osg::Quat Class Reference

A quaternion class. More...

List of all members.

Public Types
typedef double	value_type
Public Member Functions
	Quat ()
	Quat (value_type x, value_type y, value_type z, value_type w)
	Quat (const Vec4f &v)
	Quat (const Vec4d &v)
	Quat (value_type angle, const Vec3f &axis)
	Quat (value_type angle, const Vec3d &axis)
	Quat (value_type angle1, const Vec3f &axis1, value_type angle2, const Vec3f &axis2, value_type angle3, const Vec3f &axis3)
	Quat (value_type angle1, const Vec3d &axis1, value_type angle2, const Vec3d &axis2, value_type angle3, const Vec3d &axis3)
Quat &	operator= (const Quat &v)
bool	operator== (const Quat &v) const
bool	operator!= (const Quat &v) const
bool	operator< (const Quat &v) const
Vec4d	asVec4 () const
Vec3d	asVec3 () const
void	set (value_type x, value_type y, value_type z, value_type w)
void	set (const osg::Vec4f &v)
void	set (const osg::Vec4d &v)
void	set (const Matrixf &matrix)
void	set (const Matrixd &matrix)
void	get (Matrixf &matrix) const
void	get (Matrixd &matrix) const
value_type &	operator[] (int i)
value_type	operator[] (int i) const
value_type &	x ()
value_type &	y ()
value_type &	z ()
value_type &	w ()
value_type	x () const
value_type	y () const
value_type	z () const
value_type	w () const
bool	zeroRotation () const
	return true if the Quat represents a zero rotation, and therefore can be ignored in computations.
const Quat	operator * (value_type rhs) const
	Multiply by scalar.
Quat &	operator *= (value_type rhs)
	Unary multiply by scalar.
const Quat	operator * (const Quat &rhs) const
	Binary multiply.
Quat &	operator *= (const Quat &rhs)
	Unary multiply.
Quat	operator/ (value_type rhs) const
	Divide by scalar.
Quat &	operator/= (value_type rhs)
	Unary divide by scalar.
const Quat	operator/ (const Quat &denom) const
	Binary divide.
Quat &	operator/= (const Quat &denom)
	Unary divide.
const Quat	operator+ (const Quat &rhs) const
	Binary addition.
Quat &	operator+= (const Quat &rhs)
	Unary addition.
const Quat	operator- (const Quat &rhs) const
	Binary subtraction.
Quat &	operator-= (const Quat &rhs)
	Unary subtraction.
const Quat	operator- () const
	Negation operator - returns the negative of the quaternion.
value_type	length () const
	Length of the quaternion = sqrt( vec . vec ).
value_type	length2 () const
	Length of the quaternion = vec . vec.
Quat	conj () const
	Conjugate.
const Quat	inverse () const
	Multiplicative inverse method: q^(-1) = q^*/(q.q^*).
void	makeRotate (value_type angle, value_type x, value_type y, value_type z)
void	makeRotate (value_type angle, const Vec3f &vec)
void	makeRotate (value_type angle, const Vec3d &vec)
void	makeRotate (value_type angle1, const Vec3f &axis1, value_type angle2, const Vec3f &axis2, value_type angle3, const Vec3f &axis3)
void	makeRotate (value_type angle1, const Vec3d &axis1, value_type angle2, const Vec3d &axis2, value_type angle3, const Vec3d &axis3)
void	makeRotate (const Vec3f &vec1, const Vec3f &vec2)
	Make a rotation Quat which will rotate vec1 to vec2.
void	makeRotate (const Vec3d &vec1, const Vec3d &vec2)
	Make a rotation Quat which will rotate vec1 to vec2.
void	makeRotate_original (const Vec3d &vec1, const Vec3d &vec2)
void	getRotate (value_type &angle, value_type &x, value_type &y, value_type &z) const
	Return the angle and vector components represented by the quaternion.
void	getRotate (value_type &angle, Vec3f &vec) const
	Return the angle and vector represented by the quaternion.
void	getRotate (value_type &angle, Vec3d &vec) const
	Return the angle and vector represented by the quaternion.
void	slerp (value_type t, const Quat &from, const Quat &to)
	Spherical Linear Interpolation.
Vec3f	operator * (const Vec3f &v) const
	Rotate a vector by this quaternion.
Vec3d	operator * (const Vec3d &v) const
	Rotate a vector by this quaternion.
Public Attributes
value_type	_v [4]

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Detailed Description

A quaternion class.

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

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Member Typedef Documentation

typedef double osg::Quat::value_type

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Constructor & Destructor Documentation

osg::Quat::Quat

(

)

[inline]

osg::Quat::Quat	(	value_type	x,
		value_type	y,
		value_type	z,
		value_type	w
	)			[inline]

osg::Quat::Quat

(

const Vec4f &

v

)

[inline]

osg::Quat::Quat

(

const Vec4d &

v

)

[inline]

osg::Quat::Quat	(	value_type	angle,
		const Vec3f &	axis
	)			[inline]

osg::Quat::Quat	(	value_type	angle,
		const Vec3d &	axis
	)			[inline]

osg::Quat::Quat	(	value_type	angle1,
		const Vec3f &	axis1,
		value_type	angle2,
		const Vec3f &	axis2,
		value_type	angle3,
		const Vec3f &	axis3
	)			[inline]

osg::Quat::Quat	(	value_type	angle1,
		const Vec3d &	axis1,
		value_type	angle2,
		const Vec3d &	axis2,
		value_type	angle3,
		const Vec3d &	axis3
	)			[inline]

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Member Function Documentation

Quat& osg::Quat::operator=

(

const Quat &

v

)

