sgQuaternion Class Reference

#include <sgQuaternion.h>

List of all members.

Public Member Functions
	sgQuaternion (const sgQuaternion &quat)
	sgQuaternion (float x_=0.0f, float y_=0.0f, float z_=0.0f, float w_=1.0f)
	sgQuaternion (const sgVector3 &rot)
	sgQuaternion (const sgVector4 &rot)
bool	operator== (sgQuaternion &other)
bool	operator!= (sgQuaternion &other)
sgQuaternion &	operator= (const sgQuaternion &other)
sgQuaternion &	operator= (const sgVector3 &other)
sgQuaternion &	operator= (const sgVector4 &other)
sgQuaternion &	operator+= (const sgQuaternion &other)
sgQuaternion &	operator-= (const sgQuaternion &other)
sgQuaternion &	operator*= (const sgQuaternion &other)
sgQuaternion &	operator/= (const sgQuaternion &other)
sgQuaternion	operator+ (const sgQuaternion &other)
sgQuaternion	operator- (const sgQuaternion &other)
sgQuaternion	operator* (const sgQuaternion &other)
sgQuaternion	operator/ (const sgQuaternion &other)
sgQuaternion &	operator+= (const sgVector3 &other)
sgQuaternion &	operator-= (const sgVector3 &other)
sgQuaternion	operator+ (const sgVector3 &other)
sgQuaternion	operator- (const sgVector3 &other)
sgQuaternion &	operator*= (const float &other)
sgQuaternion &	operator/= (const float &other)
sgQuaternion	operator* (const float &other)
sgQuaternion	operator/ (const float &other)
void	makeIdentity ()
void	makeEuler (const sgVector3 &rot)
void	makeEuler (const sgVector4 &rot)
void	makeAxisAngle (const sgVector3 &axis, float ang)
void	makeAxisAngle (const sgVector4 &axis)
void	makeLerpS (const sgQuaternion &quat1, const sgQuaternion &quat2, float fac)
void	makeLerpN (const sgQuaternion &quat1, const sgQuaternion &quat2, float fac)
void	makeLerpS (const sgQuaternion &other, float fac)
void	makeLerpN (const sgQuaternion &other, float fac)
sgQuaternion	lerpS (sgQuaternion &other, float fac)
sgQuaternion	lerpN (sgQuaternion &other, float fac)
void	normalize ()
void	conjugate ()
float	length ()
float	dot (const sgQuaternion &other)
sgVector3	rotate (const sgVector3 &vec)
sgVector4	rotate (const sgVector4 &vec)
sgMatrix4x4	getMatrix ()
sgVector3	getEuler ()
sgVector4	getAxisAngle ()
Public Attributes
float	x
float	y
float	z
float	w

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Detailed Description

Quaternion class. Stores a quaternion and provides functionality for it. All angles are in degrees!

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Constructor & Destructor Documentation

sgQuaternion::sgQuaternion

(

const sgQuaternion &

quat

)

Constructor. Initializes a new instance from the other quaternion.

Parameters:

quat

the other quaternion to copy the values from

sgQuaternion::sgQuaternion	(	float	x_ = 0.0f,
		float	y_ = 0.0f,
		float	z_ = 0.0f,
		float	w_ = 1.0f
	)

Constructor. Initializes a new instance from the given values.

Parameters:

	x_	the quaternions x value
	y_	the quaternions y value
	z_	the quaternions z value
	w_	the quaternions w value

sgQuaternion::sgQuaternion

(

const sgVector3 &

rot

)

Constructor. Initializes a new instance from the vector.

Parameters:

rot

the rotation as euler angles to initialize the quaternion with

sgQuaternion::sgQuaternion

(

const sgVector4 &

rot

)

Constructor. Initializes a new instance from the vector.

Parameters:

rot

the rotation in axis angle format to initialize the quaternion with

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Member Function Documentation

void sgQuaternion::conjugate

(

)

Conjugate. Inverts the quaternions imaginary parts.

float sgQuaternion::dot

(

const sgQuaternion &

other

)

Dot product. The dot product of the quaternion with the other one.

