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 <span id="projectnumber">2.3.7</span>
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<div class="title">quaternion.h</div> </div>
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<a href="quaternion_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">** ClanLib SDK</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">** Copyright (c) 1997-2011 The ClanLib Team</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">**</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">** This software is provided 'as-is', without any express or implied</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">** warranty. In no event will the authors be held liable for any damages</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">** arising from the use of this software.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">**</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">** Permission is granted to anyone to use this software for any purpose,</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">** including commercial applications, and to alter it and redistribute it</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">** freely, subject to the following restrictions:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">**</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">** 1. The origin of this software must not be misrepresented; you must not</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">** claim that you wrote the original software. If you use this software</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">** in a product, an acknowledgment in the product documentation would be</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">** appreciated but is not required.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">** 2. Altered source versions must be plainly marked as such, and must not be</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">** misrepresented as being the original software.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">** 3. This notice may not be removed or altered from any source distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">**</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">** Note: Some of the libraries ClanLib may link to may have additional</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">** requirements or restrictions.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">**</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">** File Author(s):</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">**</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">** Mark Page</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">*/</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#include "../api_core.h"</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#include "<a class="code" href="vec3_8h.html">vec3.h</a>"</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "<a class="code" href="angle_8h.html">angle.h</a>"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="keyword">template</span><<span class="keyword">typename</span> Type></div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="code" href="classCL__Quaternionx.html"> 44</a></span> <span class="keyword">class </span><a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> {</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="code" href="classCL__Quaternionx.html#a62fe32614eb424542587439b73d4b4e4"> 48</a></span>  Type <a class="code" href="classCL__Quaternionx.html#a62fe32614eb424542587439b73d4b4e4" title="The real scalar part. ">w</a>;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="code" href="classCL__Quaternionx.html#a8159d84929a8ee2b95eb6bb5bb26496c"> 51</a></span>  <span class="keyword">union </span>{ Type <a class="code" href="classCL__Quaternionx.html#a7166f88c67bc1385d34649d9cc306648">i</a>; Type <a class="code" href="classCL__Quaternionx.html#a8159d84929a8ee2b95eb6bb5bb26496c">x</a>; };</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="code" href="classCL__Quaternionx.html#a4bec54ff51a27fbe83aa2c980be4f87d"> 52</a></span>  <span class="keyword">union </span>{ Type <a class="code" href="classCL__Quaternionx.html#aecc1cefa47d531ffaadef75b06512e9e">j</a>; Type <a class="code" href="classCL__Quaternionx.html#a4bec54ff51a27fbe83aa2c980be4f87d">y</a>; };</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="code" href="classCL__Quaternionx.html#aefd4506977fb06fb5968ae313a4fe127"> 53</a></span>  <span class="keyword">union </span>{ Type <a class="code" href="classCL__Quaternionx.html#a1b493edd0fe2443bda1e44ba7e220b57">k</a>; Type <a class="code" href="classCL__Quaternionx.html#aefd4506977fb06fb5968ae313a4fe127">z</a>; };</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="code" href="classCL__Quaternionx.html#a690f1c73aec7100c33acec91c0dcb8bf"> 55</a></span>  <a