aiQuaterniont< TReal > Class Template Reference

This class represents a quaternion as a 4D vector. More...

#include <quaternion.h>

Public Member Functions
	aiQuaterniont () AI_NO_EXCEPT
	aiQuaterniont (aiVector3t< TReal > axis, TReal angle)
	Construct from an axis-angle pair.
	aiQuaterniont (aiVector3t< TReal > normalized)
	Construct from a normalized quaternion stored in a vec3.
	aiQuaterniont (const aiMatrix3x3t< TReal > &pRotMatrix)
	Construct from rotation matrix.
	aiQuaterniont (TReal pw, TReal px, TReal py, TReal pz)
	aiQuaterniont (TReal roty, TReal rotz, TReal rotx)
	Construct from euler angles.
aiQuaterniont &	Conjugate ()
	Will compute the quaternion conjugate.
bool	Equal (const aiQuaterniont &o, TReal epsilon=ai_epsilon) const
aiMatrix3x3t< TReal >	GetMatrix () const
	Returns a matrix representation of the quaternion.
aiQuaterniont &	Normalize ()
	Will normalize the quaternion representation.
bool	operator!= (const aiQuaterniont &o) const
aiQuaterniont	operator* (const aiQuaterniont &two) const
	Multiply two quaternions.
aiQuaterniont &	operator*= (const aiMatrix4x4t< TReal > &mat)
bool	operator== (const aiQuaterniont &o) const
aiVector3t< TReal >	Rotate (const aiVector3t< TReal > &in) const
	Rotate a point by this quaternion.

Static Public Member Functions
static void	Interpolate (aiQuaterniont &pOut, const aiQuaterniont &pStart, const aiQuaterniont &pEnd, TReal pFactor)
	Performs a spherical interpolation between two quaternions and writes the result into the third.

Public Attributes
TReal	w
	w,x,y,z components of the quaternion
TReal	x
TReal	y
TReal	z

Detailed Description

template<typename TReal>
class aiQuaterniont< TReal >

This class represents a quaternion as a 4D vector.

Constructor & Destructor Documentation

aiQuaterniont() [1/6]

template<typename TReal >

aiQuaterniont< TReal >::aiQuaterniont ( )

inline

aiQuaterniont() [2/6]

template<typename TReal >

aiQuaterniont< TReal >::aiQuaterniont ( TReal  pw, TReal  px, TReal  py, TReal  pz  )

inline

aiQuaterniont() [3/6]

template<typename TReal >

aiQuaterniont< TReal >::aiQuaterniont ( const aiMatrix3x3t< TReal > &  pRotMatrix )

inlineexplicit

Construct from rotation matrix.

Result is undefined if the matrix is not orthonormal.

aiQuaterniont() [4/6]

template<typename TReal >

aiQuaterniont< TReal >::aiQuaterniont ( TReal  roty, TReal  rotz, TReal  rotx  )

inline

Construct from euler angles.

aiQuaterniont() [5/6]

template<typename TReal >

aiQuaterniont< TReal >::aiQuaterniont ( aiVector3t< TReal >  axis, TReal  angle  )

inline

Construct from an axis-angle pair.

aiQuaterniont() [6/6]

template<typename TReal >

aiQuaterniont< TReal >::aiQuaterniont ( aiVector3t< TReal >  normalized )

inlineexplicit

Construct from a normalized quaternion stored in a vec3.

Member Function Documentation

Conjugate()

template<typename TReal >

aiQuaterniont< TReal > & aiQuaterniont< TReal >::Conjugate ( )

inline

Will compute the quaternion conjugate.

The result will be stored in the instance.

Equal()

template<typename TReal >

bool aiQuaterniont< TReal >::Equal ( const aiQuaterniont< TReal > &  o, TReal  epsilon = ai_epsilon  ) const

inline

GetMatrix()

template<typename TReal >

aiMatrix3x3t< TReal > aiQuaterniont< TReal >::GetMatrix ( ) const

inline

Returns a matrix representation of the quaternion.

Interpolate()

template<typename TReal >

void aiQuaterniont< TReal >::Interpolate ( aiQuaterniont< TReal > &  pOut, const aiQuaterniont< TReal > &  pStart, const aiQuaterniont< TReal > &  pEnd, TReal  pFactor  )

inlinestatic

Performs a spherical interpolation between two quaternions and writes the result into the third.

Parameters

pOut	Target object to received the interpolated rotation.
pStart	Start rotation of the interpolation at factor == 0.
pEnd	End rotation, factor == 1.
pFactor	Interpolation factor between 0 and 1. Values outside of this range yield undefined results.

Normalize()

template<typename TReal >

aiQuaterniont< TReal > & aiQuaterniont< TReal >::Normalize ( )

inline

Will normalize the quaternion representation.

operator!=()

template<typename TReal >

bool aiQuaterniont< TReal >::operator!=

(

const aiQuaterniont< TReal > &

o

)

const

operator*()

template<typename TReal >

aiQuaterniont< TReal > aiQuaterniont< TReal >::operator* ( const aiQuaterniont< TReal > &  two ) const

inline

Multiply two quaternions.

Parameters

two	The other quaternion.

Returns

The result of the multiplication.

operator*=()

template<typename TReal >

AI_FORCE_INLINE aiQuaterniont< TReal > & aiQuaterniont< TReal >::operator*=

(

const aiMatrix4x4t< TReal > &

mat

)

operator==()

template<typename TReal >

bool aiQuaterniont< TReal >::operator==

(

const aiQuaterniont< TReal > &

o

)

const

Rotate()

template<typename TReal >

aiVector3t< TReal > aiQuaterniont< TReal >::Rotate ( const aiVector3t< TReal > &  in ) const

inline

Rotate a point by this quaternion.

Member Data Documentation

w

template<typename TReal >

TReal aiQuaterniont< TReal >::w

w,x,y,z components of the quaternion

x

template<typename TReal >

TReal aiQuaterniont< TReal >::x

y

template<typename TReal >

TReal aiQuaterniont< TReal >::y

z

template<typename TReal >

TReal aiQuaterniont< TReal >::z

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

• matrix4x4.h
• quaternion.h
• quaternion.inl