Quaternion

A 4-dimensional vector representing a rotation.

The vector represents a 4 dimensional complex number where multiplication of the basis elements is not commutative (multiplying i with j gives a different result than multiplying j with i).

Multiplying quaternions reproduces rotation sequences. However quaternions need to be often renormalized, or else they suffer from precision issues.

It can be used to perform SLERP (spherical-linear interpolation) between two rotations.

struct Quaternion {

void set(real_t p_x, real_t p_y, real_t p_z, real_t p_w);

this(real_t p_x, real_t p_y, real_t p_z, real_t p_w);

real_t length();

void normalize();

Quaternion normalized();

Quaternion inverse();

void setEuler(Vector3 p_euler);

Quaternion slerp(Quaternion q, real_t t);

Quaternion slerpni(Quaternion q, real_t t);

Quaternion cubicSlerp(Quaternion q, Quaternion prep, Quaternion postq, real_t t);

void getAxisAndAngle(Vector3 r_axis, real_t r_angle);

Quaternion opBinary(Vector3 v);

Vector3 xform(Vector3 v);

this(Vector3 axis, real_t angle);

this(Vector3 v0, Vector3 v1);

real_t dot(Quaternion q);

real_t lengthSquared();

void opOpAssign(Quaternion q);

void opOpAssign(real_t s);

Quaternion opBinary(Quaternion q2);

Quaternion opUnary();

Quaternion opBinary(real_t s);

Vector3 getEuler();

}

Constructors

this this(real_t p_x, real_t p_y, real_t p_z, real_t p_w): Undocumented in source.
this this(Vector3 axis, real_t angle): Undocumented in source.
this this(Vector3 v0, Vector3 v1): Undocumented in source.

Members

Functions

cubicSlerp Quaternion cubicSlerp(Quaternion q, Quaternion prep, Quaternion postq, real_t t): Undocumented in source. Be warned that the author may not have intended to support it.
dot real_t dot(Quaternion q): Undocumented in source. Be warned that the author may not have intended to support it.
getAxisAndAngle void getAxisAndAngle(Vector3 r_axis, real_t r_angle): Undocumented in source. Be warned that the author may not have intended to support it.
getEuler Vector3 getEuler(): Undocumented in source. Be warned that the author may not have intended to support it.
inverse Quaternion inverse(): Undocumented in source. Be warned that the author may not have intended to support it.
length real_t length(): Undocumented in source. Be warned that the author may not have intended to support it.
lengthSquared real_t lengthSquared(): Undocumented in source. Be warned that the author may not have intended to support it.
normalize void normalize(): Undocumented in source. Be warned that the author may not have intended to support it.
normalized Quaternion normalized(): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary Quaternion opBinary(Vector3 v): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary Quaternion opBinary(Quaternion q2): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary Quaternion opBinary(Quaternion q2): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary Quaternion opBinary(real_t s): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary Quaternion opBinary(Quaternion q2): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary Quaternion opBinary(real_t s): Undocumented in source. Be warned that the author may not have intended to support it.
opOpAssign void opOpAssign(Quaternion q): Undocumented in source. Be warned that the author may not have intended to support it.
opOpAssign void opOpAssign(Quaternion q): Undocumented in source. Be warned that the author may not have intended to support it.
opOpAssign void opOpAssign(Quaternion q): Undocumented in source. Be warned that the author may not have intended to support it.
opOpAssign void opOpAssign(real_t s): Undocumented in source. Be warned that the author may not have intended to support it.
opOpAssign void opOpAssign(real_t s): Undocumented in source. Be warned that the author may not have intended to support it.
opUnary Quaternion opUnary(): Undocumented in source. Be warned that the author may not have intended to support it.
set void set(real_t p_x, real_t p_y, real_t p_z, real_t p_w): Undocumented in source. Be warned that the author may not have intended to support it.
setEuler void setEuler(Vector3 p_euler): Undocumented in source. Be warned that the author may not have intended to support it.
slerp Quaternion slerp(Quaternion q, real_t t): Undocumented in source. Be warned that the author may not have intended to support it.
slerpni Quaternion slerpni(Quaternion q, real_t t): Undocumented in source. Be warned that the author may not have intended to support it.
xform Vector3 xform(Vector3 v): Undocumented in source. Be warned that the author may not have intended to support it.

Variables

w real_t w;: Undocumented in source.
x real_t x;: Undocumented in source.
y real_t y;: Undocumented in source.
z real_t z;: Undocumented in source.

Quaternion

Constructors

Members

Functions

Variables

Meta

Source