irr::core::quaternion Class Reference

Quaternion class for representing rotations. More...

#include <quaternion.h>

List of all members.

Public Member Functions

• quaternion ()

  Default Constructor.
  

• quaternion (f32 x, f32 y, f32 z, f32 w)

  Constructor.
  

• quaternion (f32 x, f32 y, f32 z)

  Constructor which converts euler angles (radians) to a quaternion.
  

• quaternion (const vector3df &vec)

  Constructor which converts euler angles (radians) to a quaternion.
  

• quaternion (const matrix4 &mat)

  Constructor which converts a matrix to a quaternion.
  

• f32 dotProduct (const quaternion &other) const

  Calculates the dot product.
  

• bool equals (const quaternion &other, const f32 tolerance=ROUNDING_ERROR_f32) const

  returns if this quaternion equals the other one, taking floating point rounding errors into account
  

• quaternion & fromAngleAxis (f32 angle, const vector3df &axis)

  Create quaternion from rotation angle and rotation axis.
  

• matrix4 getMatrix () const

  Creates a matrix from this quaternion.
  

• void getMatrix (matrix4 &dest, const core::vector3df &translation=core::vector3df()) const

  Creates a matrix from this quaternion.
  

• void getMatrix_transposed (matrix4 &dest) const

  Creates a matrix from this quaternion.
  

• void getMatrixCenter (matrix4 &dest, const core::vector3df &center, const core::vector3df &translation) const
• quaternion & lerp (quaternion q1, quaternion q2, f32 time)

  Set this quaternion to the linear interpolation between two quaternions.
  

• quaternion & makeIdentity ()

  Set quaternion to identity.
  

• quaternion & makeInverse ()

  Inverts this quaternion.
  

• quaternion & normalize ()

  Normalizes the quaternion.
  

• bool operator!= (const quaternion &other) const

  inequality operator
  

• quaternion operator* (const quaternion &other) const

  Multiplication operator.
  

• quaternion operator* (f32 s) const

  Multiplication operator with scalar.
  

• vector3df operator* (const vector3df &v) const

  Multiplication operator.
  

• quaternion & operator*= (f32 s)

  Multiplication operator with scalar.
  

• quaternion & operator*= (const quaternion &other)

  Multiplication operator.
  

• quaternion operator+ (const quaternion &other) const

  Add operator.
  

• quaternion & operator= (const quaternion &other)

  Assignment operator.
  

• quaternion & operator= (const matrix4 &other)

  Matrix assignment operator.
  

• bool operator== (const quaternion &other) const

  Equalilty operator.
  

• quaternion & rotationFromTo (const vector3df &from, const vector3df &to)

  Set quaternion to represent a rotation from one vector to another.
  

• quaternion & set (f32 x, f32 y, f32 z, f32 w)

  Sets new quaternion.
  

• quaternion & set (f32 x, f32 y, f32 z)

  Sets new quaternion based on euler angles (radians)
  

• quaternion & set (const core::vector3df &vec)

  Sets new quaternion based on euler angles (radians)
  

• quaternion & set (const core::quaternion &quat)

  Sets new quaternion from other quaternion.
  

• quaternion & slerp (quaternion q1, quaternion q2, f32 time, f32 threshold=.05f)

  Set this quaternion to the result of the spherical interpolation between two quaternions.
  

• void toAngleAxis (f32 &angle, core::vector3df &axis) const

  Fills an angle (radians) around an axis (unit vector)
  

• void toEuler (vector3df &euler) const

  Output this quaternion to an euler angle (radians)
  

Public Attributes

• f32 W
• f32 X

  Quaternion elements.
  

• f32 Y
• f32 Z

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Detailed Description

Quaternion class for representing rotations.

It provides cheap combinations and avoids gimbal locks. Also useful for interpolations.

Definition at line 26 of file quaternion.h.

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Constructor & Destructor Documentation

irr::core::quaternion::quaternion

(

)

[inline]

Default Constructor.

Definition at line 31 of file quaternion.h.

