Quaternion Structure

Delta Engine Documentation

Useful for processing 3D rotations. Riemer's XNA tutorials have a nice introductory example of use: http://www.riemers.net/eng/Tutorials/XNA/Csharp/Series2/Quaternions.php http://www.riemers.net/eng/Tutorials/XNA/Csharp/Series2/Flight_kinematics.php View code on GitHub

Namespace: DeltaEngine.Datatypes
Assembly: DeltaEngine (in DeltaEngine.dll) Version: 1.1.1.0 (1.1.1)

Syntax

C++

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public struct Quaternion : IEquatable<Quaternion>, 
	Lerp<Quaternion>, Lerp

public struct Quaternion : IEquatable<Quaternion>, 
	Lerp<Quaternion>, Lerp

Public Structure Quaternion 
	Implements IEquatable(Of Quaternion), Lerp(Of Quaternion), 
	Lerp

Public Structure Quaternion 
	Implements IEquatable(Of Quaternion), Lerp(Of Quaternion), 
	Lerp

public value class Quaternion : IEquatable<Quaternion>, 
	Lerp<Quaternion>, Lerp

public value class Quaternion : IEquatable<Quaternion>, 
	Lerp<Quaternion>, Lerp

[<SealedAttribute>]
type Quaternion =  
    struct 
        interface IEquatable<Quaternion>
        interface Lerp<Quaternion>
        interface Lerp 
    end

[<SealedAttribute>]
type Quaternion =  
    struct 
        interface IEquatable<Quaternion>
        interface Lerp<Quaternion>
        interface Lerp 
    end

The Quaternion type exposes the following members.

Constructors

	Name	Description
	Quaternion(String)	Initializes a new instance of the Quaternion class
	Quaternion(Single, Single, Single, Single)	Initializes a new instance of the Quaternion class

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Methods

	Name	Description
	CalculateAxisAngle
	CalculateRotationAxis
	Conjugate	View code on GitHub
	CreateLookAt
	Dot
	Equals
	FromAxisAngle
	FromRotationMatrix	View code on GitHub
	Lerp
	Normalize	View code on GitHub
	Slerp
	ToEuler	View code on GitHub
	ToString	View code on GitHub (Overrides ValueType ToString .)

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Operators

	Name	Description
	Addition
	Multiply(Quaternion, Quaternion)
	Multiply(Quaternion, Vector3D)
	Multiply(Quaternion, Single)

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Fields

	Name	Description
	Identity

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Properties

	Name	Description
	Length	View code on GitHub
	Vector3D	View code on GitHub
	W
	X	View code on GitHub
	Y
	Z

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Remarks

Tests: DeltaEngine.Tests.Datatypes.QuaternionTests

Examples

19 unit tests call DeltaEngine.Datatypes.Quaternion

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[Test]
public void SetQuaternion()
{
    var quaternion = new Quaternion(5.2f, 2.6f, 4.4f, 1.1f);
    Assert.AreEqual(5.2f, quaternion.X);
    Assert.AreEqual(2.6f, quaternion.Y);
    Assert.AreEqual(4.4f, quaternion.Z);
    Assert.AreEqual(1.1f, quaternion.W);
}

[Test]
public void SetQuaternion()
{
    var quaternion = new Quaternion(5.2f, 2.6f, 4.4f, 1.1f);
    Assert.AreEqual(5.2f, quaternion.X);
    Assert.AreEqual(2.6f, quaternion.Y);
    Assert.AreEqual(4.4f, quaternion.Z);
    Assert.AreEqual(1.1f, quaternion.W);
}

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[Test]
public void CreateQuaternionFromAxisAngle()
{
    var axis = Vector3D.UnitY;
    const float Angle = 90.0f;
    var quaternion = Quaternion.FromAxisAngle(axis, Angle);
    var sinHalfAngle = MathExtensions.Sin(Angle * 0.5f);
    Assert.AreEqual(quaternion.X, axis.X * sinHalfAngle);
    Assert.AreEqual(quaternion.Y, axis.Y * sinHalfAngle);
    Assert.AreEqual(quaternion.Z, axis.Z * sinHalfAngle);
    Assert.AreEqual(quaternion.W, MathExtensions.Cos(Angle * 0.5f));
}

[Test]
public void CreateQuaternionFromAxisAngle()
{
    var axis = Vector3D.UnitY;
    const float Angle = 90.0f;
    var quaternion = Quaternion.FromAxisAngle(axis, Angle);
    var sinHalfAngle = MathExtensions.Sin(Angle * 0.5f);
    Assert.AreEqual(quaternion.X, axis.X * sinHalfAngle);
    Assert.AreEqual(quaternion.Y, axis.Y * sinHalfAngle);
    Assert.AreEqual(quaternion.Z, axis.Z * sinHalfAngle);
    Assert.AreEqual(quaternion.W, MathExtensions.Cos(Angle * 0.5f));
}

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[Test]
public void Length()
{
    Assert.AreEqual(5.477f, new Quaternion(1, -2, 3, -4).Length, 0.001f);
}

[Test]
public void Length()
{
    Assert.AreEqual(5.477f, new Quaternion(1, -2, 3, -4).Length, 0.001f);
}