A quaternion class. More...

Public Types
enum	{ num_components = 4 }
	Number of vector components. More...

typedef double	value_type
	Data type of vector components. More...

Public Member Functions
	Quat ()

	Quat (value_type x, value_type y, value_type z, value_type w)

	Quat (const Quat &rhs)

	Quat (const Vec4f &v)

	Quat (const Vec4d &v)

	Quat (value_type angle, const Vec3f &axis)

	Quat (value_type angle, const Vec3d &axis)

	Quat (value_type angle1, const Vec3f &axis1, value_type angle2, const Vec3f &axis2, value_type angle3, const Vec3f &axis3)

	Quat (value_type angle1, const Vec3d &axis1, value_type angle2, const Vec3d &axis2, value_type angle3, const Vec3d &axis3)

Quat &	operator= (const Quat &v)

bool	operator== (const Quat &v) const

bool	operator!= (const Quat &v) const

bool	operator< (const Quat &v) const

Vec4d	asVec4 () const

Vec3d	asVec3 () const

void	set (value_type x, value_type y, value_type z, value_type w)

void	set (const osg::Vec4f &v)

void	set (const osg::Vec4d &v)

void	set (const Matrixf &matrix)

void	set (const Matrixd &matrix)

void	get (Matrixf &matrix) const

void	get (Matrixd &matrix) const

value_type &	operator[] (int i)

value_type	operator[] (int i) const

value_type &	x ()

value_type &	y ()

value_type &	z ()

value_type &	w ()

value_type	x () const

value_type	y () const

value_type	z () const

value_type	w () const

bool	zeroRotation () const
	return true if the Quat represents a zero rotation, and therefore can be ignored in computations. More...

const Quat	operator* (value_type rhs) const
	Multiply by scalar. More...

Quat &	operator*= (value_type rhs)
	Unary multiply by scalar. More...

const Quat	operator* (const Quat &rhs) const
	Binary multiply. More...

Quat &	operator*= (const Quat &rhs)
	Unary multiply. More...

Quat	operator/ (value_type rhs) const
	Divide by scalar. More...

Quat &	operator/= (value_type rhs)
	Unary divide by scalar. More...

const Quat	operator/ (const Quat &denom) const
	Binary divide. More...

Quat &	operator/= (const Quat &denom)
	Unary divide. More...

const Quat	operator+ (const Quat &rhs) const
	Binary addition. More...

Quat &	operator+= (const Quat &rhs)
	Unary addition. More...

const Quat	operator- (const Quat &rhs) const
	Binary subtraction. More...

Quat &	operator-= (const Quat &rhs)
	Unary subtraction. More...

const Quat	operator- () const
	Negation operator - returns the negative of the quaternion. More...

value_type	length () const
	Length of the quaternion = sqrt( vec . vec ) More...

value_type	length2 () const
	Length of the quaternion = vec . vec. More...

Quat	conj () const
	Conjugate. More...

const Quat	inverse () const
	Multiplicative inverse method: q^(-1) = q^/(q.q^) More...

void	makeRotate (value_type angle, value_type x, value_type y, value_type z)

void	makeRotate (value_type angle, const Vec3f &vec)

void	makeRotate (value_type angle, const Vec3d &vec)

void	makeRotate (value_type angle1, const Vec3f &axis1, value_type angle2, const Vec3f &axis2, value_type angle3, const Vec3f &axis3)

void	makeRotate (value_type angle1, const Vec3d &axis1, value_type angle2, const Vec3d &axis2, value_type angle3, const Vec3d &axis3)

void	makeRotate (const Vec3f &vec1, const Vec3f &vec2)
	Make a rotation Quat which will rotate vec1 to vec2. More...

void	makeRotate (const Vec3d &vec1, const Vec3d &vec2)
	Make a rotation Quat which will rotate vec1 to vec2. More...

void	makeRotate_original (const Vec3d &vec1, const Vec3d &vec2)

void	getRotate (value_type &angle, value_type &x, value_type &y, value_type &z) const
	Return the angle and vector components represented by the quaternion. More...

void	getRotate (value_type &angle, Vec3f &vec) const
	Return the angle and vector represented by the quaternion. More...

void	getRotate (value_type &angle, Vec3d &vec) const
	Return the angle and vector represented by the quaternion. More...

void	slerp (value_type t, const Quat &from, const Quat &to)
	Spherical Linear Interpolation. More...

