vl::Quaternion< T_Scalar > Class Template Reference

Implements a Quaternion usually used to represent rotations and orientations. More...

#include <Quaternion.hpp>

Public Types
typedef T_Scalar	scalar_type

Public Member Functions
	Quaternion ()
	Constructor. More...
template<typename T >
	Quaternion (const Quaternion< T > &quat)
	Copy-constructor. More...
	Quaternion (T_Scalar x, T_Scalar y, T_Scalar z, T_Scalar w)
	Constructor. More...
	Quaternion (T_Scalar degrees, const Vector3< T_Scalar > &axis)
	Axis-angle constructor. More...
	Quaternion (const Vector4< T_Scalar > &v)
	Constructor from vec4. More...
Quaternion &	operator= (const Quaternion &q)
	Assignment operator. More...
Quaternion &	operator= (const Vector4< T_Scalar > &v)
	Assignment operator for vec4. More...
bool	operator== (const Quaternion &q) const
bool	operator!= (const Quaternion &q) const
bool	operator< (const Quaternion &other) const
	Lexicographic ordering. More...
const Vector4< T_Scalar > &	xyzw () const
	Returns the internal vec4 used to contain the xyzw the quaternion components. More...
Vector4< T_Scalar > &	xyzw ()
	Returns the internal vec4 used to contain the xyzw the quaternion components. More...
T_Scalar &	x ()
T_Scalar &	y ()
T_Scalar &	z ()
T_Scalar &	w ()
const T_Scalar &	x () const
const T_Scalar &	y () const
const T_Scalar &	z () const
const T_Scalar &	w () const
Quaternion	operator* (T_Scalar val) const
Quaternion &	operator*= (T_Scalar val)
Quaternion	operator/ (T_Scalar val) const
Quaternion &	operator/= (T_Scalar val)
Quaternion	operator+ (const Quaternion &q) const
Quaternion &	operator+= (const Quaternion &q)
Quaternion	operator- (const Quaternion &q) const
Quaternion &	operator-= (const Quaternion &q)
Quaternion	operator- () const
	Returns the negated quaternion. More...
Quaternion &	setZero ()
	Sets all the components of the quaternion to zero. More...
Quaternion &	setNoRotation ()
	Set the quaternion to no-rotation, i.e. Quaternion(0,0,0,1). More...
Quaternion &	setFromVectors (const Vector3< T_Scalar > &from, const Vector3< T_Scalar > &to)
	Sets the quaternion to represent the rotation transforming from into to. More...
Quaternion &	setFromMatrix (const Matrix4< T_Scalar > &m)
	Creates a quaternion representing the given rotation matrix. More...
Quaternion &	setFromMatrix (const Matrix3< T_Scalar > &m)
	Creates a quaternion representing the given rotation matrix. More...
Quaternion &	setFromEulerXYZ (T_Scalar degX, T_Scalar degY, T_Scalar degZ)
Quaternion &	setFromEulerZYX (T_Scalar degZ, T_Scalar degY, T_Scalar degX)
Quaternion &	setFromAxisAngle (const Vector3< T_Scalar > &axis, T_Scalar degrees)
void	toAxisAngle (Vector3< T_Scalar > &axis, T_Scalar &degrees) const
	Converts a quaternion to an axis-angle representation. More...
Matrix4< T_Scalar >	toMatrix4 () const
	Converts a quaternion to a 4x4 rotation matrix. More...
Matrix4< T_Scalar > &	toMatrix4 (Matrix4< T_Scalar > &) const
	Converts a quaternion to a 4x4 rotation matrix. More...
Matrix3< T_Scalar >	toMatrix3 () const
	Converts a quaternion to a 3x3 rotation matrix. More...
Matrix3< T_Scalar > &	toMatrix3 (Matrix3< T_Scalar > &) const
	Converts a quaternion to a 3x3 rotation matrix. More...
T_Scalar	dot (const Quaternion &q) const
	Returns the dot product between a quaternion and the given quaternion. More...
T_Scalar	length () const
	Returns the length of a quaternion. More...
Quaternion &	normalize (T_Scalar *len=NULL)
	Normalizes a quaternion. More...
Quaternion	getNormalized (T_Scalar *len=NULL) const
	Returns the normalized version of a quaternion. More...
Quaternion &	getNormalized (Quaternion &q, T_Scalar *len=NULL) const
	Returns the normalized version of a quaternion. More...
T_Scalar	lengthSquared () const
	Returns the squared length of a quaternion. More...
Quaternion	getConjugate () const
	Returns the conjugate of a quaternion. More...
Quaternion &	getConjugate (Quaternion &q) const
	Returns the conjugate of a quaternion. More...
Quaternion	getInverse () const
	Returns the inverse of a quaternion. More...
Quaternion &	getInverse (Quaternion &q) const
	Returns the inverse of a quaternion. More...

