287 lines
15 KiB
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287 lines
15 KiB
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<TITLE>class SG_EXPORT osg::Quat</TITLE>
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<META NAME="GENERATOR" CONTENT="DOC++ 3.4.3">
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<BODY BGCOLOR="#ffffff">
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<H2>class SG_EXPORT <A HREF="#DOC.DOCU">osg::Quat</A></H2>
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<BLOCKQUOTE>A quaternion class.</BLOCKQUOTE>
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<HR>
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<DL>
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<P><DL>
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<DT><H3>Public Fields</H3><DD><DT>
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<A HREF="#DOC.2.40.8"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A><!1><A HREF="Vec4.html">Vec4</A> <B>_fv</B>
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<DD><I></I>
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</DL></P>
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<P><DL>
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<DT><H3>Public Methods</H3><DD><DT>
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<A HREF="#DOC.2.40.9"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A> <B>Quat</B>( void )
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<DD><I></I>
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<DT>
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<A HREF="#DOC.2.40.10"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A> <B>Quat</B>( float x, float y, float z, float w )
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<DD><I></I>
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<DT>
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<A HREF="#DOC.2.40.11"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A> <B>Quat</B>( const <!1><A HREF="Vec4.html">Vec4</A>& vec )
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<DD><I></I>
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<DT>
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<A HREF="#DOC.2.40.12"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Vec4.html">Vec4</A> <B>asVec4</B>( void ) const
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<DD><I></I>
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<DT>
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<A HREF="#DOC.2.40.13"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Vec3.html">Vec3</A> <B>asVec3</B>( void ) const
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<DD><I></I>
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<DT>
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<A HREF="#DOC.2.40.14"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> <B>operator * </B>(const float& rhs) const
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<DD><I>Multiply by scalar </I>
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<DT>
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<A HREF="#DOC.2.40.15"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& <B>operator *= </B>(const float& rhs)
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<DD><I>Unary multiply by scalar </I>
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<DT>
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<A HREF="#DOC.2.40.16"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> <B>operator*</B>(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs) const
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<DD><I>Binary multiply </I>
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<DT>
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<A HREF="#DOC.2.40.17"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& <B>operator*=</B>(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs)
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<DD><I>Unary multiply </I>
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<DT>
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<A HREF="#DOC.2.40.18"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> <B>operator / </B>(const float& rhs) const
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<DD><I>Divide by scalar </I>
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<DT>
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<A HREF="#DOC.2.40.19"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& <B>operator /= </B>(const float& rhs)
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<DD><I>Unary divide by scalar </I>
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<DT>
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<A HREF="#DOC.2.40.20"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> <B>operator/</B>(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& denom) const
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<DD><I>Binary divide </I>
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<DT>
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<A HREF="#DOC.2.40.21"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& <B>operator/=</B>(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& denom)
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<DD><I>Unary divide </I>
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<DT>
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<A HREF="#DOC.2.40.22"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> <B>operator + </B>(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs) const
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<DD><I>Binary addition </I>
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<DT>
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<A HREF="#DOC.2.40.23"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& <B>operator += </B>(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs)
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<DD><I>Unary addition</I>
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<DT>
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<A HREF="#DOC.2.40.24"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> <B>operator - </B>(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs) const
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<DD><I>Binary subtraction </I>
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<DT>
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<A HREF="#DOC.2.40.25"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& <B>operator -= </B>(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs)
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<DD><I>Unary subtraction </I>
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<DT>
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<A HREF="#DOC.2.40.1"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> <B>operator - </B>() const
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<DD><I>Negation operator - returns the negative of the quaternion.</I>
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<DT>
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<A HREF="#DOC.2.40.26"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>float <B>length</B>( void ) const
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<DD><I>Length of the quaternion = sqrt( vec . vec )</I>
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<DT>
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<A HREF="#DOC.2.40.27"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>float <B>length2</B>( void ) const
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<DD><I>Length of the quaternion = vec . vec</I>
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<DT>
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<A HREF="#DOC.2.40.28"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> <B>conj</B>( void ) const
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<DD><I>Conjugate </I>
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<DT>
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<A HREF="#DOC.2.40.29"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> <B>inverse</B>( void ) const
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<DD><I>Multiplicative inverse method: q^(-1) = q^*/(q.q^*)</I>
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<DT>
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<A HREF="#DOC.2.40.30"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>void <B>makeRot</B>( const float angle, const float x, const float y, const float z )
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<DD><I></I>
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<DT>
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<A HREF="#DOC.2.40.31"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>void <B>makeRot</B>( const float angle, const <!1><A HREF="Vec3.html">Vec3</A>& vec )
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<DD><I></I>
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<DT>
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<A HREF="#DOC.2.40.2"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>void <B>makeRot</B>( const <!1><A HREF="Vec3.html">Vec3</A>& vec1, const <!1><A HREF="Vec3.html">Vec3</A>& vec2 )
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<DD><I>Make a rotation Quat which will rotate vec1 to vec2.</I>
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<DT>
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<A HREF="#DOC.2.40.3"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>void <B>getRot</B>( float& angle, float& x, float& y, float& z ) const
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<DD><I>Return the angle and vector components represented by the quaternion</I>
