VRS::Quat Class Reference

A quaternion class. More...

#include <vrs/quat.h>

Inheritance diagram for VRS::Quat:

List of all members.

Public Member Functions
	Quat ()
	Quat (double x, double y, double z, double w)
	Quat (const Vector4d &v)
	Quat (double angle, const Vector &axis)
	Quat (double angle1, const Vector &axis1, double angle2, const Vector &axis2, double angle3, const Vector &axis3)
bool	operator== (const Quat &v) const
bool	operator!= (const Quat &v) const
bool	operator< (const Quat &v) const
Vector	toVec3d () const
void	set (double x, double y, double z, double w)
void	set (const Matrix &matrix)
void	get (Matrix &matrix) const
void	set (const Vector &dir, const Vector &up)
void	get (Vector &dir, Vector &up) const
double &	x ()
double &	y ()
double &	z ()
double &	w ()
double	x () const
double	y () const
double	z () const
double	w () const
bool	zeroRotation () const
	return true if the Quat represents a zero rotation, and therefore can be ignored in computations.
const Quat	operator* (double rhs) const
	Multiply by scalar.
Quat &	operator*= (double rhs)
	Unary multiply by scalar.
const Quat	operator* (const Quat &rhs) const
	Binary multiply.
Quat &	operator*= (const Quat &rhs)
	Unary multiply.
Quat	operator/ (double rhs) const
	Divide by scalar.
Quat &	operator/= (double rhs)
	Unary divide by scalar.
const Quat	operator/ (const Quat &denom) const
	Binary divide.
Quat &	operator/= (const Quat &denom)
	Unary divide.
const Quat	operator+ (const Quat &rhs) const
	Binary addition.
Quat &	operator+= (const Quat &rhs)
	Unary addition.
const Quat	operator- (const Quat &rhs) const
	Binary subtraction.
Quat &	operator-= (const Quat &rhs)
	Unary subtraction.
const Quat	operator- () const
	Negation operator - returns the negative of the quaternion.
double	abs () const
	Length of the quaternion = sqrt( vec . vec ).
double	abs2 () const
	Length of the quaternion = vec . vec.
Quat	conj () const
	Conjugate.
const Quat	inverse () const
	Multiplicative inverse method: q^(-1) = q^*/(q.q^*).
void	makeRotate (double angle, double x, double y, double z)
void	makeRotate (double angle, const Vector &vec)
void	makeRotate (double angle1, const Vector &axis1, double angle2, const Vector &axis2, double angle3, const Vector &axis3)
void	makeRotate (const Vector &vec1, const Vector &vec2)
	Make a rotation Quat which will rotate vec1 to vec2.
void	getRotate (double &angle, double &x, double &y, double &z) const
	Return the angle and vector components represented by the quaternion.
void	getRotate (double &angle, Vector &vec) const
	Return the angle and vector represented by the quaternion.
void	slerp (double t, const Quat &from, const Quat &to)
	Spherical Linear Interpolation.
Vector	operator* (const Vector &v) const
	Rotate a vector by this quaternion.
	VRS_SERIALIZABLE_NO_SO_CLASS (Quat)
Friends
std::ostream &	operator<< (std::ostream &output, const Quat &vec)

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Detailed Description

A quaternion class.

It can be used to represent an orientation in 3D space.

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Constructor & Destructor Documentation

VRS::Quat::Quat

(

)

[inline]

VRS::Quat::Quat	(	double	x,
		double	y,
		double	z,
		double	w
	)			[inline]

VRS::Quat::Quat

(

const Vector4d &

v

)

[inline]

VRS::Quat::Quat	(	double	angle,
		const Vector &	axis
	)			[inline]

VRS::Quat::Quat	(	double	angle1,
		const Vector &	axis1,
		double	angle2,
		const Vector &	axis2,
		double	angle3,
		const Vector &	axis3
	)			[inline]

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Member Function Documentation

bool VRS::Quat::operator==

(

const Quat &

v

)

const [inline]

bool VRS::Quat::operator!=

(

const Quat &

v

)

const [inline]

bool VRS::Quat::operator<

(

const Quat &

v

)

const [inline]

