Home | Namespaces | Hierarchy | Alphabetical List | Class list | Files | Namespace Members | Class members | File members | Tutorials |
Quaternion class for representing rotations. More...
#include <quaternion.h>
Public Member Functions | |
f32 | dotProduct (const quaternion &other) const |
Calculates the dot product. | |
bool | equals (const quaternion &other, const f32 tolerance=ROUNDING_ERROR_f32) const |
returns if this quaternion equals the other one, taking floating point rounding errors into account | |
quaternion & | fromAngleAxis (f32 angle, const vector3df &axis) |
Create quaternion from rotation angle and rotation axis. | |
void | getMatrix (matrix4 &dest, const core::vector3df &translation) const |
Creates a matrix from this quaternion. | |
matrix4 | getMatrix () const |
Creates a matrix from this quaternion. | |
void | getMatrix_transposed (matrix4 &dest) const |
Creates a matrix from this quaternion. | |
void | getMatrixCenter (matrix4 &dest, const core::vector3df ¢er, const core::vector3df &translation) const |
quaternion & | makeIdentity () |
Set quaternion to identity. | |
quaternion & | makeInverse () |
Inverts this quaternion. | |
quaternion & | normalize () |
Normalizes the quaternion. | |
bool | operator!= (const quaternion &other) const |
inequality operator | |
vector3df | operator* (const vector3df &v) const |
Multiplication operator. | |
quaternion | operator* (f32 s) const |
Multiplication operator with scalar. | |
quaternion | operator* (const quaternion &other) const |
Multiplication operator. | |
quaternion & | operator*= (const quaternion &other) |
Multiplication operator. | |
quaternion & | operator*= (f32 s) |
Multiplication operator with scalar. | |
quaternion | operator+ (const quaternion &other) const |
Add operator. | |
quaternion & | operator= (const matrix4 &other) |
Matrix assignment operator. | |
quaternion & | operator= (const quaternion &other) |
Assignment operator. | |
bool | operator== (const quaternion &other) const |
Equalilty operator. | |
quaternion (const matrix4 &mat) | |
Constructor which converts a matrix to a quaternion. | |
quaternion (const vector3df &vec) | |
Constructor which converts euler angles (radians) to a quaternion. | |
quaternion (f32 x, f32 y, f32 z) | |
Constructor which converts euler angles (radians) to a quaternion. | |
quaternion (f32 x, f32 y, f32 z, f32 w) | |
Constructor. | |
quaternion () | |
Default Constructor. | |
quaternion & | rotationFromTo (const vector3df &from, const vector3df &to) |
Set quaternion to represent a rotation from one vector to another. | |
quaternion & | set (const core::quaternion &quat) |
Sets new quaternion from other quaternion. | |
quaternion & | set (const core::vector3df &vec) |
Sets new quaternion based on euler angles (radians). | |
quaternion & | set (f32 x, f32 y, f32 z) |
Sets new quaternion based on euler angles (radians). | |
quaternion & | set (f32 x, f32 y, f32 z, f32 w) |
Sets new quaternion. | |
quaternion & | slerp (quaternion q1, quaternion q2, f32 interpolate) |
Set this quaternion to the result of the interpolation between two quaternions. | |
void | toAngleAxis (f32 &angle, core::vector3df &axis) const |
Fills an angle (radians) around an axis (unit vector). | |
void | toEuler (vector3df &euler) const |
Output this quaternion to an euler angle (radians). | |
Public Attributes | |
f32 | W |
f32 | X |
Quaternion elements. | |
f32 | Y |
f32 | Z |
Quaternion class for representing rotations.
It provides cheap combinations and avoids gimbal locks. Also useful for interpolations.
Definition at line 21 of file quaternion.h.
irr::core::quaternion::quaternion | ( | ) | [inline] |
Default Constructor.
Definition at line 26 of file quaternion.h.
Referenced by operator*(), and operator+().
Constructor.
Definition at line 29 of file quaternion.h.
Constructor which converts euler angles (radians) to a quaternion.
Definition at line 155 of file quaternion.h.
irr::core::quaternion::quaternion | ( | const vector3df & | vec | ) | [inline] |
Constructor which converts euler angles (radians) to a quaternion.
Definition at line 162 of file quaternion.h.
References irr::core::vector3d< T >::X, irr::core::vector3d< T >::Y, and irr::core::vector3d< T >::Z.
irr::core::quaternion::quaternion | ( | const matrix4 & | mat | ) | [inline] |
Constructor which converts a matrix to a quaternion.
