Panda3D
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This is the base quaternion class. More...
#include "lquaternion.h"
Public Member Functions | |
LQuaternionf (const LVecBase4f ©) | |
LQuaternionf (float, float, float, float) | |
LQuaternionf (float, const LVecBase3f ©) | |
bool | almost_equal (const LQuaternionf &other) const |
Returns true if two quaternions are memberwise equal within a default tolerance based on the numeric type. | |
bool | almost_equal (const LQuaternionf &other, float threshold) const |
Returns true if two quaternions are memberwise equal within a specified tolerance. | |
bool | almost_same_direction (const LQuaternionf &other, float threshold) const |
Returns true if two quaternions represent the same rotation within a specified tolerance. | |
float | angle_deg (const LQuaternionf &other) const |
Returns the angle between the orientation represented by this quaternion and the other one, expressed in degrees. | |
float | angle_rad (const LQuaternionf &other) const |
Returns the angle between the orientation represented by this quaternion and the other one, expressed in radians. | |
LQuaternionf | conjugate () const |
Returns the complex conjugate of this quat. | |
bool | conjugate_from (const LQuaternionf &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 (LMatrix3f &m) const |
Based on the quat lib from VRPN. | |
void | extract_to_matrix (LMatrix4f &m) const |
Based on the quat lib from VRPN. | |
float | get_angle () const |
This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. | |
float | get_angle_rad () const |
This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. | |
LVector3f | get_axis () const |
This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. | |
LVector3f | get_axis_normalized () const |
This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. | |
LVector3f | get_forward (CoordinateSystem cs=CS_default) const |
Returns the orientation represented by this quaternion, expressed as a forward vector. | |
LVecBase3f | get_hpr (CoordinateSystem cs=CS_default) const |
Extracts the equivalent Euler angles from the unit quaternion. | |
float | get_i () const |
float | get_j () const |
float | get_k () const |
float | get_r () const |
LVector3f | get_right (CoordinateSystem cs=CS_default) const |
Returns the orientation represented by this quaternion, expressed as a right vector. | |
LVector3f | get_up (CoordinateSystem cs=CS_default) const |
Returns the orientation represented by this quaternion, expressed as an up vector. | |
bool | invert_from (const LQuaternionf &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 (float 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 LQuaternionf &other) const |
Returns true if two quaternions represent the same rotation within a default tolerance based on the numeric type. | |
LQuaternionf | multiply (const LQuaternionf &rhs) const |
actual multiply call (non virtual) | |
bool | normalize () |
Normalizes the vector in place. | |
LQuaternionf | operator* (const LQuaternionf &) const |
LMatrix3f | operator* (const LMatrix3f &) |
Quat * Matrix = matrix. | |
LMatrix4f | operator* (const LMatrix4f &) |
Quat * Matrix = matrix. | |
LQuaternionf | operator* (float scalar) const |
LQuaternionf & | operator*= (const LQuaternionf &) |
LQuaternionf | operator+ (const LQuaternionf &other) const |
LQuaternionf | operator- () const |
LQuaternionf | operator- (const LQuaternionf &other) const |
LQuaternionf | operator/ (float scalar) const |
void | output (ostream &) const |
void | set_from_axis_angle (float angle_deg, const LVector3f &axis) |
angle_deg is the angle about the axis in degrees. | |
void | set_from_axis_angle_rad (float angle_rad, const LVector3f &axis) |
angle_rad is the angle about the axis in radians. | |
void | set_from_matrix (const LMatrix3f &m) |
Sets the quaternion according to the rotation represented by the matrix. | |
void | set_from_matrix (const LMatrix4f &m) |
void | set_hpr (const LVecBase3f &hpr, CoordinateSystem cs=CS_default) |
Sets the quaternion as the unit quaternion that is equivalent to these Euler angles. | |
void | set_i (float i) |
void | set_j (float j) |
void | set_k (float k) |
void | set_r (float r) |
LVecBase4f | xform (const LVecBase4f &v) const |
Transforms a 4-d vector by the indicated rotation. | |
LVecBase3f | xform (const LVecBase3f &v) const |
Transforms a 3-d vector by the indicated rotation. | |
Static Public Member Functions | |
static TypeHandle | get_class_type () |
static const LQuaternionf & | ident_quat () |
Returns an identity quaternion. | |
static void | init_type () |
static LQuaternionf | pure_imaginary (const LVector3f &) |
This is the base quaternion class.
