makVrl.Quaterniond Struct Reference

Represents a double-precision Quaternion. More...

Inheritance diagram for makVrl.Quaterniond:

Collaboration diagram for makVrl.Quaterniond:

Public Member Functions
	Quaterniond (Vector3d v, double w)
	Construct a new Quaterniond from vector and w components More...
	Quaterniond (double x, double y, double z, double w)
	Construct a new Quaterniond More...
void	ToAxisAngle (out Vector3d axis, out double angle)
	Convert the current quaternion to axis angle representation More...
void	ToAxisAngle (out Vector3f axis, out double angle)
	Convert the current quaternion to axis angle representation More...
Vector4d	ToAxisAngle ()
	Convert this instance to an axis-angle representation. More...
Quaterniond	Normalized ()
	Returns a copy of the Quaterniond scaled to unit length. More...
void	Invert ()
	Reverses the rotation angle of this Quaterniond. More...
Quaterniond	Inverted ()
	Returns a copy of this Quaterniond with its rotation angle reversed. More...
void	Normalize ()
	Scales the Quaterniond to unit length. More...
void	Conjugate ()
	Inverts the Vector3d component of this Quaterniond. More...
override string	ToString ()
	Returns a System.String that represents the current Quaterniond. More...
override bool	Equals (object other)
	Compares this object instance to another object for equality. More...
override int	GetHashCode ()
	Provides the hash code for this object. More...
bool	Equals (Quaterniond other)
	Compares this Quaterniond instance to another Quaterniond for equality. More...

Static Public Member Functions
static Quaterniond	Add (Quaterniond left, Quaterniond right)
	Add two quaternions More...
static void	Add (ref Quaterniond left, ref Quaterniond right, out Quaterniond result)
	Add two quaternions More...
static Quaterniond	Sub (Quaterniond left, Quaterniond right)
	Subtracts two instances. More...
static void	Sub (ref Quaterniond left, ref Quaterniond right, out Quaterniond result)
	Subtracts two instances. More...
static Quaterniond	Mult (Quaterniond left, Quaterniond right)
	Multiplies two instances. More...
static void	Mult (ref Quaterniond left, ref Quaterniond right, out Quaterniond result)
	Multiplies two instances. More...
static Quaterniond	Multiply (Quaterniond left, Quaterniond right)
	Multiplies two instances. More...
static void	Multiply (ref Quaterniond left, ref Quaterniond right, out Quaterniond result)
	Multiplies two instances. More...
static void	Multiply (ref Quaterniond quaternion, double scale, out Quaterniond result)
	Multiplies an instance by a scalar. More...
static Quaterniond	Multiply (Quaterniond quaternion, double scale)
	Multiplies an instance by a scalar. More...
static Quaterniond	Conjugate (Quaterniond q)
	Get the conjugate of the given Quaterniond More...
static void	Conjugate (ref Quaterniond q, out Quaterniond result)
	Get the conjugate of the given Quaterniond More...
static Quaterniond	Invert (Quaterniond q)
	Get the inverse of the given Quaterniond More...
static void	Invert (ref Quaterniond q, out Quaterniond result)
	Get the inverse of the given Quaterniond More...
static Quaterniond	Normalize (Quaterniond q)
	Scale the given Quaterniond to unit length More...
static void	Normalize (ref Quaterniond q, out Quaterniond result)
	Scale the given Quaterniond to unit length More...
static Quaterniond	FromAxisAngle (Vector3d axis, double angle)
	Build a Quaterniond from the given axis and angle More...
static Quaterniond	FromMatrix (Matrix3d matrix)
	Builds a quaternion from the given rotation matrix More...
static void	FromMatrix (ref Matrix3d matrix, out Quaterniond result)
	Builds a quaternion from the given rotation matrix More...
static Quaterniond	Slerp (Quaterniond q1, Quaterniond q2, double blend)
	Do Spherical linear interpolation between two quaternions More...
static Quaterniond	operator+ (Quaterniond left, Quaterniond right)
	Adds two instances. More...
static Quaterniond	operator- (Quaterniond left, Quaterniond right)
	Subtracts two instances. More...
static Quaterniond	operator* (Quaterniond left, Quaterniond right)
	Multiplies two instances. More...
static Quaterniond	operator* (Quaterniond quaternion, double scale)
	Multiplies an instance by a scalar. More...
static Quaterniond	operator* (double scale, Quaterniond quaternion)
	Multiplies an instance by a scalar. More...
static bool	operator== (Quaterniond left, Quaterniond right)
	Compares two instances for equality. More...
static bool	operator!= (Quaterniond left, Quaterniond right)
	Compares two instances for inequality. More...

