A utility Quaternion class.

Public Member Functions
	DtQuat ()

	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)

	DtQuat (const DtVector &angles)

void	set (double x, double y, double z, double w)

DtQuat &	operator= (const DtQuat &q)

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

double	length_squared () const

void	normalize ()

DtQuat	normalized () const

void	conjugate ()

void	invert ()

DtQuat	log () const

DtQuat	exp () const

void	getMatrix4 (double matrix[16]) const

void	getMatrix3 (double matrix[9]) const

void	to_axis_angle (DtVector &axis, double &angle) const

DtVector	rotate (const DtVector &v) const

DtVector	euler_angles () const

Static Public Member Functions
static double	dot (const DtQuat &q1, const DtQuat &q2)

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

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

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

static DtQuat	squad (const DtQuat &q1, const DtQuat &q2, const DtQuat &a, const DtQuat &b, double t)

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

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

static DtQuat	from_axis_angle (const DtVector &axis, double angle)

Public Attributes
DtVector	xyz

double	w

Friends
std::ostream &	operator<< (std::ostream &os, const DtQuat &)

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 Note: This takes Z Y X, not xyz.

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

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const DtQuat &
	)

friend

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:

/data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-2-branch/include/vrvUtil/DtQuat.h

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation