makVrl.Quaternion Struct Reference

Represents a Quaternion. More...

Inheritance diagram for makVrl.Quaternion:

Collaboration diagram for makVrl.Quaternion:

Public Member Functions
	Quaternion (Vector3f v, float w)
	Construct a new Quaternion from vector and w components
	Quaternion (float x, float y, float z, float w)
	Construct a new Quaternion
void	ToAxisAngle (out Vector3f axis, out float angle)
	Convert the current quaternion to axis angle representation
Vector4	ToAxisAngle ()
	Convert this instance to an axis-angle representation.
Quaternion	Normalized ()
	Returns a copy of the Quaternion scaled to unit length.
void	Invert ()
	Reverses the rotation angle of this Quaterniond.
Quaternion	Inverted ()
	Returns a copy of this Quaterniond with its rotation angle reversed.
void	Normalize ()
	Scales the Quaternion to unit length.
void	Conjugate ()
	Inverts the Vector3 component of this Quaternion.
override string	ToString ()
	Returns a System.String that represents the current Quaternion.
override bool	Equals (object other)
	Compares this object instance to another object for equality.
override int	GetHashCode ()
	Provides the hash code for this object.
bool	Equals (Quaternion other)
	Compares this Quaternion instance to another Quaternion for equality.

Static Public Member Functions
static Quaternion	Add (Quaternion left, Quaternion right)
	Add two quaternions
static void	Add (ref Quaternion left, ref Quaternion right, out Quaternion result)
	Add two quaternions
static Quaternion	Sub (Quaternion left, Quaternion right)
	Subtracts two instances.
static void	Sub (ref Quaternion left, ref Quaternion right, out Quaternion result)
	Subtracts two instances.
static Quaternion	Mult (Quaternion left, Quaternion right)
	Multiplies two instances.
static void	Mult (ref Quaternion left, ref Quaternion right, out Quaternion result)
	Multiplies two instances.
static Quaternion	Multiply (Quaternion left, Quaternion right)
	Multiplies two instances.
static void	Multiply (ref Quaternion left, ref Quaternion right, out Quaternion result)
	Multiplies two instances.
static void	Multiply (ref Quaternion quaternion, float scale, out Quaternion result)
	Multiplies an instance by a scalar.
static Quaternion	Multiply (Quaternion quaternion, float scale)
	Multiplies an instance by a scalar.
static Quaternion	Conjugate (Quaternion q)
	Get the conjugate of the given quaternion
static void	Conjugate (ref Quaternion q, out Quaternion result)
	Get the conjugate of the given quaternion
static Quaternion	Invert (Quaternion q)
	Get the inverse of the given quaternion
static void	Invert (ref Quaternion q, out Quaternion result)
	Get the inverse of the given quaternion
static Quaternion	Normalize (Quaternion q)
	Scale the given quaternion to unit length
static void	Normalize (ref Quaternion q, out Quaternion result)
	Scale the given quaternion to unit length
static Quaternion	FromAxisAngle (Vector3f axis, float angle)
	Build a quaternion from the given axis and angle
static Quaternion	FromMatrix (Matrix3 matrix)
	Builds a quaternion from the given rotation matrix
static void	FromMatrix (ref Matrix3 matrix, out Quaternion result)
	Builds a quaternion from the given rotation matrix
static Quaternion	Slerp (Quaternion q1, Quaternion q2, float blend)
	Do Spherical linear interpolation between two quaternions
static Quaternion	operator+ (Quaternion left, Quaternion right)
	Adds two instances.
static Quaternion	operator- (Quaternion left, Quaternion right)
	Subtracts two instances.
static Quaternion	operator* (Quaternion left, Quaternion right)
	Multiplies two instances.
static Quaternion	operator* (Quaternion quaternion, float scale)
	Multiplies an instance by a scalar.
static Quaternion	operator* (float scale, Quaternion quaternion)
	Multiplies an instance by a scalar.
static bool	operator== (Quaternion left, Quaternion right)
	Compares two instances for equality.
static bool	operator!= (Quaternion left, Quaternion right)
	Compares two instances for inequality.

Public Attributes
Vector3f	xyz
float	w

Static Public Attributes
static readonly Quaternion	Identity = new Quaternion(0, 0, 0, 1)
	Defines the identity quaternion.