Parameters:

other

another quaternion

Returns:

the resulting scalar

sgVector4 sgQuaternion::getAxisAngle

(

)

Get axis angle. Returns the quaternions rotation in axis angle format.

Returns:

the rotation as axis and angle

sgVector3 sgQuaternion::getEuler

(

)

Get euler. Returns the quaternions rotation as euler angles.

Returns:

the rotation as euler angles

sgMatrix4x4 sgQuaternion::getMatrix

(

)

Get matrix. Returns a rotation matrix representing the same rotation as the quaternion.

Returns:

the rotation matrix

float sgQuaternion::length

(

)

Length. Get the length of the quaternion.

Returns:

the quaternions length

sgQuaternion sgQuaternion::lerpN	(	sgQuaternion &	other,
		float	fac
	)

Linear interpolation. Interpolate linear between the instance and the first parameter.

Parameters:

	other	the second quaternion to interpolate from
	fac	the interpolation factor to interpolate with, ranging from 0 to 1

Returns:

resulting quaternion from the interpolation

sgQuaternion sgQuaternion::lerpS	(	sgQuaternion &	other,
		float	fac
	)

Spherical interpolation. Interpolate spherical between the instance and the first parameter.

Parameters:

	other	the second quaternion to interpolate from
	fac	the interpolation factor to interpolate with, ranging from 0 to 1

Returns:

resulting quaternion from the interpolation

void sgQuaternion::makeAxisAngle

(

const sgVector4 &

axis

)

Make axis angle. Set the quaternion to the representation of the given rotation around the given axis.

Parameters:

axis

vector containing the orientation of the axis to rotate around and the angle as fourth parameter

void sgQuaternion::makeAxisAngle	(	const sgVector3 &	axis,
		float	ang
	)

Make axis angle. Set the quaternion to the representation of the given rotation around the given axis.

Parameters:

	axis	vector containing the orientation of the axis to rotate around
	ang	rotation angle in degrees

void sgQuaternion::makeEuler

(

const sgVector4 &

rot

)

Make euler. Set the quaternion to the representation of the given euler angles, by ignoring the vectors w component.

Parameters:

rot

vector containing the rotation as euler angles

void sgQuaternion::makeEuler

(

const sgVector3 &

rot

)

Make euler. Set the quaternion to the representation of the given euler angles.

Parameters:

rot

vector containing the rotation as euler angles

void sgQuaternion::makeIdentity

(

)

Make identity. Set the quaternion to the one representing no rotation.

void sgQuaternion::makeLerpN	(	const sgQuaternion &	other,
		float	fac
	)

Make linear interpolation. Set the quaternion to the result of the linear interpolation given by the instance and the parameters.

Parameters:

	other	the second quaternion to interpolate from
	fac	the interpolation factor to interpolate with, ranging from 0 to 1

void sgQuaternion::makeLerpN	(	const sgQuaternion &	quat1,
		const sgQuaternion &	quat2,
		float	fac
	)

Make linear interpolation. Set the quaternion to the result of the linear interpolation given by the parameters.

Parameters:

	quat1	the first quaternion to interpolate from
	quat2	the second quaternion to interpolate from
	fac	the interpolation factor to interpolate with, ranging from 0 to 1

void sgQuaternion::makeLerpS	(	const sgQuaternion &	other,
		float	fac
	)

Make spherical interpolation. Set the quaternion to the result of the spherical interpolation given by the instance and the parameters.

Parameters:

	other	the second quaternion to interpolate from
	fac	the interpolation factor to interpolate with, ranging from 0 to 1

void sgQuaternion::makeLerpS	(	const sgQuaternion &	quat1,
		const sgQuaternion &	quat2,
		float	fac
	)

Make spherical interpolation. Set the quaternion to the result of the spherical interpolation given by the parameters.

