This is the base quaternion class. More...
#include "lquaternion.h"
Public Member Functions | |
LQuaterniond (const LVecBase4d ©) | |
LQuaterniond (double r, const LVecBase3d ©) | |
LQuaterniond (double r, double i, double j, double k) | |
bool | almost_equal (const LQuaterniond &other) const |
Returns true if two quaternions are memberwise equal within a default tolerance based on the numeric type. More... | |
bool | almost_equal (const LQuaterniond &other, double threshold) const |
Returns true if two quaternions are memberwise equal within a specified tolerance. More... | |
bool | almost_same_direction (const LQuaterniond &other, double threshold) const |
Returns true if two quaternions represent the same rotation within a specified tolerance. More... | |
double | angle_deg (const LQuaterniond &other) const |
Returns the angle between the orientation represented by this quaternion and the other one, expressed in degrees. More... | |
double | angle_rad (const LQuaterniond &other) const |
Returns the angle between the orientation represented by this quaternion and the other one, expressed in radians. More... | |
LQuaterniond | conjugate () const |
Returns the complex conjugate of this quat. More... | |
bool | conjugate_from (const LQuaterniond &other) |
Computes the conjugate of the other quat, and stores the result in this quat. More... | |
bool | conjugate_in_place () |
Sets this to be the conjugate of the current quat. More... | |
void | extract_to_matrix (LMatrix3d &m) const |
void | extract_to_matrix (LMatrix4d &m) const |
double | get_angle () const |
This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. More... | |
double | get_angle_rad () const |
This, along with get_axis(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. More... | |
LVector3d | get_axis () const |
This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. More... | |
LVector3d | get_axis_normalized () const |
This, along with get_angle(), returns the rotation represented by the quaternion as an angle about an arbitrary axis. More... | |
LVector3d | get_forward (CoordinateSystem cs=CS_default) const |
Returns the orientation represented by this quaternion, expressed as a forward vector. More... | |
LVecBase3d | get_hpr (CoordinateSystem cs=CS_default) const |
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. More... | |
LVector3d | get_up (CoordinateSystem cs=CS_default) const |
Returns the orientation represented by this quaternion, expressed as an up vector. More... | |
bool | invert_from (const LQuaterniond &other) |
Computes the inverse of the other quat, and stores the result in this quat. More... | |
bool | invert_in_place () |
Inverts the current quat. More... | |
bool | is_almost_identity (double tolerance) const |
Returns true if this quaternion represents the identity transformation within a given tolerance. More... | |
bool | is_identity () const |
Returns true if this quaternion represents the identity transformation: no rotation. More... | |
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. More... | |
LQuaterniond | multiply (const LQuaterniond &rhs) const |
actual multiply call (non virtual) More... | |
bool | normalize () |
LQuaterniond | operator* (double scalar) const |
LQuaterniond | operator* (const LQuaterniond &) const |
LMatrix3d | operator* (const LMatrix3d &) |
Quat * Matrix = matrix. More... | |
LMatrix4d | operator* (const LMatrix4d &) |
Quat * Matrix = matrix. More... | |
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. More... | |
void | set_from_axis_angle_rad (double angle_rad, const LVector3d &axis) |
angle_rad is the angle about the axis in radians. More... | |
void | set_from_matrix (const LMatrix3d &m) |
void | set_from_matrix (const LMatrix4d &m) |
void | set_hpr (const LVecBase3d &hpr, CoordinateSystem cs=CS_default) |
void | set_i (double i) |
void | set_j (double j) |
void | set_k (double k) |
void | set_r (double r) |
LVecBase3d | xform (const LVecBase3d &v) const |
Transforms a 3-d vector by the indicated rotation. More... | |
LVecBase4d | xform (const LVecBase4d &v) const |
Transforms a 4-d vector by the indicated rotation. More... | |
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LVecBase4d (const LVecBase4d ©) | |
LVecBase4d (const UnalignedLVecBase4d ©) | |
LVecBase4d (double fill_value) | |
LVecBase4d (double x, double y, double z, double w) | |
LVecBase4d (const LVecBase3d ©, double w) | |
LVecBase4d (const LPoint3d &point) | |
Constructs an LVecBase4 from an LPoint3. More... | |
LVecBase4d (const LVector3d &vector) | |
Constructs an LVecBase4 from an LVector3. More... | |
LVecBase4d (const EVector4 &v) | |
size_t | add_hash (size_t hash) const |
Adds the vector into the running hash. More... | |
size_t | add_hash (size_t hash, double threshold) const |
Adds the vector into the running hash. More... | |
void | add_to_cell (int i, double value) |
void | add_w (double value) |
void | add_x (double value) |
void | add_y (double value) |
void | add_z (double value) |
bool | almost_equal (const LVecBase4d &other, double threshold) const |
Returns true if two vectors are memberwise equal within a specified tolerance. More... | |