Properties
Vector3f	XYZ [get, set]
	Gets or sets an makVrl.Vector3 with the X, Y and Z components of this instance.
Vector3f	Xyz [get, set]
	Gets or sets an makVrl.Vector3 with the X, Y and Z components of this instance.
float	X [get, set]
	Gets or sets the X component of this instance.
float	Y [get, set]
	Gets or sets the Y component of this instance.
float	Z [get, set]
	Gets or sets the Z component of this instance.
float	W [get, set]
	Gets or sets the W component of this instance.
float	Length [get]
	Gets the length (magnitude) of the quaternion.
float	LengthSquared [get]
	Gets the square of the quaternion length (magnitude).

Detailed Description

Represents a Quaternion.

Constructor & Destructor Documentation

makVrl.Quaternion.Quaternion ( Vector3f  v, float  w  )

inline

Construct a new Quaternion from vector and w components

Parameters

v	The vector part
w	The w part

References makVrl.Quaternion.w, and makVrl.Quaternion.xyz.

Referenced by makVrl.Quaternion.Add(), makVrl.Quaternion.Conjugate(), makVrl.Quaternion.Equals(), makVrl.Quaternion.Invert(), makVrl.Quaternion.Mult(), makVrl.Quaternion.Multiply(), makVrl.Quaternion.Normalize(), makVrl.Quaternion.operator*(), makVrl.Quaternion.Slerp(), and makVrl.Quaternion.Sub().

makVrl.Quaternion.Quaternion ( float  x, float  y, float  z, float  w  )

inline

Construct a new Quaternion

Parameters

x	The x component
y	The y component
z	The z component
w	The w component

Member Function Documentation

static Quaternion makVrl.Quaternion.Add ( Quaternion  left, Quaternion  right  )

inlinestatic

Add two quaternions

Parameters

left	The first operand
right	The second operand

Returns

The result of the addition

References makVrl.Quaternion.Quaternion(), makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

static void makVrl.Quaternion.Add ( ref Quaternion  left, ref Quaternion  right, out Quaternion  result  )

inlinestatic

Add two quaternions

Parameters

left	The first operand
right	The second operand
result	The result of the addition

References makVrl.Quaternion.Quaternion().

void makVrl.Quaternion.Conjugate ( )

inline

Inverts the Vector3 component of this Quaternion.

References makVrl.Quaternion.Xyz.

static Quaternion makVrl.Quaternion.Conjugate ( Quaternion  q )

inlinestatic

Get the conjugate of the given quaternion

Parameters

q	The quaternion

Returns

The conjugate of the given quaternion

References makVrl.Quaternion.Quaternion(), makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

static void makVrl.Quaternion.Conjugate ( ref Quaternion  q, out Quaternion  result  )

inlinestatic

Get the conjugate of the given quaternion

Parameters

q	The quaternion
result	The conjugate of the given quaternion

References makVrl.Quaternion.Quaternion().

override bool makVrl.Quaternion.Equals ( object  other )

inline

Compares this object instance to another object for equality.

Parameters

other

The other object to be used in the comparison.

Returns

True if both objects are Quaternions of equal value. Otherwise it returns false.

References makVrl.Quaternion.Quaternion().

Referenced by makVrl.Quaternion.operator!=(), and makVrl.Quaternion.operator==().

bool makVrl.Quaternion.Equals ( Quaternion  other )

inline

Compares this Quaternion instance to another Quaternion for equality.

Parameters

other

The other Quaternion to be used in the comparison.

Returns

True if both instances are equal; false otherwise.

References makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

static Quaternion makVrl.Quaternion.FromAxisAngle ( Vector3f  axis, float  angle  )

inlinestatic

Build a quaternion from the given axis and angle

Parameters

axis	The axis to rotate about
angle	The rotation angle in radians

Returns

The equivalent quaternion

References makVrl.Quaternion.Identity, makVrl.Vector3f.LengthSquared, makVrl.Quaternion.Normalize(), makVrl.Vector3f.Normalize(), makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

static Quaternion makVrl.Quaternion.FromMatrix ( Matrix3  matrix )

inlinestatic

Builds a quaternion from the given rotation matrix

Parameters

matrix

A rotation matrix

Returns

The equivalent quaternion

static void makVrl.Quaternion.FromMatrix ( ref Matrix3  matrix, out Quaternion  result  )

inlinestatic

Builds a quaternion from the given rotation matrix

Parameters

matrix	A rotation matrix
result	The equivalent quaternion

References makVrl.Quaternion.w.

override int makVrl.Quaternion.GetHashCode ( )

inline

Provides the hash code for this object.

