OgreMathLib::Quaternion Class Reference

#include <OgreMathLib.h>

Public Member Functions
	Quaternion ()
	Default constructor, initializes to identity rotation (aka 0�)
	Quaternion (Real fW, Real fX, Real fY, Real fZ)
	Construct from an explicit list of values.
	Quaternion (const Matrix3 &rot)
	Construct a quaternion from a rotation matrix.
	Quaternion (const Radian &rfAngle, const Vector3 &rkAxis)
	Construct a quaternion from an angle/axis.
	Quaternion (const Vector3 &xaxis, const Vector3 &yaxis, const Vector3 &zaxis)
	Construct a quaternion from 3 orthonormal local axes.
	Quaternion (const Vector3 *akAxis)
	Construct a quaternion from 3 orthonormal local axes.
	Quaternion (Real *valptr)
	Construct a quaternion from 4 manual w/x/y/z values.
void	swap (Quaternion &other)
Real	operator[] (const size_t i) const
	Array accessor operator.
Real &	operator[] (const size_t i)
	Array accessor operator.
Real *	ptr ()
	Pointer accessor for direct copying.
const Real *	ptr () const
	Pointer accessor for direct copying.
void	FromRotationMatrix (const Matrix3 &kRot)
void	ToRotationMatrix (Matrix3 &kRot) const
void	FromAngleAxis (const Radian &rfAngle, const Vector3 &rkAxis)
void	ToAngleAxis (Radian &rfAngle, Vector3 &rkAxis) const
void	ToAngleAxis (Degree &dAngle, Vector3 &rkAxis) const
void	FromAxes (const Vector3 *akAxis)
void	FromAxes (const Vector3 &xAxis, const Vector3 &yAxis, const Vector3 &zAxis)
void	ToAxes (Vector3 *akAxis) const
void	ToAxes (Vector3 &xAxis, Vector3 &yAxis, Vector3 &zAxis) const
Vector3	xAxis (void) const
	Get the local x-axis.
Vector3	yAxis (void) const
	Get the local y-axis.
Vector3	zAxis (void) const
	Get the local z-axis.
Quaternion &	operator= (const Quaternion &rkQ)
Quaternion	operator+ (const Quaternion &rkQ) const
Quaternion	operator- (const Quaternion &rkQ) const
Quaternion	operator* (const Quaternion &rkQ) const
Quaternion	operator* (Real fScalar) const
Quaternion	operator- () const
bool	operator== (const Quaternion &rhs) const
bool	operator!= (const Quaternion &rhs) const
Real	Dot (const Quaternion &rkQ) const
Real	Norm () const
Real	normalise (void)
	Normalises this quaternion, and returns the previous length.
Quaternion	Inverse () const
Quaternion	UnitInverse () const
Quaternion	Exp () const
Quaternion	Log () const
Vector3	operator* (const Vector3 &rkVector) const
Radian	getRoll (bool reprojectAxis=true) const
Radian	getPitch (bool reprojectAxis=true) const
Radian	getYaw (bool reprojectAxis=true) const
bool	equals (const Quaternion &rhs, const Radian &tolerance) const
	Equality with tolerance (tolerance is max angle difference)
bool	isNaN () const
	Check whether this quaternion contains valid values.
std::string	to_s () const

Static Public Member Functions
static Quaternion	Slerp (Real fT, const Quaternion &rkP, const Quaternion &rkQ, bool shortestPath=false)
static Quaternion	SlerpExtraSpins (Real fT, const Quaternion &rkP, const Quaternion &rkQ, int iExtraSpins)
static void	Intermediate (const Quaternion &rkQ0, const Quaternion &rkQ1, const Quaternion &rkQ2, Quaternion &rka, Quaternion &rkB)
static Quaternion	Squad (Real fT, const Quaternion &rkP, const Quaternion &rkA, const Quaternion &rkB, const Quaternion &rkQ, bool shortestPath=false)
static Quaternion	nlerp (Real fT, const Quaternion &rkP, const Quaternion &rkQ, bool shortestPath=false)

Public Attributes
Real	w
Real	x
Real	y
Real	z

Static Public Attributes
static const Real	ms_fEpsilon = 1e-03f
static const Quaternion	ZERO
static const Quaternion	IDENTITY

Friends
OGREMATHLIB_EXPORT friend Quaternion	operator* (Real fScalar, const Quaternion &rkQ)
OGREMATHLIB_EXPORT friend std::ostream &	operator<< (std::ostream &o, const Quaternion &q)

Detailed Description

Implementation of a Quaternion, i.e. a rotation around an axis.

Member Function Documentation

getPitch()

Radian OgreMathLib::Quaternion::getPitch

(

bool

reprojectAxis = true

)

const

Calculate the local pitch element of this quaternion

Parameters

reprojectAxis

By default the method returns the 'intuitive' result that is, if you projected the local Z of the quaternion onto the X and Y axes, the angle between them is returned. If set to true though, the result is the actual yaw that will be used to implement the quaternion, which is the shortest possible path to get to the same orientation and may involve less axial rotation.

getRoll()

Radian OgreMathLib::Quaternion::getRoll

(

bool

reprojectAxis = true

)

const

Calculate the local roll element of this quaternion.

Parameters

reprojectAxis

By default the method returns the 'intuitive' result that is, if you projected the local Y of the quaternion onto the X and Y axes, the angle between them is returned. If set to false though, the result is the actual yaw that will be used to implement the quaternion, which is the shortest possible path to get to the same orientation and may involve less axial rotation.

getYaw()

Radian OgreMathLib::Quaternion::getYaw

(

bool

reprojectAxis = true

)

const

Calculate the local yaw element of this quaternion

Parameters

reprojectAxis

By default the method returns the 'intuitive' result that is, if you projected the local Z of the quaternion onto the X and Z axes, the angle between them is returned. If set to true though, the result is the actual yaw that will be used to implement the quaternion, which is the shortest possible path to get to the same orientation and may involve less axial rotation.

swap()

void OgreMathLib::Quaternion::swap ( Quaternion &  other )

inline

Exchange the contents of this quaternion with another.

Friends And Related Function Documentation

operator<<

OGREMATHLIB_EXPORT friend std::ostream& operator<< ( std::ostream &  o, const Quaternion &  q  )

friend

Function for writing to a stream. Outputs "Quaternion(w, x, y, z)" with w,x,y,z being the member values of the quaternion.

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

• OgreMathLib.h
• OgreMathLib.cpp