A utility Quaternion class. More...

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 = va where q = [cos(a),vsin(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.

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

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
	)

inlinestatic

computes the dot product of 2 quaternions

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

inlinestatic

linear quaternion interpolation

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

inlinestatic

spherical linear interpolation

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

inlinestatic

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
	)

inlinestatic

spherical cubic interpolation

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

inlinestatic

Shoemake-Bezier interpolation using De Castlejau algorithm.

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

inlinestatic

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
	)

inlinestatic

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

Member Data Documentation

DtVector makVrv::DtQuat::xyz

the imaginary components

double makVrv::DtQuat::w

the real component

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

/exports/nfedora7-1/nightly/docs/vrforcesDevelopment.vrf4-6-branch/include/vrvUtil/DtQuat.h

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation