GMathQuaternion< T > Class Template Reference

Inheritance diagram for GMathQuaternion< T >:

Public Member Functions
	GMathQuaternion (void)
	Default constructor. Creates an identity quaternion.
IX_TMPLT	GMathQuaternion (const U &s, const GMathVec3< U > &v)
	Construct from a real and imaginary parts.
IX_TMPLT	GMathQuaternion (const GMathQuaternion< U > &q)
	Copy constructor.
T &	operator[] (unsigned int index)
const T &	operator[] (unsigned int index) const
GMathQuaternion &	operator= (const GMathQuaternion &q)=default
GMathQuaternion	operator* (const GMathQuaternion &q) const
GMathQuaternion	operator+ (const GMathQuaternion &q) const
GMathQuaternion	operator- (const GMathQuaternion &q) const
GMathQuaternion	operator- () const
GMathQuaternion	operator* (const double &d) const
GMathQuaternion &	operator*= (const double &d)
GMathQuaternion &	operator/= (const double &d)
bool	is_equal_to (const GMathQuaternion &q, const double &epsilon=gmath_epsilon) const
	Check equality with another quaternion q within an epsilon.
bool	operator== (const GMathQuaternion &q) const
	Equality operator.
bool	operator!= (const GMathQuaternion &q) const
	Inequality operator.
double	get_w (void) const
GMathVec3d	get_xyz (void) const
double	get_sqr_norm (void) const
double	get_length (void) const
IX_TMPLT GMathQuaternion &	set_rotation (const U &m)
GMathQuaternion &	set_rotation (const double &angle, const GMathVec3d &axis)
	Set the quaternion from an angle/axis rotation.
GMathQuaternion &	set_rotation (const GMathVec3d &a, const GMathVec3d &b)
void	get_rotation (double &angle, GMathVec3d &axis) const
	Extract the rotation as an angle/axis rotation.
IX_TMPLT void	get_rotation (GMathMatrix3x3< U > &m) const
	Computes the rotation matrix represented by a unit quaternion.
IX_TMPLT void	get_rotation (GMathMatrix4x4< U > &m) const
	Computes the rotation matrix represented by a unit quaternion.
void	conjugate (void)
GMathQuaternion	conjugated (void) const
void	invert (void)
	Computes the inverse of this quaternion.
GMathQuaternion	inverse (void) const
void	normalize (void)
GMathQuaternion	normalized (void) const
double	dot (const GMathQuaternion &q) const
void	rotate (GMathVec3d &v)
	Rotates the vector by this quaternion.
void	swing_twist_decomposition (const GMathVec3d &direction, GMathQuaternion &swing, GMathQuaternion &twist)
	Decompose the rotation on to 2 parts. The rotation can be composed back as q = twist * swing.
void	slerp (const GMathQuaternion &q0, const GMathQuaternion &q1, const double &t)
void	slerp (const GMathQuaternion &q, const double &t)
const CoreClassInfo &	get_class_info (void) const
Public Member Functions inherited from CoreBaseType
bool	is_kindof (const CoreClassInfo &cinfo) const

Static Public Member Functions
static const GMathQuaternion &	get_identity (void)
	Get the identity quaternion.
static const CoreClassInfo &	class_info (void)
Static Public Member Functions inherited from CoreBaseType
static const CoreClassInfo &	class_info ()
	Get the type descriptor of this instance.

Detailed Description

template<typename T>
class GMathQuaternion< T >

Quaternion rotation class. Use the specialized classes GMathQuath, GMathQuatf and GMathQuatd.

Template Parameters

T	The underlying data type.

Member Function Documentation

template<typename T>

void GMathQuaternion< T >::get_rotation ( GMathMatrix3x3< U > &  m ) const

inline

Computes the rotation matrix represented by a unit quaternion.

Note

This does not check that this quaternion is normalized. The returned matrix will not be a rotation if the quaternion is non-unit.

template<typename T>

void GMathQuaternion< T >::get_rotation ( GMathMatrix4x4< U > &  m ) const

inline

Computes the rotation matrix represented by a unit quaternion.

Note

This does not check that this quaternion is normalized. The returned matrix will not be a rotation if the quaternion is non-unit.

template<typename T >

void GMathQuaternion< T >::invert ( void  )

inline

Computes the inverse of this quaternion.

Note

If you know a priori that you're using a unit quaternion, it will be significantly faster to use conjugate() instead.

template<typename T >

T & GMathQuaternion< T >::operator[] ( unsigned int  index )

inline

Get the index'th element of the quaternion (0 is the real part, 1 to 3 is the imaginary part) as a modifiable reference. Contrary to get_w and get_xyz, there are no casts here.

template<typename T >

const T & GMathQuaternion< T >::operator[] ( unsigned int  index ) const

inline

Get the index'th element of the quaternion (0 is the real part, 1 to 3 is the imaginary part) as a read-only reference. Contrary to get_w and get_xyz, there are no casts here.

template<typename T >

void GMathQuaternion< T >::rotate ( GMathVec3d &  v )

inline

Rotates the vector by this quaternion.

Warning

conjugated() is used instead of inverse() for better performance, thus this quaternion must be normalized.

template<typename T>

GMathQuaternion< T > & GMathQuaternion< T >::set_rotation ( const U &  m )

inline

Set the quaternion from the rotation part of a matrix.

Template Parameters

U	The type of the input matrix. It's automatically deduced, and works with 3x3 and 4x4 matrices.

Parameters

m	The matrix.

template<typename T >

void GMathQuaternion< T >::swing_twist_decomposition ( const GMathVec3d &  direction, GMathQuaternion< T > &  swing, GMathQuaternion< T > &  twist  )

inline

Decompose the rotation on to 2 parts. The rotation can be composed back as q = twist * swing.

Parameters

direction	twist axis, normalized
swing	rotation around axis that is perpendicular to "direction" vector
twist	rotation around the "direction" vector

Note

Singularity in case of swing_rotation close to 180 degrees rotation is handled. If quaternion is of non-unit length, the outputs are non-unit as well, otherwise outputs are both unit