Returns

A hash code formed from the bitwise XOR of this objects members.

References makVrl.Vector3f.GetHashCode(), makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

void makVrl.Quaternion.Invert ( )

inline

Reverses the rotation angle of this Quaterniond.

References makVrl.Quaternion.W.

Referenced by makVrl.Quaternion.Invert(), makVrl.Quaternion.Inverted(), makVrl.Vector2.Transform(), and makVrl.Vector4.Transform().

static Quaternion makVrl.Quaternion.Invert ( Quaternion  q )

inlinestatic

Get the inverse of the given quaternion

Parameters

q	The quaternion to invert

Returns

The inverse of the given quaternion

References makVrl.Quaternion.Invert().

static void makVrl.Quaternion.Invert ( ref Quaternion  q, out Quaternion  result  )

inlinestatic

Get the inverse of the given quaternion

Parameters

q	The quaternion to invert
result	The inverse of the given quaternion

References makVrl.Quaternion.Quaternion().

Quaternion makVrl.Quaternion.Inverted ( )

inline

Returns a copy of this Quaterniond with its rotation angle reversed.

References makVrl.Quaternion.Invert().

static Quaternion makVrl.Quaternion.Mult ( Quaternion  left, Quaternion  right  )

inlinestatic

Multiplies two instances.

Parameters

left	The first instance.
right	The second instance.

Returns

A new instance containing the result of the calculation.

References makVrl.Vector3f.Cross(), makVrl.Vector3f.Dot(), makVrl.Quaternion.Quaternion(), makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

static void makVrl.Quaternion.Mult ( ref Quaternion  left, ref Quaternion  right, out Quaternion  result  )

inlinestatic

Multiplies two instances.

Parameters

left	The first instance.
right	The second instance.
result	A new instance containing the result of the calculation.

References makVrl.Vector3f.Cross(), makVrl.Vector3f.Dot(), and makVrl.Quaternion.Quaternion().

static Quaternion makVrl.Quaternion.Multiply ( Quaternion  left, Quaternion  right  )

inlinestatic

Multiplies two instances.

Parameters

left	The first instance.
right	The second instance.

Returns

A new instance containing the result of the calculation.

Referenced by makVrl.Quaternion.operator*(), makVrl.Vector2.Transform(), and makVrl.Vector4.Transform().

static void makVrl.Quaternion.Multiply ( ref Quaternion  left, ref Quaternion  right, out Quaternion  result  )

inlinestatic

Multiplies two instances.

Parameters

left	The first instance.
right	The second instance.
result	A new instance containing the result of the calculation.

References makVrl.Vector3f.Cross(), makVrl.Vector3f.Dot(), and makVrl.Quaternion.Quaternion().

static void makVrl.Quaternion.Multiply ( ref Quaternion  quaternion, float  scale, out Quaternion  result  )

inlinestatic

Multiplies an instance by a scalar.

Parameters

quaternion	The instance.
scale	The scalar.
result	A new instance containing the result of the calculation.

References makVrl.Quaternion.Quaternion().

static Quaternion makVrl.Quaternion.Multiply ( Quaternion  quaternion, float  scale  )

inlinestatic

Multiplies an instance by a scalar.

Parameters

quaternion	The instance.
scale	The scalar.

Returns

A new instance containing the result of the calculation.

References makVrl.Quaternion.Quaternion(), makVrl.Quaternion.W, makVrl.Quaternion.X, makVrl.Quaternion.Y, and makVrl.Quaternion.Z.

void makVrl.Quaternion.Normalize ( )

inline

Scales the Quaternion to unit length.

