Quaternion. More...
#include <quaternion.h>
Public Member Functions | |
Quaternionx () | |
Quaternionx (const Angle &euler_x, const Angle &euler_y, const Angle &euler_z, EulerOrder order) | |
Quaternionx (const Mat4< Type > &rotation_matrix) | |
Quaternionx (const Quaternionx< Type > ©) | |
Quaternionx (const Vec3< Type > &euler, AngleUnit unit, EulerOrder order) | |
Quaternionx (Type euler_x, Type euler_y, Type euler_z, AngleUnit unit, EulerOrder order) | |
Quaternionx (Type real, const Vec3< Type > &imag) | |
Quaternionx (Type real, Type i, Type j, Type k) | |
Quaternionx< Type > & | inverse () |
Inverse this quaternion. | |
Type | magnitude () const |
Get the quaternion magnitude. | |
Quaternionx< Type > & | normalize () |
Normalizes this quaternion. | |
bool | operator!= (const Quaternionx< Type > &other) const |
Not equal operator. | |
Quaternionx< Type > | operator* (const Mat4< Type > &matrix) const |
Quaternionx< Type > | operator* (const Quaternionx< Type > &mult) const |
Multiplication operator. | |
bool | operator< (const Quaternionx< Type > &other) const |
Less operator. | |
bool | operator<= (const Quaternionx< Type > &other) const |
Less equal operator. | |
bool | operator== (const Quaternionx< Type > &other) const |
Equal operator. | |
bool | operator> (const Quaternionx< Type > &other) const |
Greater operator. | |
bool | operator>= (const Quaternionx< Type > &other) const |
Greater equal operator. | |
Quaternionx< Type > & | rotate (const Angle &angle, const Vec3f &axis) |
Quaternionx< Type > & | rotate (const Angle &euler_x, const Angle &euler_y, const Angle &euler_z, EulerOrder order) |
Vec3< Type > | rotate_vector (const Vec3< Type > &v) const |
Rotates vector by this quaternion. | |
Vec4< Type > | rotate_vector (const Vec4< Type > &v) const |
void | set (const Angle &euler_x, const Angle &euler_y, const Angle &euler_z, EulerOrder order) |
void | set (const Vec3< Type > &euler, AngleUnit unit, EulerOrder order) |
void | set (Type euler_x, Type euler_y, Type euler_z, AngleUnit unit, EulerOrder order) |
Mat4< Type > | to_matrix () const |
Convert the quaternion to a rotation matrix. | |
Static Public Member Functions | |
static Quaternionx< Type > | axis_angle (const Angle &angle, const Vec3f &axis) |
static Quaternionx< Type > | inverse (Quaternionx< Type > q) |
Inverse this quaternion. | |
static Quaternionx< Type > | lerp (const Quaternionx< Type > &quaternion_initial, const Quaternionx< Type > &quaternion_final, Type lerp_time) |
Linear Quaternion Interpolation. | |
static Quaternionx< Type > | multiply (const Quaternionx< Type > &quaternion_1, const Quaternionx< Type > &quaternion_2) |
static Quaternionx< Type > | normalize (Quaternionx< Type > q) |
Normalizes this quaternion. | |
static Quaternionx< Type > | rotation_between (Vec3< Type > v0, Vec3< Type > v1) |
Calculates the shortest arc quaternion between two vectors. | |
static Quaternionx< Type > | rotation_between (Vec4< Type > v0, Vec4< Type > v1) |
Calculates the shortest arc quaternion between two vectors. | |
static Quaternionx< Type > | slerp (const Quaternionx< Type > &quaternion_initial, const Quaternionx< Type > &quaternion_final, Type slerp_time) |
Spherical Quaternion Interpolation. | |
Public Attributes | |
union { | |
Type i | |
Type x | |
}; | |
The imaginary vector part. | |
union { | |
Type j | |
Type y | |
}; | |
union { | |
Type k | |
Type z | |
}; | |
Type | w |
The real scalar part. | |
Quaternion.
These quaternion templates are defined for: float (Quaternionf), double (Quaterniond)
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Quaternionx< Type > & clan::Quaternionx< Type >::inverse | ( | ) |
Inverse this quaternion.
