CL_Quaternionx< Type > Class Template Reference

Quaternion. More...

#include <quaternion.h>

Inheritance diagram for CL_Quaternionx< Type >:

Public Member Functions
	CL_Quaternionx ()
	CL_Quaternionx (Type real, Type i, Type j, Type k)
	CL_Quaternionx (Type real, const CL_Vec3< Type > &imag)
	CL_Quaternionx (const CL_Quaternionx< Type > &copy)
	CL_Quaternionx (Type euler_x, Type euler_y, Type euler_z, CL_AngleUnit unit, CL_EulerOrder order)
	CL_Quaternionx (const CL_Vec3< Type > &euler, CL_AngleUnit unit, CL_EulerOrder order)
	CL_Quaternionx (const CL_Angle &euler_x, const CL_Angle &euler_y, const CL_Angle &euler_z, CL_EulerOrder order)
Attributes
CL_Mat4< Type >	to_matrix () const
	Convert the quaternion to a rotation matrix. More...
Type	magnitude () const
	Get the quaternion magnitude. More...
Operations
void	set (Type euler_x, Type euler_y, Type euler_z, CL_AngleUnit unit, CL_EulerOrder order)
void	set (const CL_Vec3< Type > &euler, CL_AngleUnit unit, CL_EulerOrder order)
void	set (const CL_Angle &euler_x, const CL_Angle &euler_y, const CL_Angle &euler_z, CL_EulerOrder order)
CL_Quaternionx< Type > &	multiply (const CL_Mat4< Type > &matrix)
	Multiply this quaternion by a specified matrix. More...
CL_Quaternionx< Type > &	multiply (const CL_Quaternionx< Type > &quaternion)
	Multiply this quaternion by another quaternion. More...
CL_Quaternionx< Type > &	rotate (const CL_Angle &angle, const CL_Vec3f &axis)
CL_Quaternionx< Type > &	rotate (const CL_Angle &euler_x, const CL_Angle &euler_y, const CL_Angle &euler_z, CL_EulerOrder order)
CL_Quaternionx< Type > &	normalize ()
	Normalizes this quaternion. More...
CL_Quaternionx< Type > &	inverse ()
	Inverse this quaternion. More...
CL_Vec3< Type >	rotate_vector (const CL_Vec3< Type > &v)
	Rotates vector by this quaternion. More...
CL_Vec4< Type >	rotate_vector (const CL_Vec4< Type > &v)
Operators
CL_Quaternionx< Type >	operator* (const CL_Quaternionx< Type > &mult) const
	Multiplication operator. More...

Static Public Member Functions
static CL_Quaternionx< Type >	axis_angle (const CL_Angle &angle, const CL_Vec3f &axis)
static CL_Quaternionx< Type >	lerp (const CL_Quaternionx< Type > &quaternion_initial, const CL_Quaternionx< Type > &quaternion_final, Type lerp_time)
	Linear Quaternion Interpolation. More...
static CL_Quaternionx< Type >	multiply (const CL_Quaternionx< Type > &quaternion_1, const CL_Quaternionx< Type > &quaternion_2)
static CL_Quaternionx< Type >	slerp (const CL_Quaternionx< Type > &quaternion_initial, const CL_Quaternionx< Type > &quaternion_final, Type slerp_time)
	Spherical Quaternion Interpolation. More...

Public Attributes
union {
Type   i
Type   x
};
	The imaginary vector part. More...
union {
Type   j
Type   y
};
union {
Type   k
Type   z
};
Type	w
	The real scalar part. More...

Detailed Description

template<typename Type>
class CL_Quaternionx< Type >

Quaternion.

These quaternion templates are defined for: float (CL_Quaternionf), double (CL_Quaterniond)

Constructor & Destructor Documentation

template<typename Type>

CL_Quaternionx< Type >::CL_Quaternionx ( )

inline

template<typename Type>

CL_Quaternionx< Type >::CL_Quaternionx ( Type  real, Type  i, Type  j, Type  k  )

inline

template<typename Type>

CL_Quaternionx< Type >::CL_Quaternionx ( Type  real, const CL_Vec3< Type > &  imag  )

inline

template<typename Type>

CL_Quaternionx< Type >::CL_Quaternionx ( const CL_Quaternionx< Type > &  copy)

inline

template<typename Type>

CL_Quaternionx< Type >::CL_Quaternionx	(	Type	euler_x,
		Type	euler_y,
		Type	euler_z,
		CL_AngleUnit	unit,
		CL_EulerOrder	order
	)

template<typename Type>

CL_Quaternionx< Type >::CL_Quaternionx	(	const CL_Vec3< Type > &	euler,
		CL_AngleUnit	unit,
		CL_EulerOrder	order
	)

template<typename Type>

CL_Quaternionx< Type >::CL_Quaternionx	(	const CL_Angle &	euler_x,
		const CL_Angle &	euler_y,
		const CL_Angle &	euler_z,
		CL_EulerOrder	order
	)

Member Function Documentation

template<typename Type>

static CL_Quaternionx<Type> CL_Quaternionx< Type >::axis_angle ( const CL_Angle &  angle, const CL_Vec3f &  axis  )

static

template<typename Type>

CL_Quaternionx<Type>& CL_Quaternionx< Type >::inverse

(

)

Inverse this quaternion.