Vec3f	operator* (const Vec3f &v) const
	Rotate a vector by this quaternion. More...

Vec3d	operator* (const Vec3d &v) const
	Rotate a vector by this quaternion. More...

Public Attributes
value_type	_v [4]

Detailed Description

A quaternion class.

It can be used to represent an orientation in 3D space.

Member Typedef Documentation

◆ value_type

typedef double osg::Quat::value_type

Data type of vector components.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Number of vector components.

Enumerator
num_components

Constructor & Destructor Documentation

◆ Quat() [1/9]

osg::Quat::Quat ( )

inline

◆ Quat() [2/9]

osg::Quat::Quat	(	value_type	x,
		value_type	y,
		value_type	z,
		value_type	w
	)

inline

◆ Quat() [3/9]

osg::Quat::Quat ( const Quat & rhs )

inline

References _v.

◆ Quat() [4/9]

osg::Quat::Quat ( const Vec4f & v )

inline

References osg::Vec4f::w(), osg::Vec4f::x(), osg::Vec4f::y(), and osg::Vec4f::z().

◆ Quat() [5/9]

osg::Quat::Quat ( const Vec4d & v )

inline

References osg::Vec4d::w(), osg::Vec4d::x(), osg::Vec4d::y(), and osg::Vec4d::z().

◆ Quat() [6/9]

osg::Quat::Quat	(	value_type	angle,
		const Vec3f &	axis
	)

inline

◆ Quat() [7/9]

osg::Quat::Quat	(	value_type	angle,
		const Vec3d &	axis
	)

inline

◆ Quat() [8/9]

osg::Quat::Quat	(	value_type	angle1,
		const Vec3f &	axis1,
		value_type	angle2,
		const Vec3f &	axis2,
		value_type	angle3,
		const Vec3f &	axis3
	)

inline

◆ Quat() [9/9]

osg::Quat::Quat	(	value_type	angle1,
		const Vec3d &	axis1,
		value_type	angle2,
		const Vec3d &	axis2,
		value_type	angle3,
		const Vec3d &	axis3
	)

inline

Member Function Documentation

◆ asVec3()

Vec3d osg::Quat::asVec3 ( ) const

inline

◆ asVec4()

Vec4d osg::Quat::asVec4 ( ) const

inline

Referenced by osgAnimation::TemplateTarget< osg::Vec4f >::lerp().

◆ conj()

Quat osg::Quat::conj ( ) const

inline

Conjugate.

◆ get() [1/2]

void osg::Quat::get ( Matrixf & matrix ) const

◆ get() [2/2]

void osg::Quat::get ( Matrixd & matrix ) const

◆ getRotate() [1/3]

void osg::Quat::getRotate	(	value_type &	angle,
		value_type &	x,
		value_type &	y,
		value_type &	z
	)		const

Return the angle and vector components represented by the quaternion.

◆ getRotate() [2/3]

void osg::Quat::getRotate	(	value_type &	angle,
		Vec3f &	vec
	)		const

Return the angle and vector represented by the quaternion.

◆ getRotate() [3/3]

void osg::Quat::getRotate	(	value_type &	angle,
		Vec3d &	vec
	)		const

Return the angle and vector represented by the quaternion.

◆ inverse()

const Quat osg::Quat::inverse ( ) const

inline

Multiplicative inverse method: q^(-1) = q^*/(q.q^*)

Referenced by operator/(), and operator/=().

◆ length()

value_type osg::Quat::length ( ) const

inline

Length of the quaternion = sqrt( vec . vec )

◆ length2()

value_type osg::Quat::length2 ( ) const

inline

Length of the quaternion = vec . vec.

