A Featureful Quaternion Class. More...

#include <Quaternion.h>

Public Member Functions
	Quaternion (const bool &degenerate_=false)

	Quaternion (const float &time, const Vector3f &space, const bool &degenerate_=false)
	For advanced use only. More...

	Quaternion (const float &yaw, const float &pitch, const float &roll, const bool &degenerate_=false)

	Quaternion (const Quaternion &rhs, const bool &degenerate_=false)

Quaternion	absolute_value () const

Quaternion	adjoint () const

Quaternion	conjugate () const
	Get the spacial conjugation. More...

Quaternion	determinant () const

Quaternion	euclidean_even_product (const Quaternion &rhs) const
	Get the Euclidean even/inner-product. More...

Quaternion	euclidean_odd_product (const Quaternion &rhs) const
	Get the Euclidean odd/outer-product. More...

Quaternion	euclidean_product (const Quaternion &rhs) const
	Get the Euclidean product. More...

Matrix4f	get_matrix () const
	Get the matrix form of the rotation in row-major order. More...

std::pair< Vector3f, float >	get_rotation () const
	Get the rotation in radians left about an axis. More...

Quaternion	grassman_even_product (const Quaternion &rhs) const
	Get the Grassman even/inner-product. More...

Quaternion	grassman_odd_product (const Quaternion &rhs) const
	Get the Grassman odd/outer-product. More...

Quaternion	grassman_product (const Quaternion &rhs) const
	Get the Grassman-product. More...

float	magnitude () const
	Get the magnitude of the vector. More...

float	magnitude2 () const
	Get the 'magnitude squared' of the vector. More...

Quaternion	norm () const

Quaternion &	normalize ()
	Normalize the vector. More...

Quaternion	normalized () const
	Get the normalized vector. More...

Quaternion	operator* (const Quaternion &rhs) const
	Get the grassman_product. More...

Quaternion	operator* (const float &rhs) const
	Get the scalar multiple. More...

Vector3f	operator* (const Vector3f &rhs) const
	Rotate a vector, maintaining constant magnitude. More...

Quaternion	operator*= (const Quaternion &rhs)
	Get the grassman_odd_product. More...

Quaternion &	operator*= (const float &rhs)
	Set equal to the scalar multiple. More...

Quaternion	operator+ (const Quaternion &rhs) const
	Get the sum. More...

Quaternion &	operator+= (const Quaternion &rhs)
	Set equal to the sum. More...

Quaternion	operator- (const Quaternion &rhs) const
	Get the difference. More...

Quaternion	operator- () const
	Get the negation. More...

Quaternion &	operator-= (const Quaternion &rhs)
	Set equal to the difference. More...

Quaternion	operator/ (const float &rhs) const
	Get the scalar... something. More...

Quaternion &	operator/= (const float &rhs)
	Set equal to the scalar something. More...

const float &	operator[] (const int &index) const
	Get 'index'. More...

float &	operator[] (const int &index)
	Get 'index'. More...

Quaternion	reciprocal () const

Static Public Member Functions
static Quaternion	Axis_Angle (const Vector3f &v, const float &theta)
	Create a Quaternion from an Axis/Angle pair. More...

static Quaternion	Forward_Up (const Vector3f &destination_forward, const Vector3f &destination_up, const Vector3f &default_forward=ZENI_DEFAULT_FORWARD_VECTOR, const Vector3f &default_up=ZENI_DEFAULT_UP_VECTOR)
	Create a Quaternion from a Forward/Up Vector3f pair. More...

static Quaternion	Vector3f_to_Vector3f (const Vector3f &destination, const Vector3f &source)
	Create a Quaternion rotating to one Vector3f from another. More...

Public Attributes
bool	degenerate

Vector3f	space

float	time

Detailed Description

A Featureful Quaternion Class.

Quaternion provides functionality for representing "pure" rotations. You can think of a Quaternion as the combination of an axis and an angle.

Author: bazald

Contact: bazal.nosp@m.d@ze.nosp@m.nipex.nosp@m..com

Definition at line 44 of file Quaternion.h.

Constructor & Destructor Documentation

Zeni::Quaternion::Quaternion ( const bool & degenerate_ = false )

inlineexplicit

Definition at line 34 of file Quaternion.hxx.

Referenced by absolute_value(), Axis_Angle(), conjugate(), determinant(), euclidean_even_product(), euclidean_odd_product(), euclidean_product(), Forward_Up(), grassman_even_product(), grassman_odd_product(), grassman_product(), norm(), normalized(), operator*(), operator+(), operator-(), operator/(), and Vector3f_to_Vector3f().

Zeni::Quaternion::Quaternion	(	const float &	time,
		const Vector3f &	space,
		const bool &	degenerate_ = `false`
	)

For advanced use only.

Definition at line 26 of file Quaternion.cpp.

Zeni::Quaternion::Quaternion	(	const float &	yaw,
		const float &	pitch,
		const float &	roll,
		const bool &	degenerate_ = `false`
	)

Definition at line 97 of file Quaternion.cpp.