Static Public Member Functions
static Quaternion	getZero ()
	Returns the zero quaternion. More...
static Quaternion &	getZero (Quaternion &q)
	Returns the zero quaternion. More...
static Quaternion	getNoRotation ()
	Returns the no-rotation quaternion, i.e. Quaternion(0,0,0,1). More...
static Quaternion &	getNoRotation (Quaternion &q)
	Returns the no-rotation quaternion, i.e. Quaternion(0,0,0,1). More...
static Quaternion	getFromVectors (const Vector3< T_Scalar > &from, const Vector3< T_Scalar > &to)
	Sets the quaternion to represent the rotation transforming from into to. More...
static Quaternion &	getFromVectors (Quaternion &q, const Vector3< T_Scalar > &from, const Vector3< T_Scalar > &to)
	Sets the quaternion to represent the rotation transforming from into to. More...
static Quaternion	getFromMatrix (const Matrix4< T_Scalar > &m)
	Converts the given rotation matrix into a quaternion. More...
static Quaternion &	getFromMatrix (Quaternion &q, const Matrix4< T_Scalar > &m)
	Converts the given rotation matrix into a quaternion. More...
static Quaternion	getFromMatrix (const Matrix3< T_Scalar > &m)
	Converts the given rotation matrix into a quaternion. More...
static Quaternion &	getFromMatrix (Quaternion &q, const Matrix3< T_Scalar > &m)
	Converts the given rotation matrix into a quaternion. More...
static Quaternion	getFromEulerXYZ (T_Scalar degX, T_Scalar degY, T_Scalar degZ)
static Quaternion &	getFromEulerXYZ (Quaternion &q, T_Scalar degX, T_Scalar degY, T_Scalar degZ)
static Quaternion	getFromEulerZYX (T_Scalar degZ, T_Scalar degY, T_Scalar degX)
static Quaternion &	getFromEulerZYX (Quaternion &q, T_Scalar degZ, T_Scalar degY, T_Scalar degX)
static Quaternion	getFromAxisAngle (const Vector3< T_Scalar > &axis, T_Scalar degrees)
static Quaternion &	getFromAxisAngle (Quaternion &q, const Vector3< T_Scalar > &axis, T_Scalar degrees)
static Quaternion	getSlerp (T_Scalar t, const Quaternion &a, const Quaternion &b)
	Spherical linear interpolation of two quaternions. More...
static Quaternion &	getSlerp (Quaternion &out, T_Scalar t, const Quaternion &a, const Quaternion &b)
	Spherical linear interpolation of two quaternions. More...
static Quaternion	getSquad (T_Scalar t, const Quaternion &a, const Quaternion &p, const Quaternion &q, const Quaternion &b)
	Spherical cubic interpolation of two quaternions. More...
static Quaternion &	getSquad (Quaternion &out, T_Scalar t, const Quaternion &a, const Quaternion &p, const Quaternion &q, const Quaternion &b)
	Spherical cubic interpolation of two quaternions. More...
static Quaternion	getNlerp (T_Scalar t, const Quaternion &a, const Quaternion &b)
	Normalized spherical interpolation of two quaternions. More...
static Quaternion &	getNlerp (Quaternion &out, T_Scalar t, const Quaternion &a, const Quaternion &b)
	Normalized spherical interpolation of two quaternions. More...

Protected Attributes
Vector4< T_Scalar >	mXYZW

Detailed Description

template<typename T_Scalar>
class vl::Quaternion< T_Scalar >

Implements a Quaternion usually used to represent rotations and orientations.

Definition at line 44 of file Quaternion.hpp.

Member Typedef Documentation

scalar_type

template<typename T_Scalar>

typedef T_Scalar vl::Quaternion< T_Scalar >::scalar_type

Definition at line 47 of file Quaternion.hpp.

Constructor & Destructor Documentation

Quaternion() [1/5]

template<typename T_Scalar>

vl::Quaternion< T_Scalar >::Quaternion ( )

inline

Constructor.

Definition at line 50 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::setNoRotation().

Referenced by vl::Quaternion< T_Scalar >::getConjugate(), vl::Quaternion< T_Scalar >::getFromAxisAngle(), vl::Quaternion< T_Scalar >::getFromEulerXYZ(), vl::Quaternion< T_Scalar >::getFromEulerZYX(), vl::Quaternion< T_Scalar >::getFromMatrix(), vl::Quaternion< T_Scalar >::getFromVectors(), vl::Quaternion< T_Scalar >::getNoRotation(), vl::Quaternion< T_Scalar >::getZero(), and vl::Quaternion< T_Scalar >::operator-().

Quaternion() [2/5]

template<typename T_Scalar>

template<typename T >

vl::Quaternion< T_Scalar >::Quaternion ( const Quaternion< T > &  quat )

inlineexplicit

Copy-constructor.

Definition at line 57 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW, and vl::Quaternion< T_Scalar >::xyzw().

