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# Quaternion

struct in UnityEngine

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## Description

Quaternions are used to represent rotations.

They are compact, don't suffer from gimbal lock and can easily be interpolated. Unity internally uses Quaternions to represent all rotations.

They are based on complex numbers and are not easy to understand intuitively. You almost never access or modify individual Quaternion components (x,y,z,w); most often you would just take existing rotations (e.g. from the Transform) and use them to construct new rotations (e.g. to smoothly interpolate between two rotations). The Quaternion functions that you use 99% of the time are: Quaternion.LookRotation, Quaternion.Angle, Quaternion.Euler, Quaternion.Slerp, Quaternion.FromToRotation, and Quaternion.identity. (The other functions are only for exotic uses.)

You can use the Quaternion.operator * to rotate one rotation by another, or to rotate a vector by a rotation.

## Static Properties

 identity The identity rotation (Read Only).

## Properties

 eulerAngles Returns the euler angle representation of the rotation. this[int] Access the x, y, z, w components using [0], [1], [2], [3] respectively. w W component of the Quaternion. Don't modify this directly unless you know quaternions inside out. x X component of the Quaternion. Don't modify this directly unless you know quaternions inside out. y Y component of the Quaternion. Don't modify this directly unless you know quaternions inside out. z Z component of the Quaternion. Don't modify this directly unless you know quaternions inside out.

## Constructors

 Quaternion Constructs new Quaternion with given x,y,z,w components.

## Public Methods

 Set Set x, y, z and w components of an existing Quaternion. SetFromToRotation Creates a rotation which rotates from fromDirection to toDirection. SetLookRotation Creates a rotation with the specified forward and upwards directions. ToAngleAxis Converts a rotation to angle-axis representation (angles in degrees). ToString Returns a nicely formatted string of the Quaternion.

## Static Methods

 Angle Returns the angle in degrees between two rotations a and b. AngleAxis Creates a rotation which rotates angle degrees around axis. Dot The dot product between two rotations. Euler Returns a rotation that rotates z degrees around the z axis, x degrees around the x axis, and y degrees around the y axis (in that order). FromToRotation Creates a rotation which rotates from fromDirection to toDirection. Inverse Returns the Inverse of rotation. Lerp Interpolates between a and b by t and normalizes the result afterwards. The parameter t is clamped to the range [0, 1]. LerpUnclamped Interpolates between a and b by t and normalizes the result afterwards. The parameter t is not clamped. LookRotation Creates a rotation with the specified forward and upwards directions. RotateTowards Rotates a rotation from towards to. Slerp Spherically interpolates between a and b by t. The parameter t is clamped to the range [0, 1]. SlerpUnclamped Spherically interpolates between a and b by t. The parameter t is not clamped.

## Operators

 operator * Combines rotations lhs and rhs. operator == Are two quaternions equal to each other?