class SG_EXPORT osg::Quat

A quaternion class.

Public Fields

Vec4 _fv

Public Methods

Quat()

Quat( float x, float y, float z, float w )

Quat( const Vec4& v )

inline Vec4& asVec4()

inline const Vec4& asVec4() const

inline const Vec3 asVec3() const

inline void set(const float x, const float y, const float z, const float w)

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

inline const Quat operator * (const float rhs) const

Multiply by scalar

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

Divide by scalar

inline Quat& operator /= (const 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.

const float length() const

Length of the quaternion = sqrt( vec .

const float length2() const

Length of the quaternion = vec .

inline const Quat conj() const

Conjugate

inline const Quat inverse() const

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

void makeRotate( const float angle, const float x, const float y, const float z )

void makeRotate( const float angle, const Vec3& vec )

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

Make a rotation Quat which will rotate vec1 to vec2.

void makeRotate( float heading, float pitch, float roll)

make a rotation Quat from euler angles.

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

Return the angle and vector components represented by the quaternion

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

Return the angle and vector represented by the quaternion

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

Spherical Linear Interpolation.

void set( const Matrix& m )

Set quaternion to be equivalent to specified matrix

void get( Matrix& m ) const

Get the equivalent matrix for this quaternion

Matrix getMatrix() const

Get the equivalent matrix for this quaternion

Documentation

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

Vec4 _fv

Quat()

Quat( float x, float y, float z, float w )

Quat( const Vec4& v )

inline Vec4& asVec4()

inline const Vec4& asVec4() const

inline const Vec3 asVec3() const

inline void set(const float x, const float y, const float z, const float w)

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

inline const Quat operator * (const float rhs) const

Multiply by scalar

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

Divide by scalar

inline Quat& operator /= (const 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

const float length() const

Length of the quaternion = sqrt( vec . vec )

const float length2() const

Length of the quaternion = vec . vec

inline const Quat conj() const

Conjugate

inline const Quat inverse() const

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

void makeRotate( const float angle, const float x, const float y, const float z )

void makeRotate( const float angle, const Vec3& vec )

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 makeRotate( float heading, float pitch, float roll)

make a rotation Quat from euler angles. assume Z up, Y north, X east and euler convention as per Open Flight & Performer. Applies a positive rotation about Y axis for roll, then applies a positive roation about X for pitch, and finally a negative rotation about the Z axis.

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

Return the angle and vector components represented by the quaternion

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

Return the angle and vector represented by the quaternion

void slerp( const float 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".

void set( const Matrix& m )

Set quaternion to be equivalent to specified matrix

void get( Matrix& m ) const

Get the equivalent matrix for this quaternion

Matrix getMatrix() const

Get the equivalent matrix for this quaternion

This class has no child classes.

Friends:

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

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