ae3d::Quaternion Struct Reference

Stores an orientation. More...

#include <Quaternion.hpp>

Public Member Functions
	Quaternion ()
	Constructor.
	Quaternion (const Vec3 &vec, float aW)
	Quaternion (const Quaternion &v)=default
	Copy constructor.
	Quaternion (Quaternion &&v) noexcept=default
	Move constructor.
Quaternion &	operator= (Quaternion &&) noexcept=default
	Move assignment.
Quaternion &	operator= (const Quaternion &)=default
	Copy.
Vec3	operator* (const Vec3 &vec) const
	Multiplying a quaternion q with a vector v applies the q-rotation to vec. More...
Quaternion	operator* (const Quaternion &aQ) const
	Applies rotation aQ to this quaternion and returns the result. More...
bool	operator== (const Quaternion &q) const
bool	operator!= (const Quaternion &q) const
Quaternion	Conjugate () const
float	FindTwist (const Vec3 &axis) const
	Finds twist angle around axis. More...
void	GetAxisAngle (Vec3 &outAxis, float &outAngleRad) const
void	FromAxisAngle (const Vec3 &axis, float angleDeg)
void	FromMatrix (const Matrix44 &mat)
void	GetMatrix (Matrix44 &outMatrix) const
Vec3	GetEuler () const
void	Normalize ()

Static Public Member Functions
static Quaternion	FromEuler (const Vec3 &euler)
static Quaternion	CreateFromAxisAngle (const Vec3 &axis, float angleDeg)

Public Attributes
float	x
float	y
float	z
float	w

Detailed Description

Stores an orientation.

Constructor & Destructor Documentation

ae3d::Quaternion::Quaternion ( const Vec3 &  vec, float  aW  )

inline

Parameters

vec	Vector.
aW	w.

Member Function Documentation

Quaternion ae3d::Quaternion::Conjugate ( ) const

inline

Gets conjugate. If the quaternion is of unit length, the conjugate is the inverse.

Returns

Conjugate.

static Quaternion ae3d::Quaternion::CreateFromAxisAngle ( const Vec3 &  axis, float  angleDeg  )

inlinestatic

Parameters

axis	Axis. Should be normalized.
angleDeg	Angle in degrees.

float ae3d::Quaternion::FindTwist ( const Vec3 &  axis ) const

inline

Finds twist angle around axis.

Parameters

axis

Axis.

Returns

Twist angle (

Todo:

in radians? )

void ae3d::Quaternion::FromAxisAngle ( const Vec3 &  axis, float  angleDeg  )

inline

Parameters

axis	Axis. Should be normalized.
angleDeg	Angle in degrees.

static Quaternion ae3d::Quaternion::FromEuler ( const Vec3 &  euler )

inlinestatic

Parameters

euler

Euler angles in degrees.

Returns

Quaternion created from euler.

void ae3d::Quaternion::FromMatrix ( const Matrix44 &  mat )

inline

Parameters

mat

Matrix.

void ae3d::Quaternion::GetAxisAngle ( Vec3 &  outAxis, float &  outAngleRad  ) const

inline

Parameters

outAxis	Axis.
outAngleRad	in radians.

Vec3 ae3d::Quaternion::GetEuler ( ) const

inline

http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/

Returns

Euler angles in degrees.

void ae3d::Quaternion::GetMatrix ( Matrix44 &  outMatrix ) const

inline

Gets matrix for unit-length quaternion.

Parameters

outMatrix

column-major order matrix.

void ae3d::Quaternion::Normalize ( )

inline

Normalizes the quaternion if it's not near unit-length already.

bool ae3d::Quaternion::operator!= ( const Quaternion &  q ) const

inline

Inequality operator.

Parameters

q	Tested Quaternion.

Returns

True if quaternions are not component-wise equal, false otherwise.

Vec3 ae3d::Quaternion::operator* ( const Vec3 &  vec ) const

inline

Multiplying a quaternion q with a vector v applies the q-rotation to vec.

Parameters

vec	Input vector.

Returns

Output vector that's rotated by this Quaternion.

Quaternion ae3d::Quaternion::operator* ( const Quaternion &  aQ ) const

inline

Applies rotation aQ to this quaternion and returns the result.

Returns

This quaterion rotated by aQ.

bool ae3d::Quaternion::operator== ( const Quaternion &  q ) const

inline

Equality operator.

Parameters

q	Tested Quaternion.

Returns

True if quaternions are component-wise equal, false otherwise.

Member Data Documentation

float ae3d::Quaternion::w

W component.

float ae3d::Quaternion::x

X component.

float ae3d::Quaternion::y

Y component.

float ae3d::Quaternion::z

Z component.

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

• Quaternion.hpp