[inline]

bool osg::Quat::operator==

(

const Quat &

v

)

const [inline]

bool osg::Quat::operator!=

(

const Quat &

v

)

const [inline]

bool osg::Quat::operator<

(

const Quat &

v

)

const [inline]

Vec4d osg::Quat::asVec4

(

)

const [inline]

Vec3d osg::Quat::asVec3

(

)

const [inline]

void osg::Quat::set	(	value_type	x,
		value_type	y,
		value_type	z,
		value_type	w
	)			[inline]

void osg::Quat::set

(

const osg::Vec4f &

v

)

[inline]

void osg::Quat::set

(

const osg::Vec4d &

v

)

[inline]

void osg::Quat::set

(

const Matrixf &

matrix

)

void osg::Quat::set

(

const Matrixd &

matrix

)

void osg::Quat::get

(

Matrixf &

matrix

)

const

void osg::Quat::get

(

Matrixd &

matrix

)

const

value_type& osg::Quat::operator[]

(

int

i

)

[inline]

value_type osg::Quat::operator[]

(

int

i

)

const [inline]

value_type& osg::Quat::x

(

)

[inline]

value_type& osg::Quat::y

(

)

[inline]

value_type& osg::Quat::z

(

)

[inline]

value_type& osg::Quat::w

(

)

[inline]

value_type osg::Quat::x

(

)

const [inline]

value_type osg::Quat::y

(

)

const [inline]

value_type osg::Quat::z

(

)

const [inline]

value_type osg::Quat::w

(

)

const [inline]

bool osg::Quat::zeroRotation

(

)

const [inline]

return true if the Quat represents a zero rotation, and therefore can be ignored in computations.

const Quat osg::Quat::operator *

(

value_type

rhs

)

const [inline]

Multiply by scalar.

Quat& osg::Quat::operator *=

(

value_type

rhs

)

[inline]

Unary multiply by scalar.

const Quat osg::Quat::operator *

(

const Quat &

rhs

)

const [inline]

Binary multiply.

Quat& osg::Quat::operator *=

(

const Quat &

rhs

)

[inline]

Unary multiply.

Quat osg::Quat::operator/

(

value_type

rhs

)

const [inline]

Divide by scalar.

Quat& osg::Quat::operator/=

(

value_type

rhs

)

[inline]

Unary divide by scalar.

const Quat osg::Quat::operator/

(

const Quat &

denom

)

const [inline]

Binary divide.

Quat& osg::Quat::operator/=

(

const Quat &

denom

)

[inline]

Unary divide.

const Quat osg::Quat::operator+

(

const Quat &

rhs

)

const [inline]

Binary addition.

Quat& osg::Quat::operator+=

(

const Quat &

rhs

)

[inline]

Unary addition.

const Quat osg::Quat::operator-

(

const Quat &

rhs

)

const [inline]

Binary subtraction.

Quat& osg::Quat::operator-=

(

const Quat &

rhs

)

[inline]

Unary subtraction.

const Quat osg::Quat::operator-

(

)

const [inline]

Negation operator - returns the negative of the quaternion.

Basically just calls operator - () on the Vec4

value_type osg::Quat::length

(

)

const [inline]

Length of the quaternion = sqrt( vec . vec ).

value_type osg::Quat::length2

(

)

const [inline]

Length of the quaternion = vec . vec.

Quat osg::Quat::conj

(

)

const [inline]

Conjugate.

const Quat osg::Quat::inverse

(

)

const [inline]

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

void osg::Quat::makeRotate	(	value_type	angle,
		value_type	x,
		value_type	y,
		value_type	z
	)

void osg::Quat::makeRotate	(	value_type	angle,
		const Vec3f &	vec
	)

void osg::Quat::makeRotate	(	value_type	angle,
		const Vec3d &	vec
	)

void osg::Quat::makeRotate	(	value_type	angle1,
		const Vec3f &	axis1,
		value_type	angle2,
		const Vec3f &	axis2,
		value_type	angle3,
		const Vec3f &	axis3
	)

void osg::Quat::makeRotate	(	value_type	angle1,
		const Vec3d &	axis1,
		value_type	angle2,
		const Vec3d &	axis2,
		value_type	angle3,
		const Vec3d &	axis3
	)

void osg::Quat::makeRotate	(	const Vec3f &	vec1,
		const Vec3f &	vec2
	)

Make a rotation Quat which will rotate vec1 to vec2.

Generally take a dot 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 when the vectors are co-incident or opposite in direction.

void osg::Quat::makeRotate	(	const Vec3d &	vec1,
		const Vec3d &	vec2
	)

Make a rotation Quat which will rotate vec1 to vec2.

Generally take a dot 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 osg::Quat::makeRotate_original	(	const Vec3d &	vec1,
		const Vec3d &	vec2
	)

void osg::Quat::getRotate	(	value_type &	angle,
		value_type &	x,
		value_type &	y,
		value_type &	z
	)			const

Return the angle and vector components represented by the quaternion.

void osg::Quat::getRotate	(	value_type &	angle,
		Vec3f &	vec
	)			const

Return the angle and vector represented by the quaternion.

void osg::Quat::getRotate	(	value_type &	angle,
		Vec3d &	vec
	)			const

Return the angle and vector represented by the quaternion.

void osg::Quat::slerp	(	value_type	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".

Vec3f osg::Quat::operator *

(

const Vec3f &

v

)

const [inline]

Rotate a vector by this quaternion.

Vec3d osg::Quat::operator *

(

const Vec3d &

v

)

const [inline]

Rotate a vector by this quaternion.

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Member Data Documentation

value_type osg::Quat::_v[4]

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

• Quat

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