Struct Quaterniond

Represents a double-precision Quaternion.

Implements

IEquatable<Quaterniond>

Inherited Members

Object.Equals(Object, Object)

Object.ReferenceEquals(Object, Object)

Object.GetType()

Namespace: OpenTK

Assembly: OpenTK.dll

Syntax

[Serializable]
public struct Quaterniond : IEquatable<Quaterniond>

Constructors

Quaterniond(Vector3d)

Construct a new Quaterniond from given Euler angles

Declaration

public Quaterniond(Vector3d eulerAngles)

Parameters

Type	Name	Description
Vector3d	eulerAngles	The euler angles as a Vector3d

Quaterniond(Vector3d, Double)

Construct a new Quaterniond from vector and w components

Declaration

public Quaterniond(Vector3d v, double w)

Parameters

Type	Name	Description
Vector3d	v	The vector part
Double	w	The w part

Quaterniond(Double, Double, Double)

Construct a new Quaterniond from given Euler angles

Declaration

public Quaterniond(double pitch, double yaw, double roll)

Parameters

Type	Name	Description
Double	pitch	The pitch (attitude), rotation around X axis
Double	yaw	The yaw (heading), rotation around Y axis
Double	roll	The roll (bank), rotation around Z axis

Quaterniond(Double, Double, Double, Double)

Construct a new Quaterniond

Declaration

public Quaterniond(double x, double y, double z, double w)

Parameters

Type	Name	Description
Double	x	The x component
Double	y	The y component
Double	z	The z component
Double	w	The w component

Fields

Identity

Defines the identity quaternion.

Declaration

public static readonly Quaterniond Identity

Field Value

Type	Description
Quaterniond

W

The W component of this instance.

Declaration

public double W

Field Value

Type	Description
Double

Xyz

The X, Y and Z components of this instance.

Declaration

public Vector3d Xyz

Field Value

Type	Description
Vector3d

Properties

Length

Gets the length (magnitude) of the Quaterniond.

Declaration

public readonly double Length { get; }

Property Value

Type	Description
Double

See Also

LengthSquared

LengthSquared

Gets the square of the Quaterniond length (magnitude).

Declaration

public readonly double LengthSquared { get; }

Property Value

Type	Description
Double

X

Gets or sets the X component of this instance.

Declaration

public double X { get; set; }

Property Value

Type	Description
Double

Y

Gets or sets the Y component of this instance.

Declaration

public double Y { get; set; }

Property Value

Type	Description
Double

Z

Gets or sets the Z component of this instance.

Declaration

public double Z { get; set; }

Property Value

Type	Description
Double

Methods

Add(Quaterniond, Quaterniond)

Add two quaternions

Declaration

public static Quaterniond Add(Quaterniond left, Quaterniond right)

Parameters

Type	Name	Description
Quaterniond	left	The first operand
Quaterniond	right	The second operand

Returns

Type	Description
Quaterniond	The result of the addition

Add(ref Quaterniond, ref Quaterniond, out Quaterniond)

Add two quaternions

Declaration

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

Parameters

Type	Name	Description
Quaterniond	left	The first operand
Quaterniond	right	The second operand
Quaterniond	result	The result of the addition

Conjugate()

Inverts the Vector3d component of this Quaterniond.

Declaration

public void Conjugate()

Conjugate(Quaterniond)

Get the conjugate of the given Quaterniond

Declaration

public static Quaterniond Conjugate(Quaterniond q)

Parameters

Type	Name	Description
Quaterniond	q	The Quaterniond

Returns

Type	Description
Quaterniond	The conjugate of the given Quaterniond

Conjugate(ref Quaterniond, out Quaterniond)

Get the conjugate of the given Quaterniond

Declaration

public static void Conjugate(ref Quaterniond q, out Quaterniond result)

Parameters

Type	Name	Description
Quaterniond	q	The Quaterniond
Quaterniond	result	The conjugate of the given Quaterniond

Equals(Quaterniond)

Compares this Quaterniond instance to another Quaterniond for equality.

Declaration

public bool Equals(Quaterniond other)

Parameters

Type	Name	Description
Quaterniond	other	The other Quaterniond to be used in the comparison.

Returns

Type	Description
Boolean	True if both instances are equal; false otherwise.

Equals(Object)

Compares this object instance to another object for equality.

Declaration

public override bool Equals(object other)

Parameters

Type	Name	Description
Object	other	The other object to be used in the comparison.

