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 ) |
| 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 ) |
| void clan::Quaternionx< Type >::set | ( | const Vec3< Type > & | euler, |
| AngleUnit | unit, | ||
| EulerOrder | order ) |
| 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 > |
The imaginary vector part.
| union { ... } clan::Quaternionx< Type > |
| union { ... } clan::Quaternionx< Type > |
| 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 |