Quaternion. More...
#include <mat4.h>
Public Member Functions | |
Quaternionx () | |
Quaternionx (const Angle &euler_x, const Angle &euler_y, const Angle &euler_z, EulerOrder order) | |
Quaternionx (const Mat4< Type > &rotation_matrix) | |
Quaternionx (const Quaternionx< Type > ©) | |
Quaternionx (const Vec3< Type > &euler, AngleUnit unit, EulerOrder order) | |
Quaternionx (Type euler_x, Type euler_y, Type euler_z, AngleUnit unit, EulerOrder order) | |
Quaternionx (Type real, const Vec3< Type > &imag) | |
Quaternionx (Type real, Type i, Type j, Type k) | |
Attributes | |
Mat4< Type > | to_matrix () const |
Convert the quaternion to a rotation matrix. More... | |
Type | magnitude () const |
Get the quaternion magnitude. More... | |
Operators | |
Quaternionx< Type > | operator* (const Quaternionx< Type > &mult) const |
Multiplication operator. More... | |
Quaternionx< Type > | operator* (const Mat4< Type > &matrix) const |
bool | operator< (const Quaternionx< Type > &other) const |
Less operator. More... | |
bool | operator> (const Quaternionx< Type > &other) const |
Greater operator. More... | |
bool | operator<= (const Quaternionx< Type > &other) const |
Less equal operator. More... | |
bool | operator>= (const Quaternionx< Type > &other) const |
Greater equal operator. More... | |
bool | operator== (const Quaternionx< Type > &other) const |
Equal operator. More... | |
bool | operator!= (const Quaternionx< Type > &other) const |
Not equal operator. More... | |
Static Public Member Functions | |
static Quaternionx< Type > | axis_angle (const Angle &angle, const Vec3f &axis) |
static Quaternionx< Type > | lerp (const Quaternionx< Type > &quaternion_initial, const Quaternionx< Type > &quaternion_final, Type lerp_time) |
Linear Quaternion Interpolation. More... | |
static Quaternionx< Type > | multiply (const Quaternionx< Type > &quaternion_1, const Quaternionx< Type > &quaternion_2) |
static Quaternionx< Type > | rotation_between (Vec3< Type > v0, Vec3< Type > v1) |
Calculates the shortest arc quaternion between two vectors. More... | |
static Quaternionx< Type > | rotation_between (Vec4< Type > v0, Vec4< Type > v1) |
Calculates the shortest arc quaternion between two vectors. More... | |
static Quaternionx< Type > | slerp (const Quaternionx< Type > &quaternion_initial, const Quaternionx< Type > &quaternion_final, Type slerp_time) |
Spherical Quaternion Interpolation. More... | |
Public Attributes | |
union { | |
Type clan::Quaternionx< Type >::i | |
Type clan::Quaternionx< Type >::x | |
}; | |
The imaginary vector part. More... | |
union { | |
Type clan::Quaternionx< Type >::j | |
Type clan::Quaternionx< Type >::y | |
}; | |
union { | |
Type clan::Quaternionx< Type >::k | |
Type clan::Quaternionx< Type >::z | |
}; | |
Type | w |
The real scalar part. More... | |
Operations | |
void | set (Type euler_x, Type euler_y, Type euler_z, AngleUnit unit, EulerOrder order) |
void | set (const Vec3< Type > &euler, AngleUnit unit, EulerOrder order) |
void | set (const Angle &euler_x, const Angle &euler_y, const Angle &euler_z, EulerOrder order) |
Quaternionx< Type > & | rotate (const Angle &angle, const Vec3f &axis) |
Quaternionx< Type > & | rotate (const Angle &euler_x, const Angle &euler_y, const Angle &euler_z, EulerOrder order) |
Quaternionx< Type > & | normalize () |
Normalizes this quaternion. More... | |
Quaternionx< Type > & | inverse () |
Inverse this quaternion. More... | |
Vec3< Type > | rotate_vector (const Vec3< Type > &v) const |
Rotates vector by this quaternion. More... | |
Vec4< Type > | rotate_vector (const Vec4< Type > &v) const |
static Quaternionx< Type > | normalize (Quaternionx< Type > q) |
Normalizes this quaternion. More... | |
static Quaternionx< Type > | inverse (Quaternionx< Type > q) |
Inverse this quaternion. More... | |
Quaternion.
These quaternion templates are defined for: float (Quaternionf), double (Quaterniond)