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<h1>irr::core::quaternion Class Reference</h1><!-- doxytag: class="irr::core::quaternion" -->
<p>Quaternion class for representing rotations.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="quaternion_8h_source.html">quaternion.h</a>></code></p>
<p><a href="classirr_1_1core_1_1quaternion-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a1ae4b20abb602514510b4134accc9978">dotProduct</a> (const <a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> &other) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculates the dot product. <a href="#a1ae4b20abb602514510b4134accc9978"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#aca274395cd033f21be8fd6f2a0e7f9b1">equals</a> (const <a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> &other, const <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> tolerance=<a class="el" href="namespaceirr_1_1core.html#a9514dd34463a30102ef8836915cf9c4c">ROUNDING_ERROR_f32</a>) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">returns if this quaternion equals the other one, taking floating point rounding errors into account <a href="#aca274395cd033f21be8fd6f2a0e7f9b1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#ab4f5eb86ef7a42a3021b810486faa8c8">fromAngleAxis</a> (<a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> angle, const <a class="el" href="classirr_1_1core_1_1vector3d.html">vector3df</a> &axis)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Create quaternion from rotation angle and rotation axis. <a href="#ab4f5eb86ef7a42a3021b810486faa8c8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#ac2c1fee9f922eb0bd53ecd7076f2e732">getMatrix</a> (<a class="el" href="classirr_1_1core_1_1_c_matrix4.html">matrix4</a> &dest, const <a class="el" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &translation) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Creates a matrix from this quaternion. <a href="#ac2c1fee9f922eb0bd53ecd7076f2e732"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1_c_matrix4.html">matrix4</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a4913dba1c8448eb1dae91f7476a90125">getMatrix</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Creates a matrix from this quaternion. <a href="#a4913dba1c8448eb1dae91f7476a90125"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#ad54809de078e19b7f95c7c0e466cbfa8">getMatrix_transposed</a> (<a class="el" href="classirr_1_1core_1_1_c_matrix4.html">matrix4</a> &dest) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Creates a matrix from this quaternion. <a href="#ad54809de078e19b7f95c7c0e466cbfa8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a3d5efafd9f646ab5e86812797dc0b975">getMatrixCenter</a> (<a class="el" href="classirr_1_1core_1_1_c_matrix4.html">matrix4</a> &dest, const <a class="el" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &center, const <a class="el" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &translation) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a3b4f6634670591f2c5be33aeaac2e928">makeIdentity</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set quaternion to identity. <a href="#a3b4f6634670591f2c5be33aeaac2e928"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a2e286be8b088fa3ade0ab74880ea4508">makeInverse</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inverts this quaternion. <a href="#a2e286be8b088fa3ade0ab74880ea4508"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#aac7a34ffd2a14a78de12d994539b94f9">normalize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Normalizes the quaternion. <a href="#aac7a34ffd2a14a78de12d994539b94f9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a23e1614821c307b91b4fa370a29da56a">operator!=</a> (const <a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> &other) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">inequality operator <a href="#a23e1614821c307b91b4fa370a29da56a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1vector3d.html">vector3df</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a08d7b70acc572e7345f9bb7aadef3505">operator*</a> (const <a class="el" href="classirr_1_1core_1_1vector3d.html">vector3df</a> &v) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Multiplication operator. <a href="#a08d7b70acc572e7345f9bb7aadef3505"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#ae320e6a2c6fc1b6ab579645f1056a310">operator*</a> (<a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> s) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Multiplication operator with scalar. <a href="#ae320e6a2c6fc1b6ab579645f1056a310"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a740a2885a20005a62e8f24dffa1d48c7">operator*</a> (const <a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> &other) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Multiplication operator. <a href="#a740a2885a20005a62e8f24dffa1d48c7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#ad6b251ec3861ae7be90ac0ddc0cd44f4">operator*=</a> (const <a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Multiplication operator. <a