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<a name="graphene-Quaternion"></a><div class="titlepage"></div>
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<td valign="top">
<h2><span class="refentrytitle"><a name="graphene-Quaternion.top_of_page"></a>Quaternion</span></h2>
<p>Quaternion — Quaternion operations</p>
</td>
<td class="gallery_image" valign="top" align="right"></td>
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<div class="refsect1">
<a name="graphene-Quaternion.functions"></a><h2>Functions</h2>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="functions_proto_type">
<col class="functions_proto_name">
</colgroup>
<tbody>
<tr>
<td class="function_type">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-alloc" title="graphene_quaternion_alloc ()">graphene_quaternion_alloc</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="graphene-Quaternion.html#graphene-quaternion-free" title="graphene_quaternion_free ()">graphene_quaternion_free</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-init" title="graphene_quaternion_init ()">graphene_quaternion_init</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-init-identity" title="graphene_quaternion_init_identity ()">graphene_quaternion_init_identity</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-init-from-quaternion" title="graphene_quaternion_init_from_quaternion ()">graphene_quaternion_init_from_quaternion</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-init-from-vec4" title="graphene_quaternion_init_from_vec4 ()">graphene_quaternion_init_from_vec4</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-init-from-matrix" title="graphene_quaternion_init_from_matrix ()">graphene_quaternion_init_from_matrix</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-init-from-angles" title="graphene_quaternion_init_from_angles ()">graphene_quaternion_init_from_angles</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-init-from-radians" title="graphene_quaternion_init_from_radians ()">graphene_quaternion_init_from_radians</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-init-from-angle-vec3" title="graphene_quaternion_init_from_angle_vec3 ()">graphene_quaternion_init_from_angle_vec3</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-init-from-euler" title="graphene_quaternion_init_from_euler ()">graphene_quaternion_init_from_euler</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="graphene-Quaternion.html#graphene-quaternion-to-vec4" title="graphene_quaternion_to_vec4 ()">graphene_quaternion_to_vec4</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="graphene-Quaternion.html#graphene-quaternion-to-matrix" title="graphene_quaternion_to_matrix ()">graphene_quaternion_to_matrix</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="graphene-Quaternion.html#graphene-quaternion-to-angles" title="graphene_quaternion_to_angles ()">graphene_quaternion_to_angles</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="graphene-Quaternion.html#graphene-quaternion-to-radians" title="graphene_quaternion_to_radians ()">graphene_quaternion_to_radians</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="graphene-Quaternion.html#graphene-quaternion-to-angle-vec3" title="graphene_quaternion_to_angle_vec3 ()">graphene_quaternion_to_angle_vec3</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">bool</span>
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-equal" title="graphene_quaternion_equal ()">graphene_quaternion_equal</a> <span class="c_punctuation">()</span>
</td>
</tr>
<tr>
<td class="function_type">
<span class="returnvalue">float</span>
</td>
<td class="function_name">
<a class="link" href="graphene-Quaternion.html#graphene-quaternion-dot" title="graphene_quaternion_dot ()">graphene_quaternion_dot</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="graphene-Quaternion.html#graphene-quaternion-invert" title="graphene_quaternion_invert ()">graphene_quaternion_invert</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="graphene-Quaternion.html#graphene-quaternion-normalize" title="graphene_quaternion_normalize ()">graphene_quaternion_normalize</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="graphene-Quaternion.html#graphene-quaternion-add" title="graphene_quaternion_add ()">graphene_quaternion_add</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="graphene-Quaternion.html#graphene-quaternion-multiply" title="graphene_quaternion_multiply ()">graphene_quaternion_multiply</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="graphene-Quaternion.html#graphene-quaternion-scale" title="graphene_quaternion_scale ()">graphene_quaternion_scale</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="graphene-Quaternion.html#graphene-quaternion-slerp" title="graphene_quaternion_slerp ()">graphene_quaternion_slerp</a> <span class="c_punctuation">()</span>
</td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect1">
<a name="graphene-Quaternion.other"></a><h2>Types and Values</h2>
<div class="informaltable"><table class="informaltable" width="100%" border="0">
<colgroup>
<col width="150px" class="other_proto_type">
<col class="other_proto_name">
</colgroup>
<tbody><tr>
<td class="datatype_keyword"> </td>
