Irrlicht 3D Engine: irr::core::quaternion Class Reference

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Public Member Functions | Public Attributes
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

## 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.

## 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.

## 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.

## 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().

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

- quaternion.h