# Quarterion

### Quaternion Struct

Represents a quaternion orientation.

### Syntax

public struct **Quaternion**

### Member Details

#### Quaternion Constructor

> Creates a new quaternion with the supplied values.
>
> #### Syntax
>
> public **Quaternion** (\[System.Runtime.CompilerServices.IsReadOnly] *ref* [Mono.Simd.Vector4f](http://docs.go-mono.com/?link=T%3aMono.Simd.Vector4f) v)
>
> **Parameters**
>
> > *v*
> >
> > Initializes the quaternion from a [Mono.Simd.Vector4f](http://docs.go-mono.com/?link=T%3aMono.Simd.Vector4f).
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Quaternion Constructor

> Creates a new quaternion with the supplied values.
>
> #### Syntax
>
> **Parameters**
>
> > *x*
> >
> > The x coordinate.
> >
> > *y*
> >
> > The y coordinate.
> >
> > *z*
> >
> > The z coordinate.
> >
> > *w*
> >
> > The w coordinate.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Dot Method

> Performs a scalar or dot product.
>
> #### Syntax
>
> public [float](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.Single) **Dot** (\[System.Runtime.CompilerServices.IsReadOnly] *ref* [Quaternion](/latest/script-api-docs/sansar-namespace/quarterion.md) b)
>
> **Parameters**
>
> > *b*
> >
> > The second quaternion.
>
> **Returns**
>
> > Returns X\*b.X+Y\*b.Y+Z\*b.Z+W\*b.W
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### FromAngleAxis Method

> Generates the corresponding quaternion.
>
> #### Syntax
>
> public static [Quaternion](/latest/script-api-docs/sansar-namespace/quarterion.md) **FromAngleAxis** ([float](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.Single) angle, \[System.Runtime.CompilerServices.IsReadOnly] *ref* [Vector](/latest/script-api-docs/sansar-namespace/vector.md) axis)
>
> **Parameters**
>
> > *angle*
> >
> > Angle of rotation in radians
> >
> > *axis*
> >
> > A normalized axis of rotation
>
> **Returns**
>
> > The corresponding quaternion.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### FromEulerAngles Method

> Generates the corresponding quaternion.
>
> #### Syntax
>
> public static [Quaternion](/latest/script-api-docs/sansar-namespace/quarterion.md) **FromEulerAngles** (\[System.Runtime.CompilerServices.IsReadOnly] *ref* [Vector](/latest/script-api-docs/sansar-namespace/vector.md) a)
>
> **Parameters**
>
> > *a*
> >
> > A vector of angles in radians.
>
> **Returns**
>
> > The corresponding quaternion.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### FromLook Method

> Creates a new rotation with the specified direction and up vectors.
>
> #### Syntax
>
> **Parameters**
>
> > *facing*
> >
> > The direction to look.
> >
> > *up*
> >
> > The up direction.
>
> **Returns**
>
> > A new quaternion representing this rotation.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### FromLookOrthoNormal Method

> Creates a new rotation with the specified direction and up vectors.
>
> #### Syntax
>
> public static [Quaternion](/latest/script-api-docs/sansar-namespace/quarterion.md) **FromLookOrthoNormal** (\[System.Runtime.CompilerServices.IsReadOnly] *ref* [Vector](/latest/script-api-docs/sansar-namespace/vector.md) facing, \[System.Runtime.CompilerServices.IsReadOnly] *ref* [Vector](/latest/script-api-docs/sansar-namespace/vector.md) up, \[System.Runtime.CompilerServices.IsReadOnly] *ref* [Vector](/latest/script-api-docs/sansar-namespace/vector.md) left)
>
> **Parameters**
>
> > *facing*
> >
> > The direction to look.
> >
> > *up*
> >
> > The up direction.
> >
> > *left*
> >
> > The left direction.
>
> **Returns**
>
> > A new quaternion representing this rotation.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### GetEulerAngles Method

> Converts this rotation to a vector of euler angles
>
> #### Syntax
>
> public [Vector](/latest/script-api-docs/sansar-namespace/vector.md) **GetEulerAngles** ()
>
> **Returns**
>
> > A vector of angles in radians corresponding to this quaternion.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Identity Field

> The identity quaternion.
>
> #### Syntax
>
> public static readonly [Quaternion](/latest/script-api-docs/sansar-namespace/quarterion.md) **Identity**
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Inverse Method

> Gets the Inverse of the quaternion.
>
> #### Syntax
>
> **Returns**
>
> > A quaternion inverse, such that q \* q.Inverse() == q.Inverse() \* q == Quaternion.Identity
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Item Property

> Allows getting coordinates by index.
>
> #### Syntax
>
> *This is the default property for this class.*
>
> public [float](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.Single) this \[[int](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.Int32) index] { get; set; }
>
> **Parameters**
>
> > *index*
> >
> > 0=>X, 1=>Y, 2=>Z, 3=>W
>
> **Value**
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Length Method

> Calculates the length of this quaternion.
>
> #### Syntax
>
> public [float](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.Single) **Length** ()
>
> **Returns**
>
> > The length of the quaternion.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### LengthSquared Method

> Calculates the length squared of this quaternion.
>
> #### Syntax
>
> public [float](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.Single) **LengthSquared** ()
>
> **Returns**
>
> > The magnitude of the vector.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Normalized Method

> Returns a quaternion with the same orientation and unit length.
>
> #### Syntax
>
> **Returns**
>
> > A quaternion with the same orientation and unit length.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Conversion Method