<td class="function_name"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t">graphene_quaternion_t</a></td>
</tr></tbody>
</table></div>
</div>
<div class="refsect1">
<a name="graphene-Quaternion.includes"></a><h2>Includes</h2>
<pre class="synopsis">#include <graphene.h>
</pre>
</div>
<div class="refsect1">
<a name="graphene-Quaternion.description"></a><h2>Description</h2>
<p>Quaternions are a mathematical entity that can be used to represent
rotation transformations in 3D space; unlike the usual Euler representation
with roll, pitch, and yaw, quaternions do not suffer from the so-called
<a class="ulink" href="http://en.wikipedia.org/wiki/Gimbal_lock" target="_top">"Gimbal Lock"</a> problem.</p>
<p>See also: <a class="link" href="graphene-Euler.html#graphene-euler-t" title="graphene_euler_t"><span class="type">graphene_euler_t</span></a></p>
</div>
<div class="refsect1">
<a name="graphene-Quaternion.functions_details"></a><h2>Functions</h2>
<div class="refsect2">
<a name="graphene-quaternion-alloc"></a><h3>graphene_quaternion_alloc ()</h3>
<pre class="programlisting"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
graphene_quaternion_alloc (<em class="parameter"><code><span class="type">void</span></code></em>);</pre>
<p>Allocates a new <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a>.</p>
<p>The contents of the returned value are undefined.</p>
<p><span class="annotation">[<acronym title="This symbol is a constructor, not a static method."><span class="acronym">constructor</span></acronym>]</span></p>
<div class="refsect3">
<a name="graphene-quaternion-alloc.returns"></a><h4>Returns</h4>
<p>the newly allocated <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a>. </p>
<p><span class="annotation">[<acronym title="The caller owns the data, and is responsible for free it."><span class="acronym">transfer full</span></acronym>]</span></p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-free"></a><h3>graphene_quaternion_free ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_free (<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>);</pre>
<p>Releases the resources allocated by <a class="link" href="graphene-Quaternion.html#graphene-quaternion-alloc" title="graphene_quaternion_alloc ()"><code class="function">graphene_quaternion_alloc()</code></a>.</p>
<div class="refsect3">
<a name="graphene-quaternion-free.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr></tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-init"></a><h3>graphene_quaternion_init ()</h3>
<pre class="programlisting"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
graphene_quaternion_init (<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><span class="type">float</span> x</code></em>,
<em class="parameter"><code><span class="type">float</span> y</code></em>,
<em class="parameter"><code><span class="type">float</span> z</code></em>,
<em class="parameter"><code><span class="type">float</span> w</code></em>);</pre>
<p>Initializes a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> using the given four values.</p>
<div class="refsect3">
<a name="graphene-quaternion-init.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>x</p></td>
<td class="parameter_description"><p>the first component of the quaternion</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>y</p></td>
<td class="parameter_description"><p>the second component of the quaternion</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>z</p></td>
<td class="parameter_description"><p>the third component of the quaternion</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>w</p></td>
<td class="parameter_description"><p>the fourth component of the quaternion</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-init.returns"></a><h4>Returns</h4>
<p>the initialized quaternion. </p>
<p><span class="annotation">[<acronym title="The data is owned by the callee, which is responsible of freeing it."><span class="acronym">transfer none</span></acronym>]</span></p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-init-identity"></a><h3>graphene_quaternion_init_identity ()</h3>
<pre class="programlisting"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
graphene_quaternion_init_identity (<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>);</pre>
<p>Initializes a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> using the identity
transformation.</p>
<div class="refsect3">
<a name="graphene-quaternion-init-identity.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr></tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-init-identity.returns"></a><h4>Returns</h4>
<p>the initialized quaternion. </p>
<p><span class="annotation">[<acronym title="The data is owned by the callee, which is responsible of freeing it."><span class="acronym">transfer none</span></acronym>]</span></p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-init-from-quaternion"></a><h3>graphene_quaternion_init_from_quaternion ()</h3>
<pre class="programlisting"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
graphene_quaternion_init_from_quaternion
(<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *src</code></em>);</pre>
