FMQuaternion Class Reference
[Mathematics Classes.]

A quaternion. More...

#include <FMQuaternion.h>

List of all members.

Public Member Functions
	FMQuaternion ()
	Creates an empty FMQuaternion.
	FMQuaternion (float _x, float _y, float _z, float _w)
	Creates the quaternion with the given component values.
	FMQuaternion (const float *values)
	Creates the quaternion with the given component values.
	FMQuaternion (const double *values)
	See above.
	FMQuaternion (const FMVector3 &axis, float angle)
	Creates the quaternion from a given axis and angle of rotation.
	operator float * ()
	Retrieves this quaternion as an array of floats.
	operator const float * () const
	See above.
FMQuaternion &	operator= (const float *v)
	Assign this FMQuaternion to the given float array.
float	LengthSquared () const
	Retrieves the squared length of the vector.
float	Length () const
	Retrieves the length of the vector.
void	NormalizeIt ()
	Normalizes this vector.
FMQuaternion	Normalize () const
	Returns a quaternion with a unit length at the same space as this quaternion.
FMQuaternion	operator * (const FMQuaternion &q) const
	Returns the concatonation of this quaternion rotation and the given quaternion rotation.
FMVector3	operator * (const FMVector3 &v) const
	Returns the concatonation of this quaternion rotation applied on the given vector.
FMQuaternion	operator~ () const
	Returns the conjugate of this quaternion.
FMQuaternion &	operator *= (const FMQuaternion &q)
	Applies quaternion multiplication of the given quaternion with this quaternion and returns the value.
FMQuaternion &	operator= (const FMQuaternion &q)
	Copy constructor.
FMQuaternion	slerp (const FMQuaternion &other, float time) const
	Returns the slerp of this quaternion to other at time time.
FMVector3	ToEuler (FMVector3 *previousAngles=NULL) const
	Converts a quaternion to its Euler rotation angles.
void	ToAngleAxis (FMVector3 &axis, float &angle) const
	Converts a quaternion to a angle-axis rotation.
FMMatrix44	ToMatrix () const
	Converts a quaternion to a transformation matrix.
void	SetToMatrix (FMMatrix44 &m) const
	Sets the Quaternions transform onto the specified matrix.
Static Public Member Functions
static FMQuaternion	EulerRotationQuaternion (float x, float y, float z)
	Get the FMQuaternion representation of the Euler rotation angles.
static FMQuaternion	MatrixRotationQuaternion (const FMMatrix44 &mat)
	Get the FMQuaternion that represents the FMMatrix44 rotation.
Public Attributes
float	x
	The i component.
float	y
	The j component.
float	z
	The k component.
float	w
	The scalar component.
Static Public Attributes
static const FMQuaternion	Zero
	The zero quaternion.
static const FMQuaternion	Identity
	The identity quaternion.

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Detailed Description

A quaternion.

Used to represent rotations: quaternions have the sole advantage of reduced floating-point error when concatenating rotations.

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Constructor & Destructor Documentation

FMQuaternion::FMQuaternion (   )  [inline]

Creates an empty FMQuaternion. The default values are non deterministic.

FMQuaternion::FMQuaternion (  float  _x, float  _y, float  _z, float  _w )  [inline]

Creates the quaternion with the given component values. Parameters: _x  The i component. _y  The j component. _z  The k component. _w  The scalar component.

FMQuaternion::FMQuaternion (  const float *  values  )

Creates the quaternion with the given component values. Parameters: values  A static float array containing at least four elements.

FMQuaternion::FMQuaternion (  const FMVector3 &  axis, float  angle )

Creates the quaternion from a given axis and angle of rotation. Parameters: axis  The axis of rotation. angle  The angle of rotation in radians.

