Public Member Functions |
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| Quat3D (void) |
| | Constructor. Initialzes w, x, y, z to zero.
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| Quat3D (const T dw, const T dx, const T dy, const T dz) |
| | Constructor with specified individual values.
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| Quat3D (const Quat3D &QuatIn) |
| | Copy constructor.
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| | Quat3D (const Vec3D< T > &VecIn) |
| | Constructs this quaternion from rotation vector VecIn. See FromRotationVector().
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| | Quat3D (const T angle, const Vec3D< T > &axis) |
| | Constructs this quaternion from an angle in radians and a unit axis.
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| | Quat3D (const Vec3D< T > &RotateFrom, const Vec3D< T > &RotateTo) |
| | Constructs this quaternion to represent the rotation from two vectors. The vectors need not be normalized and are not modified.
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template<typename U > |
| | Quat3D (const Quat3D< U > &QuatIn) |
| | Copy constructor from another template type.
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template<typename U > |
| | Quat3D (const Vec3D< U > &VecIn) |
| | Copies x, y, z from the specified vector and sets w to zero.
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template<typename U > |
| | operator Quat3D< U > () const |
| | overload conversion operator for different template types
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template<typename U > |
| Quat3D< T > | operator= (const Quat3D< U > &s) |
| | Equals operator for different template types.
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template<typename U > |
| const Quat3D< T > | operator+ (const Quat3D< U > &s) |
| | Addition operator for different template types.
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template<typename U > |
| const Quat3D< T > | operator* (const U &f) const |
| | Scalar multiplication operator for different template types.
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template<typename U > |
| const Quat3D< T > | operator* (const Quat3D< U > &f) const |
| | Quaternion multplication operator for different template types.
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Quat3D & | operator= (const Quat3D &s) |
| | overload equals
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const Quat3D | operator+ (const Quat3D &s) const |
| | overload additoon
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const Quat3D | operator- (const Quat3D &s) const |
| | overload subtraction
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const Quat3D | operator* (const T f) const |
| | overload scalar multiplication
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const Quat3D friend | operator* (const T f, const Quat3D v) |
| | overload scalar multiplication with number first.
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const Quat3D | operator* (const Quat3D &f) const |
| | overload quaternion multiplication.
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bool | operator== (const Quat3D &s) const |
| | overload is equal.
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bool | operator!= (const Quat3D &s) const |
| | overload is not equal.
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const Quat3D & | operator+= (const Quat3D &s) |
| | overload add and set
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const Quat3D & | operator-= (const Quat3D &s) |
| | overload subtract and set
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const Vec3D< T > | ToVec () const |
| | Explicit casting to a vector. Throws away w and copies x, y, z directly.
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const T | Length () const |
| | Returns the length (magnitude) of the quaternion.
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const T | Length2 () const |
| | Returns the length (magnitude) squared of the quaternion.
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const T | Normalize () |
| | Normalizes this quaternion. Returns the previous magnitude of this quaternion before normalization. Note: function changes this quaternion.
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void | NormalizeFast () |
| | Normalizes this quaternion slightly faster than Normalize() by not returning a value. Note: function changes this quaternion.
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const Quat3D | Inverse () const |
| | Returns a quaternion that is the inverse of this quaternion. This quaternion is not modified.
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const Quat3D | Conjugate () const |
| | Returns a quaternion that is the conjugate of this quaternion. This quaternion is not modified.
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const T | Angle () const |
| | Returns the angular rotation of this quaternion in radians.
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const T | AngleDegrees () const |
| | Returns the angular rotation of this quaternion in degrees.
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bool | IsNegligibleAngle () const |
| | Returns true if the angular rotation of this quaternion is likely to be considered negligible.
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bool | IsSmallAngle () const |
| | Returns true if the angular rotation of this quaternion is small enough to be a good candidate for small angle approximations.
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Vec3D< T > | Axis () const |
| | Returns the normalized axis of rotation of this quaternion.
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Vec3D< T > | AxisUnNormalized () const |
| | Returns the un0normalized axis of rotation of this quaternion.
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| void | AngleAxis (T &angle, Vec3D< T > &axis) const |
| | Returns the angle and a normalize axis that represent this quaternion's rotation.
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| void | AngleAxisUnNormalized (T &angle, Vec3D< T > &axis) const |
| | Returns the angle and an un-normalized axis that represent this quaternion's rotation.
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const Vec3D< T > | ToRotationVector () const |
| | Returns a rotation vector representing this quaternion rotation. Adapted from http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/.
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| void | FromRotationVector (const Vec3D< T > &VecIn) |
| | Overwrites this quaternion with values from the specified rotation vector. Adapted from http://physicsforgames.blogspot.com/2010/02/quaternions.html. Note: function changes this quaternion.
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| void | FromAngleToPosX (const Vec3D< T > &RotateFrom) |
| | Overwrites this quaternion with the calculated rotation that would transform the specified RotateFrom vector to point in the positve X direction. Note: function changes this quaternion.
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| const Vec3D< T > | RotateVec3D (const Vec3D< T > &f) const |
| | Returns a vector representing the specified vector "f" rotated by this quaternion.
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| template<typename U > |
| const Vec3D< U > | RotateVec3D (const Vec3D< U > &f) const |
| | Returns a vector representing the specified vector "f" rotated by this quaternion. Mixed template parameter version.
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| const Vec3D< T > | RotateVec3DInv (const Vec3D< T > &f) const |
| | Returns a vector representing the specified vector "f" rotated by the inverse of this quaternion. This is the opposite of RotateVec3D.
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| const Vec3D< U > | RotateVec3DInv (const Vec3D< U > &f) const |
| | Returns a vector representing the specified vector "f" rotated by the inverse of this quaternion. This is the opposite of RotateVec3D. Mixed template parameter version.
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Public Attributes |
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T | w |
| | The current W value.
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T | x |
| | The current X value.
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T | y |
| | The current Y value.
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T | z |
| | The current Z value.
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template<typename T = double>
class Quat3D< T >
A generic 3D quaternion template.
The template parameter is assumed to be either float or double depending on the desired numerical resolution.
1.7.6.1
