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Part of a fork of @toji's gl-matrix split into smaller pieces: this package contains glMatrix.quat.


npm install



#include <quat/create.h>
int main() {
  quat q = quat_create();

compiled with gcc main.c -o main -Inode_modules/quat.c/include -Inode_modules/quat.c/node_modules/vec3.c/include -Inode_modules/quat.c/node_modules/vec4.c/include

with cmake


cmake_minimum_required(VERSION 3.2)
project (quat-test)
file(GLOB CMAKE_INCLUDES "node_modules/*/CMakeLists.txt")
add_executable(main main.c)


quat_calculateW(out:quat, a:quat)

Calculates the W component of a quat from the X, Y, and Z components. Assumes that quaternion is 1 unit in length. Any existing W component will be ignored.

quat_add(out:quat, a:quat, b:quat)

Adds two quat's

quat_conjugate(out:quat, a:quat)

Calculates the conjugate of a quat If the quaternion is normalized, this function is faster than quat.inverse and produces the same result.

quat_copy(out:quat, a:quat)

Copy the values from one quat to another


Creates a new identity quat

quat_dot(a:quat, b:quat)

Calculates the dot product of two quat's

quat_fromMat3(out:quat, m:mat3)

Creates a quaternion from the given 3x3 rotation matrix.

NOTE: The resultant quaternion is not normalized, so you should be sure to renormalize the quaternion yourself where necessary.

quat_fromValues(x:float, y:float, z:float, w:float)


Set a quat to the identity quaternion

quat_invert(out:quat, a:quat)

Calculates the inverse of a quat


Calculates the length of a quat

quat_lerp(out:quat, a:quat, b:quat, t:float)

Performs a linear interpolation between two quat's

quat_multiply(out:quat, a:quat, b:quat)

Multiplies two quat's

quat_normalize(out:quat, a:quat)

Normalize a quat

quat_rotateX(out:quat, a:quat, rad:float)

Rotates a quaternion by the given angle about the X axis

quat_rotateY(out:quat, a:quat, rad:float)

Rotates a quaternion by the given angle about the Y axis

quat_rotateZ(out:quat, a:quat, rad:float)

Rotates a quaternion by the given angle about the Z axis

quat_rotationTo(out:quat, a:vec3, b:vec3)

Sets a quaternion to represent the shortest rotation from one vector to another.

Both vectors are assumed to be unit length.

quat_scale(out:quat, a:quat, b:float)

Scales a quat by a scalar number

quat_set(out:quat, x:float, y:float, z:float, w:float)

Set the components of a quat to the given values

quat_setAxes(view:vec3, right:vec3, up:vec3)

Sets the specified quaternion with values corresponding to the given axes. Each axis is a vec3 and is expected to be unit length and perpendicular to all other specified axes.

quat_setAxisAngle(out:quat, axis:vec3, rad:float)

Sets a quat from the given angle and rotation axis, then returns it.

quat_slerp(out:quat, a:quat, b:quat, t:float)

Performs a spherical linear interpolation between two quat

quat_sqlerp(out:quat, a:quat, b:quat, c:quat, d:quat, t:float)

Performs a spherical linear interpolation with two control points


Calculates the squared length of a quat


MIT. See for details.