References cos(), Zeni::Vector3f::i, Zeni::Vector3f::j, Zeni::Vector3f::k, sin(), space, and time.

Zeni::Quaternion::Quaternion	(	const Quaternion &	rhs,
		const bool &	degenerate_ = `false`
	)

Definition at line 117 of file Quaternion.cpp.

Member Function Documentation

Quaternion Zeni::Quaternion::absolute_value ( ) const

inline

Definition at line 136 of file Quaternion.hxx.

References degenerate, magnitude(), and Quaternion().

Quaternion Zeni::Quaternion::adjoint ( ) const

inline

Definition at line 149 of file Quaternion.hxx.

References conjugate(), and norm().

Quaternion Zeni::Quaternion::Axis_Angle	(	const Vector3f &	v,
		const float &	theta
	)

static

Create a Quaternion from an Axis/Angle pair.

Definition at line 56 of file Quaternion.cpp.

References cos(), Zeni::Vector3f::degenerate, Zeni::Vector3f::normalized(), Quaternion(), sin(), and time.

Referenced by Zeni::Camera::adjust_pitch(), Zeni::Camera::adjust_roll(), Zeni::Camera::adjust_yaw(), Forward_Up(), Zeni::Model::get_position(), Zeni::Camera::turn_left_xy(), and Vector3f_to_Vector3f().

Quaternion Zeni::Quaternion::conjugate ( ) const

inline

Get the spacial conjugation.

Definition at line 127 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Referenced by adjoint(), and reciprocal().

Quaternion Zeni::Quaternion::determinant ( ) const

inline

Definition at line 144 of file Quaternion.hxx.

References degenerate, magnitude2(), and Quaternion().

Quaternion Zeni::Quaternion::euclidean_even_product ( const Quaternion & rhs ) const

inline

Get the Euclidean even/inner-product.

Definition at line 87 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Quaternion Zeni::Quaternion::euclidean_odd_product ( const Quaternion & rhs ) const

inline

Get the Euclidean odd/outer-product.

Definition at line 91 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Quaternion Zeni::Quaternion::euclidean_product ( const Quaternion & rhs ) const

inline

Get the Euclidean product.

Definition at line 83 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Quaternion Zeni::Quaternion::Forward_Up	(	const Vector3f &	destination_forward,
		const Vector3f &	destination_up,
		const Vector3f &	default_forward = `ZENI_DEFAULT_FORWARD_VECTOR`,
		const Vector3f &	default_up = `ZENI_DEFAULT_UP_VECTOR`
	)

static

Create a Quaternion from a Forward/Up Vector3f pair.

Definition at line 66 of file Quaternion.cpp.

References Zeni::Vector3f::angle_between(), Axis_Angle(), degenerate, INFINTESSIMAL, Zeni::Global::pi, and Quaternion().

Referenced by Zeni::Camera::look_at().

Matrix4f Zeni::Quaternion::get_matrix ( ) const

inline

Get the matrix form of the rotation in row-major order.

Definition at line 199 of file Quaternion.hxx.

References Zeni::Vector3f::i, Zeni::Vector3f::j, Zeni::Vector3f::k, space, and time.

Referenced by Zeni::Matrix4f::Rotate().

std::pair< Vector3f, float > Zeni::Quaternion::get_rotation ( ) const

inline

Get the rotation in radians left about an axis.

Definition at line 182 of file Quaternion.hxx.

References fabs(), normalized(), space, and time.

Referenced by Zeni::Video::rotate_scene(), and Zeni::Model::set_rotate().

Quaternion Zeni::Quaternion::grassman_even_product ( const Quaternion & rhs ) const

inline

Get the Grassman even/inner-product.

Definition at line 75 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Quaternion Zeni::Quaternion::grassman_odd_product ( const Quaternion & rhs ) const

inline

Get the Grassman odd/outer-product.

Definition at line 79 of file Quaternion.hxx.

References degenerate, Quaternion(), and space.

Quaternion Zeni::Quaternion::grassman_product ( const Quaternion & rhs ) const

inline

Get the Grassman-product.

Definition at line 71 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Referenced by operator*(), and operator*=().

float Zeni::Quaternion::magnitude ( ) const

inline

Get the magnitude of the vector.

Definition at line 123 of file Quaternion.hxx.

References magnitude2().

Referenced by absolute_value(), normalize(), and normalized().

float Zeni::Quaternion::magnitude2 ( ) const

inline

Get the 'magnitude squared' of the vector.

Definition at line 119 of file Quaternion.hxx.

References space, and time.

Referenced by determinant(), magnitude(), and norm().

Quaternion Zeni::Quaternion::norm ( ) const

inline

Definition at line 140 of file Quaternion.hxx.

References degenerate, magnitude2(), and Quaternion().

Referenced by adjoint().

Quaternion & Zeni::Quaternion::normalize ( )

Normalize the vector.

Definition at line 124 of file Quaternion.cpp.

References degenerate, INFINTESSIMAL, magnitude(), space, and time.

Quaternion Zeni::Quaternion::normalized ( ) const

Get the normalized vector.

Definition at line 140 of file Quaternion.cpp.

