Class QuaternionD

Defines a four-dimensional vector (x,y,z,w), which is used to efficiently rotate an object about the (x, y, z) vector by the angle theta, where w = cos(theta/2). Uses double precision floating point numbers for calculation and storage

Inheritance

System.Object

QuaternionD

Namespace: VRageMath

Assembly: VRage.Math.dll

Syntax

public sealed class QuaternionD : ValueType

Constructors

QuaternionD(Double, Double, Double, Double)

Initializes a new instance of QuaternionD.

Declaration

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

Parameters

Type	Name	Description
System.Double	x	The x-value of the quaternion.
System.Double	y	The y-value of the quaternion.
System.Double	z	The z-value of the quaternion.
System.Double	w	The w-value of the quaternion.

QuaternionD(Vector3D, Double)

Initializes a new instance of QuaternionD.

Declaration

public QuaternionD(Vector3D vectorPart, double scalarPart)

Parameters

Type	Name	Description
Vector3D	vectorPart	The vector component of the quaternion.
System.Double	scalarPart	The rotation component of the quaternion.

Fields

Identity

Declaration

public static QuaternionD Identity

Field Value

Type	Description
QuaternionD

W

Specifies the rotation component of the quaternion.

Declaration

public double W

Field Value

Type	Description
System.Double

X

Specifies the x-value of the vector component of the quaternion.

Declaration

public double X

Field Value

Type	Description
System.Double

Y

Specifies the y-value of the vector component of the quaternion.

Declaration

public double Y

Field Value

Type	Description
System.Double

Z

Specifies the z-value of the vector component of the quaternion.

Declaration

public double Z

Field Value

Type	Description
System.Double

Methods

Add(QuaternionD, QuaternionD)

Adds two Quaternions.

Declaration

public static QuaternionD Add(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	QuaternionD to add.
QuaternionD	quaternion2	QuaternionD to add.

Returns

Type	Description
QuaternionD

Add(ref QuaternionD, ref QuaternionD, out QuaternionD)

Adds two Quaternions.

Declaration

public static void Add(ref QuaternionD quaternion1, ref QuaternionD quaternion2, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	quaternion1	QuaternionD to add.
QuaternionD	quaternion2	QuaternionD to add.
QuaternionD	result	[OutAttribute] Result of adding the Quaternions.

Concatenate(QuaternionD, QuaternionD)

Concatenates two Quaternions; the result represents the value1 rotation followed by the value2 rotation.

Declaration

public static QuaternionD Concatenate(QuaternionD value1, QuaternionD value2)

Parameters

Type	Name	Description
QuaternionD	value1	The first QuaternionD rotation in the series.
QuaternionD	value2	The second QuaternionD rotation in the series.

Returns

Type	Description
QuaternionD

Concatenate(ref QuaternionD, ref QuaternionD, out QuaternionD)

Concatenates two Quaternions; the result represents the value1 rotation followed by the value2 rotation.

Declaration

public static void Concatenate(ref QuaternionD value1, ref QuaternionD value2, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	value1	The first QuaternionD rotation in the series.
QuaternionD	value2	The second QuaternionD rotation in the series.
QuaternionD	result	[OutAttribute] The QuaternionD rotation representing the concatenation of value1 followed by value2.

Conjugate()

Transforms this QuaternionD into its conjugate.

Declaration

public void Conjugate()

Conjugate(QuaternionD)

Returns the conjugate of a specified QuaternionD.

Declaration

public static QuaternionD Conjugate(QuaternionD value)

Parameters

Type	Name	Description
QuaternionD	value	The QuaternionD of which to return the conjugate.

Returns

Type	Description
QuaternionD

Conjugate(ref QuaternionD, out QuaternionD)

Returns the conjugate of a specified QuaternionD.

Declaration

public static void Conjugate(ref QuaternionD value, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	value	The QuaternionD of which to return the conjugate.
QuaternionD	result	[OutAttribute] An existing QuaternionD filled in to be the conjugate of the specified one.

CreateFromAxisAngle(Vector3D, Double)

Creates a QuaternionD from a vector and an angle to rotate about the vector.

Declaration

public static QuaternionD CreateFromAxisAngle(Vector3D axis, double angle)

Parameters

Type	Name	Description
Vector3D	axis	The vector to rotate around.
System.Double	angle	The angle to rotate around the vector.

Returns

Type	Description
QuaternionD

CreateFromAxisAngle(ref Vector3D, Double, out QuaternionD)

Creates a QuaternionD from a vector and an angle to rotate about the vector.

Declaration

public static void CreateFromAxisAngle(ref Vector3D axis, double angle, out QuaternionD result)

Parameters

Type	Name	Description
Vector3D	axis	The vector to rotate around.
System.Double	angle	The angle to rotate around the vector.
QuaternionD	result	[OutAttribute] The created QuaternionD.

