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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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<h1>CPML</h1>
<ul>
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<h2>Contents</h2>
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<li><a href="#Functions">Functions</a></li>
<li><a href="#Tables">Tables</a></li>
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<h2>Modules</h2>
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<li><a href="../modules/mesh.html">mesh</a></li>
<li><a href="../modules/octree.html">octree</a></li>
<li><strong>quat</strong></li>
<li><a href="../modules/simplex.html">simplex</a></li>
<li><a href="../modules/utils.html">utils</a></li>
<li><a href="../modules/vec2.html">vec2</a></li>
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<h2>Topics</h2>
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<li><a href="../topics/readme.md.html">readme</a></li>
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<div id="content">
<h1>Module <code>quat</code></h1>
<p>A quaternion and associated utilities.</p>
<p>
</p>
<h2><a href="#Functions">Functions</a></h2>
<table class="function_list">
<tr>
<td class="name" nowrap><a href="#new">new (x, y, z, w)</a></td>
<td class="summary">The public constructor.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#from_angle_axis">from_angle_axis (angle, axis, y, z)</a></td>
<td class="summary">Create a quaternion from an angle/axis pair.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#from_direction">from_direction (normal, up)</a></td>
<td class="summary">Create a quaternion from a normal/up vector pair.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#clone">clone (a)</a></td>
<td class="summary">Clone a quaternion.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#add">add (a, b)</a></td>
<td class="summary">Add two quaternions.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#sub">sub (a, b)</a></td>
<td class="summary">Subtract a quaternion from another.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#mul">mul (a, b)</a></td>
<td class="summary">Multiply two quaternions.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#mul_vec3">mul_vec3 (a, b)</a></td>
<td class="summary">Multiply a quaternion and a vec3.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#pow">pow (a, s)</a></td>
<td class="summary">Raise a normalized quaternion to a scalar power.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#normalize">normalize (a)</a></td>
<td class="summary">Normalize a quaternion.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#dot">dot (a, b)</a></td>
<td class="summary">Get the dot product of two quaternions.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#len">len (a)</a></td>
<td class="summary">Return the length of a quaternion.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#len2">len2 (a)</a></td>
<td class="summary">Return the squared length of a quaternion.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#scale">scale (a, s)</a></td>
<td class="summary">Multiply a quaternion by a scalar.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#rotate">rotate (angle, axis, y, z)</a></td>
<td class="summary">Alias of from<em>angle</em>axis.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#conjugate">conjugate (a)</a></td>
<td class="summary">Return the conjugate of a quaternion.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#inverse">inverse (a)</a></td>
<td class="summary">Return the inverse of a quaternion.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#reciprocal">reciprocal (a)</a></td>
<td class="summary">Return the reciprocal of a quaternion.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#lerp">lerp (a, b, s)</a></td>
<td class="summary">Lerp between two quaternions.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#slerp">slerp (a, b, s)</a></td>
<td class="summary">Slerp between two quaternions.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#unpack">unpack (a)</a></td>
<td class="summary">Unpack a quaternion into individual components.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#is_quat">is_quat (a)</a></td>
<td class="summary">Return a boolean showing if a table is or is not a quat.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#is_zero">is_zero (a)</a></td>
<td class="summary">Return a boolean showing if a table is or is not a zero quat.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#is_real">is_real (a)</a></td>
<td class="summary">Return a boolean showing if a table is or is not a real quat.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#is_imaginary">is_imaginary (a)</a></td>
<td class="summary">Return a boolean showing if a table is or is not an imaginary quat.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#has_nan">has_nan (a)</a></td>
