irr::core::quaternion Class Reference

Quaternion class for representing rotations. More...

#include <quaternion.h>

List of all members.

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 &center, 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

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Detailed Description

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.

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Constructor & Destructor Documentation

irr::core::quaternion::quaternion

(

)

[inline]

Default Constructor.

Definition at line 26 of file quaternion.h.

Referenced by operator*(), and operator+().

irr::core::quaternion::quaternion	(	f32	x,
		f32	y,
		f32	z,
		f32	w
	)			[inline]

Constructor.

Definition at line 29 of file quaternion.h.

irr::core::quaternion::quaternion	(	f32	x,
		f32	y,
		f32	z
	)			[inline]

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.

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Member Function Documentation

f32 irr::core::quaternion::dotProduct

(

const quaternion &

other

)

const [inline]

Calculates the dot product.

Definition at line 534 of file quaternion.h.

References W, X, Y, and Z.

Referenced by slerp().

bool irr::core::quaternion::equals	(	const quaternion &	other,
		const f32	tolerance = ROUNDING_ERROR_f32
	)			const [inline]

returns if this quaternion equals the other one, taking floating point rounding errors into account

Definition at line 471 of file quaternion.h.

References W, X, Y, and Z.

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).

Parameters:

	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.

References W, X, Y, and Z.

Referenced by rotationFromTo().

quaternion & irr::core::quaternion::makeInverse

(

)

[inline]

Inverts this quaternion.

Definition at line 410 of file quaternion.h.

References X, Y, and Z.

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.

vector3df irr::core::quaternion::operator*

(

const vector3df &

v

)

const [inline]

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]

Multiplication operator.

Definition at line 261 of file quaternion.h.

References W, X, Y, and Z.

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]

Multiplication operator with scalar.

Definition at line 281 of file quaternion.h.

References W, X, Y, and Z.

quaternion irr::core::quaternion::operator+

(

const quaternion &

other

)

const [inline]

Add operator.

Definition at line 297 of file quaternion.h.

References quaternion(), W, X, Y, and Z.

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]

Assignment operator.

Definition at line 191 of file quaternion.h.

References W, X, Y, and Z.

bool irr::core::quaternion::operator==

(

const quaternion &

other

)

const [inline]

Equalilty operator.

Definition at line 176 of file quaternion.h.

References W, X, Y, and Z.

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]

Sets new quaternion.

Definition at line 417 of file quaternion.h.

References W, X, Y, and Z.

Referenced by slerp().

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.

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Member Data Documentation

f32 irr::core::quaternion::W

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().

f32 irr::core::quaternion::X

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().

f32 irr::core::quaternion::Y

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().

f32 irr::core::quaternion::Z

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().

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

• quaternion.h