LQuaterniond Class Reference

This is the base quaternion class. More...

#include "lquaternion.h"

Inheritance diagram for LQuaterniond:

List of all members.

Public Member Functions
	LQuaterniond (const LVecBase4d &copy)
	LQuaterniond (double, double, double, double)
	LQuaterniond (double, const LVecBase3d &copy)
bool	almost_equal (const LQuaterniond &other) const
	Returns true if two quaternions are memberwise equal within a default tolerance based on the numeric type.
bool	almost_equal (const LQuaterniond &other, double threshold) const
	Returns true if two quaternions are memberwise equal within a specified tolerance.
bool	almost_same_direction (const LQuaterniond &other, double threshold) const
	Returns true if two quaternions represent the same rotation within a specified tolerance.
double	angle_deg (const LQuaterniond &other) const
	Returns the angle between the orientation represented by this quaternion and the other one, expressed in degrees.
double	angle_rad (const LQuaterniond &other) const
	Returns the angle between the orientation represented by this quaternion and the other one, expressed in radians.
LQuaterniond	conjugate () const
	Returns the complex conjugate of this quat.
bool	conjugate_from (const LQuaterniond &other)
	Computes the conjugate of the other quat, and stores the result in this quat.
bool	conjugate_in_place ()
	Sets this to be the conjugate of the current quat.
void	extract_to_matrix (LMatrix3d &m) const
	Based on the quat lib from VRPN.
void	extract_to_matrix (LMatrix4d &m) const
	Based on the quat lib from VRPN.
double	get_angle () const
	This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
double	get_angle_rad () const
	This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
LVector3d	get_axis () const
	This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
LVector3d	get_axis_normalized () const
	This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
LVector3d	get_forward (CoordinateSystem cs=CS_default) const
	Returns the orientation represented by this quaternion, expressed as a forward vector.
LVecBase3d	get_hpr (CoordinateSystem cs=CS_default) const
	Extracts the equivalent Euler angles from the unit quaternion.
double	get_i () const
double	get_j () const
double	get_k () const
double	get_r () const
LVector3d	get_right (CoordinateSystem cs=CS_default) const
	Returns the orientation represented by this quaternion, expressed as a right vector.
LVector3d	get_up (CoordinateSystem cs=CS_default) const
	Returns the orientation represented by this quaternion, expressed as an up vector.
bool	invert_from (const LQuaterniond &other)
	Computes the inverse of the other quat, and stores the result in this quat.
bool	invert_in_place ()
	Inverts the current quat.
bool	is_almost_identity (double tolerance) const
	Returns true if this quaternion represents the identity transformation within a given tolerance.
bool	is_identity () const
	Returns true if this quaternion represents the identity transformation: no rotation.
bool	is_same_direction (const LQuaterniond &other) const
	Returns true if two quaternions represent the same rotation within a default tolerance based on the numeric type.
LQuaterniond	multiply (const LQuaterniond &rhs) const
	actual multiply call (non virtual)
bool	normalize ()
	Normalizes the vector in place.
LQuaterniond	operator* (const LQuaterniond &) const
LMatrix3d	operator* (const LMatrix3d &)
	Quat * Matrix = matrix.
LMatrix4d	operator* (const LMatrix4d &)
	Quat * Matrix = matrix.
LQuaterniond	operator* (double scalar) const
LQuaterniond &	operator*= (const LQuaterniond &)
LQuaterniond	operator+ (const LQuaterniond &other) const
LQuaterniond	operator- () const
LQuaterniond	operator- (const LQuaterniond &other) const
LQuaterniond	operator/ (double scalar) const
void	output (ostream &) const
void	set_from_axis_angle (double angle_deg, const LVector3d &axis)
	angle_deg is the angle about the axis in degrees.
void	set_from_axis_angle_rad (double angle_rad, const LVector3d &axis)
	angle_rad is the angle about the axis in radians.
void	set_from_matrix (const LMatrix3d &m)
	Sets the quaternion according to the rotation represented by the matrix.
void	set_from_matrix (const LMatrix4d &m)
void	set_hpr (const LVecBase3d &hpr, CoordinateSystem cs=CS_default)
	Sets the quaternion as the unit quaternion that is equivalent to these Euler angles.
void	set_i (double i)
void	set_j (double j)
void	set_k (double k)
void	set_r (double r)
LVecBase4d	xform (const LVecBase4d &v) const
	Transforms a 4-d vector by the indicated rotation.
LVecBase3d	xform (const LVecBase3d &v) const
	Transforms a 3-d vector by the indicated rotation.
Static Public Member Functions
static TypeHandle	get_class_type ()
static const LQuaterniond &	ident_quat ()
	Returns an identity quaternion.
static void	init_type ()
static LQuaterniond	pure_imaginary (const LVector3d &)

---

Detailed Description

This is the base quaternion class.

