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+<p>
+Next: <a href="Easings.html#Easings" accesskey="n" rel="next">Easings</a>, Previous: <a href="Matrices.html#Matrices" accesskey="p" rel="prev">Matrices</a>, Up: <a href="Math.html#Math" accesskey="u" rel="up">Math</a> &nbsp; [<a href="index.html#SEC_Contents" title="Table of contents" rel="contents">Contents</a>][<a href="Index.html#Index" title="Index" rel="index">Index</a>]</p>
+</div>
+<hr>
+<a name="Quaternions-1"></a>
+<h4 class="subsection">2.2.6 Quaternions</h4>
+
+<p>In game development, the quaternion is most often used to represent
+rotations.  Why not use a matrix for that, you may ask.  Unlike
+matrices, quaternions can be interpolated (animated) and produce a
+meaningful result.  When interpolating two quaternions, there is a
+smooth transition from one rotation to another, whereas interpolating
+two matrices would yield garbage.
+</p>
+<dl>
+<dt><a name="index-quaternion"></a>Procedure: <strong>quaternion</strong> <em><var>x</var> <var>y</var> <var>z</var> <var>w</var></em></dt>
+<dd><p>Return a new quaternion with values <var>x</var>, <var>y</var>, <var>z</var>, and
+<var>w</var>.
+</p></dd></dl>
+
+<dl>
+<dt><a name="index-quaternion_003f"></a>Procedure: <strong>quaternion?</strong> <em><var>obj</var></em></dt>
+<dd><p>Return <code>#t</code> if <var>obj</var> is a quaternion.
+</p></dd></dl>
+
+<dl>
+<dt><a name="index-quaternion_002dw"></a>Procedure: <strong>quaternion-w</strong> <em><var>q</var></em></dt>
+<dd><p>Return the W component of the quaternion <var>q</var>.
+</p></dd></dl>
+
+<dl>
+<dt><a name="index-quaternion_002dx"></a>Procedure: <strong>quaternion-x</strong> <em><var>q</var></em></dt>
+<dd><p>Return the X component of the quaternion <var>q</var>.
+</p></dd></dl>
+
+<dl>
+<dt><a name="index-quaternion_002dy"></a>Procedure: <strong>quaternion-y</strong> <em><var>q</var></em></dt>
+<dd><p>Return the Y component of the quaternion <var>q</var>.
+</p></dd></dl>
+
+<dl>
+<dt><a name="index-quaternion_002dz"></a>Procedure: <strong>quaternion-z</strong> <em><var>q</var></em></dt>
+<dd><p>Return the Z component of the quaternion <var>q</var>.
+</p></dd></dl>
+
+<dl>
+<dt><a name="index-make_002didentity_002dquaternion"></a>Procedure: <strong>make-identity-quaternion</strong></dt>
+<dd><p>Return the identity quaternion.
+</p></dd></dl>
+
+
+
+
+</body>
+</html>