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<a name="mialm-MiaQuaternion"></a><div class="titlepage"></div>
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<h2><span class="refentrytitle"><a name="mialm-MiaQuaternion.top_of_page"></a>Quaternions</span></h2>
<p>Quaternions — Quaternions to describe rotations in 3D space</p>
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</tr></table></div>
<div class="refsect1">
<a name="mialm-MiaQuaternion.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">
<a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="returnvalue">MiaQuaternion</span></a> *
</td>
<td class="function_name">
<a class="link" href="mialm-MiaQuaternion.html#mia-quaternion-new" title="mia_quaternion_new ()">mia_quaternion_new</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="returnvalue">MiaQuaternion</span></a> *
</td>
<td class="function_name">
<a class="link" href="mialm-MiaQuaternion.html#mia-quaternion-new-from-eulerrot" title="mia_quaternion_new_from_eulerrot ()">mia_quaternion_new_from_eulerrot</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="returnvalue">MiaQuaternion</span></a> *
</td>
<td class="function_name">
<a class="link" href="mialm-MiaQuaternion.html#mia-quaternion-copy" title="mia_quaternion_copy ()">mia_quaternion_copy</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="returnvalue">MiaQuaternion</span></a> *
</td>
<td class="function_name">
<a class="link" href="mialm-MiaQuaternion.html#mia-quaternion-dup" title="mia_quaternion_dup ()">mia_quaternion_dup</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="mialm-MiaQuaternion.html#mia-quaternion-get-rotation" title="mia_quaternion_get_rotation ()">mia_quaternion_get_rotation</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="mialm-MiaQuaternion.html#mia-quaternion-equal" title="mia_quaternion_equal ()">mia_quaternion_equal</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="mialm-MiaQuaternion.html#mia-quaternion-normalize" title="mia_quaternion_normalize ()">mia_quaternion_normalize</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">gfloat</span>
</td>
<td class="function_name">
<a class="link" href="mialm-MiaQuaternion.html#mia-quaternion-norm" title="mia_quaternion_norm ()">mia_quaternion_norm</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="returnvalue">MiaQuaternion</span></a> *
</td>
<td class="function_name">
<a class="link" href="mialm-MiaQuaternion.html#mia-quaternion-multby" title="mia_quaternion_multby ()">mia_quaternion_multby</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">void</span>
</td>
<td class="function_name">
<a class="link" href="mialm-MiaQuaternion.html#mia-quaternion-xmlio-read" title="mia_quaternion_xmlio_read ()">mia_quaternion_xmlio_read</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="mialm-MiaQuaternion.html#mia-quaternion-xmlio-write" title="mia_quaternion_xmlio_write ()">mia_quaternion_xmlio_write</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="mialm-MiaQuaternion.html#mia-quaternion-test" title="mia_quaternion_test ()">mia_quaternion_test</a> <span class="c_punctuation">()</span>
</td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect1">
<a name="mialm-MiaQuaternion.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="datatype_keyword">struct</td>
<td class="function_name"><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion">MiaQuaternion</a></td>
</tr>
<tr>
<td class="typedef_keyword">typedef</td>
<td class="function_name"><a class="link" href="mialm-MiaQuaternion.html#RotMatrix" title="RotMatrix">RotMatrix</a></td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect1">
<a name="mialm-MiaQuaternion.object-hierarchy"></a><h2>Object Hierarchy</h2>
<pre class="screen">
</pre>
</div>
<div class="refsect1">
<a name="mialm-MiaQuaternion.description"></a><h2>Description</h2>
<p><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> and the related functions describe and handle rotations in 3D space that
are specifically suited for visualization.</p>
</div>
<div class="refsect1">
<a name="mialm-MiaQuaternion.functions_details"></a><h2>Functions</h2>
<div class="refsect2">
<a name="mia-quaternion-new"></a><h3>mia_quaternion_new ()</h3>
<pre class="programlisting"><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="returnvalue">MiaQuaternion</span></a> *
mia_quaternion_new (<em class="parameter"><code><span class="type">gfloat</span> x</code></em>,
<em class="parameter"><code><span class="type">gfloat</span> y</code></em>,
<em class="parameter"><code><span class="type">gfloat</span> z</code></em>,
<em class="parameter"><code><span class="type">gfloat</span> w</code></em>);</pre>
<p>Create a quaternion q = w + x *i + y * j + z * k.</p>
<div class="refsect3">
<a name="id-1.2.6.7.2.5"></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>x</p></td>
<td class="parameter_description"><p>x-component of rotation axis </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>y</p></td>
<td class="parameter_description"><p>y-component of rotation axis </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>z</p></td>
<td class="parameter_description"><p>z-component of rotation axis </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>w</p></td>
<td class="parameter_description"><p>scalar part of the quaternion </p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.2.6.7.2.6"></a><h4>Returns</h4>
