Detailed Description

Implementation of a float quaternion q=a+bi+cj+dk. This class is typically used for implementing custom ICE nodes.

A quaternion is often noted q=(s,v) where s is a scalar and v is a 3D vector, or either noted q=(W,X,Y,Z), where W, X, Y and Z are scalar, and X, Y and Z are the components of vector v in previous notation.

See also:: CRotation3f

#include <xsi_quaternionf.h>

List of all members.

Public Member Functions
SICPPSDK_INLINE	CQuaternionf ()
SICPPSDK_INLINE	CQuaternionf (const CQuaternionf &in_quaternion)
	~CQuaternionf ()
SICPPSDK_INLINE CQuaternionf &	operator= (const CQuaternionf &in_quaternion)
SICPPSDK_INLINE	CQuaternionf (const float in_W, const float in_X, const float in_Y, const float in_Z)
SICPPSDK_INLINE	CQuaternionf (const CVector3f &in_vct)
SICPPSDK_INLINE	CQuaternionf (const CVector4f &in_vct)
SICPPSDK_INLINE bool	Equals (const CQuaternionf &in_Quat) const
SICPPSDK_INLINE bool	EpsilonEquals (const CQuaternionf &in_quat, const float in_fEpsilon) const
SICPPSDK_INLINE bool	operator== (const CQuaternionf &in_Quat) const
SICPPSDK_INLINE bool	operator< (const CQuaternionf &in_Quat) const
SICPPSDK_INLINE CQuaternionf &	operator*= (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CQuaternionf &	Mul (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CQuaternionf &	Mul (const CQuaternionf &in_Quat1, const CQuaternionf &in_Quat2)
SICPPSDK_INLINE float	Dot (const CQuaternionf &in_quat1) const
SICPPSDK_INLINE CQuaternionf &	Slerp (const CQuaternionf &in_quatStart, const CQuaternionf &in_quatEnd, const float in_fU)
SICPPSDK_INLINE CQuaternionf &	operator-= (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CQuaternionf &	SubInPlace (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CQuaternionf &	Sub (const CQuaternionf &in_Quat1, const CQuaternionf &in_Quat2)
SICPPSDK_INLINE CQuaternionf &	NegateInPlace ()
SICPPSDK_INLINE CQuaternionf &	Negate (const CQuaternionf &in_Quat)
SICPPSDK_INLINE float	GetSquaredLength () const
SICPPSDK_INLINE float	GetLength () const
SICPPSDK_INLINE CQuaternionf &	operator+= (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CQuaternionf &	AddInPlace (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CQuaternionf &	Add (const CQuaternionf &in_Quat1, const CQuaternionf &in_Quat2)
SICPPSDK_INLINE CQuaternionf &	ConjugateInPlace ()
SICPPSDK_INLINE CQuaternionf &	Conjugate (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CQuaternionf &	InvertInPlace ()
SICPPSDK_INLINE CQuaternionf &	Invert (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CQuaternionf &	SetIdentity ()
SICPPSDK_INLINE CQuaternionf &	Copy (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CQuaternionf &	NormalizeInPlace ()
SICPPSDK_INLINE void	Get (float &out_W, float &out_X, float &out_Y, float &out_Z) const
SICPPSDK_INLINE CVector3f	GetVector3 () const
SICPPSDK_INLINE CVector4f	GetVector4 () const
SICPPSDK_INLINE void	Get (CVector4f &io_XYZWVector) const
SICPPSDK_INLINE CQuaternionf &	Set (float in_W, float in_X, float in_Y, float in_Z)
SICPPSDK_INLINE CQuaternionf &	Set (const CVector3f &in_XYZVector)
SICPPSDK_INLINE CQuaternionf &	Set (const CVector4f &in_XYZWVector)
SICPPSDK_INLINE float	GetValue (short in_nIndex) const
SICPPSDK_INLINE CQuaternionf &	SetValue (short in_nIndex, float newVal)
SICPPSDK_INLINE float	GetW () const
SICPPSDK_INLINE CQuaternionf &	PutW (float newVal)
SICPPSDK_INLINE float	GetZ () const
SICPPSDK_INLINE CQuaternionf &	PutZ (float newVal)
SICPPSDK_INLINE float	GetY () const
SICPPSDK_INLINE CQuaternionf &	PutY (float newVal)
SICPPSDK_INLINE float	GetX () const
SICPPSDK_INLINE CQuaternionf &	PutX (float newVal)
SICPPSDK_INLINE bool	operator!= (const CQuaternionf &in_quat) const

Constructor & Destructor Documentation

SICPPSDK_INLINE CQuaternionf ( )

Default constructor. Constructs the identity quaternion.