<p>Initializes a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> with the values from <em class="parameter"><code>src</code></em>
.</p>
<div class="refsect3">
<a name="graphene-quaternion-init-from-quaternion.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>src</p></td>
<td class="parameter_description"><p>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-init-from-quaternion.returns"></a><h4>Returns</h4>
<p>the initialized quaternion. </p>
<p><span class="annotation">[<acronym title="The data is owned by the callee, which is responsible of freeing it."><span class="acronym">transfer none</span></acronym>]</span></p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-init-from-vec4"></a><h3>graphene_quaternion_init_from_vec4 ()</h3>
<pre class="programlisting"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
graphene_quaternion_init_from_vec4 (<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code>const <a class="link" href="graphene-Vectors.html#graphene-vec4-t" title="graphene_vec4_t"><span class="type">graphene_vec4_t</span></a> *src</code></em>);</pre>
<p>Initializes a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> with the values from <em class="parameter"><code>src</code></em>
.</p>
<div class="refsect3">
<a name="graphene-quaternion-init-from-vec4.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>src</p></td>
<td class="parameter_description"><p>a <a class="link" href="graphene-Vectors.html#graphene-vec4-t" title="graphene_vec4_t"><span class="type">graphene_vec4_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-init-from-vec4.returns"></a><h4>Returns</h4>
<p>the initialized quaternion. </p>
<p><span class="annotation">[<acronym title="The data is owned by the callee, which is responsible of freeing it."><span class="acronym">transfer none</span></acronym>]</span></p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-init-from-matrix"></a><h3>graphene_quaternion_init_from_matrix ()</h3>
<pre class="programlisting"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
graphene_quaternion_init_from_matrix (<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code>const <a class="link" href="graphene-Matrix.html#graphene-matrix-t" title="graphene_matrix_t"><span class="type">graphene_matrix_t</span></a> *m</code></em>);</pre>
<p>Initializes a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> using the rotation components
of a transformation matrix.</p>
<div class="refsect3">
<a name="graphene-quaternion-init-from-matrix.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>m</p></td>
<td class="parameter_description"><p>a <a class="link" href="graphene-Matrix.html#graphene-matrix-t" title="graphene_matrix_t"><span class="type">graphene_matrix_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-init-from-matrix.returns"></a><h4>Returns</h4>
<p>the initialized quaternion. </p>
<p><span class="annotation">[<acronym title="The data is owned by the callee, which is responsible of freeing it."><span class="acronym">transfer none</span></acronym>]</span></p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-init-from-angles"></a><h3>graphene_quaternion_init_from_angles ()</h3>
<pre class="programlisting"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
graphene_quaternion_init_from_angles (<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><span class="type">float</span> deg_x</code></em>,
<em class="parameter"><code><span class="type">float</span> deg_y</code></em>,
<em class="parameter"><code><span class="type">float</span> deg_z</code></em>);</pre>
<p>Initializes a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> using the values of
the <a class="ulink" href="http://en.wikipedia.org/wiki/Euler_angles" target="_top">Euler angles</a>
on each axis.</p>
<p>See also: <a class="link" href="graphene-Quaternion.html#graphene-quaternion-init-from-euler" title="graphene_quaternion_init_from_euler ()"><code class="function">graphene_quaternion_init_from_euler()</code></a></p>
<div class="refsect3">
<a name="graphene-quaternion-init-from-angles.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>deg_x</p></td>
<td class="parameter_description"><p>rotation angle on the X axis (yaw), in degrees</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>deg_y</p></td>
<td class="parameter_description"><p>rotation angle on the Y axis (pitch), in degrees</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>deg_z</p></td>
<td class="parameter_description"><p>rotation angle on the Z axis (roll), in degrees</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-init-from-angles.returns"></a><h4>Returns</h4>
<p>the initialized quaternion. </p>
<p><span class="annotation">[<acronym title="The data is owned by the callee, which is responsible of freeing it."><span class="acronym">transfer none</span></acronym>]</span></p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-init-from-radians"></a><h3>graphene_quaternion_init_from_radians ()</h3>
<pre class="programlisting"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
graphene_quaternion_init_from_radians (<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><span class="type">float</span> rad_x</code></em>,
<em class="parameter"><code><span class="type">float</span> rad_y</code></em>,