Returns

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

Overrides

ValueType.Equals(Object)

FromAxisAngle(Vector3d, Double)

Build a Quaterniond from the given axis and angle

Declaration

public static Quaterniond FromAxisAngle(Vector3d axis, double angle)

Parameters

Type	Name	Description
Vector3d	axis	The axis to rotate about
Double	angle	The rotation angle in radians

Returns

Type	Description
Quaterniond

FromEulerAngles(Vector3d)

Builds a Quaterniond from the given euler angles

Declaration

public static Quaterniond FromEulerAngles(Vector3d eulerAngles)

Parameters

Type	Name	Description
Vector3d	eulerAngles	The euler angles as a vector

Returns

Type	Description
Quaterniond	The equivalent Quaterniond

FromEulerAngles(ref Vector3d, out Quaterniond)

Builds a Quaterniond from the given euler angles

Declaration

public static void FromEulerAngles(ref Vector3d eulerAngles, out Quaterniond result)

Parameters

Type	Name	Description
Vector3d	eulerAngles	The euler angles a vector
Quaterniond	result	The equivalent Quaterniond

FromEulerAngles(Double, Double, Double)

Builds a Quaterniond from the given euler angles

Declaration

public static Quaterniond FromEulerAngles(double pitch, double yaw, double roll)

Parameters

Type	Name	Description
Double	pitch	The pitch (attitude), rotation around X axis
Double	yaw	The yaw (heading), rotation around Y axis
Double	roll	The roll (bank), rotation around Z axis

Returns

Type	Description
Quaterniond

FromMatrix(Matrix3d)

Builds a quaternion from the given rotation matrix

Declaration

public static Quaterniond FromMatrix(Matrix3d matrix)

Parameters

Type	Name	Description
Matrix3d	matrix	A rotation matrix

Returns

Type	Description
Quaterniond	The equivalent quaternion

FromMatrix(ref Matrix3d, out Quaterniond)

Builds a quaternion from the given rotation matrix

Declaration

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

Parameters

Type	Name	Description
Matrix3d	matrix	A rotation matrix
Quaterniond	result	The equivalent quaternion

GetHashCode()

Provides the hash code for this object.

Declaration

public override int GetHashCode()

Returns

Type	Description
Int32	A hash code formed from the bitwise XOR of this objects members.

Overrides

ValueType.GetHashCode()

Invert()

Inverts this Quaterniond.

Declaration

public void Invert()

Invert(Quaterniond)

Get the inverse of the given Quaterniond

Declaration

public static Quaterniond Invert(Quaterniond q)

Parameters

Type	Name	Description
Quaterniond	q	The Quaterniond to invert

Returns

Type	Description
Quaterniond	The inverse of the given Quaterniond

Invert(ref Quaterniond, out Quaterniond)

Get the inverse of the given Quaterniond

Declaration

public static void Invert(ref Quaterniond q, out Quaterniond result)

Parameters

Type	Name	Description
Quaterniond	q	The Quaterniond to invert
Quaterniond	result	The inverse of the given Quaterniond

Inverted()

Returns the inverse of this Quaterniond.

Declaration

public Quaterniond Inverted()

Returns

Type	Description
Quaterniond

Multiply(Quaterniond, Quaterniond)

Multiplies two instances.

Declaration

public static Quaterniond Multiply(Quaterniond left, Quaterniond right)

Parameters

Type	Name	Description
Quaterniond	left	The first instance.
Quaterniond	right	The second instance.

Returns

Type	Description
Quaterniond	A new instance containing the result of the calculation.

Multiply(Quaterniond, Double)

Multiplies an instance by a scalar.

Declaration

public static Quaterniond Multiply(Quaterniond quaternion, double scale)

Parameters

Type	Name	Description
Quaterniond	quaternion	The instance.
Double	scale	The scalar.

Returns

Type	Description
Quaterniond	A new instance containing the result of the calculation.

Multiply(ref Quaterniond, ref Quaterniond, out Quaterniond)

Multiplies two instances.

Declaration

public static void Multiply(ref Quaterniond left, ref Quaterniond right, out Quaterniond result)

Parameters

Type	Name	Description
Quaterniond	left	The first instance.
Quaterniond	right	The second instance.
Quaterniond	result	A new instance containing the result of the calculation.

Multiply(ref Quaterniond, Double, out Quaterniond)

Multiplies an instance by a scalar.

Declaration

public static void Multiply(ref Quaterniond quaternion, double scale, out Quaterniond result)

Parameters

Type	Name	Description
Quaterniond	quaternion	The instance.
Double	scale	The scalar.
Quaterniond	result	A new instance containing the result of the calculation.

Normalize()

Scales the Quaterniond to unit length.