href="#ad6b251ec3861ae7be90ac0ddc0cd44f4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a933b6bf1ace6875068c5c01741bb4096">operator*=</a> (<a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> s)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Multiplication operator with scalar. <a href="#a933b6bf1ace6875068c5c01741bb4096"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a8fa3541f577ba6daa583f936f7cdb978">operator+</a> (const <a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> &other) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add operator. <a href="#a8fa3541f577ba6daa583f936f7cdb978"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#aed887a4f908b44aa13ef5f77291134f0">operator=</a> (const <a class="el" href="classirr_1_1core_1_1_c_matrix4.html">matrix4</a> &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Matrix assignment operator. <a href="#aed887a4f908b44aa13ef5f77291134f0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a14e694153904d3026eac8c9f14a5df1c">operator=</a> (const <a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Assignment operator. <a href="#a14e694153904d3026eac8c9f14a5df1c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a37ed741a0a63c8f829817c76dae0c4cc">operator==</a> (const <a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> &other) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Equalilty operator. <a href="#a37ed741a0a63c8f829817c76dae0c4cc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a60b4e1a97224c18da64e49861b8d0107">quaternion</a> (const <a class="el" href="classirr_1_1core_1_1_c_matrix4.html">matrix4</a> &mat)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor which converts a matrix to a quaternion. <a href="#a60b4e1a97224c18da64e49861b8d0107"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#af8d613780a8d0e3f2775f6f9086db3b0">quaternion</a> (const <a class="el" href="classirr_1_1core_1_1vector3d.html">vector3df</a> &vec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor which converts euler angles (radians) to a quaternion. <a href="#af8d613780a8d0e3f2775f6f9086db3b0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a299947a6d5c4f3ac2aa64fcffcc11be0">quaternion</a> (<a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> x, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> y, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> z)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor which converts euler angles (radians) to a quaternion. <a href="#a299947a6d5c4f3ac2aa64fcffcc11be0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a7bff9d1ca51483f96094fa5ac9d97342">quaternion</a> (<a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> x, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> y, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> z, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> w)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a7bff9d1ca51483f96094fa5ac9d97342"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#af19629224bc2ed3a3ecbc335309099c8">quaternion</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default Constructor. <a href="#af19629224bc2ed3a3ecbc335309099c8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a9da1b3ddfb9722f596a73abf5212c020">rotationFromTo</a> (const <a class="el" href="classirr_1_1core_1_1vector3d.html">vector3df</a> &from, const <a class="el" href="classirr_1_1core_1_1vector3d.html">vector3df</a> &to)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set quaternion to represent a rotation from one vector to another. <a href="#a9da1b3ddfb9722f596a73abf5212c020"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#aa99cf40ab088323e5fc31ccdbe9fa2ad">set</a> (const <a class="el" href="classirr_1_1core_1_1quaternion.html">core::quaternion</a> &quat)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets new quaternion from other quaternion. <a href="#aa99cf40ab088323e5fc31ccdbe9fa2ad"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a76b7f0569737c2143ca6dae47abd8fdd">set</a> (const <a class="el" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &vec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets new quaternion based on euler angles (radians). <a href="#a76b7f0569737c2143ca6dae47abd8fdd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#adb1393a5e3833622bfd6009f53ab842e">set</a> (<a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> x, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> y, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> z)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets new quaternion based on euler angles (radians). <a href="#adb1393a5e3833622bfd6009f53ab842e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a51b8ba2c12a6e6ce9af0d60430f199e3">set</a> (<a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> x, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> y, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> z, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> w)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets new quaternion. <a href="#a51b8ba2c12a6e6ce9af0d60430f199e3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a0e508f687cac2992882c17821c595089">slerp</a> (<a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> q1, <a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> q2, <a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> interpolate)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set