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LQuaterniond Class Reference

This is the base quaternion class. More...

#include "lquaternion.h"

Inheritance diagram for LQuaterniond:
LVecBase4d LOrientationd LRotationd

Public Member Functions

 LQuaterniond (const LVecBase4d &copy)
 
 LQuaterniond (double r, const LVecBase3d &copy)
 
 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...
 
LQuaterniondoperator*= (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...
 
- Public Member Functions inherited from LVecBase4d
 LVecBase4d (const LVecBase4d &copy)
 
 LVecBase4d (const UnalignedLVecBase4d &copy)
 
 LVecBase4d (double fill_value)
 
 LVecBase4d (double x, double y, double z, double w)
 
 LVecBase4d (const LVecBase3d &copy, 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...
 
LVecBase4d normalized () const
 Normalizes the vector and returns the normalized vector as a copy. 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...
 
LVecBase4doperator= (const LVecBase4d &copy)
 
LVecBase4doperator= (const UnalignedLVecBase4d &copy)
 
LVecBase4doperator= (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 LQuaterniondident_quat ()
 Returns an identity quaternion. More...
 
static void init_type ()
 
static LQuaterniond pure_imaginary (const LVector3d &v)
 
- Static Public Member Functions inherited from LVecBase4d
static TypeHandle get_class_type ()
 
static void init_type ()
 
static int size ()
 Returns 4: the number of components of a LVecBase4. More...
 
static const LVecBase4dunit_w ()
 Returns a unit W vector. More...
 
static const LVecBase4dunit_x ()
 Returns a unit X vector. More...
 
static const LVecBase4dunit_y ()
 Returns a unit Y vector. More...
 
static const LVecBase4dunit_z ()
 Returns a unit Z vector. More...
 
static const LVecBase4dzero ()
 Returns a zero-length vector. More...
 

Additional Inherited Members

- Public Types inherited from LVecBase4d
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
 
- Public Attributes inherited from LVecBase4d
EVector4 _v
 

Detailed Description

This is the base quaternion class.

Definition at line 974 of file lquaternion.h.

Member Function Documentation

◆ almost_equal() [1/2]

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 1332 of file lquaternion.h.

◆ almost_equal() [2/2]

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 1343 of file lquaternion.h.

◆ almost_same_direction()

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 1370 of file lquaternion.h.

References LMatrix4f::get_upper_3().

◆ angle_deg()

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 1249 of file lquaternion.h.

◆ angle_rad()

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 1237 of file lquaternion.h.

References LQuaternionf::get_forward().

◆ conjugate()

LQuaterniond LQuaterniond::conjugate ( ) const
inline

Returns the complex conjugate of this quat.

Definition at line 1623 of file lquaternion.h.

◆ conjugate_from()

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 1644 of file lquaternion.h.

◆ conjugate_in_place()

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 1657 of file lquaternion.h.

◆ get_angle()

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 1455 of file lquaternion.h.

Referenced by EggTransform::add_rotate3d().

◆ get_angle_rad()

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 1438 of file lquaternion.h.

◆ get_axis()

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 1407 of file lquaternion.h.

Referenced by EggTransform::add_rotate3d().

◆ get_axis_normalized()

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 1419 of file lquaternion.h.

◆ get_forward()

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 1515 of file lquaternion.h.

◆ get_right()

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 1504 of file lquaternion.h.

◆ get_up()

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 1493 of file lquaternion.h.

◆ ident_quat()

const LQuaterniond & LQuaterniond::ident_quat ( )
inlinestatic

Returns an identity quaternion.

Definition at line 1729 of file lquaternion.h.

References LQuaternionf::extract_to_matrix(), LMatrix4f::get_col(), LMatrix4f::get_row(), and LMatrix4f::set_row().

◆ invert_from()

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 1682 of file lquaternion.h.

Referenced by XFileToEggConverter::find_joint().

◆ invert_in_place()

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 1695 of file lquaternion.h.

◆ is_almost_identity()

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 1718 of file lquaternion.h.

◆ is_identity()

bool LQuaterniond::is_identity ( ) const
inline

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

Definition at line 1707 of file lquaternion.h.

◆ is_same_direction()

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 1359 of file lquaternion.h.

◆ multiply()

LQuaterniond LQuaterniond::multiply ( const LQuaterniond rhs) const
inline

actual multiply call (non virtual)

Definition at line 1190 of file lquaternion.h.

◆ operator*() [1/2]

LMatrix3d LQuaterniond::operator* ( const LMatrix3d m)
inline

Quat * Matrix = matrix.

Definition at line 1300 of file lquaternion.h.

◆ operator*() [2/2]

LMatrix4d LQuaterniond::operator* ( const LMatrix4d m)
inline

Quat * Matrix = matrix.

Definition at line 1312 of file lquaternion.h.

References LMatrix4f::get_col(), LMatrix4f::get_row(), and LMatrix4f::get_upper_3().

◆ set_from_axis_angle()

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 1482 of file lquaternion.h.

◆ set_from_axis_angle_rad()

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 1466 of file lquaternion.h.

References LVecBase3f::length().

◆ xform() [1/2]

LVecBase3d LQuaterniond::xform ( const LVecBase3d v) const
inline

Transforms a 3-d vector by the indicated rotation.

Definition at line 1158 of file lquaternion.h.

◆ xform() [2/2]

LVecBase4d LQuaterniond::xform ( const LVecBase4d v) const
inline

Transforms a 4-d vector by the indicated rotation.

Definition at line 1174 of file lquaternion.h.


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