OpenSceneGraph 2.8.3

osg::Quat Class Reference

A quaternion class. More...

List of all members.

Public Types

typedef double value_type

Public Member Functions

 Quat ()
 Quat (value_type x, value_type y, value_type z, value_type w)
 Quat (const Vec4f &v)
 Quat (const Vec4d &v)
 Quat (value_type angle, const Vec3f &axis)
 Quat (value_type angle, const Vec3d &axis)
 Quat (value_type angle1, const Vec3f &axis1, value_type angle2, const Vec3f &axis2, value_type angle3, const Vec3f &axis3)
 Quat (value_type angle1, const Vec3d &axis1, value_type angle2, const Vec3d &axis2, value_type angle3, const Vec3d &axis3)
Quatoperator= (const Quat &v)
bool operator== (const Quat &v) const
bool operator!= (const Quat &v) const
bool operator< (const Quat &v) const
Vec4d asVec4 () const
Vec3d asVec3 () const
void set (value_type x, value_type y, value_type z, value_type w)
void set (const osg::Vec4f &v)
void set (const osg::Vec4d &v)
void set (const Matrixf &matrix)
void set (const Matrixd &matrix)
void get (Matrixf &matrix) const
void get (Matrixd &matrix) const
value_typeoperator[] (int i)
value_type operator[] (int i) const
value_typex ()
value_typey ()
value_typez ()
value_typew ()
value_type x () const
value_type y () const
value_type z () const
value_type w () const
bool zeroRotation () const
 return true if the Quat represents a zero rotation, and therefore can be ignored in computations.
const Quat operator* (value_type rhs) const
 Multiply by scalar.
Quatoperator*= (value_type rhs)
 Unary multiply by scalar.
const Quat operator* (const Quat &rhs) const
 Binary multiply.
Quatoperator*= (const Quat &rhs)
 Unary multiply.
Quat operator/ (value_type rhs) const
 Divide by scalar.
Quatoperator/= (value_type rhs)
 Unary divide by scalar.
const Quat operator/ (const Quat &denom) const
 Binary divide.
Quatoperator/= (const Quat &denom)
 Unary divide.
const Quat operator+ (const Quat &rhs) const
 Binary addition.
Quatoperator+= (const Quat &rhs)
 Unary addition.
const Quat operator- (const Quat &rhs) const
 Binary subtraction.
Quatoperator-= (const Quat &rhs)
 Unary subtraction.
const Quat operator- () const
 Negation operator - returns the negative of the quaternion.
value_type length () const
 Length of the quaternion = sqrt( vec . vec )
value_type length2 () const
 Length of the quaternion = vec . vec.
Quat conj () const
 Conjugate.
const Quat inverse () const
 Multiplicative inverse method: q^(-1) = q^*/(q.q^*)
void makeRotate (value_type angle, value_type x, value_type y, value_type z)
void makeRotate (value_type angle, const Vec3f &vec)
void makeRotate (value_type angle, const Vec3d &vec)
void makeRotate (value_type angle1, const Vec3f &axis1, value_type angle2, const Vec3f &axis2, value_type angle3, const Vec3f &axis3)
void makeRotate (value_type angle1, const Vec3d &axis1, value_type angle2, const Vec3d &axis2, value_type angle3, const Vec3d &axis3)
void makeRotate (const Vec3f &vec1, const Vec3f &vec2)
 Make a rotation Quat which will rotate vec1 to vec2.
void makeRotate (const Vec3d &vec1, const Vec3d &vec2)
 Make a rotation Quat which will rotate vec1 to vec2.
void makeRotate_original (const Vec3d &vec1, const Vec3d &vec2)
void getRotate (value_type &angle, value_type &x, value_type &y, value_type &z) const
 Return the angle and vector components represented by the quaternion.
void getRotate (value_type &angle, Vec3f &vec) const
 Return the angle and vector represented by the quaternion.
void getRotate (value_type &angle, Vec3d &vec) const
 Return the angle and vector represented by the quaternion.
void slerp (value_type t, const Quat &from, const Quat &to)
 Spherical Linear Interpolation.
Vec3f operator* (const Vec3f &v) const
 Rotate a vector by this quaternion.
Vec3d operator* (const Vec3d &v) const
 Rotate a vector by this quaternion.

Public Attributes

value_type _v [4]

Detailed Description

A quaternion class.

It can be used to represent an orientation in 3D space.


Member Typedef Documentation

typedef double osg::Quat::value_type

Constructor & Destructor Documentation

osg::Quat::Quat ( ) [inline]
osg::Quat::Quat ( value_type  x,
value_type  y,
value_type  z,
value_type  w 
) [inline]
osg::Quat::Quat ( const Vec4f v) [inline]
osg::Quat::Quat ( const Vec4d v) [inline]
osg::Quat::Quat ( value_type  angle,
const Vec3f axis 
) [inline]
osg::Quat::Quat ( value_type  angle,
const Vec3d axis 
) [inline]
osg::Quat::Quat ( value_type  angle1,
const Vec3f axis1,
value_type  angle2,
const Vec3f axis2,
value_type  angle3,
const Vec3f axis3 
) [inline]
osg::Quat::Quat ( value_type  angle1,
const Vec3d axis1,
value_type  angle2,
const Vec3d axis2,
value_type  angle3,
const Vec3d axis3 
) [inline]

Member Function Documentation

Vec3d osg::Quat::asVec3 ( ) const [inline]
Vec4d osg::Quat::asVec4 ( ) const [inline]
Quat osg::Quat::conj ( ) const [inline]

Conjugate.

void osg::Quat::get ( Matrixf matrix) const
void osg::Quat::get ( Matrixd matrix) const
void osg::Quat::getRotate ( value_type angle,
value_type x,
value_type y,
value_type z 
) const

Return the angle and vector components represented by the quaternion.

void osg::Quat::getRotate ( value_type angle,
Vec3f vec 
) const

Return the angle and vector represented by the quaternion.

void osg::Quat::getRotate ( value_type angle,
Vec3d vec 
) const

Return the angle and vector represented by the quaternion.

const Quat osg::Quat::inverse ( ) const [inline]

Multiplicative inverse method: q^(-1) = q^*/(q.q^*)

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

value_type osg::Quat::length ( ) const [inline]

Length of the quaternion = sqrt( vec . vec )

value_type osg::Quat::length2 ( ) const [inline]

Length of the quaternion = vec . vec.