this quaternion to the result of the interpolation between two quaternions. <a href="#a0e508f687cac2992882c17821c595089"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#aa36e7548f62749238086832d9b693cad">toAngleAxis</a> (<a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> &angle, <a class="el" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> &axis) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills an angle (radians) around an axis (unit vector). <a href="#aa36e7548f62749238086832d9b693cad"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a651d5a90572f14b9a2a5c17caea0e764">toEuler</a> (<a class="el" href="classirr_1_1core_1_1vector3d.html">vector3df</a> &euler) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Output this quaternion to an euler angle (radians). <a href="#a651d5a90572f14b9a2a5c17caea0e764"></a><br/></td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">W</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342">X</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Quaternion elements. <a href="#a69f2ee15363f0b9baa0b3cbb70091342"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">Y</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">Z</a></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Quaternion class for representing rotations. </p>
<p>It provides cheap combinations and avoids gimbal locks. Also useful for interpolations. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00021">21</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="af19629224bc2ed3a3ecbc335309099c8"></a><!-- doxytag: member="irr::core::quaternion::quaternion" ref="af19629224bc2ed3a3ecbc335309099c8" args="()" -->
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<td class="memname">irr::core::quaternion::quaternion </td>
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<p>Default Constructor. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00026">26</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00275">operator*()</a>, and <a class="el" href="quaternion_8h_source.html#l00297">operator+()</a>.</p>
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<td class="memname">irr::core::quaternion::quaternion </td>
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<td class="paramname"> <em>x</em>, </td>
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<td class="paramname"> <em>y</em>, </td>
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<td class="paramtype"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td>
<td class="paramname"> <em>z</em>, </td>
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<td class="paramname"> <em>w</em></td><td> </td>
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<p>Constructor. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00029">29</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
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<td class="paramname"> <em>x</em>, </td>
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<td class="paramname"> <em>z</em></td><td> </td>
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<p>Constructor which converts euler angles (radians) to a quaternion. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00155">155</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
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<p>Constructor which converts euler angles (radians) to a quaternion. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00162">162</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="vector3d_8h_source.html#l00398">irr::core::vector3d< T >::X</a>, <a class="el" href="vector3d_8h_source.html#l00401">irr::core::vector3d< T >::Y</a>, and <a class="el" href="vector3d_8h_source.html#l00404">irr::core::vector3d< T >::Z</a>.</p>
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<p>Constructor which converts a matrix to a quaternion. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00169">169</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a1ae4b20abb602514510b4134accc9978"></a><!-- doxytag: member="irr::core::quaternion::dotProduct" ref="a1ae4b20abb602514510b4134accc9978" args="(const quaternion &other) const " -->
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<td class="memname"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> irr::core::quaternion::dotProduct </td>
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<p>Calculates the dot product. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00534">534</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00494">slerp()</a>.</p>
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<td class="paramname"> <em>tolerance</em> = <code><a class="el" href="namespaceirr_1_1core.html#a9514dd34463a30102ef8836915cf9c4c">ROUNDING_ERROR_f32</a></code></td><td> </td>
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<p>returns if this quaternion equals the other one, taking floating point rounding errors into account </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00471">471</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<td class="memname"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & irr::core::quaternion::fromAngleAxis </td>