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<DT>
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<A HREF="#DOC.2.40.4"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>void <B>getRot</B>( float& angle, <!1><A HREF="Vec3.html">Vec3</A>& vec ) const
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<DD><I>Return the angle and vector represented by the quaternion</I>
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<DT>
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<A HREF="#DOC.2.40.5"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>void <B>slerp</B>( const float t, const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& from, const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& to)
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<DD><I>Spherical Linear Interpolation.</I>
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<DT>
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<A HREF="#DOC.2.40.6"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>void <B>set</B>( const <!1><A HREF="Matrix.html">osg::Matrix</A>& m )
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<DD><I>Set quaternion to be equivalent to specified matrix</I>
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<DT>
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<A HREF="#DOC.2.40.7"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>void <B>get</B>( <!1><A HREF="Matrix.html">osg::Matrix</A>& m ) const
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<DD><I>Get the equivalent matrix for this quaternion</I>
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<DT>
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<A HREF="#DOC.2.40.32"><IMG ALT="[more]" BORDER=0 SRC=icon1.gif></A>inline friend ostream& <B>operator << </B>(ostream& output, const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& vec)
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<DD><I></I>
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</DL></P>
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</DL>
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<A NAME="DOC.DOCU">
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<HR>
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<H2>Documentation</H2>
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<BLOCKQUOTE>A quaternion class. It can be used to represent an orientation in 3D space.</BLOCKQUOTE>
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<DL>
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<A NAME="_fv">
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<A NAME="DOC.2.40.8">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B><!1><A HREF="Vec4.html">Vec4</A> _fv</B></TT>
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<DL><DT><DD></DL><P>
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<A NAME="Quat">
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<A NAME="DOC.2.40.9">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B> Quat( void )</B></TT>
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<DL><DT><DD></DL><P>
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<A NAME="Quat">
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<A NAME="DOC.2.40.10">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B> Quat( float x, float y, float z, float w )</B></TT>
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<DL><DT><DD></DL><P>
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<A NAME="Quat">
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<A NAME="DOC.2.40.11">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B> Quat( const <!1><A HREF="Vec4.html">Vec4</A>& vec )</B></TT>
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<DL><DT><DD></DL><P>
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<A NAME="asVec4">
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<A NAME="DOC.2.40.12">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Vec4.html">Vec4</A> asVec4( void ) const </B></TT>
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<DL><DT><DD></DL><P>
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<A NAME="asVec3">
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<A NAME="DOC.2.40.13">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Vec3.html">Vec3</A> asVec3( void ) const </B></TT>
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<DL><DT><DD></DL><P>
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<A NAME="operator * ">
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<A NAME="DOC.2.40.14">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> operator * (const float& rhs) const </B></TT>
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<DD>Multiply by scalar
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<DL><DT><DD></DL><P>
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<A NAME="operator *= ">
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<A NAME="DOC.2.40.15">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& operator *= (const float& rhs)</B></TT>
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<DD>Unary multiply by scalar
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<DL><DT><DD></DL><P>
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<A NAME="operator*">
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<A NAME="DOC.2.40.16">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> operator*(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs) const </B></TT>
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<DD>Binary multiply
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<DL><DT><DD></DL><P>
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<A NAME="operator*=">
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<A NAME="DOC.2.40.17">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& operator*=(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs)</B></TT>
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<DD>Unary multiply
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<DL><DT><DD></DL><P>
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<A NAME="operator / ">
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<A NAME="DOC.2.40.18">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> operator / (const float& rhs) const </B></TT>
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<DD>Divide by scalar
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<DL><DT><DD></DL><P>
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<A NAME="operator /= ">
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<A NAME="DOC.2.40.19">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& operator /= (const float& rhs)</B></TT>
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<DD>Unary divide by scalar
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<DL><DT><DD></DL><P>
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<A NAME="operator/">
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<A NAME="DOC.2.40.20">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> operator/(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& denom) const </B></TT>
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<DD>Binary divide
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<DL><DT><DD></DL><P>
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<A NAME="operator/=">
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<A NAME="DOC.2.40.21">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& operator/=(const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& denom)</B></TT>
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<DD>Unary divide
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<DL><DT><DD></DL><P>
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<A NAME="operator + ">
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<A NAME="DOC.2.40.22">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> operator + (const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs) const </B></TT>
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<DD>Binary addition
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<DL><DT><DD></DL><P>
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<A NAME="operator += ">
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<A NAME="DOC.2.40.23">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& operator += (const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs)</B></TT>
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<DD>Unary addition
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<DL><DT><DD></DL><P>
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<A NAME="operator - ">
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<A NAME="DOC.2.40.24">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> operator - (const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs) const </B></TT>
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<DD>Binary subtraction
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<DL><DT><DD></DL><P>
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<A NAME="operator -= ">
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<A NAME="DOC.2.40.25">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& operator -= (const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& rhs)</B></TT>
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<DD>Unary subtraction
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<DL><DT><DD></DL><P>
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<A NAME="operator - ">
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<A NAME="DOC.2.40.1">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> operator - () const </B></TT>
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<DD>Negation operator - returns the negative of the quaternion.