See also:: CQuaternionf::SetIdentity

SICPPSDK_INLINE CQuaternionf ( const CQuaternionf & in_quaternion )

Copy constructor.

Parameters:

in_quaternion constant class object.

~CQuaternionf ( ) [inline]

Default destructor.

SICPPSDK_INLINE CQuaternionf	(	const float	in_W,
		const float	in_X,
		const float	in_Y,
		const float	in_Z
	)

Constructor.

Parameters:

in_W	W component
in_X	X component of the quaternion's vector
in_Y	Y component of the quaternion's vector
in_Z	Z component of the quaternion's vector

SICPPSDK_INLINE CQuaternionf ( const CVector3f & in_vct )

Constructor.

Note:: The W component of the quaternion will be set to 1.0

Parameters:

in_vct Vector containing the X, Y and Z values

SICPPSDK_INLINE CQuaternionf ( const CVector4f & in_vct )

Constructor.

Parameters:

in_vct Vector containing the X, Y, Z and W values

Member Function Documentation

SICPPSDK_INLINE CQuaternionf & operator= ( const CQuaternionf & in_quaternion )

Assignment operator.

Parameters:

in_quaternion constant class object.

Returns:: This quaternion

SICPPSDK_INLINE bool Equals ( const CQuaternionf & in_Quat ) const

Performs an exact comparison of two quaternions.

Note:: Each parameter of both quaternions must be exactly the same fora match.

Parameters:

in_Quat Quaternion to compare against

See also:: CQuaternionf::EpsilonEquals

SICPPSDK_INLINE bool EpsilonEquals	(	const CQuaternionf &	in_quat,
		const float	in_fEpsilon
	)		const

Performs comparison between this quaternion and the in_quat1 quaternion within the specified epsilon value.

Parameters:

in_quat	Quaternion to compare against.
in_fEpsilon	Tolerance value (validity domain: `[0, +INF[`)

See also:: CQuaternionf::Equals

SICPPSDK_INLINE bool operator== ( const CQuaternionf & in_Quat ) const

Performs a comparison.

Note:: Each parameter of both quaternions must be exactly the same for a match.

Parameters:

in_Quat Quaternion to compare against

See also:: CQuaternionf::EpsilonEquals, CQuaternionf::Equals

SICPPSDK_INLINE bool operator< ( const CQuaternionf & in_Quat ) const

Less than operator. Performs a comparison with a specified CQuaternionf to determine if this CQuaternionf is less than the specified CQuaternionf. The comparison is arbitrary and not geometrically meaningful, it's only purpose is to make CQuaternionf compliant with stl for sorting operations.

Parameters:

in_Quat CQuaternionf to compare.

Returns:: true if this CQuaternionf is less than the specified CQuaternionf, false otherwise.

Since:: 7.5

SICPPSDK_INLINE CQuaternionf & operator*= ( const CQuaternionf & in_Quat )

Multiplies this quaternion with another one in place.

Parameters:

in_Quat Quaternion to multiply

Returns:: This quaternion

See also:: CQuaternionf::Mul, CQuaternionf::MulInPlace

SICPPSDK_INLINE CQuaternionf & Mul ( const CQuaternionf & in_Quat )

Multiplies this quaternion with another one in place.

Parameters:

in_Quat Quaternion to multiply

Returns:: This quaternion

See also:: CQuaternionf::Mul

SICPPSDK_INLINE CQuaternionf & Mul	(	const CQuaternionf &	in_Quat1,
		const CQuaternionf &	in_Quat2
	)

Stores the result of the multiplication of two quaternions.

Parameters:

in_Quat1	First quaternion
in_Quat2	Second quaternion

Returns:: This quaternion

SICPPSDK_INLINE float Dot ( const CQuaternionf & in_quat1 ) const

Performs the dot product between this quaternion and the one specified in in_quat1.

Parameters:

in_quat1 Quaternion operand.