<em class="parameter"><code><span class="type">float</span> rad_z</code></em>);</pre>
<p>Initializes a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> using the values of
the <a class="ulink" href="http://en.wikipedia.org/wiki/Euler_angles" target="_top">Euler angles</a>
on each axis.</p>
<p>See also: <a class="link" href="graphene-Quaternion.html#graphene-quaternion-init-from-euler" title="graphene_quaternion_init_from_euler ()"><code class="function">graphene_quaternion_init_from_euler()</code></a></p>
<div class="refsect3">
<a name="graphene-quaternion-init-from-radians.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>rad_x</p></td>
<td class="parameter_description"><p>rotation angle on the X axis (yaw), in radians</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>rad_y</p></td>
<td class="parameter_description"><p>rotation angle on the Y axis (pitch), in radians</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>rad_z</p></td>
<td class="parameter_description"><p>rotation angle on the Z axis (roll), in radians</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-init-from-radians.returns"></a><h4>Returns</h4>
<p>the initialized quaternion. </p>
<p><span class="annotation">[<acronym title="The data is owned by the callee, which is responsible of freeing it."><span class="acronym">transfer none</span></acronym>]</span></p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-init-from-angle-vec3"></a><h3>graphene_quaternion_init_from_angle_vec3 ()</h3>
<pre class="programlisting"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
graphene_quaternion_init_from_angle_vec3
(<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><span class="type">float</span> angle</code></em>,
<em class="parameter"><code>const <a class="link" href="graphene-Vectors.html#graphene-vec3-t" title="graphene_vec3_t"><span class="type">graphene_vec3_t</span></a> *axis</code></em>);</pre>
<p>Initializes a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> using an <em class="parameter"><code>angle</code></em>
on a
specific <em class="parameter"><code>axis</code></em>
.</p>
<div class="refsect3">
<a name="graphene-quaternion-init-from-angle-vec3.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>angle</p></td>
<td class="parameter_description"><p>the rotation on a given axis, in degrees</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>axis</p></td>
<td class="parameter_description"><p>the axis of rotation, expressed as a vector</p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-init-from-angle-vec3.returns"></a><h4>Returns</h4>
<p>the initialized quaternion. </p>
<p><span class="annotation">[<acronym title="The data is owned by the callee, which is responsible of freeing it."><span class="acronym">transfer none</span></acronym>]</span></p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-init-from-euler"></a><h3>graphene_quaternion_init_from_euler ()</h3>
<pre class="programlisting"><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="returnvalue">graphene_quaternion_t</span></a> *
graphene_quaternion_init_from_euler (<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code>const <a class="link" href="graphene-Euler.html#graphene-euler-t" title="graphene_euler_t"><span class="type">graphene_euler_t</span></a> *e</code></em>);</pre>
<p>Initializes a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> using the given <a class="link" href="graphene-Euler.html#graphene-euler-t" title="graphene_euler_t"><span class="type">graphene_euler_t</span></a>.</p>
<div class="refsect3">
<a name="graphene-quaternion-init-from-euler.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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>the <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> to initialize</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>e</p></td>
<td class="parameter_description"><p>a <a class="link" href="graphene-Euler.html#graphene-euler-t" title="graphene_euler_t"><span class="type">graphene_euler_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-init-from-euler.returns"></a><h4>Returns</h4>
<p>the initialized <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a>. </p>
<p><span class="annotation">[<acronym title="The data is owned by the callee, which is responsible of freeing it."><span class="acronym">transfer none</span></acronym>]</span></p>
</div>
<p class="since">Since: <a class="link" href="ix04.html#api-index-1.2">1.2</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-to-vec4"></a><h3>graphene_quaternion_to_vec4 ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_to_vec4 (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><a class="link" href="graphene-Vectors.html#graphene-vec4-t" title="graphene_vec4_t"><span class="type">graphene_vec4_t</span></a> *res</code></em>);</pre>
<p>Copies the components of a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> into a
<a class="link" href="graphene-Vectors.html#graphene-vec4-t" title="graphene_vec4_t"><span class="type">graphene_vec4_t</span></a>.</p>
<div class="refsect3">
<a name="graphene-quaternion-to-vec4.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>res</p></td>
<td class="parameter_description"><p>return location for a