Quaternion() [3/5]

template<typename T_Scalar>

vl::Quaternion< T_Scalar >::Quaternion ( T_Scalar  x, T_Scalar  y, T_Scalar  z, T_Scalar  w  )

inlineexplicit

Constructor.

Definition at line 66 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW, vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

Quaternion() [4/5]

template<typename T_Scalar>

vl::Quaternion< T_Scalar >::Quaternion ( T_Scalar  degrees, const Vector3< T_Scalar > &  axis  )

inlineexplicit

Axis-angle constructor.

Definition at line 75 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::setFromAxisAngle().

Quaternion() [5/5]

template<typename T_Scalar>

vl::Quaternion< T_Scalar >::Quaternion ( const Vector4< T_Scalar > &  v )

inlineexplicit

Constructor from vec4.

Definition at line 81 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW, vl::Vector4< T_Scalar >::w(), vl::Vector4< T_Scalar >::x(), vl::Vector4< T_Scalar >::y(), and vl::Vector4< T_Scalar >::z().

Member Function Documentation

dot()

template<typename T_Scalar>

T_Scalar vl::Quaternion< T_Scalar >::dot ( const Quaternion< T_Scalar > &  q ) const

inline

Returns the dot product between a quaternion and the given quaternion.

Definition at line 381 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

Referenced by vl::Quaternion< T_Scalar >::getSlerp().

getConjugate() [1/2]

template<typename T_Scalar>

Quaternion vl::Quaternion< T_Scalar >::getConjugate ( ) const

inline

Returns the conjugate of a quaternion.

Definition at line 408 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion(), vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

Referenced by vl::Quaternion< T_Scalar >::getInverse().

getConjugate() [2/2]

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::getConjugate ( Quaternion< T_Scalar > &  q ) const

inline

Returns the conjugate of a quaternion.

Definition at line 414 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion(), vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

getFromAxisAngle() [1/2]

template<typename T_Scalar>

static Quaternion vl::Quaternion< T_Scalar >::getFromAxisAngle ( const Vector3< T_Scalar > &  axis, T_Scalar  degrees  )

inlinestatic

Definition at line 355 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion().

getFromAxisAngle() [2/2]

template<typename T_Scalar>

static Quaternion& vl::Quaternion< T_Scalar >::getFromAxisAngle ( Quaternion< T_Scalar > &  q, const Vector3< T_Scalar > &  axis, T_Scalar  degrees  )

inlinestatic

Definition at line 360 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::setFromAxisAngle(), vl::Quaternion< T_Scalar >::toAxisAngle(), vl::Quaternion< T_Scalar >::toMatrix3(), and vl::Quaternion< T_Scalar >::toMatrix4().

getFromEulerXYZ() [1/2]

template<typename T_Scalar>

static Quaternion vl::Quaternion< T_Scalar >::getFromEulerXYZ ( T_Scalar  degX, T_Scalar  degY, T_Scalar  degZ  )

inlinestatic

Definition at line 331 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion().

getFromEulerXYZ() [2/2]

template<typename T_Scalar>

static Quaternion& vl::Quaternion< T_Scalar >::getFromEulerXYZ ( Quaternion< T_Scalar > &  q, T_Scalar  degX, T_Scalar  degY, T_Scalar  degZ  )

inlinestatic

Definition at line 336 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::setFromEulerXYZ(), and vl::Quaternion< T_Scalar >::setFromEulerZYX().

getFromEulerZYX() [1/2]

template<typename T_Scalar>

static Quaternion vl::Quaternion< T_Scalar >::getFromEulerZYX ( T_Scalar  degZ, T_Scalar  degY, T_Scalar  degX  )

inlinestatic

Definition at line 343 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion().

getFromEulerZYX() [2/2]

template<typename T_Scalar>

static Quaternion& vl::Quaternion< T_Scalar >::getFromEulerZYX ( Quaternion< T_Scalar > &  q, T_Scalar  degZ, T_Scalar  degY, T_Scalar  degX  )

inlinestatic

Definition at line 348 of file Quaternion.hpp.

References vl::degrees(), vl::Quaternion< T_Scalar >::setFromAxisAngle(), and vl::Quaternion< T_Scalar >::setFromEulerZYX().

getFromMatrix() [1/4]

template<typename T_Scalar>

static Quaternion vl::Quaternion< T_Scalar >::getFromMatrix ( const Matrix4< T_Scalar > &  m )

inlinestatic

Converts the given rotation matrix into a quaternion.

Definition at line 302 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion().

getFromMatrix() [2/4]

template<typename T_Scalar>

static Quaternion& vl::Quaternion< T_Scalar >::getFromMatrix ( Quaternion< T_Scalar > &  q, const Matrix4< T_Scalar > &  m  )

inlinestatic

Converts the given rotation matrix into a quaternion.

