csQuaternion Class Reference
[Geometry utilities]
Class for a quaternion.
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#include <quaterni.h>
Public Methods | |
void | Init (float theR, float theX, float theY, float theZ) |
Initialize a quaternion with specific values. | |
csQuaternion () | |
Construct a 0,0,0,0 quaternion. | |
csQuaternion (float theR, float theX=0.0, float theY=0.0, float theZ=0.0) | |
Construct a quaternion with the given parameters. | |
csQuaternion (const csQuaternion &q) | |
Copy constructor. | |
csQuaternion (const csVector3 &q) | |
Construct quaternion from a vector. | |
csQuaternion (const csMatrix3 &smat) | |
Construct quaternion from a matrix. | |
csQuaternion & | operator *= (const csQuaternion &q2) |
Multiply two quaternions. | |
void | Negate () |
Negate all parameters of the quaternion. | |
void | Invert () |
Invert the orientation of this quaternion. | |
void | GetAxisAngle (csVector3 &axis, float &phi) const |
Get an axis-angle representation of this orientation. | |
void | SetWithAxisAngle (csVector3 axis, float phi) |
Set the quaternion using an axis-angle representation. | |
void | PrepRotation (float angle, csVector3 vec) |
Prepare a rotation quaternion, we do a rotation around vec by an angle of "angle". | |
csVector3 | Rotate (csVector3 vec) |
rotated = q * vec * qConj. | |
void | Normalize () |
Normalize this quaternion. | |
void | SetWithEuler (const csVector3 &rot) |
Convert a set of Euler angles to a Quaternion. | |
void | GetEulerAngles (csVector3 &angles) |
Convert a Quaternion to a set of Euler angles. | |
csQuaternion | ToAxisAngle () const |
Return an Axis Angle representation of this Quaternion. | |
csQuaternion | Slerp (const csQuaternion &quat2, float slerp) const |
Spherical Linear Interpolation between two quaternions Calculated between this class & the second quaternion by the slerp factor and returned as a new quaternion. | |
Friends | |
csQuaternion | operator+ (const csQuaternion &q1, const csQuaternion &q2) |
Add two quaternions. | |
csQuaternion | operator- (const csQuaternion &q1, const csQuaternion &q2) |
Subtract two quaternions. | |
csQuaternion | operator * (const csQuaternion &q1, const csQuaternion &q2) |
Multiply two quaternions. |
Detailed Description
Class for a quaternion.
Definition at line 35 of file quaterni.h.
Constructor & Destructor Documentation
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Construct a 0,0,0,0 quaternion.
Definition at line 43 of file quaterni.h. References Init(). |
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Construct a quaternion with the given parameters.
Definition at line 45 of file quaterni.h. References Init(). |
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Copy constructor.
Definition at line 48 of file quaterni.h. |
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Construct quaternion from a vector.
Definition at line 50 of file quaterni.h. References Init(), csVector3::x, csVector3::y, and csVector3::z. |
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Construct quaternion from a matrix.
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Member Function Documentation
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Get an axis-angle representation of this orientation.
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Convert a Quaternion to a set of Euler angles. Returns a (X,Y,Z) rather than Yaw-Pitch-Roll (Y,X,Z). |
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Initialize a quaternion with specific values.
Definition at line 39 of file quaterni.h. Referenced by csQuaternion(), Negate(), operator *=(), and PrepRotation(). |
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Invert the orientation of this quaternion.
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Negate all parameters of the quaternion.
Definition at line 93 of file quaterni.h. References Init(). |
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Normalize this quaternion.
Definition at line 136 of file quaterni.h. References qisqrt(). |
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Multiply two quaternions.
Definition at line 80 of file quaterni.h. |
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Prepare a rotation quaternion, we do a rotation around vec by an angle of "angle". Note that vec needs to be a normalized vector (we don't check this). Definition at line 117 of file quaterni.h. References Init(), csVector3::x, csVector3::y, and csVector3::z. |
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rotated = q * vec * qConj.
Definition at line 125 of file quaterni.h. |
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Set the quaternion using an axis-angle representation.
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Convert a set of Euler angles to a Quaternion. Takes a (X,Y,Z) rather than Yaw-Pitch-Roll (Y,X,Z) The output is NOT Normalized, if you wish to do so, normalize it yourself. |
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Spherical Linear Interpolation between two quaternions Calculated between this class & the second quaternion by the slerp factor and returned as a new quaternion.
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Return an Axis Angle representation of this Quaternion.
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Friends And Related Function Documentation
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Multiply two quaternions.
Definition at line 70 of file quaterni.h. |
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Add two quaternions.
Definition at line 56 of file quaterni.h. |
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Subtract two quaternions.
Definition at line 63 of file quaterni.h. |
The documentation for this class was generated from the following file:
- csgeom/quaterni.h
Generated for Crystal Space by doxygen 1.2.18