Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | Friends

Ogre::Quaternion Class Reference
[Math]

Implementation of a Quaternion, i.e. More...

#include <OgreQuaternion.h>

List of all members.

Public Member Functions

 Quaternion (Real fW=1.0, Real fX=0.0, Real fY=0.0, Real fZ=0.0)
 Quaternion (const Matrix3 &rot)
 Construct a quaternion from a rotation matrix.
 Quaternion (const Radian &rfAngle, const Vector3 &rkAxis)
 Construct a quaternion from an angle/axis.
 Quaternion (const Vector3 &xaxis, const Vector3 &yaxis, const Vector3 &zaxis)
 Construct a quaternion from 3 orthonormal local axes.
 Quaternion (const Vector3 *akAxis)
 Construct a quaternion from 3 orthonormal local axes.
 Quaternion (Real *valptr)
 Construct a quaternion from 4 manual w/x/y/z values.
void swap (Quaternion &other)
 Exchange the contents of this quaternion with another.
Real operator[] (const size_t i) const
 Array accessor operator.
Realoperator[] (const size_t i)
 Array accessor operator.
Realptr ()
 Pointer accessor for direct copying.
const Realptr () const
 Pointer accessor for direct copying.
void FromRotationMatrix (const Matrix3 &kRot)
void ToRotationMatrix (Matrix3 &kRot) const
void FromAngleAxis (const Radian &rfAngle, const Vector3 &rkAxis)
void ToAngleAxis (Radian &rfAngle, Vector3 &rkAxis) const
void ToAngleAxis (Degree &dAngle, Vector3 &rkAxis) const
void FromAxes (const Vector3 *akAxis)
void FromAxes (const Vector3 &xAxis, const Vector3 &yAxis, const Vector3 &zAxis)
void ToAxes (Vector3 *akAxis) const
void ToAxes (Vector3 &xAxis, Vector3 &yAxis, Vector3 &zAxis) const
Vector3 xAxis (void) const
 Get the local x-axis.
Vector3 yAxis (void) const
 Get the local y-axis.
Vector3 zAxis (void) const
 Get the local z-axis.
Quaternionoperator= (const Quaternion &rkQ)
Quaternion operator+ (const Quaternion &rkQ) const
Quaternion operator- (const Quaternion &rkQ) const
Quaternion operator* (const Quaternion &rkQ) const
Quaternion operator* (Real fScalar) const
Quaternion operator- () const
bool operator== (const Quaternion &rhs) const
bool operator!= (const Quaternion &rhs) const
Real Dot (const Quaternion &rkQ) const
Real Norm () const
Real normalise (void)
 Normalises this quaternion, and returns the previous length.
Quaternion Inverse () const
Quaternion UnitInverse () const
Quaternion Exp () const
Quaternion Log () const
Vector3 operator* (const Vector3 &rkVector) const
Radian getRoll (bool reprojectAxis=true) const
 Calculate the local roll element of this quaternion.
Radian getPitch (bool reprojectAxis=true) const
 Calculate the local pitch element of this quaternion.
Radian getYaw (bool reprojectAxis=true) const
 Calculate the local yaw element of this quaternion.
bool equals (const Quaternion &rhs, const Radian &tolerance) const
 Equality with tolerance (tolerance is max angle difference).
bool isNaN () const
 Check whether this quaternion contains valid values.

Static Public Member Functions

static Quaternion Slerp (Real fT, const Quaternion &rkP, const Quaternion &rkQ, bool shortestPath=false)
static Quaternion SlerpExtraSpins (Real fT, const Quaternion &rkP, const Quaternion &rkQ, int iExtraSpins)
static void Intermediate (const Quaternion &rkQ0, const Quaternion &rkQ1, const Quaternion &rkQ2, Quaternion &rka, Quaternion &rkB)
static Quaternion Squad (Real fT, const Quaternion &rkP, const Quaternion &rkA, const Quaternion &rkB, const Quaternion &rkQ, bool shortestPath=false)
static Quaternion nlerp (Real fT, const Quaternion &rkP, const Quaternion &rkQ, bool shortestPath=false)

Public Attributes

Real w
Real x
Real y
Real z

Static Public Attributes

static const Real ms_fEpsilon
static const Quaternion ZERO
static const Quaternion IDENTITY

Friends

_OgreExport friend Quaternion operator* (Real fScalar, const Quaternion &rkQ)
_OgreExport friend std::ostream & operator<< (std::ostream &o, const Quaternion &q)
 Function for writing to a stream.

Detailed Description

Implementation of a Quaternion, i.e.

a rotation around an axis.

Definition at line 52 of file OgreQuaternion.h.