<td class="summary">Return whether any component is NaN</td>
</tr>
<tr>
<td class="name" nowrap><a href="#to_angle_axis_unpack">to_angle_axis_unpack (a, vec3)</a></td>
<td class="summary">Convert a quaternion into an angle plus axis components.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#to_angle_axis">to_angle_axis (a, vec3)</a></td>
<td class="summary">Convert a quaternion into an angle/axis pair.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#to_euler_angles_unpack">to_euler_angles_unpack (a)</a></td>
<td class="summary">Convert a quaternion into euler angle components</td>
</tr>
<tr>
<td class="name" nowrap><a href="#to_euler_angles">to_euler_angles (a)</a></td>
<td class="summary">Convert a quaternion into euler angles</td>
</tr>
<tr>
<td class="name" nowrap><a href="#to_vec3">to_vec3 (a)</a></td>
<td class="summary">Convert a quaternion into a vec3.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#to_string">to_string (a)</a></td>
<td class="summary">Return a formatted string.</td>
</tr>
<tr>
<td class="name" nowrap><a href="#to_euler">to_euler (a)</a></td>
<td class="summary">Convert a quaternion to an Euler angle</td>
</tr>
</table>
<h2><a href="#Tables">Tables</a></h2>
<table class="function_list">
<tr>
<td class="name" nowrap><a href="#quat">quat</a></td>
<td class="summary">Constants</td>
</tr>
</table>
<br/>
<br/>
<h2 class="section-header "><a name="Functions"></a>Functions</h2>
<dl class="function">
<dt>
<a name = "new"></a>
<strong>new (x, y, z, w)</strong>
</dt>
<dd>
The public constructor.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">x</span>
Can be of two types: </br>
number x X component
table {x, y, z, w} or {x=x, y=y, z=z, w=w}
</li>
<li><span class="parameter">y</span>
<span class="types"><span class="type">number</span></span>
Y component
</li>
<li><span class="parameter">z</span>
<span class="types"><span class="type">number</span></span>
Z component
</li>
<li><span class="parameter">w</span>
<span class="types"><span class="type">number</span></span>
W component
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "from_angle_axis"></a>
<strong>from_angle_axis (angle, axis, y, z)</strong>
</dt>
<dd>
Create a quaternion from an angle/axis pair.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">angle</span>
<span class="types"><span class="type">number</span></span>
Angle (in radians)
</li>
<li><span class="parameter">axis</span>
/x -- Can be of two types, a vec3 axis, or the x component of that axis
</li>
<li><span class="parameter">y</span>
axis -- y component of axis (optional, only if x component param used)
</li>
<li><span class="parameter">z</span>
axis -- z component of axis (optional, only if x component param used)
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "from_direction"></a>
<strong>from_direction (normal, up)</strong>
</dt>
<dd>
Create a quaternion from a normal/up vector pair.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">normal</span>
<span class="types"><span class="type">vec3</span></span>
</li>
<li><span class="parameter">up</span>
<span class="types"><span class="type">vec3</span></span>
(optional)
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "clone"></a>
<strong>clone (a)</strong>
</dt>
<dd>
Clone a quaternion.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to clone
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "add"></a>
<strong>add (a, b)</strong>
</dt>
<dd>
Add two quaternions.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Left hand operand
</li>
<li><span class="parameter">b</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Right hand operand
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "sub"></a>
<strong>sub (a, b)</strong>
</dt>
<dd>
Subtract a quaternion from another.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Left hand operand
</li>
<li><span class="parameter">b</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Right hand operand
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "mul"></a>
<strong>mul (a, b)</strong>
</dt>
<dd>
Multiply two quaternions.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Left hand operand
</li>
<li><span class="parameter">b</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Right hand operand
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
quaternion equivalent to "apply b, then a"
</ol>
</dd>
<dt>
<a name = "mul_vec3"></a>
<strong>mul_vec3 (a, b)</strong>
</dt>
<dd>
Multiply a quaternion and a vec3.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Left hand operand
</li>
<li><span class="parameter">b</span>
<span class="types"><span class="type">vec3</span></span>
Right hand operand
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">vec3</span></span>
out
</ol>
</dd>
<dt>
<a name = "pow"></a>
