ml7::Quaternion Class Reference

#include <Quaternion.h>

List of all members.

Public Member Functions
	Quaternion (void)
	Quaternion (const Quaternion &q)
Quaternion &	operator= (const Quaternion &q)
void	swap (Quaternion &q)
	~Quaternion (void)
	Quaternion (const float i, const float j, const float k, const float r)
	Quaternion (const Vector3 &v, const float phi)
const Quaternion	inverted () const
const Quaternion	normalized () const
const Quaternion	conjugated () const
const float	operator[] (unsigned index) const
float &	operator[] (unsigned index)
const Quaternion	operator- () const
const Quaternion	operator+ (const Vector3 &v) const
const Quaternion	operator- (const Vector3 &v) const
const Quaternion	operator* (const Quaternion &q) const
Quaternion &	operator+= (const Vector3 &v)
Quaternion &	operator-= (const Vector3 &v)
Quaternion &	operator*= (const Quaternion &q)
Quaternion &	clear ()
Quaternion &	invert ()
Quaternion &	invert (const Quaternion &q)
Quaternion &	normalize ()
Quaternion &	conjugate ()
Quaternion &	add (const Vector3 &v, const float s)
Quaternion &	rotate (const Vector3 &v)
Quaternion &	rotation (const Vector3 &v, const float phi)
const bool	operator== (const Quaternion &q) const
const bool	operator!= (const Quaternion &q) const
Public Attributes
union {
struct {
float   i
float   j
float   k
float   r
}
struct {
Vector3   v
float   w
}
float   data [4]
};

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Detailed Description

Represents a quaternion (a three degree of freedom orientation). Used for 3d-physics and -graphics.

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Constructor & Destructor Documentation

ml7::Quaternion::Quaternion

(

void

)

[inline]

Default constructor. Creates a new quaternion with i = j = k = 0 and r = 1 representing a zero rotation.

ml7::Quaternion::Quaternion

(

const Quaternion &

q

)

[inline]

Copy constructor. Creates a new quaternion with i = q.i, ... , r = q.r.

ml7::Quaternion::~Quaternion

(

void

)

[inline]

Destructor.

ml7::Quaternion::Quaternion	(	const float	i,
		const float	j,
		const float	k,
		const float	r
	)			[inline]

Explicit constructor with parameters for i, j, k and r. Use the function normalize to make the quarternion a legal orientation.

ml7::Quaternion::Quaternion	(	const Vector3 &	v,
		const float	phi
	)			[inline]

Explicit constructor with parameters for an axis v and an angle phi.

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Member Function Documentation

Quaternion & ml7::Quaternion::add	(	const Vector3 &	v,
		const float	s
	)

Adds a given vector v scaled by a given scalar s to this quaternion to update the orientation by a specific rotation over time.

Quaternion & ml7::Quaternion::clear

(

)

Sets i = j = k = 0 and r = 1 representing a zero rotation.

Quaternion & ml7::Quaternion::conjugate

(

)

Conjugates this quaternion by flipping the signs of i, j and k.

const Quaternion ml7::Quaternion::conjugated

(

)

const [inline]

Returns a copy of this quaternion conjugated.

Quaternion & ml7::Quaternion::invert

(

)

Inverts this quaternion.

Quaternion & ml7::Quaternion::invert

(

const Quaternion &

q

)

Replaces this quaternion by a given quaternion q inverted.

const Quaternion ml7::Quaternion::inverted

(

)

const

Returns the inverse of this quaternion.

Quaternion & ml7::Quaternion::normalize

(

)

Normalizes this quaternion to ensure a legal orientation.

const Quaternion ml7::Quaternion::normalized

(

)

const

Returns a copy of this quaternion normalized.

const bool ml7::Quaternion::operator!=

(

const Quaternion &

q

)

const [inline]

Checks if a given quaternion v and this have non-identical components.

const Quaternion ml7::Quaternion::operator*

(

const Quaternion &

q

)

const

Returns a copy of this quaternion multiplied by a given quaternion q.

Quaternion & ml7::Quaternion::operator*=

(

const Quaternion &

q

)

Multiplies this quaternion by a given quaternion q.

const Quaternion ml7::Quaternion::operator+

(

const Vector3 &

v

)

const

Returns a copy of this quaternion and adds a given vector v to update the orientation by a specific rotation (represented by the vector v).

Quaternion & ml7::Quaternion::operator+=

(

const Vector3 &

v

)

Adds a given vector v to update this orientation by a specific rotation (represented by the vector v).

const Quaternion ml7::Quaternion::operator-

(

)

const [inline]

Returns a copy of this vector with the components having signs flipped.

const Quaternion ml7::Quaternion::operator-

(

const Vector3 &

v

)

const

Returns a copy of this quaternion and subtracts a given vector v to update the orientation by a specific rotation (represented by the vector v).

Quaternion & ml7::Quaternion::operator-=

(

const Vector3 &

v

)

Subtracts a given vector v to update this orientation by a specific rotation (represented by the vector v).

Quaternion& ml7::Quaternion::operator=

(

const Quaternion &

q

)

[inline]

Copy assignment operator. Sets i = q.i, ... , r = q.r.

const bool ml7::Quaternion::operator==

(

const Quaternion &

q

)

const [inline]

Checks if a given quaternion q and this have identical components.

const float ml7::Quaternion::operator[]

(

unsigned

index

)

const [inline]

Indexed component access.

float& ml7::Quaternion::operator[]

(

unsigned

index

)

[inline]

Indexed component access.

Quaternion & ml7::Quaternion::rotate

(

const Vector3 &

v

)

Rotates this quaternion by a given vector v.

Quaternion & ml7::Quaternion::rotation	(	const Vector3 &	v,
		const float	phi
	)

Lets this quaternion represent a rotation defined by an axis v and an angle phi.

void ml7::Quaternion::swap

(

Quaternion &

q

)

[inline]

Swap operation. Swaps the elements of a given quaternion q with this.

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Member Data Documentation

union { ... }

float ml7::Quaternion::data[4]

Array of all four componets.

float ml7::Quaternion::i

The quaternion's first complex component.

float ml7::Quaternion::j

The quaternion's second complex component.

float ml7::Quaternion::k

The quaternion's third complex component.

float ml7::Quaternion::r

The quaternion's float component.

Vector3 ml7::Quaternion::v

The three complex components as a vector (v = (i, j, k)).

float ml7::Quaternion::w

The float component (w = r).

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

• Quaternion.h
• Quaternion.cpp