Quaternion Structure

A structure encapsulating a four-dimensional vector (x,y,z,w), which is used to efficiently rotate an object about the (x,y,z) vector by the angle theta, where w = cos(theta/2).

Namespace: Karamba.Geometry
Assembly: KarambaCommon (in KarambaCommon.dll) Version: 1.0.0.0 (1.0.0.0)

Syntax

C++

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[SerializableAttribute]
public struct Quaternion : IEquatable<Quaternion>

<SerializableAttribute>
Public Structure Quaternion
	Implements IEquatable(Of Quaternion)

[SerializableAttribute]
public value class Quaternion : IEquatable<Quaternion>

[<SealedAttribute>]
[<SerializableAttribute>]
type Quaternion =  
    struct
        interface IEquatable<Quaternion>
    end

The Quaternion type exposes the following members.

Constructors

	Name	Description
	Quaternion(Vector3)	Constructs a Quaternion from the given vector and rotation parts.
	Quaternion(Vector3, Double)	Constructs a Quaternion from the given vector and rotation parts.
	Quaternion(Double, Double, Double, Double)	Constructs a Quaternion from the given components.

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Properties

	Name	Description
	Identity	Returns a Quaternion representing no rotation.
	IsIdentity	Returns whether the Quaternion is the identity Quaternion.

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Methods

	Name	Description
	Add	Adds two Quaternions element-by-element.
	Concatenate	Concatenates two Quaternions; the result represents the value1 rotation followed by the value2 rotation.
	Conjugate	Creates the conjugate of a specified Quaternion.
	CreateFromAxisAngle	Creates a Quaternion from a vector and an angle to rotate about the vector.
	CreateFromRotationMatrix	Creates a Quaternion from the given rotation matrix.
	CreateFromYawPitchRoll	Creates a new Quaternion from the given yaw, pitch, and roll, in radians.
	Divide	Divides a Quaternion by another Quaternion.
	Dot	Calculates the dot product of two Quaternions.
	Equals(Object)	Returns a boolean indicating whether the given Object is equal to this Quaternion instance. (Overrides ValueTypeEquals(Object).)
	Equals(Quaternion)	Returns a boolean indicating whether the given Quaternion is equal to this Quaternion instance.
	GetHashCode	Returns the hash code for this instance. (Overrides ValueTypeGetHashCode.)
	GetType	Gets the Type of the current instance. (Inherited from Object.)
	Inverse	Returns the inverse of a Quaternion.
	Length	Calculates the length of the Quaternion.
	LengthSquared	Calculates the length squared of the Quaternion. This operation is cheaper than Length().
	Lerp	Linearly interpolates between two quaternions.
	Multiply(Quaternion, Quaternion)	Multiplies two Quaternions together.
	Multiply(Quaternion, Double)	Multiplies a Quaternion by a scalar value.
	Negate	Flips the sign of each component of the quaternion.
	Normalize	Divides each component of the Quaternion by the length of the Quaternion.
	Slerp	Interpolates between two quaternions, using spherical linear interpolation.
	Subtract	Subtracts one Quaternion from another.
	ToString	Returns a String representing this Quaternion instance. (Overrides ValueTypeToString.)

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Operators

	Name	Description
	Addition	Adds two Quaternions element-by-element.
	Division	Divides a Quaternion by another Quaternion.
	Equality	Returns a boolean indicating whether the two given Quaternions are equal.
	Inequality	Returns a boolean indicating whether the two given Quaternions are not equal.
	Multiply(Quaternion, Quaternion)	Multiplies two Quaternions together.
	Multiply(Quaternion, Double)	Multiplies a Quaternion by a scalar value.
	Subtraction	Subtracts one Quaternion from another.
	UnaryNegation	Flips the sign of each component of the quaternion.

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Fields

	Name	Description
	W	Specifies the rotation component of the Quaternion.
	X	Specifies the X-value of the vector component of the Quaternion.
	Y	Specifies the Y-value of the vector component of the Quaternion.
	Z	Specifies the Z-value of the vector component of the Quaternion.

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Reference

Karamba.Geometry Namespace