#include <Quaternion.h>

Collaboration diagram for ngl::Quaternion:

Public Member Functions
	Quaternion (const Real _s=0.0f, const Real _x=0.0f, const Real _y=0.0f, const Real _z=0.0f) noexcept
	constructor I use the format used in John Vinces bood where we have a scalar and a vector, some libs do this the otherway round and use the w component, make sure you check if using different libs More...

	Quaternion (const Mat4 &_m) noexcept
	constructor passing in a matrix More...

	Quaternion (const Vec3 &_rot) noexcept
	constructor passing in a Vec3 which represents the rolls around the x y and z axis More...

	Quaternion (const Quaternion &_q) noexcept
	copy constructor More...

void	set (Real _s, Real _x, Real _y, Real _z) noexcept
	method to set the quaternion values More...

Real	getS () const noexcept
	accesor for the scalar part More...

Real	getX () const noexcept
	accesor for the x vector components More...

Real	getY () const noexcept
	accesor for the y vector components More...

Real	getZ () const noexcept
	accesor for the z vector components More...

Vec4	getVector () const noexcept
	accesor for the vector components as an Vec4 More...

void	setVector (const Vec4 &_v) noexcept
	mutator for the vector components as an Vec4 More...

void	setS (Real &_s) noexcept
	mutator for the scalar part More...

void	setX (Real &_x) noexcept
	mutator for the x vector part More...

void	setY (Real &_y) noexcept
	mutator for the y vector part More...

void	setZ (Real &_z) noexcept
	mutator for the z vector part More...

Quaternion	operator* (const Quaternion &_q) const noexcept
	Perform a multiplication between 2 quaternions. More...

void	operator*= (const Quaternion &_q) noexcept
	Perform a multiplication this and another quaternions sets the current quat q1 = q1*q2. More...

Quaternion	operator* (Real _s) const noexcept
	Perform a multiplication between a quaternion and a scalar. More...

void	operator*= (Real _s) noexcept
	Perform a multiplication this and a real scalar sets the current quat to q=q*_s. More...

Quaternion	operator+ (const Quaternion &_q) const noexcept
	add two quaternions More...

Quaternion	operator- (const Quaternion &_q) const noexcept
	subtract two quaternions More...

void	operator+= (const Quaternion &_q) noexcept
	add _q to the current quaternion More...

void	operator-= (const Quaternion &_q) noexcept
	subtract _q from the current quaternion More...

void	normalise () noexcept
	normalise this quaternion this sets each of the component parts by calculating the magnitude and dividing each component by this More...

Real	magnitude () const noexcept
	returns the magnitude of the quaternion More...

Quaternion	conjugate () const noexcept
	conjugate negate the vector part can also be done by the -() operator More...

Quaternion	inverse () const noexcept
	conjugate negate the vector part can also be done by the -() operator More...

void	operator- () noexcept
	conjugate negate the vector part but for the current vector - More...

Quaternion	operator- () const noexcept
	returns the inverse of the quaternion (aka conjugate) the scalar part remains the same and we reverse the vector part More...

bool	operator== (const Quaternion &_q) const noexcept
	test for equality More...

Vec4	operator* (const Vec4 &_vec) const noexcept
	operator to allow a quat to be multiplied by a vector V2=QV1 this is formed by sandwiching the vector between the current quat and the inverse of the current quat (conjugate) so we get q_vec*q.conjugate() this is the main way to do quaternion rotation on points (or can use the rotatePoint method which does the same thing) we must ensure that the quat has been set to the correct values for rotation (i.e. set the axis and the rotation values this can be done using the rotateX/Y/Z or fromAxisAngle or fromEulerAngle methods More...

void	rotateX (Real _angle) noexcept
	set the current quaternion as a rotation around the X cartesian axis [1,0,0] More...

void	rotateY (Real _angle) noexcept
	set the current quaternion as a rotation around the Y cartesian axis [0,1,0] More...

void	rotateZ (Real _angle) noexcept
	set the current quaternion as a rotation around the Z cartesian axis [0,0,1] More...

void	fromAxisAngle (const Vec3 &_axis, Real _angle) noexcept
	set the current quaternion as a rotation around the vector _axis More...

void	fromEulerAngles (const Real _x, const Real _y, const Real _z) noexcept
	set the current quaternion as a rotation based on 3 Euler angles this will create the quat as a product of 3 seprate quats More...

void	rotatePoint (const Quaternion &_r, Vec3 &io_p) noexcept
	rotate our point by a quat (but can also be done using the * operator) More...

void	toAxisAngle (Vec3 &o_axis, Real &o_angle) noexcept
	return the axis and angle of the current quat (angle in degrees) More...

Mat4	toMat4 () const noexcept
	return the current quat as a 4x4 transform matrix More...

Mat4	toMat4Transpose () const noexcept
	return the current quat as a 4x4 transform matrix transposed More...

Static Public Member Functions
static Quaternion	slerp (const Quaternion &_q1, const Quaternion &_q2, const Real &_t) noexcept
	this function spherically interpolates between two quaternions with respect to t More...

Protected Attributes
Real	m_s
	the quaternion data for the scalar real part More...

Real	m_x
	the quaternion data for x More...

Real	m_y
	the quaternion data for y More...

Real	m_z
	the quaternion data for z More...

Detailed Description

Definition at line 38 of file Quaternion.h.

