QuaternionT

A quaternion is a way of representing a rotation in three dimensions by storing a rotation and an angle. It properly forms a topological 3-sphere, which allows it to avoid the gimbal lock that plagues the more human-readable euler angle. Read more here: https://euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/geometric/orthogonal

struct QuaternionT (

) if (

__traits(isFloating, T)

) {

}

Constructors

this this(Vector4T!T vec): Constructs a quaternion from a vector
this this(QuaternionT!T quat): Constructs a quaternion from another quaternion
this this(Vector3T!T axis, T theta): Constructs a quaternion from an axis and an angle theta

Conjugate QuaternionT!T Conjugate(): Returns a conjugated quaternion
Normalize QuaternionT!T Normalize(): Returns a normalized quaternion
ToEulerAngle Vector3T!T ToEulerAngle(): Returns the euler angle equivalent of this quaternion, in the form of <roll, pitch, yaw>
ToEulerAngle void ToEulerAngle(ref T roll, ref T pitch, ref T yaw): Sets euler angle as member parameters, equivalent of this quaternion
opBinary QuaternionT!T opBinary(U rhs): quaternion * quaternion
opBinary QuaternionT!T opBinary(U rhs): quaternion + quaternion
opOpAssign void opOpAssign(U rhs): quaternion *= quaternion
opOpAssign void opOpAssign(U rhs): quaternion += quaternion

Identity QuaternionT!T Identity(): Constructs identity of a quaternion
ToQuaternion QuaternionT!T ToQuaternion(T pitch, T roll, T yaw): Constructs a quaternion from euler angle
ToQuaternion QuaternionT!T ToQuaternion(Vector3T!T vec): Constructs a quaternion from euler angle vector