CubbyFlow::Quaternion< T > Class Template Reference

Quaternion class defined as q = w + xi + yj + zk. More...

#include <Core/Math/Quaternion.hpp>

Public Member Functions
	Quaternion ()
	Make an identity quaternion.
	Quaternion (T newW, T newX, T newY, T newZ)
	Constructs a quaternion with given elements.
	Quaternion (const std::initializer_list< T > &list)
	Constructs a quaternion with given elements.
	Quaternion (const Vector3< T > &axis, T angle)
	Constructs a quaternion with given rotation axis and angle.
	Quaternion (const Vector3< T > &from, const Vector3< T > &to)
	Constructs a quaternion with from and to vectors.
	Quaternion (const Vector3< T > &axis0, const Vector3< T > &axis1, const Vector3< T > &axis2)
	Constructs a quaternion with three basis vectors.
	Quaternion (const Matrix3x3< T > &m33)
	Constructs a quaternion with 3x3 rotational matrix.
	Quaternion (const Quaternion &other)
	Copy constructor.
	Quaternion (Quaternion &&other) noexcept
	Default move constructor.
	~Quaternion ()=default
	Default destructor.
Quaternion &	operator= (const Quaternion &other)
	Copy assignment operator.
Quaternion &	operator= (Quaternion &&other) noexcept
	Default move assignment operator.
void	Set (const Quaternion &other)
	Sets the quaternion with other quaternion.
void	Set (T newW, T newX, T newY, T newZ)
	Sets the quaternion with given elements.
void	Set (const std::initializer_list< T > &list)
	Sets the quaternion with given elements.
void	Set (const Vector3< T > &axis, T angle)
	Sets the quaternion with given rotation axis and angle.
void	Set (const Vector3< T > &from, const Vector3< T > &to)
	Sets the quaternion with from and to vectors.
void	Set (const Vector3< T > &rotationBasis0, const Vector3< T > &rotationBasis1, const Vector3< T > &rotationBasis2)
	Sets quaternion with three basis vectors.
void	Set (const Matrix3x3< T > &m)
	Sets the quaternion with 3x3 rotational matrix.
template<typename U >
Quaternion< U >	CastTo () const
	Returns quaternion with other base type.
Quaternion	Normalized () const
	Returns normalized quaternion.
Vector3< T >	Mul (const Vector3< T > &v) const
	Returns this quaternion * vector.
Quaternion	Mul (const Quaternion &other) const
	Returns this quaternion * other quaternion.
T	Dot (const Quaternion< T > &other) const
	Computes the dot product with other quaternion.
Quaternion	RMul (const Quaternion &other) const
	Returns other quaternion * this quaternion.
void	IMul (const Quaternion &other)
	Returns this quaternion *= other quaternion.
void	SetIdentity ()
	Makes this quaternion identity.
void	Rotate (T angleInRadians)
	Rotate this quaternion with given angle in radians.
void	Normalize ()
	Normalizes the quaternion.
Vector3< T >	Axis () const
	Returns the rotational axis.
T	Angle () const
	Returns the rotational angle.
void	GetAxisAngle (Vector3< T > *axis, T *angle) const
	Returns the axis and angle.
Quaternion	Inverse () const
	Returns the inverse quaternion.
Matrix3x3< T >	Matrix3 () const
	Converts to the 3x3 rotation matrix.
Matrix4x4< T >	Matrix4 () const
	Converts to the 4x4 rotation matrix.
T	L2Norm () const
	Returns L2 norm of this quaternion.
Quaternion &	operator*= (const Quaternion &other)
	Returns this quaternion *= other quaternion.
T &	operator[] (size_t i)
	Returns the reference to the i-th element.
const T &	operator[] (size_t i) const
	Returns the const reference to the i-th element.
bool	operator== (const Quaternion &other) const
	Returns true if equal.
bool	operator!= (const Quaternion &other) const
	Returns true if not equal.

Static Public Member Functions
static Quaternion	MakeIdentity ()
	Returns identity matrix.

Public Attributes
T	w
	Real part.
T	x
	Imaginary part (j).
T	y
	Imaginary part (k).
T	z

Detailed Description

template<typename T>
class CubbyFlow::Quaternion< T >

Quaternion class defined as q = w + xi + yj + zk.