Returns:: This quaternion

SICPPSDK_INLINE CQuaternionf & Slerp	(	const CQuaternionf &	in_quatStart,
		const CQuaternionf &	in_quatEnd,
		const float	in_fU
	)

Performs the spherical linear interpolation of two unit quaternions into this one for u between 0 and 1.

Parameters:

in_quatStart	Starting unitary quaternion.
in_quatEnd	Ending unitary quaternion.
in_fU	Interpolation factor (validity domain: `[0.0, 1.0]`)

Returns:: This quaternion.

SICPPSDK_INLINE CQuaternionf & operator-= ( const CQuaternionf & in_Quat )

Subtracts a quaternion from the current quaternion in place.

Parameters:

in_Quat Quaternion to subtract

Returns:: This quaternion

See also:: CQuaternionf::SubInPlace, CQuaternionf::Sub

SICPPSDK_INLINE CQuaternionf & SubInPlace ( const CQuaternionf & in_Quat )

Subtracts a quaternion from the current quaternion in place.

Parameters:

in_Quat Quaternion to subtract

Returns:: This quaternion

See also:: CQuaternionf::Sub

SICPPSDK_INLINE CQuaternionf & Sub	(	const CQuaternionf &	in_Quat1,
		const CQuaternionf &	in_Quat2
	)

Stores the result of the subtraction of two quaternions.

Parameters:

in_Quat1	First quaternion
in_Quat2	Second quaternion

Returns:: This quaternion

See also:: CQuaternionf::SubInPlace

SICPPSDK_INLINE CQuaternionf & NegateInPlace ( )

Negates all the components of this quaternion.

Returns:: This quaternion

See also:: CQuaternionf::Negate

SICPPSDK_INLINE CQuaternionf & Negate ( const CQuaternionf & in_Quat )

Stores the result of the negation of a given quaternion without changing it.

Parameters:

in_Quat Quaternion to negate

Returns:: This quaternion

See also:: CQuaternionf::NegateInPlace

SICPPSDK_INLINE float GetSquaredLength ( ) const

Returns the squared length of this quaternion.

Returns:: The squared length

See also:: CQuaternionf::GetLength

SICPPSDK_INLINE float GetLength ( ) const

Returns the length of this quaternion.

Returns:: Length of this quaternion

See also:: CQuaternionf::GetSquaredLength

SICPPSDK_INLINE CQuaternionf & operator+= ( const CQuaternionf & in_Quat )

Adds a quaternion to this quaternion.

Parameters:

in_Quat Quaternion to add

See also:: CQuaternionf::AddInPlace, CQuaternionf::Add

SICPPSDK_INLINE CQuaternionf & AddInPlace ( const CQuaternionf & in_Quat )

Adds a quaternion to this quaternion.

Parameters:

in_Quat Quaternion to add

See also:: CQuaternionf::Add

SICPPSDK_INLINE CQuaternionf & Add	(	const CQuaternionf &	in_Quat1,
		const CQuaternionf &	in_Quat2
	)

Stores the result of the addition of two quaternions.

Parameters:

in_Quat1	First quaternion
in_Quat2	Second quaternion

Returns:: This quaternion

See also:: CQuaternionf::AddInPlace

SICPPSDK_INLINE CQuaternionf & ConjugateInPlace ( )

Conjugates this quaternion.

Returns:: This quaternion

See also:: CQuaternionf::ConjugateInPlace

SICPPSDK_INLINE CQuaternionf & Conjugate ( const CQuaternionf & in_Quat )

Stores the conjugate of a quaternion without changing it.

Parameters:

in_Quat Quaternion to conjugate.

Returns:: This quaternion

See also:: CQuaternionf::ConjugateInPlace

SICPPSDK_INLINE CQuaternionf & InvertInPlace ( )

Inverts this quaternion.

Returns:: This quaternion

See also:: CQuaternionf::Invert

SICPPSDK_INLINE CQuaternionf & Invert ( const CQuaternionf & in_Quat )

Stores the invert of a quaternion without changing it.

Parameters:

in_Quat Quaternion to invert

Returns:: This quaternion

See also:: CQuaternionf::Invert

SICPPSDK_INLINE CQuaternionf & SetIdentity ( )

Sets this quaternion to identity quaternion.

Returns:: This quaternion

SICPPSDK_INLINE CQuaternionf & Copy ( const CQuaternionf & in_Quat )

Copies the content of a quaternion.

