Quaternion

Quaternion over a FloatPoint type,

Constructors

this this(T i, T j, T k, T w): Build a new Quaternion from a set of initial values
this this(T[] xs): Build a new Quaternion from a array If no there values for j, and k, will be set to 0. w is set to 1
this this(Vector!(T, 3) vec): Build a new Quaternion from a 3D Vector w will be set to 1
this this(Vector!(T, 4) vec): Build a new Quaternion from a 4D Vector
this this(Vector!(T, 3) v, U angle): Creates a Quaternion from a 3d Vector and angle
this this(U roll, U pitch, U yaw): Creates a new Quaternion from Euler angles Params : roll = Rotation around X axis in radians (aka bank) pitch = Rotation around Y axis in radians (aka attitude) yaw = Rotation around Z axis in radians (aka heading)

approxEqual bool approxEqual(Quaternion rhs, T maxRelDiff, T maxAbsDiff): Approximated equality with controlable precision
conj Quaternion conj(): Obtain conjugate of a Quaternion
normalize void normalize(): Normalize this Quaternion
opBinary Quaternion opBinary(Quaternion rhs): Define binary operator + and -
opBinary Quaternion opBinary(T rhs): Define Scalar multiplication
opBinary Quaternion opBinary(Quaternion rhs): Defines Hamilton product for Quaternions
opCast Tout opCast(): Casting for convert between Quaternions
opCast Tout opCast(): Casting to rotation Matrix
opEquals bool opEquals(Quaternion rhs): Define Equality
opIndex T opIndex(size_t i): Returns i coord of this vector
opIndexAssign void opIndexAssign(T c, size_t i): Assigns a value to a coord
opUnary Quaternion opUnary(): Define unary operators + and -
rotate V rotate(V v): Apply a 3d rotation Quaternion over a 3d/4d Vector
toAxisAngle Vector!(T, 3) toAxisAngle(T angle): Calc the Axis and angle of rotation of this Quaternion
toEuler Vector!(T, 3) toEuler(): Returns a Vector with euler's angles
toString string toString(): Returns a string representation of this Quaternion

isUnit bool isUnit [@property getter]: It's a unitary Quaternion (length == 1)
length T length [@property getter]: Returns the actual length of this quaternion
sq_length T sq_length [@property getter]: Returns the actual squared length of this quaternion