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<p>Create quaternion from rotation angle and rotation axis. </p>
<p>Axis must be unit length. The quaternion representing the rotation is q = cos(A/2)+sin(A/2)*(x*i+y*j+z*k). </p>
<dl><dt><b>Parameters:</b></dt><dd>
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<tr><td valign="top"></td><td valign="top"><em>angle</em> </td><td>Rotation Angle in radians. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>axis</em> </td><td>Rotation axis.</td></tr>
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<p>axis must be unit length angle in radians </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00542">542</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="vector3d_8h_source.html#l00398">irr::core::vector3d< T >::X</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="vector3d_8h_source.html#l00401">irr::core::vector3d< T >::Y</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, <a class="el" href="vector3d_8h_source.html#l00404">irr::core::vector3d< T >::Z</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00617">rotationFromTo()</a>.</p>
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<p>Creates a matrix from this quaternion. </p>
<p>Creates a matrix from this quaternion </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00315">315</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="matrix4_8h_source.html#l00100">irr::core::CMatrix4< T >::pointer()</a>, <a class="el" href="matrix4_8h_source.html#l02077">irr::core::CMatrix4< T >::setDefinitelyIdentityMatrix()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="vector3d_8h_source.html#l00398">irr::core::vector3d< T >::X</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="vector3d_8h_source.html#l00401">irr::core::vector3d< T >::Y</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, <a class="el" href="vector3d_8h_source.html#l00404">irr::core::vector3d< T >::Z</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<p>Creates a matrix from this quaternion. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00304">304</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00382">getMatrix_transposed()</a>.</p>
<p>Referenced by <a class="el" href="_i_animated_mesh_m_d3_8h_source.html#l00191">irr::scene::SMD3QuaternionTag::operator==()</a>.</p>
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<p>Creates a matrix from this quaternion. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00382">382</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="matrix4_8h_source.html#l02077">irr::core::CMatrix4< T >::setDefinitelyIdentityMatrix()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00304">getMatrix()</a>.</p>
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<td class="paramname"> <em>translation</em></td><td> </td>
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<p>Creates a matrix from this quaternion Rotate about a center point shortcut for <a class="el" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">core::quaternion</a> q; q.rotationFromTo ( vin[i].Normal, forward ); q.getMatrixCenter ( lookat, center, newPos );</p>
<p><a class="el" href="namespaceirr_1_1core.html#a73fa92e638c5ca97efd72da307cc9b65" title="Typedef for f32 matrix.">core::matrix4</a> m2; m2.setInverseTranslation ( center ); lookat *= m2;</p>
<p><a class="el" href="namespaceirr_1_1core.html#a73fa92e638c5ca97efd72da307cc9b65" title="Typedef for f32 matrix.">core::matrix4</a> m3; m2.setTranslation ( newPos ); lookat *= m3;</p>
<p>Creates a matrix from this quaternion Rotate about a center point shortcut for <a class="el" href="classirr_1_1core_1_1quaternion.html" title="Quaternion class for representing rotations.">core::quaternion</a> q; q.rotationFromTo ( vin[i].Normal, forward ); q.getMatrix ( lookat, center );</p>
<p><a class="el" href="namespaceirr_1_1core.html#a73fa92e638c5ca97efd72da307cc9b65" title="Typedef for f32 matrix.">core::matrix4</a> m2; m2.setInverseTranslation ( center ); lookat *= m2; </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00357">357</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="matrix4_8h_source.html#l00100">irr::core::CMatrix4< T >::pointer()</a>, <a class="el" href="matrix4_8h_source.html#l01930">irr::core::CMatrix4< T >::setRotationCenter()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<a class="anchor" id="a3b4f6634670591f2c5be33aeaac2e928"></a><!-- doxytag: member="irr::core::quaternion::makeIdentity" ref="a3b4f6634670591f2c5be33aeaac2e928" args="()" -->
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<p>Set quaternion to identity. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00608">608</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00617">rotationFromTo()</a>.</p>
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<p>Inverts this quaternion. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00410">410</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<p>Normalizes the quaternion. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00481">481</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="irr_math_8h_source.html#l00426">irr::core::reciprocal_squareroot()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00202">operator=()</a>, and <a class="el" href="quaternion_8h_source.html#l00428">set()</a>.</p>