Definition at line 308 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::setFromMatrix().

getFromMatrix() [3/4]

template<typename T_Scalar>

static Quaternion vl::Quaternion< T_Scalar >::getFromMatrix ( const Matrix3< T_Scalar > &  m )

inlinestatic

Converts the given rotation matrix into a quaternion.

Definition at line 318 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion().

getFromMatrix() [4/4]

template<typename T_Scalar>

static Quaternion& vl::Quaternion< T_Scalar >::getFromMatrix ( Quaternion< T_Scalar > &  q, const Matrix3< T_Scalar > &  m  )

inlinestatic

Converts the given rotation matrix into a quaternion.

Definition at line 324 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::setFromEulerXYZ(), and vl::Quaternion< T_Scalar >::setFromMatrix().

getFromVectors() [1/2]

template<typename T_Scalar>

static Quaternion vl::Quaternion< T_Scalar >::getFromVectors ( const Vector3< T_Scalar > &  from, const Vector3< T_Scalar > &  to  )

inlinestatic

Sets the quaternion to represent the rotation transforming from into to.

Definition at line 286 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion().

getFromVectors() [2/2]

template<typename T_Scalar>

static Quaternion& vl::Quaternion< T_Scalar >::getFromVectors ( Quaternion< T_Scalar > &  q, const Vector3< T_Scalar > &  from, const Vector3< T_Scalar > &  to  )

inlinestatic

Sets the quaternion to represent the rotation transforming from into to.

Definition at line 292 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::setFromMatrix(), and vl::Quaternion< T_Scalar >::setFromVectors().

getInverse() [1/2]

template<typename T_Scalar>

Quaternion vl::Quaternion< T_Scalar >::getInverse ( ) const

inline

Returns the inverse of a quaternion.

Definition at line 421 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::getConjugate(), and vl::Quaternion< T_Scalar >::lengthSquared().

getInverse() [2/2]

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::getInverse ( Quaternion< T_Scalar > &  q ) const

inline

Returns the inverse of a quaternion.

Definition at line 427 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::getConjugate(), vl::Quaternion< T_Scalar >::getSlerp(), and vl::Quaternion< T_Scalar >::lengthSquared().

getNlerp() [1/2]

template<typename T_Scalar>

static Quaternion vl::Quaternion< T_Scalar >::getNlerp ( T_Scalar  t, const Quaternion< T_Scalar > &  a, const Quaternion< T_Scalar > &  b  )

inlinestatic

Normalized spherical interpolation of two quaternions.

See also http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It/
Properties: YES commutative, YES torque-minimal, NO constant velocity.

Definition at line 458 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::normalize().

getNlerp() [2/2]

template<typename T_Scalar>

static Quaternion& vl::Quaternion< T_Scalar >::getNlerp ( Quaternion< T_Scalar > &  out, T_Scalar  t, const Quaternion< T_Scalar > &  a, const Quaternion< T_Scalar > &  b  )

inlinestatic

Normalized spherical interpolation of two quaternions.

See also http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It/
Properties: YES commutative, YES torque-minimal, NO constant velocity.

Definition at line 468 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::normalize().

getNormalized() [1/2]

template<typename T_Scalar>

Quaternion vl::Quaternion< T_Scalar >::getNormalized ( T_Scalar *  len = NULL ) const

inline

Returns the normalized version of a quaternion.

len returns the original length of the quaternion.

Definition at line 395 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::normalize().

getNormalized() [2/2]

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::getNormalized ( Quaternion< T_Scalar > &  q, T_Scalar *  len = NULL  ) const

inline

Returns the normalized version of a quaternion.

len returns the original length of the quaternion.

Definition at line 399 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::normalize().

getNoRotation() [1/2]

template<typename T_Scalar>

static Quaternion vl::Quaternion< T_Scalar >::getNoRotation ( )

inlinestatic

Returns the no-rotation quaternion, i.e. Quaternion(0,0,0,1).

Definition at line 271 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion().

getNoRotation() [2/2]

template<typename T_Scalar>

static Quaternion& vl::Quaternion< T_Scalar >::getNoRotation ( Quaternion< T_Scalar > &  q )

inlinestatic

Returns the no-rotation quaternion, i.e. Quaternion(0,0,0,1).

Definition at line 277 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::setFromVectors(), and vl::Quaternion< T_Scalar >::setNoRotation().

getSlerp() [1/2]

template<typename T_Scalar >

Quaternion< T_Scalar > vl::Quaternion< T_Scalar >::getSlerp ( T_Scalar  t, const Quaternion< T_Scalar > &  a, const Quaternion< T_Scalar > &  b  )

static

Spherical linear interpolation of two quaternions.

See also http://www.gamasutra.com/features/19980703/quaternions_01.htm
Properties: NO commutative, YES torque-minimal, YES constant velocity.

Definition at line 686 of file Quaternion.hpp.