<p> a newly created quaternion representing the rotation </p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-new-from-eulerrot"></a><h3>mia_quaternion_new_from_eulerrot ()</h3>
<pre class="programlisting"><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="returnvalue">MiaQuaternion</span></a> *
mia_quaternion_new_from_eulerrot (<em class="parameter"><code>const <a class="link" href="mialm-MiaVector3d.html#MiaVector3d" title="struct MiaVector3d"><span class="type">MiaVector3d</span></a> *axis</code></em>,
<em class="parameter"><code><span class="type">gfloat</span> angle</code></em>);</pre>
<p>Create a quaternion that represents a rotation around the given axis
by the given angle. The returned quaternion must be destroyed by
calling <code class="function">g_object_unref()</code></p>
<div class="refsect3">
<a name="id-1.2.6.7.3.5"></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>axis</p></td>
<td class="parameter_description"><p>the rotation axis </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>angle</p></td>
<td class="parameter_description"><p>the rotation angle </p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.2.6.7.3.6"></a><h4>Returns</h4>
<p> a newly created quaternion</p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-copy"></a><h3>mia_quaternion_copy ()</h3>
<pre class="programlisting"><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="returnvalue">MiaQuaternion</span></a> *
mia_quaternion_copy (<em class="parameter"><code><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *dest</code></em>,
<em class="parameter"><code>const <a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *src</code></em>);</pre>
<p>Copy one quaternion into another one. The destination quaternion
must already be properly created.</p>
<div class="refsect3">
<a name="id-1.2.6.7.4.5"></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>dest</p></td>
<td class="parameter_description"><p>destination quaternion to copy to </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>src</p></td>
<td class="parameter_description"><p>source quaternion to copy from </p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.2.6.7.4.6"></a><h4>Returns</h4>
<p> the destination quaternion</p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-dup"></a><h3>mia_quaternion_dup ()</h3>
<pre class="programlisting"><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="returnvalue">MiaQuaternion</span></a> *
mia_quaternion_dup (<em class="parameter"><code>const <a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *org</code></em>);</pre>
<p>Create a duplicate of a quaternion. It must be destroyed by calling
calling <code class="function">g_object_unref()</code></p>
<div class="refsect3">
<a name="id-1.2.6.7.5.5"></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>org</p></td>
<td class="parameter_description"><p>a quaterion </p></td>
<td class="parameter_annotations"> </td>
</tr></tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.2.6.7.5.6"></a><h4>Returns</h4>
<p> a newly created copy of the quaternion. </p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-get-rotation"></a><h3>mia_quaternion_get_rotation ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
mia_quaternion_get_rotation (<em class="parameter"><code><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *self</code></em>,
<em class="parameter"><code><a class="link" href="mialm-MiaQuaternion.html#RotMatrix" title="RotMatrix"><span class="type">RotMatrix</span></a> m</code></em>);</pre>
<p>Evaluate the 4x4 Matrix corresponding to the 3D rotation.</p>
<div class="refsect3">
<a name="id-1.2.6.7.6.5"></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>self</p></td>
<td class="parameter_description"><p>the quaternion desctibing the rotation </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>m</p></td>
<td class="parameter_description"><p>The result will be stored in this matrix. </p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-equal"></a><h3>mia_quaternion_equal ()</h3>
<pre class="programlisting"><span class="returnvalue">gboolean</span>
mia_quaternion_equal (<em class="parameter"><code>const <a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *a</code></em>,
<em class="parameter"><code>const <a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *b</code></em>);</pre>
<p>Test if two quaternions are exactly equal.</p>
<div class="refsect3">
<a name="id-1.2.6.7.7.5"></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>a</p></td>
<td class="parameter_description"><p>left hand value for comparison </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>b</p></td>
<td class="parameter_description"><p>right hand value for comparison </p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.2.6.7.7.6"></a><h4>Returns</h4>
<p> TRUE if equal, FALSE otherwise </p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-normalize"></a><h3>mia_quaternion_normalize ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
mia_quaternion_normalize (<em class="parameter"><code><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *self</code></em>);</pre>
<p>Normalize a quaternion if it's norm is not zero.</p>
<div class="refsect3">
<a name="id-1.2.6.7.8.5"></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>self</p></td>
