Archon::Math::Quaternion Struct Reference

Collaboration diagram for Archon::Math::Quaternion:

[legend]List of all members.

Public Member Functions
	Quaternion ()
	Quaternion (double w, const Vector3 &v)
double	squareSum () const
double	length () const
Quaternion	operator+ (const Quaternion &q) const
Quaternion	operator- (const Quaternion &q) const
Quaternion	operator * (const Quaternion &q) const
Quaternion	operator * (double f) const
Quaternion	operator/ (double f) const
Quaternion	operator- () const
Quaternion &	operator+= (const Quaternion &q)
Quaternion &	operator-= (const Quaternion &q)
Quaternion &	operator *= (const Quaternion &q)
	For two quaternions q1 = (w1, V1) and q2 = (w1, V2) the product is defined as:.
Quaternion &	operator/= (const Quaternion &q)
Quaternion &	operator *= (double f)
Quaternion &	operator/= (double f)
bool	operator== (const Quaternion &q) const
bool	operator!= (const Quaternion &q) const
void	set (const Vector3 &v, double w)
void	negate ()
void	normalize ()
void	conjugate ()
void	inverse ()
void	setRotation (const Rotation3 &r)
	Creates a normalized quaternion represention the specified rotation.
void	setRotation (const Vector3 &axis, double cosineOfAngle)
	Creates a normalized quaternion represention the specified rotation.
void	getRotation (Rotation3 &r) const
	This method may be optimized if we know that the quaternion is a unit quaternion.
Static Public Member Functions
static const Quaternion	zero ()
static const Quaternion	one ()
Public Attributes
double	w
Vector3	v

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Detailed Description

Definition at line 33 of file quaternion.H.

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Member Function Documentation

void Archon::Math::Quaternion::getRotation (  Rotation3 &  r  )  const [inline]

This method may be optimized if we know that the quaternion is a unit quaternion. Also it mat be more efficient to compute sin(a) as sqrt(1 - cos^2(a)). Definition at line 143 of file quaternion.H. References Archon::Math::Rotation3::angle, Archon::Math::Rotation3::axis, Archon::Math::sq(), Archon::Math::BasicVector< T, N >::squareSum(), v, and w. Referenced by Archon::Math::Rotation3::combineWith(), and Archon::X3D::Viewer::renderFrame().

Quaternion& Archon::Math::Quaternion::operator *= (  const Quaternion &  q  )  [inline]

For two quaternions q1 = (w1, V1) and q2 = (w1, V2) the product is defined as:. (w1 w2 - V1·V2, V1 × V2 + w2 V1 + w1 V2) Note: The quaternion product is not commutative. Note also that the product of two unit quaternions is again a unit quaternion. The quaternion product may be used to combine rotations. That is: Applying rotation q1 and then q2 is the same as applying the rotation q2 * q1. Definition at line 81 of file quaternion.H. References Archon::Math::dot(), v, and w.

void Archon::Math::Quaternion::setRotation (  const Vector3 &  axis, double  cosineOfAngle )  [inline]

Creates a normalized quaternion represention the specified rotation. NOTE: Make sure 'axis' is a normalized vector. (cos(a/2), sin(a/2) V) Definition at line 130 of file quaternion.H. References v, and w.

void Archon::Math::Quaternion::setRotation (  const Rotation3 &  r  )  [inline]

Creates a normalized quaternion represention the specified rotation. NOTE: Make sure 'r.axis' is a normalized vector. (cos(a/2), sin(a/2) V) Definition at line 116 of file quaternion.H. References Archon::Math::Rotation3::angle, Archon::Math::Rotation3::axis, v, and w. Referenced by Archon::Math::Rotation3::combineWith(), and Archon::X3D::Viewer::renderFrame().

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

• archon/math/quaternion.H

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