TUnitQuaternion Class Reference
[Math classes]

List of all members.

Public Member Functions
	TUnitQuaternion ()
	TUnitQuaternion (real x, real y, real z, real t)
void	Set (real x, real y, real z, real t)
TUnitQuaternion	Square (void) const
TUnitQuaternion	Inverse (void) const
TUnitQuaternion	SquareRoot (void) const
void	Normalize (void)
TUnitComplex	GetAngle (void) const
void	GetAxis (TVector3 &axis) const
void	GetMatrix (TVector3 &II, TVector3 &JJ, TVector3 &KK) const
void	GetMatrix (TMatrix33 &m) const
void	SetFromAxis (const TVector3 &axis, const TUnitComplex &angle)
void	SetFromTransition (const TVector3 &PP, const TVector3 &QQ, const TVector3 &AXIS)
void	SetFromTransition (const TVector3 &PP, const TVector3 &QQ)
void	SetFromVirtual (const TVector2 &V1, const TVector2 &V2)
void	SetFromMatrix (const TVector3 &II, const TVector3 &JJ, const TVector3 &KK)
void	SetFromMatrix (const TMatrix33 &m)
void	SetFromInterpolate (const real lamda, const TUnitQuaternion &q1, const TUnitQuaternion &q2)
void	Transform (const TVector3 &PP, TVector3 &QQ) const
void	InverseTransform (const TVector3 &PP, TVector3 &QQ) const
boolean	operator== (const TUnitQuaternion &q1) const
boolean	Equals (const TUnitQuaternion &q1, real32 epsilon) const
real	GetX () const
real	GetY () const
real	GetZ () const
real	GetT () const
Protected Attributes
real	ft
real	fx
real	fy
real	fz
Friends
TMCiostream &	operator<< (TMCiostream &, const TUnitQuaternion &)
TMCiostream &	operator>> (TMCiostream &, TUnitQuaternion &)
TUnitQuaternion	operator * (const TUnitQuaternion &, const TUnitQuaternion &)

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Detailed Description

Stores a rotation around an axis as a quaternion of norm one.

    void TUnitQuaternion::SetFromAxis(const TVector3& axis, const TUnitComplex& angle)
    {
        real cos, sin;
        angle.SquareRoot().GetSinCos(sin, cos);
        ft = cos;
        fx = axis[0] * sin;
        fy = axis[1] * sin;
        fz = axis[2] * sin;
    }

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Constructor & Destructor Documentation

TUnitQuaternion::TUnitQuaternion (   )

TUnitQuaternion::TUnitQuaternion (  real  x, real  y, real  z, real  t )

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Member Function Documentation

boolean TUnitQuaternion::Equals (  const TUnitQuaternion &  q1, real32  epsilon )  const

TUnitComplex TUnitQuaternion::GetAngle (  void   )  const

return the correct complex (cos(x), sin(x)) where ft=cos(1/2 x)

void TUnitQuaternion::GetAxis (  TVector3 &  axis  )  const

void TUnitQuaternion::GetMatrix (  TMatrix33 &  m  )  const

void TUnitQuaternion::GetMatrix (  TVector3 &  II, TVector3 &  JJ, TVector3 &  KK )  const

real TUnitQuaternion::GetT (   )  const [inline]

real TUnitQuaternion::GetX (   )  const [inline]

real TUnitQuaternion::GetY (   )  const [inline]

real TUnitQuaternion::GetZ (   )  const [inline]

TUnitQuaternion TUnitQuaternion::Inverse (  void   )  const

void TUnitQuaternion::InverseTransform (  const TVector3 &  PP, TVector3 &  QQ )  const

void TUnitQuaternion::Normalize (  void   )

boolean TUnitQuaternion::operator== (  const TUnitQuaternion &  q1  )  const

void TUnitQuaternion::Set (  real  x, real  y, real  z, real  t )

void TUnitQuaternion::SetFromAxis (  const TVector3 &  axis, const TUnitComplex &  angle )

void TUnitQuaternion::SetFromInterpolate (  const real  lamda, const TUnitQuaternion &  q1, const TUnitQuaternion &  q2 )

void TUnitQuaternion::SetFromMatrix (  const TMatrix33 &  m  )

void TUnitQuaternion::SetFromMatrix (  const TVector3 &  II, const TVector3 &  JJ, const TVector3 &  KK )

void TUnitQuaternion::SetFromTransition (  const TVector3 &  PP, const TVector3 &  QQ )

void TUnitQuaternion::SetFromTransition (  const TVector3 &  PP, const TVector3 &  QQ, const TVector3 &  AXIS )

void TUnitQuaternion::SetFromVirtual (  const TVector2 &  V1, const TVector2 &  V2 )

TUnitQuaternion TUnitQuaternion::Square (  void   )  const

TUnitQuaternion TUnitQuaternion::SquareRoot (  void   )  const

void TUnitQuaternion::Transform (  const TVector3 &  PP, TVector3 &  QQ )  const

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Friends And Related Function Documentation

TUnitQuaternion operator * (  const TUnitQuaternion &  , const TUnitQuaternion &  )  [friend]

TMCiostream& operator<< (  TMCiostream &  , const TUnitQuaternion &  )  [friend]

TMCiostream& operator>> (  TMCiostream &  , TUnitQuaternion &  )  [friend]

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Member Data Documentation

real TUnitQuaternion::ft [protected]

real TUnitQuaternion::fx [protected]

real TUnitQuaternion::fy [protected]

real TUnitQuaternion::fz [protected]

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

• RealQuat.h

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