Ult::Quaternion Class Reference

#include <Quaternion.h>

Public Member Functions
	Quaternion ()
	Quaternion (const Quaternion &q)
	Quaternion (const float x, const float y, const float z, const float w)
Quaternion	operator* (const Quaternion &q) const
Quaternion &	operator= (const Quaternion &q)
float	Magnitude () const
void	Normalize ()
Quaternion	Conjugate () const
void	RotationAxisToQuaternion (const float angle, const Vector3D &axis)
void	EulerToQuaternion (const Vector3D &euler)
Quaternion	CrossProduct (const Quaternion &q) const
void	CreateMatrix (float *matrix) const
void	MatrixToQuaternion (const float *matrix)
void	Slerp (const Quaternion &q1, const Quaternion &q2, float t)

Public Attributes
float	x
float	y
float	z
float	w

Detailed Description

A rotation quaternion with a vector (xyz) and scalar (w) component.

Constructor & Destructor Documentation

Quaternion() [1/3]

Ult::Quaternion::Quaternion

(

)

Quaternion constructor. Sets to identity (0,0,0,1).

Quaternion() [2/3]

Ult::Quaternion::Quaternion

(

const Quaternion &

q

)

Quaternion copy constructor.

Quaternion() [3/3]

Ult::Quaternion::Quaternion	(	const float	x,
		const float	y,
		const float	z,
		const float	w )

Quaternion constructor from x,y,z,w values.

Member Function Documentation

Conjugate()

Quaternion Ult::Quaternion::Conjugate

(

)

const

Returns the conjugate of the quaternion = (-x,-y,-z,w).

CreateMatrix()

void Ult::Quaternion::CreateMatrix

(

float *

matrix

)

const

Creates a rotation matrix from this quaternion and stores the result in 'matrix'.

CrossProduct()

Quaternion Ult::Quaternion::CrossProduct

(

const Quaternion &

q

)

const

Returns the cross product of this and the input quaternion.

EulerToQuaternion()

void Ult::Quaternion::EulerToQuaternion

(

const Vector3D &

euler

)

Initializes this quaternion from euler angles (in degrees).

Magnitude()

float Ult::Quaternion::Magnitude

(

)

const

Returns the magnitude of this quaternion.

MatrixToQuaternion()

void Ult::Quaternion::MatrixToQuaternion

(

const float *

matrix

)

Initializes this quaternion from the rotation component of the input matrix.

Normalize()

void Ult::Quaternion::Normalize

(

)

Normalizes this quaternion.

operator*()

Quaternion Ult::Quaternion::operator*

(

const Quaternion &

q

)

const

Multiplies this and the input quaternion.

operator=()

Quaternion & Ult::Quaternion::operator=

(

const Quaternion &

q

)

Sets this quaternion equal to the input quaternion.

RotationAxisToQuaternion()

void Ult::Quaternion::RotationAxisToQuaternion	(	const float	angle,
		const Vector3D &	axis )

Initializes this quaternion from an angle (in degrees) and axis.

Slerp()

void Ult::Quaternion::Slerp	(	const Quaternion &	q1,
		const Quaternion &	q2,
		float	t )

Set this quaternion to the spherical-linear-interpolation of q1 and q2 at time t.

Member Data Documentation

w

float Ult::Quaternion::w

x

float Ult::Quaternion::x

The vector (x,y,z) and scalar (w) components of the quaternion.

y

float Ult::Quaternion::y

z

float Ult::Quaternion::z

---

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

• include/Ult/Math/Quaternion.h
• src/Math/Quaternion.cpp