CSIBCQuaterniond Class Reference

#include <SIBCQuaterniond.h>

List of all members.

Public Member Functions
	CSIBCQuaterniond ()
	CSIBCQuaterniond (const double in_dW, const double in_dX, const double in_dY, const double in_dZ)
	CSIBCQuaterniond (const CSIBCVector3Dd &in_vct)
	CSIBCQuaterniond (const CSIBCVector4Dd &in_vct)
bool	IsPure (double in_dEpsilon=PICO_EPS) const
double	GetLength () const
double	GetSquaredLength () const
CSIBCQuaterniond &	SetIdentity ()
bool	IsIdentity ()
CSIBCQuaterniond &	Normalize ()
double	GetW () const
double	GetX () const
double	GetY () const
double	GetZ () const
CSIBCQuaterniond &	SetW (const double in_dW)
CSIBCQuaterniond &	SetX (const double in_dX)
CSIBCQuaterniond &	SetY (const double in_dY)
CSIBCQuaterniond &	SetZ (const double in_dZ)
CSIBCVector4Dd &	Get (CSIBCVector4Dd &out_vct) const
void	Get (double &out_dW, double &out_dX, double &out_dY, double &out_dZ) const
CSIBCQuaterniond &	Set (const double in_dW, const double in_dX, const double in_dY, const double in_dZ)
CSIBCQuaterniond &	Set (const CSIBCVector4Dd &in_vct)
CSIBCQuaterniond &	Set (const CSIBCVector3Dd &in_vct)
CSIBCQuaterniond &	Set (const CSIBCQuaterniond &in_quat)
bool	operator== (const CSIBCQuaterniond &in_quat) const
bool	operator!= (const CSIBCQuaterniond &in_quat) const
CSIBCQuaterniond &	Negate ()
CSIBCQuaterniond &	Invert (const CSIBCQuaterniond &in_quat)
CSIBCQuaterniond &	Invert ()
CSIBCQuaterniond &	Conjugate (const CSIBCQuaterniond &in_quat)
CSIBCQuaterniond &	Conjugate ()
CSIBCQuaterniond &	Add (const CSIBCQuaterniond &in_quat)
CSIBCQuaterniond &	Add (const CSIBCQuaterniond &in_quat1, const CSIBCQuaterniond &in_quat2)
CSIBCQuaterniond &	Sub (const CSIBCQuaterniond &in_quat)
CSIBCQuaterniond &	Sub (const CSIBCQuaterniond &in_quat1, const CSIBCQuaterniond &in_quat2)
CSIBCQuaterniond &	Mul (const CSIBCQuaterniond &in_quat1, const CSIBCQuaterniond &in_quat2)
CSIBCQuaterniond &	Mul (const CSIBCQuaterniond &in_quat)
CSIBCQuaterniond &	Mul (const CSIBCVector3Dd &in_quatPure, const CSIBCQuaterniond &in_quat)
CSIBCQuaterniond &	Mul (const CSIBCQuaterniond &in_quat, const CSIBCVector3Dd &in_quatPure)
CSIBCQuaterniond &	Mul (const CSIBCQuaterniond &in_quat, const double in_dFactor)
CSIBCQuaterniond &	Mul (const double in_dFactor, const CSIBCQuaterniond &in_quat)
CSIBCQuaterniond &	Mul (const double in_dFactor)
CSIBCQuaterniond &	Slerp (const CSIBCQuaterniond &in_quatStart, const CSIBCQuaterniond &in_quatEnd, const double in_dU)
CSIBCQuaterniond &	BisectSlerp (const CSIBCQuaterniond &in_quatStart, const CSIBCQuaterniond &in_quatEnd)
CSIBCQuaterniond &	DoubleSlerp (const CSIBCQuaterniond &in_quatStart, const CSIBCQuaterniond &in_quatEnd)
bool	Ln (CSIBCQuaterniond &out_quat)
bool	Exp (CSIBCQuaterniond &out_quat)
CSIBCQuaterniond &	Squad (const CSIBCQuaterniond &in_quatB0, const CSIBCQuaterniond &in_quatS1, const CSIBCQuaterniond &in_quatS2, const CSIBCQuaterniond &in_quatB3, const double in_dU, const double in_dT)
Friends
bool	AreAlmostEqual (const CSIBCQuaterniond &in_quat1, const CSIBCQuaterniond &in_quat2, const double in_dEpsilon=PICO_EPS)
double	GetDot (const CSIBCQuaterniond &in_quat1, const CSIBCQuaterniond &in_quat2)

