#include <gls_quaternion.h>

Public Member Functions
	GlsQuaternion ()

	GlsQuaternion (Type x, Type y, Type z, Type w)

	GlsQuaternion (Type angle, const Vector &axis)

	GlsQuaternion (Type angle1, const Vector &axis1, Type angle2, const Vector &axis2, Type angle3, const Vector &axis3)

	GlsQuaternion (Type angleX, Type angleY, Type angleZ)

	GlsQuaternion (const Vector &anglesVec)

	GlsQuaternion (const GlsMatrixAffine< Type > &matrix)

Type *	Data ()

const Type *	Data () const

bool	operator== (const GlsQuaternion &q) const

bool	operator!= (const GlsQuaternion &q) const

bool	operator< (const GlsQuaternion &q) const

const GlsQuaternion	operator* (Type s) const

GlsQuaternion &	operator*= (Type s)

const GlsQuaternion	operator* (const GlsQuaternion &q) const

GlsQuaternion &	operator*= (const GlsQuaternion &q)

GlsQuaternion	operator/ (Type s) const

GlsQuaternion &	operator/= (Type s)

const GlsQuaternion	operator/ (const GlsQuaternion &q) const

GlsQuaternion &	operator/= (const GlsQuaternion &q)

const GlsQuaternion	operator+ (const GlsQuaternion &q) const

GlsQuaternion &	operator+= (const GlsQuaternion &q)

const GlsQuaternion	operator- (const GlsQuaternion &q) const

GlsQuaternion &	operator-= (const GlsQuaternion &q)

const GlsQuaternion	operator- () const

Type	Magnitude () const

Type	MagnitudeSquared () const

GlsQuaternion	Conjugate () const

const GlsQuaternion	Inverse () const

Type	DotProduct (const GlsQuaternion &q) const

void	Normalize ()

void	Set (Type x, Type y, Type z, Type w)

void	SetFromAngleAxis (Type angle, const Vector &axis)

void	SetFromAngleAxis (Type angle1, const Vector &axis1, Type angle2, const Vector &axis2, Type angle3, const Vector &axis3)

void	SetFromEulerAngles (Type angleX, Type angleY, Type angleZ)

void	SetFromVectors (const Vector &to, const Vector &from)

void	SetFromRotationMatrix (const GlsMatrixAffine< Type > &matrix)

Type	GetRoll () const

Type	GetPitch () const

Type	GetYaw () const

Vector	GetEulerAngles ()

void	GetAngleAxis (Type angle, Vector axis)

GlsMatrixAffine< Type >	GetRotationMatrix ()

void	SetFromSlerp (float t, const GlsQuaternion &from, const GlsQuaternion &to, bool adjustSign=true)

Static Protected Member Functions
static bool	IsVeryCloseToZero (double value)

Protected Attributes
Type	_v [4]
	The four components of the quaternion.

Detailed Description

template<class Type>
class disti::GlsQuaternion< Type >

The GlsQuaternion class

Constructor & Destructor Documentation

◆ GlsQuaternion() [1/7]

GlsQuaternion ( )

inline

Default constructor. This will initialize the quaternion to zero.

◆ GlsQuaternion() [2/7]

GlsQuaternion	(	Type	x,
		Type	y,
		Type	z,
		Type	w
	)

inline

Constructor. Sets quaternion from 4 constants.

Parameters

x	Initial X value
y	Initial Y value
z	Initial Z value
w	Initial W value

◆ GlsQuaternion() [3/7]

GlsQuaternion	(	Type	angle,
		const Vector &	axis
	)

inline

Constructor. Sets quaternion from angle about an arbitrary axis

Parameters

angle	Rotation angle in radians
axis	Unit vector representing arbitrary axis

◆ GlsQuaternion() [4/7]

GlsQuaternion	(	Type	angle1,
		const Vector &	axis1,
		Type	angle2,
		const Vector &	axis2,
		Type	angle3,
		const Vector &	axis3
	)

inline

Constructor. Sets quaternion from 3 angles about 3 axes

Parameters

angle1	Rotation angle about first axis in radians
axis1	Unit vector representing first arbitrary axis
angle2	Rotation angle about second axis in radians
axis2	Unit vector representing second arbitrary axis
angle3	Rotation angle about third axis in radians
axis3	Unit vector representing third arbitrary axis

◆ GlsQuaternion() [5/7]

GlsQuaternion	(	Type	angleX,
		Type	angleY,
		Type	angleZ
	)

inline

Constructor. Sets quaternion from 3 angles (Euler Angles)

Parameters

angleX	Rotation angle about X axis in radians
angleY	Rotation angle about Y axis in radians
angleZ	Rotation angle about Z axis in radians

◆ GlsQuaternion() [6/7]

GlsQuaternion ( const Vector & anglesVec )

inline

Constructor. Sets quaternion from 3 angles (Euler Angles)

Parameters

anglesVec A vector where each component of the vector is an Euler angle component in radians.