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<a class="anchor" id="a23e1614821c307b91b4fa370a29da56a"></a><!-- doxytag: member="irr::core::quaternion::operator!=" ref="a23e1614821c307b91b4fa370a29da56a" args="(const quaternion &other) const " -->
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<p>inequality operator </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00185">185</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
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<a class="anchor" id="a08d7b70acc572e7345f9bb7aadef3505"></a><!-- doxytag: member="irr::core::quaternion::operator*" ref="a08d7b70acc572e7345f9bb7aadef3505" args="(const vector3df &v) const " -->
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<td class="memname"><a class="el" href="classirr_1_1core_1_1vector3d.html">vector3df</a> irr::core::quaternion::operator* </td>
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<p>Multiplication operator. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00593">593</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="vector3d_8h_source.html#l00147">irr::core::vector3d< T >::crossProduct()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<p>Multiplication operator with scalar. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00275">275</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00026">quaternion()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<td class="memname"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> irr::core::quaternion::operator* </td>
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<p>Multiplication operator. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00261">261</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<p>Multiplication operator. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00291">291</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
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<p>Multiplication operator with scalar. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00281">281</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<td class="memname"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> irr::core::quaternion::operator+ </td>
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<p>Add operator. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00297">297</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00026">quaternion()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<p>Matrix assignment operator. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00202">202</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00481">normalize()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<p>Assignment operator. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00191">191</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<p>Equalilty operator. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00176">176</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<p>Set quaternion to represent a rotation from one vector to another. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00617">617</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="vector3d_8h_source.html#l00147">irr::core::vector3d< T >::crossProduct()</a>, <a class="el" href="vector3d_8h_source.html#l00125">irr::core::vector3d< T >::dotProduct()</a>, <a class="el" href="quaternion_8h_source.html#l00542">fromAngleAxis()</a>, <a class="el" href="vector3d_8h_source.html#l00117">irr::core::vector3d< T >::getLength()</a>, <a class="el" href="quaternion_8h_source.html#l00608">makeIdentity()</a>, <a class="el" href="vector3d_8h_source.html#l00168">irr::core::vector3d< T >::normalize()</a>, <a class="el" href="irr_math_8h_source.html#l00049">irr::core::PI</a>, <a class="el" href="vector3d_8h_source.html#l00113">irr::core::vector3d< T >::set()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="vector3d_8h_source.html#l00398">irr::core::vector3d< T >::X</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="vector3d_8h_source.html#l00401">irr::core::vector3d< T >::Y</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, <a class="el" href="vector3d_8h_source.html#l00404">irr::core::vector3d< T >::Z</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<a class="anchor" id="aa99cf40ab088323e5fc31ccdbe9fa2ad"></a><!-- doxytag: member="irr::core::quaternion::set" ref="aa99cf40ab088323e5fc31ccdbe9fa2ad" args="(const core::quaternion &quat)" -->
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<td class="memname"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & irr::core::quaternion::set </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classirr_1_1core_1_1quaternion.html">core::quaternion</a> & </td>
<td class="paramname"> <em>quat</em></td>
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<td><code> [inline]</code></td>
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<p>Sets new quaternion from other quaternion. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00464">464</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