Referenced by osgAnimation::TemplateTarget< osg::Vec4f >::lerp().

◆ makeRotate() [1/7]

void osg::Quat::makeRotate	(	value_type	angle,
		value_type	x,
		value_type	y,
		value_type	z
	)

◆ makeRotate() [2/7]

void osg::Quat::makeRotate	(	value_type	angle,
		const Vec3f &	vec
	)

◆ makeRotate() [3/7]

void osg::Quat::makeRotate	(	value_type	angle,
		const Vec3d &	vec
	)

◆ makeRotate() [4/7]

void osg::Quat::makeRotate	(	value_type	angle1,
		const Vec3f &	axis1,
		value_type	angle2,
		const Vec3f &	axis2,
		value_type	angle3,
		const Vec3f &	axis3
	)

◆ makeRotate() [5/7]

void osg::Quat::makeRotate	(	value_type	angle1,
		const Vec3d &	axis1,
		value_type	angle2,
		const Vec3d &	axis2,
		value_type	angle3,
		const Vec3d &	axis3
	)

◆ makeRotate() [6/7]

void osg::Quat::makeRotate	(	const Vec3f &	vec1,
		const Vec3f &	vec2
	)

Make a rotation Quat which will rotate vec1 to vec2.

Generally take a dot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases when the vectors are co-incident or opposite in direction.

◆ makeRotate() [7/7]

void osg::Quat::makeRotate	(	const Vec3d &	vec1,
		const Vec3d &	vec2
	)

Make a rotation Quat which will rotate vec1 to vec2.

Generally take a dot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases of when the vectors are co-incident or opposite in direction.

◆ makeRotate_original()

void osg::Quat::makeRotate_original	(	const Vec3d &	vec1,
		const Vec3d &	vec2
	)

◆ operator!=()

bool osg::Quat::operator!= ( const Quat & v ) const

inline

References _v.

◆ operator*() [1/4]

const Quat osg::Quat::operator* ( value_type rhs ) const

inline

Multiply by scalar.

◆ operator*() [2/4]

const Quat osg::Quat::operator* ( const Quat & rhs ) const

inline

Binary multiply.

References _v.

◆ operator*() [3/4]

Vec3f osg::Quat::operator* ( const Vec3f & v ) const

inline

Rotate a vector by this quaternion.

◆ operator*() [4/4]

Vec3d osg::Quat::operator* ( const Vec3d & v ) const

inline

Rotate a vector by this quaternion.

◆ operator*=() [1/2]

Quat& osg::Quat::operator*= ( value_type rhs )

inline

Unary multiply by scalar.

◆ operator*=() [2/2]

Quat& osg::Quat::operator*= ( const Quat & rhs )

inline

Unary multiply.

References _v.

◆ operator+()

const Quat osg::Quat::operator+ ( const Quat & rhs ) const

inline

Binary addition.

References _v.

◆ operator+=()

Quat& osg::Quat::operator+= ( const Quat & rhs )

inline

Unary addition.

References _v.

◆ operator-() [1/2]

const Quat osg::Quat::operator- ( const Quat & rhs ) const

inline

Binary subtraction.

References _v.

◆ operator-() [2/2]

const Quat osg::Quat::operator- ( ) const

inline

Negation operator - returns the negative of the quaternion.

Basically just calls operator - () on the Vec4

◆ operator-=()

Quat& osg::Quat::operator-= ( const Quat & rhs )

inline

Unary subtraction.

References _v.

◆ operator/() [1/2]

Quat osg::Quat::operator/ ( value_type rhs ) const

inline

Divide by scalar.

◆ operator/() [2/2]

const Quat osg::Quat::operator/ ( const Quat & denom ) const

inline

Binary divide.

References inverse().

◆ operator/=() [1/2]

Quat& osg::Quat::operator/= ( value_type rhs )

inline

Unary divide by scalar.

