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Ogre::Quaternion

Ogre::Quaternion Class Reference

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 Quaternion &rkQ)
 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.
Real operator[] (const size_t i) const
 Array accessor operator.
Real & operator[] (const size_t i)
 Array accessor operator.
Real * ptr ()
 Pointer accessor for direct copying.
const Real * ptr () 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.
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 * (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).

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 53 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 56 of file OgreQuaternion.h.

Ogre::Quaternion::Quaternion (  const Quaternion &  rkQ  ) 
 

Definition at line 65 of file OgreQuaternion.h.

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

Construct a quaternion from a rotation matrix.

Definition at line 73 of file OgreQuaternion.h.

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

Construct a quaternion from an angle/axis.

Definition at line 78 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 89 of file OgreQuaternion.h.

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

Construct a quaternion from 3 orthonormal local axes.

Definition at line 94 of file OgreQuaternion.h.

Ogre::Quaternion::Quaternion (  Real *  valptr  ) 
 

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

Definition at line 99 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
) 
 

Referenced by Ogre::Vector3::getRotationTo(), and Ogre::Vector3::randomDeviant().

void Ogre::Quaternion::FromAxes (  const Vector3 &  xAxis,
const Vector3 &  yAxis,
const Vector3 &  zAxis
) 
 

void Ogre::Quaternion::FromAxes (  const Vector3 *  akAxis  ) 
 

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 quaterion 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 quaterion 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 quaterion 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
 

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().

Vector3 Ogre::Quaternion::operator * (  const Vector3 &  rkVector  )  const
 

Quaternion Ogre::Quaternion::operator * (  Real  fScalar  )  const
 

Quaternion Ogre::Quaternion::operator * (  const Quaternion &  rkQ  )  const
 

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

Definition at line 182 of file OgreQuaternion.h.

References Ogre::operator==().

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 162 of file OgreQuaternion.h.

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

Definition at line 177 of file OgreQuaternion.h.

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

Array accessor operator.

Definition at line 113 of file OgreQuaternion.h.

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

Array accessor operator.

Definition at line 105 of file OgreQuaternion.h.

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

Pointer accessor for direct copying.

Definition at line 127 of file OgreQuaternion.h.

Real* Ogre::Quaternion::ptr (   ) 
 

Pointer accessor for direct copying.

Definition at line 121 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::ToAngleAxis (  Degree &  dAngle,
Vector3 &  rkAxis
)  const
 

Definition at line 136 of file OgreQuaternion.h.

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

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
 

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 264 of file OgreQuaternion.h.

Member Data Documentation

const Quaternion Ogre::Quaternion::IDENTITY [static]
 

Definition at line 256 of file OgreQuaternion.h.

const Real Ogre::Quaternion::ms_fEpsilon [static]
 

Definition at line 252 of file OgreQuaternion.h.

Real Ogre::Quaternion::w
 

Definition at line 258 of file OgreQuaternion.h.

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

Real Ogre::Quaternion::x
 

Definition at line 258 of file OgreQuaternion.h.

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

Real Ogre::Quaternion::y
 

Definition at line 258 of file OgreQuaternion.h.

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

Real Ogre::Quaternion::z
 

Definition at line 258 of file OgreQuaternion.h.

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

const Quaternion Ogre::Quaternion::ZERO [static]
 

Definition at line 255 of file OgreQuaternion.h.

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

Copyright © 2000-2005 by The OGRE Team
Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 2.5 License.
Last modified Sun Sep 30 10:52:25 2007