Definition at line 963 of file lquaternion.h.

---

Member Function Documentation

bool LQuaterniond::almost_equal

(

const LQuaterniond &

other

)

const [inline]

Returns true if two quaternions are memberwise equal within a default tolerance based on the numeric type.

Definition at line 1321 of file lquaternion.h.

bool LQuaterniond::almost_equal	(	const LQuaterniond &	other,
		double	threshold
	)		const [inline]

Returns true if two quaternions are memberwise equal within a specified tolerance.

Definition at line 1332 of file lquaternion.h.

bool LQuaterniond::almost_same_direction	(	const LQuaterniond &	other,
		double	threshold
	)		const [inline]

Returns true if two quaternions represent the same rotation within a specified tolerance.

Definition at line 1359 of file lquaternion.h.

double LQuaterniond::angle_deg

(

const LQuaterniond &

other

)

const [inline]

Returns the angle between the orientation represented by this quaternion and the other one, expressed in degrees.

Definition at line 1238 of file lquaternion.h.

double LQuaterniond::angle_rad

(

const LQuaterniond &

other

)

const [inline]

Returns the angle between the orientation represented by this quaternion and the other one, expressed in radians.

Definition at line 1226 of file lquaternion.h.

LQuaterniond LQuaterniond::conjugate

(

)

const [inline]

Returns the complex conjugate of this quat.

Definition at line 1612 of file lquaternion.h.

bool LQuaterniond::conjugate_from

(

const LQuaterniond &

other

)

[inline]

Computes the conjugate of the other quat, and stores the result in this quat.

This is a fully general operation and makes no assumptions about the type of transform represented by the quat.

The other quat must be a different object than this quat. However, if you need to get a conjugate of a quat in place, see conjugate_in_place.

The return value is true if the quat was successfully inverted, false if there was a singularity.

Definition at line 1633 of file lquaternion.h.

bool LQuaterniond::conjugate_in_place

(

)

[inline]

Sets this to be the conjugate of the current quat.

Returns true if the successful, false if the quat was singular.

Definition at line 1646 of file lquaternion.h.

void LQuaterniond::extract_to_matrix

(

LMatrix4d &

m

)

const

Based on the quat lib from VRPN.

Definition at line 496 of file lquaternion.cxx.

void LQuaterniond::extract_to_matrix

(

LMatrix3d &

m

)

const

Based on the quat lib from VRPN.

Definition at line 475 of file lquaternion.cxx.

double LQuaterniond::get_angle

(

)

const [inline]

This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.

This returns the angle, in degrees counterclockwise about the axis.

It is necessary to ensure the quaternion has been normalized (for instance, with a call to normalize()) before calling this method.

Definition at line 1444 of file lquaternion.h.

Referenced by EggTransform::add_rotate3d().

double LQuaterniond::get_angle_rad

(

)

const [inline]

This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.

This returns the angle, in radians counterclockwise about the axis.

It is necessary to ensure the quaternion has been normalized (for instance, with a call to normalize()) before calling this method.

Definition at line 1427 of file lquaternion.h.

LVector3d LQuaterniond::get_axis

(

)

const [inline]

This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.

This returns the axis; it is not normalized.

Definition at line 1396 of file lquaternion.h.

Referenced by EggTransform::add_rotate3d().

LVector3d LQuaterniond::get_axis_normalized

(

)

const [inline]

This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.

This returns the normalized axis.

Definition at line 1408 of file lquaternion.h.

LVector3d LQuaterniond::get_forward

(

CoordinateSystem

cs = CS_default

)

const [inline]

Returns the orientation represented by this quaternion, expressed as a forward vector.

Definition at line 1504 of file lquaternion.h.

LVecBase3d LQuaterniond::get_hpr

(

CoordinateSystem

cs = CS_default

)

const

Extracts the equivalent Euler angles from the unit quaternion.

Definition at line 570 of file lquaternion.cxx.

LVector3d LQuaterniond::get_right

(

CoordinateSystem

cs = CS_default

)

const [inline]

Returns the orientation represented by this quaternion, expressed as a right vector.

Definition at line 1493 of file lquaternion.h.

LVector3d LQuaterniond::get_up

(

CoordinateSystem

cs = CS_default

)

const [inline]

Returns the orientation represented by this quaternion, expressed as an up vector.

Definition at line 1482 of file lquaternion.h.

const LQuaterniond & LQuaterniond::ident_quat

(

)

[inline, static]

Returns an identity quaternion.

Definition at line 1718 of file lquaternion.h.

bool LQuaterniond::invert_from

(

const LQuaterniond &

other

)

[inline]

Computes the inverse of the other quat, and stores the result in this quat.

This is a fully general operation and makes no assumptions about the type of transform represented by the quat.

The other quat must be a different object than this quat. However, if you need to invert a quat in place, see invert_in_place.

The return value is true if the quat was successfully inverted, false if there was a singularity.

Definition at line 1671 of file lquaternion.h.

bool LQuaterniond::invert_in_place

(

)

[inline]

Inverts the current quat.

Returns true if the inverse is successful, false if the quat was singular.

Definition at line 1684 of file lquaternion.h.

bool LQuaterniond::is_almost_identity

(

double

tolerance

)

const [inline]

Returns true if this quaternion represents the identity transformation within a given tolerance.

Definition at line 1707 of file lquaternion.h.

bool LQuaterniond::is_identity

(

)

const [inline]

Returns true if this quaternion represents the identity transformation: no rotation.

Definition at line 1696 of file lquaternion.h.

bool LQuaterniond::is_same_direction

(

const LQuaterniond &

other

)

const [inline]

Returns true if two quaternions represent the same rotation within a default tolerance based on the numeric type.

Definition at line 1348 of file lquaternion.h.

LQuaterniond LQuaterniond::multiply

(

const LQuaterniond &

rhs

)

const [inline]

actual multiply call (non virtual)

Definition at line 1179 of file lquaternion.h.

bool LQuaterniond::normalize

(

)

[inline]

Normalizes the vector in place.

Returns true if the vector was normalized, false if it was a zero-length vector.

Reimplemented from LVecBase4d.

Definition at line 1595 of file lquaternion.h.

LMatrix4d LQuaterniond::operator*

(

const LMatrix4d &

m

)

[inline]

Quat * Matrix = matrix.

Definition at line 1301 of file lquaternion.h.

LMatrix3d LQuaterniond::operator*

(

const LMatrix3d &

m

)

[inline]

Quat * Matrix = matrix.

Definition at line 1289 of file lquaternion.h.

void LQuaterniond::set_from_axis_angle	(	double	angle_deg,
		const LVector3d &	axis
	)		[inline]

angle_deg is the angle about the axis in degrees.

axis must be normalized.

Definition at line 1471 of file lquaternion.h.

void LQuaterniond::set_from_axis_angle_rad	(	double	angle_rad,
		const LVector3d &	axis
	)		[inline]

angle_rad is the angle about the axis in radians.

axis must be normalized.

Definition at line 1455 of file lquaternion.h.

void LQuaterniond::set_from_matrix

(

const LMatrix3d &

m

)

Sets the quaternion according to the rotation represented by the matrix.

Originally we tried an algorithm presented by Do-While Jones, but that turned out to be broken. This is based on the quat lib from UNC.

Definition at line 674 of file lquaternion.cxx.

void LQuaterniond::set_hpr	(	const LVecBase3d &	hpr,
		CoordinateSystem	cs = CS_default
	)

Sets the quaternion as the unit quaternion that is equivalent to these Euler angles.

(from Real-time Rendering, p.49)

Definition at line 520 of file lquaternion.cxx.

LVecBase3d LQuaterniond::xform

(

const LVecBase3d &

v

)

const [inline]

Transforms a 3-d vector by the indicated rotation.

Definition at line 1147 of file lquaternion.h.

LVecBase4d LQuaterniond::xform

(

const LVecBase4d &

v

)

const [inline]

Transforms a 4-d vector by the indicated rotation.

Definition at line 1163 of file lquaternion.h.

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

• panda/src/linmath/lquaternion.h
• panda/src/linmath/lquaternion.cxx