Constructor & Destructor Documentation

Quaternion() [1/9]

template<typename T >

CubbyFlow::Quaternion< T >::Quaternion

(

)

Make an identity quaternion.

Quaternion() [2/9]

template<typename T >

CubbyFlow::Quaternion< T >::Quaternion	(	T	newW,
		T	newX,
		T	newY,
		T	newZ
	)

Constructs a quaternion with given elements.

Quaternion() [3/9]

template<typename T >

CubbyFlow::Quaternion< T >::Quaternion

(

const std::initializer_list< T > &

list

)

Constructs a quaternion with given elements.

Quaternion() [4/9]

template<typename T >

CubbyFlow::Quaternion< T >::Quaternion	(	const Vector3< T > &	axis,
		T	angle
	)

Constructs a quaternion with given rotation axis and angle.

Quaternion() [5/9]

template<typename T >

CubbyFlow::Quaternion< T >::Quaternion	(	const Vector3< T > &	from,
		const Vector3< T > &	to
	)

Constructs a quaternion with from and to vectors.

Quaternion() [6/9]

template<typename T >

CubbyFlow::Quaternion< T >::Quaternion	(	const Vector3< T > &	axis0,
		const Vector3< T > &	axis1,
		const Vector3< T > &	axis2
	)

Constructs a quaternion with three basis vectors.

Quaternion() [7/9]

template<typename T >

CubbyFlow::Quaternion< T >::Quaternion ( const Matrix3x3< T > &  m33 )

explicit

Constructs a quaternion with 3x3 rotational matrix.

Quaternion() [8/9]

template<typename T >

CubbyFlow::Quaternion< T >::Quaternion

(

const Quaternion< T > &

other

)

Copy constructor.

Quaternion() [9/9]

template<typename T >

CubbyFlow::Quaternion< T >::Quaternion ( Quaternion< T > &&  other )

noexcept

Default move constructor.

~Quaternion()

template<typename T >

CubbyFlow::Quaternion< T >::~Quaternion ( )

default

Default destructor.

Member Function Documentation

Angle()

template<typename T >

T CubbyFlow::Quaternion< T >::Angle

(

)

const

Returns the rotational angle.

Axis()

template<typename T >

Vector3< T > CubbyFlow::Quaternion< T >::Axis

(

)

const

Returns the rotational axis.

CastTo()

template<typename T >

template<typename U >

Quaternion< U > CubbyFlow::Quaternion< T >::CastTo

(

)

const

Returns quaternion with other base type.

Dot()

template<typename T >

T CubbyFlow::Quaternion< T >::Dot

(

const Quaternion< T > &

other

)

const

Computes the dot product with other quaternion.

GetAxisAngle()

template<typename T >

void CubbyFlow::Quaternion< T >::GetAxisAngle	(	Vector3< T > *	axis,
		T *	angle
	)		const

Returns the axis and angle.

IMul()

template<typename T >

void CubbyFlow::Quaternion< T >::IMul

(

const Quaternion< T > &

other

)

Returns this quaternion *= other quaternion.

Inverse()

template<typename T >

Quaternion< T > CubbyFlow::Quaternion< T >::Inverse

(

)

const

Returns the inverse quaternion.

L2Norm()

template<typename T >

T CubbyFlow::Quaternion< T >::L2Norm

(

)

const

Returns L2 norm of this quaternion.

MakeIdentity()

template<typename T >

Quaternion< T > CubbyFlow::Quaternion< T >::MakeIdentity ( )

static

Returns identity matrix.

Matrix3()

template<typename T >

Matrix3x3< T > CubbyFlow::Quaternion< T >::Matrix3

(

)

const

Converts to the 3x3 rotation matrix.

Matrix4()

template<typename T >

Matrix4x4< T > CubbyFlow::Quaternion< T >::Matrix4

(

)

const

Converts to the 4x4 rotation matrix.

Mul() [1/2]

template<typename T >

Quaternion< T > CubbyFlow::Quaternion< T >::Mul

(

const Quaternion< T > &

other

)

const

Returns this quaternion * other quaternion.