Vector VRS::Quat::toVec3d

(

)

const [inline]

void VRS::Quat::set	(	double	x,
		double	y,
		double	z,
		double	w
	)			[inline]

void VRS::Quat::set

(

const Matrix &

matrix

)

void VRS::Quat::get

(

Matrix &

matrix

)

const

void VRS::Quat::set	(	const Vector &	dir,
		const Vector &	up
	)

void VRS::Quat::get	(	Vector &	dir,
		Vector &	up
	)			const

double& VRS::Quat::x

(

)

[inline]

double& VRS::Quat::y

(

)

[inline]

double& VRS::Quat::z

(

)

[inline]

double& VRS::Quat::w

(

)

[inline]

double VRS::Quat::x

(

)

const [inline]

double VRS::Quat::y

(

)

const [inline]

double VRS::Quat::z

(

)

const [inline]

double VRS::Quat::w

(

)

const [inline]

bool VRS::Quat::zeroRotation

(

)

const [inline]

return true if the Quat represents a zero rotation, and therefore can be ignored in computations.

const Quat VRS::Quat::operator*

(

double

rhs

)

const [inline]

Multiply by scalar.

Quat& VRS::Quat::operator*=

(

double

rhs

)

[inline]

Unary multiply by scalar.

const Quat VRS::Quat::operator*

(

const Quat &

rhs

)

const [inline]

Binary multiply.

Quat& VRS::Quat::operator*=

(

const Quat &

rhs

)

[inline]

Unary multiply.

Quat VRS::Quat::operator/

(

double

rhs

)

const [inline]

Divide by scalar.

Quat& VRS::Quat::operator/=

(

double

rhs

)

[inline]

Unary divide by scalar.

const Quat VRS::Quat::operator/

(

const Quat &

denom

)

const [inline]

Binary divide.

Quat& VRS::Quat::operator/=

(

const Quat &

denom

)

[inline]

Unary divide.

const Quat VRS::Quat::operator+

(

const Quat &

rhs

)

const [inline]

Binary addition.

Quat& VRS::Quat::operator+=

(

const Quat &

rhs

)

[inline]

Unary addition.

const Quat VRS::Quat::operator-

(

const Quat &

rhs

)

const [inline]

Binary subtraction.

Quat& VRS::Quat::operator-=

(

const Quat &

rhs

)

[inline]

Unary subtraction.

const Quat VRS::Quat::operator-

(

)

const [inline]

Negation operator - returns the negative of the quaternion.

Basically just calls operator - () on the Vec4

double VRS::Quat::abs

(

)

const [inline]

Length of the quaternion = sqrt( vec . vec ).

double VRS::Quat::abs2

(

)

const [inline]

Length of the quaternion = vec . vec.

Quat VRS::Quat::conj

(

)

const [inline]

Conjugate.

const Quat VRS::Quat::inverse

(

)

const [inline]

Multiplicative inverse method: q^(-1) = q^*/(q.q^*).

void VRS::Quat::makeRotate	(	double	angle,
		double	x,
		double	y,
		double	z
	)

void VRS::Quat::makeRotate	(	double	angle,
		const Vector &	vec
	)

void VRS::Quat::makeRotate	(	double	angle1,
		const Vector &	axis1,
		double	angle2,
		const Vector &	axis2,
		double	angle3,
		const Vector &	axis3
	)

void VRS::Quat::makeRotate	(	const Vector &	vec1,
		const Vector &	vec2
	)

Make a rotation Quat which will rotate vec1 to vec2.

Generally take adot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases of when the vectors are co-incident or opposite in direction.

void VRS::Quat::getRotate	(	double &	angle,
		double &	x,
		double &	y,
		double &	z
	)			const

Return the angle and vector components represented by the quaternion.

void VRS::Quat::getRotate	(	double &	angle,
		Vector &	vec
	)			const

Return the angle and vector represented by the quaternion.

void VRS::Quat::slerp	(	double	t,
		const Quat &	from,
		const Quat &	to
	)

Spherical Linear Interpolation.

As t goes from 0 to 1, the Quat object goes from "from" to "to".

Vector VRS::Quat::operator*

(

const Vector &

v

)

const [inline]

Rotate a vector by this quaternion.

VRS::Quat::VRS_SERIALIZABLE_NO_SO_CLASS

(

Quat

)

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	output,
		const Quat &	vec
	)			[friend]

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

• quat.h