Quaternion

Quaternion implementation. Holds a rotation + angle in a proper but wild space.

Constructors

this this(U x): Construct a Quaternion from a value.
this this(T qw, T qx, T qy, T qz): Constructs a Quaternion from coordinates. Warning: order of coordinates is different from storage.

inverse void inverse(): Inverses a quaternion in-place.
inversed Quaternion inversed()
normalize void normalize(): Normalizes a quaternion.
normalized Quaternion normalized()
opAssign Quaternion opAssign(U u): Assign from another Quaternion.
opAssign Quaternion opAssign(U u): Assign from a vector of 4 elements.
opBinary Quaternion opBinary(U operand): Undocumented in source. Be warned that the author may not have intended to support it.
opCast U opCast(): Convert to a 3x3 rotation matrix. TODO: check out why we can't do is(Unqual!U == mat3!T)
opCast U opCast(): Converts a to a 4x4 rotation matrix.
opEquals bool opEquals(U other): Compare two Quaternions.
opEquals bool opEquals(U other): Compare Quaternion and other types.
opOpAssign Quaternion opOpAssign(U q): Undocumented in source. Be warned that the author may not have intended to support it.
opOpAssign Quaternion opOpAssign(U operand): Undocumented in source. Be warned that the author may not have intended to support it.
toEulerAngles vec3!T toEulerAngles(): Converts a quaternion to Euler angles. TODO: adds a EulerAngles type.
toString string toString(): Converts to a pretty string.

fromAxis Quaternion fromAxis(Vector!(T, 3) axis, T angle): Constructs a Quaternion from axis + angle.
fromEulerAngles Quaternion fromEulerAngles(T roll, T pitch, T yaw): Constructs a Quaternion from Euler angles. All paramers given in radians. Roll->X axis, Pitch->Y axis, Yaw->Z axis
identity Quaternion identity(): Workaround Vector not being constructable through CTFE