// sensorsstructures.h

typedef struct {
  float X;
  float Y;
  float Z;
  float W;
} QUATERNION, *PQUATERNION;
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Windows Driver Kit DDI reference (ns-sensorsstructures-quaternion)

QUATERNION structure

Description

A structure that represents a 4-dimensional vector used for simple 3D rotation operation.

Members

`X`

Horizontal vector.

`Y`

Vertical vector.

`Z`

Vector on the Z-axis.

`W`

Remarks

The rotation is done around the axis formed by the vector v= [X, Y, Z] and is of angle ?, and we have:

W=cos(theta/2)
|v|=sin(theta/2)

QUATERNION - NtDoc