Referenced by vl::Quaternion< T_Scalar >::getInverse(), and vl::Quaternion< T_Scalar >::getSquad().

getSlerp() [2/2]

template<typename T_Scalar >

Quaternion< T_Scalar > & vl::Quaternion< T_Scalar >::getSlerp ( Quaternion< T_Scalar > &  out, T_Scalar  t, const Quaternion< T_Scalar > &  a, const Quaternion< T_Scalar > &  b  )

static

Spherical linear interpolation of two quaternions.

See also http://www.gamasutra.com/features/19980703/quaternions_01.htm
Properties: NO commutative, YES torque-minimal, YES constant velocity.

Definition at line 694 of file Quaternion.hpp.

References vl::acos(), vl::Quaternion< T_Scalar >::dot(), vl::sin(), and VL_CHECK.

getSquad() [1/2]

template<typename T_Scalar>

static Quaternion vl::Quaternion< T_Scalar >::getSquad ( T_Scalar  t, const Quaternion< T_Scalar > &  a, const Quaternion< T_Scalar > &  p, const Quaternion< T_Scalar > &  q, const Quaternion< T_Scalar > &  b  )

inlinestatic

Spherical cubic interpolation of two quaternions.

Definition at line 444 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::getSlerp().

getSquad() [2/2]

template<typename T_Scalar>

static Quaternion& vl::Quaternion< T_Scalar >::getSquad ( Quaternion< T_Scalar > &  out, T_Scalar  t, const Quaternion< T_Scalar > &  a, const Quaternion< T_Scalar > &  p, const Quaternion< T_Scalar > &  q, const Quaternion< T_Scalar > &  b  )

inlinestatic

Spherical cubic interpolation of two quaternions.

Definition at line 450 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::getSlerp().

getZero() [1/2]

template<typename T_Scalar>

static Quaternion vl::Quaternion< T_Scalar >::getZero ( )

inlinestatic

Returns the zero quaternion.

Definition at line 249 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion().

getZero() [2/2]

template<typename T_Scalar>

static Quaternion& vl::Quaternion< T_Scalar >::getZero ( Quaternion< T_Scalar > &  q )

inlinestatic

Returns the zero quaternion.

Definition at line 255 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::setZero().

length()

template<typename T_Scalar>

T_Scalar vl::Quaternion< T_Scalar >::length ( ) const

inline

Returns the length of a quaternion.

Definition at line 387 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

lengthSquared()

template<typename T_Scalar>

T_Scalar vl::Quaternion< T_Scalar >::lengthSquared ( ) const

inline

Returns the squared length of a quaternion.

Definition at line 402 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

Referenced by vl::Quaternion< T_Scalar >::getInverse().

normalize()

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::normalize ( T_Scalar *  len = NULL )

inline

Normalizes a quaternion.

len returns the original length of the quaternion.

Definition at line 391 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

Referenced by vl::Quaternion< T_Scalar >::getNlerp(), and vl::Quaternion< T_Scalar >::getNormalized().

operator!=()

template<typename T_Scalar>

bool vl::Quaternion< T_Scalar >::operator!= ( const Quaternion< T_Scalar > &  q ) const

inline

Definition at line 114 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::operator==().

operator*()

template<typename T_Scalar>

Quaternion vl::Quaternion< T_Scalar >::operator* ( T_Scalar  val ) const

inline

Definition at line 154 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator*=()

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::operator*= ( T_Scalar  val )

inline

Definition at line 164 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator+()

template<typename T_Scalar>

Quaternion vl::Quaternion< T_Scalar >::operator+ ( const Quaternion< T_Scalar > &  q ) const

inline

Definition at line 194 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator+=()

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::operator+= ( const Quaternion< T_Scalar > &  q )

inline

Definition at line 204 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator-() [1/2]

template<typename T_Scalar>

Quaternion vl::Quaternion< T_Scalar >::operator- ( const Quaternion< T_Scalar > &  q ) const

inline

Definition at line 213 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator-() [2/2]

template<typename T_Scalar>

Quaternion vl::Quaternion< T_Scalar >::operator- ( ) const

inline

Returns the negated quaternion.

Definition at line 233 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::Quaternion(), vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator-=()

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::operator-= ( const Quaternion< T_Scalar > &  q )

inline

Definition at line 223 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator/()

template<typename T_Scalar>

Quaternion vl::Quaternion< T_Scalar >::operator/ ( T_Scalar  val ) const

inline

Definition at line 173 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator/=()

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::operator/= ( T_Scalar  val )

inline

Definition at line 184 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator<()

template<typename T_Scalar>

bool vl::Quaternion< T_Scalar >::operator< ( const Quaternion< T_Scalar > &  other ) const

inline

Lexicographic ordering.

Definition at line 120 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator=() [1/2]

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::operator= ( const Quaternion< T_Scalar > &  q )

inline

Assignment operator.