This is the same as the conjugate of a quaternion

Returns

reference to this object

template<typename Type>

static CL_Quaternionx<Type> CL_Quaternionx< Type >::lerp ( const CL_Quaternionx< Type > &  quaternion_initial, const CL_Quaternionx< Type > &  quaternion_final, Type  lerp_time  )

static

Linear Quaternion Interpolation.

Parameters

quaternion_initial	= Source quaternion
quaternion_final	= Destination quaternion
lerp_time	= Time in the range of 0.0 to 1.0

template<typename Type>

Type CL_Quaternionx< Type >::magnitude

(

)

const

Get the quaternion magnitude.

template<typename Type>

static CL_Quaternionx<Type> CL_Quaternionx< Type >::multiply ( const CL_Quaternionx< Type > &  quaternion_1, const CL_Quaternionx< Type > &  quaternion_2  )

static

Referenced by CL_Quaternionx< float >::operator*().

template<typename Type>

CL_Quaternionx<Type>& CL_Quaternionx< Type >::multiply

(

const CL_Mat4< Type > &

matrix)

Multiply this quaternion by a specified matrix.

Parameters

matrix

= Matrix to multiply

Returns

reference to this object

template<typename Type>

CL_Quaternionx<Type>& CL_Quaternionx< Type >::multiply

(

const CL_Quaternionx< Type > &

quaternion)

Multiply this quaternion by another quaternion.

This multiplies the quaternion as follows: this = quaternion * this

Parameters

quaternion

= Quaternion to multiply

Returns

reference to this object

template<typename Type>

CL_Quaternionx<Type>& CL_Quaternionx< Type >::normalize

(

)

Normalizes this quaternion.

Returns

reference to this object

template<typename Type>

CL_Quaternionx<Type> CL_Quaternionx< Type >::operator* ( const CL_Quaternionx< Type > &  mult) const

inline

Multiplication operator.

template<typename Type>

CL_Quaternionx<Type>& CL_Quaternionx< Type >::rotate	(	const CL_Angle &	angle,
		const CL_Vec3f &	axis
	)

template<typename Type>

CL_Quaternionx<Type>& CL_Quaternionx< Type >::rotate	(	const CL_Angle &	euler_x,
		const CL_Angle &	euler_y,
		const CL_Angle &	euler_z,
		CL_EulerOrder	order
	)

template<typename Type>

CL_Vec3<Type> CL_Quaternionx< Type >::rotate_vector

(

const CL_Vec3< Type > &

v)

Rotates vector by this quaternion.

Parameters

v	= Vertex to rotate

Returns

rotated vector

template<typename Type>

CL_Vec4<Type> CL_Quaternionx< Type >::rotate_vector

(

const CL_Vec4< Type > &

v)

template<typename Type>

void CL_Quaternionx< Type >::set	(	Type	euler_x,
		Type	euler_y,
		Type	euler_z,
		CL_AngleUnit	unit,
		CL_EulerOrder	order
	)

template<typename Type>

void CL_Quaternionx< Type >::set	(	const CL_Vec3< Type > &	euler,
		CL_AngleUnit	unit,
		CL_EulerOrder	order
	)

template<typename Type>

void CL_Quaternionx< Type >::set	(	const CL_Angle &	euler_x,
		const CL_Angle &	euler_y,
		const CL_Angle &	euler_z,
		CL_EulerOrder	order
	)

template<typename Type>

static CL_Quaternionx<Type> CL_Quaternionx< Type >::slerp ( const CL_Quaternionx< Type > &  quaternion_initial, const CL_Quaternionx< Type > &  quaternion_final, Type  slerp_time  )

static

Spherical Quaternion Interpolation.

Parameters

quaternion_initial	= Source quaternion
quaternion_final	= Destination quaternion
slerp_time	= Time in the range of 0.0 to 1.0

template<typename Type>

CL_Mat4<Type> CL_Quaternionx< Type >::to_matrix

(

)

const

Convert the quaternion to a rotation matrix.

This function assumes that the quarternion is normalized.

Member Data Documentation

union { ... }

The imaginary vector part.

union { ... }

union { ... }

template<typename Type>

Type CL_Quaternionx< Type >::i

template<typename Type>

Type CL_Quaternionx< Type >::j

template<typename Type>

Type CL_Quaternionx< Type >::k

template<typename Type>

Type CL_Quaternionx< Type >::w

The real scalar part.

template<typename Type>

Type CL_Quaternionx< Type >::x

template<typename Type>

Type CL_Quaternionx< Type >::y

template<typename Type>

Type CL_Quaternionx< Type >::z

---

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

• quaternion.h