Quaternion Class Reference

Public Member Functions
	Quaternion (const Vector &)
	Quaternion (const float &, const float &, const float &)
	Quaternion (const Vector &, const float &)
	Quaternion (const float &, const float &, const float &, const float &)
	Quaternion (const Quaternion &)
void	normalize ()
void	buildFromEuler (const Vector &)
void	buildFromEuler (const float &, const float &, const float &)
void	buildFromAxis (const Vector &, const float &)
void	loadMultIdentity ()
void	loadAddIdentity ()
void	getEulerAngles (Vector &)
void	buildRotationMatrix (Matrix &)
void	slerp (const Quaternion &, const float &, const Quaternion &)
float	getX () const
float	getY () const
float	getZ () const
float	getW () const
Quaternion	operator+ (const Quaternion &) const
Quaternion	operator* (const Quaternion &) const
Quaternion &	operator= (const Quaternion &)

Constructor & Destructor Documentation

Quaternion() [1/3]

Quaternion::Quaternion

(

const Vector &

v

)

Builds from Euler angles stored in v (radians).

Quaternion() [2/3]

Quaternion::Quaternion	(	const float &	x,
		const float &	y,
		const float &	z )

Builds from Euler angles x, y, z (radians).

Quaternion() [3/3]

Quaternion::Quaternion	(	const Vector &	axis,
		const float &	angle )

Builds from an axis-angle pair. axis must be a unit vector; angle is in radians.

Member Function Documentation

buildFromAxis()

void Quaternion::buildFromAxis	(	const Vector &	v,
		const float &	angle )

Sets this quaternion from an axis-angle pair. axis must be a unit vector; angle is in radians. Does not normalise the result.

buildFromEuler() [1/2]

void Quaternion::buildFromEuler	(	const float &	angleX,
		const float &	angleY,
		const float &	angleZ )

Sets this quaternion from Euler angles in radians (x=pitch, y=yaw, z=roll).

buildFromEuler() [2/2]

void Quaternion::buildFromEuler

(

const Vector &

v

)

Sets this quaternion from Euler angles in radians (x=pitch, y=yaw, z=roll).

getEulerAngles()

void Quaternion::getEulerAngles

(

Vector &

v

)

Extracts Euler angles into v (radians). Uses a gimbal-lock fallback when the rotation matrix element m.data[2] reaches ±1; in that case v.z is forced to zero. Not a guaranteed roundtrip with buildFromEuler for all inputs.

normalize()

void Quaternion::normalize

(

)

Scales to unit length. No-op if the quaternion has zero length.

operator*()

Quaternion Quaternion::operator*

(

const Quaternion &

q

)

const

Composes two quaternion rotations using the engine's multiplication convention.

slerp()

void Quaternion::slerp	(	const Quaternion &	sQ,
		const float &	t,
		const Quaternion &	eQ )

Spherical linear interpolation from sQ to eQ at parameter t. t must be in [0, 1]; values outside that range leave this quaternion unchanged.

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

• Quaternion.h
• Quaternion.cpp