Definition at line 90 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW, vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

operator=() [2/2]

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::operator= ( const Vector4< T_Scalar > &  v )

inline

Assignment operator for vec4.

Definition at line 100 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW, vl::Vector4< T_Scalar >::w(), vl::Vector4< T_Scalar >::x(), vl::Vector4< T_Scalar >::y(), and vl::Vector4< T_Scalar >::z().

operator==()

template<typename T_Scalar>

bool vl::Quaternion< T_Scalar >::operator== ( const Quaternion< T_Scalar > &  q ) const

inline

Definition at line 109 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

Referenced by vl::Quaternion< T_Scalar >::operator!=().

setFromAxisAngle()

template<typename T_Scalar >

Quaternion< T_Scalar > & vl::Quaternion< T_Scalar >::setFromAxisAngle	(	const Vector3< T_Scalar > &	axis,
		T_Scalar	degrees
	)

Definition at line 596 of file Quaternion.hpp.

References vl::cos(), vl::dDEG_TO_RAD, vl::Quaternion< T_Scalar >::mXYZW, vl::Vector3< T_Scalar >::normalize(), vl::sin(), vl::Vector3< T_Scalar >::x(), vl::Vector3< T_Scalar >::y(), and vl::Vector3< T_Scalar >::z().

Referenced by vl::Quaternion< T_Scalar >::getFromAxisAngle(), vl::Quaternion< T_Scalar >::getFromEulerZYX(), vl::Quaternion< T_Scalar >::Quaternion(), and vl::Quaternion< T_Scalar >::setFromVectors().

setFromEulerXYZ()

template<typename T_Scalar >

Quaternion< T_Scalar > & vl::Quaternion< T_Scalar >::setFromEulerXYZ	(	T_Scalar	degX,
		T_Scalar	degY,
		T_Scalar	degZ
	)

Definition at line 527 of file Quaternion.hpp.

Referenced by vl::Quaternion< T_Scalar >::getFromEulerXYZ(), and vl::Quaternion< T_Scalar >::getFromMatrix().

setFromEulerZYX()

template<typename T_Scalar >

Quaternion< T_Scalar > & vl::Quaternion< T_Scalar >::setFromEulerZYX	(	T_Scalar	degZ,
		T_Scalar	degY,
		T_Scalar	degX
	)

Definition at line 534 of file Quaternion.hpp.

Referenced by vl::Quaternion< T_Scalar >::getFromEulerXYZ(), and vl::Quaternion< T_Scalar >::getFromEulerZYX().

setFromMatrix() [1/2]

template<typename T_Scalar >

Quaternion< T_Scalar > & vl::Quaternion< T_Scalar >::setFromMatrix

(

const Matrix4< T_Scalar > &

m

)

Creates a quaternion representing the given rotation matrix.

see also http://www.gamasutra.com/features/19980703/quaternions_01.htm

Definition at line 541 of file Quaternion.hpp.

References vl::Matrix4< T_Scalar >::get3x3().

Referenced by vl::Quaternion< T_Scalar >::getFromMatrix(), and vl::Quaternion< T_Scalar >::getFromVectors().

setFromMatrix() [2/2]

template<typename T_Scalar >

Quaternion< T_Scalar > & vl::Quaternion< T_Scalar >::setFromMatrix

(

const Matrix3< T_Scalar > &

m

)

Creates a quaternion representing the given rotation matrix.

see also http://www.gamasutra.com/features/19980703/quaternions_01.htm

Definition at line 547 of file Quaternion.hpp.

References vl::Matrix3< T_Scalar >::e(), vl::sqrt(), vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

setFromVectors()

template<typename T_Scalar >

Quaternion< T_Scalar > & vl::Quaternion< T_Scalar >::setFromVectors	(	const Vector3< T_Scalar > &	from,
		const Vector3< T_Scalar > &	to
	)

Sets the quaternion to represent the rotation transforming from into to.

Definition at line 729 of file Quaternion.hpp.

References vl::acos(), vl::clamp(), vl::cross(), vl::dot(), vl::dRAD_TO_DEG, vl::Vector3< T_Scalar >::normalize(), vl::Quaternion< T_Scalar >::setFromAxisAngle(), and vl::Quaternion< T_Scalar >::setNoRotation().

Referenced by vl::Quaternion< T_Scalar >::getFromVectors(), and vl::Quaternion< T_Scalar >::getNoRotation().

setNoRotation()

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::setNoRotation ( )

inline

Set the quaternion to no-rotation, i.e. Quaternion(0,0,0,1).

Definition at line 261 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

Referenced by vl::Quaternion< T_Scalar >::getNoRotation(), vl::Quaternion< T_Scalar >::Quaternion(), and vl::Quaternion< T_Scalar >::setFromVectors().

setZero()

template<typename T_Scalar>

Quaternion& vl::Quaternion< T_Scalar >::setZero ( )

inline

Sets all the components of the quaternion to zero.