<a class="link" href="graphene-Vectors.html#graphene-vec4-t" title="graphene_vec4_t"><span class="type">graphene_vec4_t</span></a>. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Out parameter, where caller must allocate storage."><span class="acronym">out caller-allocates</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-to-matrix"></a><h3>graphene_quaternion_to_matrix ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_to_matrix (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><a class="link" href="graphene-Matrix.html#graphene-matrix-t" title="graphene_matrix_t"><span class="type">graphene_matrix_t</span></a> *m</code></em>);</pre>
<p>Converts a quaternion into a transformation matrix expressing
the rotation defined by the <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a>.</p>
<div class="refsect3">
<a name="graphene-quaternion-to-matrix.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>m</p></td>
<td class="parameter_description"><p>a <a class="link" href="graphene-Matrix.html#graphene-matrix-t" title="graphene_matrix_t"><span class="type">graphene_matrix_t</span></a>. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Out parameter, where caller must allocate storage."><span class="acronym">out caller-allocates</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-to-angles"></a><h3>graphene_quaternion_to_angles ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_to_angles (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><span class="type">float</span> *deg_x</code></em>,
<em class="parameter"><code><span class="type">float</span> *deg_y</code></em>,
<em class="parameter"><code><span class="type">float</span> *deg_z</code></em>);</pre>
<p>Converts a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> to its corresponding rotations
on the <a class="ulink" href="http://en.wikipedia.org/wiki/Euler_angles" target="_top">Euler angles</a>
on each axis.</p>
<div class="refsect3">
<a name="graphene-quaternion-to-angles.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>deg_x</p></td>
<td class="parameter_description"><p>return location for the rotation angle on
the X axis (yaw), in degrees. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Parameter for returning results. Default is transfer full."><span class="acronym">out</span></acronym>][<acronym title="NULL may be passed instead of a pointer to a location."><span class="acronym">optional</span></acronym>]</span></td>
</tr>
<tr>
<td class="parameter_name"><p>deg_y</p></td>
<td class="parameter_description"><p>return location for the rotation angle on
the Y axis (pitch), in degrees. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Parameter for returning results. Default is transfer full."><span class="acronym">out</span></acronym>][<acronym title="NULL may be passed instead of a pointer to a location."><span class="acronym">optional</span></acronym>]</span></td>
</tr>
<tr>
<td class="parameter_name"><p>deg_z</p></td>
<td class="parameter_description"><p>return location for the rotation angle on
the Z axis (roll), in degrees. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Parameter for returning results. Default is transfer full."><span class="acronym">out</span></acronym>][<acronym title="NULL may be passed instead of a pointer to a location."><span class="acronym">optional</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix04.html#api-index-1.2">1.2</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-to-radians"></a><h3>graphene_quaternion_to_radians ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_to_radians (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><span class="type">float</span> *rad_x</code></em>,
<em class="parameter"><code><span class="type">float</span> *rad_y</code></em>,
<em class="parameter"><code><span class="type">float</span> *rad_z</code></em>);</pre>
<p>Converts a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> to its corresponding rotations
on the <a class="ulink" href="http://en.wikipedia.org/wiki/Euler_angles" target="_top">Euler angles</a>
on each axis.</p>
<div class="refsect3">
<a name="graphene-quaternion-to-radians.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>rad_x</p></td>
<td class="parameter_description"><p>return location for the rotation angle on
the X axis (yaw), in radians. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Parameter for returning results. Default is transfer full."><span class="acronym">out</span></acronym>][<acronym title="NULL may be passed instead of a pointer to a location."><span class="acronym">optional</span></acronym>]</span></td>
</tr>
<tr>
<td class="parameter_name"><p>rad_y</p></td>
<td class="parameter_description"><p>return location for the rotation angle on
the Y axis (pitch), in radians. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Parameter for returning results. Default is transfer full."><span class="acronym">out</span></acronym>][<acronym title="NULL may be passed instead of a pointer to a location."><span class="acronym">optional</span></acronym>]</span></td>
</tr>
<tr>
<td class="parameter_name"><p>rad_z</p></td>
<td class="parameter_description"><p>return location for the rotation angle on