Referenced by operator*(), and operator+().

irr::core::quaternion::quaternion	(	f32	x,
		f32	y,
		f32	z,
		f32	w
	)		[inline]

Constructor.

Definition at line 34 of file quaternion.h.

irr::core::quaternion::quaternion	(	f32	x,
		f32	y,
		f32	z
	)		[inline]

Constructor which converts euler angles (radians) to a quaternion.

Definition at line 187 of file quaternion.h.

irr::core::quaternion::quaternion

(

const vector3df &

vec

)

[inline]

Constructor which converts euler angles (radians) to a quaternion.

Definition at line 194 of file quaternion.h.

References irr::core::vector3d< T >::X, irr::core::vector3d< T >::Y, and irr::core::vector3d< T >::Z.

irr::core::quaternion::quaternion

(

const matrix4 &

mat

)

[inline]

Constructor which converts a matrix to a quaternion.

Definition at line 201 of file quaternion.h.

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Member Function Documentation

f32 irr::core::quaternion::dotProduct

(

const quaternion &

other

)

const [inline]

Calculates the dot product.

Definition at line 556 of file quaternion.h.

References W, X, Y, and Z.

Referenced by slerp().

bool irr::core::quaternion::equals	(	const quaternion &	other,
		const f32	tolerance = ROUNDING_ERROR_f32
	)		const [inline]

returns if this quaternion equals the other one, taking floating point rounding errors into account

Definition at line 500 of file quaternion.h.

References W, X, Y, and Z.

quaternion & irr::core::quaternion::fromAngleAxis	(	f32	angle,
		const vector3df &	axis
	)		[inline]

Create quaternion from rotation angle and rotation axis.

axis must be unit length, angle in radians

Axis must be unit length. The quaternion representing the rotation is q = cos(A/2)+sin(A/2)*(x*i+y*j+z*k).

Parameters:

angle	Rotation Angle in radians.
axis	Rotation axis.

Definition at line 563 of file quaternion.h.

References W, X, irr::core::vector3d< T >::X, Y, irr::core::vector3d< T >::Y, Z, and irr::core::vector3d< T >::Z.

matrix4 irr::core::quaternion::getMatrix

(

)

const [inline]

Creates a matrix from this quaternion.

Definition at line 338 of file quaternion.h.

Referenced by irr::scene::SMD3QuaternionTag::setto().

void irr::core::quaternion::getMatrix	(	matrix4 &	dest,
		const core::vector3df &	center = core::vector3df()
	)		const [inline]

Creates a matrix from this quaternion.

Creates a matrix from this quaternion

Definition at line 349 of file quaternion.h.

References irr::core::CMatrix4< T >::setDefinitelyIdentityMatrix(), W, X, irr::core::vector3d< T >::X, Y, irr::core::vector3d< T >::Y, Z, and irr::core::vector3d< T >::Z.

void irr::core::quaternion::getMatrix_transposed

(

matrix4 &

dest

)

const [inline]

Creates a matrix from this quaternion.

Definition at line 411 of file quaternion.h.

References irr::core::CMatrix4< T >::setDefinitelyIdentityMatrix(), W, X, Y, and Z.

void irr::core::quaternion::getMatrixCenter	(	matrix4 &	dest,
		const core::vector3df &	center,
		const core::vector3df &	translation
	)		const [inline]

Creates a matrix from this quaternion Rotate about a center point shortcut for core::quaternion q; q.rotationFromTo ( vin[i].Normal, forward ); q.getMatrixCenter ( lookat, center, newPos );

core::matrix4 m2; m2.setInverseTranslation ( center ); lookat *= m2;

core::matrix4 m3; m2.setTranslation ( newPos ); lookat *= m3;

Creates a matrix from this quaternion Rotate about a center point shortcut for core::quaternion q; q.rotationFromTo(vin[i].Normal, forward); q.getMatrix(lookat, center);

core::matrix4 m2; m2.setInverseTranslation(center); lookat *= m2;

Definition at line 388 of file quaternion.h.

