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

#include <ParaQuaternion.h>

Public Member Functions
	Quaternion (float fX=0.0, float fY=0.0, float fZ=0.0, float fW=1.0)

	Quaternion (const Matrix3 &rot)
	Construct a quaternion from a rotation matrix.

	Quaternion (const Matrix4 &rot)

	Quaternion (const Vector3 &a, const Vector3 &b)
	This constructor creates a new quaternion that will rotate vector a into vector b about their mutually perpendicular axis. More...

	Quaternion (const Radian &rfAngle, const Vector3 &rkAxis)
	Construct a quaternion from an angle/axis.

	Quaternion (const Vector3 &rkAxis, float fAngle)
	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 (float *valptr)
	Construct a quaternion from 4 manual w/x/y/z values.

float	operator[] (const size_t i) const
	Array accessor operator.

float &	operator[] (const size_t i)
	Array accessor operator.

float *	ptr ()
	Pointer accessor for direct copying.

const float *	ptr () const
	Pointer accessor for direct copying.

void	FromRotationMatrix (const Matrix3 &kRot)

void	FromRotationMatrix (const Matrix4 &kRot)

void	ToRotationMatrix (Matrix3 &kRot) const

void	ToRotationMatrix (Matrix4 &kRot, const Vector3 &Origin) 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.

Quaternion &	operator= (const Quaternion &rkQ)

Quaternion	operator+ (const Quaternion &rkQ) const

Quaternion	operator- (const Quaternion &rkQ) const

Quaternion	operator* (const Quaternion &rkQ) const

Quaternion	operator* (float fScalar) const

Quaternion	operator- () const

bool	operator== (const Quaternion &rhs) const

bool	operator!= (const Quaternion &rhs) const

float	Dot (const Quaternion &rkQ) const

float	Norm () const

float	normalise (void)
	Normalizes this quaternion, and returns the previous length.

Quaternion	Inverse () const

Quaternion	UnitInverse () const

Quaternion	Exp () const

Quaternion	Log () const

Quaternion &	invertWinding ()

Vector3	operator* (const Vector3 &rkVector) const

Radian	getRoll (bool reprojectAxis=true) const
	Calculate the local roll element of this quaternion. More...

Radian	getPitch (bool reprojectAxis=true) const
	Calculate the local pitch element of this quaternion. More...

Radian	getYaw (bool reprojectAxis=true) const
	Calculate the local yaw element of this quaternion. More...

void	ToRadians (float outX, float outY, float *outZ) const

bool	equals (const Quaternion &rhs, const Radian &tolerance) const
	Equality with tolerance (tolerance is max angle difference)

Static Public Member Functions
static Quaternion	Slerp (float fT, const Quaternion &rkP, const Quaternion &rkQ, bool shortestPath=false)

static Quaternion	SlerpExtraSpins (float 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 (float fT, const Quaternion &rkP, const Quaternion &rkA, const Quaternion &rkB, const Quaternion &rkQ, bool shortestPath=false)

static Quaternion	nlerp (float fT, const Quaternion &rkP, const Quaternion &rkQ, bool shortestPath=false)

Public Attributes
float	x

float	y

float	z

float	w

Static Public Attributes
static const Quaternion	ZERO

static const Quaternion	IDENTITY

static const float	ms_fEpsilon = 1e-03f

Friends
Quaternion	operator* (float fScalar, const Quaternion &rkQ)

std::ostream &	operator<< (std::ostream &o, const Quaternion &q)
	Function for writing to a stream. More...

Detailed Description

Implementation of a Quaternion, i.e.

a rotation around an axis. In ParaEngine, we use row matrix which is compatible with DirectX. so the FromRotationMatrix, and ToRotationMatrix will generate row matrix.

Constructor & Destructor Documentation

§ Quaternion()

ParaEngine::Quaternion::Quaternion	(	const Vector3 &	a,
		const Vector3 &	b
	)

This constructor creates a new quaternion that will rotate vector a into vector b about their mutually perpendicular axis.

(if one exists)

Member Function Documentation

§ getPitch()

Radian ParaEngine::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.

§ getRoll()

Radian ParaEngine::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.

§ getYaw()

Radian ParaEngine::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.

Friends And Related Function Documentation

§ operator<<

std::ostream& operator<<	(	std::ostream &	o,
		const Quaternion &	q
	)

friend

Function for writing to a stream.

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

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

Client/trunk/ParaEngineClient/math/ParaQuaternion.h
Client/trunk/ParaEngineClient/math/ParaQuaternion.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

§ Quaternion()

Member Function Documentation

§ getPitch()

§ getRoll()

§ getYaw()

Friends And Related Function Documentation

§ operator<<