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<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<title>libg3d Reference Manual: quat</title>
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<td width="100%" align="left" class="shortcuts">
<a href="#" class="shortcut">Top</a><span id="nav_description">  <span class="dim">|</span> 
                  <a href="#libg3d-quat.description" class="shortcut">Description</a></span>
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<div class="refentry">
<a name="libg3d-quat"></a><div class="titlepage"></div>
<div class="refnamediv"><table width="100%"><tr>
<td valign="top">
<h2><span class="refentrytitle"><a name="libg3d-quat.top_of_page"></a>quat</span></h2>
<p>quat — quaternion helpers</p>
</td>
<td class="gallery_image" valign="top" align="right"></td>
</tr></table></div>
<div class="refsect1">
<a name="libg3d-quat.functions"></a><h2>Functions</h2>
<div class="informaltable"><table width="100%" border="0">
<colgroup>
<col width="150px" class="functions_return">
<col class="functions_name">
</colgroup>
<tbody>
<tr>
<td class="function_type">
<span class="returnvalue">gboolean</span>
</td>
<td class="function_name">
<a class="link" href="libg3d-quat.html#g3d-quat-add" title="g3d_quat_add ()">g3d_quat_add</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">gboolean</span>
</td>
<td class="function_name">
<a class="link" href="libg3d-quat.html#g3d-quat-normalize" title="g3d_quat_normalize ()">g3d_quat_normalize</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">gboolean</span>
</td>
<td class="function_name">
<a class="link" href="libg3d-quat.html#g3d-quat-rotate" title="g3d_quat_rotate ()">g3d_quat_rotate</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">gboolean</span>
</td>
<td class="function_name">
<a class="link" href="libg3d-quat.html#g3d-quat-to-matrix" title="g3d_quat_to_matrix ()">g3d_quat_to_matrix</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">gboolean</span>
</td>
<td class="function_name">
<a class="link" href="libg3d-quat.html#g3d-quat-to-rotation-xyz" title="g3d_quat_to_rotation_xyz ()">g3d_quat_to_rotation_xyz</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">gboolean</span>
</td>
<td class="function_name">
<a class="link" href="libg3d-quat.html#g3d-quat-trackball" title="g3d_quat_trackball ()">g3d_quat_trackball</a> <span class="c_punctuation">()</span>
</td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect1">
<a name="libg3d-quat.other"></a><h2>Types and Values</h2>
<div class="informaltable"><table width="100%" border="0">
<colgroup>
<col width="150px" class="name">
<col class="description">
</colgroup>
<tbody><tr>
<td class="typedef_keyword">typedef</td>
<td class="function_name"><a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat">G3DQuat</a></td>
</tr></tbody>
</table></div>
</div>
<div class="refsect1">
<a name="libg3d-quat.includes"></a><h2>Includes</h2>
<pre class="synopsis">#include &lt;g3d/quat.h&gt;
</pre>
</div>
<div class="refsect1">
<a name="libg3d-quat.description"></a><h2>Description</h2>
</div>
<div class="refsect1">
<a name="libg3d-quat.functions_details"></a><h2>Functions</h2>
<div class="refsect2">
<a name="g3d-quat-add"></a><h3>g3d_quat_add ()</h3>
<pre class="programlisting"><span class="returnvalue">gboolean</span>
g3d_quat_add (<em class="parameter"><code><a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat"><span class="type">G3DQuat</span></a> *qr</code></em>,
              <em class="parameter"><code><a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat"><span class="type">G3DQuat</span></a> *q1</code></em>,
              <em class="parameter"><code><a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat"><span class="type">G3DQuat</span></a> *q2</code></em>);</pre>
<p>Add two quats.</p>
<div class="refsect3">
<a name="id-1.3.9.7.2.5"></a><h4>Parameters</h4>
<div class="informaltable"><table width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>qr</p></td>
<td class="parameter_description"><p>result quat</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>q1</p></td>
<td class="parameter_description"><p>first quat</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>q2</p></td>
<td class="parameter_description"><p>second quat</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.3.9.7.2.6"></a><h4>Returns</h4>
<p> TRUE on success, FALSE else</p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="g3d-quat-normalize"></a><h3>g3d_quat_normalize ()</h3>
<pre class="programlisting"><span class="returnvalue">gboolean</span>
g3d_quat_normalize (<em class="parameter"><code><a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat"><span class="type">G3DQuat</span></a> *q</code></em>);</pre>
<p>normalize the quaternion to a length of 1.0.</p>
<div class="refsect3">
<a name="id-1.3.9.7.3.5"></a><h4>Parameters</h4>
<div class="informaltable"><table width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody><tr>
<td class="parameter_name"><p>q</p></td>
<td class="parameter_description"><p>a quaternion</p></td>
<td class="parameter_annotations"> </td>
</tr></tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.3.9.7.3.6"></a><h4>Returns</h4>
<p> TRUE on success, FALSE else</p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="g3d-quat-rotate"></a><h3>g3d_quat_rotate ()</h3>
<pre class="programlisting"><span class="returnvalue">gboolean</span>
g3d_quat_rotate (<em class="parameter"><code><a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat"><span class="type">G3DQuat</span></a> *q</code></em>,
                 <em class="parameter"><code><a class="link" href="libg3d-vector.html#G3DVector" title="G3DVector"><span class="type">G3DVector</span></a> *axis</code></em>,
                 <em class="parameter"><code><a class="link" href="libg3d-types.html#G3DFloat" title="G3DFloat"><span class="type">G3DFloat</span></a> angle</code></em>);</pre>
<p>Encode a rotation around an axis into quaternion.</p>
<div class="refsect3">
<a name="id-1.3.9.7.4.5"></a><h4>Parameters</h4>
<div class="informaltable"><table width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>q</p></td>