References irr::core::CMatrix4< T >::setRotationCenter(), W, X, Y, and Z.

quaternion & irr::core::quaternion::lerp	(	quaternion	q1,
		quaternion	q2,
		f32	time
	)		[inline]

Set this quaternion to the linear interpolation between two quaternions.

Parameters:

q1	First quaternion to be interpolated.
q2	Second quaternion to be interpolated.
time	Progress of interpolation. For time=0 the result is q1, for time=1 the result is q2. Otherwise interpolation between q1 and q2.

Definition at line 523 of file quaternion.h.

Referenced by slerp().

core::quaternion & irr::core::quaternion::makeIdentity

(

)

[inline]

Set quaternion to identity.

Definition at line 649 of file quaternion.h.

References W, X, Y, and Z.

Referenced by rotationFromTo().

quaternion & irr::core::quaternion::makeInverse

(

)

[inline]

Inverts this quaternion.

Definition at line 438 of file quaternion.h.

References X, Y, and Z.

quaternion & irr::core::quaternion::normalize

(

)

[inline]

Normalizes the quaternion.

Definition at line 510 of file quaternion.h.

References irr::core::reciprocal_squareroot(), W, X, Y, and Z.

Referenced by operator=(), rotationFromTo(), and set().

bool irr::core::quaternion::operator!=

(

const quaternion &

other

)

const [inline]

inequality operator

Definition at line 217 of file quaternion.h.

quaternion irr::core::quaternion::operator*

(

const quaternion &

other

)

const [inline]

Multiplication operator.

Definition at line 294 of file quaternion.h.

References W, X, Y, and Z.

quaternion irr::core::quaternion::operator*

(

f32

s

)

const [inline]

Multiplication operator with scalar.

Definition at line 308 of file quaternion.h.

References quaternion(), W, X, Y, and Z.

vector3df irr::core::quaternion::operator*

(

const vector3df &

v

)

const [inline]

Multiplication operator.

Definition at line 634 of file quaternion.h.

References irr::core::vector3d< T >::crossProduct(), W, X, Y, and Z.

quaternion & irr::core::quaternion::operator*=

(

f32

s

)

[inline]

Multiplication operator with scalar.

Definition at line 315 of file quaternion.h.

References W, X, Y, and Z.

quaternion & irr::core::quaternion::operator*=

(

const quaternion &

other

)

[inline]

Multiplication operator.

Definition at line 325 of file quaternion.h.

quaternion irr::core::quaternion::operator+

(

const quaternion &

other

)

const [inline]

Add operator.

Definition at line 331 of file quaternion.h.

References quaternion(), W, X, Y, and Z.

quaternion & irr::core::quaternion::operator=

(

const quaternion &

other

)

[inline]

Assignment operator.

Definition at line 223 of file quaternion.h.

References W, X, Y, and Z.

quaternion & irr::core::quaternion::operator=

(

const matrix4 &

other

)

[inline]

Matrix assignment operator.

Definition at line 234 of file quaternion.h.

References normalize(), W, X, Y, and Z.

bool irr::core::quaternion::operator==

(

const quaternion &

other

)

const [inline]

Equalilty operator.

Definition at line 208 of file quaternion.h.

References W, X, Y, and Z.

core::quaternion & irr::core::quaternion::rotationFromTo	(	const vector3df &	from,
		const vector3df &	to
	)		[inline]

Set quaternion to represent a rotation from one vector to another.

Definition at line 658 of file quaternion.h.

References irr::core::vector3d< T >::crossProduct(), irr::core::vector3d< T >::dotProduct(), irr::core::vector3d< T >::getLength(), makeIdentity(), normalize(), irr::core::vector3d< T >::normalize(), irr::core::vector3d< T >::set(), irr::core::vector3d< T >::X, irr::core::vector3d< T >::Y, and irr::core::vector3d< T >::Z.

quaternion & irr::core::quaternion::set	(	f32	x,
		f32	y,
		f32	z,
		f32	w
	)		[inline]

Sets new quaternion.

Definition at line 446 of file quaternion.h.