Public Attributes
Vector3d	xyz
double	w

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

Properties
Vector3d	XYZ [get, set]
	Gets or sets an makVrl.Vector3d with the X, Y and Z components of this instance. More...
Vector3d	Xyz [get, set]
	Gets or sets an makVrl.Vector3d with the X, Y and Z components of this instance. More...
double	X [get, set]
	Gets or sets the X component of this instance. More...
double	Y [get, set]
	Gets or sets the Y component of this instance. More...
double	Z [get, set]
	Gets or sets the Z component of this instance. More...
double	W [get, set]
	Gets or sets the W component of this instance. More...
double	Length [get]
	Gets the length (magnitude) of the Quaterniond. More...
double	LengthSquared [get]
	Gets the square of the Quaterniond length (magnitude). More...

Detailed Description

Represents a double-precision Quaternion.

Constructor & Destructor Documentation

makVrl.Quaterniond.Quaterniond ( Vector3d  v, double  w  )

inline

Construct a new Quaterniond from vector and w components

Parameters

v	The vector part
w	The w part

References makVrl.Quaterniond.w.

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

makVrl.Quaterniond.Quaterniond ( double  x, double  y, double  z, double  w  )

inline

Construct a new Quaterniond

Parameters

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

Member Function Documentation

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

inlinestatic

Add two quaternions

Parameters

left	The first operand
right	The second operand

Returns

The result of the addition

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

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

inlinestatic

Add two quaternions

Parameters

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

References makVrl.Quaterniond.Quaterniond().

void makVrl.Quaterniond.Conjugate ( )

inline

Inverts the Vector3d component of this Quaterniond.

References makVrl.Quaterniond.Xyz.

static Quaterniond makVrl.Quaterniond.Conjugate ( Quaterniond  q )

inlinestatic

Get the conjugate of the given Quaterniond

Parameters

q	The Quaterniond

Returns

The conjugate of the given Quaterniond

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

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

inlinestatic

Get the conjugate of the given Quaterniond

Parameters

q	The Quaterniond
result	The conjugate of the given Quaterniond

References makVrl.Quaterniond.Quaterniond().

override bool makVrl.Quaterniond.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.Quaterniond.Quaterniond().

bool makVrl.Quaterniond.Equals ( Quaterniond  other )

inline

Compares this Quaterniond instance to another Quaterniond for equality.

Parameters

other

The other Quaterniond to be used in the comparison.

Returns

True if both instances are equal; false otherwise.

References makVrl.Quaterniond.W, and makVrl.Quaterniond.Xyz.

static Quaterniond makVrl.Quaterniond.FromAxisAngle ( Vector3d  axis, double  angle  )

inlinestatic

Build a Quaterniond from the given axis and angle

Parameters

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

Returns

References makVrl.Quaterniond.Identity, makVrl.Vector3d.LengthSquared, and makVrl.Quaterniond.Normalize().

static Quaterniond makVrl.Quaterniond.FromMatrix ( Matrix3d  matrix )

inlinestatic

Builds a quaternion from the given rotation matrix

Parameters

matrix

A rotation matrix

Returns

The equivalent quaternion

static void makVrl.Quaterniond.FromMatrix ( ref Matrix3d  matrix, out Quaterniond  result  )

inlinestatic

Builds a quaternion from the given rotation matrix

Parameters

matrix	A rotation matrix
result	The equivalent quaternion

override int makVrl.Quaterniond.GetHashCode ( )

inline

Provides the hash code for this object.

Returns

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

References makVrl.Quaterniond.W.

void makVrl.Quaterniond.Invert ( )

inline

Reverses the rotation angle of this Quaterniond.

