deQuaternion Class Reference
[Matrix]

Quaternion class

This is a C++ wrapper class of deQuaternionf. More...

#include <deQuaternion.h>

List of all members.

Public Member Functions

operator deFloat * ()

cast operator

operator const deFloat * () const

cast operator

deFloat & operator[] (const deInt i)

const deFloat & operator[] (const deInt i) const

DE_MATH_API void operator= (const deQuaternion &q)

this = q

DE_MATH_API deInt operator== (const deQuaternion &q)

DE_MATH_API void operator+= (const deQuaternion &q)

this[i] += q[i]

DE_MATH_API void operator-= (const deQuaternion &q)

this[i] -= q[i]

DE_MATH_API void operator *= (const deFloat s)

this[i] *= s

DE_MATH_API void identity ()

this = (0, 0, 0, 1)

DE_MATH_API void zero ()

this = (0, 0, 0, 0)

DE_MATH_API deFloat dot (const deQuaternion &q)

return this^T * q

DE_MATH_API void normalize ()

this[i] *= (1 / sqrt(this^T * this))

DE_MATH_API void get (deVector3 &axis, deFloat &angle) const

convert to axis-angle notation

DE_MATH_API void set (const deMatrix3 &m)

this = m

DE_MATH_API void set (const deInt axis, const deFloat angle)

this = (axis, angle)

DE_MATH_API void set (const deVector3 &axis, const deFloat angle)

this = (axis, angle)

DE_MATH_API void set (const deFloat x, const deFloat y, const deFloat z, const deFloat w)

this = (x, y, z, q)

DE_MATH_API void set (const deFloat *q)

this = [x y z q]

DE_MATH_API void eulerZYX (const deVector3 &v)

this = [x, y, z] = ZYX Euler angles

DE_MATH_API void negate (const deQuaternion &q)

this = -q

DE_MATH_API void inverse (const deQuaternion &q)

this = q^-1

DE_MATH_API void add (const deQuaternion &q1, const deQuaternion &q2)

this = q1 + q2

DE_MATH_API void subtract (const deQuaternion &q1, const deQuaternion &q2)

this = q1 - q2

DE_MATH_API void multiply (const deQuaternion &q1, const deQuaternion &q2)

this = q1 * q2

DE_MATH_API void inversedMultiply (const deQuaternion &q1, const deQuaternion &q2)

this = q1^-1 * q2

DE_MATH_API void multiplyInversed (const deQuaternion &q1, const deQuaternion &q2)

this = q1 * q2^-1

DE_MATH_API void velocity (const deQuaternion &q, const deVector3 &omega)

this = dq

DE_MATH_API void consistentSign (const deQuaternion &q, const deQuaternion &qg)

this = converted qg sign consitent to q

DE_MATH_API void slerp (const deQuaternion &q, const deQuaternion &qg, const deFloat t, const deFloat addedSpins)

this = SLERP (spherical linear interpolation with extra spins)

DE_MATH_API void lerp (const deQuaternion &q, const deQuaternion &qg, const deFloat t)

this = q + t * (qg - q)

Detailed Description

Quaternion class

This is a C++ wrapper class of deQuaternionf.

Remarks:: q = [vx, vy, vz, w] = [axis*sin(theta/2), cos(theta/2)] <--- axisAngle(axis,theta). quaternion is used to represent rotation in deFrame.

See also:: deQuaternionf.h, deFrame

Member Function Documentation

DE_MATH_API void deQuaternion::add ( const deQuaternion & q1,

const deQuaternion & q2

)

this = q1 + q2

DE_MATH_API void deQuaternion::consistentSign ( const deQuaternion & q,

const deQuaternion & qg

)

this = converted qg sign consitent to q

Remarks:
this funtion compares q to qg and put sign consistent qg to this (= qg or -qg).
(q is equivalent to -q) for all angles (theta) where q = [cos(theta/2), v*sin(theta/2)]

DE_MATH_API deFloat deQuaternion::dot ( const deQuaternion & q )

return this^T * q

DE_MATH_API void deQuaternion::eulerZYX ( const deVector3 & v )

this = [x, y, z] = ZYX Euler angles

DE_MATH_API void deQuaternion::get ( deVector3 & axis,

deFloat & angle

) const

convert to axis-angle notation

DE_MATH_API void deQuaternion::identity ( )

this = (0, 0, 0, 1)

DE_MATH_API void deQuaternion::inverse ( const deQuaternion & q )

this = q^-1

DE_MATH_API void deQuaternion::inversedMultiply ( const deQuaternion & q1,

const deQuaternion & q2

)

this = q1^-1 * q2

DE_MATH_API void deQuaternion::lerp ( const deQuaternion & q,

const deQuaternion & qg,

const deFloat t

)

this = q + t * (qg - q)

Remarks:
this = LERP (linear interpolation)

DE_MATH_API void deQuaternion::multiply ( const deQuaternion & q1,

const deQuaternion & q2

)

this = q1 * q2

DE_MATH_API void deQuaternion::multiplyInversed ( const deQuaternion & q1,

const deQuaternion & q2

)

this = q1 * q2^-1

DE_MATH_API void deQuaternion::negate ( const deQuaternion & q )

this = -q

DE_MATH_API void deQuaternion::normalize ( )

this[i] *= (1 / sqrt(this^T * this))

