EGG::Quatf Struct Reference

#include <Quat.hh>

Description

A quaternion, used to represent 3D rotation.

A quaternion is comprised of a scalar (w) and a vector (v). The vector is used to represent the axis of rotation, while the scalar is used to represent the amount of rotation.

Definition at line 12 of file Quat.hh.

Public Member Functions
constexpr	Quatf (f32 w_, const Vector3f &v_)
constexpr	Quatf (f32 w_, f32 x_, f32 y_, f32 z_)
Quatf &	operator= (const Quatf &q)
Quatf	operator+ (const Quatf &rhs) const
Quatf &	operator+= (const Quatf &rhs)
Quatf	operator* (const Vector3f &vec) const
Quatf	operator* (f32 scalar) const
Quatf &	operator*= (f32 scalar)
Quatf	operator* (const Quatf &rhs) const
Quatf &	operator*= (const Quatf &q)
bool	operator== (const Quatf &rhs) const
bool	operator!= (const Quatf &rhs) const
	operator std::string () const
	A conversion function that allows for string representation of a quaternion.
void	setRPY (const Vector3f &rpy)
	Sets roll, pitch, and yaw.
void	normalise ()
	Scales the quaternion to a unit length.
void	makeVectorRotation (const Vector3f &from, const Vector3f &to)
	Captures rotation between two vectors.
Quatf	conjugate () const
	Computes \(conj(a+bi+cj+dk) = a-bi-cj-dk\).
Vector3f	rotateVector (const Vector3f &vec) const
	Rotates a vector based on the quat.
Vector3f	rotateVectorInv (const Vector3f &vec) const
	Rotates a vector on the inverse quat.
Quatf	slerpTo (const Quatf &q2, f32 t) const
	Performs spherical linear interpolation.
f32	squaredNorm () const
	Computes \(this \cdot this = w^2 + x^2 + y^2 + z^2\).
f32	norm () const
f32	dot (const Quatf &q) const
	Computes \(this \cdot rhs = w \times rhs.w + x \times rhs.x + y \times rhs.y + z \times rhs.z\).
void	setAxisRotation (f32 angle, const Vector3f &axis)
	Set the quat given angle and axis.
Quatf	multSwap (const Vector3f &v) const
Quatf	multSwap (const Quatf &q) const
void	read (Stream &stream)

Public Attributes
Vector3f	v
f32	w

Static Public Attributes
static const Quatf	ident = Quatf(1.0f, Vector3f::zero)

Constructor & Destructor Documentation

Quatf() [1/2]

EGG::Quatf::Quatf ( f32 w_, const Vector3f & v_ )

inlineconstexpr

Definition at line 18 of file Quat.hh.

Quatf() [2/2]

EGG::Quatf::Quatf ( f32 w_, f32 x_, f32 y_, f32 z_ )

inlineconstexpr

Definition at line 19 of file Quat.hh.

Member Function Documentation

conjugate()

Quatf EGG::Quatf::conjugate ( ) const

inline

Computes \(conj(a+bi+cj+dk) = a-bi-cj-dk\).

Definition at line 85 of file Quat.hh.

dot()

f32 EGG::Quatf::dot ( const Quatf & q ) const

inline

Computes \(this \cdot rhs = w \times rhs.w + x \times rhs.x + y \times rhs.y + z \times rhs.z\).

Definition at line 105 of file Quat.hh.

makeVectorRotation()

void EGG::Quatf::makeVectorRotation ( const Vector3f & from, const Vector3f & to )

0x8023A788

Captures rotation between two vectors.

Definition at line 35 of file Quat.cc.

multSwap() [1/2]

Quatf EGG::Quatf::multSwap

(

const Quatf &

q

)

const

Definition at line 124 of file Quat.cc.

multSwap() [2/2]

Quatf EGG::Quatf::multSwap

(

const Vector3f &

v

)

const

Definition at line 115 of file Quat.cc.

norm()

f32 EGG::Quatf::norm ( ) const

inline

Definition at line 99 of file Quat.hh.

normalise()

void EGG::Quatf::normalise ( )

0x8023A168

Scales the quaternion to a unit length.

