Quaternion

Quaternion representation

struct Quaternion (

T

) {

Vector!(T, 4) vectorof;

this(T x, T y, T z, T w);

this(T[4] arr);

this(Vector!(T, 4) v);

this(Vector!(T, 3) v, T neww);

static Quaternion!(T) identity();

Quaternion!(T) opBinary(Quaternion!(T) q);

Quaternion!(T) opOpAssign(Quaternion!(T) q);

Quaternion!(T) opBinary(Quaternion!(T) q);

Quaternion!(T) opOpAssign(Quaternion!(T) q);

Quaternion!(T) opBinary(Quaternion!(T) q);

Quaternion!(T) opOpAssign(Quaternion!(T) q);

Quaternion!(T) opBinary(T k);

Quaternion!(T) opOpAssign(T k);

Quaternion!(T) opBinaryRight(T k);

Quaternion!(T) opBinary(T k);

Quaternion!(T) opOpAssign(T k);

Quaternion!(T) opBinary(Vector!(T, 3) v);

Quaternion!(T) opOpAssign(Vector!(T, 3) v);

Quaternion!(T) conjugate();

alias conj = conjugate;

void computeW();

Vector!(T, 3) rotate(Vector!(T, 3) v);

Vector!(T, 3) opBinaryRight(Vector!(T, 3) v);

static if(isNumeric!(T))

Quaternion!(T) normalized();

static if(isNumeric!(T))

Matrix!(T, 4) toMatrix4x4();

static if(isNumeric!(T))

Matrix!(T, 3) toMatrix3x3();

static if(isNumeric!(T))

static Quaternion!(T) fromMatrix(Matrix!(T, 4) m);

static if(isNumeric!(T))

static Quaternion!(T) fromEulerAngles(Vector!(T, 3) e);

static if(isNumeric!(T))

Vector!(T, 3) toEulerAngles();

static if(isNumeric!(T))

T rotationAngle();

static if(isNumeric!(T))

Vector!(T, 3) rotationAxis();

static if(isNumeric!(T))

Vector!(T, 3) generator();

}

Constructors

this this(T x, T y, T z, T w): Undocumented in source.
this this(T[4] arr): Undocumented in source.
this this(Vector!(T, 4) v): Undocumented in source.
this this(Vector!(T, 3) v, T neww): Undocumented in source.

Alias This

Members

Aliases

conj alias conj = conjugate: Undocumented in source.

Functions

computeW void computeW(): Compute the W component of a unit length quaternion
conjugate Quaternion!(T) conjugate(): Conjugate A quaternion with the opposite rotation
generator Vector!(T, 3) generator(): Quaternion as an angular velocity
normalized Quaternion!(T) normalized(): Normalized version
opBinary Quaternion!(T) opBinary(Quaternion!(T) q): Quaternion!(T) + Quaternion!(T)
opBinary Quaternion!(T) opBinary(Quaternion!(T) q): Quaternion!(T) - Quaternion!(T)
opBinary Quaternion!(T) opBinary(Quaternion!(T) q): Quaternion!(T) * Quaternion!(T)
opBinary Quaternion!(T) opBinary(T k): Quaternion!(T) * T
opBinary Quaternion!(T) opBinary(T k): Quaternion!(T) / T
opBinary Quaternion!(T) opBinary(Vector!(T, 3) v): Quaternion!(T) * Vector!(T,3)
opBinaryRight Quaternion!(T) opBinaryRight(T k): T * Quaternion!(T)
opBinaryRight Vector!(T, 3) opBinaryRight(Vector!(T, 3) v): Undocumented in source. Be warned that the author may not have intended to support it.
opOpAssign Quaternion!(T) opOpAssign(Quaternion!(T) q): Quaternion!(T) += Quaternion!(T)
opOpAssign Quaternion!(T) opOpAssign(Quaternion!(T) q): Quaternion!(T) -= Quaternion!(T)
opOpAssign Quaternion!(T) opOpAssign(Quaternion!(T) q): Quaternion!(T) *= Quaternion!(T)
opOpAssign Quaternion!(T) opOpAssign(T k): Quaternion!(T) *= T
opOpAssign Quaternion!(T) opOpAssign(T k): Quaternion!(T) /= T
opOpAssign Quaternion!(T) opOpAssign(Vector!(T, 3) v): Quaternion!(T) *= Vector!(T,3)
rotate Vector!(T, 3) rotate(Vector!(T, 3) v): Rotate a point by quaternion
rotationAngle T rotationAngle(): Return the rotation angle (in radians)
rotationAxis Vector!(T, 3) rotationAxis(): Return the rotation axis
toEulerAngles Vector!(T, 3) toEulerAngles(): Setup the Euler angles, given a rotation Quaternion. Returned x,y,z are in radians
toMatrix3x3 Matrix!(T, 3) toMatrix3x3(): Convert to 3x3 matrix
toMatrix4x4 Matrix!(T, 4) toMatrix4x4(): Convert to 4x4 matrix

Static functions

fromEulerAngles Quaternion!(T) fromEulerAngles(Vector!(T, 3) e): Setup the quaternion to perform a rotation, given the orientation in XYZ-Euler angles format (in radians)
fromMatrix Quaternion!(T) fromMatrix(Matrix!(T, 4) m): Setup the quaternion to perform a rotation, given the angular displacement in matrix form
identity Quaternion!(T) identity(): Identity quaternion

Variables

vectorof Vector!(T, 4) vectorof;: Undocumented in source.

Meta

Source

See Implementation

dlib math quaternion aliases

functions

structs

Quaternion