CQuat Class Reference

math helper class for quaternions More...

#include <utilMath.h>

List of all members.

Public Member Functions
	CQuat ()
	CQuat (float fx, float fy, float fz, float fw)
	CQuat (float Angle, const CVec3 &Axis)
void	Reset ()
	No rotation.
int	IsIdentity () const
	True if identity (x == 0.0f && y == 0.0f && z == 0.0f && w==1.0f)
void	SetAxis (float degrees, float fX, float fY, float fZ)
	Set Quat from axis-angle.
void	FromEuler (float rx, float ry, float rz)
	Simple Euler Angle to Quaternion conversion (this could be made faster)
void	ToMatrix (float mf[16]) const
	Set a 4x4 matrix with the rotation of this Quaternion.
CQuat	Invert () const
	Invert.
bool	operator== (const CQuat &b) const
	(You could add an epsilon to this equality test if needed)
CQuat	operator+ (const CQuat &b) const
	Addition.
CQuat	operator* (const CQuat &b) const
	Concatenate quaternions. (Note that order matters with concatenating Quaternion rotations)
CVec3	operator* (const CVec3 &v) const
	Apply rotation to vector.
CQuat	operator* (float s) const
	Scalar multiplication.
float	Dot (const CQuat &a) const
	Can be used the determine Quaternion neighbourhood.
int	Normalize ()
	Quaternions store scale as well as rotation, but usually we just want rotation, so we can normalize.
void	Slerp (const CQuat &a, const CQuat &b, float t)
void	NLerp (const CQuat &a, const CQuat &b, float w2)
void	AimZAxis (const CVec3 &P1, const CVec3 &P2)
	Set this Quat to aim the Z-Axis along the vector from P1 to P2.
Public Attributes
float	x
float	y
float	z
float	w

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Detailed Description

math helper class for quaternions

Definition at line 160 of file utilMath.h.

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Constructor & Destructor Documentation

CQuat::CQuat

(

)

[inline]

Definition at line 165 of file utilMath.h.

CQuat::CQuat	(	float	fx,
		float	fy,
		float	fz,
		float	fw
	)		[inline]

Definition at line 169 of file utilMath.h.

CQuat::CQuat	(	float	Angle,
		const CVec3 &	Axis
	)		[inline]

Definition at line 175 of file utilMath.h.

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Member Function Documentation

void CQuat::AimZAxis	(	const CVec3 &	P1,
		const CVec3 &	P2
	)		[inline]

Set this Quat to aim the Z-Axis along the vector from P1 to P2.

Definition at line 382 of file utilMath.h.

float CQuat::Dot

(

const CQuat &

a

)

const [inline]

Can be used the determine Quaternion neighbourhood.

Definition at line 313 of file utilMath.h.

void CQuat::FromEuler	(	float	rx,
		float	ry,
		float	rz
	)		[inline]

Simple Euler Angle to Quaternion conversion (this could be made faster)

Definition at line 207 of file utilMath.h.

CQuat CQuat::Invert

(

)

const [inline]

Invert.

Definition at line 250 of file utilMath.h.

int CQuat::IsIdentity

(

)

const [inline]

True if identity (x == 0.0f && y == 0.0f && z == 0.0f && w==1.0f)

Definition at line 189 of file utilMath.h.

void CQuat::NLerp	(	const CQuat &	a,
		const CQuat &	b,
		float	w2
	)		[inline]

linearly interpolate each component, then normalize the Quaternion Unlike spherical interpolation, this does not rotate at a constant velocity, although that's not necessarily a bad thing

Definition at line 370 of file utilMath.h.

int CQuat::Normalize

(

)

[inline]

Quaternions store scale as well as rotation, but usually we just want rotation, so we can normalize.

Definition at line 321 of file utilMath.h.

CQuat CQuat::operator*

(

const CQuat &

b

)

const [inline]

Concatenate quaternions. (Note that order matters with concatenating Quaternion rotations)

Definition at line 268 of file utilMath.h.

CVec3 CQuat::operator*

(

const CVec3 &

v

)

const [inline]

Apply rotation to vector.

Definition at line 281 of file utilMath.h.

CQuat CQuat::operator*

(

float

s

)

const [inline]

Scalar multiplication.

Definition at line 306 of file utilMath.h.

CQuat CQuat::operator+

(

const CQuat &

b

)

const [inline]

Addition.

Definition at line 262 of file utilMath.h.

bool CQuat::operator==

(

const CQuat &

b

)

const [inline]

(You could add an epsilon to this equality test if needed)

Definition at line 256 of file utilMath.h.

void CQuat::Reset

(

)

[inline]

No rotation.

Definition at line 181 of file utilMath.h.

void CQuat::SetAxis	(	float	degrees,
		float	fX,
		float	fY,
		float	fZ
	)		[inline]

Set Quat from axis-angle.

Definition at line 195 of file utilMath.h.

void CQuat::Slerp	(	const CQuat &	a,
		const CQuat &	b,
		float	t
	)		[inline]

Creates a value for this Quaternion from spherical linear interpolation t is the interpolation value from 0 to 1

Definition at line 342 of file utilMath.h.

void CQuat::ToMatrix

(

float

mf[16]

)

const [inline]

Set a 4x4 matrix with the rotation of this Quaternion.

Definition at line 218 of file utilMath.h.

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Member Data Documentation

float CQuat::w

Definition at line 163 of file utilMath.h.

float CQuat::x

Definition at line 163 of file utilMath.h.

float CQuat::y

Definition at line 163 of file utilMath.h.

float CQuat::z

Definition at line 163 of file utilMath.h.

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

• utilMath.h