References INFINTESSIMAL, magnitude(), Quaternion(), space, and time.

Referenced by get_rotation(), and Vector3f_to_Vector3f().

Quaternion Zeni::Quaternion::operator* ( const Quaternion & rhs ) const

inline

Get the grassman_product.

Definition at line 63 of file Quaternion.hxx.

References grassman_product().

Quaternion Zeni::Quaternion::operator* ( const float & rhs ) const

inline

Get the scalar multiple.

Definition at line 95 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Vector3f Zeni::Quaternion::operator* ( const Vector3f & rhs ) const

inline

Rotate a vector, maintaining constant magnitude.

Definition at line 153 of file Quaternion.hxx.

References d, degenerate, Zeni::Vector3f::degenerate, Zeni::Vector3f::i, Zeni::Vector3f::j, Zeni::Vector3f::k, space, t2, and time.

Quaternion Zeni::Quaternion::operator*= ( const Quaternion & rhs )

inline

Get the grassman_odd_product.

Definition at line 67 of file Quaternion.hxx.

References grassman_product().

Quaternion & Zeni::Quaternion::operator*= ( const float & rhs )

inline

Set equal to the scalar multiple.

Definition at line 103 of file Quaternion.hxx.

References space, and time.

Quaternion Zeni::Quaternion::operator+ ( const Quaternion & rhs ) const

inline

Get the sum.

Definition at line 41 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Quaternion & Zeni::Quaternion::operator+= ( const Quaternion & rhs )

inline

Set equal to the sum.

Definition at line 49 of file Quaternion.hxx.

References degenerate, space, and time.

Quaternion Zeni::Quaternion::operator- ( const Quaternion & rhs ) const

inline

Get the difference.

Definition at line 45 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Quaternion Zeni::Quaternion::operator- ( ) const

inline

Get the negation.

Definition at line 115 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Quaternion & Zeni::Quaternion::operator-= ( const Quaternion & rhs )

inline

Set equal to the difference.

Definition at line 56 of file Quaternion.hxx.

References degenerate, space, and time.

Quaternion Zeni::Quaternion::operator/ ( const float & rhs ) const

inline

Get the scalar... something.

Definition at line 99 of file Quaternion.hxx.

References degenerate, Quaternion(), space, and time.

Quaternion & Zeni::Quaternion::operator/= ( const float & rhs )

inline

Set equal to the scalar something.

Definition at line 109 of file Quaternion.hxx.

References space, and time.

const float & Zeni::Quaternion::operator[] ( const int & index ) const

inline

Get 'index'.

Definition at line 229 of file Quaternion.hxx.

References assert, and time.

float & Zeni::Quaternion::operator[] ( const int & index )

inline

Get 'index'.

Definition at line 235 of file Quaternion.hxx.

References assert, and time.

Quaternion Zeni::Quaternion::reciprocal ( ) const

inline

Definition at line 131 of file Quaternion.hxx.

References conjugate(), and time.

Quaternion Zeni::Quaternion::Vector3f_to_Vector3f	(	const Vector3f &	destination,
		const Vector3f &	source
	)

static

Create a Quaternion rotating to one Vector3f from another.

Definition at line 33 of file Quaternion.cpp.

References Zeni::Vector3f::angle_between(), Axis_Angle(), degenerate, Zeni::Vector3f::i, INFINTESSIMAL, Zeni::Vector3f::j, Zeni::Vector3f::k, normalized(), Zeni::Global::pi, and Quaternion().

Member Data Documentation

bool Zeni::Quaternion::degenerate

Definition at line 107 of file Quaternion.h.

Referenced by absolute_value(), conjugate(), determinant(), euclidean_even_product(), euclidean_odd_product(), euclidean_product(), Forward_Up(), grassman_even_product(), grassman_odd_product(), grassman_product(), norm(), normalize(), operator*(), operator+(), operator+=(), operator-(), operator-=(), operator/(), and Vector3f_to_Vector3f().

Vector3f Zeni::Quaternion::space

Definition at line 105 of file Quaternion.h.

Referenced by conjugate(), euclidean_even_product(), euclidean_odd_product(), euclidean_product(), get_matrix(), get_rotation(), grassman_even_product(), grassman_odd_product(), grassman_product(), magnitude2(), normalize(), normalized(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-=(), operator/(), operator/=(), Quaternion(), Zeni::serialize(), and Zeni::unserialize().

float Zeni::Quaternion::time

Definition at line 104 of file Quaternion.h.

Referenced by Axis_Angle(), conjugate(), euclidean_even_product(), euclidean_odd_product(), euclidean_product(), get_matrix(), get_rotation(), grassman_even_product(), grassman_product(), magnitude2(), normalize(), normalized(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-=(), operator/(), operator/=(), operator[](), Quaternion(), reciprocal(), Zeni::serialize(), and Zeni::unserialize().

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

zenilib/jni/external/zenilib/zeni/Zeni/Quaternion.h
zenilib/jni/external/zenilib/zeni/Quaternion.cpp
zenilib/jni/external/zenilib/zeni/Zeni/Quaternion.hxx

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation