Nimble::QuaternionT< T > Class Template Reference

A quaternion class. More...

#include <Nimble/Quaternion.hpp>

Public Types
typedef T	type
	The quaternion type.

Public Member Functions
T	dotp (const QuaternionT &v) const
	Returns dot product between this quaternion and the argument quaternion.
void	getAngleAxis (float &angle, Vector3T< T > &axis) const
	Converts this quaternion to angle/axis format.
void	identity ()
T	lensq () const
	The squared length of this quaternion. More...
QuaternionT &	normalize ()
	Normalizes the quaternion to length 1. More...
	operator Nimble::Matrix3T< T > () const
	Converts this quaternion into a 3x3 rotation matrix.
	operator Nimble::Matrix4T< T > () const
	Converts this quaternion into a 4x4 matrix. More...
template<typename Y >
Vector3T< Y >	operator* (const Vector3T< Y > &v) const
	Transforms the argument vector this quaternion transformation.
QuaternionT	operator* (const QuaternionT &b) const
	Multiplies two quaterions.
QuaternionT &	operator*= (T v)
	Multiply the quaternion components. More...
QuaternionT &	operator*= (const QuaternionT &v)
	Multiply this quaternion with another, and store the result into this quaternion.
QuaternionT	operator+ (const QuaternionT &v) const
	Addition operator.
QuaternionT &	operator+= (const QuaternionT &v)
	Accumulation add operator.
QuaternionT	operator- (const QuaternionT &v) const
	Subtraction operator.
const QuaternionT	operator- () const
	Negate a quaternion. More...
QuaternionT &	operator-= (const QuaternionT &v)
	Accumulation minus operator.
QuaternionT &	operator= (const Matrix4T< T > &m)
	Extracts the rotation part of a 4x4 matrix, and calculates the quaternion values from that.
QuaternionT &	operator= (const Matrix3T< T > &m)
	Calculates quaternion values from a 3x3 rotation matrix. More...
QuaternionT &	operator^= (const QuaternionT &v)
	Multiply the components of this quaternion directly with the components of another quaternion.
const QuaternionT	operator~ () const
	Negate the x, y, and z value of this quaternion. More...
	QuaternionT ()
	Constructs a quaternion object, with uninitialized values.
	QuaternionT (const QuaternionT< T > &o)
	Constructs a quaternion object, with values copied from another quaternion object. More...
	QuaternionT (const Vector3T< T > &v, T w_)
	Constructs a quaternion object, with values copied from a 3D vector and a float. More...
	QuaternionT (T x_, T y_, T z_, T w_)
	Constructs a quaternion with given values.
	QuaternionT (const Matrix3T< T > &m)
	Converts a rotation matrix to quaternion format.

Static Public Member Functions
static QuaternionT	rotation (T angle, Vector3T< T > axis)
	Create a new quaternion based on rotation around an axis. More...
static QuaternionT	slerp (const QuaternionT &q1, QuaternionT q2, T t)
	Performs slerp interpolation between two quaternions.

Public Attributes
T	w
	The quaternion w element value.
T	x
	The quaternion x element value.
T	y
	The quaternion y element value.
T	z
	The quaternion z element value.

Static Public Attributes
static const QuaternionT< T >	IDENTITY

Detailed Description

template<typename T>
class Nimble::QuaternionT< T >

A quaternion class.

Quaternion are typically used to present 3D rotations in a way that can be easily interpolated, and which is not susceptible to the artifacts that plague the "pitch/roll/yaw" definition.

Constructor & Destructor Documentation

template<typename T >

Nimble::QuaternionT< T >::QuaternionT ( const QuaternionT< T > &  o )

inline

Constructs a quaternion object, with values copied from another quaternion object.

Parameters

o	The quaternion to copy

template<typename T >

Nimble::QuaternionT< T >::QuaternionT ( const Vector3T< T > &  v, T  w_  )

inline

Constructs a quaternion object, with values copied from a 3D vector and a float.

Parameters

v	The 3D vector that defines the x, y, z value for this uaternion
w_	The w value

Member Function Documentation

template<typename T >

T Nimble::QuaternionT< T >::lensq ( ) const

inline

The squared length of this quaternion.

Returns

x*x+y*y+z*z+w*w

template<typename T >

QuaternionT& Nimble::QuaternionT< T >::normalize ( )

inline

Normalizes the quaternion to length 1.

Returns

Reference to self

template<typename T >

Nimble::QuaternionT< T >::operator Nimble::Matrix4T< T > ( ) const

inline

Converts this quaternion into a 4x4 matrix.

Returns

The top-left 3x3 components of the matrix are set to a rotation matrix. The remaining components are from an identity matrix.

template<typename T >

QuaternionT& Nimble::QuaternionT< T >::operator*= ( T  v )

inline

Multiply the quaternion components.

Parameters

v	The multiplier

Returns

Reference to self

template<typename T >

const QuaternionT Nimble::QuaternionT< T >::operator- ( ) const

inline

Negate a quaternion.

Returns

Returns the values of this quaternion, multiplied with -1

template<typename T >

QuaternionT& Nimble::QuaternionT< T >::operator= ( const Matrix3T< T > &  m )

inline

Calculates quaternion values from a 3x3 rotation matrix.

Parameters

m	The matrix to be copied.

template<typename T >

const QuaternionT Nimble::QuaternionT< T >::operator~ ( ) const

inline

Negate the x, y, and z value of this quaternion.

Returns

Returns the x, y, z, values of this quaternion, multiplied with -1, and the w value as such.

template<typename T >

static QuaternionT Nimble::QuaternionT< T >::rotation ( T  angle, Vector3T< T >  axis  )

inlinestatic

Create a new quaternion based on rotation around an axis.

Parameters

angle	The rotation angle, in radians
axis	The axis, around which the rotation is performed

Returns

New quaternion