Sum of two quaternions

Argument of quaternion, atan2(|vector(q)|, re(q))

Create quaternion from complex number

Returns conjugate of quaternion

Compare quaternions with given accuracy (10e-6 by default)

Divide two quaternions

Convert Tait–Bryan angles z-y′-x" to quaternion.

Convert Euler ZYX (body 3-2-1) representation to quaternion

Input should be 3d vector contating roll (x), pitch (y) and yaw (z) angles, or individual values.

• roll and yaw should be from [-pi, pi] range
• pitch should be from [-pi/2, pi/2] range

Convert rotation 3x3 matrix to a quaternion

Return i imaginary part

Return j imaginary part

Return k imaginary part

Is q is a pure imaginary number?

Is infinitive?

log with base b

Multiply two quaternions.

Is NaN?

Negation of quaternion.

Norm of the quaternion, length of the vector

Normalize quaternion

Quaternion power

sgn of the quaternion.

Returns 0 for 0+0i+0j+0k or calls m/sgn on real part otherwise.

Create quaternion from individual values or scalar and vector parts, reprezented as Vec4.

Returns scalar part of quaternion

Is q is a real number?

Rotate 3d in vector around axis u, the same as fastmath.vector/axis-rotate.

Create rotation quaternion around vector u and angle alpha

Returns scalar part of quaternion, double

Scale the quaternion

Interpolate quaternions

Square of quaternion.

Difference of two quaternions

Convert quaternion to Tait–Bryan angles, z-y′-x".

Convert quaternion to Euler ZYX (body 3-2-1). Quaternion will be normalized before calculations.

Output will contain roll (x), pitch (y) and yaw (z) angles.

Convert quaternion to rotation 3x3 matrix

Returns vector part of quaternion, Vec3 type

Is zero?