base::Quat4 Class Reference

Collaboration diagram for base::Quat4:

[legend]List of all members.


Public Member Functions
	Quat4 ()
	Quat4 (const Quat4 &q)
	Quat4 (const Vector3 &v)
	Quat4 (const Vector4 &v)
	Quat4 (const Real &s)
	Quat4 (Real x, Real y, Real z, Real w)
	Quat4 (const Vector3 &axis, Real angle)
	~Quat4 ()
void	setIdentity () throw ()
void	setZero () throw ()
Real &	e (Int i) throw ()
const Real &	e (Int i) const throw ()
Real &	at (Int i) throw (std::out_of_range)
const Real &	at (Int i) const throw (std::out_of_range)
Real &	operator[] (Int i)
const Real &	operator[] (Int i) const
Quat4 &	operator= (const Quat4 &src) throw ()
bool	operator== (const Quat4 &q) const throw ()
bool	equals (const Quat4 &q) const throw ()
Real	norm () const throw ()
Quat4 &	normalize () throw ()
Quat4 &	conjugate ()
Quat4 &	invert () throw ()
Quat4 &	operator *= (const Quat4 &qr)
Quat4 &	operator *= (Real s)
Quat4 &	operator/= (Real s)
Quat4 &	operator+= (const Quat4 &q)
Quat4 &	operator-= (const Quat4 &q)
Quat4 &	negate () throw ()
void	setRotation (const Matrix4 &rotation)
	Generate quat corresponding to rotation component of matrix.
void	setRotation (const Vector3 &axis, Real angle)
void	getRotation (Vector3 &axis, Real &angle) const
void	rotatePoint (Point4 &p) const
void	rotatePoint (Point3 &p) const
Point3	rotate (const Point3 &p) const
Point4	rotate (const Point4 &p) const
	operator Matrix4 () const
	convert to corresponding rotation matrix
Real *	c_array ()
void	serialize (Serializer &s)
	read or write object state to Serializer
Static Public Member Functions
Quat4	interpolate (const Quat4 &from, const Quat4 &to, Real t)
	interpolate between from-to an amount t:[0..1] using SLERP
Real	angleBetween (const Quat4 &q1, const Quat4 &q2)
	angle seperating the orientations q1 & q2
Public Attributes
Vector3	v
Real	w
Static Public Attributes
const Int	X = 1
const Int	Y = 2
const Int	Z = 3
const Int	W = 4
Friends
std::ostream &	operator<< (std::ostream &, const Quat4 &)

Detailed Description

Quaternion. Used for representing rotations.

Definition at line 51 of file Quat4.

Constructor & Destructor Documentation

base::Quat4::Quat4 ( ) [inline]

Definition at line 55 of file Quat4.
References setIdentity().

base::Quat4::Quat4 ( const Quat4 & q ) [inline]

Definition at line 56 of file Quat4.
References operator=().

base::Quat4::Quat4 ( const Vector3 & v ) [inline]

Definition at line 57 of file Quat4.
References base::Real, and w.

base::Quat4::Quat4 ( const Vector4 & v ) [inline]

Definition at line 58 of file Quat4.
References w.

base::Quat4::Quat4 ( const Real & s ) [inline, explicit]

Definition at line 59 of file Quat4.
References base::Real, and w.

base::Quat4::Quat4 ( Real x,

Real y,

Real z,

Real w

) [inline]

Definition at line 60 of file Quat4.
References base::Real.

base::Quat4::Quat4 ( const Vector3 & axis,

Real angle

) [inline]

Definition at line 61 of file Quat4.
References base::Real, and setRotation().

base::Quat4::~Quat4 ( ) [inline]

Definition at line 62 of file Quat4.

Member Function Documentation

Real base::Quat4::angleBetween ( const Quat4 & q1,

const Quat4 & q2

) [static]

angle seperating the orientations q1 & q2

const Real& base::Quat4::at ( Int i ) const throw (std::out_of_range) [inline]

Definition at line 106 of file Quat4.
References base::Vector3::e(), Exception, base::Int, base::Real, and w.

Real& base::Quat4::at ( Int i ) throw (std::out_of_range) [inline]

Definition at line 98 of file Quat4.
References base::Vector3::e(), Exception, base::Int, base::Real, and w.

Real* base::Quat4::c_array ( ) [inline]

Definition at line 198 of file Quat4.
References base::Real, and base::Vector3::x.

