Quaternion< T > Class Template Reference
Detailed Description
template<typename T>
class cy::Quaternion< T >
class cy::Quaternion< T >
Quaternion class.
#include <cyQuaternion.h>
Inheritance diagram for Quaternion< T >:
Public Member Functions | |
Constructors | |
| Quaternion (T const &x, T const &y, T const &z, T const &_s) | |
| Quaternion (Vec3< T > const &_v, T _s=0) | |
| Quaternion (Vec4< T > const &q) | |
| Quaternion (UnitQuaternion< T > const &q) | |
| Quaternion (Vec3< T > const &from, Vec3< T > const &to) | |
Set & Get value functions | |
| void | Zero () |
| Sets the scalar part to one and vector part to zero, meaning no rotation. | |
| void | Set (Vec3< T > const &_v, T _s) |
| Sets the scalar and vector components of the quaternion. | |
| void | Set (T x, T y, T z, T _s) |
| Sets the scalar and vector components of the quaternion. | |
| bool | IsFinite () const |
| Returns true if all components are non-infinite numbers. | |
| bool | IsUnit () const |
| Returns true if the length of the quaternion is close to 1. | |
| void | SetRotation (Vec3< T > const &axis, T angle) |
| Sets a rotation around the given axis. | |
| void | SetRotation (Matrix3< T > const &rotation) |
| Sets the quaternion using a rotation matrix. This method only works for rotation matrices. | |
| void | SetRotation (Vec3< T > const &from, Vec3< T > const &to) |
| Sets the quaternion as a rotation from one direction to another. The resulting quaternion is not normalized. | |
| void | SetHalfRotation () |
| Reduces the rotation of the quaternion by half. | |
| T | GetRotationAngle () const |
| Returns rotation angle in radians. | |
| Vec3< T > | GetRotationAxis () const |
| Returns the normalized rotation axis. | |
Normalize, Length, and Inverse functions | |
| void | Normalize () |
| Normalizes the quaternion, such that its length becomes 1. | |
| Quaternion | GetNormalized () const |
| Returns a normalized copy of the quaternion. | |
| T | LengthSquared () const |
| Returns the square of the length. Effectively, this is the dot product of the vector with itself. | |
| T | Length () const |
| Returns the length of the quaternion. | |
| Quaternion | GetInverse () const |
| Returns the inverse of the quaternion. | |
| void | Invert () |
| Normalizes the quaternion, such that its length becomes 1. | |
Conversion functions | |
| Matrix3< T > | GetMatrix3 () const |
| Returns a matrix representing the rotation of the quaternion. | |
| Matrix4< T > | GetMatrix4 () const |
| Returns a matrix representing the rotation of the quaternion. | |
| operator Matrix3< T > () const | |
| Returns a matrix representing the rotation of the quaternion. | |
| operator Matrix4< T > () const | |
| Returns a matrix representing the rotation of the quaternion. | |
| operator Vec4< T > () const | |
| Returns a vector containing the values of the quaternion with the scalar in the w coordinate. | |
Unary operators | |
| Quaternion | operator- () const |
Binary operators | |
| Quaternion | operator* (Quaternion const &q) const |
| Quaternion | operator+ (Quaternion const &q) const |
| Quaternion | operator- (Quaternion const &q) const |
| Quaternion | operator* (T const &f) const |
| Quaternion | operator/ (T const &f) const |
| Vec3< T > | operator* (Vec3< T > const &p) const |
| Matrix3< T > | operator* (Matrix3< T > const &m) const |
Assignment operators | |
| Quaternion & | operator*= (Quaternion const &q) |
| Quaternion & | operator+= (Quaternion const &q) |
| Quaternion & | operator-= (Quaternion const &q) |
| Quaternion & | operator*= (T const &f) |
| Quaternion & | operator/= (T const &f) |
Test operators | |
| int | operator== (Quaternion const &q) const |
| int | operator!= (Quaternion const &q) const |
Dot product | |
| T | Dot (Quaternion const &p) const |
| Dot product. | |
| T | operator% (Quaternion const &p) const |
| Dot product. | |
Public Attributes | |
| Vec3< T > | v |
| vector part | |
| T | s |
| scalar part | |
Friends | |
| Quaternion | operator* (T const &f, const Quaternion &q) |
| Matrix3< T > | operator* (Matrix3< T > const &m, const Quaternion &q) |
| Quaternion | Inverse (Quaternion const &q) |
| return the inverse of the quaternion | |