Public API Reference

csQuaternion Class Reference
[Geometry utilities]

Class for a quaternion. More...

#include <csgeom/quaternion.h>

List of all members.

Public Member Functions
void	Conjugate ()
	csQuaternion (const csMatrix3 &smat)
	Construct quaternion from a matrix.
	csQuaternion (const csVector3 &q)
	Construct quaternion from a vector.
	csQuaternion (const csQuaternion &q)
	Copy constructor.
	csQuaternion (float theR, float theX=0.0, float theY=0.0, float theZ=0.0)
	Construct a quaternion with the given parameters.
	csQuaternion ()
	Construct a 0,0,0,0 quaternion.
void	GetAxisAngle (csVector3 &axis, float &phi) const
	Get an axis-angle representation of this orientation.
void	GetEulerAngles (csVector3 &angles, bool radians=false)
	Convert a Quaternion to a set of Euler angles.
void	Init (float theR, float theX, float theY, float theZ)
	Initialize a quaternion with specific values.
void	Invert ()
	Invert the orientation of this quaternion.
void	Negate ()
	Negate all parameters of the quaternion.
void	Normalize ()
	Normalize this quaternion.
csQuaternion &	operator *= (const csQuaternion &q2)
	Multiply two quaternions.
void	PrepRotation (float angle, csVector3 vec)
	Prepare a rotation quaternion, we do a rotation around vec by an angle of "angle".
csVector3	Rotate (csVector3 vec)
	rotated = q * vec * qConj.
void	SetWithAxisAngle (csVector3 axis, float phi)
	Set the quaternion using an axis-angle representation.
void	SetWithEuler (const csVector3 &rot)
	Convert a set of Euler angles to a Quaternion.
csQuaternion	Slerp (const csQuaternion &quat2, float slerp) const
	Spherical Linear Interpolation between two quaternions Calculated between this class & the second quaternion by the slerp factor and returned as a new quaternion.
csQuaternion	ToAxisAngle () const
	Return an Axis Angle representation of this Quaternion.
Public Attributes
float	r
float	x
float	y
float	z
Friends
csQuaternion	operator * (const csQuaternion &q1, const csQuaternion &q2)
	Multiply two quaternions.
csQuaternion	operator+ (const csQuaternion &q1, const csQuaternion &q2)
	Add two quaternions.
csQuaternion	operator- (const csQuaternion &q1, const csQuaternion &q2)
	Subtract two quaternions.

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Detailed Description

Class for a quaternion.

Definition at line 39 of file quaternion.h.

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Constructor & Destructor Documentation

csQuaternion::csQuaternion (   )  [inline]

Construct a 0,0,0,0 quaternion. Definition at line 47 of file quaternion.h.

csQuaternion::csQuaternion (  float  theR, float  theX = 0.0, float  theY = 0.0, float  theZ = 0.0 )  [inline]

Construct a quaternion with the given parameters. Definition at line 49 of file quaternion.h.

csQuaternion::csQuaternion (  const csQuaternion &  q  )  [inline]

Copy constructor. Definition at line 52 of file quaternion.h. References r, x, y, and z.

csQuaternion::csQuaternion (  const csVector3 &  q  )  [inline]

Construct quaternion from a vector. Definition at line 54 of file quaternion.h. References csVector3::x, csVector3::y, and csVector3::z.

csQuaternion::csQuaternion (  const csMatrix3 &  smat  )

Construct quaternion from a matrix.

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Member Function Documentation

void csQuaternion::GetAxisAngle (  csVector3 &  axis, float &  phi )  const

Get an axis-angle representation of this orientation. Parameters: axis  this vector specifies the axis on which to make a rotation phi  the angle (in radians) about this axis

void csQuaternion::GetEulerAngles (  csVector3 &  angles, bool  radians = false )

Convert a Quaternion to a set of Euler angles. Returns a (X,Y,Z) rather than Yaw-Pitch-Roll (Y,X,Z).

void csQuaternion::Init (  float  theR, float  theX, float  theY, float  theZ )  [inline]

Initialize a quaternion with specific values. Definition at line 43 of file quaternion.h.

void csQuaternion::Invert (   )

Invert the orientation of this quaternion.

void csQuaternion::Negate (   )  [inline]

Negate all parameters of the quaternion. Definition at line 97 of file quaternion.h.

void csQuaternion::Normalize (   )  [inline]

Normalize this quaternion. Definition at line 140 of file quaternion.h. References csQisqrt().

csQuaternion& csQuaternion::operator *= (  const csQuaternion &  q2  )  [inline]

Multiply two quaternions. Definition at line 84 of file quaternion.h. References r, x, y, and z.

void csQuaternion::PrepRotation (  float  angle, csVector3  vec )  [inline]

Prepare a rotation quaternion, we do a rotation around vec by an angle of "angle". Note that vec needs to be a normalized vector (we don't check this). Definition at line 121 of file quaternion.h. References csVector3::x, csVector3::y, and csVector3::z.

csVector3 csQuaternion::Rotate (  csVector3  vec  )  [inline]

rotated = q * vec * qConj. Definition at line 129 of file quaternion.h. References x, y, and z.

void csQuaternion::SetWithAxisAngle (  csVector3  axis, float  phi )

Set the quaternion using an axis-angle representation. Parameters: axis  this vector specifies the axis on which to make a rotation phi  the angle (in radians) about this axis

void csQuaternion::SetWithEuler (  const csVector3 &  rot  )

Convert a set of Euler angles to a Quaternion. Takes a (X,Y,Z) rather than Yaw-Pitch-Roll (Y,X,Z) The output is NOT Normalized, if you wish to do so, normalize it yourself.

csQuaternion csQuaternion::Slerp (  const csQuaternion &  quat2, float  slerp )  const

Spherical Linear Interpolation between two quaternions Calculated between this class & the second quaternion by the slerp factor and returned as a new quaternion.

csQuaternion csQuaternion::ToAxisAngle (   )  const

Return an Axis Angle representation of this Quaternion.

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Friends And Related Function Documentation

csQuaternion operator * (  const csQuaternion &  q1, const csQuaternion &  q2 )  [friend]

Multiply two quaternions. Definition at line 74 of file quaternion.h.

csQuaternion operator+ (  const csQuaternion &  q1, const csQuaternion &  q2 )  [friend]

Add two quaternions. Definition at line 60 of file quaternion.h.

csQuaternion operator- (  const csQuaternion &  q1, const csQuaternion &  q2 )  [friend]

Subtract two quaternions. Definition at line 67 of file quaternion.h.

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

• csgeom/quaternion.h

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