C# Class BEPUutilities.Quaternion

Provides XNA-like quaternion support.

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Méthodes publiques

Свойство	Type	Description
W	float
X	float
Y	float
Z	float

Méthodes publiques

Méthode	Description
Add ( &a, &b, &result ) : void	Adds two quaternions together.
Concatenate ( a, b ) : Quaternion	Multiplies two quaternions together in opposite order.
Concatenate ( &a, &b, &result ) : void	Multiplies two quaternions together in opposite order.
Conjugate ( quaternion ) : Quaternion	Computes the conjugate of the quaternion.
Conjugate ( &quaternion, &result ) : void	Computes the conjugate of the quaternion.
CreateFromAxisAngle ( BEPUutilities.Vector3 axis, float angle ) : Quaternion	Creates a quaternion from an axis and angle.
CreateFromAxisAngle ( BEPUutilities.Vector3 &axis, float angle, &q ) : void	Creates a quaternion from an axis and angle.
CreateFromRotationMatrix ( BEPUutilities.Matrix r ) : Quaternion	Creates a quaternion from a rotation matrix.
CreateFromRotationMatrix ( Matrix3x3 r ) : Quaternion	Creates a quaternion from a rotation matrix.
CreateFromRotationMatrix ( BEPUutilities.Matrix &r, &q ) : void	Constructs a quaternion from a rotation matrix.
CreateFromRotationMatrix ( Matrix3x3 &r, &q ) : void	Constructs a quaternion from a rotation matrix.
CreateFromYawPitchRoll ( float yaw, float pitch, float roll ) : Quaternion	Constructs a quaternion from yaw, pitch, and roll.
CreateFromYawPitchRoll ( float yaw, float pitch, float roll, &q ) : void	Constructs a quaternion from yaw, pitch, and roll.
Equals ( other ) : bool	Indicates whether the current object is equal to another object of the same type.
Equals ( object obj ) : bool	Indicates whether this instance and a specified object are equal.
GetAngleFromQuaternion ( &q ) : float	Computes the angle change represented by a normalized quaternion.
GetAxisAngleFromQuaternion ( &q, BEPUutilities.Vector3 &axis, float &angle ) : void	Computes the axis angle representation of a normalized quaternion.
GetHashCode ( ) : int	Returns the hash code for this instance.
GetLocalRotation ( &rotation, &targetBasis, &localRotation ) : void	Transforms the rotation into the local space of the target basis such that rotation = Quaternion.Concatenate(localRotation, targetBasis)
GetQuaternionBetweenNormalizedVectors ( BEPUutilities.Vector3 &v1, BEPUutilities.Vector3 &v2, &q ) : void	Computes the quaternion rotation between two normalized vectors.
GetRelativeRotation ( &start, &end, &relative ) : void	Computes the rotation from the start orientation to the end orientation such that end = Quaternion.Concatenate(start, relative).
Inverse ( quaternion ) : Quaternion	Computes the inverse of the quaternion.
Inverse ( &quaternion, &result ) : void	Computes the inverse of the quaternion.
Length ( ) : float	Computes the length of the quaternion.
LengthSquared ( ) : float	Computes the squared length of the quaternion.
Multiply ( &a, &b, &result ) : void	Multiplies two quaternions.
Multiply ( &q, float scale, &result ) : void	Scales a quaternion.
Normalize ( quaternion ) : Quaternion	Ensures the quaternion has unit length.
Normalize ( ) : void	Scales the quaternion such that it has unit length.
Normalize ( &quaternion, &toReturn ) : void	Ensures the quaternion has unit length.
Quaternion ( float x, float y, float z, float w ) : System	Constructs a new Quaternion.
Slerp ( start, end, float interpolationAmount ) : Quaternion	Blends two quaternions together to get an intermediate state.
Slerp ( &start, &end, float interpolationAmount, &result ) : void	Blends two quaternions together to get an intermediate state.
Transform ( Vector3 v, rotation ) : Vector3	Transforms the vector using a quaternion.
Transform ( Vector3 &v, &rotation, Vector3 &result ) : void	Transforms the vector using a quaternion.
TransformX ( float x, &rotation, Vector3 &result ) : void	Transforms a vector using a quaternion. Specialized for x,0,0 vectors.
TransformY ( float y, &rotation, Vector3 &result ) : void	Transforms a vector using a quaternion. Specialized for 0,y,0 vectors.
TransformZ ( float z, &rotation, Vector3 &result ) : void	Transforms a vector using a quaternion. Specialized for 0,0,z vectors.
operator ( ) : Quaternion	Multiplies two quaternions.
operator ( ) : bool	Tests components for equality.

Method Details

Add() public static méthode

Adds two quaternions together.

public static Add ( &a, &b, &result ) : void
a		First quaternion to add.
b		Second quaternion to add.
result		Sum of the addition.
Résultat	void

Concatenate() public static méthode

Multiplies two quaternions together in opposite order.

public static Concatenate ( a, b ) : Quaternion
a		First quaternion to multiply.
b		Second quaternion to multiply.
Résultat	Quaternion

Concatenate() public static méthode

Multiplies two quaternions together in opposite order.

public static Concatenate ( &a, &b, &result ) : void
a		First quaternion to multiply.
b		Second quaternion to multiply.
result		Product of the multiplication.
Résultat	void

Conjugate() public static méthode

Computes the conjugate of the quaternion.

public static Conjugate ( quaternion ) : Quaternion
quaternion		Quaternion to conjugate.
Résultat	Quaternion

Conjugate() public static méthode

Computes the conjugate of the quaternion.

public static Conjugate ( &quaternion, &result ) : void
quaternion		Quaternion to conjugate.
result		Conjugated quaternion.
Résultat	void

CreateFromAxisAngle() public static méthode

Creates a quaternion from an axis and angle.

public static CreateFromAxisAngle ( BEPUutilities.Vector3 axis, float angle ) : Quaternion
axis	BEPUutilities.Vector3	Axis of rotation.
angle	float	Angle to rotate around the axis.
Résultat	Quaternion

CreateFromAxisAngle() public static méthode

Creates a quaternion from an axis and angle.

public static CreateFromAxisAngle ( BEPUutilities.Vector3 &axis, float angle, &q ) : void
axis	BEPUutilities.Vector3	Axis of rotation.
angle	float	Angle to rotate around the axis.
q		Quaternion representing the axis and angle rotation.
Résultat	void

CreateFromRotationMatrix() public static méthode

Creates a quaternion from a rotation matrix.

public static CreateFromRotationMatrix ( BEPUutilities.Matrix r ) : Quaternion
r	BEPUutilities.Matrix	Rotation matrix used to create a new quaternion.
Résultat	Quaternion

CreateFromRotationMatrix() public static méthode

Creates a quaternion from a rotation matrix.

public static CreateFromRotationMatrix ( Matrix3x3 r ) : Quaternion
r	Matrix3x3	Rotation matrix used to create a new quaternion.
Résultat	Quaternion

CreateFromRotationMatrix() public static méthode

Constructs a quaternion from a rotation matrix.

public static CreateFromRotationMatrix ( BEPUutilities.Matrix &r, &q ) : void
r	BEPUutilities.Matrix	Rotation matrix to create the quaternion from.
q		Quaternion based on the rotation matrix.
Résultat	void

CreateFromRotationMatrix() public static méthode

Constructs a quaternion from a rotation matrix.

public static CreateFromRotationMatrix ( Matrix3x3 &r, &q ) : void
r	Matrix3x3	Rotation matrix to create the quaternion from.
q		Quaternion based on the rotation matrix.
Résultat	void

CreateFromYawPitchRoll() public static méthode

Constructs a quaternion from yaw, pitch, and roll.

public static CreateFromYawPitchRoll ( float yaw, float pitch, float roll ) : Quaternion
yaw	float	Yaw of the rotation.
pitch	float	Pitch of the rotation.
roll	float	Roll of the rotation.
Résultat	Quaternion

CreateFromYawPitchRoll() public static méthode

Constructs a quaternion from yaw, pitch, and roll.

public static CreateFromYawPitchRoll ( float yaw, float pitch, float roll, &q ) : void
yaw	float	Yaw of the rotation.
pitch	float	Pitch of the rotation.
roll	float	Roll of the rotation.
q		Quaternion representing the yaw, pitch, and roll.
Résultat	void

Equals() public méthode

Indicates whether the current object is equal to another object of the same type.

public Equals ( other ) : bool
other		An object to compare with this object.
Résultat	bool

Equals() public méthode

Indicates whether this instance and a specified object are equal.

public Equals ( object obj ) : bool
obj	object	Another object to compare to.
Résultat	bool

GetAngleFromQuaternion() public static méthode

Computes the angle change represented by a normalized quaternion.

public static GetAngleFromQuaternion ( &q ) : float
q		Quaternion to be converted.
Résultat	float

GetAxisAngleFromQuaternion() public static méthode

Computes the axis angle representation of a normalized quaternion.

public static GetAxisAngleFromQuaternion ( &q, BEPUutilities.Vector3 &axis, float &angle ) : void
q		Quaternion to be converted.
axis	BEPUutilities.Vector3	Axis represented by the quaternion.
angle	float	Angle around the axis represented by the quaternion.
Résultat	void

GetHashCode() public méthode

Returns the hash code for this instance.

public GetHashCode ( ) : int
Résultat	int

GetLocalRotation() public static méthode

Transforms the rotation into the local space of the target basis such that rotation = Quaternion.Concatenate(localRotation, targetBasis)

public static GetLocalRotation ( &rotation, &targetBasis, &localRotation ) : void
rotation		Rotation in the original frame of reference.
targetBasis		Basis in the original frame of reference to transform the rotation into.
localRotation		Rotation in the local space of the target basis.
Résultat	void

GetQuaternionBetweenNormalizedVectors() public static méthode

Computes the quaternion rotation between two normalized vectors.