Definition at line 169 of file quaternion.h.
f32 irr::core::quaternion::dotProduct | ( | const quaternion & | other | ) | const [inline] |
bool irr::core::quaternion::equals | ( | const quaternion & | other, | |
const f32 | tolerance = ROUNDING_ERROR_f32 | |||
) | const [inline] |
quaternion & irr::core::quaternion::fromAngleAxis | ( | f32 | angle, | |
const vector3df & | axis | |||
) | [inline] |
Create quaternion from rotation angle and rotation axis.
Axis must be unit length. The quaternion representing the rotation is q = cos(A/2)+sin(A/2)*(x*i+y*j+z*k).
angle | Rotation Angle in radians. | |
axis | Rotation axis. |
axis must be unit length angle in radians
Definition at line 542 of file quaternion.h.
References W, irr::core::vector3d< T >::X, X, irr::core::vector3d< T >::Y, Y, irr::core::vector3d< T >::Z, and Z.
Referenced by rotationFromTo().
void irr::core::quaternion::getMatrix | ( | matrix4 & | dest, | |
const core::vector3df & | center | |||
) | const [inline] |
Creates a matrix from this quaternion.
Creates a matrix from this quaternion
Definition at line 315 of file quaternion.h.
References irr::core::CMatrix4< T >::pointer(), irr::core::CMatrix4< T >::setDefinitelyIdentityMatrix(), W, irr::core::vector3d< T >::X, X, irr::core::vector3d< T >::Y, Y, irr::core::vector3d< T >::Z, and Z.
matrix4 irr::core::quaternion::getMatrix | ( | ) | const [inline] |
Creates a matrix from this quaternion.
Definition at line 304 of file quaternion.h.
References getMatrix_transposed().
Referenced by irr::scene::SMD3QuaternionTag::operator==().
void irr::core::quaternion::getMatrix_transposed | ( | matrix4 & | dest | ) | const [inline] |
Creates a matrix from this quaternion.
Definition at line 382 of file quaternion.h.
References irr::core::CMatrix4< T >::setDefinitelyIdentityMatrix(), W, X, Y, and Z.
Referenced by getMatrix().
void irr::core::quaternion::getMatrixCenter | ( | matrix4 & | dest, | |
const core::vector3df & | center, | |||
const core::vector3df & | translation | |||
) | const [inline] |
Creates a matrix from this quaternion Rotate about a center point shortcut for core::quaternion q; q.rotationFromTo ( vin[i].Normal, forward ); q.getMatrixCenter ( lookat, center, newPos );
core::matrix4 m2; m2.setInverseTranslation ( center ); lookat *= m2;
core::matrix4 m3; m2.setTranslation ( newPos ); lookat *= m3;
Creates a matrix from this quaternion Rotate about a center point shortcut for core::quaternion q; q.rotationFromTo ( vin[i].Normal, forward ); q.getMatrix ( lookat, center );
core::matrix4 m2; m2.setInverseTranslation ( center ); lookat *= m2;
Definition at line 357 of file quaternion.h.
References irr::core::CMatrix4< T >::pointer(), irr::core::CMatrix4< T >::setRotationCenter(), W, X, Y, and Z.
core::quaternion & irr::core::quaternion::makeIdentity | ( | ) | [inline] |
Set quaternion to identity.
Definition at line 608 of file quaternion.h.
Referenced by rotationFromTo().
quaternion & irr::core::quaternion::makeInverse | ( | ) | [inline] |
quaternion & irr::core::quaternion::normalize | ( | ) | [inline] |
Normalizes the quaternion.
Definition at line 481 of file quaternion.h.
References irr::core::reciprocal_squareroot(), W, X, Y, and Z.
Referenced by operator=(), and set().
bool irr::core::quaternion::operator!= | ( | const quaternion & | other | ) | const [inline] |
inequality operator
Definition at line 185 of file quaternion.h.
Multiplication operator.
Definition at line 593 of file quaternion.h.
References irr::core::vector3d< T >::crossProduct(), W, X, Y, and Z.
quaternion irr::core::quaternion::operator* | ( | f32 | s | ) | const [inline] |
Multiplication operator with scalar.
Definition at line 275 of file quaternion.h.
References quaternion(), W, X, Y, and Z.
quaternion irr::core::quaternion::operator* | ( | const quaternion & | other | ) | const [inline] |
quaternion & irr::core::quaternion::operator*= | ( | const quaternion & | other | ) | [inline] |
Multiplication operator.
Definition at line 291 of file quaternion.h.
quaternion & irr::core::quaternion::operator*= | ( | f32 | s | ) | [inline] |
quaternion irr::core::quaternion::operator+ | ( | const quaternion & | other | ) | const [inline] |
quaternion & irr::core::quaternion::operator= | ( | const matrix4 & | other | ) | [inline] |
Matrix assignment operator.
Definition at line 202 of file quaternion.h.