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Member Function Documentation

static FMQuaternion FMQuaternion::EulerRotationQuaternion (  float  x, float  y, float  z )  [static]

Get the FMQuaternion representation of the Euler rotation angles. Parameters: x  The rotation about the x-axis (roll), in radians. y  The rotation about the y-axis (pitch), in radians. z  The rotation about the z-axis (yaw), in radians.

float FMQuaternion::Length (   )  const [inline]

Retrieves the length of the vector. Returns: The length of this vector.

float FMQuaternion::LengthSquared (   )  const [inline]

Retrieves the squared length of the vector. Returns: The squared length of this vector.

static FMQuaternion FMQuaternion::MatrixRotationQuaternion (  const FMMatrix44 &  mat  )  [static]

Get the FMQuaternion that represents the FMMatrix44 rotation. Parameters: mat  The matrix whose rotation we will represent

FMQuaternion FMQuaternion::Normalize (   )  const [inline]

Returns a quaternion with a unit length at the same space as this quaternion. Returns: A FMVector3 with length 1 and same direction as this vector.

FMVector3 FMQuaternion::operator * (  const FMVector3 &  v  )  const

Returns the concatonation of this quaternion rotation applied on the given vector. This concatonation works great on vector but will give strange results for points. Parameters: v  A 3D vector to rotate. Returns: The rotated 3D vector.

FMQuaternion FMQuaternion::operator * (  const FMQuaternion &  q  )  const

Returns the concatonation of this quaternion rotation and the given quaternion rotation. Parameters: q  A second quaternion rotation. Returns: The result of the two quaternion rotation.

FMQuaternion& FMQuaternion::operator *= (  const FMQuaternion &  q  )  [inline]

Applies quaternion multiplication of the given quaternion with this quaternion and returns the value. Parameters: q  The quaternion multiplied with. Returns: The resulting quaternion.

FMQuaternion::operator float * (   )  [inline]

Retrieves this quaternion as an array of floats. Returns: The float array.

FMQuaternion& FMQuaternion::operator= (  const FMQuaternion &  q  )  [inline]

Copy constructor. Clones the given quaternion into this quaternion. Parameters: q  A quaternion to clone. Returns: This quaternion.

FMQuaternion& FMQuaternion::operator= (  const float *  v  )  [inline]

Assign this FMQuaternion to the given float array. Assigns each coordinate of this FMQuaternion to the elements in the float array. The first element to the i component, the second to the j, the third to the k, and the forth to the scalar. Parameters: v  The float array to assign with. Returns: This quaternion.

FMQuaternion FMQuaternion::operator~ (   )  const [inline]

Returns the conjugate of this quaternion. Returns: The conjugate.

void FMQuaternion::SetToMatrix (  FMMatrix44 &  m  )  const

Sets the Quaternions transform onto the specified matrix. This will overwrite any existing rotations, but not positions Parameters: m  The matrix to set our transform onto

FMQuaternion FMQuaternion::slerp (  const FMQuaternion &  other, float  time )  const

Returns the slerp of this quaternion to other at time time. Parameters: other  The Quaternion to interpolate to time  The percentage (0 < time < 1) to slerp Returns: The Quaternion formed by the slerp

void FMQuaternion::ToAngleAxis (  FMVector3 &  axis, float &  angle )  const

Converts a quaternion to a angle-axis rotation. Parameters: axis  The returned axis for the rotation. angle  The returned angle for the rotation, in radians.

FMVector3 FMQuaternion::ToEuler (  FMVector3 *  previousAngles = NULL  )  const

Converts a quaternion to its Euler rotation angles. Parameters: previousAngles  To support animated quaternions conversion, you need to pass in the previous quaternion's converted angles. The closest angles to the previous angles will be returned for a smooth animation. If this parameter is NULL, one valid set of angles will be returned. Returns: A 3D vector containing the Euler rotation angles.

FMMatrix44 FMQuaternion::ToMatrix (   )  const

Converts a quaternion to a transformation matrix. Returns: The transformation matrix for this quaternion.

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Member Data Documentation

const FMQuaternion FMQuaternion::Identity [static]

The identity quaternion. Transforming a vector or a point with this quaternion returns the same vector or point.

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

• FMath/FMQuaternion.h

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