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Quat Class Reference

This is the base quaternion class. More...

Inheritance diagram for Quat:
VBase4 LOrientationf LRotationf

List of all members.

Public Member Functions

 Quat ()
 Quat (VBase4 const copy)
 Quat (float, VBase3 const copy)
 Quat (float, float, float, float)
bool almostEqual (Quat const other)
 Returns true if two quaternions are memberwise equal within a default tolerance based on the numeric type.
bool almostEqual (Quat const other, float threshold)
 Returns true if two quaternions are memberwise equal within a specified tolerance.
bool almostSameDirection (Quat const other, float threshold)
 Returns true if two quaternions represent the same rotation within a specified tolerance.
float angleDeg (Quat const other)
 Returns the angle between the orientation represented by this quaternion and the other one, expressed in degrees.
float angleRad (Quat const other)
 Returns the angle between the orientation represented by this quaternion and the other one, expressed in radians.
Quat conjugate ()
 Returns the complex conjugate of this quat.
bool conjugateFrom (Quat const other)
 Computes the conjugate of the other quat, and stores the result in this quat.
bool conjugateInPlace ()
 Sets this to be the conjugate of the current quat.
 extractToMatrix (Mat3 m)
 Based on the quat lib from VRPN.
 extractToMatrix (Mat4 m)
 Based on the quat lib from VRPN.
float getAngle ()
 This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
float getAngleRad ()
 This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
Vec3 getAxis ()
 This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
Vec3 getAxisNormalized ()
 This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
Vec3 getForward (CoordinateSystem cs)
 Returns the orientation represented by this quaternion, expressed as a forward vector.
Vec3 getForward ()
 Returns the orientation represented by this quaternion, expressed as a forward vector.
VBase3 getHpr (CoordinateSystem cs)
 Extracts the equivalent Euler angles from the unit quaternion.
VBase3 getHpr ()
 Extracts the equivalent Euler angles from the unit quaternion.
float getI ()
float getJ ()
float getK ()
float getR ()
Vec3 getRight (CoordinateSystem cs)
 Returns the orientation represented by this quaternion, expressed as a right vector.
Vec3 getRight ()
 Returns the orientation represented by this quaternion, expressed as a right vector.
Vec3 getUp (CoordinateSystem cs)
 Returns the orientation represented by this quaternion, expressed as an up vector.
Vec3 getUp ()
 Returns the orientation represented by this quaternion, expressed as an up vector.
bool invertFrom (Quat const other)
 Computes the inverse of the other quat, and stores the result in this quat.
bool invertInPlace ()
 Inverts the current quat.
bool isAlmostIdentity (float tolerance)
 Returns true if this quaternion represents the identity transformation within a given tolerance.
bool isIdentity ()
 Returns true if this quaternion represents the identity transformation: no rotation.
bool isSameDirection (Quat const other)
 Returns true if two quaternions represent the same rotation within a default tolerance based on the numeric type.
Quat multiply (Quat const rhs)
 actual multiply call (non virtual)
bool normalize ()
 Normalizes the vector in place.
Mat3 operator* (Mat3 const )
 Quat * Matrix = matrix.
Mat4 operator* (Mat4 const )
 Quat * Matrix = matrix.
Quat operator* (Quat const )
Quat operator* (float scalar)
Quat operator*= (Quat const )
Quat operator+ (Quat const other)
Quat operator- ()
Quat operator- (Quat const other)
Quat operator/ (float scalar)
 output (ostream)
 setFromAxisAngle (float angle_deg, Vec3 const axis)
 angle_deg is the angle about the axis in degrees.
 setFromAxisAngleRad (float angle_rad, Vec3 const axis)
 angle_rad is the angle about the axis in radians.
 setFromMatrix (Mat3 const m)
 Sets the quaternion according to the rotation represented by the matrix.
 setFromMatrix (Mat4 const m)
 setHpr (VBase3 const hpr, CoordinateSystem cs)
 Sets the quaternion as the unit quaternion that is equivalent to these Euler angles.
 setHpr (VBase3 const hpr)
 Sets the quaternion as the unit quaternion that is equivalent to these Euler angles.
 setI (float i)
 setJ (float j)
 setK (float k)
 setR (float r)
VBase3 xform (VBase3 const v)
 Transforms a 3-d vector by the indicated rotation.
VBase4 xform (VBase4 const v)
 Transforms a 4-d vector by the indicated rotation.

