Quaternion Class Reference

#include <nemath.h>

Collaboration diagram for Quaternion:

[legend]List of all members.

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Detailed Description

Unit quaternion Simple unit quaternion class with useful math operations.

Author:

Mattias Jansson (mattias@realityrift.com)

Public Member Functions
	Quaternion ()
	Quaternion (float fX, float fY, float fZ, float fW)
	Quaternion (const Matrix &rkMatrix)
	Quaternion (const AxisAngle &rkAxisAngle)
	Quaternion (const EulerAngles &rkAngles)
Quaternion &	Reset ()
Quaternion &	Set (float fX, float fY, float fZ, float fW)
Quaternion &	Normalize ()
Matrix &	ToMatrix (Matrix *pkMatrix) const
AxisAngle	ToAxisAngle () const
EulerAngles	ToEulerAngles (unsigned int uiOrder=EulerAngles::XYZs) const
Quaternion &	Inverse ()
Quaternion &	Slerp (float fT, const Quaternion &rkDest, bool bActuteAngle=false)
Quaternion &	operator= (const Matrix &rkMatrix)
Quaternion &	operator= (const AxisAngle &rkAxisAngle)
Quaternion &	operator= (const EulerAngles &rkEulerAngles)
Quaternion	operator * (const Quaternion &rkQuat) const
Quaternion	operator * (float fScalar) const
Quaternion &	operator *= (const Quaternion &rkQuat)
Quaternion &	operator *= (float fScalar)
Quaternion	operator~ () const
Vector3d	operator * (const Vector3d &rkVector) const
Quaternion	operator+ (const Quaternion &rkQuat) const
bool	operator== (const Quaternion &rkQuat) const
bool	operator!= (const Quaternion &rkQuat) const
Public Attributes
float	qx
float	qy
float	qz
float	qw
Static Public Attributes
const NE_STATIC Quaternion	IDENTITY

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Constructor & Destructor Documentation

NEOENGINE_API Quaternion (   )  [inline]

Reset components to identity quat

NEOENGINE_API Quaternion (  float  fX, float  fY, float  fZ, float  fW )  [inline]

Set components Parameters: fX  x component fY  y component fZ  z component fW  w component

NEOENGINE_API Quaternion (  const Matrix &  rkMatrix  )  [inline]

Assignment from matrix (PERFORMANCE WARNING) Parameters: rkMatrix  Matrix to convert to quaternion

NEOENGINE_API Quaternion (  const AxisAngle &  rkAxisAngle  )  [inline]

Assignment from axis-angle rotation Parameters: rkAxis  Axis of rotation (must be normalized!) fRadians  Radians of rotation around axis

NEOENGINE_API Quaternion (  const EulerAngles &  rkAngles  )  [inline]

Assignment from Euler angles Parameters: rkAngles  Rotation in Euler angles

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Member Function Documentation

NEOENGINE_API Quaternion & Reset (   )  [inline]

Reset components to identity quat Returns: const Quaternion ref (this)

NEOENGINE_API Quaternion & Set (  float  fX, float  fY, float  fZ, float  fW )  [inline]

Set components Parameters: fX  x component fY  y component fZ  z component fW  w component Returns: const Quaternion ref (this)

NEOENGINE_API Quaternion & Normalize (   )  [inline]

Normalize Returns: Quaternion ref (this)

NEOENGINE_API Matrix & ToMatrix (  Matrix *  pkMatrix  )  const [inline]

Convert to matrix Parameters: pkMatrix  Matrix Returns: Matrix

NEOENGINE_API AxisAngle ToAxisAngle (   )  const [inline]

Convert to axis rotation Returns: Rotation as axis-angle

EulerAngles ToEulerAngles (  unsigned int  uiOrder = EulerAngles::XYZs  )  const

Convert to euler angles Parameters: uiOrder  Requested order of rotation for Euler angles Returns: Rotation as Euler angles in specified order

NEOENGINE_API Quaternion & Inverse (   )  [inline]

Inverse quaternion (will change this quat), equal to conjugate Returns: const Quaternion ref (this)

NEOENGINE_API Quaternion & Slerp (  float  fT, const Quaternion &  rkDest, bool  bActuteAngle = false )  [inline]

Spherical linear interpolation Parameters: fT  Time (between 0 and 1) rkDest  Destination quaternion bActuteAngle  If not acute angle, negate target quaternion to avoid extra spins Returns: Resulting interpolated quaternion (this)

NEOENGINE_API Quaternion & operator= (  const Matrix &  rkMatrix  )  [inline]

Assignment from matrix Parameters: rkMatrix  Matrix to convert to quaternion Returns: const Quaternion ref (this)

NEOENGINE_API Quaternion & operator= (  const AxisAngle &  rkAxisAngle  )  [inline]

Assignment from axis-angle rotation Parameters: rkAxisAngle  Axis-angle rotation to convert to quaternion Returns: const Quaternion ref (this)

Quaternion& operator= (  const EulerAngles &  rkEulerAngles  )

Assignment from euler angles Parameters: rkAngles  Euler angles to convert to quaternion Returns: const Quaternion ref (this)

NEOENGINE_API Quaternion operator * (  const Quaternion &  rkQuat  )  const [inline]

Quaternion multiplication Parameters: rkQuat  Quaternion ref to multiply this with, result = this * rkQuat Returns: Quaternion result object

NEOENGINE_API Quaternion operator * (  float  fScalar  )  const [inline]

Multiplication with scalar (to non-unit quat, Normalize() will ofcourse restore quat) Parameters: fScalar  Scaling Returns: Quaternion result

NEOENGINE_API Quaternion & operator *= (  const Quaternion &  rkQuat  )  [inline]

Quaternion multiplication and assignment Parameters: rkQuat  Quaternion ref to multiply this with, this = this * rkQuat, result = this Returns: Quaternion ref (this)

NEOENGINE_API Quaternion & operator *= (  float  fScalar  )  [inline]

Multiplication with scalar (to non-unit quat, Normalize() will ofcourse restore quat) Parameters: fScalar  Scaling Returns: Quaternion ref (this)

NEOENGINE_API Quaternion operator~ (   )  const [inline]

Inverse quaternion (conjugate) Returns: Quaternion result object

NEOENGINE_API Vector3d operator * (  const Vector3d &  rkVector  )  const [inline]

Multiplication with vector (rotate vector) Parameters: rkVector  Vector to rotate Returns: Result vector

NEOENGINE_API Quaternion operator+ (  const Quaternion &  rkQuat  )  const [inline]

Quaternion addition (to non-unit quat) Parameters: rkQuat  Quaternion to add Returns: Quaternion result

NEOENGINE_API bool operator== (  const Quaternion &  rkQuat  )  const [inline]

Compare quaternions with epsilon tolerance Parameters: rkQuat  Quaternion ref object to compare this to Returns: true if all components equal (in epsilon zone), false otherwise

NEOENGINE_API bool operator!= (  const Quaternion &  rkQuat  )  const [inline]

Compare quaternions with epsilon tolerance Parameters: rkQuat  Quaternion ref object to compare this to Returns: true if not equal equal, false if all components equal (in epsilon zone)

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Member Data Documentation

float qx

Components

float qy

Components

float qz

Components

float qw

Components

const NE_STATIC Quaternion IDENTITY [static]

Identity quaternion

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The documentation for this class was generated from the following file:

• nemath.h

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