GLKQuaternion

Overview

The GLKQuaternion type defines a structure that represents a quaternion. A quaternion is defined by a scalar component s and an XYZ vector v. Quaternions are often used in graphics programming as a compact representation of a rotation of an object in three dimensions.

The functions that manipulate GLKQuaternion structures treat the inputs as immutable, instead returning a new quaternion that represent the results of the operation.

Topics

Creating Quaternions

• GLKQuaternionMake(_:_:_:_:)
• GLKQuaternionMakeWithArray(_:)
• GLKQuaternionMakeWithVector3(_:_:)
• GLKQuaternionMakeWithAngleAndAxis(_:_:_:_:)
• GLKQuaternionMakeWithAngleAndVector3Axis(_:_:)
• GLKQuaternionMakeWithMatrix3(_:)
• GLKQuaternionMakeWithMatrix4(_:)

Retrieving Information About a Quaternion

• GLKQuaternionLength(_:)
• GLKQuaternionAxis(_:)
• GLKQuaternionAngle(_:)

Performing Mathematical Operations on Quaternions

• GLKQuaternionNormalize(_:)
• GLKQuaternionInvert(_:)
• GLKQuaternionConjugate(_:)
• GLKQuaternionAdd(_:_:)
• GLKQuaternionSubtract(_:_:)
• GLKQuaternionMultiply(_:_:)
• GLKQuaternionSlerp(_:_:_:)

Applying Quaternions to Vectors

• GLKQuaternionRotateVector3(_:_:)
• GLKQuaternionRotateVector3Array(_:_:_:)
• GLKQuaternionRotateVector4(_:_:)
• GLKQuaternionRotateVector4Array(_:_:_:)

Data Types

• GLKQuaternion

Constants

• GLKQuaternionIdentity

See Also

Math Utilties

• GLKMatrixStack
• GLKMatrix3
• GLKMatrix4
• GLKVector2
• GLKVector3
• GLKVector4
• GLKit Math Utilities