makVrv::DtQuat Class Reference

A utility Quaternion class. More...

List of all members.

Public Member Functions
	DtQuat ()
	constructors
	DtQuat (double x, double y, double z, double w)
	DtQuat (const DtVector &i, double real)
	DtQuat (double theta_z, double theta_y, double theta_x)
	from 3 euler angles
	DtQuat (const DtVector &angles)
	from 3 euler angles
void	set (double x, double y, double z, double w)
	Set the quat.
DtQuat &	operator= (const DtQuat &q)
	basic operations
DtQuat	operator+ (const DtQuat &q) const
DtQuat	operator- (const DtQuat &q) const
DtQuat	operator* (const DtQuat &q) const
DtQuat	operator/ (const DtQuat &q) const
DtQuat	operator* (double scale) const
DtQuat	operator/ (double scale) const
DtQuat	operator- () const
const DtQuat &	operator+= (const DtQuat &q)
const DtQuat &	operator-= (const DtQuat &q)
const DtQuat &	operator*= (const DtQuat &q)
const DtQuat &	operator*= (double scale)
const DtQuat &	operator/= (double scale)
double	length () const
	gets the length of this quaternion
double	length_squared () const
	gets the squared length of this quaternion
void	normalize ()
	normalizes this quaternion
DtQuat	normalized () const
	returns the normalized version of this quaternion
void	conjugate ()
	computes the conjugate of this quaternion
void	invert ()
	inverts this quaternion
DtQuat	log () const
	returns the logarithm of a quaternion = v*a where q = [cos(a),v*sin(a)]
DtQuat	exp () const
	returns e^quaternion = exp(v*a) = [cos(a),vsin(a)]
void	getMatrix4 (double matrix[16]) const
	casting to a 4x4 isomorphic matrix for right multiplication with vector
void	getMatrix3 (double matrix[9]) const
	Get a 3x3 rotation matrix.
void	to_axis_angle (DtVector &axis, double &angle) const
	returns the axis and angle of this unit quaternion
DtVector	rotate (const DtVector &v) const
	rotates v by this quaternion (quaternion must be unit)
DtVector	euler_angles () const
	returns the euler angles from a rotation quaternion
Static Public Member Functions
static double	dot (const DtQuat &q1, const DtQuat &q2)
	computes the dot product of 2 quaternions
static DtQuat	lerp (const DtQuat &q1, const DtQuat &q2, double t)
	linear quaternion interpolation
static DtQuat	slerp (const DtQuat &q1, const DtQuat &q2, double t)
	spherical linear interpolation
static DtQuat	slerpNoInvert (const DtQuat &q1, const DtQuat &q2, double t)
	This version of slerp, used by squad, does not check for theta > 90.
static DtQuat	squad (const DtQuat &q1, const DtQuat &q2, const DtQuat &a, const DtQuat &b, double t)
	spherical cubic interpolation
static DtQuat	bezier (const DtQuat &q1, const DtQuat &q2, const DtQuat &a, const DtQuat &b, double t)
	Shoemake-Bezier interpolation using De Castlejau algorithm.
static DtQuat	spline (const DtQuat &qnm1, const DtQuat &qn, const DtQuat &qnp1)
	Given 3 quaternions, qn-1,qn and qn+1, calculate a control point to be used in spline interpolation.
static DtQuat	from_axis_angle (const DtVector &axis, double angle)
	converts from a normalized axis - angle pair rotation to a quaternion
Public Attributes
DtVector	xyz
	the imaginary components
double	w
	the real component

---

Detailed Description

A utility Quaternion class.

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Constructor & Destructor Documentation

makVrv::DtQuat::DtQuat

(

)

[inline]

constructors

makVrv::DtQuat::DtQuat	(	double	x,
		double	y,
		double	z,
		double	w
	)		[inline]

makVrv::DtQuat::DtQuat	(	const DtVector &	i,
		double	real
	)		[inline]

makVrv::DtQuat::DtQuat	(	double	theta_z,
		double	theta_y,
		double	theta_x
	)		[inline]

from 3 euler angles

makVrv::DtQuat::DtQuat

(

const DtVector &

angles

)

[inline]

from 3 euler angles

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Member Function Documentation

void makVrv::DtQuat::set	(	double	x,
		double	y,
		double	z,
		double	w
	)		[inline]

Set the quat.