References normalize(), W, X, Y, and Z.
quaternion & irr::core::quaternion::operator= | ( | const quaternion & | other | ) | [inline] |
bool irr::core::quaternion::operator== | ( | const quaternion & | other | ) | const [inline] |
core::quaternion & irr::core::quaternion::rotationFromTo | ( | const vector3df & | from, | |
const vector3df & | to | |||
) | [inline] |
Set quaternion to represent a rotation from one vector to another.
Definition at line 617 of file quaternion.h.
References irr::core::vector3d< T >::crossProduct(), irr::core::vector3d< T >::dotProduct(), fromAngleAxis(), irr::core::vector3d< T >::getLength(), makeIdentity(), irr::core::vector3d< T >::normalize(), irr::core::PI, irr::core::vector3d< T >::set(), W, irr::core::vector3d< T >::X, X, irr::core::vector3d< T >::Y, Y, irr::core::vector3d< T >::Z, and Z.
quaternion & irr::core::quaternion::set | ( | const core::quaternion & | quat | ) | [inline] |
Sets new quaternion from other quaternion.
Definition at line 464 of file quaternion.h.
quaternion & irr::core::quaternion::set | ( | const core::vector3df & | vec | ) | [inline] |
Sets new quaternion based on euler angles (radians).
Definition at line 458 of file quaternion.h.
References irr::core::vector3d< T >::X, irr::core::vector3d< T >::Y, and irr::core::vector3d< T >::Z.
quaternion & irr::core::quaternion::set | ( | f32 | x, | |
f32 | y, | |||
f32 | z | |||
) | [inline] |
Sets new quaternion based on euler angles (radians).
Definition at line 428 of file quaternion.h.
References normalize(), W, X, Y, and Z.
quaternion & irr::core::quaternion::set | ( | f32 | x, | |
f32 | y, | |||
f32 | z, | |||
f32 | w | |||
) | [inline] |
quaternion & irr::core::quaternion::slerp | ( | quaternion | q1, | |
quaternion | q2, | |||
f32 | interpolate | |||
) | [inline] |
Set this quaternion to the result of the interpolation between two quaternions.
Definition at line 494 of file quaternion.h.
References dotProduct(), irr::core::PI, irr::core::reciprocal(), set(), W, X, Y, and Z.
void irr::core::quaternion::toAngleAxis | ( | f32 & | angle, | |
core::vector3df & | axis | |||
) | const [inline] |
Fills an angle (radians) around an axis (unit vector).
Definition at line 554 of file quaternion.h.
References irr::core::iszero(), irr::core::reciprocal(), W, irr::core::vector3d< T >::X, X, irr::core::vector3d< T >::Y, Y, irr::core::vector3d< T >::Z, and Z.
void irr::core::quaternion::toEuler | ( | vector3df & | euler | ) | const [inline] |
Output this quaternion to an euler angle (radians).
Definition at line 575 of file quaternion.h.
References irr::core::clamp(), W, irr::core::vector3d< T >::X, X, irr::core::vector3d< T >::Y, Y, irr::core::vector3d< T >::Z, and Z.
Definition at line 150 of file quaternion.h.
Referenced by dotProduct(), equals(), fromAngleAxis(), getMatrix(), getMatrix_transposed(), getMatrixCenter(), makeIdentity(), normalize(), operator*(), operator*=(), operator+(), operator=(), operator==(), rotationFromTo(), set(), slerp(), toAngleAxis(), and toEuler().
Quaternion elements.
Definition at line 147 of file quaternion.h.
Referenced by dotProduct(), equals(), fromAngleAxis(), getMatrix(), getMatrix_transposed(), getMatrixCenter(), makeIdentity(), makeInverse(), normalize(), operator*(), operator*=(), operator+(), operator=(), operator==(), rotationFromTo(), set(), slerp(), toAngleAxis(), and toEuler().
Definition at line 148 of file quaternion.h.
Referenced by dotProduct(), equals(), fromAngleAxis(), getMatrix(), getMatrix_transposed(), getMatrixCenter(), makeIdentity(), makeInverse(), normalize(), operator*(), operator*=(), operator+(), operator=(), operator==(), rotationFromTo(), set(), slerp(), toAngleAxis(), and toEuler().
Definition at line 149 of file quaternion.h.
Referenced by dotProduct(), equals(), fromAngleAxis(), getMatrix(), getMatrix_transposed(), getMatrixCenter(), makeIdentity(), makeInverse(), normalize(), operator*(), operator*=(), operator+(), operator=(), operator==(), rotationFromTo(), set(), slerp(), toAngleAxis(), and toEuler().
The Irrlicht
Engine Documentation © 2003-2010 by Nikolaus Gebhardt. Generated
on Sun Oct 24 12:42:03 2010 by Doxygen
(1.6.2) |