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Basically just calls operator - () on the Vec4
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<DL><DT><DD></DL><P>
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<A NAME="length">
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<A NAME="DOC.2.40.26">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>float length( void ) const </B></TT>
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<DD>Length of the quaternion = sqrt( vec . vec )
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<DL><DT><DD></DL><P>
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<A NAME="length2">
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<A NAME="DOC.2.40.27">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>float length2( void ) const </B></TT>
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<DD>Length of the quaternion = vec . vec
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<DL><DT><DD></DL><P>
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<A NAME="conj">
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<A NAME="DOC.2.40.28">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> conj( void ) const </B></TT>
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<DD>Conjugate
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<DL><DT><DD></DL><P>
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<A NAME="inverse">
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<A NAME="DOC.2.40.29">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A> inverse( void ) const </B></TT>
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<DD>Multiplicative inverse method: q^(-1) = q^*/(q.q^*)
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<DL><DT><DD></DL><P>
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<A NAME="makeRot">
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<A NAME="DOC.2.40.30">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>void makeRot( const float angle, const float x, const float y, const float z )</B></TT>
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<DL><DT><DD></DL><P>
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<A NAME="makeRot">
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<A NAME="DOC.2.40.31">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>void makeRot( const float angle, const <!1><A HREF="Vec3.html">Vec3</A>& vec )</B></TT>
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<DL><DT><DD></DL><P>
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<A NAME="makeRot">
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<A NAME="DOC.2.40.2">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>void makeRot( const <!1><A HREF="Vec3.html">Vec3</A>& vec1, const <!1><A HREF="Vec3.html">Vec3</A>& vec2 )</B></TT>
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<DD>Make a rotation Quat which will rotate vec1 to vec2.
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Generally take adot product to get the angle between these
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and then use a cross product to get the rotation axis
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Watch out for the two special cases of when the vectors
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are co-incident or opposite in direction.
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<DL><DT><DD></DL><P>
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<A NAME="getRot">
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<A NAME="DOC.2.40.3">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>void getRot( float& angle, float& x, float& y, float& z ) const </B></TT>
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<DD>Return the angle and vector components represented by the quaternion
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<DL><DT><DD></DL><P>
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<A NAME="getRot">
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<A NAME="DOC.2.40.4">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>void getRot( float& angle, <!1><A HREF="Vec3.html">Vec3</A>& vec ) const </B></TT>
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<DD>Return the angle and vector represented by the quaternion
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<DL><DT><DD></DL><P>
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<A NAME="slerp">
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<A NAME="DOC.2.40.5">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>void slerp( const float t, const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& from, const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& to)</B></TT>
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<DD>Spherical Linear Interpolation.
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As t goes from 0 to 1, the Quat object goes from "from" to "to".
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<DL><DT><DD></DL><P>
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<A NAME="set">
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<A NAME="DOC.2.40.6">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>void set( const <!1><A HREF="Matrix.html">osg::Matrix</A>& m )</B></TT>
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<DD>Set quaternion to be equivalent to specified matrix
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<DL><DT><DD></DL><P>
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<A NAME="get">
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<A NAME="DOC.2.40.7">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>void get( <!1><A HREF="Matrix.html">osg::Matrix</A>& m ) const </B></TT>
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<DD>Get the equivalent matrix for this quaternion
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<DL><DT><DD></DL><P>
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<A NAME="operator << ">
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<A NAME="DOC.2.40.32">
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<DT><IMG ALT="o" BORDER=0 SRC=icon2.gif><TT><B>inline friend ostream& operator << (ostream& output, const <!1><A HREF="Quat.html#DOC.2.40.9">Quat</A>& vec)</B></TT>
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<DL><DT><DD></DL><P></DL>
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<HR><DL><DT><B>This class has no child classes.</B></DL>
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<DL><DT><DD></DL><P><I><A HREF="index.html">Alphabetic index</A></I> <I><A HREF="HIER.html">HTML hierarchy of classes</A> or <A HREF="HIERjava.html">Java</A></I><P><HR>
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<BR>
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