---
name: "RTCQuaternionDecomposition"
section: "3"
platform: "linux"
package: "libembree-dev"
version: "4.3.3+dfsg-1"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/RTCQuaternionDecomposition"
---

# RTCQuaternionDecomposition(3)

### NAME

-

  ```
  RTCQuaternionDecomposition - structure that represents a quaternion
    decomposition of an affine transformation
  ```

### SYNOPSIS

-

  ```
  struct RTCQuaternionDecomposition
  {
    float scale_x, scale_y, scale_z;
    float skew_xy, skew_xz, skew_yz;
    float shift_x, shift_y, shift_z;
    float quaternion_r, quaternion_i, quaternion_j, quaternion_k;
    float translation_x, translation_y, translation_z;
  };
  ```

### DESCRIPTION

The struct `RTCQuaternionDecomposition` represents an affine transformation decomposed into three parts. An upper triangular scaling/skew/shift matrix

$$ S = \\left( \\begin{array}{cccc} scale\_x & skew\_{xy} & skew\_{xz} & shift\_x \\\\  0 & scale\_y & skew\_{yz} & shift\_y \\\\  0 & 0 & scale\_z & shift\_z \\\\  0 & 0 & 0 & 1 \\\\  \\end{array} \\right), $$

a translation matrix

$$ T = \\left( \\begin{array}{cccc} 1 & 0 & 0 & translation\_x \\\\  0 & 1 & 0 & translation\_y \\\\  0 & 0 & 1 & translation\_z \\\\  0 & 0 & 0 & 1 \\\\  \\end{array} \\right), $$

and a rotation matrix *R*, represented as a quaternion

*quaternion*~*r*~ + *quaternion*~*i*~ **i** + *quaternion*~*j*~ **i** + *quaternion*~*k*~ **k**

where **i**, **j** **k** are the imaginary quaternion units. The passed quaternion will be normalized internally.

The affine transformation matrix corresponding to a `RTCQuaternionDecomposition` is *TRS* and a point *p* = (*p*~*x*~, *p*~*y*~, *p*~*z*~, 1)^*T*^ will be transformed as

*p*′ = *T* *R* *S* *p*.

The functions `rtcInitQuaternionDecomposition`, `rtcQuaternionDecompositionSetQuaternion`, `rtcQuaternionDecompositionSetScale`, `rtcQuaternionDecompositionSetSkew`, `rtcQuaternionDecompositionSetShift`, and `rtcQuaternionDecompositionSetTranslation` allow to set the fields of the structure more conveniently.

### EXIT STATUS

No error code is set by this function.

### SEE ALSO

\[rtcSetGeometryTransformQuaternion\], \[rtcInitQuaternionDecomposition\]