class="code" href="classCL__Quaternionx.html#a690f1c73aec7100c33acec91c0dcb8bf">CL_Quaternionx</a>() : <a class="code" href="classCL__Quaternionx.html#a62fe32614eb424542587439b73d4b4e4" title="The real scalar part. ">w</a>(1), <a class="code" href="classCL__Quaternionx.html#a7166f88c67bc1385d34649d9cc306648">i</a>(0), <a class="code" href="classCL__Quaternionx.html#aecc1cefa47d531ffaadef75b06512e9e">j</a>(0), <a class="code" href="classCL__Quaternionx.html#a1b493edd0fe2443bda1e44ba7e220b57">k</a>(0) { }</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="code" href="classCL__Quaternionx.html#a7bf0a031d4489d14b9be8d15703d12e4"> 56</a></span>  <a class="code" href="classCL__Quaternionx.html#a7bf0a031d4489d14b9be8d15703d12e4">CL_Quaternionx</a>(Type real, Type <a class="code" href="classCL__Quaternionx.html#a7166f88c67bc1385d34649d9cc306648">i</a>, Type <a class="code" href="classCL__Quaternionx.html#aecc1cefa47d531ffaadef75b06512e9e">j</a>, Type <a class="code" href="classCL__Quaternionx.html#a1b493edd0fe2443bda1e44ba7e220b57">k</a>) : <a class="code" href="classCL__Quaternionx.html#a62fe32614eb424542587439b73d4b4e4" title="The real scalar part. ">w</a>(real), i(i), j(j), k(k) { }</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="code" href="classCL__Quaternionx.html#a5a1bc16d87537e691558861dc0f3a024"> 57</a></span>  <a class="code" href="classCL__Quaternionx.html#a5a1bc16d87537e691558861dc0f3a024">CL_Quaternionx</a>(Type real, <span class="keyword">const</span> <a class="code" href="classCL__Vec3.html" title="3D vector ">CL_Vec3<Type></a> &imag) : <a class="code" href="classCL__Quaternionx.html#a62fe32614eb424542587439b73d4b4e4" title="The real scalar part. ">w</a>(real), <a class="code" href="classCL__Quaternionx.html#a7166f88c67bc1385d34649d9cc306648">i</a>(imag.<a class="code" href="classCL__Quaternionx.html#a8159d84929a8ee2b95eb6bb5bb26496c">x</a>), <a class="code" href="classCL__Quaternionx.html#aecc1cefa47d531ffaadef75b06512e9e">j</a>(imag.<a class="code" href="classCL__Quaternionx.html#a4bec54ff51a27fbe83aa2c980be4f87d">y</a>), <a class="code" href="classCL__Quaternionx.html#a1b493edd0fe2443bda1e44ba7e220b57">k</a>(imag.<a class="code" href="classCL__Quaternionx.html#aefd4506977fb06fb5968ae313a4fe127">z</a>) { }</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="code" href="classCL__Quaternionx.html#ab6156e404e40bc0b1f99e4413b5a69de"> 58</a></span>  <a class="code" href="classCL__Quaternionx.html#ab6156e404e40bc0b1f99e4413b5a69de">CL_Quaternionx</a>(<span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &copy) : <a class="code" href="classCL__Quaternionx.html#a62fe32614eb424542587439b73d4b4e4" title="The real scalar part. ">w</a>(copy.<a class="code" href="classCL__Quaternionx.html#a62fe32614eb424542587439b73d4b4e4" title="The real scalar part. ">w</a>), <a class="code" href="classCL__Quaternionx.html#a7166f88c67bc1385d34649d9cc306648">i</a>(copy.<a class="code" href="classCL__Quaternionx.html#a7166f88c67bc1385d34649d9cc306648">i</a>), <a class="code" href="classCL__Quaternionx.html#aecc1cefa47d531ffaadef75b06512e9e">j</a>(copy.<a class="code" href="classCL__Quaternionx.html#aecc1cefa47d531ffaadef75b06512e9e">j</a>), <a class="code" href="classCL__Quaternionx.html#a1b493edd0fe2443bda1e44ba7e220b57">k</a>(copy.<a class="code" href="classCL__Quaternionx.html#a1b493edd0fe2443bda1e44ba7e220b57">k</a>) { }</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="classCL__Quaternionx.html#a690f1c73aec7100c33acec91c0dcb8bf">CL_Quaternionx</a>(Type euler_x, Type euler_y, Type euler_z, <a class="code" href="group__clanCore__Math.html#ga7c90a298e94ada381dbd8702e3266f6a" title="Angle Unit. ">CL_AngleUnit</a> unit, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order);</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="classCL__Quaternionx.html#a690f1c73aec7100c33acec91c0dcb8bf">CL_Quaternionx</a>(<span class="keyword">const</span> <a class="code" href="classCL__Vec3.html" title="3D vector ">CL_Vec3<Type></a> &euler, <a class="code" href="group__clanCore__Math.html#ga7c90a298e94ada381dbd8702e3266f6a" title="Angle Unit. ">CL_AngleUnit</a> unit, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order);</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="classCL__Quaternionx.html#a690f1c73aec7100c33acec91c0dcb8bf">CL_Quaternionx</a>(<span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_x, <span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_y, <span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_z, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order);</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">static</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> <a class="code" href="classCL__Quaternionx.html#a8c7253539bd1f81570e87204ec60e1cd">axis_angle</a>(<span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &angle, <span class="keyword">const</span> <a