Detailed Description

The notation used in this quaternion class (W, X, Y, Z) makes the quaternions closely related to 4D vectors (See CSIBCVector4Dd). In general, the quaternion can be thought of as a scalar plus a vector, where the W component is the vector, and X, Y and Z are the coefficients of the I, J and K matricies respectively.

The components of the CSIBCQuaterniond class are represented by doulbe precision floating-point numbers. Its corresponding single precision class, CSIBCQuaternion, has much less functionality, thus this class is preferred.

Constructor & Destructor Documentation

Sets the new quaternion's values to those given as the parameters.

Parameters:

	in_dW	The value for the W component of the quaternion.
	in_dX	The value for the X component of the quaternion.
	in_dY	The value for the Y component of the quaternion.
	in_dZ	The value for the Z component of the quaternion.

See also:

CSIBCQuaterniond::Set

Sets the new quaternion's vector values (X, Y, Z) as the corresponding component values in in_vct, and the W component to zero.

Parameters:

in_vct

Vector containing values for the new quaternion's vector components.

See also:

CSIBCQuaterniond::Set(const CSIBCVector3Dd&)

Sets the new quaternion's values as their corresponding components in in_vct.

Parameters:

in_vct

4D Vector containing component values for the new quaternion.

See also:

CSIBCQuaterniond::Set(const CSIBCVector4Dd&)

Member Function Documentation

Returns the length of this quaternion.

Returns:

double The length of this quaternion.

See also:

CSIBCQuaterniond::GetSquaredLength

CSIBCQuaterniond::Normalize

Returns the squared length of this quaternion.

Returns:

double The squared length of this quaternion.

See also:

CSIBCQuaterniond::GetLength

CSIBCQuaterniond::Normalize

Sets this quaternion to the identity quaternion (all components zero, except W is set to one).

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::IsIdentity

Determines whether this quaternion is the identity quaternion (all components zero, except W is set to one). Note that this function uses exact equality comparison, thus the components must be their exact values.

Returns:

bool true if the quaternion is the identity quaternion, false otherwise.

See also:

CSIBCQuaterniond::SetIdentity

Normalizes this quaternion to be a unit quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::GetLength

CSIBCQuaterniond::GetSquaredLength

Returns the W (scalar) component of the quaternion.

Returns:

double The W component of the quaternion.

See also:

CSIBCQuaterniond::Get

CSIBCQuaterniond::Set

CSIBCQuaterniond::GetX

CSIBCQuaterniond::GetY

CSIBCQuaterniond::GetZ

Returns the X component of the quaternion.

Returns:

double The X component of the quaternion.

See also:

CSIBCQuaterniond::Get

CSIBCQuaterniond::Set

CSIBCQuaterniond::GetW

CSIBCQuaterniond::GetY

CSIBCQuaterniond::GetZ

Returns the Y component of the quaternion.

Returns:

double The Y component of the quaternion.

See also:

CSIBCQuaterniond::Get

CSIBCQuaterniond::Set

CSIBCQuaterniond::GetW

CSIBCQuaterniond::GetX

CSIBCQuaterniond::GetZ

Returns the Z component of the quaternion.

Returns:

double The Z component of the quaternion.

See also:

CSIBCQuaterniond::Get

CSIBCQuaterniond::Set

CSIBCQuaterniond::GetW

CSIBCQuaterniond::GetX

CSIBCQuaterniond::GetY

Sets the W (scalar) component of the quaternion.

