cQuaternion Struct Reference
[Math]

cQuaternion can be used to represents rotations in quaternion form. Simple floating point arithmetic operations are provided too. More...

#include <CQuaternion.h>

List of all members.

Public Member Functions
	cQuaternion ()
	Constructor of cQuaternion.
	cQuaternion (double nw, double nx, double ny, double nz)
	Constructor of cQuaternion.
	cQuaternion (double const *in)
	Constructor of cQuaternion.
	operator double * ()
	Cast quaternion to a double*.
	operator double const * () const
	Cast quaternion to a double const*.
void	zero ()
	Clear quaternion with zeros.
void	negate ()
	Negate current quaternion. Result is stored in current quaternion.
double	magsq () const
	Returns quaternion magnitude squared.
double	lengthsq () const
	Returns quaternion magnitude squared.
double	mag () const
	Returns quaternion magnitude.
double	length () const
	Returns quaternion magnitude.
void	normalize ()
	Normalize quaternion.
void	toRotMat (cMatrix3d &a_mat) const
	Convert quaternion to rotation matrix.
void	fromRotMat (cMatrix3d const &a_mat)
void	fromAxisAngle (cVector3d a_axis, double a_angle)
void	toAxisAngle (cVector3d &a_axis, double &a_angle) const
void	conj ()
	Conjugate of quaternion.
void	invert ()
	Invert quaternion ( inverse is conjugate/magsq ).
cQuaternion &	operator*= (cQuaternion const &a_otherQ)
	Multiply operator (grassman product).
void	mul (cQuaternion const &a_otherQ)
cQuaternion &	operator*= (double a_scale)
	Scale operator.
void	mul (double s)
	Scale this quaternion by a scalar.
bool	operator== (cQuaternion const &a_otherQ) const
	Equality operator.
double	dot (cQuaternion const &a_otherQ) const
cQuaternion &	operator+= (cQuaternion const &a_otherQ)
	Addition.
void	add (cQuaternion const &a_otherQ)
void	slerp (double a_level, cQuaternion const &a_q1, cQuaternion a_q2)
Public Attributes
double	w
	Component w of quaternion.
double	x
	Component x of quaternion.
double	y
	Component y of quaternion.
double	z
	Component z of quaternion.

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Detailed Description

cQuaternion can be used to represents rotations in quaternion form. Simple floating point arithmetic operations are provided too.

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Member Function Documentation

void cQuaternion::add

(

cQuaternion const &

a_otherQ

)

[inline]

Addition
Add another quaternion to this one and store here.

Parameters:

a_otherQ

The other quaternion.

double cQuaternion::dot

(

cQuaternion const &

a_otherQ

)

const [inline]

Dot product.
Take the dot product with another quaternion and store the result here.

Parameters:

a_otherQ

The other quaternion.

Returns:

The result of the dot product.

void cQuaternion::fromAxisAngle	(	cVector3d	a_axis,
		double	a_angle
	)			[inline]

Convert from axis and angle (in radians).

Parameters:

	a_axis	The axis.
	a_angle	The angle in radians.

void cQuaternion::fromRotMat

(

cMatrix3d const &

a_mat

)

[inline]

Convert rotation matrix to quaternion.

Parameters:

a_mat

The rotation matrix to convert.

void cQuaternion::mul

(

cQuaternion const &

a_otherQ

)

[inline]

Quaternion multiplication
Multiply this quaternion with another and store result here.

Parameters:

a_otherQ

The other quaternion.

void cQuaternion::slerp	(	double	a_level,
		cQuaternion const &	a_q1,
		cQuaternion	a_q2
	)			[inline]

Spherical linear interpolation.
Spherically linearly interpolate between quaternions and store the result here.

Parameters:

	a_level	Parameter between 0 (fully at a_q1) and 1.0 (fully at a_q2).
	a_q1	Starting quaternion.
	a_q2	Ending quaternion.

void cQuaternion::toAxisAngle	(	cVector3d &	a_axis,
		double &	a_angle
	)			const [inline]

Convert to axis (not normalized) and angle.

Parameters:

	a_axis	Where to store the axis.
	a_angle	Where to store the angle.

void cQuaternion::toRotMat

(

cMatrix3d &

a_mat

)

const [inline]

Convert quaternion to rotation matrix.

Parameters:

a_mat

The matrix to store the result into.

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

• D:/CHAI3D/build-2-0-0/2.0.0/win32/src/math/CQuaternion.h