#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 (const Quatf &q)=default

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	setRPY (f32 r, f32 p, f32 y)
	Helper function to avoid unnecessary Vector3f construction.

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)

Static Public Member Functions
static Quatf	FromRPY (const EGG::Vector3f &rpy)

static Quatf	FromRPY (f32 r, f32 p, f32 y)
	Helper function to avoid unnecessary Vector3f construction.

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 19 of file Quat.hh.

◆ Quatf() [2/2]

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

inlineconstexpr

Definition at line 20 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 87 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 107 of file Quat.hh.

◆ FromRPY() [1/2]

Quatf EGG::Quatf::FromRPY ( const EGG::Vector3f & rpy )

static

Definition at line 143 of file Quat.cc.

◆ FromRPY() [2/2]

Quatf EGG::Quatf::FromRPY	(	f32	r,
		f32	p,
		f32	y )

static

Helper function to avoid unnecessary Vector3f construction.

Definition at line 150 of file Quat.cc.

◆ makeVectorRotation()

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

0x8023A788

Captures rotation between two vectors.

Definition at line 40 of file Quat.cc.

◆ multSwap() [1/2]

Quatf EGG::Quatf::multSwap ( const Quatf & q ) const

Definition at line 129 of file Quat.cc.

◆ multSwap() [2/2]

Quatf EGG::Quatf::multSwap ( const Vector3f & v ) const

Definition at line 120 of file Quat.cc.

◆ norm()

f32 EGG::Quatf::norm ( ) const

inline

Definition at line 101 of file Quat.hh.

◆ normalise()

void EGG::Quatf::normalise ( )

0x8023A168

Scales the quaternion to a unit length.

Definition at line 28 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 76 of file Quat.hh.

◆ operator!=()

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

inline

Definition at line 71 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 54 of file Quat.hh.

◆ operator*() [2/3]

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

inlinenodiscard

Definition at line 38 of file Quat.hh.

◆ operator*() [3/3]

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

inlinenodiscard

Definition at line 44 of file Quat.hh.

◆ operator*=() [1/2]

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

inline

Definition at line 63 of file Quat.hh.

◆ operator*=() [2/2]

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

inline

Definition at line 48 of file Quat.hh.

◆ operator+()

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

inlinenodiscard

Definition at line 30 of file Quat.hh.

◆ operator+=()

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

inline

Definition at line 34 of file Quat.hh.

◆ operator=()

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

inline

Definition at line 23 of file Quat.hh.

◆ operator==()

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

inline

Definition at line 67 of file Quat.hh.

◆ read()

void EGG::Quatf::read ( Stream & stream )

Definition at line 138 of file Quat.cc.

◆ rotateVector()

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

0x8023A2D0

Rotates a vector based on the quat.

Definition at line 55 of file Quat.cc.

◆ rotateVectorInv()

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

0x8023A404

Rotates a vector on the inverse quat.

Definition at line 69 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 111 of file Quat.cc.

◆ setRPY() [1/2]

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

0x80239E10

Sets roll, pitch, and yaw.

Definition at line 7 of file Quat.cc.

◆ setRPY() [2/2]

void EGG::Quatf::setRPY	(	f32	r,
		f32	p,
		f32	y )

Helper function to avoid unnecessary Vector3f construction.

Definition at line 12 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 84 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 97 of file Quat.hh.

Member Data Documentation

◆ ident

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

inlinestaticconstexpr

Definition at line 123 of file Quat.hh.

◆ v

Vector3f EGG::Quatf::v

Definition at line 120 of file Quat.hh.

◆ w

f32 EGG::Quatf::w

Definition at line 121 of file Quat.hh.

Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Constructor & Destructor Documentation

◆ Quatf() [1/2]

◆ Quatf() [2/2]

Member Function Documentation

◆ conjugate()

◆ dot()

◆ FromRPY() [1/2]

◆ FromRPY() [2/2]

◆ makeVectorRotation()

◆ multSwap() [1/2]

◆ multSwap() [2/2]

◆ norm()

◆ normalise()

◆ operator std::string()

◆ operator!=()

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator=()

◆ operator==()

◆ read()

◆ rotateVector()

◆ rotateVectorInv()

◆ setAxisRotation()

◆ setRPY() [1/2]

◆ setRPY() [2/2]

◆ slerpTo()

◆ squaredNorm()

Member Data Documentation

◆ ident

◆ v

◆ w