Struct Quaternion

Represents a quaternion.

Namespace: Evergine.Mathematics

Assembly: Evergine.Mathematics.dll

Syntax

public struct Quaternion

Constructors

Quaternion(Vector3, float)

Initializes a new instance of the Quaternion struct.

Declaration

public Quaternion(Vector3 vectorPart, float scalarPart)

Parameters

Type	Name	Description
Vector3	vectorPart	The vector part.
float	scalarPart	The scalar part.

Quaternion(float, float, float, float)

Initializes a new instance of the Quaternion struct.

Declaration

public Quaternion(float x, float y, float z, float w)

Parameters

Type	Name	Description
float	x	The x component.
float	y	The y component.
float	z	The z component.
float	w	The w component.

Fields

W

W component.

Declaration

public float W

Field Value

Type	Description
float

X

X component.

Declaration

public float X

Field Value

Type	Description
float

Y

Y component.

Declaration

public float Y

Field Value

Type	Description
float

Z

Z component.

Declaration

public float Z

Field Value

Type	Description
float

Properties

Identity

Gets the identity.

Declaration

public static Quaternion Identity { get; }

Property Value

Type	Description
Quaternion

IsIdentity

Gets a value indicating whether the Quaternion is the identity Quaternion.

Declaration

public bool IsIdentity { get; }

Property Value

Type	Description
bool

Methods

Add(Quaternion, Quaternion)

Adds the specified quaternion1.

Declaration

public static Quaternion Add(Quaternion quaternion1, Quaternion quaternion2)

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.

Returns

Type	Description
Quaternion	The result.

Add(ref Quaternion, ref Quaternion, out Quaternion)

Adds the specified quaternion.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.
Quaternion	result	The resulting quaternion.

Concatenate(Quaternion, Quaternion)

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

Declaration

public static Quaternion Concatenate(Quaternion value1, Quaternion value2)

Parameters

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

Returns

Type	Description
Quaternion	A new Quaternion representing the concatenation of the value1 rotation followed by the value2 rotation.

Concatenate(ref Quaternion, ref Quaternion, out Quaternion)

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

Declaration

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

Parameters

Type	Name	Description
Quaternion	value1	The first Quaternion rotation in the series.
Quaternion	value2	The second Quaternion rotation in the series.
Quaternion	result	The Quaternion representing the concatenation of the value1 rotation followed by the value2 rotation.

Conjugate()

Conjugates this instance.

Declaration

public void Conjugate()

Conjugate(Quaternion)

Conjugates the specified value.

Declaration

public static Quaternion Conjugate(Quaternion value)

Parameters

Type	Name	Description
Quaternion	value	The value.

Returns

Type	Description
Quaternion	The result.

Conjugate(ref Quaternion, out Quaternion)

Conjugates the specified value.

Declaration

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

Parameters

Type	Name	Description
Quaternion	value	The value.
Quaternion	result	The result.

CreateFromAxisAngle(Vector3, float)

Creates from axis and angle.

Declaration

public static Quaternion CreateFromAxisAngle(Vector3 axis, float angle)

Parameters

Type	Name	Description
Vector3	axis	The axis.
float	angle	The angle.

Returns

Type	Description
Quaternion	The result.

CreateFromAxisAngle(ref Vector3, float, out Quaternion)

Creates from axis-angle.

Declaration

public static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Quaternion result)

Parameters

Type	Name	Description
Vector3	axis	The axis.
float	angle	The angle.
Quaternion	result	The result.

CreateFromEuler(Vector3)

Creates a quaternion from Euler angles.

Declaration

public static Quaternion CreateFromEuler(Vector3 euler)

Parameters

Type	Name	Description
Vector3	euler	The Euler angles.

Returns

Type	Description
Quaternion	The quaternion created.

CreateFromEuler(ref Vector3, out Quaternion)

Creates a quaternion from Euler angles.

Declaration

public static void CreateFromEuler(ref Vector3 euler, out Quaternion result)

Parameters

Type	Name	Description
Vector3	euler	The Euler angles.
Quaternion	result	The quaternion created.

CreateFromLookAt(ref Vector3, ref Vector3, out Quaternion)

Creates from the lookAt and up vector.

Declaration

public static void CreateFromLookAt(ref Vector3 lookAt, ref Vector3 up, out Quaternion result)

Parameters

Type	Name	Description
Vector3	lookAt	The look-at vector.
Vector3	up	The up vector.
Quaternion	result	The result.

CreateFromRotationMatrix(Matrix4x4)

Creates from a rotation matrix.

Declaration

public static Quaternion CreateFromRotationMatrix(Matrix4x4 matrix)

Parameters

Type	Name	Description
Matrix4x4	matrix	The matrix.

Returns

Type	Description
Quaternion	The result.

CreateFromRotationMatrix(ref Matrix4x4, out Quaternion)

Creates from a rotation matrix.

Declaration

public static void CreateFromRotationMatrix(ref Matrix4x4 matrix, out Quaternion quaternion)

Parameters

Type	Name	Description
Matrix4x4	matrix	The matrix.
Quaternion	quaternion	The quaternion result.

CreateFromTwoVectors(Vector3, Vector3)

Creates from the angle between two vectors.

Declaration

public static Quaternion CreateFromTwoVectors(Vector3 u, Vector3 v)

Parameters

Type	Name	Description
Vector3	u	The first vector.
Vector3	v	The second vector.

Returns

Type	Description
Quaternion	The result.

CreateFromTwoVectors(ref Vector3, out Quaternion)

Creates from the angle between two vectors.

Declaration

public static void CreateFromTwoVectors(ref Vector3 lookAt, out Quaternion result)

Parameters

Type	Name	Description
Vector3	lookAt	The look-at vector.
Quaternion	result	The result.

CreateFromYawPitchRoll(float, float, float)

Creates from yaw, pitch, and roll.

Declaration

public static Quaternion CreateFromYawPitchRoll(float yaw, float pitch, float roll)

Parameters

Type	Name	Description
float	yaw	The yaw.
float	pitch	The pitch.
float	roll	The roll.

Returns

Type	Description
Quaternion	The result.

CreateFromYawPitchRoll(float, float, float, out Quaternion)

Creates from yaw, pitch, and roll.

Declaration

public static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out Quaternion result)

Parameters

Type	Name	Description
float	yaw	The yaw.
float	pitch	The pitch.
float	roll	The roll.
Quaternion	result	The result.

Divide(Quaternion, Quaternion)

Divides a Quaternion by another Quaternion.

Declaration

public static Quaternion Divide(Quaternion quaternion1, Quaternion quaternion2)

Parameters

Type	Name	Description
Quaternion	quaternion1	The source Quaternion.
Quaternion	quaternion2	The divisor.

Returns

Type	Description
Quaternion	The result of the division.

Divide(ref Quaternion, ref Quaternion, out Quaternion)

Divides a Quaternion by another Quaternion.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion1	The source Quaternion.
Quaternion	quaternion2	The divisor.
Quaternion	result	The result of the division.

Dot(Quaternion, Quaternion)

Dots the specified quaternion1.

Declaration

public static float Dot(Quaternion quaternion1, Quaternion quaternion2)

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.

Returns

Type	Description
float	The result.

Dot(ref Quaternion, ref Quaternion)

Computes the dot product of the specified quaternion1.

Declaration

public static float Dot(ref Quaternion quaternion1, ref Quaternion quaternion2)

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.

Returns

Type	Description
float	The result.

Equals(Quaternion)

Compares this instance with the specified other.

Declaration

public bool Equals(Quaternion other)

Parameters

Type	Name	Description
Quaternion	other	The other instance to compare.

Returns

Type	Description
bool	The result of the comparison.

Equals(ref Quaternion)

Compares the specified other object for equality.

Declaration

public bool Equals(ref Quaternion other)

Parameters

Type	Name	Description
Quaternion	other	The other object to compare.

Returns

Type	Description
bool	The result of the comparison.

Equals(object)

Determines whether the specified object is equal to this instance.

Declaration

public override bool Equals(object obj)

Parameters

Type	Name	Description
object	obj	The object to compare with this instance.

Returns

Type	Description
bool	true if the specified object is equal to this instance; otherwise, false.

Overrides

ValueType.Equals(object)

GetHashCode()

Returns a hash code for this instance.

Declaration

public override int GetHashCode()

Returns

Type	Description
int	A hash code for this instance, suitable for use in hashing algorithms and data structures like a hash table.

Overrides

ValueType.GetHashCode()

Inverse(Quaternion)

Inverts the specified quaternion.

Declaration

public static Quaternion Inverse(Quaternion quaternion)

Parameters

Type	Name	Description
Quaternion	quaternion	The quaternion.

Returns

Type	Description
Quaternion	The result.

Inverse(ref Quaternion, out Quaternion)

Inverts the specified quaternion.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion	The quaternion.
Quaternion	result	The result.

Length()

Gets the length of this instance.

Declaration

public float Length()

Returns

Type	Description
float	The result.

LengthSquared()

Lengths the squared.

Declaration

public float LengthSquared()

Returns

Type	Description
float	The result.

Lerp(Quaternion, Quaternion, float)

Linearly interpolates between two quaternions.

Declaration

public static Quaternion Lerp(Quaternion quaternion1, Quaternion quaternion2, float amount)

Parameters

Type	Name	Description
Quaternion	quaternion1	The first source Quaternion.
Quaternion	quaternion2	The second source Quaternion.
float	amount	The relative weight of the second source Quaternion in the interpolation.

Returns

Type	Description
Quaternion	The interpolated Quaternion.

Lerp(ref Quaternion, ref Quaternion, float, out Quaternion)

Linearly interpolates between two quaternions.

Declaration

public static void Lerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)

Parameters

Type	Name	Description
Quaternion	quaternion1	The first source Quaternion.
Quaternion	quaternion2	The second source Quaternion.
float	amount	The relative weight of the second source Quaternion in the interpolation.
Quaternion	result	The interpolated Quaternion.

Multiply(Quaternion, Quaternion)

Multiplies two Quaternions together.

Declaration

public static Quaternion Multiply(Quaternion quaternion1, Quaternion quaternion2)

Parameters

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

Returns

Type	Description
Quaternion	The result of the multiplication.

Multiply(Quaternion, float)

Multiplies the specified quaternion.

Declaration

public static Quaternion Multiply(Quaternion quaternion1, float scaleFactor)

Parameters

Type	Name	Description
Quaternion	quaternion1	The quaternion.
float	scaleFactor	The scale factor.

Returns

Type	Description
Quaternion	The result.

Multiply(ref Quaternion, ref Quaternion, out Quaternion)

Multiplies two Quaternions together.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion1	The Quaternion on the left side of the multiplication.
Quaternion	quaternion2	The Quaternion on the right side of the multiplication.
Quaternion	result	The result of the multiplication.

Multiply(ref Quaternion, float, out Quaternion)

Multiplies the specified quaternion1.

Declaration

public static void Multiply(ref Quaternion quaternion1, float scaleFactor, out Quaternion result)

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
float	scaleFactor	The scale factor.
Quaternion	result	The resulting quaternion.

Negate(Quaternion)

Negates the specified quaternion.

Declaration

public static Quaternion Negate(Quaternion quaternion)

Parameters

Type	Name	Description
Quaternion	quaternion	The quaternion.

Returns

Type	Description
Quaternion	The result.

Negate(ref Quaternion, out Quaternion)

Negates the specified quaternion.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion	The quaternion.
Quaternion	result	The result.

Normalize()

Normalizes this instance.

Declaration

public void Normalize()

Normalize(Quaternion)

Normalizes the specified quaternion.

Declaration

public static Quaternion Normalize(Quaternion quaternion)

Parameters

Type	Name	Description
Quaternion	quaternion	The quaternion.

Returns

Type	Description
Quaternion	The result.

Normalize(ref Quaternion, out Quaternion)

Normalizes the specified quaternion.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion	The quaternion.
Quaternion	result	The resulting quaternion.

Slerp(Quaternion, Quaternion, float)

Slerps the specified quaternion.

Declaration

public static Quaternion Slerp(Quaternion quaternion1, Quaternion quaternion2, float amount)

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.
float	amount	The interpolation amount.

Returns

Type	Description
Quaternion	The result.

Slerp(ref Quaternion, ref Quaternion, float, out Quaternion)

Slerps the specified quaternion1.

Declaration

public static void Slerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.
float	amount	The interpolation amount.
Quaternion	result	The resulting quaternion.

SmoothDamp(Quaternion, Quaternion, ref Quaternion, float, float)

Changes a quaternion towards a desired goal over time.