Definition at line 90 of file lquaternion.h.
bool LQuaternionf::almost_equal | ( | const LQuaternionf & | other | ) | const [inline] |
Returns true if two quaternions are memberwise equal within a default tolerance based on the numeric type.
Definition at line 448 of file lquaternion.h.
bool LQuaternionf::almost_equal | ( | const LQuaternionf & | other, |
float | threshold | ||
) | const [inline] |
Returns true if two quaternions are memberwise equal within a specified tolerance.
Definition at line 459 of file lquaternion.h.
bool LQuaternionf::almost_same_direction | ( | const LQuaternionf & | other, |
float | threshold | ||
) | const [inline] |
Returns true if two quaternions represent the same rotation within a specified tolerance.
Definition at line 486 of file lquaternion.h.
float LQuaternionf::angle_deg | ( | const LQuaternionf & | other | ) | const [inline] |
Returns the angle between the orientation represented by this quaternion and the other one, expressed in degrees.
Definition at line 365 of file lquaternion.h.
float LQuaternionf::angle_rad | ( | const LQuaternionf & | other | ) | const [inline] |
Returns the angle between the orientation represented by this quaternion and the other one, expressed in radians.
Definition at line 353 of file lquaternion.h.
LQuaternionf LQuaternionf::conjugate | ( | ) | const [inline] |
Returns the complex conjugate of this quat.
Definition at line 739 of file lquaternion.h.
bool LQuaternionf::conjugate_from | ( | const LQuaternionf & | 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 760 of file lquaternion.h.
bool LQuaternionf::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 773 of file lquaternion.h.
void LQuaternionf::extract_to_matrix | ( | LMatrix4f & | m | ) | const |
Based on the quat lib from VRPN.
Definition at line 123 of file lquaternion.cxx.
void LQuaternionf::extract_to_matrix | ( | LMatrix3f & | m | ) | const |
Based on the quat lib from VRPN.
Definition at line 102 of file lquaternion.cxx.
Referenced by TrackerNode::do_transmit_data(), FFTCompressor::read_hprs(), PhysxActorDesc::set_global_hpr(), and FFTCompressor::write_hprs().
float LQuaternionf::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 571 of file lquaternion.h.
float LQuaternionf::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 554 of file lquaternion.h.
LVector3f LQuaternionf::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 523 of file lquaternion.h.
LVector3f LQuaternionf::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 535 of file lquaternion.h.
LVector3f LQuaternionf::get_forward | ( | CoordinateSystem | cs = CS_default | ) | const [inline] |
Returns the orientation represented by this quaternion, expressed as a forward vector.
Definition at line 631 of file lquaternion.h.
LVecBase3f LQuaternionf::get_hpr | ( | CoordinateSystem | cs = CS_default | ) | const |
Extracts the equivalent Euler angles from the unit quaternion.
Definition at line 197 of file lquaternion.cxx.
Referenced by CLerpNodePathInterval::priv_step(), CLerpNodePathInterval::set_end_hpr(), and PhysicsObject::write().
LVector3f LQuaternionf::get_right | ( | CoordinateSystem | cs = CS_default | ) | const [inline] |
Returns the orientation represented by this quaternion, expressed as a right vector.
Definition at line 620 of file lquaternion.h.
LVector3f LQuaternionf::get_up | ( | CoordinateSystem | cs = CS_default | ) | const [inline] |
Returns the orientation represented by this quaternion, expressed as an up vector.