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<a class="anchor" id="a76b7f0569737c2143ca6dae47abd8fdd"></a><!-- doxytag: member="irr::core::quaternion::set" ref="a76b7f0569737c2143ca6dae47abd8fdd" args="(const core::vector3df &vec)" -->
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<td class="memname"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & irr::core::quaternion::set </td>
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<td class="paramtype">const <a class="el" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> & </td>
<td class="paramname"> <em>vec</em></td>
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<p>Sets new quaternion based on euler angles (radians). </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00458">458</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="vector3d_8h_source.html#l00398">irr::core::vector3d< T >::X</a>, <a class="el" href="vector3d_8h_source.html#l00401">irr::core::vector3d< T >::Y</a>, and <a class="el" href="vector3d_8h_source.html#l00404">irr::core::vector3d< T >::Z</a>.</p>
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<a class="anchor" id="adb1393a5e3833622bfd6009f53ab842e"></a><!-- doxytag: member="irr::core::quaternion::set" ref="adb1393a5e3833622bfd6009f53ab842e" args="(f32 x, f32 y, f32 z)" -->
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<td>(</td>
<td class="paramtype"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td>
<td class="paramname"> <em>x</em>, </td>
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<td></td>
<td class="paramtype"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td>
<td class="paramname"> <em>y</em>, </td>
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<td class="paramtype"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td>
<td class="paramname"> <em>z</em></td><td> </td>
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<p>Sets new quaternion based on euler angles (radians). </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00428">428</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00481">normalize()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<a class="anchor" id="a51b8ba2c12a6e6ce9af0d60430f199e3"></a><!-- doxytag: member="irr::core::quaternion::set" ref="a51b8ba2c12a6e6ce9af0d60430f199e3" args="(f32 x, f32 y, f32 z, f32 w)" -->
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<td class="memname"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & irr::core::quaternion::set </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td>
<td class="paramname"> <em>x</em>, </td>
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<td></td>
<td class="paramtype"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td>
<td class="paramname"> <em>y</em>, </td>
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<td></td>
<td class="paramtype"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td>
<td class="paramname"> <em>z</em>, </td>
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<td class="paramtype"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td>
<td class="paramname"> <em>w</em></td><td> </td>
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<p>Sets new quaternion. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00417">417</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00494">slerp()</a>.</p>
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<a class="anchor" id="a0e508f687cac2992882c17821c595089"></a><!-- doxytag: member="irr::core::quaternion::slerp" ref="a0e508f687cac2992882c17821c595089" args="(quaternion q1, quaternion q2, f32 interpolate)" -->
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<td class="memname"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> & irr::core::quaternion::slerp </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> </td>
<td class="paramname"> <em>q1</em>, </td>
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<td class="paramtype"><a class="el" href="classirr_1_1core_1_1quaternion.html">quaternion</a> </td>
<td class="paramname"> <em>q2</em>, </td>
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<td class="paramtype"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> </td>
<td class="paramname"> <em>interpolate</em></td><td> </td>
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<p>Set this quaternion to the result of the interpolation between two quaternions. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00494">494</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="quaternion_8h_source.html#l00534">dotProduct()</a>, <a class="el" href="irr_math_8h_source.html#l00049">irr::core::PI</a>, <a class="el" href="irr_math_8h_source.html#l00464">irr::core::reciprocal()</a>, <a class="el" href="quaternion_8h_source.html#l00417">set()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<a class="anchor" id="aa36e7548f62749238086832d9b693cad"></a><!-- doxytag: member="irr::core::quaternion::toAngleAxis" ref="aa36e7548f62749238086832d9b693cad" args="(f32 &angle, core::vector3df &axis) const " -->
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<td class="memname">void irr::core::quaternion::toAngleAxis </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> & </td>
