UnitQuaternion< T > Class Template Reference
Detailed Description
template<typename T>
class cy::UnitQuaternion< T >
class cy::UnitQuaternion< T >
A unit-length quaternion class. The methods of this class guarantee that the quaternion remains unit length.
#include <cyQuaternion.h>
Inheritance diagram for UnitQuaternion< T >:
Public Member Functions | |
Constructors | |
| UnitQuaternion (T const &x, T const &y, T const &z, T const &_s) | |
| UnitQuaternion (Vec3< T > const &_v, T _s=0) | |
| UnitQuaternion (Vec4< T > const &q) | |
| UnitQuaternion (Quaternion< T > const &q) | |
| UnitQuaternion (Vec3< T > const &from, Vec3< T > const &to) | |
Set & Get value functions | |
| void | SetRotation (Vec3< T > const &axis, T angle) |
| Sets a rotation around the given axis. | |
| void | SetRotation (Matrix3< T > const &rotation) |
| Sets the quaternion using a rotation matrix. This method only works for rotation matrices. | |
| void | SetRotation (Vec3< T > const &from, Vec3< T > const &to) |
| Sets the quaternion as a rotation from one direction to another. The resulting quaternion is not normalized. | |
| void | SetHalfRotation () |
| Reduces the rotation of the quaternion by half. | |
| Vec3< T > const & | GetVector () const |
| Sets a rotation around the given axis. | |
| T const & | GetScalar () const |
| Sets a rotation around the given axis. | |
| T | GetRotationAngle () const |
| Returns rotation angle in radians. | |
Conversion functions | |
| Matrix3< T > | GetMatrix3 () const |
| Returns a matrix representing the rotation of the quaternion. | |
| Matrix4< T > | GetMatrix4 () const |
| Returns a matrix representing the rotation of the quaternion. | |
| operator Matrix3< T > () const | |
| Returns a matrix representing the rotation of the quaternion. | |
| operator Matrix4< T > () const | |
| Returns a matrix representing the rotation of the quaternion. | |
| operator Quaternion< T > () const | |
| Returns a generic quaternion representation of the unit quaternion. | |
Unary and Binary operators | |
| UnitQuaternion | operator* (UnitQuaternion const &q) const |
| Rotates the given vector using the quaternion. If multiple vectors will be rotated, converting the quaternion to a matrix would be more efficient. | |
| Vec3< T > | operator* (Vec3< T > const &p) const |
| Rotates the given vector using the quaternion. If multiple vectors will be rotated, converting the quaternion to a matrix would be more efficient. | |
| Matrix3< T > | operator* (Matrix3< T > const &m) const |
| Rotates the given vector using the quaternion. If multiple vectors will be rotated, converting the quaternion to a matrix would be more efficient. | |
Assignment operators | |
| UnitQuaternion & | operator*= (UnitQuaternion const &q) |
Static Public Member Functions | |
Slerp (Spherical Linear Interpolation) | |
| static UnitQuaternion< T > | Slerp (UnitQuaternion< T > const &q0, UnitQuaternion< T > const &q1, T t) |
| ! Interpolates two quaternions using parameter t in [0,1]. | |
| static UnitQuaternion< T > | Slerp (UnitQuaternion< T > const &q0, UnitQuaternion< T > const &q1, UnitQuaternion< T > const &q2, Vec3< T > const &bary) |
| ! Interpolates three quaternions using the given barycentric coordinates | |
Private Member Functions | |
Binary operators | |
| Quaternion | operator* (Quaternion const &q) const |
| Quaternion | operator* (T const &f) const |
Assignment operators | |
| Quaternion & | operator*= (Quaternion const &q) |
| Quaternion & | operator*= (T const &f) |
Friends | |
| Quaternion< T > | operator* (T const &f, const UnitQuaternion &q) |
| Matrix3< T > | operator* (Matrix3< T > const &m, const UnitQuaternion &q) |
| UnitQuaternion | Inverse (UnitQuaternion const &q) |
| return the inverse of the quaternion | |