C# Class BEPUutilities.Quaternion

Provides XNA-like quaternion support.

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Public Properties

Property	Type	Description
W	float
X	float
Y	float
Z	float

Public Methods

Method	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 method

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.
return	void

Concatenate() public static method

Multiplies two quaternions together in opposite order.

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

Concatenate() public static method

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.
return	void

Conjugate() public static method

Computes the conjugate of the quaternion.

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

Conjugate() public static method

Computes the conjugate of the quaternion.

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

CreateFromAxisAngle() public static method

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.
return	Quaternion

CreateFromAxisAngle() public static method

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.
return	void

CreateFromRotationMatrix() public static method

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.
return	Quaternion

CreateFromRotationMatrix() public static method

Creates a quaternion from a rotation matrix.

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

CreateFromRotationMatrix() public static method

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.
return	void

CreateFromRotationMatrix() public static method

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.
return	void

CreateFromYawPitchRoll() public static method

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.
return	Quaternion

CreateFromYawPitchRoll() public static method

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.
return	void

Equals() public method

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.
return	bool

Equals() public method

Indicates whether this instance and a specified object are equal.

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

GetAngleFromQuaternion() public static method

Computes the angle change represented by a normalized quaternion.

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

GetAxisAngleFromQuaternion() public static method

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.
return	void

GetHashCode() public method

Returns the hash code for this instance.

public GetHashCode ( ) : int
return	int

GetLocalRotation() public static method

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.
return	void

GetQuaternionBetweenNormalizedVectors() public static method

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.
return	void

GetRelativeRotation() public static method

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.
return	void

Inverse() public static method

Computes the inverse of the quaternion.

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

Inverse() public static method

Computes the inverse of the quaternion.

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

Length() public method

Computes the length of the quaternion.

public Length ( ) : float
return	float

LengthSquared() public method

Computes the squared length of the quaternion.

public LengthSquared ( ) : float
return	float

Multiply() public static method

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.
return	void

Multiply() public static method

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.
return	void

Normalize() public static method

Ensures the quaternion has unit length.

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

Normalize() public method

Scales the quaternion such that it has unit length.

public Normalize ( ) : void
return	void

Normalize() public static method

Ensures the quaternion has unit length.

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

Quaternion() public method

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.
return	System

Slerp() public static method

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.
return	Quaternion

Slerp() public static method

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.
return	void

Transform() public static method

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.
return	Vector3

Transform() public static method

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.
return	void

TransformX() public static method

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.
return	void

TransformY() public static method

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.
return	void

TransformZ() public static method

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.
return	void

operator() public static method

Multiplies two quaternions.

public static operator ( ) : Quaternion
return	Quaternion

operator() public static method

Tests components for equality.

public static operator ( ) : bool
return	bool

Property Details

W public_oe property

W component of the quaternion.

public float W
return	float

X public_oe property

X component of the quaternion.

public float X
return	float

Y public_oe property

Y component of the quaternion.

public float Y
return	float

Z public_oe property

Z component of the quaternion.

public float Z
return	float