CreateFromForwardUp(Vector3D, Vector3D)

Works for normalized vectors only

Declaration

public static QuaternionD CreateFromForwardUp(Vector3D forward, Vector3D up)

Parameters

Type	Name	Description
Vector3D	forward
Vector3D	up

Returns

Type	Description
QuaternionD

CreateFromRotationMatrix(MatrixD)

Creates a QuaternionD from a rotation MatrixD.

Declaration

public static QuaternionD CreateFromRotationMatrix(MatrixD matrix)

Parameters

Type	Name	Description
MatrixD	matrix	The rotation MatrixD to create the QuaternionD from.

Returns

Type	Description
QuaternionD

CreateFromRotationMatrix(ref MatrixD, out QuaternionD)

Creates a QuaternionD from a rotation MatrixD.

Declaration

public static void CreateFromRotationMatrix(ref MatrixD matrix, out QuaternionD result)

Parameters

Type	Name	Description
MatrixD	matrix	The rotation MatrixD to create the QuaternionD from.
QuaternionD	result	[OutAttribute] The created QuaternionD.

CreateFromTwoVectors(Vector3D, Vector3D)

Declaration

public static QuaternionD CreateFromTwoVectors(Vector3D firstVector, Vector3D secondVector)

Parameters

Type	Name	Description
Vector3D	firstVector
Vector3D	secondVector

Returns

Type	Description
QuaternionD

CreateFromTwoVectors(ref Vector3D, ref Vector3D, out QuaternionD)

Declaration

public static void CreateFromTwoVectors(ref Vector3D firstVector, ref Vector3D secondVector, out QuaternionD result)

Parameters

Type	Name	Description
Vector3D	firstVector
Vector3D	secondVector
QuaternionD	result

CreateFromYawPitchRoll(Double, Double, Double)

Creates a new QuaternionD from specified yaw, pitch, and roll angles.

Declaration

public static QuaternionD CreateFromYawPitchRoll(double yaw, double pitch, double roll)

Parameters

Type	Name	Description
System.Double	yaw	The yaw angle, in radians, around the y-axis.
System.Double	pitch	The pitch angle, in radians, around the x-axis.
System.Double	roll	The roll angle, in radians, around the z-axis.

Returns

Type	Description
QuaternionD

CreateFromYawPitchRoll(Double, Double, Double, out QuaternionD)

Creates a new QuaternionD from specified yaw, pitch, and roll angles.

Declaration

public static void CreateFromYawPitchRoll(double yaw, double pitch, double roll, out QuaternionD result)

Parameters

Type	Name	Description
System.Double	yaw	The yaw angle, in radians, around the y-axis.
System.Double	pitch	The pitch angle, in radians, around the x-axis.
System.Double	roll	The roll angle, in radians, around the z-axis.
QuaternionD	result	[OutAttribute] An existing QuaternionD filled in to express the specified yaw, pitch, and roll angles.

Divide(QuaternionD, QuaternionD)

Divides a QuaternionD by another QuaternionD.

Declaration

public static QuaternionD Divide(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source QuaternionD.
QuaternionD	quaternion2	The divisor.

Returns

Type	Description
QuaternionD

Divide(ref QuaternionD, ref QuaternionD, out QuaternionD)

Divides a QuaternionD by another QuaternionD.

Declaration

public static void Divide(ref QuaternionD quaternion1, ref QuaternionD quaternion2, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source QuaternionD.
QuaternionD	quaternion2	The divisor.
QuaternionD	result	[OutAttribute] Result of the division.

Dot(QuaternionD, QuaternionD)

Calculates the dot product of two Quaternions.

Declaration

public static double Dot(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source QuaternionD.
QuaternionD	quaternion2	Source QuaternionD.

Returns

Type	Description
System.Double

Dot(ref QuaternionD, ref QuaternionD, out Double)

Calculates the dot product of two Quaternions.

Declaration

public static void Dot(ref QuaternionD quaternion1, ref QuaternionD quaternion2, out double result)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source QuaternionD.
QuaternionD	quaternion2	Source QuaternionD.
System.Double	result	[OutAttribute] Dot product of the Quaternions.

Equals(Object)

Returns a value that indicates whether the current instance is equal to a specified object.

Declaration

public override bool Equals(object obj)

Parameters

Type	Name	Description
System.Object	obj	Object to make the comparison with.

Returns

Type	Description
System.Boolean

Equals(QuaternionD)

Determines whether the specified Object is equal to the QuaternionD.

Declaration

public bool Equals(QuaternionD other)

Parameters

Type	Name	Description
QuaternionD	other	The QuaternionD to compare with the current QuaternionD.

