Quaternion

A rotation represented as a four component vector modeled after the XNA Game Studio math library.

Header

#include <SimpleMath.h>

Initialization

using namespace DirectX::SimpleMath;

Quaternion q;                     // Creates the identity quaternion [0, 0, 0, 1]
Quaternion q(0, 0, 0, 1);         // Creates a quaternion [0, 0, 0, 1]
Quaternion q( Vector3(0,0,0), 1); // Creates a quaternion [0, 0, 0, 1]
Quaternion q( Vector4(0,0,0,1) ); // Creates a quaternion [0, 0, 0, 1]

float arr[4] = { 0, 0, 0, 1 };
Quaternion q(arr);                // Creates a quaternion [0, 0, 0, 1]

Fields

• x component of the quaternion
• y component of the quaternion
• z component of the quaternion
• w component of the quaternion

Methods

• Comparison operators: == and !=
• Assignment operators: =, +=, -=, *=, /=
• Unary operators: +, -
• Binary operators: +, -, *, /
• Length
• LengthSquared
• Normalize
• Conjugate*
• Inverse
• Dot

Statics

• CreateFromAxisAngle
• CreateFromYawPitchRoll
• CreateFromRotationMatrix
• Lerp
• Slerp: Spherical linear interpolation
• Concatenate

Constants

• Identity: The identity quaternion [0, 0, 0, 1]

Remark

Quaternion can freely convert to and from a XMFLOAT4 and XMVECTOR

Further Reading

Quaternions and spatial rotation