DtQuat& makVrv::DtQuat::operator=

(

const DtQuat &

q

)

[inline]

basic operations

DtQuat makVrv::DtQuat::operator+

(

const DtQuat &

q

)

const [inline]

DtQuat makVrv::DtQuat::operator-

(

const DtQuat &

q

)

const [inline]

DtQuat makVrv::DtQuat::operator*

(

const DtQuat &

q

)

const [inline]

DtQuat makVrv::DtQuat::operator/

(

const DtQuat &

q

)

const [inline]

DtQuat makVrv::DtQuat::operator*

(

double

scale

)

const [inline]

DtQuat makVrv::DtQuat::operator/

(

double

scale

)

const [inline]

DtQuat makVrv::DtQuat::operator-

(

)

const [inline]

const DtQuat& makVrv::DtQuat::operator+=

(

const DtQuat &

q

)

[inline]

const DtQuat& makVrv::DtQuat::operator-=

(

const DtQuat &

q

)

[inline]

const DtQuat& makVrv::DtQuat::operator*=

(

const DtQuat &

q

)

[inline]

const DtQuat& makVrv::DtQuat::operator*=

(

double

scale

)

[inline]

const DtQuat& makVrv::DtQuat::operator/=

(

double

scale

)

[inline]

double makVrv::DtQuat::length

(

)

const [inline]

gets the length of this quaternion

double makVrv::DtQuat::length_squared

(

)

const [inline]

gets the squared length of this quaternion

void makVrv::DtQuat::normalize

(

)

[inline]

normalizes this quaternion

DtQuat makVrv::DtQuat::normalized

(

)

const [inline]

returns the normalized version of this quaternion

void makVrv::DtQuat::conjugate

(

)

[inline]

computes the conjugate of this quaternion

void makVrv::DtQuat::invert

(

)

[inline]

inverts this quaternion

DtQuat makVrv::DtQuat::log

(

)

const [inline]

returns the logarithm of a quaternion = v*a where q = [cos(a),v*sin(a)]

DtQuat makVrv::DtQuat::exp

(

)

const [inline]

returns e^quaternion = exp(v*a) = [cos(a),vsin(a)]

void makVrv::DtQuat::getMatrix4

(

double

matrix[16]

)

const [inline]

casting to a 4x4 isomorphic matrix for right multiplication with vector

void makVrv::DtQuat::getMatrix3

(

double

matrix[9]

)

const [inline]

Get a 3x3 rotation matrix.

Warning:

The matrix will be invalid if the Quat is not normalized.

static double makVrv::DtQuat::dot	(	const DtQuat &	q1,
		const DtQuat &	q2
	)		[inline, static]

computes the dot product of 2 quaternions

static DtQuat makVrv::DtQuat::lerp	(	const DtQuat &	q1,
		const DtQuat &	q2,
		double	t
	)		[inline, static]

linear quaternion interpolation

static DtQuat makVrv::DtQuat::slerp	(	const DtQuat &	q1,
		const DtQuat &	q2,
		double	t
	)		[inline, static]

spherical linear interpolation

static DtQuat makVrv::DtQuat::slerpNoInvert	(	const DtQuat &	q1,
		const DtQuat &	q2,
		double	t
	)		[inline, static]

This version of slerp, used by squad, does not check for theta > 90.

static DtQuat makVrv::DtQuat::squad	(	const DtQuat &	q1,
		const DtQuat &	q2,
		const DtQuat &	a,
		const DtQuat &	b,
		double	t
	)		[inline, static]

spherical cubic interpolation

static DtQuat makVrv::DtQuat::bezier	(	const DtQuat &	q1,
		const DtQuat &	q2,
		const DtQuat &	a,
		const DtQuat &	b,
		double	t
	)		[inline, static]

Shoemake-Bezier interpolation using De Castlejau algorithm.

static DtQuat makVrv::DtQuat::spline	(	const DtQuat &	qnm1,
		const DtQuat &	qn,
		const DtQuat &	qnp1
	)		[inline, static]

Given 3 quaternions, qn-1,qn and qn+1, calculate a control point to be used in spline interpolation.

static DtQuat makVrv::DtQuat::from_axis_angle	(	const DtVector &	axis,
		double	angle
	)		[inline, static]

converts from a normalized axis - angle pair rotation to a quaternion

void makVrv::DtQuat::to_axis_angle	(	DtVector &	axis,
		double &	angle
	)		const [inline]

returns the axis and angle of this unit quaternion

DtVector makVrv::DtQuat::rotate

(

const DtVector &

v

)

const [inline]

rotates v by this quaternion (quaternion must be unit)

DtVector makVrv::DtQuat::euler_angles

(

)

const [inline]

returns the euler angles from a rotation quaternion

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Member Data Documentation

DtVector makVrv::DtQuat::xyz

the imaginary components

double makVrv::DtQuat::w

the real component

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

• include/vrvUtil/DtQuat.h