Parameters:

in_dW

New value for the W component of the quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Set

CSIBCQuaterniond::Get

CSIBCQuaterniond::SetX

CSIBCQuaterniond::SetY

CSIBCQuaterniond::SetZ

Sets the X component of the quaternion.

Parameters:

in_dX

NeX value for the X component of the quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Set

CSIBCQuaterniond::Get

CSIBCQuaterniond::SetW

CSIBCQuaterniond::SetY

CSIBCQuaterniond::SetZ

Sets the Y component of the quaternion.

Parameters:

in_dY

NeY value for the Y component of the quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Set

CSIBCQuaterniond::Get

CSIBCQuaterniond::SetW

CSIBCQuaterniond::SetX

CSIBCQuaterniond::SetZ

Sets the Z component of the quaternion.

Parameters:

in_dZ

NeZ value for the Z component of the quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Set

CSIBCQuaterniond::Get

CSIBCQuaterniond::SetW

CSIBCQuaterniond::SetX

CSIBCQuaterniond::SetY

Gets the quaternion values with a CSIBCVector4Dd.

Parameters:

out_vct

Vector to receive the values of this quaternion.

Returns:

CSIBCVector4Dd& Reference to out_vct.

See also:

CSIBCQuaterniond::Get

CSIBCQuaterniond::Set

Gets the quaternion values.

Parameters:

	out_dW	double to receive the W component of the quaternion.
	out_dX	double to receive the X component of the quaternion.
	out_dY	double to receive the Y component of the quaternion.
	out_dZ	double to receive the Z component of the quaternion.

See also:

CSIBCQuaterniond::Get

CSIBCQuaterniond::Set

Sets the quaternion values.

Parameters:

	in_dW	New value for the W component of this quaternion.
	in_dX	New value for the X component of this quaternion.
	in_dY	New value for the Y component of this quaternion.
	in_dZ	New value for the Z component of this quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Set

CSIBCQuaterniond::Get

Sets this quaternion's components from the corresponding components of in_vct.

Parameters:

in_vct

Vector containing new values for the quaternion's components.

Returns:

CSIBCQuateriond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Set

CSIBCQuaterniond::Get

Sets this quaternion's vector components from the corresponding components of in_vct. The scalar (W) component is set to zero.

Parameters:

in_vct

Vector containing new values for the quaternion's vector components.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Set

CSIBCQuaterniond::Get

Sets this quaternion's components equal to the components of in_quat.

Parameters:

in_quat

Quaternion

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Set

CSIBCQuaterniond::Get

Determines whether each of the components of this quaternion and in_quat are exactly equal to each other.

Parameters:

in_quat

Quaternion to compare equality with.

Returns:

bool true if the quaternions are exactly equal, false otherwise.

See also:

CSIBCQuaterniond::AreAlmostEqual

CSIBCQuaterniond::operator!=

Determines whether any of the components of this quaternion and in_quat are different. Note that this function does not use floating-point comparison error, thus any difference in component values will result in a true return value.

Parameters:

in_quat

Quaternion to compare inequality with.

Returns:

bool true if the quaternions are not equal, false if they are exactly equal.

See also:

CSIBCQuaterniond::operator==

CSIBCQuaterniond::AreAlmostEqual

Negates all components of this quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Invert

CSIBCQuaterniond::Conjugate

Sets this quaternion to the inverse of the unit quaternion in_quat. Since a unitary input quaternion is assumed, this function is equivalent to CSIBCQuaterniond::Conjugate(const CSIBCQuateriond &).

Parameters:

in_quat

Quaternion whose inverse contains the new values for this quaternion's components.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Invert

CSIBCQuaterniond::Conjugate

CSIBCQuaterniond::Normalize

Sets this quaternion to its inverse. It is assumed that this quaternion is a unit quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Invert

CSIBCQuaterniond::Conjugate

CSIBCQuaterniond::Normalize

Sets this quaternion to the conjugate of in_quat. A conjugate quaternion is a quaternion that has each of its vector components negated.