class="code" href="classCL__Vec3.html">CL_Vec3f</a> &axis);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keyword">static</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> <a class="code" href="classCL__Quaternionx.html#a5e404ea4b8e5eac3689494e311d72e0d">multiply</a>(<span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &quaternion_1, <span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &quaternion_2);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">static</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> <a class="code" href="classCL__Quaternionx.html#aefc10d76b6b2a21287a4826419b2cdeb" title="Linear Quaternion Interpolation. ">lerp</a>(<span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &quaternion_initial, <span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &quaternion_final, Type lerp_time);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">static</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> <a class="code" href="classCL__Quaternionx.html#a7dc9fcc26cd26b7036b3707dfe0f7e3d" title="Spherical Quaternion Interpolation. ">slerp</a>(<span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &quaternion_initial, <span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &quaternion_final, Type slerp_time);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <a class="code" href="classCL__Mat4.html" title="4D matrix ">CL_Mat4<Type></a> <a class="code" href="classCL__Quaternionx.html#a8c03baee4931af78085c161d9d1a6655" title="Convert the quaternion to a rotation matrix. ">to_matrix</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  Type <a class="code" href="classCL__Quaternionx.html#a90541d5807c909f80abba355765669f8" title="Get the quaternion magnitude. ">magnitude</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordtype">void</span> <a class="code" href="classCL__Quaternionx.html#acbb12c8d9300e1c50b0438d48902c47d">set</a>(Type euler_x, Type euler_y, Type euler_z, <a class="code" href="group__clanCore__Math.html#ga7c90a298e94ada381dbd8702e3266f6a" title="Angle Unit. ">CL_AngleUnit</a> unit, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order);</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">void</span> <a class="code" href="classCL__Quaternionx.html#acbb12c8d9300e1c50b0438d48902c47d">set</a>(<span class="keyword">const</span> <a class="code" href="classCL__Vec3.html" title="3D vector ">CL_Vec3<Type></a> &euler, <a class="code" href="group__clanCore__Math.html#ga7c90a298e94ada381dbd8702e3266f6a" title="Angle Unit. ">CL_AngleUnit</a> unit, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order);</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">void</span> <a class="code" href="classCL__Quaternionx.html#acbb12c8d9300e1c50b0438d48902c47d">set</a>(<span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_x, <span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_y, <span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_z, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order);</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &<a class="code" href="classCL__Quaternionx.html#a5e404ea4b8e5eac3689494e311d72e0d">multiply</a>(<span class="keyword">const</span> <a class="code" href="classCL__Mat4.html" title="4D matrix ">CL_Mat4<Type></a> &matrix); </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &<a class="code" href="classCL__Quaternionx.html#a5e404ea4b8e5eac3689494e311d72e0d">multiply</a>(<span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &quaternion);</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &<a class="code" href="classCL__Quaternionx.html#accc221fc779ddc7b990efe936f01763b">rotate</a>(<span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &angle, <span class="keyword">const</span> <a class="code" href="classCL__Vec3.html">CL_Vec3f</a> &axis);</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &<a class="code" href="classCL__Quaternionx.html#accc221fc779ddc7b990efe936f01763b">rotate</a>(<span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_x, <span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_y, <span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_z, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order);</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &<a class="code" href="classCL__Quaternionx.html#a3794c5758ed7f58654576c137ccca086" title="Normalizes this quaternion. ">normalize</a>();</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &<a class="code" href="classCL__Quaternionx.html#aedcae027b1b9b67dac86386a2f18fcc8" title="Inverse this quaternion. ">inverse</a>();</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="classCL__Vec3.html" title="3D vector ">CL_Vec3<Type></a> <a class="code" href="classCL__Quaternionx.html#ac5cc56d4c474d470af749484fd5af6ad" title="Rotates vector by this quaternion. ">rotate_vector</a>(<span class="keyword">const</span> <a class="code" href="classCL__Vec3.html" title="3D vector ">CL_Vec3<Type></a> &v);</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <a class="code" href="classCL__Vec4.html" title="4D vector ">CL_Vec4<Type></a> <a class="code" href="classCL__Quaternionx.html#ac5cc56d4c474d470af749484fd5af6ad" title="Rotates vector by this quaternion. ">rotate_vector</a>(<span class="keyword">const</span> <a class="code" href="classCL__Vec4.html" title="4D vector ">CL_Vec4<Type></a> &v);</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="code" href="classCL__Quaternionx.html#a7c990b1b6688518d3197aaa97bd9db99"> 146</a></span>  <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> <a class="code" href="classCL__Quaternionx.html#a7c990b1b6688518d3197aaa97bd9db99" title="Multiplication operator. ">operator *</a>(<span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> &mult)<span class="keyword"> const </span>{ <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx<Type></a> result = mult; result.<a class="code" href="classCL__Quaternionx.html#a5e404ea4b8e5eac3689494e311d72e0d">multiply</a>(*<span class="keyword">this</span>); <span class="keywordflow">return</span> result; }</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> };</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="code" href="classCL__Quaternionf.html"> 154</a></span> <span class="keyword">class </span><a class="code" href="classCL__Quaternionf.html" title="Quaternion - Float. ">CL_Quaternionf</a> : <span class="keyword">public</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><float></div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> {</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="code" href="classCL__Quaternionf.html#a7d497b77cac7ec32f59324fc26a3ffa3"> 157</a></span>  <a class="code" href="classCL__Quaternionf.html#a7d497b77cac7ec32f59324fc26a3ffa3">CL_Quaternionf</a>() : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><float>() { }</div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="code" href="classCL__Quaternionf.html#a68fb68ce0f5e4488107b19be25339d9a"> 158</a></span>  <a class="code" href="classCL__Quaternionf.html#a68fb68ce0f5e4488107b19be25339d9a">CL_Quaternionf</a>(<span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html">CL_Quaternionx<float></a> &copy) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><float>(copy) { }</div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="code" href="classCL__Quaternionf.html#aad4538c7a581eb9fbb61833cb5f2c4ca"> 159</a></span>  <a class="code" href="classCL__Quaternionf.html#aad4538c7a581eb9fbb61833cb5f2c4ca">CL_Quaternionf</a>(<span class="keywordtype">float</span> real, <span class="keywordtype">float</span> <a class="code" href="classCL__Quaternionx.html#a7166f88c67bc1385d34649d9cc306648">i</a>, <span class="keywordtype">float</span> <a class="code" href="classCL__Quaternionx.html#aecc1cefa47d531ffaadef75b06512e9e">j</a>, <span class="keywordtype">float</span> <a class="code" href="classCL__Quaternionx.html#a1b493edd0fe2443bda1e44ba7e220b57">k</a>) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><float>(real, i, j, k) { }</div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="code" href="classCL__Quaternionf.html#aaa76eda57365a1b521f9fe0fd520c528"> 160</a></span>  <a class="code" href="classCL__Quaternionf.html#aaa76eda57365a1b521f9fe0fd520c528">CL_Quaternionf</a>(<span class="keywordtype">float</span> real, <span class="keyword">const</span> <a class="code" href="classCL__Vec3.html">CL_Vec3<float></a> &imag) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><float>(real, imag) { }</div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="code" href="classCL__Quaternionf.html#ac9094f1f30b402777d9c23db81a20bb0"> 161</a></span>  <a class="code" href="classCL__Quaternionf.html#ac9094f1f30b402777d9c23db81a20bb0">CL_Quaternionf</a>(<span class="keywordtype">float</span> euler_x, <span class="keywordtype">float</span> euler_y, <span class="keywordtype">float</span> euler_z, <a class="code" href="group__clanCore__Math.html#ga7c90a298e94ada381dbd8702e3266f6a" title="Angle Unit. ">CL_AngleUnit</a> unit, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><float>(euler_x, euler_y, euler_z, unit, order) { }</div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="code" href="classCL__Quaternionf.html#a89c8f90a0c396a2f4e6fd5c843b371e0"> 162</a></span>  <a class="code" href="classCL__Quaternionf.html#a89c8f90a0c396a2f4e6fd5c843b371e0">CL_Quaternionf</a>(<span class="keyword">const</span> <a class="code" href="classCL__Vec3.html">CL_Vec3<float></a> &euler, <a class="code" href="group__clanCore__Math.html#ga7c90a298e94ada381dbd8702e3266f6a" title="Angle Unit. ">CL_AngleUnit</a> unit, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><float>(euler, unit, order) { }</div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="code" href="classCL__Quaternionf.html#a8473409acf75c2291c59f8e503ba86a7"> 163</a></span>  <a