physics::Quaternion Class Reference

#include <quaternion.h>

List of all members.

Public Member Functions
	Quaternion ()
	Quaternion (float x, float y, float z, float w)
void	getAxisRotation (float &radians, float &x, float &y, float &z)
Quaternion	operator* (float s) const
Quaternion &	operator*= (float s)
Quaternion	operator+ (const Quaternion &q) const
Quaternion &	operator+= (const Quaternion &q)
Quaternion	operator* (const Quaternion &q) const
Quaternion &	operator*= (const Quaternion &q)
Quaternion	conjugate () const
Vector3D	transform (const Vector3D &p) const
Vector3D	inverseTransform (const Vector3D &p) const
Static Public Member Functions
static Quaternion	create (float radians, float x, float y, float z)
static Quaternion	slerp (const Quaternion &a, const Quaternion &b, float t)

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Detailed Description

Alternative for representing rotations. Advantages are that it does not suffer from gimble lock and produces much better interpolation.

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Constructor & Destructor Documentation

physics::Quaternion::Quaternion

(

)

[inline]

Create a non-oriented quaternion

physics::Quaternion::Quaternion	(	float	x,
		float	y,
		float	z,
		float	w
	)			[inline]

Create a quaternion from x/y/z/w components.

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Member Function Documentation

static Quaternion physics::Quaternion::create	(	float	radians,
		float	x,
		float	y,
		float	z
	)			[inline, static]

Create a quaternion from a rotation about an axis. e.g. Quaternion::create(2.0, 1.0, 0.0, 0.0) = 2 radians around X. Note: x/y/z _must_ be normalised.

void physics::Quaternion::getAxisRotation	(	float &	radians,
		float &	x,
		float &	y,
		float &	z
	)

Get this quaternion as a rotation about some axis.

Quaternion physics::Quaternion::operator*

(

float

s

)

const [inline]

Scale the quaternion.

Quaternion& physics::Quaternion::operator*=

(

float

s

)

[inline]

Scale the quaternion.

Quaternion physics::Quaternion::operator+

(

const Quaternion &

q

)

const [inline]

Add two quaternions together

Quaternion& physics::Quaternion::operator+=

(

const Quaternion &

q

)

[inline]

Add two quaternions together

Quaternion physics::Quaternion::operator*

(

const Quaternion &

q

)

const [inline]

Multiply two quaternions together. This combines the rotation as would combining two rotation matrices.

Quaternion& physics::Quaternion::operator*=

(

const Quaternion &

q

)

Multiply two quaternions together. This combines the rotation as would combining two rotation matrices.

static Quaternion physics::Quaternion::slerp	(	const Quaternion &	a,
		const Quaternion &	b,
		float	t
	)			[inline, static]

Interpolate between two quaternion rotations.

Parameters:

	a	Start quaternion (t = 0).
	b	End quaternion (t = 1).
	t	Interpolation value between 0 and 1.

Quaternion physics::Quaternion::conjugate

(

)

const [inline]

Conjugate, a kind of inverse.

Vector3D physics::Quaternion::transform

(

const Vector3D &

p

)

const [inline]

Transform a point by the rotation represented by this quaternion.

Vector3D physics::Quaternion::inverseTransform

(

const Vector3D &

p

)

const [inline]

Transform a point by the inverse of the rotation represented by this quaternion.

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

• torquetome/trunk/physics/src/lib/quaternion.h