Parameters:

in_Quat Quaternion to copy

Returns:: This quaternion

SICPPSDK_INLINE CQuaternionf & NormalizeInPlace ( )

Normalizes the quaternion in place.

Returns:: CStatus::OK if the normalization has been computed.

SICPPSDK_INLINE void Get	(	float &	out_W,
		float &	out_X,
		float &	out_Y,
		float &	out_Z
	)		const

Returns the components of this quaternion.

Return values:

out_W	The current value of the W component
out_X	The current value of the X component
out_Y	The current value of the Y component
out_Z	The current value of the Z component

SICPPSDK_INLINE CVector3f GetVector3 ( ) const

Returns the components of this quaternion.

Returns:: CVector3f that holds the values of the X, Y and Z components.

SICPPSDK_INLINE CVector4f GetVector4 ( ) const

Returns the components of this quaternion.

Returns:: CVector4f that holds the values of the X, Y, Z, W components.

SICPPSDK_INLINE void Get ( CVector4f & io_XYZWVector ) const

Returns the components of this quaternion.

Parameters:

io_XYZWVector Vector that holds the values of the X, Y, Z and W components

SICPPSDK_INLINE CQuaternionf & Set	(	float	in_W,
		float	in_X,
		float	in_Y,
		float	in_Z
	)

Sets the quaternion's components.

Parameters:

in_W	New value for the W component
in_X	New value for the X component
in_Y	New value for the Y component
in_Z	New value for the Z component

Returns:: This quaternion

SICPPSDK_INLINE CQuaternionf & Set ( const CVector3f & in_XYZVector )

Sets the quaternion's components.

Note:: The W value is left as is.

Parameters:

in_XYZVector Vector that holds the new values for the X, Y and Z components

Returns:: This quaternion

SICPPSDK_INLINE CQuaternionf & Set ( const CVector4f & in_XYZWVector )

Sets the quaternion's components.

Parameters:

in_XYZWVector Vector that holds the new values for the X, Y and Z components. The W component is set to 1.0.

Returns:: This quaternion

SICPPSDK_INLINE float GetValue ( short in_nIndex ) const

Gets the value of a single component.

Parameters:

in_nIndex 0-based index of the component to get. This value can be 0 (W), 1(X), 2(Y) or 3(Z).

Returns:: The requested value; 0.0 if an invalid index was provided.

See also:: CQuaternionf::SetValue

SICPPSDK_INLINE CQuaternionf & SetValue	(	short	in_nIndex,
		float	newVal
	)

Sets the value of a single component.

Note:: The quaternion is unchanged if the provided index is invalid

Parameters:

in_nIndex	0-based index of the component to set. This value can be 0 (W), 1(X), 2(Y) or 3(Z).
newVal	new value

Returns:: This quaternion

See also:: CQuaternionf::SetValue

SICPPSDK_INLINE float GetW ( ) const

Returns the W component.

Returns:: The W component

SICPPSDK_INLINE CQuaternionf & PutW ( float newVal )

Sets the W component.

Parameters:

newVal The new value for the component

Returns:: This quaternion

SICPPSDK_INLINE float GetZ ( ) const

Returns the Z component.

Returns:: The Z component

SICPPSDK_INLINE CQuaternionf & PutZ ( float newVal )

Sets the Z component.

Parameters:

newVal The new value for the component

Returns:: This quaternion

SICPPSDK_INLINE float GetY ( ) const

Returns the Y component.

Returns:: The Y component

SICPPSDK_INLINE CQuaternionf & PutY ( float newVal )

Sets the Y component.

Parameters:

newVal The new value for the component

Returns:: This quaternion

SICPPSDK_INLINE float GetX ( ) const

Returns the X component.

Returns:: The X component

SICPPSDK_INLINE CQuaternionf & PutX ( float newVal )

Sets the X component.

Parameters:

newVal The new value for the component

Returns:: This quaternion

SICPPSDK_INLINE bool operator!= ( const CQuaternionf & in_quat ) const

Inequality operator (tests the strict inequality of this quaternion with the quaternion in_quat).

Parameters:

in_quat Operand quaternion.

Returns:: true if equal else false.

See also:: CQuaternionf::Equals

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

xsi_quaternionf.h

Detailed Description

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation