Quaternion

Constructors

this

this()

Default constructor. Angle = 0. Or 2pi*n, as you wish

this

this(double angle, Vector axis)

Construct by angle and axis-Vector. Axis-Vector will be normalized, so don't worry about length

this

this(double angle, double _x, double _y, double _z)

Construct by angle and axis' coordinates. Axis-Vector will be normalized, so don't worry about length

Members

Functions

opBinary

Quaternion opBinary(Quaternion q)

Quaternion multiplication. Ex: b*a describes sequence of rotations - <b> first a, when b </b>. Yes, in <b> reverse-order </b>

Properties

axis

Vector axis [@property getter]

Get axis-vector

axis

Vector axis [@property setter]

Set axis-vector

c

double c [@property getter]

Get cos(alpha/2), where alpha - rotation angle

c

double c [@property setter]

Set cos(alpha/2), where alpha - rotation angle

s

double s [@property getter]

Get sin(alpha/2), where alpha - rotation angle

s

double s [@property setter]

Set sin(alpha/2), where alpha - rotation angle

x

double x [@property getter]

Get x

x

double x [@property setter]

Set x

y

double y [@property getter]

Get y

y

double y [@property setter]

Set y

z

double z [@property getter]

Get z

z

double z [@property setter]

Set z

• Quaternion
• Vector