DE_MATH_API void deQuaternion::operator *= ( const deFloat s )

this[i] *= s

deQuaternion::operator const deFloat * ( ) const [inline]

cast operator

deQuaternion::operator deFloat * ( ) [inline]

cast operator

DE_MATH_API void deQuaternion::operator+= ( const deQuaternion & q )

this[i] += q[i]

DE_MATH_API void deQuaternion::operator-= ( const deQuaternion & q )

this[i] -= q[i]

DE_MATH_API void deQuaternion::operator= ( const deQuaternion & q )

this = q

DE_MATH_API deInt deQuaternion::operator== ( const deQuaternion & q )

Returns:
(this == q )

const deFloat& deQuaternion::operator[] ( const deInt i ) const [inline]

Returns:
const q[i]

deFloat& deQuaternion::operator[] ( const deInt i ) [inline]

Returns:
q[i]

DE_MATH_API void deQuaternion::set ( const deFloat * q )

this = [x y z q]

DE_MATH_API void deQuaternion::set ( const deFloat x,

const deFloat y,

const deFloat z,

const deFloat w

)

this = (x, y, z, q)

DE_MATH_API void deQuaternion::set ( const deVector3 & axis,

const deFloat angle

)

this = (axis, angle)

DE_MATH_API void deQuaternion::set ( const deInt axis,

const deFloat angle

)

this = (axis, angle)

DE_MATH_API void deQuaternion::set ( const deMatrix3 & m )

this = m

DE_MATH_API void deQuaternion::slerp ( const deQuaternion & q,

const deQuaternion & qg,

const deFloat t,

const deFloat addedSpins

)

this = SLERP (spherical linear interpolation with extra spins)

DE_MATH_API void deQuaternion::subtract ( const deQuaternion & q1,

const deQuaternion & q2

)

this = q1 - q2

DE_MATH_API void deQuaternion::velocity ( const deQuaternion & q,

const deVector3 & omega

)

this = dq

DE_MATH_API void deQuaternion::zero ( )

this = (0, 0, 0, 0)

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

Generated on Sun Apr 9 22:12:45 2006 for TAO by

1.4.6-NO


Public Member Functions
	operator deFloat * ()
	cast operator
	operator const deFloat * () const
	cast operator
deFloat &	operator[] (const deInt i)
const deFloat &	operator[] (const deInt i) const
DE_MATH_API void	operator= (const deQuaternion &q)
	this = q
DE_MATH_API deInt	operator== (const deQuaternion &q)
DE_MATH_API void	operator+= (const deQuaternion &q)
	this[i] += q[i]
DE_MATH_API void	operator-= (const deQuaternion &q)
	this[i] -= q[i]
DE_MATH_API void	operator *= (const deFloat s)
	this[i] *= s
DE_MATH_API void	identity ()
	this = (0, 0, 0, 1)
DE_MATH_API void	zero ()
	this = (0, 0, 0, 0)
DE_MATH_API deFloat	dot (const deQuaternion &q)
	return this^T * q
DE_MATH_API void	normalize ()
	this[i] = (1 / sqrt(this^T this))
DE_MATH_API void	get (deVector3 &axis, deFloat &angle) const
	convert to axis-angle notation
DE_MATH_API void	set (const deMatrix3 &m)
	this = m
DE_MATH_API void	set (const deInt axis, const deFloat angle)
	this = (axis, angle)
DE_MATH_API void	set (const deVector3 &axis, const deFloat angle)
	this = (axis, angle)
DE_MATH_API void	set (const deFloat x, const deFloat y, const deFloat z, const deFloat w)
	this = (x, y, z, q)
DE_MATH_API void	set (const deFloat *q)
	this = [x y z q]
DE_MATH_API void	eulerZYX (const deVector3 &v)
	this = [x, y, z] = ZYX Euler angles
DE_MATH_API void	negate (const deQuaternion &q)
	this = -q
DE_MATH_API void	inverse (const deQuaternion &q)
	this = q^-1
DE_MATH_API void	add (const deQuaternion &q1, const deQuaternion &q2)
	this = q1 + q2
DE_MATH_API void	subtract (const deQuaternion &q1, const deQuaternion &q2)
	this = q1 - q2
DE_MATH_API void	multiply (const deQuaternion &q1, const deQuaternion &q2)
	this = q1 * q2
DE_MATH_API void	inversedMultiply (const deQuaternion &q1, const deQuaternion &q2)
	this = q1^-1 * q2
DE_MATH_API void	multiplyInversed (const deQuaternion &q1, const deQuaternion &q2)
	this = q1 * q2^-1
DE_MATH_API void	velocity (const deQuaternion &q, const deVector3 &omega)
	this = dq
DE_MATH_API void	consistentSign (const deQuaternion &q, const deQuaternion &qg)
	this = converted qg sign consitent to q
DE_MATH_API void	slerp (const deQuaternion &q, const deQuaternion &qg, const deFloat t, const deFloat addedSpins)
	this = SLERP (spherical linear interpolation with extra spins)
DE_MATH_API void	lerp (const deQuaternion &q, const deQuaternion &qg, const deFloat t)
	this = q + t * (qg - q)

deQuaternion Class Reference [Matrix]

Public Member Functions

Detailed Description

Member Function Documentation

deQuaternion Class Reference
[Matrix]