<td class="paramname"> <em>angle</em>, </td>
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<td></td>
<td class="paramtype"><a class="el" href="classirr_1_1core_1_1vector3d.html">core::vector3df</a> & </td>
<td class="paramname"> <em>axis</em></td><td> </td>
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<td></td><td></td><td> const<code> [inline]</code></td>
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<p>Fills an angle (radians) around an axis (unit vector). </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00554">554</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="irr_math_8h_source.html#l00215">irr::core::iszero()</a>, <a class="el" href="irr_math_8h_source.html#l00464">irr::core::reciprocal()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="vector3d_8h_source.html#l00398">irr::core::vector3d< T >::X</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="vector3d_8h_source.html#l00401">irr::core::vector3d< T >::Y</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, <a class="el" href="vector3d_8h_source.html#l00404">irr::core::vector3d< T >::Z</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<a class="anchor" id="a651d5a90572f14b9a2a5c17caea0e764"></a><!-- doxytag: member="irr::core::quaternion::toEuler" ref="a651d5a90572f14b9a2a5c17caea0e764" args="(vector3df &euler) const " -->
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<td class="memname">void irr::core::quaternion::toEuler </td>
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<td class="paramtype"><a class="el" href="classirr_1_1core_1_1vector3d.html">vector3df</a> & </td>
<td class="paramname"> <em>euler</em></td>
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<td> const<code> [inline]</code></td>
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<p>Output this quaternion to an euler angle (radians). </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00575">575</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>References <a class="el" href="irr_math_8h_source.html#l00159">irr::core::clamp()</a>, <a class="el" href="quaternion_8h_source.html#l00150">W</a>, <a class="el" href="vector3d_8h_source.html#l00398">irr::core::vector3d< T >::X</a>, <a class="el" href="quaternion_8h_source.html#l00147">X</a>, <a class="el" href="vector3d_8h_source.html#l00401">irr::core::vector3d< T >::Y</a>, <a class="el" href="quaternion_8h_source.html#l00148">Y</a>, <a class="el" href="vector3d_8h_source.html#l00404">irr::core::vector3d< T >::Z</a>, and <a class="el" href="quaternion_8h_source.html#l00149">Z</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="abd35ca07eda3783a00b27ff9a49e43b8"></a><!-- doxytag: member="irr::core::quaternion::W" ref="abd35ca07eda3783a00b27ff9a49e43b8" args="" -->
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<td class="memname"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> <a class="el" href="classirr_1_1core_1_1quaternion.html#abd35ca07eda3783a00b27ff9a49e43b8">irr::core::quaternion::W</a></td>
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<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00150">150</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00534">dotProduct()</a>, <a class="el" href="quaternion_8h_source.html#l00471">equals()</a>, <a class="el" href="quaternion_8h_source.html#l00542">fromAngleAxis()</a>, <a class="el" href="quaternion_8h_source.html#l00315">getMatrix()</a>, <a class="el" href="quaternion_8h_source.html#l00382">getMatrix_transposed()</a>, <a class="el" href="quaternion_8h_source.html#l00357">getMatrixCenter()</a>, <a class="el" href="quaternion_8h_source.html#l00608">makeIdentity()</a>, <a class="el" href="quaternion_8h_source.html#l00481">normalize()</a>, <a class="el" href="quaternion_8h_source.html#l00261">operator*()</a>, <a class="el" href="quaternion_8h_source.html#l00281">operator*=()</a>, <a class="el" href="quaternion_8h_source.html#l00297">operator+()</a>, <a class="el" href="quaternion_8h_source.html#l00191">operator=()</a>, <a class="el" href="quaternion_8h_source.html#l00176">operator==()</a>, <a class="el" href="quaternion_8h_source.html#l00617">rotationFromTo()</a>, <a class="el" href="quaternion_8h_source.html#l00417">set()</a>, <a class="el" href="quaternion_8h_source.html#l00494">slerp()</a>, <a class="el" href="quaternion_8h_source.html#l00554">toAngleAxis()</a>, and <a class="el" href="quaternion_8h_source.html#l00575">toEuler()</a>.</p>
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<a class="anchor" id="a69f2ee15363f0b9baa0b3cbb70091342"></a><!-- doxytag: member="irr::core::quaternion::X" ref="a69f2ee15363f0b9baa0b3cbb70091342" args="" -->
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<td class="memname"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> <a class="el" href="classirr_1_1core_1_1quaternion.html#a69f2ee15363f0b9baa0b3cbb70091342">irr::core::quaternion::X</a></td>
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<p>Quaternion elements. </p>