the Z axis (roll), in radians. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Parameter for returning results. Default is transfer full."><span class="acronym">out</span></acronym>][<acronym title="NULL may be passed instead of a pointer to a location."><span class="acronym">optional</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix04.html#api-index-1.2">1.2</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-to-angle-vec3"></a><h3>graphene_quaternion_to_angle_vec3 ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_to_angle_vec3 (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><span class="type">float</span> *angle</code></em>,
<em class="parameter"><code><a class="link" href="graphene-Vectors.html#graphene-vec3-t" title="graphene_vec3_t"><span class="type">graphene_vec3_t</span></a> *axis</code></em>);</pre>
<p>Converts a quaternion into an <em class="parameter"><code>angle</code></em>
, <em class="parameter"><code>axis</code></em>
pair.</p>
<div class="refsect3">
<a name="graphene-quaternion-to-angle-vec3.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>angle</p></td>
<td class="parameter_description"><p>return location for the angle, in degrees. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Parameter for returning results. Default is transfer full."><span class="acronym">out</span></acronym>]</span></td>
</tr>
<tr>
<td class="parameter_name"><p>axis</p></td>
<td class="parameter_description"><p>return location for the rotation axis. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Out parameter, where caller must allocate storage."><span class="acronym">out caller-allocates</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-equal"></a><h3>graphene_quaternion_equal ()</h3>
<pre class="programlisting"><span class="returnvalue">bool</span>
graphene_quaternion_equal (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *a</code></em>,
<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *b</code></em>);</pre>
<p>Checks whether the given quaternions are equal.</p>
<div class="refsect3">
<a name="graphene-quaternion-equal.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>b</p></td>
<td class="parameter_description"><p>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-equal.returns"></a><h4>Returns</h4>
<p> <code class="literal">true</code> if the quaternions are equal</p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-dot"></a><h3>graphene_quaternion_dot ()</h3>
<pre class="programlisting"><span class="returnvalue">float</span>
graphene_quaternion_dot (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *a</code></em>,
<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *b</code></em>);</pre>
<p>Computes the dot product of two <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a>.</p>
<div class="refsect3">
<a name="graphene-quaternion-dot.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>b</p></td>
<td class="parameter_description"><p>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
</tbody>
</table></div>
</div>
<div class="refsect3">
<a name="graphene-quaternion-dot.returns"></a><h4>Returns</h4>
<p> the value of the dot products</p>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-invert"></a><h3>graphene_quaternion_invert ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_invert (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *res</code></em>);</pre>
<p>Inverts a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a>, and returns the conjugate
quaternion of <em class="parameter"><code>q</code></em>
.</p>
<div class="refsect3">
<a name="graphene-quaternion-invert.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>res</p></td>
<td class="parameter_description"><p>return location for the inverted
quaternion. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Out parameter, where caller must allocate storage."><span class="acronym">out caller-allocates</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-normalize"></a><h3>graphene_quaternion_normalize ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_normalize (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *res</code></em>);</pre>
<p>Normalizes a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a>.</p>
<div class="refsect3">
<a name="graphene-quaternion-normalize.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>res</p></td>
<td class="parameter_description"><p>return location for the normalized
quaternion. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Out parameter, where caller must allocate storage."><span class="acronym">out caller-allocates</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-add"></a><h3>graphene_quaternion_add ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_add (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *a</code></em>,
<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *b</code></em>,
<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *res</code></em>);</pre>
<p>Adds two <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> <em class="parameter"><code>a</code></em>
and <em class="parameter"><code>b</code></em>
.</p>
<div class="refsect3">
<a name="graphene-quaternion-add.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>b</p></td>