This is the same as the conjugate of a quaternion
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Inverse this quaternion.
This is the same as the conjugate of a quaternion
References clan::q.
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Linear Quaternion Interpolation.
quaternion_initial | = Source quaternion |
quaternion_final | = Destination quaternion |
lerp_time | = Time in the range of 0.0 to 1.0 |
Type clan::Quaternionx< Type >::magnitude | ( | ) | const |
Get the quaternion magnitude.
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Referenced by clan::Quaternionx< Type >::operator*().
Quaternionx< Type > & clan::Quaternionx< Type >::normalize | ( | ) |
Normalizes this quaternion.
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Not equal operator.
References clan::Quaternionx< Type >::w, clan::Quaternionx< Type >::x, clan::Quaternionx< Type >::y, and clan::Quaternionx< Type >::z.
Quaternionx< Type > clan::Quaternionx< Type >::operator* | ( | const Mat4< Type > & | matrix | ) | const |
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Multiplication operator.
References clan::Quaternionx< Type >::multiply().
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Less operator.
References clan::Quaternionx< Type >::w, clan::Quaternionx< Type >::x, clan::Quaternionx< Type >::y, and clan::Quaternionx< Type >::z.
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Less equal operator.
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Equal operator.
References clan::Quaternionx< Type >::w, clan::Quaternionx< Type >::x, clan::Quaternionx< Type >::y, and clan::Quaternionx< Type >::z.
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Greater operator.
References clan::Quaternionx< Type >::w, clan::Quaternionx< Type >::x, clan::Quaternionx< Type >::y, and clan::Quaternionx< Type >::z.
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Greater equal operator.
Quaternionx< Type > & clan::Quaternionx< Type >::rotate | ( | const Angle & | angle, |
const Vec3f & | axis | ||
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Quaternionx< Type > & clan::Quaternionx< Type >::rotate | ( | const Angle & | euler_x, |
const Angle & | euler_y, | ||
const Angle & | euler_z, | ||
EulerOrder | order | ||
) |
Vec3< Type > clan::Quaternionx< Type >::rotate_vector | ( | const Vec3< Type > & | v | ) | const |
Rotates vector by this quaternion.
v | = Vertex to rotate |
Vec4< Type > clan::Quaternionx< Type >::rotate_vector | ( | const Vec4< Type > & | v | ) | const |
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Calculates the shortest arc quaternion between two vectors.
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Calculates the shortest arc quaternion between two vectors.
void clan::Quaternionx< Type >::set | ( | const Angle & | euler_x, |
const Angle & | euler_y, | ||
const Angle & | euler_z, | ||
EulerOrder | order | ||
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void clan::Quaternionx< Type >::set | ( | const Vec3< Type > & | euler, |
AngleUnit | unit, | ||
EulerOrder | order | ||
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void clan::Quaternionx< Type >::set | ( | Type | euler_x, |
Type | euler_y, | ||
Type | euler_z, | ||
AngleUnit | unit, | ||
EulerOrder | order | ||
) |
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Spherical Quaternion Interpolation.
quaternion_initial | = Source quaternion |
quaternion_final | = Destination quaternion |
slerp_time | = Time in the range of 0.0 to 1.0 |
Mat4< Type > clan::Quaternionx< Type >::to_matrix | ( | ) | const |
Convert the quaternion to a rotation matrix.
This function assumes that the quarternion is normalized.
union { ... } clan::Quaternionx< Type >::@1 |
The imaginary vector part.
union { ... } clan::Quaternionx< Type >::@3 |
union { ... } clan::Quaternionx< Type >::@5 |
Type clan::Quaternionx< Type >::i |
Type clan::Quaternionx< Type >::j |
Type clan::Quaternionx< Type >::k |
Type clan::Quaternionx< Type >::w |
The real scalar part.
Referenced by clan::Quaternionx< Type >::operator!=(), clan::Quaternionx< Type >::operator<(), clan::Quaternionx< Type >::operator==(), and clan::Quaternionx< Type >::operator>().
Type clan::Quaternionx< Type >::x |
Type clan::Quaternionx< Type >::y |
Type clan::Quaternionx< Type >::z |