Quat4& base::Quat4::conjugate ( ) [inline]

Definition at line 157 of file Quat4.
References base::Vector3::negate().
Referenced by base::conjugate(), and invert().

const Real& base::Quat4::e ( Int i ) const throw () [inline]

Definition at line 89 of file Quat4.
References base::Vector3::e(), Exception, base::Int, base::Real, and w.

Real& base::Quat4::e ( Int i ) throw () [inline]

Definition at line 80 of file Quat4.
References base::Vector3::e(), Exception, base::Int, base::Real, and w.
Referenced by operator[]().

bool base::Quat4::equals ( const Quat4 & q ) const throw () [inline]

Definition at line 135 of file Quat4.
References base::equals(), base::Vector3::equals(), and w.

void base::Quat4::getRotation ( Vector3 & axis,

Real & angle

) const

Quat4 base::Quat4::interpolate ( const Quat4 & from,

const Quat4 & to,

Real t

) [static]

interpolate between from-to an amount t:[0..1] using SLERP

Quat4& base::Quat4::invert ( ) throw () [inline]

Definition at line 159 of file Quat4.
References conjugate(), base::equals(), norm(), and base::Real.
Referenced by base::inverse().

Quat4& base::Quat4::negate ( ) throw () [inline]

Definition at line 178 of file Quat4.
References base::Vector3::negate(), and w.
Referenced by base::operator-().

Real base::Quat4::norm ( ) const throw () [inline]

Definition at line 142 of file Quat4.
References base::Real, w, base::Vector3::x, base::Vector3::y, and base::Vector3::z.
Referenced by invert(), and normalize().

Quat4& base::Quat4::normalize ( ) throw () [inline]

Definition at line 145 of file Quat4.
References base::equals(), norm(), base::Real, base::sqrt(), and w.

Quat4& base::Quat4::operator *= ( Real s ) [inline]

Definition at line 173 of file Quat4.
References base::Real, and w.

Quat4& base::Quat4::operator *= ( const Quat4 & qr )

base::Quat4::operator Matrix4 ( ) const

convert to corresponding rotation matrix

Quat4& base::Quat4::operator+= ( const Quat4 & q ) [inline]

Definition at line 175 of file Quat4.
References v, and w.

Quat4& base::Quat4::operator-= ( const Quat4 & q ) [inline]

Definition at line 176 of file Quat4.
References v, and w.

Quat4& base::Quat4::operator/= ( Real s ) [inline]

Definition at line 174 of file Quat4.
References base::Real, and w.

Quat4& base::Quat4::operator= ( const Quat4 & src ) throw () [inline]

Definition at line 120 of file Quat4.
References w.
Referenced by Quat4().

bool base::Quat4::operator== ( const Quat4 & q ) const throw () [inline]

Definition at line 128 of file Quat4.
References w.

const Real& base::Quat4::operator[] ( Int i ) const [inline]

Definition at line 117 of file Quat4.
References e(), base::Int, and base::Real.

Real& base::Quat4::operator[] ( Int i ) [inline]

Definition at line 114 of file Quat4.
References e(), base::Int, and base::Real.

Point4 base::Quat4::rotate ( const Point4 & p ) const [inline]

Definition at line 190 of file Quat4.
References base::Point4, and rotatePoint().

Point3 base::Quat4::rotate ( const Point3 & p ) const [inline]

Definition at line 188 of file Quat4.
References base::Point3, base::Point4, rotatePoint(), base::Vector4::x, base::Vector4::y, and base::Vector4::z.
Referenced by base::Orient::rotate().

void base::Quat4::rotatePoint ( Point3 & p ) const [inline]

Definition at line 186 of file Quat4.
References base::Point3, base::Point4, rotatePoint(), base::Vector4::w, base::Vector4::x, base::Vector4::y, and base::Vector4::z.

void base::Quat4::rotatePoint ( Point4 & p ) const

Referenced by rotate(), base::LineSegPathRep::rotate(), rotatePoint(), and base::Orient::rotatePoint().

void base::Quat4::serialize ( Serializer & s )

read or write object state to Serializer

Referenced by base::Serializer::operator()().

void base::Quat4::setIdentity ( ) throw () [inline]

Definition at line 69 of file Quat4.
References base::Real, w, base::Vector3::x, base::Vector3::y, and base::Vector3::z.
Referenced by Quat4(), and setZero().

void base::Quat4::setRotation ( const Vector3 & axis,

Real angle

)

void base::Quat4::setRotation ( const Matrix4 & rotation )

Generate quat corresponding to rotation component of matrix.

Referenced by Quat4(), and base::LineSegPathRep::transform().