Constructor & Destructor Documentation

Ogre::Quaternion::Quaternion ( Real  fW = 1.0,
Real  fX = 0.0,
Real  fY = 0.0,
Real  fZ = 0.0 
)

Definition at line 55 of file OgreQuaternion.h.

Ogre::Quaternion::Quaternion ( const Matrix3 rot  ) 

Construct a quaternion from a rotation matrix.

Definition at line 65 of file OgreQuaternion.h.

Ogre::Quaternion::Quaternion ( const Radian rfAngle,
const Vector3 rkAxis 
)

Construct a quaternion from an angle/axis.

Definition at line 70 of file OgreQuaternion.h.

Ogre::Quaternion::Quaternion ( const Vector3 xaxis,
const Vector3 yaxis,
const Vector3 zaxis 
)

Construct a quaternion from 3 orthonormal local axes.

Definition at line 75 of file OgreQuaternion.h.

Ogre::Quaternion::Quaternion ( const Vector3 akAxis  ) 

Construct a quaternion from 3 orthonormal local axes.

Definition at line 80 of file OgreQuaternion.h.

Ogre::Quaternion::Quaternion ( Real valptr  ) 

Construct a quaternion from 4 manual w/x/y/z values.

Definition at line 85 of file OgreQuaternion.h.


Member Function Documentation

Real Ogre::Quaternion::Dot ( const Quaternion rkQ  )  const
bool Ogre::Quaternion::equals ( const Quaternion rhs,
const Radian tolerance 
) const

Equality with tolerance (tolerance is max angle difference).

Quaternion Ogre::Quaternion::Exp (  )  const
void Ogre::Quaternion::FromAngleAxis ( const Radian rfAngle,
const Vector3 rkAxis 
)
void Ogre::Quaternion::FromAxes ( const Vector3 akAxis  ) 
void Ogre::Quaternion::FromAxes ( const Vector3 xAxis,
const Vector3 yAxis,
const Vector3 zAxis 
)
void Ogre::Quaternion::FromRotationMatrix ( const Matrix3 kRot  ) 
Radian Ogre::Quaternion::getPitch ( bool  reprojectAxis = true  )  const

Calculate the local pitch element of this quaternion.

Parameters:
reprojectAxis By default the method returns the 'intuitive' result that is, if you projected the local Z of the quaternion onto the X and Y axes, the angle between them is returned. If set to true though, the result is the actual yaw that will be used to implement the quaternion, which is the shortest possible path to get to the same orientation and may involve less axial rotation.
Radian Ogre::Quaternion::getRoll ( bool  reprojectAxis = true  )  const

Calculate the local roll element of this quaternion.

Parameters:
reprojectAxis By default the method returns the 'intuitive' result that is, if you projected the local Y of the quaternion onto the X and Y axes, the angle between them is returned. If set to false though, the result is the actual yaw that will be used to implement the quaternion, which is the shortest possible path to get to the same orientation and may involve less axial rotation.
Radian Ogre::Quaternion::getYaw ( bool  reprojectAxis = true  )  const

Calculate the local yaw element of this quaternion.

Parameters:
reprojectAxis By default the method returns the 'intuitive' result that is, if you projected the local Z of the quaternion onto the X and Z axes, the angle between them is returned. If set to true though, the result is the actual yaw that will be used to implement the quaternion, which is the shortest possible path to get to the same orientation and may involve less axial rotation.
static void Ogre::Quaternion::Intermediate ( const Quaternion rkQ0,
const Quaternion rkQ1,
const Quaternion rkQ2,
Quaternion rka,
Quaternion rkB 
) [static]
Quaternion Ogre::Quaternion::Inverse (  )  const
bool Ogre::Quaternion::isNaN (  )  const

Check whether this quaternion contains valid values.

Definition at line 247 of file OgreQuaternion.h.

References Ogre::Math::isNaN().

Quaternion Ogre::Quaternion::Log (  )  const
static Quaternion Ogre::Quaternion::nlerp ( Real  fT,
const Quaternion rkP,
const Quaternion rkQ,
bool  shortestPath = false 
) [static]
Real Ogre::Quaternion::Norm (  )  const
Real Ogre::Quaternion::normalise ( void   ) 

Normalises this quaternion, and returns the previous length.

Referenced by Ogre::Vector3::getRotationTo().

bool Ogre::Quaternion::operator!= ( const Quaternion rhs  )  const

Definition at line 168 of file OgreQuaternion.h.

References Ogre::operator==().