Mul() [2/2]

template<typename T >

Vector3< T > CubbyFlow::Quaternion< T >::Mul

(

const Vector3< T > &

v

)

const

Returns this quaternion * vector.

Normalize()

template<typename T >

void CubbyFlow::Quaternion< T >::Normalize

(

)

Normalizes the quaternion.

Normalized()

template<typename T >

Quaternion< T > CubbyFlow::Quaternion< T >::Normalized

(

)

const

Returns normalized quaternion.

operator!=()

template<typename T >

bool CubbyFlow::Quaternion< T >::operator!=

(

const Quaternion< T > &

other

)

const

Returns true if not equal.

operator*=()

template<typename T >

Quaternion< T > & CubbyFlow::Quaternion< T >::operator*=

(

const Quaternion< T > &

other

)

Returns this quaternion *= other quaternion.

operator=() [1/2]

template<typename T >

Quaternion< T > & CubbyFlow::Quaternion< T >::operator=

(

const Quaternion< T > &

other

)

Copy assignment operator.

operator=() [2/2]

template<typename T >

Quaternion< T > & CubbyFlow::Quaternion< T >::operator= ( Quaternion< T > &&  other )

noexcept

Default move assignment operator.

operator==()

template<typename T >

bool CubbyFlow::Quaternion< T >::operator==

(

const Quaternion< T > &

other

)

const

Returns true if equal.

operator[]() [1/2]

template<typename T >

T & CubbyFlow::Quaternion< T >::operator[]

(

size_t

i

)

Returns the reference to the i-th element.

operator[]() [2/2]

template<typename T >

const T & CubbyFlow::Quaternion< T >::operator[]

(

size_t

i

)

const

Returns the const reference to the i-th element.

RMul()

template<typename T >

Quaternion< T > CubbyFlow::Quaternion< T >::RMul

(

const Quaternion< T > &

other

)

const

Returns other quaternion * this quaternion.

Rotate()

template<typename T >

void CubbyFlow::Quaternion< T >::Rotate

(

T

angleInRadians

)

Rotate this quaternion with given angle in radians.

Set() [1/7]

template<typename T >

void CubbyFlow::Quaternion< T >::Set

(

const Matrix3x3< T > &

m

)

Sets the quaternion with 3x3 rotational matrix.

Set() [2/7]

template<typename T >

void CubbyFlow::Quaternion< T >::Set

(

const Quaternion< T > &

other

)

Sets the quaternion with other quaternion.

Set() [3/7]

template<typename T >

void CubbyFlow::Quaternion< T >::Set

(

const std::initializer_list< T > &

list

)

Sets the quaternion with given elements.

Set() [4/7]

template<typename T >

void CubbyFlow::Quaternion< T >::Set	(	const Vector3< T > &	axis,
		T	angle
	)

Sets the quaternion with given rotation axis and angle.

Set() [5/7]

template<typename T >

void CubbyFlow::Quaternion< T >::Set	(	const Vector3< T > &	from,
		const Vector3< T > &	to
	)

Sets the quaternion with from and to vectors.

Set() [6/7]

template<typename T >

void CubbyFlow::Quaternion< T >::Set	(	const Vector3< T > &	rotationBasis0,
		const Vector3< T > &	rotationBasis1,
		const Vector3< T > &	rotationBasis2
	)

Sets quaternion with three basis vectors.

Set() [7/7]

template<typename T >

void CubbyFlow::Quaternion< T >::Set	(	T	newW,
		T	newX,
		T	newY,
		T	newZ
	)

Sets the quaternion with given elements.

SetIdentity()

template<typename T >

void CubbyFlow::Quaternion< T >::SetIdentity

(

)

Makes this quaternion identity.

Member Data Documentation

w

template<typename T >

T CubbyFlow::Quaternion< T >::w

Real part.

Imaginary part (i).

x

template<typename T >

T CubbyFlow::Quaternion< T >::x

Imaginary part (j).

y

template<typename T >

T CubbyFlow::Quaternion< T >::y

Imaginary part (k).

z

template<typename T >

T CubbyFlow::Quaternion< T >::z

---

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

• Core/Math/Quaternion.hpp
• Core/Math/Quaternion-Impl.hpp