Definition at line 239 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

Referenced by vl::Quaternion< T_Scalar >::getZero().

toAxisAngle()

template<typename T_Scalar >

void vl::Quaternion< T_Scalar >::toAxisAngle	(	Vector3< T_Scalar > &	axis,
		T_Scalar &	degrees
	)		const

Converts a quaternion to an axis-angle representation.

Definition at line 610 of file Quaternion.hpp.

References vl::acos(), vl::clamp(), vl::dRAD_TO_DEG, vl::sqrt(), VL_CHECK, vl::Quaternion< T_Scalar >::w(), vl::Vector3< T_Scalar >::x(), vl::Quaternion< T_Scalar >::x(), vl::Vector3< T_Scalar >::y(), vl::Quaternion< T_Scalar >::y(), vl::Vector3< T_Scalar >::z(), and vl::Quaternion< T_Scalar >::z().

Referenced by vl::Quaternion< T_Scalar >::getFromAxisAngle().

toMatrix3() [1/2]

template<typename T_Scalar >

Matrix3< T_Scalar > vl::Quaternion< T_Scalar >::toMatrix3

(

)

const

Converts a quaternion to a 3x3 rotation matrix.

Definition at line 679 of file Quaternion.hpp.

Referenced by vl::Quaternion< T_Scalar >::getFromAxisAngle().

toMatrix3() [2/2]

template<typename T_Scalar >

Matrix3< T_Scalar > & vl::Quaternion< T_Scalar >::toMatrix3

(

Matrix3< T_Scalar > &

out

)

const

Converts a quaternion to a 3x3 rotation matrix.

Definition at line 660 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

toMatrix4() [1/2]

template<typename T_Scalar >

Matrix4< T_Scalar > vl::Quaternion< T_Scalar >::toMatrix4

(

)

const

Converts a quaternion to a 4x4 rotation matrix.

Definition at line 653 of file Quaternion.hpp.

Referenced by vl::Quaternion< T_Scalar >::getFromAxisAngle().

toMatrix4() [2/2]

template<typename T_Scalar >

Matrix4< T_Scalar > & vl::Quaternion< T_Scalar >::toMatrix4

(

Matrix4< T_Scalar > &

out

)

const

Converts a quaternion to a 4x4 rotation matrix.

Definition at line 633 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

w() [1/2]

template<typename T_Scalar>

T_Scalar& vl::Quaternion< T_Scalar >::w ( )

inline

Definition at line 144 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

Referenced by vl::Quaternion< T_Scalar >::dot(), vl::Quaternion< T_Scalar >::getConjugate(), vl::Quaternion< T_Scalar >::lengthSquared(), vl::Quaternion< T_Scalar >::operator*(), vl::operator*(), vl::Quaternion< T_Scalar >::operator*=(), vl::Quaternion< T_Scalar >::operator+(), vl::Quaternion< T_Scalar >::operator+=(), vl::Quaternion< T_Scalar >::operator-(), vl::Quaternion< T_Scalar >::operator-=(), vl::Quaternion< T_Scalar >::operator/(), vl::Quaternion< T_Scalar >::operator/=(), vl::Quaternion< T_Scalar >::operator<(), vl::Quaternion< T_Scalar >::operator=(), vl::Quaternion< T_Scalar >::operator==(), vl::Quaternion< T_Scalar >::Quaternion(), vl::Quaternion< T_Scalar >::setFromMatrix(), vl::Quaternion< T_Scalar >::toAxisAngle(), vl::Quaternion< T_Scalar >::toMatrix3(), and vl::Quaternion< T_Scalar >::toMatrix4().

w() [2/2]

template<typename T_Scalar>

const T_Scalar& vl::Quaternion< T_Scalar >::w ( ) const

inline

Definition at line 152 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

x() [1/2]

template<typename T_Scalar>

T_Scalar& vl::Quaternion< T_Scalar >::x ( )

inline

Definition at line 138 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

Referenced by vl::Quaternion< T_Scalar >::dot(), vl::Quaternion< T_Scalar >::getConjugate(), vl::Quaternion< T_Scalar >::lengthSquared(), vl::Quaternion< T_Scalar >::operator*(), vl::operator*(), vl::Quaternion< T_Scalar >::operator*=(), vl::Quaternion< T_Scalar >::operator+(), vl::Quaternion< T_Scalar >::operator+=(), vl::Quaternion< T_Scalar >::operator-(), vl::Quaternion< T_Scalar >::operator-=(), vl::Quaternion< T_Scalar >::operator/(), vl::Quaternion< T_Scalar >::operator/=(), vl::Quaternion< T_Scalar >::operator<(), vl::Quaternion< T_Scalar >::operator=(), vl::Quaternion< T_Scalar >::operator==(), vl::Quaternion< T_Scalar >::Quaternion(), vl::Quaternion< T_Scalar >::setFromMatrix(), vl::Quaternion< T_Scalar >::toAxisAngle(), vl::Quaternion< T_Scalar >::toMatrix3(), and vl::Quaternion< T_Scalar >::toMatrix4().

x() [2/2]

template<typename T_Scalar>

const T_Scalar& vl::Quaternion< T_Scalar >::x ( ) const

inline

Definition at line 146 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

xyzw() [1/2]

template<typename T_Scalar>

const Vector4<T_Scalar>& vl::Quaternion< T_Scalar >::xyzw ( ) const

inline

Returns the internal vec4 used to contain the xyzw the quaternion components.