<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00147">147</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00534">dotProduct()</a>, <a class="el" href="quaternion_8h_source.html#l00471">equals()</a>, <a class="el" href="quaternion_8h_source.html#l00542">fromAngleAxis()</a>, <a class="el" href="quaternion_8h_source.html#l00315">getMatrix()</a>, <a class="el" href="quaternion_8h_source.html#l00382">getMatrix_transposed()</a>, <a class="el" href="quaternion_8h_source.html#l00357">getMatrixCenter()</a>, <a class="el" href="quaternion_8h_source.html#l00608">makeIdentity()</a>, <a class="el" href="quaternion_8h_source.html#l00410">makeInverse()</a>, <a class="el" href="quaternion_8h_source.html#l00481">normalize()</a>, <a class="el" href="quaternion_8h_source.html#l00261">operator*()</a>, <a class="el" href="quaternion_8h_source.html#l00281">operator*=()</a>, <a class="el" href="quaternion_8h_source.html#l00297">operator+()</a>, <a class="el" href="quaternion_8h_source.html#l00191">operator=()</a>, <a class="el" href="quaternion_8h_source.html#l00176">operator==()</a>, <a class="el" href="quaternion_8h_source.html#l00617">rotationFromTo()</a>, <a class="el" href="quaternion_8h_source.html#l00417">set()</a>, <a class="el" href="quaternion_8h_source.html#l00494">slerp()</a>, <a class="el" href="quaternion_8h_source.html#l00554">toAngleAxis()</a>, and <a class="el" href="quaternion_8h_source.html#l00575">toEuler()</a>.</p>
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<a class="anchor" id="a7c571eaca7b5c9e5f5b8d7872d51dac9"></a><!-- doxytag: member="irr::core::quaternion::Y" ref="a7c571eaca7b5c9e5f5b8d7872d51dac9" args="" -->
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<td class="memname"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> <a class="el" href="classirr_1_1core_1_1quaternion.html#a7c571eaca7b5c9e5f5b8d7872d51dac9">irr::core::quaternion::Y</a></td>
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<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00148">148</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00534">dotProduct()</a>, <a class="el" href="quaternion_8h_source.html#l00471">equals()</a>, <a class="el" href="quaternion_8h_source.html#l00542">fromAngleAxis()</a>, <a class="el" href="quaternion_8h_source.html#l00315">getMatrix()</a>, <a class="el" href="quaternion_8h_source.html#l00382">getMatrix_transposed()</a>, <a class="el" href="quaternion_8h_source.html#l00357">getMatrixCenter()</a>, <a class="el" href="quaternion_8h_source.html#l00608">makeIdentity()</a>, <a class="el" href="quaternion_8h_source.html#l00410">makeInverse()</a>, <a class="el" href="quaternion_8h_source.html#l00481">normalize()</a>, <a class="el" href="quaternion_8h_source.html#l00261">operator*()</a>, <a class="el" href="quaternion_8h_source.html#l00281">operator*=()</a>, <a class="el" href="quaternion_8h_source.html#l00297">operator+()</a>, <a class="el" href="quaternion_8h_source.html#l00191">operator=()</a>, <a class="el" href="quaternion_8h_source.html#l00176">operator==()</a>, <a class="el" href="quaternion_8h_source.html#l00617">rotationFromTo()</a>, <a class="el" href="quaternion_8h_source.html#l00417">set()</a>, <a class="el" href="quaternion_8h_source.html#l00494">slerp()</a>, <a class="el" href="quaternion_8h_source.html#l00554">toAngleAxis()</a>, and <a class="el" href="quaternion_8h_source.html#l00575">toEuler()</a>.</p>
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<td class="memname"><a class="el" href="namespaceirr.html#a0277be98d67dc26ff93b1a6a1d086b07">f32</a> <a class="el" href="classirr_1_1core_1_1quaternion.html#a9080571243e191219aca47758b8638a1">irr::core::quaternion::Z</a></td>
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<p>Definition at line <a class="el" href="quaternion_8h_source.html#l00149">149</a> of file <a class="el" href="quaternion_8h_source.html">quaternion.h</a>.</p>
<p>Referenced by <a class="el" href="quaternion_8h_source.html#l00534">dotProduct()</a>, <a class="el" href="quaternion_8h_source.html#l00471">equals()</a>, <a class="el" href="quaternion_8h_source.html#l00542">fromAngleAxis()</a>, <a class="el" href="quaternion_8h_source.html#l00315">getMatrix()</a>, <a class="el" href="quaternion_8h_source.html#l00382">getMatrix_transposed()</a>, <a class="el" href="quaternion_8h_source.html#l00357">getMatrixCenter()</a>, <a class="el" href="quaternion_8h_source.html#l00608">makeIdentity()</a>, <a class="el" href="quaternion_8h_source.html#l00410">makeInverse()</a>, <a class="el" href="quaternion_8h_source.html#l00481">normalize()</a>, <a class="el" href="quaternion_8h_source.html#l00261">operator*()</a>, <a class="el" href="quaternion_8h_source.html#l00281">operator*=()</a>, <a class="el" href="quaternion_8h_source.html#l00297">operator+()</a>, <a class="el" href="quaternion_8h_source.html#l00191">operator=()</a>, <a class="el" href="quaternion_8h_source.html#l00176">operator==()</a>, <a class="el" href="quaternion_8h_source.html#l00617">rotationFromTo()</a>, <a class="el" href="quaternion_8h_source.html#l00417">set()</a>, <a class="el" href="quaternion_8h_source.html#l00494">slerp()</a>, <a class="el" href="quaternion_8h_source.html#l00554">toAngleAxis()</a>, and <a class="el" href="quaternion_8h_source.html#l00575">toEuler()</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="quaternion_8h_source.html">quaternion.h</a></li>
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