References makVrl.Quaternion.Length, makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

Referenced by makVrl.Matrix3.ExtractRotation(), makVrl.Matrix4.ExtractRotation(), makVrl.Quaternion.FromAxisAngle(), makVrl.Quaternion.Normalize(), makVrl.Quaternion.Normalized(), makVrl.Quaternion.Slerp(), and makVrl.Quaternion.ToAxisAngle().

static Quaternion makVrl.Quaternion.Normalize ( Quaternion  q )

inlinestatic

Scale the given quaternion to unit length

Parameters

q	The quaternion to normalize

Returns

The normalized quaternion

References makVrl.Quaternion.Normalize().

static void makVrl.Quaternion.Normalize ( ref Quaternion  q, out Quaternion  result  )

inlinestatic

Scale the given quaternion to unit length

Parameters

q	The quaternion to normalize
result	The normalized quaternion

References makVrl.Quaternion.Quaternion().

Quaternion makVrl.Quaternion.Normalized ( )

inline

Returns a copy of the Quaternion scaled to unit length.

References makVrl.Quaternion.Normalize().

static bool makVrl.Quaternion.operator!= ( Quaternion  left, Quaternion  right  )

inlinestatic

Compares two instances for inequality.

Parameters

left	The first instance.
right	The second instance.

Returns

True, if left does not equal right; false otherwise.

References makVrl.Quaternion.Equals().

static Quaternion makVrl.Quaternion.operator* ( Quaternion  left, Quaternion  right  )

inlinestatic

Multiplies two instances.

Parameters

left	The first instance.
right	The second instance.

Returns

The result of the calculation.

References makVrl.Quaternion.Multiply().

static Quaternion makVrl.Quaternion.operator* ( Quaternion  quaternion, float  scale  )

inlinestatic

Multiplies an instance by a scalar.

Parameters

quaternion	The instance.
scale	The scalar.

Returns

A new instance containing the result of the calculation.

References makVrl.Quaternion.Multiply().

static Quaternion makVrl.Quaternion.operator* ( float  scale, Quaternion  quaternion  )

inlinestatic

Multiplies an instance by a scalar.

Parameters

quaternion	The instance.
scale	The scalar.

Returns

A new instance containing the result of the calculation.

References makVrl.Quaternion.Quaternion(), makVrl.Quaternion.W, makVrl.Quaternion.X, makVrl.Quaternion.Y, and makVrl.Quaternion.Z.

static Quaternion makVrl.Quaternion.operator+ ( Quaternion  left, Quaternion  right  )

inlinestatic

Adds two instances.

Parameters

left	The first instance.
right	The second instance.

Returns

The result of the calculation.

References makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

static Quaternion makVrl.Quaternion.operator- ( Quaternion  left, Quaternion  right  )

inlinestatic

Subtracts two instances.

Parameters

left	The first instance.
right	The second instance.

Returns

The result of the calculation.

References makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

static bool makVrl.Quaternion.operator== ( Quaternion  left, Quaternion  right  )

inlinestatic

Compares two instances for equality.

Parameters

left	The first instance.
right	The second instance.

Returns

True, if left equals right; false otherwise.

References makVrl.Quaternion.Equals().

static Quaternion makVrl.Quaternion.Slerp ( Quaternion  q1, Quaternion  q2, float  blend  )

inlinestatic

Do Spherical linear interpolation between two quaternions

Parameters

q1	The first quaternion
q2	The second quaternion
blend	The blend factor

Returns

A smooth blend between the given quaternions

References makVrl.Vector3f.Dot(), makVrl.Quaternion.Identity, makVrl.Quaternion.LengthSquared, makVrl.Quaternion.Normalize(), makVrl.Quaternion.Quaternion(), makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

static Quaternion makVrl.Quaternion.Sub ( Quaternion  left, Quaternion  right  )

inlinestatic

Subtracts two instances.

Parameters

left	The left instance.
right	The right instance.

Returns

The result of the operation.

References makVrl.Quaternion.Quaternion(), makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

static void makVrl.Quaternion.Sub ( ref Quaternion  left, ref Quaternion  right, out Quaternion  result  )

inlinestatic

Subtracts two instances.

Parameters

left	The left instance.
right	The right instance.
result	The result of the operation.

References makVrl.Quaternion.Quaternion().

void makVrl.Quaternion.ToAxisAngle ( out Vector3f  axis, out float  angle  )

inline

Convert the current quaternion to axis angle representation

Parameters

axis	The resultant axis
angle	The resultant angle

References makVrl.Quaternion.ToAxisAngle(), makVrl.Vector4.W, and makVrl.Vector4.Xyz.

