Struct Quaternion
Quaternion representation
struct Quaternion(T)
;
Methods
| Name | Description |
|---|---|
computeW
()
|
Compute the W component of a unit length quaternion |
conjugate
()
|
Conjugate A quaternion with the opposite rotation |
fromEulerAngles
(e)
|
Setup the quaternion to perform a rotation, given the orientation in Euler angles pitch, yaw, roll (in radians) |
fromMatrix
(m)
|
Setup the quaternion to perform a rotation, given the angular displacement in matrix form |
identity
()
|
Identity quaternion |
normalized
()
|
Normalized version |
opBinary
(q)
|
Quaternion!(T) + Quaternion!(T) |
opBinary
(q)
|
Quaternion!(T) - Quaternion!(T) |
opBinary
(q)
|
Quaternion!(T) * Quaternion!(T) |
opBinary
(k)
|
Quaternion!(T) * T |
opBinary
(k)
|
Quaternion!(T) / T |
opBinary
(v)
|
Quaternion!(T) * Vector!(T,3) |
opBinaryRight
(k)
|
T * Quaternion!(T) |
opOpAssign
(q)
|
Quaternion!(T) += Quaternion!(T) |
opOpAssign
(q)
|
Quaternion!(T) -= Quaternion!(T) |
opOpAssign
(q)
|
Quaternion!(T) *= Quaternion!(T) |
opOpAssign
(k)
|
Quaternion!(T) *= T |
opOpAssign
(k)
|
Quaternion!(T) /= T |
opOpAssign
(v)
|
Quaternion!(T) *= Vector!(T,3) |
rotate
(v)
|
Rotate a point by quaternion |
rotationAngle
()
|
Return the rotation angle (in radians) |
rotationAxis
()
|
Return the rotation axis |
toEulerAngles
()
|
Setup the Euler angles (pitch, yaw, roll), given a rotation Quaternion. Returned x, y, z are in radians |
toMatrix3x3
()
|
Convert to 3x3 matrix |
toMatrix4x4
()
|
Convert to 4x4 matrix |