Returns

Type	Description
System.Boolean

FromVector4(Vector4D)

Declaration

public static QuaternionD FromVector4(Vector4D v)

Parameters

Type	Name	Description
Vector4D	v

Returns

Type	Description
QuaternionD

GetAxisAngle(out Vector3D, out Double)

Declaration

public void GetAxisAngle(out Vector3D axis, out double angle)

Parameters

Type	Name	Description
Vector3D	axis
System.Double	angle

GetHashCode()

Get the hash code of this object.

Declaration

public override int GetHashCode()

Returns

Type	Description
System.Int32

Inverse(QuaternionD)

Returns the inverse of a QuaternionD.

Declaration

public static QuaternionD Inverse(QuaternionD quaternion)

Parameters

Type	Name	Description
QuaternionD	quaternion	Source QuaternionD.

Returns

Type	Description
QuaternionD

Inverse(ref QuaternionD, out QuaternionD)

Returns the inverse of a QuaternionD.

Declaration

public static void Inverse(ref QuaternionD quaternion, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	quaternion	Source QuaternionD.
QuaternionD	result	[OutAttribute] The inverse of the QuaternionD.

IsZero(QuaternionD)

Declaration

public static bool IsZero(QuaternionD value)

Parameters

Type	Name	Description
QuaternionD	value

Returns

Type	Description
System.Boolean

IsZero(QuaternionD, Double)

Declaration

public static bool IsZero(QuaternionD value, double epsilon)

Parameters

Type	Name	Description
QuaternionD	value
System.Double	epsilon

Returns

Type	Description
System.Boolean

Length()

Calculates the length of a QuaternionD.

Declaration

public double Length()

Returns

Type	Description
System.Double

LengthSquared()

Calculates the length squared of a QuaternionD.

Declaration

public double LengthSquared()

Returns

Type	Description
System.Double

Lerp(QuaternionD, QuaternionD, Double)

Linearly interpolates between two quaternions.

Declaration

public static QuaternionD Lerp(QuaternionD quaternion1, QuaternionD quaternion2, double amount)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
QuaternionD	quaternion2	Source quaternion.
System.Double	amount	Value indicating how far to interpolate between the quaternions.

Returns

Type	Description
QuaternionD

Lerp(ref QuaternionD, ref QuaternionD, Double, out QuaternionD)

Linearly interpolates between two quaternions.

Declaration

public static void Lerp(ref QuaternionD quaternion1, ref QuaternionD quaternion2, double amount, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
QuaternionD	quaternion2	Source quaternion.
System.Double	amount	Value indicating how far to interpolate between the quaternions.
QuaternionD	result	[OutAttribute] The resulting quaternion.

Multiply(QuaternionD, Double)

Multiplies a quaternion by a scalar value.

Declaration

public static QuaternionD Multiply(QuaternionD quaternion1, double scaleFactor)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
System.Double	scaleFactor	Scalar value.

Returns

Type	Description
QuaternionD

Multiply(QuaternionD, QuaternionD)

Multiplies two quaternions.

Declaration

public static QuaternionD Multiply(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	The quaternion on the left of the multiplication.
QuaternionD	quaternion2	The quaternion on the right of the multiplication.

Returns

Type	Description
QuaternionD

Multiply(ref QuaternionD, Double, out QuaternionD)

Multiplies a quaternion by a scalar value.

Declaration

public static void Multiply(ref QuaternionD quaternion1, double scaleFactor, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
System.Double	scaleFactor	Scalar value.
QuaternionD	result	[OutAttribute] The result of the multiplication.

Multiply(ref QuaternionD, ref QuaternionD, out QuaternionD)

Multiplies two quaternions.

Declaration

public static void Multiply(ref QuaternionD quaternion1, ref QuaternionD quaternion2, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	quaternion1	The quaternion on the left of the multiplication.
QuaternionD	quaternion2	The quaternion on the right of the multiplication.
QuaternionD	result	[OutAttribute] The result of the multiplication.

Negate(QuaternionD)

Flips the sign of each component of the quaternion.

Declaration

public static QuaternionD Negate(QuaternionD quaternion)

Parameters

Type	Name	Description
QuaternionD	quaternion	Source quaternion.

Returns

Type	Description
QuaternionD

Negate(ref QuaternionD, out QuaternionD)

Flips the sign of each component of the quaternion.

Declaration

public static void Negate(ref QuaternionD quaternion, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	quaternion	Source quaternion.
QuaternionD	result	[OutAttribute] Negated quaternion.

Normalize()

Divides each component of the quaternion by the length of the quaternion.

Declaration

public void Normalize()

Normalize(QuaternionD)

Divides each component of the quaternion by the length of the quaternion.

Declaration

public static QuaternionD Normalize(QuaternionD quaternion)

Parameters

Type	Name	Description
QuaternionD	quaternion	Source quaternion.

Returns

Type	Description
QuaternionD

Normalize(ref QuaternionD, out QuaternionD)

Divides each component of the quaternion by the length of the quaternion.

Declaration

public static void Normalize(ref QuaternionD quaternion, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	quaternion	Source quaternion.
QuaternionD	result	[OutAttribute] Normalized quaternion.

Slerp(QuaternionD, QuaternionD, Double)

Interpolates between two quaternions, using spherical linear interpolation.

Declaration

public static QuaternionD Slerp(QuaternionD quaternion1, QuaternionD quaternion2, double amount)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
QuaternionD	quaternion2	Source quaternion.
System.Double	amount	Value that indicates how far to interpolate between the quaternions.

Returns

Type	Description
QuaternionD

Slerp(ref QuaternionD, ref QuaternionD, Double, out QuaternionD)

Interpolates between two quaternions, using spherical linear interpolation.

Declaration

public static void Slerp(ref QuaternionD quaternion1, ref QuaternionD quaternion2, double amount, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
QuaternionD	quaternion2	Source quaternion.
System.Double	amount	Value that indicates how far to interpolate between the quaternions.
QuaternionD	result	[OutAttribute] Result of the interpolation.

Subtract(QuaternionD, QuaternionD)

Subtracts a quaternion from another quaternion.

Declaration

public static QuaternionD Subtract(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
QuaternionD	quaternion2	Source quaternion.

Returns

Type	Description
QuaternionD

Subtract(ref QuaternionD, ref QuaternionD, out QuaternionD)

Subtracts a quaternion from another quaternion.

Declaration

public static void Subtract(ref QuaternionD quaternion1, ref QuaternionD quaternion2, out QuaternionD result)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
QuaternionD	quaternion2	Source quaternion.
QuaternionD	result	[OutAttribute] Result of the subtraction.

ToString()

Retireves a string representation of the current object.

Declaration

public override string ToString()

Returns

Type	Description
System.String

ToVector4()

Declaration

public Vector4D ToVector4()

Returns

Type	Description
Vector4D

Operators

Addition(QuaternionD, QuaternionD)

Adds two Quaternions.

Declaration

public static QuaternionD operator +(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	QuaternionD to add.
QuaternionD	quaternion2	QuaternionD to add.

Returns

Type	Description
QuaternionD

Division(QuaternionD, QuaternionD)

Divides a QuaternionD by another QuaternionD.

Declaration

public static QuaternionD operator /(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source QuaternionD.
QuaternionD	quaternion2	The divisor.

Returns

Type	Description
QuaternionD

Equality(QuaternionD, QuaternionD)

Compares two Quaternions for equality.

Declaration

public static bool operator ==(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source QuaternionD.
QuaternionD	quaternion2	Source QuaternionD.

Returns

Type	Description
System.Boolean

Inequality(QuaternionD, QuaternionD)

Compare two Quaternions for inequality.

Declaration

public static bool operator !=(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source QuaternionD.
QuaternionD	quaternion2	Source QuaternionD.

Returns

Type	Description
System.Boolean

Multiply(QuaternionD, Double)

Multiplies a quaternion by a scalar value.

Declaration

public static QuaternionD operator *(QuaternionD quaternion1, double scaleFactor)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
System.Double	scaleFactor	Scalar value.

Returns

Type	Description
QuaternionD

Multiply(QuaternionD, QuaternionD)

Multiplies two quaternions.

Declaration

public static QuaternionD operator *(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
QuaternionD	quaternion2	Source quaternion.

Returns

Type	Description
QuaternionD

Multiply(QuaternionD, Vector3D)

Multiplies a vector by a quaternion. Resulting a vector rotated by quaternion.

Declaration

public static Vector3D operator *(QuaternionD quaternion, Vector3D vector)

Parameters

Type	Name	Description
QuaternionD	quaternion	Source quaternion.
Vector3D	vector	Vector to be rotated.

Returns

Type	Description
Vector3D

Subtraction(QuaternionD, QuaternionD)

Subtracts a quaternion from another quaternion.

Declaration

public static QuaternionD operator -(QuaternionD quaternion1, QuaternionD quaternion2)

Parameters

Type	Name	Description
QuaternionD	quaternion1	Source quaternion.
QuaternionD	quaternion2	Source quaternion.

Returns

Type	Description
QuaternionD

UnaryNegation(QuaternionD)

Flips the sign of each component of the quaternion.

Declaration

public static QuaternionD operator -(QuaternionD quaternion)

Parameters

Type	Name	Description
QuaternionD	quaternion	Source quaternion.

Returns

Type	Description
QuaternionD