<strong>pow (a, s)</strong>
</dt>
<dd>
Raise a normalized quaternion to a scalar power.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Left hand operand (should be a unit quaternion)
</li>
<li><span class="parameter">s</span>
<span class="types"><span class="type">number</span></span>
Right hand operand
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "normalize"></a>
<strong>normalize (a)</strong>
</dt>
<dd>
Normalize a quaternion.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to normalize
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "dot"></a>
<strong>dot (a, b)</strong>
</dt>
<dd>
Get the dot product of two quaternions.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Left hand operand
</li>
<li><span class="parameter">b</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Right hand operand
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">number</span></span>
dot
</ol>
</dd>
<dt>
<a name = "len"></a>
<strong>len (a)</strong>
</dt>
<dd>
Return the length of a quaternion.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to get length of
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">number</span></span>
len
</ol>
</dd>
<dt>
<a name = "len2"></a>
<strong>len2 (a)</strong>
</dt>
<dd>
Return the squared length of a quaternion.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to get length of
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">number</span></span>
len
</ol>
</dd>
<dt>
<a name = "scale"></a>
<strong>scale (a, s)</strong>
</dt>
<dd>
Multiply a quaternion by a scalar.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Left hand operand
</li>
<li><span class="parameter">s</span>
<span class="types"><span class="type">number</span></span>
Right hand operand
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "rotate"></a>
<strong>rotate (angle, axis, y, z)</strong>
</dt>
<dd>
Alias of from<em>angle</em>axis.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">angle</span>
<span class="types"><span class="type">number</span></span>
Angle (in radians)
</li>
<li><span class="parameter">axis</span>
/x -- Can be of two types, a vec3 axis, or the x component of that axis
</li>
<li><span class="parameter">y</span>
axis -- y component of axis (optional, only if x component param used)
</li>
<li><span class="parameter">z</span>
axis -- z component of axis (optional, only if x component param used)
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "conjugate"></a>
<strong>conjugate (a)</strong>
</dt>
<dd>
Return the conjugate of a quaternion.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to conjugate
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "inverse"></a>
<strong>inverse (a)</strong>
</dt>
<dd>
Return the inverse of a quaternion.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to invert
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "reciprocal"></a>
<strong>reciprocal (a)</strong>
</dt>
<dd>
Return the reciprocal of a quaternion.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to reciprocate
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "lerp"></a>
<strong>lerp (a, b, s)</strong>
</dt>
<dd>
Lerp between two quaternions.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Left hand operand
</li>
<li><span class="parameter">b</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Right hand operand
</li>
<li><span class="parameter">s</span>
<span class="types"><span class="type">number</span></span>
Step value
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "slerp"></a>
<strong>slerp (a, b, s)</strong>
</dt>
<dd>
Slerp between two quaternions.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Left hand operand
</li>
<li><span class="parameter">b</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Right hand operand
</li>
<li><span class="parameter">s</span>
<span class="types"><span class="type">number</span></span>
Step value
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
out
</ol>
</dd>
<dt>
<a name = "unpack"></a>
<strong>unpack (a)</strong>
</dt>
<dd>
Unpack a quaternion into individual components.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to unpack
</li>
</ul>
<h3>Returns:</h3>
<ol>
<li>
<span class="types"><span class="type">number</span></span>
x</li>
<li>
<span class="types"><span class="type">number</span></span>
y</li>
<li>
<span class="types"><span class="type">number</span></span>
z</li>
<li>
<span class="types"><span class="type">number</span></span>
w</li>
</ol>
</dd>
<dt>
<a name = "is_quat"></a>
<strong>is_quat (a)</strong>
</dt>
<dd>
Return a boolean showing if a table is or is not a quat.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to be tested
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">boolean</span></span>
is_quat
</ol>
</dd>
<dt>
<a name = "is_zero"></a>
<strong>is_zero (a)</strong>
</dt>
<dd>