Referenced by osgAnimation::TemplateTarget< T >::lerp().

void osg::Quat::makeRotate ( const Vec3f vec1,
const Vec3f vec2 
)

Make a rotation Quat which will rotate vec1 to vec2.

Generally take a dot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases when the vectors are co-incident or opposite in direction.

void osg::Quat::makeRotate ( value_type  angle,
value_type  x,
value_type  y,
value_type  z 
)
void osg::Quat::makeRotate ( value_type  angle,
const Vec3f vec 
)
void osg::Quat::makeRotate ( value_type  angle,
const Vec3d vec 
)
void osg::Quat::makeRotate ( value_type  angle1,
const Vec3f axis1,
value_type  angle2,
const Vec3f axis2,
value_type  angle3,
const Vec3f axis3 
)
void osg::Quat::makeRotate ( value_type  angle1,
const Vec3d axis1,
value_type  angle2,
const Vec3d axis2,
value_type  angle3,
const Vec3d axis3 
)
void osg::Quat::makeRotate ( const Vec3d vec1,
const Vec3d vec2 
)

Make a rotation Quat which will rotate vec1 to vec2.

Generally take a dot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases of when the vectors are co-incident or opposite in direction.

void osg::Quat::makeRotate_original ( const Vec3d vec1,
const Vec3d vec2 
)
bool osg::Quat::operator!= ( const Quat v) const [inline]

References _v.

Vec3f osg::Quat::operator* ( const Vec3f v) const [inline]

Rotate a vector by this quaternion.

const Quat osg::Quat::operator* ( value_type  rhs) const [inline]

Multiply by scalar.

Vec3d osg::Quat::operator* ( const Vec3d v) const [inline]

Rotate a vector by this quaternion.

const Quat osg::Quat::operator* ( const Quat rhs) const [inline]

Binary multiply.

References _v.

Quat& osg::Quat::operator*= ( value_type  rhs) [inline]

Unary multiply by scalar.

Quat& osg::Quat::operator*= ( const Quat rhs) [inline]

Unary multiply.

References _v.

const Quat osg::Quat::operator+ ( const Quat rhs) const [inline]

Binary addition.

References _v.

Quat& osg::Quat::operator+= ( const Quat rhs) [inline]

Unary addition.

References _v.

const Quat osg::Quat::operator- ( const Quat rhs) const [inline]

Binary subtraction.

References _v.

const Quat osg::Quat::operator- ( ) const [inline]

Negation operator - returns the negative of the quaternion.

Basically just calls operator - () on the Vec4

Quat& osg::Quat::operator-= ( const Quat rhs) [inline]

Unary subtraction.

References _v.

Quat osg::Quat::operator/ ( value_type  rhs) const [inline]

Divide by scalar.

const Quat osg::Quat::operator/ ( const Quat denom) const [inline]

Binary divide.

References inverse().

Quat& osg::Quat::operator/= ( const Quat denom) [inline]

Unary divide.

References inverse().

Quat& osg::Quat::operator/= ( value_type  rhs) [inline]

Unary divide by scalar.

bool osg::Quat::operator< ( const Quat v) const [inline]

References _v.

Quat& osg::Quat::operator= ( const Quat v) [inline]

References _v.

bool osg::Quat::operator== ( const Quat v) const [inline]

References _v.

value_type osg::Quat::operator[] ( int  i) const [inline]
value_type& osg::Quat::operator[] ( int  i) [inline]
void osg::Quat::set ( const Matrixd matrix)
void osg::Quat::set ( value_type  x,
value_type  y,
value_type  z,
value_type  w 
) [inline]
void osg::Quat::set ( const osg::Vec4d v) [inline]
void osg::Quat::set ( const Matrixf matrix)
void osg::Quat::set ( const osg::Vec4f v) [inline]
void osg::Quat::slerp ( value_type  t,
const Quat from,
const Quat to 
)

Spherical Linear Interpolation.

As t goes from 0 to 1, the Quat object goes from "from" to "to".

value_type& osg::Quat::w ( ) [inline]
value_type osg::Quat::w ( ) const [inline]
value_type osg::Quat::x ( ) const [inline]
value_type& osg::Quat::x ( ) [inline]
value_type& osg::Quat::y ( ) [inline]
value_type osg::Quat::y ( ) const [inline]
value_type& osg::Quat::z ( ) [inline]
value_type osg::Quat::z ( ) const [inline]
bool osg::Quat::zeroRotation ( ) const [inline]

return true if the Quat represents a zero rotation, and therefore can be ignored in computations.

Referenced by osg::Matrixf::postMultRotate(), osg::Matrixd::postMultRotate(), osg::Matrixf::preMultRotate(), and osg::Matrixd::preMultRotate().


Member Data Documentation


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

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Generated at Tue Mar 22 2011 13:20:23 for the OpenSceneGraph by doxygen 1.7.3.