Vector3 Ogre::Quaternion::operator* ( const Vector3 rkVector  )  const
Quaternion Ogre::Quaternion::operator* ( const Quaternion rkQ  )  const
Quaternion Ogre::Quaternion::operator* ( Real  fScalar  )  const
Quaternion Ogre::Quaternion::operator+ ( const Quaternion rkQ  )  const
Quaternion Ogre::Quaternion::operator- (  )  const
Quaternion Ogre::Quaternion::operator- ( const Quaternion rkQ  )  const
Quaternion& Ogre::Quaternion::operator= ( const Quaternion rkQ  ) 

Definition at line 148 of file OgreQuaternion.h.

References w, x, y, and z.

bool Ogre::Quaternion::operator== ( const Quaternion rhs  )  const

Definition at line 163 of file OgreQuaternion.h.

References w, x, y, and z.

Real Ogre::Quaternion::operator[] ( const size_t  i  )  const

Array accessor operator.

Definition at line 101 of file OgreQuaternion.h.

Real& Ogre::Quaternion::operator[] ( const size_t  i  ) 

Array accessor operator.

Definition at line 109 of file OgreQuaternion.h.

Real* Ogre::Quaternion::ptr (  ) 

Pointer accessor for direct copying.

Definition at line 117 of file OgreQuaternion.h.

Referenced by Ogre::AnimableValue::setAsBaseValue().

const Real* Ogre::Quaternion::ptr (  )  const

Pointer accessor for direct copying.

Definition at line 123 of file OgreQuaternion.h.

static Quaternion Ogre::Quaternion::Slerp ( Real  fT,
const Quaternion rkP,
const Quaternion rkQ,
bool  shortestPath = false 
) [static]
static Quaternion Ogre::Quaternion::SlerpExtraSpins ( Real  fT,
const Quaternion rkP,
const Quaternion rkQ,
int  iExtraSpins 
) [static]
static Quaternion Ogre::Quaternion::Squad ( Real  fT,
const Quaternion rkP,
const Quaternion rkA,
const Quaternion rkB,
const Quaternion rkQ,
bool  shortestPath = false 
) [static]
void Ogre::Quaternion::swap ( Quaternion other  ) 

Exchange the contents of this quaternion with another.

Definition at line 92 of file OgreQuaternion.h.

References w, x, y, and z.

void Ogre::Quaternion::ToAngleAxis ( Radian rfAngle,
Vector3 rkAxis 
) const
void Ogre::Quaternion::ToAngleAxis ( Degree dAngle,
Vector3 rkAxis 
) const

Definition at line 132 of file OgreQuaternion.h.

void Ogre::Quaternion::ToAxes ( Vector3 xAxis,
Vector3 yAxis,
Vector3 zAxis 
) const
void Ogre::Quaternion::ToAxes ( Vector3 akAxis  )  const
void Ogre::Quaternion::ToRotationMatrix ( Matrix3 kRot  )  const

Referenced by Ogre::Matrix4::Matrix4().

Quaternion Ogre::Quaternion::UnitInverse (  )  const
Vector3 Ogre::Quaternion::xAxis ( void   )  const

Get the local x-axis.

Vector3 Ogre::Quaternion::yAxis ( void   )  const

Get the local y-axis.

Vector3 Ogre::Quaternion::zAxis ( void   )  const

Get the local z-axis.


Friends And Related Function Documentation

_OgreExport friend Quaternion operator* ( Real  fScalar,
const Quaternion rkQ 
) [friend]
_OgreExport friend std::ostream& operator<< ( std::ostream &  o,
const Quaternion q 
) [friend]

Function for writing to a stream.

Outputs "Quaternion(w, x, y, z)" with w,x,y,z being the member values of the quaternion.

Definition at line 256 of file OgreQuaternion.h.


Member Data Documentation

Definition at line 242 of file OgreQuaternion.h.

Referenced by Ogre::Vector3::getRotationTo().

Definition at line 238 of file OgreQuaternion.h.

Definition at line 244 of file OgreQuaternion.h.

Referenced by Ogre::Vector3::getRotationTo(), operator=(), operator==(), and swap().

Definition at line 244 of file OgreQuaternion.h.

Referenced by Ogre::Vector3::getRotationTo(), operator=(), operator==(), and swap().

Definition at line 244 of file OgreQuaternion.h.

Referenced by Ogre::Vector3::getRotationTo(), operator=(), operator==(), and swap().

Definition at line 244 of file OgreQuaternion.h.

Referenced by Ogre::Vector3::getRotationTo(), operator=(), operator==(), and swap().

Definition at line 241 of file OgreQuaternion.h.


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

Copyright © 2008 Torus Knot Software Ltd
Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 3.0 Unported License.
Last modified Wed Nov 3 2010 19:24:58