References makVrl.Quaterniond.W.

Referenced by makVrl.Quaterniond.Invert().

static Quaterniond makVrl.Quaterniond.Invert ( Quaterniond  q )

inlinestatic

Get the inverse of the given Quaterniond

Parameters

q	The Quaterniond to invert

Returns

The inverse of the given Quaterniond

References makVrl.Quaterniond.Invert().

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

inlinestatic

Get the inverse of the given Quaterniond

Parameters

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

References makVrl.Quaterniond.Quaterniond().

Quaterniond makVrl.Quaterniond.Inverted ( )

inline

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

static Quaterniond makVrl.Quaterniond.Mult ( Quaterniond  left, Quaterniond  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.Vector3d.Cross(), makVrl.Quaterniond.Quaterniond(), makVrl.Quaterniond.W, and makVrl.Quaterniond.Xyz.

static void makVrl.Quaterniond.Mult ( ref Quaterniond  left, ref Quaterniond  right, out Quaterniond  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.Vector3d.Cross(), and makVrl.Quaterniond.Quaterniond().

static Quaterniond makVrl.Quaterniond.Multiply ( Quaterniond  left, Quaterniond  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.Quaterniond.operator*().

static void makVrl.Quaterniond.Multiply ( ref Quaterniond  left, ref Quaterniond  right, out Quaterniond  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.Vector3d.Cross(), and makVrl.Quaterniond.Quaterniond().

static void makVrl.Quaterniond.Multiply ( ref Quaterniond  quaternion, double  scale, out Quaterniond  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.Quaterniond.Quaterniond().

static Quaterniond makVrl.Quaterniond.Multiply ( Quaterniond  quaternion, double  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.Quaterniond.Quaterniond(), makVrl.Quaterniond.W, makVrl.Quaterniond.X, makVrl.Quaterniond.Y, and makVrl.Quaterniond.Z.

void makVrl.Quaterniond.Normalize ( )

inline

Scales the Quaterniond to unit length.

References makVrl.Quaterniond.W, and makVrl.Quaterniond.Xyz.

Referenced by makVrl.Quaterniond.FromAxisAngle(), makVrl.Quaterniond.Normalize(), makVrl.Quaterniond.Slerp(), and makVrl.Quaterniond.ToAxisAngle().

static Quaterniond makVrl.Quaterniond.Normalize ( Quaterniond  q )

inlinestatic

Scale the given Quaterniond to unit length

Parameters

q	The Quaterniond to normalize

Returns

The normalized Quaterniond

References makVrl.Quaterniond.Normalize().

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

inlinestatic

Scale the given Quaterniond to unit length

Parameters

q	The Quaterniond to normalize
result	The normalized Quaterniond

References makVrl.Quaterniond.Quaterniond().

Quaterniond makVrl.Quaterniond.Normalized ( )

inline

Returns a copy of the Quaterniond scaled to unit length.

static bool makVrl.Quaterniond.operator!= ( Quaterniond  left, Quaterniond  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.

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

inlinestatic

Multiplies two instances.

Parameters

left	The first instance.
right	The second instance.

Returns

The result of the calculation.

References makVrl.Quaterniond.Multiply().

static Quaterniond makVrl.Quaterniond.operator* ( Quaterniond  quaternion, double  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.Quaterniond.Multiply().

static Quaterniond makVrl.Quaterniond.operator* ( double  scale, Quaterniond  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.Quaterniond.Quaterniond(), makVrl.Quaterniond.W, makVrl.Quaterniond.X, makVrl.Quaterniond.Y, and makVrl.Quaterniond.Z.

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

inlinestatic

Adds two instances.

Parameters

left	The first instance.
right	The second instance.

Returns

The result of the calculation.

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

inlinestatic

Subtracts two instances.

Parameters

left	The first instance.
right	The second instance.

Returns

The result of the calculation.

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

inlinestatic

Compares two instances for equality.

Parameters

left	The first instance.
right	The second instance.

