QuatC
QuatC class defines a quaternion class which is used by the Demopaja system. The quaternion class implements standard set of methods and overdriven operators for easy use.
This class is implemented by the system.
Header: | QuatC.h |
Library: | core.lib |
QuatC(
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Creates a new quaternion with the values as the arguments.
QuatC(
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Copy constructor. Creates a new quaternion with the same values as the argument.
void from_rot_matrix(
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Converts a matrix to quaternion and stores the result to the quaternion.
Matrix3C to_rot_matrix() const;
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Rotation matrix.
Converts the quaternion to matrix and returns the result.
void from_axis_angle(
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void from_axis_angle(
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Creates quaternion from axis-angle presentation and stores the result in the quaternion.
void to_axis_angle(
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void to_axis_angle(
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Converts the quaternion to axis-angle presentation and stores the result to the arguments.
QuatC operator-() const;
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Negates the quaternion and returns the result.
float32& operator[](
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const float32& operator[](
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Reference to the component pointed by the index.
The index values from 0 to 3 corresponds to components X, Y, Z, and W respectively. There are two versions of this method, the first enables to assign values and the second is for retrieving the values.
QuatC operator+(
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Adds the quaternion specified by argument from the quaternion and returns the result.
QuatC operator-(
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Substracts the quaternion specified by argument from the quaternion and returns the result.
QuatC operator*(
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Multiplies the quaternion specified by argument from the quaternion and returns the result.
QuatC operator/(
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Divides the quaternion specified by argument from the quaternion and returns the result.
QuatC operator*(
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Multiplies the quaternion by a scalar value specified by the argument and returns the result.
friend QuatC operator*(
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Multiplies the quaternion by a scalar value specified by the argument and returns the result.
bool operator==(
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True if both quaternions are equal, else false.
bool operator!=(
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True if both quaternions are not equal, else false.
float32 dot(
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Computes the quaternion dot product and returns the result.
float32 norm() const;
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Return the squared-length of the quaternion.
QuatC inverse() const;
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Converts the quaternion to unit-length and inverses it and returns the result. Use this method to inverse non-unit-length quaternions.
QuatC unit_inverse() const;
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Inverses the quaternion and returns the result. Use this method to inverse unit-length quaternions.
QuatC exp() const;
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Computes the exponential of the quaternion and returns the result.
QuatC log() const;
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Computes the logarithm of the quaternion and returns the result.
QuatC normalize() const;
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Normalizes the quaternion to unit length and returns the result.
static QuatC slerp(
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Interpolated quaternion.
Uses spherical linear interpolation to find the quaternion value between the first and the second interpolation quaternions.
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