<td class="parameter_description"><p>the quaternion to be normalized </p></td>
<td class="parameter_annotations"> </td>
</tr></tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-norm"></a><h3>mia_quaternion_norm ()</h3>
<pre class="programlisting"><span class="returnvalue">gfloat</span>
mia_quaternion_norm (<em class="parameter"><code>const <a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *self</code></em>);</pre>
<p>Evaluate the quaternions norm.</p>
<div class="refsect3">
<a name="id-1.2.6.7.9.5"></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>self</p></td>
<td class="parameter_description"><p>the quaternion </p></td>
<td class="parameter_annotations"> </td>
</tr></tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.2.6.7.9.6"></a><h4>Returns</h4>
<p> the Euclidian norm </p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-multby"></a><h3>mia_quaternion_multby ()</h3>
<pre class="programlisting"><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="returnvalue">MiaQuaternion</span></a> *
mia_quaternion_multby (<em class="parameter"><code><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *self</code></em>,
<em class="parameter"><code><a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *other</code></em>);</pre>
<p>Multiply the quaternion dest by a quaternion other as in dest *= other</p>
<div class="refsect3">
<a name="id-1.2.6.7.10.5"></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>self</p></td>
<td class="parameter_description"><p>destination quaternion </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>other</p></td>
<td class="parameter_description"><p>other quaternion to multiply by </p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.2.6.7.10.6"></a><h4>Returns</h4>
<p> the quaternion self</p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-xmlio-read"></a><h3>mia_quaternion_xmlio_read ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
mia_quaternion_xmlio_read (<em class="parameter"><code><a class="link" href="mialm-XML-manipulation-of-landmarks.html#ParserState" title="struct ParserState"><span class="type">ParserState</span></a> *state</code></em>,
<em class="parameter"><code>const <span class="type">gchar</span> *property</code></em>);</pre>
<p>Helper function to read a quaternion from a XML file</p>
<div class="refsect3">
<a name="id-1.2.6.7.11.5"></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>state</p></td>
<td class="parameter_description"><p>XML parser state holding the parent object and the values </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>property</p></td>
<td class="parameter_description"><p>property name the quaternion has in the parent class</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-xmlio-write"></a><h3>mia_quaternion_xmlio_write ()</h3>
<pre class="programlisting"><span class="returnvalue">gboolean</span>
mia_quaternion_xmlio_write (<em class="parameter"><code><span class="type">xmlNodePtr</span> root</code></em>,
<em class="parameter"><code><span class="type">xmlNsPtr</span> ns</code></em>,
<em class="parameter"><code>const <span class="type">gchar</span> *tag</code></em>,
<em class="parameter"><code>const <a class="link" href="mialm-MiaQuaternion.html#MiaQuaternion" title="struct MiaQuaternion"><span class="type">MiaQuaternion</span></a> *q</code></em>);</pre>
<p>Helper function to write a quaternion to a XML file</p>
<div class="refsect3">
<a name="id-1.2.6.7.12.5"></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>root</p></td>
<td class="parameter_description"><p>xml node this quaternion will be attached to </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>ns</p></td>
<td class="parameter_description"><p>name space </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>tag</p></td>
<td class="parameter_description"><p>the xml tag to store this quaternion under </p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>q</p></td>
<td class="parameter_description"><p>the quaternion </p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="id-1.2.6.7.12.6"></a><h4>Returns</h4>
<p> true if the node creation was successfu, otherwise false. </p>
<p></p>
</div>
</div>
<hr>
<div class="refsect2">
<a name="mia-quaternion-test"></a><h3>mia_quaternion_test ()</h3>
<pre class="programlisting"><span class="returnvalue">gboolean</span>
mia_quaternion_test (<em class="parameter"><code><span class="type">void</span></code></em>);</pre>
<p>Test the quaternion implementation</p>
<div class="refsect3">
<a name="id-1.2.6.7.13.5"></a><h4>Returns</h4>
<p> <code class="literal">TRUE</code> if all tests pass, <code class="literal">FALSE</code> otherwise. </p>
<p></p>
</div>
</div>
</div>
<div class="refsect1">
<a name="mialm-MiaQuaternion.other_details"></a><h2>Types and Values</h2>
<div class="refsect2">
<a name="MiaQuaternion"></a><h3>struct MiaQuaternion</h3>
<pre class="programlisting">struct MiaQuaternion {
MiaVector3d parent;
/* add your class instance elements here */
gfloat r;
};
</pre>
<p>This defines a Quaternion and is used to describe a rotation in 3D space.</p>
</div>
<hr>
<div class="refsect2">
<a name="RotMatrix"></a><h3>RotMatrix</h3>
<pre class="programlisting">typedef float RotMatrix[4][4];
</pre>
<p>A 4x4 matrix used for rotations.</p>
</div>
</div>
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