Returns

True, if left equals right; false otherwise.

static Quaterniond makVrl.Quaterniond.Slerp ( Quaterniond  q1, Quaterniond  q2, double  blend  )

inlinestatic

Do Spherical linear interpolation between two quaternions

Parameters

q1	The first Quaterniond
q2	The second Quaterniond
blend	The blend factor

Returns

A smooth blend between the given quaternions

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

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

inlinestatic

Subtracts two instances.

Parameters

left	The left instance.
right	The right instance.

Returns

The result of the operation.

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

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

inlinestatic

Subtracts two instances.

Parameters

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

References makVrl.Quaterniond.Quaterniond().

void makVrl.Quaterniond.ToAxisAngle ( out Vector3d  axis, out double  angle  )

inline

Convert the current quaternion to axis angle representation

Parameters

axis	The resultant axis
angle	The resultant angle

References makVrl.Quaterniond.ToAxisAngle().

void makVrl.Quaterniond.ToAxisAngle ( out Vector3f  axis, out double  angle  )

inline

Convert the current quaternion to axis angle representation

Parameters

axis	The resultant axis
angle	The resultant angle

References makVrl.Quaterniond.ToAxisAngle(), makVrl.Vector4d.W, makVrl.Vector3d.X, and makVrl.Vector3d.Z.

Vector4d makVrl.Quaterniond.ToAxisAngle ( )

inline

Convert this instance to an axis-angle representation.

Returns

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

References makVrl.Quaterniond.Normalize(), makVrl.Vector3d.UnitX, and makVrl.Quaterniond.W.

Referenced by makVrl.Quaterniond.ToAxisAngle().

override string makVrl.Quaterniond.ToString ( )

inline

Returns a System.String that represents the current Quaterniond.

Returns

References makVrl.Quaterniond.W, and makVrl.Quaterniond.Xyz.

Member Data Documentation

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

static

Defines the identity quaternion.

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

double makVrl.Quaterniond.w

Referenced by makVrl.Quaterniond.Quaterniond().

Vector3d makVrl.Quaterniond.xyz

Property Documentation

double makVrl.Quaterniond.Length

get

Gets the length (magnitude) of the Quaterniond.

See Also

LengthSquared

double makVrl.Quaterniond.LengthSquared

get

Gets the square of the Quaterniond length (magnitude).

Referenced by makVrl.Quaterniond.Slerp().

double makVrl.Quaterniond.W

getset

Gets or sets the W component of this instance.

Referenced by makVrl.Quaterniond.Add(), makVrl.Quaterniond.Conjugate(), makVrl.Quaterniond.Equals(), makVrl.Quaterniond.GetHashCode(), makVrl.Quaterniond.Invert(), makVrl.Quaterniond.Mult(), makVrl.Quaterniond.Multiply(), makVrl.Quaterniond.Normalize(), makVrl.Quaterniond.operator*(), makVrl.Quaterniond.Slerp(), makVrl.Quaterniond.Sub(), makVrl.Quaterniond.ToAxisAngle(), and makVrl.Quaterniond.ToString().

double makVrl.Quaterniond.X

getset

Gets or sets the X component of this instance.

Referenced by makVrl.Quaterniond.Multiply(), and makVrl.Quaterniond.operator*().

Vector3d makVrl.Quaterniond.XYZ

getset

Gets or sets an makVrl.Vector3d with the X, Y and Z components of this instance.

Vector3d makVrl.Quaterniond.Xyz

getset

Gets or sets an makVrl.Vector3d with the X, Y and Z components of this instance.

Referenced by makVrl.Quaterniond.Add(), makVrl.Quaterniond.Conjugate(), makVrl.Quaterniond.Equals(), makVrl.Quaterniond.Mult(), makVrl.Quaterniond.Normalize(), makVrl.Quaterniond.Slerp(), makVrl.Quaterniond.Sub(), and makVrl.Quaterniond.ToString().

double makVrl.Quaterniond.Y

getset

Gets or sets the Y component of this instance.

Referenced by makVrl.Quaterniond.Multiply(), and makVrl.Quaterniond.operator*().

double makVrl.Quaterniond.Z

getset

Gets or sets the Z component of this instance.

Referenced by makVrl.Quaterniond.Multiply(), and makVrl.Quaterniond.operator*().

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

• Quaterniond.cs