Parameters:

in_quat

Quaternion whose conjugate contains the new values for this quaternion's components.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Invert

CSIBCQuaterniond::Conjugate

CSIBCQuaterniond::Normalize

Sets this quaternion to its conjugate. A conjugate quaternion is a quaternion that has each of its vector components negated.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Invert

CSIBCQuaterniond::Conjugate

CSIBCQuaterniond::Normalize

Adds in_quat to this quaternion.

Parameters:

in_quat

Quaternion to add to this quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Add

CSIBCQuaterniond::Sub

Adds in_quat1 and in_quat2 and stores the result in this quaternion.

Parameters:

	in_quat1	First quaternion for addition.
	in_quat2	Second quaternion for addition.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Add

CSIBCQuaterniond::Sub

Subtracts in_quat from this quaternion.

Parameters:

in_quat

Quaternion to subtract from this quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Sub

CSIBCQuaterniond::Add

Subtracts in_quat2 from in_quat1 and stores the result in this quaterinon.

Parameters:

	in_quat1	Quaternion for subtraction.
	in_quat2	Quaternion to subtract from in_quat1.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Sub

CSIBCQuaterniond::Add

Computes the right-multiplication of in_quat1 by in_quat2 (in_quat1 * in_quat2), and stores the result in this quaternion.

Parameters:

	in_quat1	First quaternion for the multiplication (on the left).
	in_quat2	Second quaternion for the multiplication (on the right).

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Mul

Computes the right-multiplication of this quaternion by in_quat (this * in_quat), and stores the result in this quaternion.

Parameters:

in_quat

Quaternion for the multiplication (on the right).

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Mul

Computes the right-multiplication of the pure quaternion represented by in_quatPure, and the quaternion in_quat (in_quatPure * in_quat), and stores the result in this quaternion.

Parameters:

	in_quatPure	Vector representing the vector components of a pure quaternion (W component is zero), for the multiplication (on the left).
	in_quat	Quaternion for the multiplication (on the right).

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Mul

Computes the right-multiplication of the quaternion in_quat and the pure quaternion represented by in_quatPure (in_quat * in_quatPure), and stores the result in this quaternion.

Parameters:

	in_quat	Quaternion for the multiplication (on the left).
	in_quatPure	Vector representing the vector components of a pure quaternion (W component is zero), for the multiplication (on the right).

Returns:

CSIBCQuaterniond& Reference to this quaterion.

See also:

CSIBCQuaterniond::Mul

Scales in_quat by a factor of in_dFactor, and stores the result in this quaternion.

Parameters:

	in_quat	Quaternion to scale.
	in_dFactor	Scaling factor for quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Mul

Scales in_quat by a factor of in_dFactor, and stores the result in this quaternion.

Parameters:

	in_quat	Quaternion to scale.
	in_dFactor	Scaling factor for quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Mul

Scales this quaternion by a factor of in_dFactor.

Parameters:

in_dFactor

Scaling factor to apply to this quaternion.

Returns:

CSIBCQuaterniond& Reference to this quaternion.

See also:

CSIBCQuaterniond::Mul

Computes the spherical linear interpolation of two unit quaternions, where in_quatStart and in_quatEnd are the starting and ending quaternions, respectively. The interpolation point bewteen the two vectors is given by in_dU, in the range [0.0f, 1.0f]. The interpolated quaternion is stored in this quaternion.

Parameters:

	in_quatStart	Unit quaternion for the starting interpolation point.
	in_quatEnd	Unit quaternion for the ending interpolation end.
	in_dU	Interpolation point between in_quatStart and in_quatEnd. Must be in the range [0.0f, 1.0f].

Returns:

CSIBCQuaterniond& Reference to this quaternion.

Not implemented yet.

Not implemented yet.

Not implemented yet.

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Not implemented yet.

Friends And Related Function Documentation

Computes the dot product of in_quat1 and in_quat2.

Parameters:

	in_quat1	First quaternion for the dot product.
	in_quat2	Second quaternion for the dot product.

Returns:

double The dot product of in_quat1 and in_quat2.

• SIBCQuaterniond.h