bool | almost_equal (const LVecBase4d &other) const |
Returns true if two vectors are memberwise equal within a default tolerance based on the numeric type. More... | |
iterator | begin () |
Returns an iterator that may be used to traverse the elements of the matrix, STL-style. More... | |
const_iterator | begin () const |
Returns an iterator that may be used to traverse the elements of the matrix, STL-style. More... | |
int | compare_to (const LVecBase4d &other) const |
This flavor of compare_to uses a default threshold value based on the numeric type. More... | |
int | compare_to (const LVecBase4d &other, double threshold) const |
Sorts vectors lexicographically, componentwise. More... | |
void | componentwise_mult (const LVecBase4d &other) |
double | dot (const LVecBase4d &other) const |
iterator | end () |
Returns an iterator that may be used to traverse the elements of the matrix, STL-style. More... | |
const_iterator | end () const |
Returns an iterator that may be used to traverse the elements of the matrix, STL-style. More... | |
void | extract_data (float *) |
void | fill (double fill_value) |
Sets each element of the vector to the indicated fill_value. More... | |
LVecBase4d | fmax (const LVecBase4d &other) const |
LVecBase4d | fmin (const LVecBase4d &other) const |
void | generate_hash (ChecksumHashGenerator &hashgen) const |
Adds the vector to the indicated hash generator. More... | |
void | generate_hash (ChecksumHashGenerator &hashgen, double threshold) const |
Adds the vector to the indicated hash generator. More... | |
double | get_cell (int i) const |
const double * | get_data () const |
Returns the address of the first of the four data elements in the vector. More... | |
size_t | get_hash () const |
Returns a suitable hash for phash_map. More... | |
size_t | get_hash (double threshold) const |
Returns a suitable hash for phash_map. More... | |
int | get_num_components () const |
Returns the number of elements in the vector, four. More... | |
double | get_w () const |
double | get_x () const |
double | get_y () const |
double | get_z () const |
bool | is_nan () const |
Returns true if any component of the vector is not-a-number, false otherwise. More... | |
double | length () const |
Returns the length of the vector, by the Pythagorean theorem. More... | |
double | length_squared () const |
Returns the square of the vector's length, cheap and easy. More... | |
bool | normalize () |
Normalizes the vector in place. More... | |
bool | operator!= (const LVecBase4d &other) const |
LVecBase4d | operator* (double scalar) const |
void | operator*= (double scalar) |
LVecBase4d | operator+ (const LVecBase4d &other) const |
void | operator+= (const LVecBase4d &other) |
LVecBase4d | operator- () const |
LVecBase4d | operator- (const LVecBase4d &other) const |
void | operator-= (const LVecBase4d &other) |
LVecBase4d | operator/ (double scalar) const |
void | operator/= (double scalar) |
bool | operator< (const LVecBase4d &other) const |
This performs a lexicographical comparison. More... | |
LVecBase4d & | operator= (const LVecBase4d ©) |
LVecBase4d & | operator= (const UnalignedLVecBase4d ©) |
LVecBase4d & | operator= (double fill_value) |
bool | operator== (const LVecBase4d &other) const |
double | operator[] (int i) const |
double & | operator[] (int i) |
void | output (ostream &out) const |
LVecBase4d | project (const LVecBase4d &onto) const |
Returns a new vector representing the projection of this vector onto another one. More... | |
void | read_datagram (DatagramIterator &source) |
Reads the vector from the Datagram using get_stdfloat(). More... | |
void | read_datagram_fixed (DatagramIterator &source) |
Reads the vector from the Datagram using get_float32() or get_float64(). More... | |
void | set (double x, double y, double z, double w) |
void | set_cell (int i, double value) |
void | set_w (double value) |
void | set_x (double value) |
void | set_y (double value) |
void | set_z (double value) |
void | write_datagram (Datagram &destination) const |
Writes the vector to the Datagram using add_stdfloat(). More... | |
void | write_datagram_fixed (Datagram &destination) const |
Writes the vector to the Datagram using add_float32() or add_float64(), depending on the type of floats in the vector, regardless of the setting of Datagram::set_stdfloat_double(). More... | |
Static Public Member Functions | |
static TypeHandle | get_class_type () |
static const LQuaterniond & | ident_quat () |
Returns an identity quaternion. More... | |
static void | init_type () |
static LQuaterniond | pure_imaginary (const LVector3d &v) |
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static TypeHandle | get_class_type () |
static void | init_type () |
static int | size () |
Returns 4: the number of components of a LVecBase4. More... | |
static const LVecBase4d & | unit_w () |
Returns a unit W vector. More... | |
static const LVecBase4d & | unit_x () |
Returns a unit X vector. More... | |
static const LVecBase4d & | unit_y () |
Returns a unit Y vector. More... | |
static const LVecBase4d & | unit_z () |
Returns a unit Z vector. More... | |
static const LVecBase4d & | zero () |
Returns a zero-length vector. More... | |
Additional Inherited Members | |
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enum | { num_components = 4, is_int = 0 } |
typedef const double * | const_iterator |
typedef LSimpleMatrix< double, 1, 4 > | EVector4 |
typedef const double * | iterator |
typedef double | numeric_type |
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EVector4 | _v |
This is the base quaternion class.
Definition at line 974 of file lquaternion.h.
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Returns true if two quaternions are memberwise equal within a default tolerance based on the numeric type.
Definition at line 1332 of file lquaternion.h.
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Returns true if two quaternions are memberwise equal within a specified tolerance.
Definition at line 1343 of file lquaternion.h.
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Returns true if two quaternions represent the same rotation within a specified tolerance.
Definition at line 1370 of file lquaternion.h.
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Returns the angle between the orientation represented by this quaternion and the other one, expressed in degrees.
Definition at line 1249 of file lquaternion.h.
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Returns the angle between the orientation represented by this quaternion and the other one, expressed in radians.
Definition at line 1237 of file lquaternion.h.
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Returns the complex conjugate of this quat.
Definition at line 1623 of file lquaternion.h.
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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 1644 of file lquaternion.h.
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Sets this to be the conjugate of the current quat.
Returns true if the successful, false if the quat was singular.
Definition at line 1657 of file lquaternion.h.
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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 1455 of file lquaternion.h.
Referenced by EggTransform::add_rotate3d().
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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 1438 of file lquaternion.h.
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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 1407 of file lquaternion.h.
Referenced by EggTransform::add_rotate3d().
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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 1419 of file lquaternion.h.
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Returns the orientation represented by this quaternion, expressed as a forward vector.
Definition at line 1515 of file lquaternion.h.
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Returns the orientation represented by this quaternion, expressed as a right vector.
Definition at line 1504 of file lquaternion.h.
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Returns the orientation represented by this quaternion, expressed as an up vector.
Definition at line 1493 of file lquaternion.h.
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Returns an identity quaternion.
Definition at line 1729 of file lquaternion.h.
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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 1682 of file lquaternion.h.
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Inverts the current quat.
Returns true if the inverse is successful, false if the quat was singular.
Definition at line 1695 of file lquaternion.h.
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Returns true if this quaternion represents the identity transformation within a given tolerance.
Definition at line 1718 of file lquaternion.h.
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Returns true if this quaternion represents the identity transformation: no rotation.
Definition at line 1707 of file lquaternion.h.
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Returns true if two quaternions represent the same rotation within a default tolerance based on the numeric type.
Definition at line 1359 of file lquaternion.h.
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actual multiply call (non virtual)
Definition at line 1190 of file lquaternion.h.
Quat * Matrix = matrix.
Definition at line 1300 of file lquaternion.h.
Quat * Matrix = matrix.
Definition at line 1312 of file lquaternion.h.
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angle_deg is the angle about the axis in degrees.
axis must be normalized.
Definition at line 1482 of file lquaternion.h.
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angle_rad is the angle about the axis in radians.
axis must be normalized.
Definition at line 1466 of file lquaternion.h.
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Transforms a 3-d vector by the indicated rotation.
Definition at line 1158 of file lquaternion.h.
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Transforms a 4-d vector by the indicated rotation.
Definition at line 1174 of file lquaternion.h.