960 class Quaternion
967     Quaternion () : v(0, 0, 0), w(0) {};  in Quaternion()  function
968     Quaternion (const Quaternion<T>& q) : v(q.v), w(q.w) {};  in Quaternion()  function
970     Quaternion (const Vec3d& vec, T _w) : v(vec), w(_w) {};  in Quaternion()  function
971     Quaternion (const Vec4d& vec)  : v(vec[0], vec[1], vec[2]), w(vec[3]) {};  in Quaternion()  function
972     Quaternion (T _x, T _y, T _z, T _w) : v(_x, _y, _z), w(_w) {};  in Quaternion()  function
979     inline Quaternion<T>& operator = (const Quaternion<T>& rhs) {
985     inline Quaternion<T> operator + (const Quaternion<T>& rhs) const {
986         const Quaternion<T>& lhs = *this;
987         return Quaternion<T>(lhs.v + rhs.v, lhs.w + rhs.w);
990     inline Quaternion<T> operator - (const Quaternion<T>& rhs) const {
991         const Quaternion<T>& lhs = *this;
992         return Quaternion<T>(lhs.v - rhs.v, lhs.w - rhs.w);
995     inline Quaternion<T> operator * (T rhs) const {
996         return Quaternion<T>(v * rhs, w * rhs);
999     inline Quaternion<T> operator * (const Quaternion<T>& rhs) const {
1000         const Quaternion<T>& lhs = *this;
1001 …return Quaternion<T>(lhs.w * rhs.v[0] + lhs.v[0] * rhs.w + lhs.v[1] * rhs.v[2] - lhs.v[2] * rhs.v[…
1023     inline Quaternion<T> conjugate (const Quaternion<T>& quat) const {  in conjugate()
1024         return Quaternion<T>(-quat.v, quat.w);  in conjugate()
1027     inline Quaternion<T> inverse (const Quaternion<T>& quat) const {  in inverse()
1031     inline Quaternion<T> lerp (T weight, const Quaternion<T>& quat) const {  in lerp()
1032         return Quaternion<T>(v.lerp(weight, quat.v), (1 - weight) * w + weight * quat.w);  in lerp()
1035     inline Quaternion<T> slerp(T r, const Quaternion<T>& quat) const {  in slerp()
1036         Quaternion<T> ret;  in slerp()
1065     static Quaternion<T> create_quaternion (Vec3d axis, T angle_rad) {  in create_quaternion()
1069         return Quaternion<T>(axis * sin_theta_over_two, cos_theta_over_two);  in create_quaternion()
1072     static Quaternion<T> create_quaternion (Vec3d euler) {  in create_quaternion()
1078     static Quaternion<T> create_quaternion (const Mat3d& mat) {  in create_quaternion()
1079         Quaternion<T> q;  in create_quaternion()
1196 typedef Quaternion<double> Quaternd;