public static GetQuaternionBetweenNormalizedVectors ( BEPUutilities.Vector3 &v1, BEPUutilities.Vector3 &v2, &q ) : void
v1	BEPUutilities.Vector3	First unit-length vector.
v2	BEPUutilities.Vector3	Second unit-length vector.
q		Quaternion representing the rotation from v1 to v2.
Résultat	void

GetRelativeRotation() public static méthode

Computes the rotation from the start orientation to the end orientation such that end = Quaternion.Concatenate(start, relative).

public static GetRelativeRotation ( &start, &end, &relative ) : void
start		Starting orientation.
end		Ending orientation.
relative		Relative rotation from the start to the end orientation.
Résultat	void

Inverse() public static méthode

Computes the inverse of the quaternion.

public static Inverse ( quaternion ) : Quaternion
quaternion		Quaternion to invert.
Résultat	Quaternion

Inverse() public static méthode

Computes the inverse of the quaternion.

public static Inverse ( &quaternion, &result ) : void
quaternion		Quaternion to invert.
result		Result of the inversion.
Résultat	void

Length() public méthode

Computes the length of the quaternion.

public Length ( ) : float
Résultat	float

LengthSquared() public méthode

Computes the squared length of the quaternion.

public LengthSquared ( ) : float
Résultat	float

Multiply() public static méthode

Multiplies two quaternions.

public static Multiply ( &a, &b, &result ) : void
a		First quaternion to multiply.
b		Second quaternion to multiply.
result		Product of the multiplication.
Résultat	void

Multiply() public static méthode

Scales a quaternion.

public static Multiply ( &q, float scale, &result ) : void
q		Quaternion to multiply.
scale	float	Amount to multiply each component of the quaternion by.
result		Scaled quaternion.
Résultat	void

Normalize() public static méthode

Ensures the quaternion has unit length.

public static Normalize ( quaternion ) : Quaternion
quaternion		Quaternion to normalize.
Résultat	Quaternion

Normalize() public méthode

Scales the quaternion such that it has unit length.

public Normalize ( ) : void
Résultat	void

Normalize() public static méthode

Ensures the quaternion has unit length.

public static Normalize ( &quaternion, &toReturn ) : void
quaternion		Quaternion to normalize.
toReturn		Normalized quaternion.
Résultat	void

Quaternion() public méthode

Constructs a new Quaternion.

public Quaternion ( float x, float y, float z, float w ) : System
x	float	X component of the quaternion.
y	float	Y component of the quaternion.
z	float	Z component of the quaternion.
w	float	W component of the quaternion.
Résultat	System

Slerp() public static méthode

Blends two quaternions together to get an intermediate state.

public static Slerp ( start, end, float interpolationAmount ) : Quaternion
start		Starting point of the interpolation.
end		Ending point of the interpolation.
interpolationAmount	float	Amount of the end point to use.
Résultat	Quaternion

Slerp() public static méthode

Blends two quaternions together to get an intermediate state.

public static Slerp ( &start, &end, float interpolationAmount, &result ) : void
start		Starting point of the interpolation.
end		Ending point of the interpolation.
interpolationAmount	float	Amount of the end point to use.
result		Interpolated intermediate quaternion.
Résultat	void

Transform() public static méthode

Transforms the vector using a quaternion.

public static Transform ( Vector3 v, rotation ) : Vector3
v	Vector3	Vector to transform.
rotation		Rotation to apply to the vector.
Résultat	Vector3

Transform() public static méthode

Transforms the vector using a quaternion.

public static Transform ( Vector3 &v, &rotation, Vector3 &result ) : void
v	Vector3	Vector to transform.
rotation		Rotation to apply to the vector.
result	Vector3	Transformed vector.
Résultat	void

TransformX() public static méthode

Transforms a vector using a quaternion. Specialized for x,0,0 vectors.

public static TransformX ( float x, &rotation, Vector3 &result ) : void
x	float	X component of the vector to transform.
rotation		Rotation to apply to the vector.
result	Vector3	Transformed vector.
Résultat	void

TransformY() public static méthode

Transforms a vector using a quaternion. Specialized for 0,y,0 vectors.

public static TransformY ( float y, &rotation, Vector3 &result ) : void
y	float	Y component of the vector to transform.
rotation		Rotation to apply to the vector.
result	Vector3	Transformed vector.
Résultat	void

TransformZ() public static méthode

Transforms a vector using a quaternion. Specialized for 0,0,z vectors.

public static TransformZ ( float z, &rotation, Vector3 &result ) : void
z	float	Z component of the vector to transform.
rotation		Rotation to apply to the vector.
result	Vector3	Transformed vector.
Résultat	void

operator() public static méthode

Multiplies two quaternions.

public static operator ( ) : Quaternion
Résultat	Quaternion

operator() public static méthode

Tests components for equality.

public static operator ( ) : bool
Résultat	bool

Property Details

W public_oe property

W component of the quaternion.

public float W
Résultat	float

X public_oe property

X component of the quaternion.

public float X
Résultat	float

Y public_oe property

Y component of the quaternion.

public float Y
Résultat	float

Z public_oe property

Z component of the quaternion.

public float Z
Résultat	float