cQuaternion Class Reference

cQuaternion represents rotations in quaternion form More...

#include <CQuaternion.h>

List of all members.

Public Member Functions
	cQuaternion ()
	operator double * ()
	Cast to a double*.
void	zero ()
	Clear vector with zeros.
void	negate ()
	Negate current quaternion. Result is stored in current quaternion.
double	magsq () const
	Returns magnitude squared.
double	lengthsq () const
	Returns magnitude squared.
double	mag () const
	Returns magnitude.
double	length () const
	Returns magnitude.
void	normalize ()
	Normalize.
void	toRotMat (cMatrix3d &a_mat) const
	Convert to rotation matrix.
void	fromRotMat (cMatrix3d const &a_mat)
	Convert rotation matrix to quaternion.
void	fromAxisAngle (cVector3d a_axis, double a_angle)
	Convert from axis and angle (in radians).
void	toAxisAngle (cVector3d &a_axis, double &a_angle) const
	Convert to axis (not normalized) and angle.
void	conj ()
	Conjugate.
void	invert ()
	Invert ( inverse is conjugate/magsq ).
cQuaternion &	operator *= (cQuaternion const &a_otherQ)
	Multiply operator (grassman product).
void	mul (cQuaternion const &a_otherQ)
	Quaternion multiplication.
cQuaternion &	operator *= (double a_scale)
	Scale operator.
void	mul (double s)
	Scale.
bool	operator== (cQuaternion const &a_otherQ) const
	Equality operator.
double	dot (cQuaternion const &a_otherQ) const
	Dot product.
cQuaternion &	operator+= (cQuaternion const &a_otherQ)
	Addition.
void	add (cQuaternion const &a_otherQ)
	Addition.
void	slerp (double a_level, cQuaternion const &a_q1, cQuaternion a_q2)
	Spherical linear interpolation.
Public Attributes
double	w
	Component w of quaternion.
double	x
	Component x of quaternion.
double	y
	Component y of quaternion.
double	z
	Component z of quaternion.

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Detailed Description

cQuaternion represents rotations in quaternion form

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Constructor & Destructor Documentation

cQuaternion::cQuaternion

(

)

[inline]

Constructors of cVector3d.

You can initialize a cVector3d from any of the following:

double,double,double,double double*

Also the default copy constructor will work

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Member Function Documentation

void cQuaternion::toRotMat

(

cMatrix3d &

a_mat

)

const [inline]

Convert to rotation matrix.

Parameters:

a_mat

The matrix to store the result into

void cQuaternion::fromRotMat

(

cMatrix3d const &

a_mat

)

[inline]

Convert rotation matrix to quaternion.

Parameters:

a_mat

The rotation matrix to convert

void cQuaternion::fromAxisAngle	(	cVector3d	a_axis,
		double	a_angle
	)			[inline]

Convert from axis and angle (in radians).

Parameters:

	a_axis	The axis
	a_angle	The angle in radians

void cQuaternion::toAxisAngle	(	cVector3d &	a_axis,
		double &	a_angle
	)			const [inline]

Convert to axis (not normalized) and angle.

Parameters:

	a_axis	Where to store the axis
	a_angle	Where to store the angle

void cQuaternion::mul

(

cQuaternion const &

a_otherQ

)

[inline]

Quaternion multiplication.

Multiply this quaternion with another and store result here

Parameters:

a_otherQ

The other quaternion

void cQuaternion::mul

(

double

s

)

[inline]

Scale.

Scale this quaternion by a scalar

Parameters:

a_scale

The scalar

double cQuaternion::dot

(

cQuaternion const &

a_otherQ

)

const [inline]

Dot product.

Take the dot product with another quaternion and store the result here

Parameters:

a_otherQ

The other quaternion

Returns:

The result of the dot product

void cQuaternion::add

(

cQuaternion const &

a_otherQ

)

[inline]

Addition.

Add another quaternion to this one and store here

Parameters:

a_otherQ

The other quaternion

void cQuaternion::slerp	(	double	a_level,
		cQuaternion const &	a_q1,
		cQuaternion	a_q2
	)			[inline]

Spherical linear interpolation.

Spherically linearly interpolate between quaternions and store the result here

Parameters:

	a_level	Parameter between 0 (fully at a_q1) and 1.0 (fully at a_q2).
	a_q1	Starting quaternion
	a_q2	Ending quaternion

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

• chai3d/src/math/CQuaternion.h

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