Declaration

public void Normalize()

Normalize(Quaterniond)

Scale the given Quaterniond to unit length

Declaration

public static Quaterniond Normalize(Quaterniond q)

Parameters

Type	Name	Description
Quaterniond	q	The Quaterniond to normalize

Returns

Type	Description
Quaterniond	The normalized Quaterniond

Normalize(ref Quaterniond, out Quaterniond)

Scale the given Quaterniond to unit length

Declaration

public static void Normalize(ref Quaterniond q, out Quaterniond result)

Parameters

Type	Name	Description
Quaterniond	q	The Quaterniond to normalize
Quaterniond	result	The normalized Quaterniond

Normalized()

Returns a copy of the Quaterniond scaled to unit length.

Declaration

public Quaterniond Normalized()

Returns

Type	Description
Quaterniond

Slerp(Quaterniond, Quaterniond, Double)

Do Spherical linear interpolation between two quaternions

Declaration

public static Quaterniond Slerp(Quaterniond q1, Quaterniond q2, double blend)

Parameters

Type	Name	Description
Quaterniond	q1	The first Quaterniond
Quaterniond	q2	The second Quaterniond
Double	blend	The blend factor

Returns

Type	Description
Quaterniond	A smooth blend between the given quaternions

Sub(Quaterniond, Quaterniond)

Subtracts two instances.

Declaration

public static Quaterniond Sub(Quaterniond left, Quaterniond right)

Parameters

Type	Name	Description
Quaterniond	left	The left instance.
Quaterniond	right	The right instance.

Returns

Type	Description
Quaterniond	The result of the operation.

Sub(ref Quaterniond, ref Quaterniond, out Quaterniond)

Subtracts two instances.

Declaration

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

Parameters

Type	Name	Description
Quaterniond	left	The left instance.
Quaterniond	right	The right instance.
Quaterniond	result	The result of the operation.

ToAxisAngle()

Convert this instance to an axis-angle representation.

Declaration

public Vector4d ToAxisAngle()

Returns

Type	Description
Vector4d	A Vector4 that is the axis-angle representation of this quaternion.

ToAxisAngle(out Vector3d, out Double)

Convert the current quaternion to axis angle representation

Declaration

public void ToAxisAngle(out Vector3d axis, out double angle)

Parameters

Type	Name	Description
Vector3d	axis	The resultant axis
Double	angle	The resultant angle

ToString()

Returns a System.String that represents the current Quaterniond.

Declaration

public override string ToString()

Returns

Type	Description
String

Overrides

ValueType.ToString()

Operators

Addition(Quaterniond, Quaterniond)

Adds two instances.

Declaration

public static Quaterniond operator +(Quaterniond left, Quaterniond right)

Parameters

Type	Name	Description
Quaterniond	left	The first instance.
Quaterniond	right	The second instance.

Returns

Type	Description
Quaterniond	The result of the calculation.

Equality(Quaterniond, Quaterniond)

Compares two instances for equality.

Declaration

public static bool operator ==(Quaterniond left, Quaterniond right)

Parameters

Type	Name	Description
Quaterniond	left	The first instance.
Quaterniond	right	The second instance.

Returns

Type	Description
Boolean	True, if left equals right; false otherwise.

Inequality(Quaterniond, Quaterniond)

Compares two instances for inequality.

Declaration

public static bool operator !=(Quaterniond left, Quaterniond right)

Parameters

Type	Name	Description
Quaterniond	left	The first instance.
Quaterniond	right	The second instance.

Returns

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

Multiply(Quaterniond, Quaterniond)

Multiplies two instances.

Declaration

public static Quaterniond operator *(Quaterniond left, Quaterniond right)

Parameters

Type	Name	Description
Quaterniond	left	The first instance.
Quaterniond	right	The second instance.

Returns

Type	Description
Quaterniond	The result of the calculation.

Multiply(Quaterniond, Double)

Multiplies an instance by a scalar.

Declaration

public static Quaterniond operator *(Quaterniond quaternion, double scale)

Parameters

Type	Name	Description
Quaterniond	quaternion	The instance.
Double	scale	The scalar.

Returns

Type	Description
Quaterniond	A new instance containing the result of the calculation.

Multiply(Double, Quaterniond)

Multiplies an instance by a scalar.

Declaration

public static Quaterniond operator *(double scale, Quaterniond quaternion)

Parameters

Type	Name	Description
Double	scale	The scalar.
Quaterniond	quaternion	The instance.

Returns

Type	Description
Quaterniond	A new instance containing the result of the calculation.

Subtraction(Quaterniond, Quaterniond)

Subtracts two instances.

Declaration

public static Quaterniond operator -(Quaterniond left, Quaterniond right)

Parameters

Type	Name	Description
Quaterniond	left	The first instance.
Quaterniond	right	The second instance.

Returns

Type	Description
Quaterniond	The result of the calculation.

Implements

System.IEquatable<T>