<td class="parameter_description"><p>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>res</p></td>
<td class="parameter_description"><p>the result of the operation. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Out parameter, where caller must allocate storage."><span class="acronym">out caller-allocates</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix07.html#api-index-1.10">1.10</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-multiply"></a><h3>graphene_quaternion_multiply ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_multiply (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *a</code></em>,
<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *b</code></em>,
<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *res</code></em>);</pre>
<p>Multiplies two <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> <em class="parameter"><code>a</code></em>
and <em class="parameter"><code>b</code></em>
.</p>
<div class="refsect3">
<a name="graphene-quaternion-multiply.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>b</p></td>
<td class="parameter_description"><p>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>res</p></td>
<td class="parameter_description"><p>the result of the operation. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Out parameter, where caller must allocate storage."><span class="acronym">out caller-allocates</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix07.html#api-index-1.10">1.10</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-scale"></a><h3>graphene_quaternion_scale ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_scale (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *q</code></em>,
<em class="parameter"><code><span class="type">float</span> factor</code></em>,
<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *res</code></em>);</pre>
<p>Scales all the elements of a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> <em class="parameter"><code>q</code></em>
using
the given scalar factor.</p>
<div class="refsect3">
<a name="graphene-quaternion-scale.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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 <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>factor</p></td>
<td class="parameter_description"><p>a scaling factor</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>res</p></td>
<td class="parameter_description"><p>the result of the operation. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Out parameter, where caller must allocate storage."><span class="acronym">out caller-allocates</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix07.html#api-index-1.10">1.10</a></p>
</div>
<hr>
<div class="refsect2">
<a name="graphene-quaternion-slerp"></a><h3>graphene_quaternion_slerp ()</h3>
<pre class="programlisting"><span class="returnvalue">void</span>
graphene_quaternion_slerp (<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *a</code></em>,
<em class="parameter"><code>const <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *b</code></em>,
<em class="parameter"><code><span class="type">float</span> factor</code></em>,
<em class="parameter"><code><a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> *res</code></em>);</pre>
<p>Interpolates between the two given quaternions using a spherical
linear interpolation, or <a class="ulink" href="http://en.wikipedia.org/wiki/Slerp" target="_top">SLERP</a>,
using the given interpolation <em class="parameter"><code>factor</code></em>
.</p>
<div class="refsect3">
<a name="graphene-quaternion-slerp.parameters"></a><h4>Parameters</h4>
<div class="informaltable"><table class="informaltable" 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>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>b</p></td>
<td class="parameter_description"><p>a <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a></p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>factor</p></td>
<td class="parameter_description"><p>the linear interpolation factor</p></td>
<td class="parameter_annotations"> </td>
</tr>
<tr>
<td class="parameter_name"><p>res</p></td>
<td class="parameter_description"><p>return location for the interpolated
quaternion. </p></td>
<td class="parameter_annotations"><span class="annotation">[<acronym title="Out parameter, where caller must allocate storage."><span class="acronym">out caller-allocates</span></acronym>]</span></td>
</tr>
</tbody>
</table></div>
</div>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
</div>
<div class="refsect1">
<a name="graphene-Quaternion.other_details"></a><h2>Types and Values</h2>
<div class="refsect2">
<a name="graphene-quaternion-t"></a><h3>graphene_quaternion_t</h3>
<pre class="programlisting">typedef struct {
} graphene_quaternion_t;
</pre>
<p>A quaternion.</p>
<p>The contents of the <a class="link" href="graphene-Quaternion.html#graphene-quaternion-t" title="graphene_quaternion_t"><span class="type">graphene_quaternion_t</span></a> structure are private
and should never be accessed directly.</p>
<p class="since">Since: <a class="link" href="ix03.html#api-index-1.0">1.0</a></p>
</div>
</div>
</div>
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