reactphysics3d::Quaternion Struct Reference

This class represents a quaternion. More...

#include <include/reactphysics3d/mathematics/Quaternion.h>

Public Member Functions
	Quaternion ()
	Constructor.
	Quaternion (decimal newX, decimal newY, decimal newZ, decimal newW)
	Constructor with arguments.
	Quaternion (decimal newW, const Vector3 &v)
	Constructor with the component w and the vector v=(x y z)
	Quaternion (const Vector3 &v, decimal newW)
	Constructor with the component w and the vector v=(x y z)
	Quaternion (const Matrix3x3 &matrix)
	Create a unit quaternion from a rotation matrix.
void	setAllValues (decimal newX, decimal newY, decimal newZ, decimal newW)
	Set all the values.
void	setToZero ()
	Set the quaternion to zero.
void	setToIdentity ()
	Set to the identity quaternion.
Vector3	getVectorV () const
	Return the vector v=(x y z) of the quaternion.
decimal	length () const
	Return the length of the quaternion.
decimal	lengthSquare () const
	Return the square of the length of the quaternion.
void	normalize ()
	Normalize the quaternion.
void	inverse ()
	Inverse the quaternion.
Quaternion	getUnit () const
	Return the unit quaternion.
Quaternion	getConjugate () const
	Return the conjugate quaternion.
Quaternion	getInverse () const
	Return the inverse of the quaternion.
Matrix3x3	getMatrix () const
	Return the orientation matrix corresponding to this quaternion.
decimal	dot (const Quaternion &quaternion) const
	Dot product between two quaternions.
void	getRotationAngleAxis (decimal &angle, Vector3 &axis) const
	Compute the rotation angle (in radians) and the rotation axis.
bool	isFinite () const
	Return true if the values are not NAN OR INF.
bool	isUnit () const
	Return true if it is a unit quaternion.
bool	isValid () const
	Return true if it is a valid quaternion.
Quaternion	operator+ (const Quaternion &quaternion) const
	Overloaded operator for the addition.
Quaternion	operator- (const Quaternion &quaternion) const
	Overloaded operator for the substraction.
Quaternion &	operator+= (const Quaternion &quaternion)
	Overloaded operator for addition with assignment.
Quaternion &	operator-= (const Quaternion &quaternion)
	Overloaded operator for substraction with assignment.
Quaternion	operator* (decimal nb) const
	Overloaded operator for the multiplication with a constant.
Quaternion	operator* (const Quaternion &quaternion) const
	Overloaded operator for the multiplication.
Vector3	operator* (const Vector3 &point) const
	Overloaded operator for the multiplication with a vector.
bool	operator== (const Quaternion &quaternion) const
	Overloaded operator for equality condition.
std::string	to_string () const
	Return the string representation.

Static Public Member Functions
static Quaternion	identity ()
	Return the identity quaternion.
static Quaternion	fromEulerAngles (decimal angleX, decimal angleY, decimal angleZ)
	Return a quaternion constructed from Euler angles (in radians)
static Quaternion	fromEulerAngles (const Vector3 &eulerAngles)
	Return a quaternion constructed from Euler angles (in radians)
static Quaternion	slerp (const Quaternion &quaternion1, const Quaternion &quaternion2, decimal t)
	Compute the spherical linear interpolation between two quaternions.

Public Attributes
decimal	x
	Component x.
decimal	y
	Component y.
decimal	z
	Component z.
decimal	w
	Component w.

Detailed Description

This class represents a quaternion.

We use the notation : q = (x*i, y*j, z*k, w) to represent a quaternion.

Member Function Documentation

getRotationAngleAxis()

void Quaternion::getRotationAngleAxis	(	decimal &	angle,
		Vector3 &	axis
	)		const

Compute the rotation angle (in radians) and the rotation axis.

This method is used to get the rotation angle (in radian) and the unit rotation axis of an orientation quaternion.

operator*()

RP3D_FORCE_INLINE Vector3 reactphysics3d::Quaternion::operator*

(

const Vector3 &

point

)

const

Overloaded operator for the multiplication with a vector.

This methods rotates a point given the rotation of a quaternion.

slerp()

Quaternion Quaternion::slerp ( const Quaternion &  quaternion1, const Quaternion &  quaternion2, decimal  t  )

static

Compute the spherical linear interpolation between two quaternions.

The t argument has to be such that 0 <= t <= 1. This method is static.

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The documentation for this struct was generated from the following files:

• include/reactphysics3d/mathematics/Quaternion.h
• src/mathematics/Quaternion.cpp