_GTC_quaternion
  - slerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a)

GLM_FUNC_DECL tquat<T, P> glm::normalize | ( | tquat< T, P > const & | q | ) |

Returns the normalized quaternion.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tvec4<bool, P> glm::notEqual | ( | tquat< T, P > const & | x,
|  | tquat< T, P > const & | y
| ) |  |

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

Template Parameters

  quatType | Floating-point quaternion types.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL T glm::pitch | ( | tquat< T, P > const & | x | ) |

Returns pitch value of euler angles expressed in radians.

See also
  GLM_GTX_quaternion

GLM_FUNC_DECL tquat<T, P> glm::quat_cast | ( | tmat3x3< T, P > const & | x | ) |

Converts a 3 * 3 matrix to a quaternion.

See also
  GLM_GTC_quaternion

Referenced by glm::toQuat().

GLM_FUNC_DECL tquat<T, P> glm::quat_cast | ( | tmat4x4< T, P > const & | x | ) |

Converts a 4 * 4 matrix to a quaternion.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL T glm::roll | ( | tquat< T, P > const & | x | ) |

Returns roll value of euler angles expressed in radians.

See also
  GLM_GTX_quaternion

GLM_FUNC_DECL tquat<T, P> glm::rotate | ( | tquat< T, P > const & | q,
|  | T const & | angle,
|  | tvec3< T, P > 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

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL tquat<T, P> glm::slerp | ( | tquat< T, P > const & | x,
|  | tquat< T, P > 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 | Value type used to build the quaternion. Supported: half, float or double.

See also
  GLM_GTC_quaternion

GLM_FUNC_DECL T glm::yaw | ( | tquat< T, P > const & | x | ) |

Returns yaw value of euler angles expressed in radians.

See also
  GLM_GTX_quaternion