Definition at line 23 of file Quat.cc.

operator std::string()

EGG::Quatf::operator std::string ( ) const

inlineexplicit

A conversion function that allows for string representation of a quaternion.

Definition at line 75 of file Quat.hh.

operator!=()

bool EGG::Quatf::operator!= ( const Quatf & rhs ) const

inline

Definition at line 70 of file Quat.hh.

operator*() [1/3]

Quatf EGG::Quatf::operator* ( const Quatf & rhs ) const

inlinenodiscard

Though part of this is a vector cross/dot product, FP arithmetic is not associative or commutative. It has to be done in this order.

Definition at line 53 of file Quat.hh.

operator*() [2/3]

Quatf EGG::Quatf::operator* ( const Vector3f & vec ) const

inlinenodiscard

Definition at line 37 of file Quat.hh.

operator*() [3/3]

Quatf EGG::Quatf::operator* ( f32 scalar ) const

inlinenodiscard

Definition at line 43 of file Quat.hh.

operator*=() [1/2]

Quatf & EGG::Quatf::operator*= ( const Quatf & q )

inline

Definition at line 62 of file Quat.hh.

operator*=() [2/2]

Quatf & EGG::Quatf::operator*= ( f32 scalar )

inline

Definition at line 47 of file Quat.hh.

operator+()

Quatf EGG::Quatf::operator+ ( const Quatf & rhs ) const

inlinenodiscard

Definition at line 29 of file Quat.hh.

operator+=()

Quatf & EGG::Quatf::operator+= ( const Quatf & rhs )

inline

Definition at line 33 of file Quat.hh.

operator=()

Quatf & EGG::Quatf::operator= ( const Quatf & q )

inline

Definition at line 22 of file Quat.hh.

operator==()

bool EGG::Quatf::operator== ( const Quatf & rhs ) const

inline

Definition at line 66 of file Quat.hh.

read()

void EGG::Quatf::read

(

Stream &

stream

)

Definition at line 133 of file Quat.cc.

rotateVector()

Vector3f EGG::Quatf::rotateVector ( const Vector3f & vec ) const

0x8023A2D0

Rotates a vector based on the quat.

Definition at line 50 of file Quat.cc.

rotateVectorInv()

Vector3f EGG::Quatf::rotateVectorInv ( const Vector3f & vec ) const

0x8023A404

Rotates a vector on the inverse quat.

Definition at line 64 of file Quat.cc.

setAxisRotation()

void EGG::Quatf::setAxisRotation ( f32 angle, const Vector3f & axis )

0x8023A0A0

Set the quat given angle and axis.

Definition at line 106 of file Quat.cc.

setRPY()

void EGG::Quatf::setRPY ( const Vector3f & rpy )

0x80239E10

Sets roll, pitch, and yaw.

Definition at line 7 of file Quat.cc.

slerpTo()

Quatf EGG::Quatf::slerpTo ( const Quatf & q1, f32 t ) const

0x8023A5C4

Performs spherical linear interpolation.

Slerp is a method in which you can create smooth rotations between two quaternions.

Definition at line 79 of file Quat.cc.

squaredNorm()

f32 EGG::Quatf::squaredNorm ( ) const

inline0x8023A138

Computes \(this \cdot this = w^2 + x^2 + y^2 + z^2\).

Definition at line 95 of file Quat.hh.

Member Data Documentation

ident

const Quatf EGG::Quatf::ident = Quatf(1.0f, Vector3f::zero)

static

Definition at line 118 of file Quat.hh.

v

Vector3f EGG::Quatf::v

Definition at line 115 of file Quat.hh.

w

f32 EGG::Quatf::w

Definition at line 116 of file Quat.hh.