Parameters:

	quat1	the first quaternion to interpolate from
	quat2	the second quaternion to interpolate from
	fac	the interpolation factor to interpolate with ranging from 0 to 1

void sgQuaternion::normalize

(

)

Normalize. Normalizes the quaternion.

bool sgQuaternion::operator!=

(

sgQuaternion &

other

)

Not equal. Checks if two instances do not equal each other.

sgQuaternion sgQuaternion::operator*

(

const float &

other

)

Multiply. Multiply the quaternions with a scalar.

sgQuaternion sgQuaternion::operator*

(

const sgQuaternion &

other

)

Multiply. Multiply the two quaternions.

sgQuaternion & sgQuaternion::operator*=

(

const float &

other

)

Multiply. Multiply the quaternions with a scalar.

sgQuaternion & sgQuaternion::operator*=

(

const sgQuaternion &

other

)

Multiply. Multiply the two quaternions.

sgQuaternion sgQuaternion::operator+

(

const sgVector3 &

other

)

Add. Add the euler angles in the vector to the rotation of the quaternion.

sgQuaternion sgQuaternion::operator+

(

const sgQuaternion &

other

)

Add. Add the two quaternions.

sgQuaternion & sgQuaternion::operator+=

(

const sgVector3 &

other

)

Add. Add the euler angles in the vector to the rotation of the quaternion.

sgQuaternion & sgQuaternion::operator+=

(

const sgQuaternion &

other

)

Add. Add the two quaternions.

sgQuaternion sgQuaternion::operator-

(

const sgVector3 &

other

)

Substract. Substract the euler angles in the vector from the rotation of the quaternion.

sgQuaternion sgQuaternion::operator-

(

const sgQuaternion &

other

)

Substract. Substract the two quaternions.

sgQuaternion & sgQuaternion::operator-=

(

const sgVector3 &

other

)

Substract. Substract the euler angles in the vector from the rotation of the quaternion.

sgQuaternion & sgQuaternion::operator-=

(

const sgQuaternion &

other

)

Substract. Substract the two quaternions.

sgQuaternion sgQuaternion::operator/

(

const float &

other

)

Divide. Divide the quaternions by a scalar.

sgQuaternion sgQuaternion::operator/

(

const sgQuaternion &

other

)

Divide. Divide the two quaternions.

sgQuaternion & sgQuaternion::operator/=

(

const float &

other

)

Divide. Divide the quaternions by a scalar.

sgQuaternion & sgQuaternion::operator/=

(

const sgQuaternion &

other

)

Divide. Divide the two quaternions.

sgQuaternion & sgQuaternion::operator=

(

const sgVector4 &

other

)

Copy. Set the quaternion to the representation of the axis and angle given by the parameter.

sgQuaternion & sgQuaternion::operator=

(

const sgVector3 &

other

)

Copy. Set the quaternion to the representation of the euler angles given by the parameter.

sgQuaternion & sgQuaternion::operator=

(

const sgQuaternion &

other

)

Copy. Copy the values of one instance to the other.

bool sgQuaternion::operator==

(

sgQuaternion &

other

)

Equal. Checks if two instances equal each other.

sgVector4 sgQuaternion::rotate

(

const sgVector4 &

vec

)

Rotate vector. Applies the rotation represented by the quaternion to a vector.

Parameters:

vec

the vector to rotate

Returns:

the rotated vector

sgVector3 sgQuaternion::rotate

(

const sgVector3 &

vec

)

Rotate vector. Applies the rotation represented by the quaternion to a vector.

Parameters:

vec

the vector to rotate

Returns:

the rotated vector

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Member Data Documentation

float sgQuaternion::w

W. The quaternions w component. The real part.

float sgQuaternion::x

X. The quaternions x component.

float sgQuaternion::y

Y. The quaternions y component.

float sgQuaternion::z

Z. The quaternions z component.

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

• iSDGE/Engine/Common/sgQuaternion.h
• iSDGE/Engine/Common/sgQuaternion.mm