Declaration

public static Quaternion SmoothDamp(Quaternion current, Quaternion target, ref Quaternion deriv, float smoothTime, float gameTime)

Parameters

Type	Name	Description
Quaternion	current	Current quaternion.
Quaternion	target	Target quaternion.
Quaternion	deriv	Derivative quaternion.
float	smoothTime	Smooth time.
float	gameTime	Elapsed time.

Returns

Type	Description
Quaternion	The smoothed quaternion.

Subtract(Quaternion, Quaternion)

Subtracts the specified quaternion1.

Declaration

public static Quaternion Subtract(Quaternion quaternion1, Quaternion quaternion2)

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.

Returns

Type	Description
Quaternion	The result.

Subtract(ref Quaternion, ref Quaternion, out Quaternion)

Subtracts the specified quaternion1.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.
Quaternion	result	The result of the subtraction.

ToAngleAxis(ref Quaternion, out Vector3, out float)

Obtains the angle and axis of a quaternion.

Declaration

public static void ToAngleAxis(ref Quaternion orientation, out Vector3 axis, out float angle)

Parameters

Type	Name	Description
Quaternion	orientation	The quaternion.
Vector3	axis	The axis of the quaternion.
float	angle	The angle of the quaternion.

ToEuler(Quaternion)

Converts a Quaternion to Euler angles (X = pitch, Y = yaw, Z = roll).

Declaration

public static Vector3 ToEuler(Quaternion orientation)

Parameters

Type	Name	Description
Quaternion	orientation	The rotation.

Returns

Type	Description
Vector3	The rotation axes.

ToEuler(ref Quaternion, out Vector3)

Converts a Quaternion to Euler angles (X = pitch, Y = yaw, Z = roll).

Declaration

public static void ToEuler(ref Quaternion orientation, out Vector3 rotationaxes)

Parameters

Type	Name	Description
Quaternion	orientation	The rotation.
Vector3	rotationaxes	The rotation axes.

ToString()

Returns a string that represents this instance.

Declaration

public override string ToString()

Returns

Type	Description
string	A string that represents this instance.

Overrides

ValueType.ToString()

Operators

operator +(Quaternion, Quaternion)

Implements the operator +.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.

Returns

Type	Description
Quaternion	The result of the operator.

operator /(Quaternion, Quaternion)

Divides a Quaternion by another Quaternion.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion1	The source Quaternion.
Quaternion	quaternion2	The divisor.

Returns

Type	Description
Quaternion	The result of the division.

operator ==(Quaternion, Quaternion)

Implements the operator ==.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.

Returns

Type	Description
bool	The result of the operator.

operator !=(Quaternion, Quaternion)

Implements the operator !=.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.

Returns

Type	Description
bool	The result of the operator.

operator *(Quaternion, Quaternion)

Multiplies two quaternions together.

Declaration

public static Quaternion operator *(Quaternion value1, Quaternion value2)

Parameters

Type	Name	Description
Quaternion	value1	The quaternion on the left side of the multiplication.
Quaternion	value2	The quaternion on the right side of the multiplication.

Returns

Type	Description
Quaternion	The result of the multiplication.

operator *(Quaternion, Vector3)

Implements the operator *.

Declaration

public static Vector3 operator *(Quaternion rotation, Vector3 point)

Parameters

Type	Name	Description
Quaternion	rotation	The rotation quaternion.
Vector3	point	The point as Vector3.

Returns

Type	Description
Vector3	The multiplied vector.

operator *(Quaternion, float)

Implements the operator *.

Declaration

public static Quaternion operator *(Quaternion quaternion1, float scaleFactor)

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
float	scaleFactor	The scale factor.

Returns

Type	Description
Quaternion	The result of the operation.

operator -(Quaternion, Quaternion)

Implements the operator -.

Declaration

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

Parameters

Type	Name	Description
Quaternion	quaternion1	The first quaternion.
Quaternion	quaternion2	The second quaternion.

Returns

Type	Description
Quaternion	The result of the operation.

operator -(Quaternion)

Implements the operator -.

Declaration

public static Quaternion operator -(Quaternion quaternion)

Parameters

Type	Name	Description
Quaternion	quaternion	The quaternion.

Returns

Type	Description
Quaternion	The result of the operator.

Extension Methods

ReflectionHelper.GetMemberAssembly(object)

ReflectionHelper.GetTypeName(object)