◆ GlsQuaternion() [7/7]

GlsQuaternion ( const GlsMatrixAffine< Type > & matrix )

inline

Constructor. Sets quaternion from a rotation matrix

Parameters

matrix An affine matrix representing a rotation matrix

Member Function Documentation

◆ Conjugate()

GlsQuaternion Conjugate ( ) const

inline

Returns the conjugate of the quaternion

Returns: The conjugate of the quaternion

◆ Data() [1/2]

Type * Data ( )

inline

Accessor method providing access to quaternion data.

Returns: A pointer to the quaternion data.

◆ Data() [2/2]

const Type * Data ( ) const

inline

Accessor method providing access to quaternion data.

Returns: A pointer to the quaternion data.

◆ DotProduct()

Type DotProduct ( const GlsQuaternion< Type > & q ) const

inline

Returns the dot product of the quaternion and a supplied quaternion

Parameters

q	A quaternion to multiply against this quaternion

Returns: The dot product of the quaternion and a supplied quaternion

◆ GetAngleAxis()

void GetAngleAxis	(	Type *	angle,
		Vector *	axis
	)

inline

Gets the rotation angle (radians) and the axis about which the angle is rotated.

Parameters

angle	Returns the angle of rotation of the quaternion
axis	Returns the axis of rotation of the quaternion

◆ GetEulerAngles()

Vector GetEulerAngles ( )

inline

Returns the Euler Angles as a Vector (Warning: SLOW)

Returns: The Euler Angles as a Vector

◆ GetPitch()

Type GetPitch ( ) const

inline

Returns the rotation about the Y axis

Returns: The rotation about the Y axis

◆ GetRoll()

Type GetRoll ( ) const

inline

Returns the rotation about the X axis

Returns: The rotation about the X axis

◆ GetRotationMatrix()

GlsMatrixAffine< Type > GetRotationMatrix ( )

inline

Returns a rotation matrix representation of the quaternion.

Returns: The rotation matrix computed from the quaternion

◆ GetYaw()

Type GetYaw ( ) const

inline

Returns the rotation about the Z axis

Returns: The rotation about the Z axis

◆ Inverse()

const GlsQuaternion Inverse ( ) const

inline

Returns the inverse of the quaternion

Returns: The inverse of the quaternion

◆ IsVeryCloseToZero()

static bool IsVeryCloseToZero ( double value )

inlinestaticprotected

Circular dependancies prevent us from using VeryCloseToZero in util.h.

Parameters

value The value to compare.

Returns: True if the value if close enough to zero.

◆ Magnitude()

Type Magnitude ( ) const

inline

Returns the magnitude of the quaternion

Returns: The magnitude of the quaternion

◆ MagnitudeSquared()

Type MagnitudeSquared ( ) const

inline

Returns the magnitude squared of the quaternion

Returns: The magnitude squared of the quaternion

◆ Normalize()

void Normalize ( )

inline

Normalizes this quaternion

◆ operator!=()

bool operator!= ( const GlsQuaternion< Type > & q ) const

inline

Boolean non-equivalence operator

Parameters

q	Quaternion to compare against

Returns: True if the two quaternions are not exactly equal

◆ operator*() [1/2]

const GlsQuaternion operator* ( const GlsQuaternion< Type > & q ) const

inline

The quaternion multiplication operator.

Parameters

q	A quaternion to multiply against.

Returns: This quaternion multiplied by the quaternion.

◆ operator*() [2/2]

const GlsQuaternion operator* ( Type s ) const

inline

Scalar multiplication operator

Parameters

s	A scalar to multiply against

Returns: This quaternion multiplied by the scalar

◆ operator*=() [1/2]

GlsQuaternion & operator*= ( const GlsQuaternion< Type > & q )

inline

The quaternion multiplication operator.

Parameters

q	A quaternion to multiply against.

Returns: This quaternion multiplied by the quaternion.

◆ operator*=() [2/2]

GlsQuaternion & operator*= ( Type s )

inline

Scalar multiplication operator and assignment operator

Parameters

s	A scalar to multiply against

Returns: This quaternion multiplied by the scalar

◆ operator+()

const GlsQuaternion operator+ ( const GlsQuaternion< Type > & q ) const

inline

Quaternion addition operator

Parameters

q	A quaternion to add

Returns: This quaternion plus the supplied quaternion

◆ operator+=()

GlsQuaternion & operator+= ( const GlsQuaternion< Type > & q )

inline

Quaternion addition and assignment operator

Parameters

q	A quaternion to add

Returns: This quaternion plus the supplied quaternion

◆ operator-() [1/2]

const GlsQuaternion operator- ( ) const

inline

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

Returns: The negated quaternion (this * -1).

◆ operator-() [2/2]

const GlsQuaternion operator- ( const GlsQuaternion< Type > & q ) const

inline

Quaternion subtrtaction operator

Parameters

q	A quaternion to subtract

Returns: This quaternion minus the supplied quaternion

◆ operator-=()

GlsQuaternion & operator-= ( const GlsQuaternion< Type > & q )

inline

Quaternion subtraction and assignment operator

Parameters

q	A quaternion to subtract

Returns: This quaternion minus the supplied quaternion

◆ operator/() [1/2]

const GlsQuaternion operator/ ( const GlsQuaternion< Type > & q ) const

inline

Quaternion division operator

Parameters

q	A quaternion to division by

Returns: This quaternion divided by the quaternion

◆ operator/() [2/2]

GlsQuaternion operator/ ( Type s ) const

inline

Scalar division operator

Parameters

s	A scalar to divide

Returns: This quaternion divided by the scalar

◆ operator/=() [1/2]

GlsQuaternion & operator/= ( const GlsQuaternion< Type > & q )

inline

Quaternion division operator

Parameters

q	A quaternion to division by

Returns: This quaternion divided by the quaternion

◆ operator/=() [2/2]

GlsQuaternion & operator/= ( Type s )

inline

Scalar division and assignment operator

Parameters

s	A scalar to divide

Returns: This quaternion divided by the scalar

◆ operator<()

bool operator< ( const GlsQuaternion< Type > & q ) const

inline

Boolean less than operator

Parameters

q	Quaternion to compare against

Returns: True if the this quaternion is less than the provided one

◆ operator==()

bool operator== ( const GlsQuaternion< Type > & q ) const

inline

Boolean equivalence operator

Parameters

q	Quaternion to compare against

Returns: True if the two quaternions are exactly equal

◆ Set()

void Set	(	Type	x,
		Type	y,
		Type	z,
		Type	w
	)

inline

Sets the component values for this quaternion

Parameters

x	The X value
y	The Y value
z	The Z value
w	The W value

◆ SetFromAngleAxis() [1/2]

void SetFromAngleAxis	(	Type	angle,
		const Vector &	axis
	)

inline

Sets quaternion from angle about an arbitrary axis

Parameters

angle	Rotation angle in radians
axis	Unit vector representing arbitrary axis

◆ SetFromAngleAxis() [2/2]

void SetFromAngleAxis	(	Type	angle1,
		const Vector &	axis1,
		Type	angle2,
		const Vector &	axis2,
		Type	angle3,
		const Vector &	axis3
	)

inline

Sets quaternion from three angle-axis pairs.

Parameters

angle1	Rotation angle in radians
axis1	Unit vector representing arbitrary axis
angle2	Rotation angle in radians
axis2	Unit vector representing arbitrary axis
angle3	Rotation angle in radians
axis3	Unit vector representing arbitrary axis

◆ SetFromEulerAngles()

void SetFromEulerAngles	(	Type	angleX,
		Type	angleY,
		Type	angleZ
	)

inline

Sets quaternion from the Euler angles.

Parameters

angleX	The X Euler angle in radians
angleY	The Y Euler angle in radians
angleZ	The Z Euler angle in radians

◆ SetFromRotationMatrix()

void SetFromRotationMatrix ( const GlsMatrixAffine< Type > & matrix )

inline

Sets this quaternion from the specified rotation matrix.

Parameters

matrix The rotation matrix

◆ SetFromSlerp()

void SetFromSlerp	(	float	t,
		const GlsQuaternion< Type > &	from,
		const GlsQuaternion< Type > &	to,
		bool	adjustSign = `true`
	)

inline

Sets this quaternion to an interpolated rotation between the from and to vectors using spherical linear interpolation (slerp).

Parameters

t	Percent of interpelation (0.0 -> 1.0)
from	The starting quaternion
to	The ending quaternion
adjustSign	Whether or not to negate the sign of the to quaternion

◆ SetFromVectors()

void SetFromVectors	(	const Vector &	to,
		const Vector &	from
	)

inline

Sets this quaternion to a rotation that rotates 'to' into 'from'.

Parameters

to	The rotation destination
from	The rotation start point

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

gls_quaternion.h

Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GlsQuaternion() [1/7]

◆ GlsQuaternion() [2/7]

◆ GlsQuaternion() [3/7]

◆ GlsQuaternion() [4/7]

◆ GlsQuaternion() [5/7]

◆ GlsQuaternion() [6/7]

◆ GlsQuaternion() [7/7]

Member Function Documentation

◆ Conjugate()

◆ Data() [1/2]

◆ Data() [2/2]

◆ DotProduct()

◆ GetAngleAxis()

◆ GetEulerAngles()

◆ GetPitch()

◆ GetRoll()

◆ GetRotationMatrix()

◆ GetYaw()

◆ Inverse()

◆ IsVeryCloseToZero()

◆ Magnitude()

◆ MagnitudeSquared()

◆ Normalize()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator/=() [1/2]

◆ operator/=() [2/2]

◆ operator<()

◆ operator==()

◆ Set()

◆ SetFromAngleAxis() [1/2]

◆ SetFromAngleAxis() [2/2]

◆ SetFromEulerAngles()

◆ SetFromRotationMatrix()

◆ SetFromSlerp()

◆ SetFromVectors()