Quaternion

Inherited: None

Description

Quaternions consist of a 3D rotation axis specified by the x, y, and z coordinates, and a w representing the rotation angle.

Public Methods

	Quaternion ()
	Quaternion (const Matrix3 & matrix)
	Quaternion (const Vector3 & euler)
	Quaternion (const Vector3 & axis, areal angle)
	Quaternion (areal x, areal y, areal z, areal w)
void	axisAngle (Vector3 & axis, areal & angle)
areal	dot (const Quaternion & quaternion) const
bool	equal (const Quaternion & quaternion) const
Vector3	euler () const
Quaternion	inverse () const
areal	length () const
void	mix (const Quaternion & q0, const Quaternion & q1, areal t)
areal	normalize ()
areal	sqrLength () const
Matrix3	toMatrix () const
bool	operator!= (const Quaternion & quaternion) const
Quaternion	operator* (areal factor) const
Quaternion	operator* (const Quaternion & quaternion) const
Vector3	operator* (const Vector3 & vector) const
Quaternion &	operator*= (areal factor)
Quaternion	operator/ (areal divisor) const
Quaternion &	operator/= (areal divisor)
bool	operator== (const Quaternion & quaternion) const
areal	operator[] (int i)
areal	operator[] (int i) const

Static Methods

Quaternion

lookRotation (const Vector3 & forward, const Vector3 & up)

Methods Description

Quaternion::Quaternion ()

Constructs an identity quaternion.

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Quaternion::Quaternion (Matrix3 & matrix)

Constructs a quaternion by rotation matrix represented by Matrix3 matrix.

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Quaternion::Quaternion (Vector3 & euler)

Constructs a quaternion by Euler angles represented by Vector3(pitch, yaw, roll) euler in rotation degrees.

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Quaternion::Quaternion (Vector3 & axis, areal angle)

Constructs a quaternion with rotation axis and angle in rotation degrees.

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Quaternion::Quaternion (areal x, areal y, areal z, areal w)

Constructs a quaternion w*ith values (x, *y, z, w).

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void Quaternion::axisAngle (Vector3 & axis, areal & angle)

Retrives a quaternion as rotation axis and angle in rotation degrees.

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areal Quaternion::dot (Quaternion & quaternion) const

Returns the dot-product of this quaternion and given quaternion.

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bool Quaternion::equal (Quaternion & quaternion) const

Returns true if quaternion approximately equal.

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Vector3 Quaternion::euler () const

Returns the Euler angles represented by Vector3(pitch, yaw, roll) in rotation degrees.

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Quaternion Quaternion::inverse () const

Returns the inverse of this quaternion.

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areal Quaternion::length () const

Returns the length of this quaternion.

See also sqrLength().

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Quaternion Quaternion::lookRotation (Vector3 & forward, Vector3 & up)

Creates a rotation with the specified forward and up directions.

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void Quaternion::mix (Quaternion & q0, Quaternion & q1, areal t)

Linear inerpolation between q0 and q1 with t factor.

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areal Quaternion::normalize ()

Normalizes the currect quaternion in place. Returns length of prenormalized quaternion.

See also length().

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areal Quaternion::sqrLength () const

Returns the squared length of this quaternion.

See also length().

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Matrix3 Quaternion::toMatrix () const

Returns the rotation matrix for this quaternion.

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bool Quaternion::operator!= (Quaternion & quaternion) const

Returns true if this quaternion is NOT equal to given quaternion; otherwise returns false. This operator uses an exact floating-point comparison.

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Quaternion Quaternion::operator* (areal factor) const

Returns a copy of this quaternion, multiplied by the given factor.

See also operator*=().

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Quaternion Quaternion::operator* (Quaternion & quaternion) const

Multiplies this quaternion and quaternion using quaternion multiplication. The result corresponds to applying both of the rotations specified by this quaternion and quaternion.

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Vector3 Quaternion::operator* (Vector3 & vector) const

Rotates a vector vec with this quaternion to produce a new vector in 3D space.

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Quaternion & Quaternion::operator*= (areal factor)

Multiplies this quaternion’s coordinates by the given factor, and returns a reference to this quaternion.

See also operator/=().

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Quaternion Quaternion::operator/ (areal divisor) const

Returns a copy of this quaternion, divided by the given divisor.

See also operator/=().

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Quaternion & Quaternion::operator/= (areal divisor)

Divides this quaternion’s coordinates by the given divisor, and returns a reference to this quaternion.

See also operator*=().

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bool Quaternion::operator== (Quaternion & quaternion) const

Returns true if this quaternion is equal to given quaternion; otherwise returns false. This operator uses an exact floating-point comparison.

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areal Quaternion::operator[] (int i)

Returns the component of the quaternion at i*ndex position *i as a modifiable reference. i must be a valid i*ndex position *i*n the quaternion (i.e., 0 <= *i < 4).

areal Quaternion::operator[] (int i) const

Returns the component of the quaternion at i*ndex position. *i must be a valid i*ndex position *i*n the quaternion (i.e., 0 <= *i < 4).