i3d::CQuaternion3d Class Reference

Quaternion for representing rotations in 3D space. More...

#include <CQuaternion3d.h>

Public Member Functions
	CQuaternion3d ()
	Default constructor.
	CQuaternion3d (double w, double x, double y, double z)
	Construct quaternion from components.
double	GetW () const
	Get W component (scalar part).
void	SetW (double w)
	Set W component.
double	GetX () const
	Get X component.
void	SetX (double x)
	Set X component.
double	GetY () const
	Get Y component.
void	SetY (double y)
	Set Y component.
double	GetZ () const
	Get Z component.
void	SetZ (double z)
	Set Z component.
CVector3d	GetVectorPart () const
	Get vector part of quaternion.
double	GetLength () const
	Calculate length (norm) of quaternion.
double	GetLengthSq () const
	Calculate squared length of quaternion.
CQuaternion3d	GetNormalized () const
	Get normalized quaternion (unit quaternion).
void	Normalize ()
	Normalize this quaternion in place.
CQuaternion3d	GetConjugate () const
	Get conjugate of quaternion.
CQuaternion3d	GetInverse () const
	Get inverse of quaternion.
CMatrix3d	ToMatrix () const
	Convert quaternion to rotation matrix.
void	ToAxisAngle (CVector3d &axis, double &angle) const
	Convert quaternion to axis and angle.
CVector3d	Rotate (const CVector3d &vector) const
	Rotate vector by this quaternion.
double	GetDotProduct (const CQuaternion3d &other) const
	Calculate dot product with another quaternion.
bool	Serialize (iser::IArchive &archive)
	Serialize this quaternion to specified archive.
CQuaternion3d	operator* (const CQuaternion3d &other) const
CQuaternion3d	operator* (double scalar) const
CQuaternion3d	operator+ (const CQuaternion3d &other) const
CQuaternion3d	operator- (const CQuaternion3d &other) const
CQuaternion3d &	operator*= (const CQuaternion3d &other)
CQuaternion3d &	operator*= (double scalar)
bool	operator== (const CQuaternion3d &other) const
bool	operator!= (const CQuaternion3d &other) const

Static Public Member Functions
static CQuaternion3d	FromAxisAngle (const CVector3d &axis, double angle)
	Construct quaternion from axis and angle.
static CQuaternion3d	FromMatrix (const CMatrix3d &matrix)
	Construct quaternion from rotation matrix.
static CQuaternion3d	FromEulerAngles (double roll, double pitch, double yaw)
	Construct quaternion from Euler angles (XYZ order).
static CQuaternion3d	Slerp (const CQuaternion3d &q1, const CQuaternion3d &q2, double t)
	Spherical linear interpolation (SLERP) between two quaternions.

Detailed Description

Quaternion for representing rotations in 3D space.

Stored as (w, x, y, z) where w is the scalar part.

Definition at line 20 of file CQuaternion3d.h.

Constructor & Destructor Documentation

CQuaternion3d() [1/2]

i3d::CQuaternion3d::CQuaternion3d ( )

inline

Default constructor.

Creates identity quaternion (no rotation).

Definition at line 189 of file CQuaternion3d.h.

Referenced by GetConjugate().

CQuaternion3d() [2/2]

i3d::CQuaternion3d::CQuaternion3d ( double  w, double  x, double  y, double  z  )

inline

Construct quaternion from components.

Parameters

w	Scalar part.
x	X component of vector part.
y	Y component of vector part.
z	Z component of vector part.

Definition at line 198 of file CQuaternion3d.h.

Member Function Documentation

FromAxisAngle()

static CQuaternion3d i3d::CQuaternion3d::FromAxisAngle ( const CVector3d &  axis, double  angle  )

static

Construct quaternion from axis and angle.

Parameters

axis	Rotation axis (will be normalized).
angle	Rotation angle in radians.

Referenced by i3d::CAffine3d::CreateRotation().

FromEulerAngles()

static CQuaternion3d i3d::CQuaternion3d::FromEulerAngles ( double  roll, double  pitch, double  yaw  )

static

Construct quaternion from Euler angles (XYZ order).

Parameters

roll	Rotation around X axis in radians.
pitch	Rotation around Y axis in radians.
yaw	Rotation around Z axis in radians.

FromMatrix()

static CQuaternion3d i3d::CQuaternion3d::FromMatrix ( const CMatrix3d &  matrix )

static

Construct quaternion from rotation matrix.

GetConjugate()

CQuaternion3d i3d::CQuaternion3d::GetConjugate ( ) const

inline

Get conjugate of quaternion.

Definition at line 273 of file CQuaternion3d.h.

References CQuaternion3d().

