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QuatD Class Reference

This is the base quaternion class. More...

Inheritance diagram for QuatD:
VBase4D LOrientationd LRotationd

List of all members.

Public Member Functions

 QuatD ()
 QuatD (VBase4D const copy)
 QuatD (double, VBase3D const copy)
 QuatD (double, double, double, double)
bool almostEqual (QuatD const other)
 Returns true if two quaternions are memberwise equal within a default tolerance based on the numeric type.
bool almostEqual (QuatD const other, double threshold)
 Returns true if two quaternions are memberwise equal within a specified tolerance.
bool almostSameDirection (QuatD const other, double threshold)
 Returns true if two quaternions represent the same rotation within a specified tolerance.
double angleDeg (QuatD const other)
 Returns the angle between the orientation represented by this quaternion and the other one, expressed in degrees.
double angleRad (QuatD const other)
 Returns the angle between the orientation represented by this quaternion and the other one, expressed in radians.
QuatD conjugate ()
 Returns the complex conjugate of this quat.
bool conjugateFrom (QuatD 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 (Mat3D m)
 Based on the quat lib from VRPN.
 extractToMatrix (Mat4D m)
 Based on the quat lib from VRPN.
double getAngle ()
 This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
double getAngleRad ()
 This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
Vec3D getAxis ()
 This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
Vec3D getAxisNormalized ()
 This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis.
Vec3D getForward (CoordinateSystem cs)
 Returns the orientation represented by this quaternion, expressed as a forward vector.
Vec3D getForward ()
 Returns the orientation represented by this quaternion, expressed as a forward vector.
VBase3D getHpr (CoordinateSystem cs)
 Extracts the equivalent Euler angles from the unit quaternion.
VBase3D getHpr ()
 Extracts the equivalent Euler angles from the unit quaternion.
double getI ()
double getJ ()
double getK ()
double getR ()
Vec3D getRight (CoordinateSystem cs)
 Returns the orientation represented by this quaternion, expressed as a right vector.
Vec3D getRight ()
 Returns the orientation represented by this quaternion, expressed as a right vector.
Vec3D getUp (CoordinateSystem cs)
 Returns the orientation represented by this quaternion, expressed as an up vector.
Vec3D getUp ()
 Returns the orientation represented by this quaternion, expressed as an up vector.
bool invertFrom (QuatD const other)
 Computes the inverse of the other quat, and stores the result in this quat.
bool invertInPlace ()
 Inverts the current quat.
bool isAlmostIdentity (double 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 (QuatD const other)
 Returns true if two quaternions represent the same rotation within a default tolerance based on the numeric type.
QuatD multiply (QuatD const rhs)
 actual multiply call (non virtual)
bool normalize ()
 Normalizes the vector in place.
Mat3D operator* (Mat3D const )
 Quat * Matrix = matrix.
Mat4D operator* (Mat4D const )
 Quat * Matrix = matrix.
QuatD operator* (QuatD const )
QuatD operator* (double scalar)
QuatD operator*= (QuatD const )
QuatD operator+ (QuatD const other)
QuatD operator- ()
QuatD operator- (QuatD const other)
QuatD operator/ (double scalar)
 output (ostream)
 setFromAxisAngle (double angle_deg, Vec3D const axis)
 angle_deg is the angle about the axis in degrees.
 setFromAxisAngleRad (double angle_rad, Vec3D const axis)
 angle_rad is the angle about the axis in radians.
 setFromMatrix (Mat3D const m)
 Sets the quaternion according to the rotation represented by the matrix.
 setFromMatrix (Mat4D const m)
 setHpr (VBase3D const hpr, CoordinateSystem cs)
 Sets the quaternion as the unit quaternion that is equivalent to these Euler angles.
 setHpr (VBase3D const hpr)
 Sets the quaternion as the unit quaternion that is equivalent to these Euler angles.
 setI (double i)
 setJ (double j)
 setK (double k)
 setR (double r)
VBase3D xform (VBase3D const v)
 Transforms a 3-d vector by the indicated rotation.
VBase4D xform (VBase4D const v)
 Transforms a 4-d vector by the indicated rotation.

Static Public Member Functions

static TypeHandle getClassType ()
static QuatD const identQuat ()
 Returns an identity quaternion.
static QuatD pureImaginary (Vec3D const )

Detailed Description

This is the base quaternion class.


Constructor & Destructor Documentation

QuatD ( )
QuatD ( VBase4D const  copy)
QuatD ( double  ,
VBase3D const  copy 
)
QuatD ( double  ,
double  ,
double  ,
double   
)

Member Function Documentation

bool almostEqual ( QuatD const  other)

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

bool almostEqual ( QuatD const  other,
double  threshold 
)

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

bool almostSameDirection ( QuatD const  other,
double  threshold 
)

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

double angleDeg ( QuatD const  other)

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

double angleRad ( QuatD 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 ( QuatD 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.

double 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.

double 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 VBase4D.

Reimplemented in LOrientationd, and LRotationd.

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.

double getI ( )
double getJ ( )
double getK ( )
double 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.

Vec3D getUp ( )

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

static QuatD const identQuat ( ) [static]

Returns an identity quaternion.

bool invertFrom ( QuatD 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 ( double  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 ( QuatD const  other)

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

QuatD multiply ( QuatD 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 VBase4D.

Mat3D operator* ( Mat3D  const)

Quat * Matrix = matrix.

Mat4D operator* ( Mat4D  const)

Quat * Matrix = matrix.

QuatD operator* ( QuatD  const)

Reimplemented in LOrientationd, and LRotationd.

QuatD operator* ( double  scalar)

Reimplemented from VBase4D.

Reimplemented in LRotationd.

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

Reimplemented from VBase4D.

QuatD operator- ( QuatD const  other)
QuatD operator/ ( double  scalar)

Reimplemented from VBase4D.

Reimplemented in LRotationd.

output ( ostream  )

Reimplemented from VBase4D.

static QuatD pureImaginary ( Vec3D  const) [static]
setFromAxisAngle ( double  angle_deg,
Vec3D const  axis 
)

angle_deg is the angle about the axis in degrees.

axis must be normalized.

setFromAxisAngleRad ( double  angle_rad,
Vec3D const  axis 
)

angle_rad is the angle about the axis in radians.

axis must be normalized.

setFromMatrix ( Mat3D 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 ( Mat4D const  m)
setHpr ( VBase3D 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 ( VBase3D const  hpr)

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

(from Real-time Rendering, p.49)

setI ( double  i)
setJ ( double  j)
setK ( double  k)
setR ( double  r)
VBase3D xform ( VBase3D const  v)

Transforms a 3-d vector by the indicated rotation.

VBase4D xform ( VBase4D const  v)

Transforms a 4-d vector by the indicated rotation.

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