Return a boolean showing if a table is or is not a zero quat.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to be tested
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">boolean</span></span>
is_zero
</ol>
</dd>
<dt>
<a name = "is_real"></a>
<strong>is_real (a)</strong>
</dt>
<dd>
Return a boolean showing if a table is or is not a real quat.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to be tested
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">boolean</span></span>
is_real
</ol>
</dd>
<dt>
<a name = "is_imaginary"></a>
<strong>is_imaginary (a)</strong>
</dt>
<dd>
Return a boolean showing if a table is or is not an imaginary quat.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to be tested
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">boolean</span></span>
is_imaginary
</ol>
</dd>
<dt>
<a name = "has_nan"></a>
<strong>has_nan (a)</strong>
</dt>
<dd>
Return whether any component is NaN
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to be tested
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">boolean</span></span>
if x,y,z, or w is NaN
</ol>
</dd>
<dt>
<a name = "to_angle_axis_unpack"></a>
<strong>to_angle_axis_unpack (a, vec3)</strong>
</dt>
<dd>
Convert a quaternion into an angle plus axis components.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to convert
</li>
<li><span class="parameter">vec3</span>
<span class="types"><span class="type">identityAxis</span></span>
of axis to use on identity/degenerate quaternions (optional, default returns 0,0,0,1)
</li>
</ul>
<h3>Returns:</h3>
<ol>
<li>
<span class="types"><span class="type">number</span></span>
angle</li>
<li>
<span class="types"><span class="type">x</span></span>
axis-x</li>
<li>
<span class="types"><span class="type">y</span></span>
axis-y</li>
<li>
<span class="types"><span class="type">z</span></span>
axis-z</li>
</ol>
</dd>
<dt>
<a name = "to_angle_axis"></a>
<strong>to_angle_axis (a, vec3)</strong>
</dt>
<dd>
Convert a quaternion into an angle/axis pair.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to convert
</li>
<li><span class="parameter">vec3</span>
<span class="types"><span class="type">identityAxis</span></span>
of axis to use on identity/degenerate quaternions (optional, default returns 0,vec3(0,0,1))
</li>
</ul>
<h3>Returns:</h3>
<ol>
<li>
<span class="types"><span class="type">number</span></span>
angle</li>
<li>
<span class="types"><span class="type">vec3</span></span>
axis</li>
</ol>
</dd>
<dt>
<a name = "to_euler_angles_unpack"></a>
<strong>to_euler_angles_unpack (a)</strong>
</dt>
<dd>
Convert a quaternion into euler angle components
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to convert
</li>
</ul>
<h3>Returns:</h3>
<ol>
<li>
<span class="types"><span class="type">roll</span></span>
</li>
<li>
<span class="types"><span class="type">pitch</span></span>
</li>
<li>
<span class="types"><span class="type">yaw</span></span>
no idea if this shit really works, very well could not...</li>
</ol>
</dd>
<dt>
<a name = "to_euler_angles"></a>
<strong>to_euler_angles (a)</strong>
</dt>
<dd>
Convert a quaternion into euler angles
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to convert
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">result</span></span>
a {roll, pitch, yaw} table
</ol>
</dd>
<dt>
<a name = "to_vec3"></a>
<strong>to_vec3 (a)</strong>
</dt>
<dd>
Convert a quaternion into a vec3.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to convert
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">vec3</span></span>
out
</ol>
</dd>
<dt>
<a name = "to_string"></a>
<strong>to_string (a)</strong>
</dt>
<dd>
Return a formatted string.
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to be turned into a string
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><a class="type" href="https://www.lua.org/manual/5.1/manual.html#5.4">string</a></span>
formatted
</ol>
</dd>
<dt>
<a name = "to_euler"></a>
<strong>to_euler (a)</strong>
</dt>
<dd>
Convert a quaternion to an Euler angle
<h3>Parameters:</h3>
<ul>
<li><span class="parameter">a</span>
<span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
Quaternion to convert
</li>
</ul>
<h3>Returns:</h3>
<ol>
<span class="types"><span class="type">vec3</span></span>
euler angle in radians
</ol>
</dd>
</dl>
<h2 class="section-header "><a name="Tables"></a>Tables</h2>
<dl class="function">
<dt>
<a name = "quat"></a>
<strong>quat</strong>
</dt>
<dd>
Constants
<h3>Fields:</h3>
<ul>
<li><span class="parameter">unit</span>
Unit quaternion
</li>
<li><span class="parameter">zero</span>
Empty quaternion
</li>
</ul>
</dd>
</dl>
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<i>generated by <a href="http://github.com/lunarmodules/ldoc">LDoc 1.5.0</a></i>
<i style="float:right;">Last updated 2023-09-10 15:25:31 </i>
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