◆ operator/=() [2/2]

Quat& osg::Quat::operator/= ( const Quat & denom )

inline

Unary divide.

References inverse().

◆ operator<()

bool osg::Quat::operator< ( const Quat & v ) const

inline

References _v.

◆ operator=()

Quat& osg::Quat::operator= ( const Quat & v )

inline

References _v.

◆ operator==()

bool osg::Quat::operator== ( const Quat & v ) const

inline

References _v.

◆ operator[]() [1/2]

value_type& osg::Quat::operator[] ( int i )

inline

◆ operator[]() [2/2]

value_type osg::Quat::operator[] ( int i ) const

inline

◆ set() [1/5]

void osg::Quat::set	(	value_type	x,
		value_type	y,
		value_type	z,
		value_type	w
	)

inline

◆ set() [2/5]

void osg::Quat::set ( const osg::Vec4f & v )

inline

◆ set() [3/5]

void osg::Quat::set ( const osg::Vec4d & v )

inline

◆ set() [4/5]

void osg::Quat::set ( const Matrixf & matrix )

◆ set() [5/5]

void osg::Quat::set ( const Matrixd & matrix )

◆ slerp()

void osg::Quat::slerp	(	value_type	t,
		const Quat &	from,
		const Quat &	to
	)

Spherical Linear Interpolation.

As t goes from 0 to 1, the Quat object goes from "from" to "to".

◆ w() [1/2]

value_type& osg::Quat::w ( )

inline

◆ w() [2/2]

value_type osg::Quat::w ( ) const

inline

◆ x() [1/2]

value_type& osg::Quat::x ( )

inline

◆ x() [2/2]

value_type osg::Quat::x ( ) const

inline

◆ y() [1/2]

value_type& osg::Quat::y ( )

inline

◆ y() [2/2]

value_type osg::Quat::y ( ) const

inline

◆ z() [1/2]

value_type& osg::Quat::z ( )

inline

◆ z() [2/2]

value_type osg::Quat::z ( ) const

inline

◆ zeroRotation()

bool osg::Quat::zeroRotation ( ) const

inline

return true if the Quat represents a zero rotation, and therefore can be ignored in computations.

Referenced by osg::Matrixd::postMultRotate(), osg::Matrixf::postMultRotate(), osg::Matrixd::preMultRotate(), and osg::Matrixf::preMultRotate().

Member Data Documentation

◆ _v

value_type osg::Quat::_v[4]

Referenced by operator!=(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-=(), operator<(), osg::operator<<(), operator=(), operator==(), osg::operator>>(), and Quat().

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

osg/Quat

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ value_type

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ Quat() [1/9]

◆ Quat() [2/9]

◆ Quat() [3/9]

◆ Quat() [4/9]

◆ Quat() [5/9]

◆ Quat() [6/9]

◆ Quat() [7/9]

◆ Quat() [8/9]

◆ Quat() [9/9]

Member Function Documentation

◆ asVec3()

◆ asVec4()

◆ conj()

◆ get() [1/2]

◆ get() [2/2]

◆ getRotate() [1/3]

◆ getRotate() [2/3]

◆ getRotate() [3/3]

◆ inverse()

◆ length()

◆ length2()

◆ makeRotate() [1/7]

◆ makeRotate() [2/7]

◆ makeRotate() [3/7]

◆ makeRotate() [4/7]

◆ makeRotate() [5/7]

◆ makeRotate() [6/7]

◆ makeRotate() [7/7]

◆ makeRotate_original()

◆ operator!=()

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator/=() [1/2]

◆ operator/=() [2/2]

◆ operator<()

◆ operator=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ set() [1/5]

◆ set() [2/5]

◆ set() [3/5]

◆ set() [4/5]

◆ set() [5/5]

◆ slerp()

◆ w() [1/2]

◆ w() [2/2]

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ z() [1/2]

◆ z() [2/2]

◆ zeroRotation()

Member Data Documentation

◆ _v