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<h2><span class="refentrytitle"><a name="libg3d-quat.top_of_page"></a>quat</span></h2>
<p>quat — quaternion helpers</p>
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<div class="refsynopsisdiv">
<a name="libg3d-quat.synopsis"></a><h2>Synopsis</h2>
<pre class="synopsis">
#include <g3d/quat.h>
typedef <a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat">G3DQuat</a>;
<span class="returnvalue">gboolean</span> <a class="link" href="libg3d-quat.html#g3d-quat-add" title="g3d_quat_add ()">g3d_quat_add</a> (<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>);
<span class="returnvalue">gboolean</span> <a class="link" href="libg3d-quat.html#g3d-quat-normalize" title="g3d_quat_normalize ()">g3d_quat_normalize</a> (<em class="parameter"><code><a class="link" href="libg3d-quat.html#G3DQuat" title="G3DQuat"><span class="type">G3DQuat</span></a> *q</code></em>);
<span class="returnvalue">gboolean</span> <a class="link" href="libg3d-quat.html#g3d-quat-rotate" title="g3d_quat_rotate ()">g3d_quat_rotate</a> (<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>);
<span class="returnvalue">gboolean</span> <a class="link" href="libg3d-quat.html#g3d-quat-to-matrix" title="g3d_quat_to_matrix ()">g3d_quat_to_matrix</a> (<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>);
<span class="returnvalue">gboolean</span> <a class="link" href="libg3d-quat.html#g3d-quat-to-rotation-xyz" title="g3d_quat_to_rotation_xyz ()">g3d_quat_to_rotation_xyz</a> (<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>);
<span class="returnvalue">gboolean</span> <a class="link" href="libg3d-quat.html#g3d-quat-trackball" title="g3d_quat_trackball ()">g3d_quat_trackball</a> (<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>
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<div class="refsect1">
<a name="libg3d-quat.description"></a><h2>Description</h2>
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<div class="refsect1">
<a name="libg3d-quat.details"></a><h2>Details</h2>
<div class="refsect2">
<a name="G3DQuat"></a><h3>G3DQuat</h3>
<pre class="programlisting">typedef G3DFloat G3DQuat;
</pre>
<p>
Quaternion element type.
</p>
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<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>
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<td><p><span class="term"><em class="parameter"><code>qr</code></em> :</span></p></td>
<td>result quat</td>
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<td><p><span class="term"><em class="parameter"><code>q1</code></em> :</span></p></td>
<td>first quat</td>
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<td><p><span class="term"><em class="parameter"><code>q2</code></em> :</span></p></td>
<td>second quat</td>
</tr>
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<td><p><span class="term"><span class="emphasis"><em>Returns</em></span> :</span></p></td>
<td>TRUE on success, FALSE else</td>
</tr>
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<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>
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<td><p><span class="term"><em class="parameter"><code>q</code></em> :</span></p></td>
<td>a quaternion</td>
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<td><p><span class="term"><span class="emphasis"><em>Returns</em></span> :</span></p></td>
<td>TRUE on success, FALSE else</td>
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<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>
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<td><p><span class="term"><em class="parameter"><code>q</code></em> :</span></p></td>
<td>resulting quat</td>
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<tr>
<td><p><span class="term"><em class="parameter"><code>axis</code></em> :</span></p></td>
<td>rotation axis</td>
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<td><p><span class="term"><em class="parameter"><code>angle</code></em> :</span></p></td>
<td>rotation angle</td>
</tr>
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<td><p><span class="term"><span class="emphasis"><em>Returns</em></span> :</span></p></td>
<td>TRUE on success, FALSE else</td>
</tr>
</tbody>
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<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="variablelist"><table border="0">
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<td><p><span class="term"><em class="parameter"><code>q</code></em> :</span></p></td>
<td>source quat</td>
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<td><p><span class="term"><em class="parameter"><code>matrix</code></em> :</span></p></td>
<td>resulting matrix</td>
</tr>
<tr>
<td><p><span class="term"><span class="emphasis"><em>Returns</em></span> :</span></p></td>
<td>TRUE on success, FALSE else</td>
</tr>
</tbody>
</table></div>
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<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="variablelist"><table border="0">
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<td><p><span class="term"><em class="parameter"><code>q</code></em> :</span></p></td>
<td>a quaternion</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>rx</code></em> :</span></p></td>
<td>rotation around x axis</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>ry</code></em> :</span></p></td>
<td>rotation around y axis</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>rz</code></em> :</span></p></td>
<td>rotation around z axis</td>
</tr>
<tr>
<td><p><span class="term"><span class="emphasis"><em>Returns</em></span> :</span></p></td>
<td>TRUE on success, FALSE else</td>
</tr>
</tbody>
</table></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="variablelist"><table border="0">
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<tbody>
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<td><p><span class="term"><em class="parameter"><code>q</code></em> :</span></p></td>
<td>resulting quaternion</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>x1</code></em> :</span></p></td>
<td>x value of first point</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>y1</code></em> :</span></p></td>
<td>y value of first point</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>x2</code></em> :</span></p></td>
<td>x value of second point</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>y2</code></em> :</span></p></td>
<td>y value of second point</td>
</tr>
<tr>
<td><p><span class="term"><em class="parameter"><code>r</code></em> :</span></p></td>
<td>radius of virtual trackball, usually 0.8</td>
</tr>
<tr>
<td><p><span class="term"><span class="emphasis"><em>Returns</em></span> :</span></p></td>
<td>TRUE on success, FALSE else</td>
</tr>
</tbody>
</table></div>
</div>
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