class="code" href="classCL__Quaternionf.html#a8473409acf75c2291c59f8e503ba86a7">CL_Quaternionf</a>(<span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_x, <span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_y, <span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_z, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><float>(euler_x, euler_y, euler_z, order) { }</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> };</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> </div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="code" href="classCL__Quaterniond.html"> 170</a></span> <span class="keyword">class </span><a class="code" href="classCL__Quaterniond.html" title="Quaternion - Double. ">CL_Quaterniond</a> : <span class="keyword">public</span> <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><double></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> {</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="code" href="classCL__Quaterniond.html#a3d3a96811038ab2b4294ed96ffe27fa3"> 173</a></span>  <a class="code" href="classCL__Quaterniond.html#a3d3a96811038ab2b4294ed96ffe27fa3">CL_Quaterniond</a>() : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><double>() { }</div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="code" href="classCL__Quaterniond.html#a4f78021c430bc9a1f11be01833e3b1b3"> 174</a></span>  <a class="code" href="classCL__Quaterniond.html#a4f78021c430bc9a1f11be01833e3b1b3">CL_Quaterniond</a>(<span class="keyword">const</span> <a class="code" href="classCL__Quaternionx.html">CL_Quaternionx<double></a> &copy) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><double>(copy) { }</div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="code" href="classCL__Quaterniond.html#afc1ff150efec5878958624cee28b2f47"> 175</a></span>  <a class="code" href="classCL__Quaterniond.html#afc1ff150efec5878958624cee28b2f47">CL_Quaterniond</a>(<span class="keywordtype">double</span> real, <span class="keywordtype">double</span> <a class="code" href="classCL__Quaternionx.html#a7166f88c67bc1385d34649d9cc306648">i</a>, <span class="keywordtype">double</span> <a class="code" href="classCL__Quaternionx.html#aecc1cefa47d531ffaadef75b06512e9e">j</a>, <span class="keywordtype">double</span> <a class="code" href="classCL__Quaternionx.html#a1b493edd0fe2443bda1e44ba7e220b57">k</a>) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><double>(real, i, j, k) { }</div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="code" href="classCL__Quaterniond.html#a8da51463a622a72d2239d50bbae87fc2"> 176</a></span>  <a class="code" href="classCL__Quaterniond.html#a8da51463a622a72d2239d50bbae87fc2">CL_Quaterniond</a>(<span class="keywordtype">double</span> real, <span class="keyword">const</span> <a class="code" href="classCL__Vec3.html">CL_Vec3<double></a> &imag) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><double>(real, imag) { }</div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="code" href="classCL__Quaterniond.html#a6cf7cf9e9595aa203c898a0c9bc8456a"> 177</a></span>  <a class="code" href="classCL__Quaterniond.html#a6cf7cf9e9595aa203c898a0c9bc8456a">CL_Quaterniond</a>(<span class="keywordtype">double</span> euler_x, <span class="keywordtype">double</span> euler_y, <span class="keywordtype">double</span> euler_z, <a class="code" href="group__clanCore__Math.html#ga7c90a298e94ada381dbd8702e3266f6a" title="Angle Unit. ">CL_AngleUnit</a> unit, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><double>(euler_x, euler_y, euler_z, unit, order) { }</div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="code" href="classCL__Quaterniond.html#aa9ab288c016d3ee75c63e08f9cff0039"> 178</a></span>  <a class="code" href="classCL__Quaterniond.html#aa9ab288c016d3ee75c63e08f9cff0039">CL_Quaterniond</a>(<span class="keyword">const</span> <a class="code" href="classCL__Vec3.html">CL_Vec3<double></a> &euler, <a class="code" href="group__clanCore__Math.html#ga7c90a298e94ada381dbd8702e3266f6a" title="Angle Unit. ">CL_AngleUnit</a> unit, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><double>(euler, unit, order) { }</div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="code" href="classCL__Quaterniond.html#ab29559c0ed6a7361fc58561ad875eb5f"> 179</a></span>  <a class="code" href="classCL__Quaterniond.html#ab29559c0ed6a7361fc58561ad875eb5f">CL_Quaterniond</a>(<span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_x, <span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_y, <span class="keyword">const</span> <a class="code" href="classCL__Angle.html" title="Angle class. ">CL_Angle</a> &euler_z, <a class="code" href="group__clanCore__Math.html#gac4c7b8340923c213901ede76f4956c99" title="Euler angle rotation order. ">CL_EulerOrder</a> order) : <a class="code" href="classCL__Quaternionx.html" title="Quaternion. ">CL_Quaternionx</a><double>(euler_x, euler_y, euler_z, order) { }</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> };</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> </div>
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