GetDotProduct()

double i3d::CQuaternion3d::GetDotProduct ( const CQuaternion3d &  other ) const

inline

Calculate dot product with another quaternion.

Definition at line 279 of file CQuaternion3d.h.

GetInverse()

CQuaternion3d i3d::CQuaternion3d::GetInverse

(

)

const

Get inverse of quaternion.

GetLength()

double i3d::CQuaternion3d::GetLength ( ) const

inline

Calculate length (norm) of quaternion.

Definition at line 267 of file CQuaternion3d.h.

References GetLengthSq().

GetLengthSq()

double i3d::CQuaternion3d::GetLengthSq ( ) const

inline

Calculate squared length of quaternion.

Definition at line 261 of file CQuaternion3d.h.

Referenced by GetLength().

GetNormalized()

CQuaternion3d i3d::CQuaternion3d::GetNormalized

(

)

const

Get normalized quaternion (unit quaternion).

GetVectorPart()

CVector3d i3d::CQuaternion3d::GetVectorPart ( ) const

inline

Get vector part of quaternion.

Definition at line 255 of file CQuaternion3d.h.

GetW()

double i3d::CQuaternion3d::GetW ( ) const

inline

Get W component (scalar part).

Definition at line 207 of file CQuaternion3d.h.

GetX()

double i3d::CQuaternion3d::GetX ( ) const

inline

Get X component.

Definition at line 219 of file CQuaternion3d.h.

GetY()

double i3d::CQuaternion3d::GetY ( ) const

inline

Get Y component.

Definition at line 231 of file CQuaternion3d.h.

GetZ()

double i3d::CQuaternion3d::GetZ ( ) const

inline

Get Z component.

Definition at line 243 of file CQuaternion3d.h.

Normalize()

void i3d::CQuaternion3d::Normalize

(

)

Normalize this quaternion in place.

operator!=()

bool i3d::CQuaternion3d::operator!= ( const CQuaternion3d &  other ) const

inline

Definition at line 294 of file CQuaternion3d.h.

operator*() [1/2]

CQuaternion3d i3d::CQuaternion3d::operator*

(

const CQuaternion3d &

other

)

const

operator*() [2/2]

CQuaternion3d i3d::CQuaternion3d::operator*

(

double

scalar

)

const

operator*=() [1/2]

CQuaternion3d & i3d::CQuaternion3d::operator*=

(

const CQuaternion3d &

other

)

operator*=() [2/2]

CQuaternion3d & i3d::CQuaternion3d::operator*=

(

double

scalar

)

operator+()

CQuaternion3d i3d::CQuaternion3d::operator+

(

const CQuaternion3d &

other

)

const

operator-()

CQuaternion3d i3d::CQuaternion3d::operator-

(

const CQuaternion3d &

other

)

const

operator==()

bool i3d::CQuaternion3d::operator== ( const CQuaternion3d &  other ) const

inline

Definition at line 285 of file CQuaternion3d.h.

References I_BIG_EPSILON.

Rotate()

CVector3d i3d::CQuaternion3d::Rotate

(

const CVector3d &

vector

)

const

Rotate vector by this quaternion.

Serialize()

bool i3d::CQuaternion3d::Serialize

(

iser::IArchive &

archive

)

Serialize this quaternion to specified archive.

SetW()

void i3d::CQuaternion3d::SetW ( double  w )

inline

Set W component.

Definition at line 213 of file CQuaternion3d.h.

SetX()

void i3d::CQuaternion3d::SetX ( double  x )

inline

Set X component.

Definition at line 225 of file CQuaternion3d.h.

SetY()

void i3d::CQuaternion3d::SetY ( double  y )

inline

Set Y component.

Definition at line 237 of file CQuaternion3d.h.

SetZ()

void i3d::CQuaternion3d::SetZ ( double  z )

inline

Set Z component.

Definition at line 249 of file CQuaternion3d.h.

Slerp()

static CQuaternion3d i3d::CQuaternion3d::Slerp ( const CQuaternion3d &  q1, const CQuaternion3d &  q2, double  t  )

static

Spherical linear interpolation (SLERP) between two quaternions.

Parameters

q1	Start quaternion.
q2	End quaternion.
t	Interpolation parameter (0 to 1).

ToAxisAngle()

void i3d::CQuaternion3d::ToAxisAngle	(	CVector3d &	axis,
		double &	angle
	)		const

Convert quaternion to axis and angle.

Parameters

axis	Output rotation axis.
angle	Output rotation angle in radians.

ToMatrix()

CMatrix3d i3d::CQuaternion3d::ToMatrix

(

)

const

Convert quaternion to rotation matrix.

Referenced by i3d::CAffine3d::CreateRotation().

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

• Acf/Include/i3d/CQuaternion3d.h