Vector4 makVrl.Quaternion.ToAxisAngle ( )

inline

Convert this instance to an axis-angle representation.

Returns

A Vector4 that is the axis-angle representation of this quaternion.

References makVrl.Quaternion.Normalize(), makVrl.Vector3f.UnitX, makVrl.Vector4.W, makVrl.Quaternion.W, makVrl.Quaternion.Xyz, and makVrl.Vector4.Xyz.

Referenced by makVrl.Quaternion.ToAxisAngle().

override string makVrl.Quaternion.ToString ( )

inline

Returns a System.String that represents the current Quaternion.

Returns

References makVrl.Quaternion.W, and makVrl.Quaternion.Xyz.

Member Data Documentation

readonly Quaternion makVrl.Quaternion.Identity = new Quaternion(0, 0, 0, 1)

static

Defines the identity quaternion.

Referenced by makVrl.Quaternion.FromAxisAngle(), and makVrl.Quaternion.Slerp().

float makVrl.Quaternion.w

Referenced by makVrl.Quaternion.FromMatrix(), and makVrl.Quaternion.Quaternion().

Vector3f makVrl.Quaternion.xyz

Referenced by makVrl.Quaternion.Quaternion().

Property Documentation

float makVrl.Quaternion.Length

get

Gets the length (magnitude) of the quaternion.

See Also

LengthSquared

Referenced by makVrl.Quaternion.Normalize().

float makVrl.Quaternion.LengthSquared

get

Gets the square of the quaternion length (magnitude).

Referenced by makVrl.Quaternion.Slerp().

float makVrl.Quaternion.W

getset

Gets or sets the W component of this instance.

Referenced by makVrl.Quaternion.Add(), makVrl.Quaternion.Conjugate(), makVrl.Quaternion.Equals(), makVrl.Matrix3.ExtractRotation(), makVrl.Matrix4.ExtractRotation(), makVrl.Quaternion.FromAxisAngle(), makVrl.Quaternion.GetHashCode(), makVrl.Quaternion.Invert(), makVrl.Quaternion.Mult(), makVrl.Quaternion.Multiply(), makVrl.Quaternion.Normalize(), makVrl.Quaternion.operator*(), makVrl.Quaternion.operator+(), makVrl.Quaternion.operator-(), makVrl.Quaternion.Slerp(), makVrl.Quaternion.Sub(), makVrl.Quaternion.ToAxisAngle(), and makVrl.Quaternion.ToString().

float makVrl.Quaternion.X

getset

Gets or sets the X component of this instance.

Referenced by makVrl.Matrix3.ExtractRotation(), makVrl.Matrix4.ExtractRotation(), makVrl.Quaternion.Multiply(), and makVrl.Quaternion.operator*().

Vector3f makVrl.Quaternion.XYZ

getset

Gets or sets an makVrl.Vector3 with the X, Y and Z components of this instance.

Vector3f makVrl.Quaternion.Xyz

getset

Gets or sets an makVrl.Vector3 with the X, Y and Z components of this instance.

Referenced by makVrl.Quaternion.Add(), makVrl.Quaternion.Conjugate(), makVrl.Quaternion.Equals(), makVrl.Quaternion.FromAxisAngle(), makVrl.Quaternion.GetHashCode(), makVrl.Quaternion.Mult(), makVrl.Quaternion.Normalize(), makVrl.Quaternion.operator+(), makVrl.Quaternion.operator-(), makVrl.Quaternion.Slerp(), makVrl.Quaternion.Sub(), makVrl.Quaternion.ToAxisAngle(), and makVrl.Quaternion.ToString().

float makVrl.Quaternion.Y

getset

Gets or sets the Y component of this instance.

Referenced by makVrl.Matrix3.ExtractRotation(), makVrl.Matrix4.ExtractRotation(), makVrl.Quaternion.Multiply(), and makVrl.Quaternion.operator*().

float makVrl.Quaternion.Z

getset

Gets or sets the Z component of this instance.

Referenced by makVrl.Matrix3.ExtractRotation(), makVrl.Matrix4.ExtractRotation(), makVrl.Quaternion.Multiply(), and makVrl.Quaternion.operator*().

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The documentation for this struct was generated from the following file:

• Quaternion.cs