Definition at line 609 of file lquaternion.h.
const LQuaternionf & LQuaternionf::ident_quat | ( | ) | [inline, static] |
Returns an identity quaternion.
Definition at line 845 of file lquaternion.h.
Referenced by TrackerData::get_orient(), NodePath::get_quat(), PhysicsObject::PhysicsObject(), and PhysicsObject::reset_orientation().
bool LQuaternionf::invert_from | ( | const LQuaternionf & | 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 798 of file lquaternion.h.
bool LQuaternionf::invert_in_place | ( | ) | [inline] |
Inverts the current quat.
Returns true if the inverse is successful, false if the quat was singular.
Definition at line 811 of file lquaternion.h.
bool LQuaternionf::is_almost_identity | ( | float | tolerance | ) | const [inline] |
Returns true if this quaternion represents the identity transformation within a given tolerance.
Definition at line 834 of file lquaternion.h.
bool LQuaternionf::is_identity | ( | ) | const [inline] |
Returns true if this quaternion represents the identity transformation: no rotation.
Definition at line 823 of file lquaternion.h.
bool LQuaternionf::is_same_direction | ( | const LQuaternionf & | other | ) | const [inline] |
Returns true if two quaternions represent the same rotation within a default tolerance based on the numeric type.
Definition at line 475 of file lquaternion.h.
LQuaternionf LQuaternionf::multiply | ( | const LQuaternionf & | rhs | ) | const [inline] |
actual multiply call (non virtual)
Definition at line 306 of file lquaternion.h.
bool LQuaternionf::normalize | ( | ) | [inline] |
Normalizes the vector in place.
Returns true if the vector was normalized, false if it was a zero-length vector.
Reimplemented from LVecBase4f.
Definition at line 722 of file lquaternion.h.
Referenced by FFTCompressor::read_hprs(), and FFTCompressor::write_hprs().
Quat * Matrix = matrix.
Definition at line 428 of file lquaternion.h.
Quat * Matrix = matrix.
Definition at line 416 of file lquaternion.h.
void LQuaternionf::set_from_axis_angle | ( | float | angle_deg, |
const LVector3f & | axis | ||
) | [inline] |
angle_deg is the angle about the axis in degrees.
axis must be normalized.
Definition at line 598 of file lquaternion.h.
Referenced by PhysicsObject::add_impact().
void LQuaternionf::set_from_axis_angle_rad | ( | float | angle_rad, |
const LVector3f & | axis | ||
) | [inline] |
angle_rad is the angle about the axis in radians.
axis must be normalized.
Definition at line 582 of file lquaternion.h.
void LQuaternionf::set_from_matrix | ( | const LMatrix3f & | 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 301 of file lquaternion.cxx.
void LQuaternionf::set_hpr | ( | const LVecBase3f & | 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 147 of file lquaternion.cxx.
Referenced by AngularVectorForce::AngularVectorForce(), CConstrainHprInterval::CConstrainHprInterval(), CConstrainPosHprInterval::CConstrainPosHprInterval(), AnimChannelMatrixXfmTable::get_quat(), AnimChannelMatrixFixed::get_quat(), PhysxActor::move_global_hpr(), STTransform::operator*=(), CLerpNodePathInterval::priv_step(), CLerpNodePathInterval::set_end_quat(), PhysxActorDesc::set_global_hpr(), and PhysxActor::set_global_hpr().
LVecBase3f LQuaternionf::xform | ( | const LVecBase3f & | v | ) | const [inline] |
Transforms a 3-d vector by the indicated rotation.
Definition at line 274 of file lquaternion.h.
Referenced by PhysicsObject::add_local_impact(), PhysicsObject::add_local_impulse(), PhysicsObject::add_local_torque(), and STTransform::operator*=().
LVecBase4f LQuaternionf::xform | ( | const LVecBase4f & | v | ) | const [inline] |
Transforms a 4-d vector by the indicated rotation.
Definition at line 290 of file lquaternion.h.