class SG_EXPORT osg::Quat

A quaternion class.

Public Fields

value_type _v[4]

Public Methods

inline Quat()

inline Quat( value_type x, value_type y, value_type z, value_type w )

inline Quat( const Vec4& v )

inline Quat( value_type angle, const Vec3& axis)

inline Quat( value_type angle1, const Vec3& axis1, value_type angle2, const Vec3& axis2, value_type angle3, const Vec3& axis3)

inline bool operator == (const Quat& v) const

inline bool operator != (const Quat& v) const

inline bool operator < (const Quat& v) const

inline Vec4 asVec4() const

inline Vec3 asVec3() const

inline void set(value_type x, value_type y, value_type z, value_type w)

inline void set(const osg::Vec4& v)

void set(const Matrixf& matrix)

void set(const Matrixd& matrix)

void get(Matrixf& matrix) const

void get(Matrixd& matrix) const

inline value_type& operator [] (int i)

inline value_type operator [] (int i) const

inline value_type& x()

inline value_type& y()

inline value_type& z()

inline value_type& w()

inline float x() const

inline float y() const

inline float z() const

inline float w() const

bool zeroRotation() const

return true if the Quat represents a zero rotation, and therefore can be ignored in computations

inline const Quat operator * (float rhs) const

Multiply by scalar

inline Quat& operator *= (float rhs)

Unary multiply by scalar

inline const Quat operator*(const Quat& rhs) const

Binary multiply

inline Quat& operator*=(const Quat& rhs)

Unary multiply

inline Quat operator / (float rhs) const

Divide by scalar

inline Quat& operator /= (float rhs)

Unary divide by scalar

inline const Quat operator/(const Quat& denom) const

Binary divide

inline Quat& operator/=(const Quat& denom)

Unary divide

inline const Quat operator + (const Quat& rhs) const

Binary addition

inline Quat& operator += (const Quat& rhs)

Unary addition

inline const Quat operator - (const Quat& rhs) const

Binary subtraction

inline Quat& operator -= (const Quat& rhs)

Unary subtraction

inline const Quat operator - () const

Negation operator - returns the negative of the quaternion.

value_type length() const

Length of the quaternion = sqrt( vec .

value_type length2() const

Length of the quaternion = vec .

inline Quat conj() const

Conjugate

inline const Quat inverse() const

Multiplicative inverse method: q^(-1) = q^*/(qq^*)

void makeRotate( value_type angle, value_type x, value_type y, value_type z )

void makeRotate( value_type angle, const Vec3& vec )

void makeRotate( value_type angle1, const Vec3& axis1, value_type angle2, const Vec3& axis2, value_type angle3, const Vec3& axis3)

void makeRotate( const Vec3& vec1, const Vec3& vec2 )

Make a rotation Quat which will rotate vec1 to vec2.

void getRotate( value_type & angle, value_type & x, value_type & y, value_type & z ) const

Return the angle and vector components represented by the quaternion

void getRotate( value_type & angle, Vec3& vec ) const

Return the angle and vector represented by the quaternion

void slerp( value_type t, const Quat& from, const Quat& to)

Spherical Linear Interpolation.

Public Members

typedef double value_type

Documentation

A quaternion class. It can be used to represent an orientation in 3D space.

typedef double value_type

value_type _v[4]

inline Quat()

inline Quat( value_type x, value_type y, value_type z, value_type w )

inline Quat( const Vec4& v )

inline Quat( value_type angle, const Vec3& axis)

inline Quat( value_type angle1, const Vec3& axis1, value_type angle2, const Vec3& axis2, value_type angle3, const Vec3& axis3)

inline bool operator == (const Quat& v) const

inline bool operator != (const Quat& v) const

inline bool operator < (const Quat& v) const

inline Vec4 asVec4() const

inline Vec3 asVec3() const

inline void set(value_type x, value_type y, value_type z, value_type w)

inline void set(const osg::Vec4& v)

void set(const Matrixf& matrix)

void set(const Matrixd& matrix)

void get(Matrixf& matrix) const

void get(Matrixd& matrix) const

inline value_type& operator [] (int i)

inline value_type operator [] (int i) const

inline value_type& x()

inline value_type& y()

inline value_type& z()

inline value_type& w()

inline float x() const

inline float y() const

inline float z() const

inline float w() const

bool zeroRotation() const

return true if the Quat represents a zero rotation, and therefore can be ignored in computations

inline const Quat operator * (float rhs) const

Multiply by scalar

inline Quat& operator *= (float rhs)

Unary multiply by scalar

inline const Quat operator*(const Quat& rhs) const

Binary multiply

inline Quat& operator*=(const Quat& rhs)

Unary multiply

inline Quat operator / (float rhs) const

Divide by scalar

inline Quat& operator /= (float rhs)

Unary divide by scalar

inline const Quat operator/(const Quat& denom) const

Binary divide

inline Quat& operator/=(const Quat& denom)

Unary divide

inline const Quat operator + (const Quat& rhs) const

Binary addition

inline Quat& operator += (const Quat& rhs)

Unary addition

inline const Quat operator - (const Quat& rhs) const

Binary subtraction

inline Quat& operator -= (const Quat& rhs)

Unary subtraction

inline const Quat operator - () const

Negation operator - returns the negative of the quaternion. Basically just calls operator - () on the Vec4

value_type length() const

Length of the quaternion = sqrt( vec . vec )

value_type length2() const

Length of the quaternion = vec . vec

inline Quat conj() const

Conjugate

inline const Quat inverse() const

Multiplicative inverse method: q^(-1) = q^*/(qq^*)

void makeRotate( value_type angle, value_type x, value_type y, value_type z )

void makeRotate( value_type angle, const Vec3& vec )

void makeRotate( value_type angle1, const Vec3& axis1, value_type angle2, const Vec3& axis2, value_type angle3, const Vec3& axis3)

void makeRotate( const Vec3& vec1, const Vec3& vec2 )

Make a rotation Quat which will rotate vec1 to vec2. Generally take adot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases of when the vectors are co-incident or opposite in direction.

void getRotate( value_type & angle, value_type & x, value_type & y, value_type & z ) const

Return the angle and vector components represented by the quaternion

void getRotate( value_type & angle, Vec3& vec ) const

Return the angle and vector represented by the quaternion

void slerp( value_type t, const Quat& from, const Quat& to)

Spherical Linear Interpolation. As t goes from 0 to 1, the Quat object goes from "from" to "to".

This class has no child classes.

Friends:

inline std::ostream& operator << (std::ostream& output, const Quat& vec)

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