Struct quaternion

Namespace

Misaki.HighPerformance.Mathematics

Assembly

Misaki.HighPerformance.Mathematics.dll

public struct quaternion : IEquatable<quaternion>

Implements

IEquatable<quaternion>

Inherited Members

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Constructors

quaternion(float3x3)

Constructs a unit quaternion from a float3x3 rotation matrix. The matrix must be orthonormal.

public quaternion(float3x3 m)

Parameters

m float3x3

The float3x3 orthonormal rotation matrix.

quaternion(float4)

Constructs a quaternion from float4 vector.

public quaternion(float4 value)

Parameters

value float4

The quaternion xyzw component values.

quaternion(float4x4)

Constructs a unit quaternion from an orthonormal float4x4 matrix.

public quaternion(float4x4 m)

Parameters

m float4x4

The float4x4 orthonormal rotation matrix.

quaternion(float, float, float, float)

Constructs a quaternion from four float values.

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

Parameters

x float

The quaternion x component.

y float

The quaternion y component.

z float

The quaternion z component.

w float

The quaternion w component.

Fields

identity

A quaternion representing the identity transform.

public static readonly quaternion identity

Field Value

quaternion

value

The quaternion component values.

public float4 value

Field Value

float4

Methods

AxisAngle(float3, float)

Returns a quaternion representing a rotation around a unit axis by an angle in radians. The rotation direction is clockwise when looking along the rotation axis towards the origin.

public static quaternion AxisAngle(float3 axis, float angle)

Parameters

axis float3

The axis of rotation.

angle float

The angle of rotation in radians.

Returns

quaternion

The quaternion representing a rotation around an axis.

Equals(quaternion)

Returns true if the quaternion is equal to a given quaternion, false otherwise.

public bool Equals(quaternion x)

Parameters

x quaternion

The quaternion to compare with.

Returns

bool

True if the quaternion is equal to the input, false otherwise.

Equals(object?)

Returns whether true if the quaternion is equal to a given quaternion, false otherwise.

public override bool Equals(object? x)

Parameters

x object

The object to compare with.

Returns

bool

True if the quaternion is equal to the input, false otherwise.

Euler(float3, RotationOrder)

Returns a quaternion constructed by first performing 3 rotations around the principal axes in a given order. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin. When the rotation order is known at compile time, it is recommended for performance reasons to use specific Euler rotation constructors such as EulerZXY(...).

public static quaternion Euler(float3 xyz, math.RotationOrder order = RotationOrder.Default)

Parameters

xyz float3

A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

order math.RotationOrder

The order in which the rotations are applied.

Returns

quaternion

The quaternion representing the Euler angle rotation in the specified order.

Euler(float, float, float, RotationOrder)

Returns a quaternion constructed by first performing 3 rotations around the principal axes in a given order. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin. When the rotation order is known at compile time, it is recommended for performance reasons to use specific Euler rotation constructors such as EulerZXY(...).

public static quaternion Euler(float x, float y, float z, math.RotationOrder order = RotationOrder.Default)

Parameters

x float

The rotation angle around the x-axis in radians.

y float

The rotation angle around the y-axis in radians.

z float

The rotation angle around the z-axis in radians.

order math.RotationOrder

The order in which the rotations are applied.

Returns

quaternion

The quaternion representing the Euler angle rotation in the specified order.

EulerXYZ(float3)

Returns a quaternion constructed by first performing a rotation around the x-axis, then the y-axis and finally the z-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

public static quaternion EulerXYZ(float3 xyz)

Parameters

xyz float3

A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in x-y-z order.

EulerXYZ(float, float, float)

Returns a quaternion constructed by first performing a rotation around the x-axis, then the y-axis and finally the z-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

public static quaternion EulerXYZ(float x, float y, float z)

Parameters

x float

The rotation angle around the x-axis in radians.

y float

The rotation angle around the y-axis in radians.

z float

The rotation angle around the z-axis in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in x-y-z order.

EulerXZY(float3)

Returns a quaternion constructed by first performing a rotation around the x-axis, then the z-axis and finally the y-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

public static quaternion EulerXZY(float3 xyz)

Parameters

xyz float3

A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in x-z-y order.

EulerXZY(float, float, float)

Returns a quaternion constructed by first performing a rotation around the x-axis, then the z-axis and finally the y-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

public static quaternion EulerXZY(float x, float y, float z)

Parameters

x float

The rotation angle around the x-axis in radians.

y float

The rotation angle around the y-axis in radians.

z float

The rotation angle around the z-axis in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in x-z-y order.

EulerYXZ(float3)

Returns a quaternion constructed by first performing a rotation around the y-axis, then the x-axis and finally the z-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

public static quaternion EulerYXZ(float3 xyz)

Parameters

xyz float3

A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in y-x-z order.

EulerYXZ(float, float, float)

Returns a quaternion constructed by first performing a rotation around the y-axis, then the x-axis and finally the z-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

public static quaternion EulerYXZ(float x, float y, float z)

Parameters

x float

The rotation angle around the x-axis in radians.

y float

The rotation angle around the y-axis in radians.

z float

The rotation angle around the z-axis in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in y-x-z order.

EulerYZX(float3)

Returns a quaternion constructed by first performing a rotation around the y-axis, then the z-axis and finally the x-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

public static quaternion EulerYZX(float3 xyz)

Parameters

xyz float3

A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in y-z-x order.

EulerYZX(float, float, float)

Returns a quaternion constructed by first performing a rotation around the y-axis, then the z-axis and finally the x-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

public static quaternion EulerYZX(float x, float y, float z)

Parameters

x float

The rotation angle around the x-axis in radians.

y float

The rotation angle around the y-axis in radians.

z float

The rotation angle around the z-axis in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in y-z-x order.

EulerZXY(float3)

Returns a quaternion constructed by first performing a rotation around the z-axis, then the x-axis and finally the y-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin. This is the default order rotation order in Unity.

public static quaternion EulerZXY(float3 xyz)

Parameters

xyz float3

A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in z-x-y order.

EulerZXY(float, float, float)

Returns a quaternion constructed by first performing a rotation around the z-axis, then the x-axis and finally the y-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin. This is the default order rotation order in Unity.

public static quaternion EulerZXY(float x, float y, float z)

Parameters

x float

The rotation angle around the x-axis in radians.

y float

The rotation angle around the y-axis in radians.

z float

The rotation angle around the z-axis in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in z-x-y order.

EulerZYX(float3)

Returns a quaternion constructed by first performing a rotation around the z-axis, then the y-axis and finally the x-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

public static quaternion EulerZYX(float3 xyz)

Parameters

xyz float3

A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in z-y-x order.

EulerZYX(float, float, float)

Returns a quaternion constructed by first performing a rotation around the z-axis, then the y-axis and finally the x-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

public static quaternion EulerZYX(float x, float y, float z)

Parameters

x float

The rotation angle around the x-axis in radians.

y float

The rotation angle around the y-axis in radians.

z float

The rotation angle around the z-axis in radians.

Returns

quaternion

The quaternion representing the Euler angle rotation in z-y-x order.

GetHashCode()

Returns a hash code for the quaternion.

public override int GetHashCode()

Returns

int

The hash code of the quaternion.

LookRotation(float3, float3)

Returns a quaternion view rotation given a unit length forward vector and a unit length up vector. The two input vectors are assumed to be unit length and not collinear. If these assumptions are not met use float3x3.LookRotationSafe instead.

public static quaternion LookRotation(float3 forward, float3 up)

Parameters

forward float3

The view forward direction.

up float3

The view up direction.

Returns

quaternion

The quaternion view rotation.

LookRotationSafe(float3, float3)

Returns a quaternion view rotation given a forward vector and an up vector. The two input vectors are not assumed to be unit length. If the magnitude of either of the vectors is so extreme that the calculation cannot be carried out reliably or the vectors are collinear, the identity will be returned instead.

public static quaternion LookRotationSafe(float3 forward, float3 up)

Parameters

forward float3

The view forward direction.

up float3

The view up direction.

Returns

quaternion

The quaternion view rotation or the identity quaternion.

RotateX(float)

Returns a quaternion that rotates around the x-axis by a given number of radians.

public static quaternion RotateX(float angle)

Parameters

angle float

The clockwise rotation angle when looking along the x-axis towards the origin in radians.

Returns

quaternion

The quaternion representing a rotation around the x-axis.

RotateY(float)

Returns a quaternion that rotates around the y-axis by a given number of radians.

public static quaternion RotateY(float angle)

Parameters

angle float

The clockwise rotation angle when looking along the y-axis towards the origin in radians.

Returns

quaternion

The quaternion representing a rotation around the y-axis.

RotateZ(float)

Returns a quaternion that rotates around the z-axis by a given number of radians.

public static quaternion RotateZ(float angle)

Parameters

angle float

The clockwise rotation angle when looking along the z-axis towards the origin in radians.

Returns

quaternion

The quaternion representing a rotation around the z-axis.

ToString()

Returns a string representation of the quaternion.

public override string ToString()

Returns

string

The string representation of the quaternion.

Operators

implicit operator quaternion(float4)

Implicitly converts a float4 vector to a quaternion.

public static implicit operator quaternion(float4 v)

Parameters

v float4

The quaternion xyzw component values.

Returns

quaternion

The quaternion constructed from a float4 vector.