Definition at line 133 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

Referenced by vl::Quaternion< T_Scalar >::Quaternion().

xyzw() [2/2]

template<typename T_Scalar>

Vector4<T_Scalar>& vl::Quaternion< T_Scalar >::xyzw ( )

inline

Returns the internal vec4 used to contain the xyzw the quaternion components.

Definition at line 136 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

y() [1/2]

template<typename T_Scalar>

T_Scalar& vl::Quaternion< T_Scalar >::y ( )

inline

Definition at line 140 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

Referenced by vl::Quaternion< T_Scalar >::dot(), vl::Quaternion< T_Scalar >::getConjugate(), vl::Quaternion< T_Scalar >::lengthSquared(), vl::Quaternion< T_Scalar >::operator*(), vl::operator*(), vl::Quaternion< T_Scalar >::operator*=(), vl::Quaternion< T_Scalar >::operator+(), vl::Quaternion< T_Scalar >::operator+=(), vl::Quaternion< T_Scalar >::operator-(), vl::Quaternion< T_Scalar >::operator-=(), vl::Quaternion< T_Scalar >::operator/(), vl::Quaternion< T_Scalar >::operator/=(), vl::Quaternion< T_Scalar >::operator<(), vl::Quaternion< T_Scalar >::operator=(), vl::Quaternion< T_Scalar >::operator==(), vl::Quaternion< T_Scalar >::Quaternion(), vl::Quaternion< T_Scalar >::setFromMatrix(), vl::Quaternion< T_Scalar >::toAxisAngle(), vl::Quaternion< T_Scalar >::toMatrix3(), and vl::Quaternion< T_Scalar >::toMatrix4().

y() [2/2]

template<typename T_Scalar>

const T_Scalar& vl::Quaternion< T_Scalar >::y ( ) const

inline

Definition at line 148 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

z() [1/2]

template<typename T_Scalar>

T_Scalar& vl::Quaternion< T_Scalar >::z ( )

inline

Definition at line 142 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

Referenced by vl::Quaternion< T_Scalar >::dot(), vl::Quaternion< T_Scalar >::getConjugate(), vl::Quaternion< T_Scalar >::lengthSquared(), vl::Quaternion< T_Scalar >::operator*(), vl::operator*(), vl::Quaternion< T_Scalar >::operator*=(), vl::Quaternion< T_Scalar >::operator+(), vl::Quaternion< T_Scalar >::operator+=(), vl::Quaternion< T_Scalar >::operator-(), vl::Quaternion< T_Scalar >::operator-=(), vl::Quaternion< T_Scalar >::operator/(), vl::Quaternion< T_Scalar >::operator/=(), vl::Quaternion< T_Scalar >::operator<(), vl::Quaternion< T_Scalar >::operator=(), vl::Quaternion< T_Scalar >::operator==(), vl::Quaternion< T_Scalar >::Quaternion(), vl::Quaternion< T_Scalar >::setFromMatrix(), vl::Quaternion< T_Scalar >::toAxisAngle(), vl::Quaternion< T_Scalar >::toMatrix3(), and vl::Quaternion< T_Scalar >::toMatrix4().

z() [2/2]

template<typename T_Scalar>

const T_Scalar& vl::Quaternion< T_Scalar >::z ( ) const

inline

Definition at line 150 of file Quaternion.hpp.

References vl::Quaternion< T_Scalar >::mXYZW.

Member Data Documentation

mXYZW

template<typename T_Scalar>

Vector4<T_Scalar> vl::Quaternion< T_Scalar >::mXYZW

protected

Definition at line 477 of file Quaternion.hpp.

Referenced by vl::Quaternion< T_Scalar >::length(), vl::Quaternion< T_Scalar >::normalize(), vl::Quaternion< T_Scalar >::operator=(), vl::Quaternion< T_Scalar >::Quaternion(), vl::Quaternion< T_Scalar >::setFromAxisAngle(), vl::Quaternion< T_Scalar >::setNoRotation(), vl::Quaternion< T_Scalar >::setZero(), vl::Quaternion< T_Scalar >::w(), vl::Quaternion< T_Scalar >::x(), vl::Quaternion< T_Scalar >::xyzw(), vl::Quaternion< T_Scalar >::y(), and vl::Quaternion< T_Scalar >::z().

---

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

• C:/git/VL/src/vlCore/Quaternion.hpp