> Converts a Mono.Simd.Vector4f to a quaternion.
>
> #### Syntax
>
> **Parameters**
>
> > *v*
> >
> > The vector to convert
>
> **Returns**
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Conversion Method

> Converts a quaternion to a Mono.Simd.Vector4f.
>
> #### Syntax
>
> **Parameters**
>
> > *v*
> >
> > The quaternion to convert
>
> **Returns**
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### op\_Multiply Method

> Multiplies two quaternions.
>
> #### Syntax
>
> public static [Quaternion](/latest/script-api-docs/sansar-namespace/quarterion.md) operator\* (\[System.Runtime.CompilerServices.IsReadOnly] *ref* [Quaternion](/latest/script-api-docs/sansar-namespace/quarterion.md) a, \[System.Runtime.CompilerServices.IsReadOnly] *ref* [Quaternion](/latest/script-api-docs/sansar-namespace/quarterion.md) b)
>
> **Parameters**
>
> > *a*
> >
> > The first quaternion
> >
> > *b*
> >
> > The second quaternion
>
> **Returns**
>
> > Returns the composed orientation for the two quaternions.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### op\_UnaryNegation Method

> Negates a quaternion
>
> #### Syntax
>
> **Parameters**
>
> > *q*
> >
> > The quaternion to negate
>
> **Returns**
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Parse Method

> Parse a Quaternion from a string.
>
> #### Syntax
>
> **Parameters**
>
> > *quaternionString*
> >
> > A string of the format "\[X,Y,Z,W]"
>
> **Returns**
>
> > The Quaternion parsed from quaternionString.
>
> **Exceptions**

| Type                                                                                          | Reason                                                                          |
| --------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
| [ArgumentException](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.ArgumentException) | If quaternionString is null.                                                    |
| [FormatException](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.FormatException)     | If the string is not a valid quaternion or its components are not valid floats. |

> #### Remarks
>
> #### Example

<table data-header-hidden><thead><tr><th></th></tr></thead><tbody><tr><td><strong>C# Example</strong></td></tr><tr><td><pre><code>Quaternion myQuat = Quaternion.Parse("[0.0,0.0,0.0,1.0]");
</code></pre></td></tr><tr><td></td></tr></tbody></table>

> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### ShortestRotation Method

> Generates the shortest rotation quaternion to rotate from one vector to another.
>
> #### Syntax
>
> public static [Quaternion](/latest/script-api-docs/sansar-namespace/quarterion.md) **ShortestRotation** (\[System.Runtime.CompilerServices.IsReadOnly] *ref* [Vector](/latest/script-api-docs/sansar-namespace/vector.md) from, \[System.Runtime.CompilerServices.IsReadOnly] *ref* [Vector](/latest/script-api-docs/sansar-namespace/vector.md) to)
>
> **Parameters**
>
> > *from*
> >
> > Vector rotating from.
> >
> > *to*
> >
> > Vector rotating to.
>
> **Returns**
>
> > The corresponding quaternion.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### ToAngleAxis Method

> Gets the angle-axis representation
>
> #### Syntax
>
> **Parameters**
>
> > *angle*
> >
> > Angle of rotation in radians
> >
> > *axis*
> >
> > A normalized axis of rotation
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### ToString Method

> Generates a string representation of the quaternion.
>
> #### Syntax
>
> public override [string](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.String) **ToString** ()
>
> **Returns**
>
> > The quaternion as a string.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### ToString Method

> Generates a string representation of the quaternion.
>
> #### Syntax
>
> **Parameters**
>
> > *format*
> >
> > Format to use for each of the coordinates.
>
> **Returns**
>
> > The quaternion as a string.
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### TryParse Method

> Try to parse a Quaternion from a string.
>
> #### Syntax
>
> **Parameters**
>
> > *quaternionString*
> >
> > A string of the format "\[X,Y,Z,W]"
> >
> > *quaternion*
> >
> > The quaternion that will be set if quaternionString represents a valid quaternion.
>
> **Returns**
>
> > True if successfully parsed a quaternion, false if not.
>
> #### Remarks
>
> #### Example

<table data-header-hidden><thead><tr><th></th></tr></thead><tbody><tr><td><strong>C# Example</strong></td></tr><tr><td><pre><code>Quaternion myQuat;
</code></pre></td></tr></tbody></table>

```
        if (Quaternion.TryParse("[0.0,0.0,0.0,1.0]", out myQuat)
        {
            // myQuat is set.
        }
```

|

> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### W Property

> The W coordinate of the quaternion.
>
> #### Syntax
>
> public [float](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.Single) **W** { get; set; }
>
> **Value**
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### X Property

> The X coordinate of the quaternion.
>
> #### Syntax
>
> public [float](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.Single) **X** { get; set; }
>
> **Value**
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Y Property

> The Y coordinate of the quaternion.
>
> #### Syntax
>
> public [float](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.Single) **Y** { get; set; }
>
> **Value**
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

#### Z Property

> The Z coordinate of the quaternion.
>
> #### Syntax
>
> public [float](http://www.go-mono.com/docs/monodoc.ashx?link=T:System.Single) **Z** { get; set; }
>
> **Value**
>
> #### Remarks
>
> #### Requirements
>
> **Namespace:** Sansar\
> **Assembly:** Sansar.Script (in Sansar.Script.dll)\
> **Assembly Versions:** 1.0.0.0
>
> ***

***


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