<td class="parameter_description"><p>resulting quat</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>axis</p></td>
<td class="parameter_description"><p>rotation axis</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>angle</p></td>
<td class="parameter_description"><p>rotation angle</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.3.9.7.4.6"></a><h4>Returns</h4>
<p> TRUE on success, FALSE else</p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="g3d-quat-to-matrix"></a><h3>g3d_quat_to_matrix ()</h3>
<pre class="programlisting"><span class="returnvalue">gboolean</span>
g3d_quat_to_matrix (<em class="parameter"><code><a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat"><span class="type">G3DQuat</span></a> *q</code></em>,
                    <em class="parameter"><code><a class="link" href="libg3d-matrix.html#G3DMatrix" title="G3DMatrix"><span class="type">G3DMatrix</span></a> *matrix</code></em>);</pre>
<p>Convert a quaternion to a transformation matrix.</p>
<div class="refsect3">
<a name="id-1.3.9.7.5.5"></a><h4>Parameters</h4>
<div class="informaltable"><table width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>q</p></td>
<td class="parameter_description"><p>source quat</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>matrix</p></td>
<td class="parameter_description"><p>resulting matrix</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.3.9.7.5.6"></a><h4>Returns</h4>
<p> TRUE on success, FALSE else</p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="g3d-quat-to-rotation-xyz"></a><h3>g3d_quat_to_rotation_xyz ()</h3>
<pre class="programlisting"><span class="returnvalue">gboolean</span>
g3d_quat_to_rotation_xyz (<em class="parameter"><code><a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat"><span class="type">G3DQuat</span></a> *q</code></em>,
                          <em class="parameter"><code><a class="link" href="libg3d-types.html#G3DFloat" title="G3DFloat"><span class="type">G3DFloat</span></a> *rx</code></em>,
                          <em class="parameter"><code><a class="link" href="libg3d-types.html#G3DFloat" title="G3DFloat"><span class="type">G3DFloat</span></a> *ry</code></em>,
                          <em class="parameter"><code><a class="link" href="libg3d-types.html#G3DFloat" title="G3DFloat"><span class="type">G3DFloat</span></a> *rz</code></em>);</pre>
<p>Calculate the rotation around the three coordinate axes from a given
quaternion.</p>
<div class="refsect3">
<a name="id-1.3.9.7.6.5"></a><h4>Parameters</h4>
<div class="informaltable"><table width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>q</p></td>
<td class="parameter_description"><p>a quaternion</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>rx</p></td>
<td class="parameter_description"><p>rotation around x axis</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>ry</p></td>
<td class="parameter_description"><p>rotation around y axis</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>rz</p></td>
<td class="parameter_description"><p>rotation around z axis</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.3.9.7.6.6"></a><h4>Returns</h4>
<p> TRUE on success, FALSE else</p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="g3d-quat-trackball"></a><h3>g3d_quat_trackball ()</h3>
<pre class="programlisting"><span class="returnvalue">gboolean</span>
g3d_quat_trackball (<em class="parameter"><code><a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat"><span class="type">G3DQuat</span></a> *q</code></em>,
                    <em class="parameter"><code><a class="link" href="libg3d-types.html#G3DFloat" title="G3DFloat"><span class="type">G3DFloat</span></a> x1</code></em>,
                    <em class="parameter"><code><a class="link" href="libg3d-types.html#G3DFloat" title="G3DFloat"><span class="type">G3DFloat</span></a> y1</code></em>,
                    <em class="parameter"><code><a class="link" href="libg3d-types.html#G3DFloat" title="G3DFloat"><span class="type">G3DFloat</span></a> x2</code></em>,
                    <em class="parameter"><code><a class="link" href="libg3d-types.html#G3DFloat" title="G3DFloat"><span class="type">G3DFloat</span></a> y2</code></em>,
                    <em class="parameter"><code><a class="link" href="libg3d-types.html#G3DFloat" title="G3DFloat"><span class="type">G3DFloat</span></a> r</code></em>);</pre>
<p>Emulate a virtual trackball movement and return rotation as quaternion.
The x and y values of the starting and end point of the movement have
to be in the range -1.0 .. 1.0.</p>
<div class="refsect3">
<a name="id-1.3.9.7.7.5"></a><h4>Parameters</h4>
<div class="informaltable"><table width="100%" border="0">
<colgroup>
<col width="150px" class="parameters_name">
<col class="parameters_description">
<col width="200px" class="parameters_annotations">
</colgroup>
<tbody>
<tr>
<td class="parameter_name"><p>q</p></td>
<td class="parameter_description"><p>resulting quaternion</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>x1</p></td>
<td class="parameter_description"><p>x value of first point</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>y1</p></td>
<td class="parameter_description"><p>y value of first point</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>x2</p></td>
<td class="parameter_description"><p>x value of second point</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>y2</p></td>
<td class="parameter_description"><p>y value of second point</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>r</p></td>
<td class="parameter_description"><p>radius of virtual trackball, usually 0.8</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.3.9.7.7.6"></a><h4>Returns</h4>
<p> TRUE on success, FALSE else</p>
<p></p>
</div>
</div>
</div>
<div class="refsect1">
<a name="libg3d-quat.other_details"></a><h2>Types and Values</h2>
<div class="refsect2">
<a name="G3DQuat"></a><h3>G3DQuat</h3>
<pre class="programlisting">typedef G3DFloat G3DQuat;
</pre>
<p>Quaternion element type.</p>
</div>
</div>
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