References W, X, Y, and Z.

quaternion & irr::core::quaternion::set	(	f32	x,
		f32	y,
		f32	z
	)		[inline]

Sets new quaternion based on euler angles (radians)

Definition at line 457 of file quaternion.h.

References normalize(), W, X, Y, and Z.

quaternion & irr::core::quaternion::set

(

const core::vector3df &

vec

)

[inline]

Sets new quaternion based on euler angles (radians)

Definition at line 487 of file quaternion.h.

References irr::core::vector3d< T >::X, irr::core::vector3d< T >::Y, and irr::core::vector3d< T >::Z.

quaternion & irr::core::quaternion::set

(

const core::quaternion &

quat

)

[inline]

Sets new quaternion from other quaternion.

Definition at line 493 of file quaternion.h.

quaternion & irr::core::quaternion::slerp	(	quaternion	q1,
		quaternion	q2,
		f32	time,
		f32	threshold = .05f
	)		[inline]

Set this quaternion to the result of the spherical interpolation between two quaternions.

Parameters:

q1	First quaternion to be interpolated.
q2	Second quaternion to be interpolated.
time	Progress of interpolation. For time=0 the result is q1, for time=1 the result is q2. Otherwise interpolation between q1 and q2.
threshold	To avoid inaccuracies at the end (time=1) the interpolation switches to linear interpolation at some point. This value defines how much of the remaining interpolation will be calculated with lerp. Everything from 1-threshold up will be linear interpolation.

Definition at line 531 of file quaternion.h.

References dotProduct(), lerp(), and irr::core::reciprocal().

void irr::core::quaternion::toAngleAxis	(	f32 &	angle,
		core::vector3df &	axis
	)		const [inline]

Fills an angle (radians) around an axis (unit vector)

Definition at line 575 of file quaternion.h.

References irr::core::iszero(), irr::core::reciprocal(), W, X, irr::core::vector3d< T >::X, Y, irr::core::vector3d< T >::Y, Z, and irr::core::vector3d< T >::Z.

void irr::core::quaternion::toEuler

(

vector3df &

euler

)

const [inline]

Output this quaternion to an euler angle (radians)

Definition at line 596 of file quaternion.h.

References irr::core::clamp(), irr::core::equals(), irr::core::PI64, W, X, irr::core::vector3d< T >::X, Y, irr::core::vector3d< T >::Y, Z, and irr::core::vector3d< T >::Z.

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Member Data Documentation

f32 irr::core::quaternion::W

Definition at line 182 of file quaternion.h.

Referenced by dotProduct(), equals(), fromAngleAxis(), getMatrix(), getMatrix_transposed(), getMatrixCenter(), makeIdentity(), normalize(), operator*(), operator*=(), operator+(), operator=(), operator==(), set(), toAngleAxis(), and toEuler().

f32 irr::core::quaternion::X

Quaternion elements.

Definition at line 179 of file quaternion.h.

Referenced by dotProduct(), equals(), fromAngleAxis(), getMatrix(), getMatrix_transposed(), getMatrixCenter(), makeIdentity(), makeInverse(), normalize(), operator*(), operator*=(), operator+(), operator=(), operator==(), set(), toAngleAxis(), and toEuler().

f32 irr::core::quaternion::Y

Definition at line 180 of file quaternion.h.

Referenced by dotProduct(), equals(), fromAngleAxis(), getMatrix(), getMatrix_transposed(), getMatrixCenter(), makeIdentity(), makeInverse(), normalize(), operator*(), operator*=(), operator+(), operator=(), operator==(), set(), toAngleAxis(), and toEuler().

f32 irr::core::quaternion::Z

Definition at line 181 of file quaternion.h.

Referenced by dotProduct(), equals(), fromAngleAxis(), getMatrix(), getMatrix_transposed(), getMatrixCenter(), makeIdentity(), makeInverse(), normalize(), operator*(), operator*=(), operator+(), operator=(), operator==(), set(), toAngleAxis(), and toEuler().

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

• quaternion.h