Static Public Member Functions

static TypeHandle getClassType ()
static Quat const identQuat ()
 Returns an identity quaternion.
static Quat pureImaginary (Vec3 const )

Detailed Description

This is the base quaternion class.


Constructor & Destructor Documentation

Quat ( )
Quat ( VBase4 const  copy)
Quat ( float  ,
VBase3 const  copy 
)
Quat ( float  ,
float  ,
float  ,
float   
)

Member Function Documentation

bool almostEqual ( Quat const  other)

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

bool almostEqual ( Quat const  other,
float  threshold 
)

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

bool almostSameDirection ( Quat const  other,
float  threshold 
)

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

float angleDeg ( Quat const  other)

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

float angleRad ( Quat const  other)

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

Returns the complex conjugate of this quat.

bool conjugateFrom ( Quat const  other)

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.

bool conjugateInPlace ( )

Sets this to be the conjugate of the current quat.

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

Based on the quat lib from VRPN.

Based on the quat lib from VRPN.

float getAngle ( )

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.

float getAngleRad ( )

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.

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.

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

This returns the normalized axis.

static TypeHandle getClassType ( ) [static]

Reimplemented from VBase4.

Reimplemented in LOrientationf, and LRotationf.

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

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

Extracts the equivalent Euler angles from the unit quaternion.

Extracts the equivalent Euler angles from the unit quaternion.

float getI ( )
float getJ ( )
float getK ( )
float getR ( )

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

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

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

Vec3 getUp ( )

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

static Quat const identQuat ( ) [static]

Returns an identity quaternion.

bool invertFrom ( Quat const  other)

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.

bool invertInPlace ( )

Inverts the current quat.

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

bool isAlmostIdentity ( float  tolerance)

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

bool isIdentity ( )

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

bool isSameDirection ( Quat const  other)

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

Quat multiply ( Quat const  rhs)

actual multiply call (non virtual)

bool normalize ( )

Normalizes the vector in place.

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

Reimplemented from VBase4.

Mat3 operator* ( Mat3  const)

Quat * Matrix = matrix.

Mat4 operator* ( Mat4  const)

Quat * Matrix = matrix.

Quat operator* ( Quat  const)

Reimplemented in LOrientationf, and LRotationf.

Quat operator* ( float  scalar)

Reimplemented from VBase4.

Reimplemented in LRotationf.

Quat operator*= ( Quat  const)
Quat operator+ ( Quat const  other)
Quat operator- ( )

Reimplemented from VBase4.

Quat operator- ( Quat const  other)
Quat operator/ ( float  scalar)

Reimplemented from VBase4.

Reimplemented in LRotationf.

output ( ostream  )

Reimplemented from VBase4.

static Quat pureImaginary ( Vec3  const) [static]
setFromAxisAngle ( float  angle_deg,
Vec3 const  axis 
)

angle_deg is the angle about the axis in degrees.

axis must be normalized.

setFromAxisAngleRad ( float  angle_rad,
Vec3 const  axis 
)

angle_rad is the angle about the axis in radians.

axis must be normalized.

setFromMatrix ( Mat3 const  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.

setFromMatrix ( Mat4 const  m)
setHpr ( VBase3 const  hpr,
CoordinateSystem  cs 
)

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

(from Real-time Rendering, p.49)

setHpr ( VBase3 const  hpr)

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

(from Real-time Rendering, p.49)

setI ( float  i)
setJ ( float  j)
setK ( float  k)
setR ( float  r)
VBase3 xform ( VBase3 const  v)

Transforms a 3-d vector by the indicated rotation.

VBase4 xform ( VBase4 const  v)

Transforms a 4-d vector by the indicated rotation.

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