Public API Reference

               

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csQuaternion Class Reference
[Geometry utilities]

Class for a quaternion. More...

#include <quaterni.h>

List of all members.

Public Methods
void	Init (float theR, float theX, float theY, float theZ)
	Initialize a quaternion with specific values. More...
	csQuaternion ()
	Construct a 0,0,0,0 quaternion. More...
	csQuaternion (float theR, float theX=0.0, float theY=0.0, float theZ=0.0)
	Construct a quaternion with the given parameters. More...
	csQuaternion (const csQuaternion &q)
	Copy constructor. More...
	csQuaternion (const csVector3 &q)
	Construct quaternion from a vector. More...
	csQuaternion (const csMatrix3 &smat)
	Construct quaternion from a matrix. More...
void	Negate ()
	Negate all parameters of the quaternion. More...
void	Invert ()
	Invert the orientation of this quaternion. More...
void	GetAxisAngle (csVector3 &axis, float &phi) const
	Get an axis-angle representation of this orientation. More...
void	SetWithAxisAngle (csVector3 axis, float phi)
	Set the quaternion using an axis-angle representation. More...
void	PrepRotation (float angle, csVector3 vec)
	Prepare a rotation quaternion, we do a rotation around vec by an angle of "angle". More...
csVector3	Rotate (csVector3 vec)
	rotated = q * vec * qConj. More...
void	Normalize ()
	Normalize this quaternion. More...
void	SetWithEuler (const csVector3 &rot)
	Convert a set of Euler angles to a Quaternion Takes a (X,Y,Z) rather than Yaw-Pitch-Roll (Y,X,Z) The output is NOT Normalized, if you wish to do so, normalize it yourself. More...
csQuaternion	ToAxisAngle () const
	Return an Axis Angle representation of this Quaternion. More...
csQuaternion	Slerp (const csQuaternion &quat2, float slerp) const
	Spherical Linear Interpolation between two quaternions Calculated between this class & the second quaternion by the slerp factor and returned as a new quaternion. More...

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Detailed Description

Class for a quaternion.

Definition at line 35 of file quaterni.h.

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Constructor & Destructor Documentation

csQuaternion::csQuaternion (    )  [inline]

Construct a 0,0,0,0 quaternion. Definition at line 43 of file quaterni.h. References Init.

csQuaternion::csQuaternion (  float    theR, float    theX = 0.0, float    theY = 0.0, float    theZ = 0.0 )  [inline]

Construct a quaternion with the given parameters. Definition at line 45 of file quaterni.h. References Init.

csQuaternion::csQuaternion (  const csQuaternion &    q )  [inline]

Copy constructor. Definition at line 48 of file quaterni.h. References Init, r, x, y, and z.

csQuaternion::csQuaternion (  const csVector3 &    q )  [inline]

Construct quaternion from a vector. Definition at line 50 of file quaterni.h. References Init, csVector3::x, csVector3::y, and csVector3::z.

csQuaternion::csQuaternion (  const csMatrix3 &    smat )

Construct quaternion from a matrix.

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Member Function Documentation

void csQuaternion::GetAxisAngle (  csVector3 &    axis, float &    phi )  const

Get an axis-angle representation of this orientation. Parameters: axis  this vector specifies the axis on which to make a rotation phi  the angle (in radians) about this axis

void csQuaternion::Init (  float    theR, float    theX, float    theY, float    theZ )  [inline]

Initialize a quaternion with specific values. Definition at line 39 of file quaterni.h. Referenced by csQuaternion, Negate, and PrepRotation.

void csQuaternion::Invert (    )

Invert the orientation of this quaternion.

void csQuaternion::Negate (    )  [inline]

Negate all parameters of the quaternion. Definition at line 82 of file quaterni.h. References Init.

void csQuaternion::Normalize (    )  [inline]

Normalize this quaternion. Definition at line 122 of file quaterni.h.

void csQuaternion::PrepRotation (  float    angle, csVector3    vec )  [inline]

Prepare a rotation quaternion, we do a rotation around vec by an angle of "angle". Note that vec needs to be a normalized vector ( we don't check this ). Definition at line 104 of file quaterni.h. References Init, csVector3::x, csVector3::y, and csVector3::z.

csVector3 csQuaternion::Rotate (  csVector3    vec )  [inline]

rotated = q * vec * qConj. Definition at line 111 of file quaterni.h. References x, y, and z.

void csQuaternion::SetWithAxisAngle (  csVector3    axis, float    phi )

Set the quaternion using an axis-angle representation. Parameters: axis  this vector specifies the axis on which to make a rotation phi  the angle (in radians) about this axis

void csQuaternion::SetWithEuler (  const csVector3 &    rot )

Convert a set of Euler angles to a Quaternion Takes a (X,Y,Z) rather than Yaw-Pitch-Roll (Y,X,Z) The output is NOT Normalized, if you wish to do so, normalize it yourself.

csQuaternion csQuaternion::Slerp (  const csQuaternion &    quat2, float    slerp )  const

Spherical Linear Interpolation between two quaternions Calculated between this class & the second quaternion by the slerp factor and returned as a new quaternion.

csQuaternion csQuaternion::ToAxisAngle (    )  const

Return an Axis Angle representation of this Quaternion.

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

• quaterni.h

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