Constructor & Destructor Documentation

ngl::Quaternion::Quaternion	(	const Real	_s = `0.0f`,
		const Real	_x = `0.0f`,
		const Real	_y = `0.0f`,
		const Real	_z = `0.0f`
	)

inlinenoexcept

constructor I use the format used in John Vinces bood where we have a scalar and a vector, some libs do this the otherway round and use the w component, make sure you check if using different libs

Parameters

[in]	_s	- the s component of the quaternion
[in]	_x	- the x component of the quaternion
[in]	_y	- the y component of the quaternion
[in]	_z	- the z component of the quaternion

Definition at line 51 of file Quaternion.h.

Quaternion::Quaternion ( const Mat4 & _m )

noexcept

constructor passing in a matrix

Parameters

_m	the matrix to build the quat from this is useful when using the slerp so we can interpolate between two rotation matrices

Definition at line 30 of file Quaternion.cpp.

Quaternion::Quaternion ( const Vec3 & _rot )

noexcept

constructor passing in a Vec3 which represents the rolls around the x y and z axis

Parameters

_rot	the roatation to build the quat from this is useful when using the slerp so we can interpolate between two rotation matrices

Definition at line 70 of file Quaternion.cpp.

References ngl::radians().

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ngl::Quaternion::Quaternion ( const Quaternion & _q )

inlinenoexcept

copy constructor

Parameters

[in] _q - the quaternion to copy

Definition at line 75 of file Quaternion.h.

Member Function Documentation

Quaternion ngl::Quaternion::conjugate ( ) const

inlinenoexcept

conjugate negate the vector part can also be done by the -() operator

Returns: the conjugate of the current quaternion

Definition at line 210 of file Quaternion.h.

void Quaternion::fromAxisAngle	(	const Vec3 &	_axis,
		Real	_angle
	)

noexcept

set the current quaternion as a rotation around the vector _axis

[in] _axis the axis to rotate around (will be normalized)

Parameters

[in] _angle the angle of rotation around the Z axis in degrees

Definition at line 245 of file Quaternion.cpp.

References m_s, m_x, ngl::Vec3::m_x, m_y, ngl::Vec3::m_y, ngl::Vec3::m_z, m_z, ngl::Vec3::normalize(), and ngl::radians().

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void Quaternion::fromEulerAngles	(	const Real	_x,
		const Real	_y,
		const Real	_z
	)

noexcept

set the current quaternion as a rotation based on 3 Euler angles this will create the quat as a product of 3 seprate quats

[in] _x the rotation in degrees around the x axis [in] _y the rotation in degrees around the y axis [in] _z the rotation in degrees around the z axis

Definition at line 259 of file Quaternion.cpp.

References m_s, m_x, m_y, m_z, and ngl::radians().

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Real ngl::Quaternion::getS ( ) const

inlinenoexcept

accesor for the scalar part

Returns: m_s the scalar part of the quaternion

Definition at line 98 of file Quaternion.h.

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Vec4 ngl::Quaternion::getVector ( ) const

inlinenoexcept

accesor for the vector components as an Vec4

Returns: a vector

Definition at line 118 of file Quaternion.h.

Real ngl::Quaternion::getX ( ) const

inlinenoexcept

accesor for the x vector components

Returns: m_x the scalar part of the quaternion

Definition at line 103 of file Quaternion.h.

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Real ngl::Quaternion::getY ( ) const

inlinenoexcept

accesor for the y vector components

Returns: m_y the scalar part of the quaternion

Definition at line 108 of file Quaternion.h.

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Real ngl::Quaternion::getZ ( ) const

inlinenoexcept

accesor for the z vector components

Returns: m_z the scalar part of the quaternion

Definition at line 113 of file Quaternion.h.

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Quaternion ngl::Quaternion::inverse ( ) const

inlinenoexcept

conjugate negate the vector part can also be done by the -() operator

Returns: the conjugate of the current quaternion

Definition at line 215 of file Quaternion.h.

Real Quaternion::magnitude ( ) const

noexcept

returns the magnitude of the quaternion

Returns: The magnitude of the quaternion

Definition at line 182 of file Quaternion.cpp.

References m_s, m_x, m_y, and m_z.

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void Quaternion::normalise ( )

noexcept

normalise this quaternion this sets each of the component parts by calculating the magnitude and dividing each component by this

Definition at line 171 of file Quaternion.cpp.

References m_s, m_x, m_y, m_z, and magnitude().

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Quaternion Quaternion::operator* ( const Quaternion & _q ) const

noexcept

Perform a multiplication between 2 quaternions.

Parameters

[in] _q the rhs quaternion argument

Returns: the result of the mutliplication (product)

Definition at line 88 of file Quaternion.cpp.

References ngl::Vec4::cross(), m_s, m_x, ngl::Vec4::m_x, m_y, ngl::Vec4::m_y, m_z, and ngl::Vec4::m_z.

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Quaternion Quaternion::operator* ( Real _s ) const

noexcept

Perform a multiplication between a quaternion and a scalar.

Parameters

[in] _s the rhs scalar argument

Returns: the result of the mutliplication q*s

Definition at line 153 of file Quaternion.cpp.

Vec4 Quaternion::operator* ( const Vec4 & _vec ) const

noexcept

operator to allow a quat to be multiplied by a vector V2=Q*V1 this is formed by sandwiching the vector between the current quat and the inverse of the current quat (conjugate) so we get q*_vec*q.conjugate() this is the main way to do quaternion rotation on points (or can use the rotatePoint method which does the same thing) we must ensure that the quat has been set to the correct values for rotation (i.e. set the axis and the rotation values this can be done using the rotateX/Y/Z or fromAxisAngle or fromEulerAngle methods

Parameters

[in] _vec the vector to be multiplied

Returns: a vector formed from q*_vec*q^-1 (conjugate)

Definition at line 200 of file Quaternion.cpp.

void Quaternion::operator*= ( const Quaternion & _q )

noexcept

Perform a multiplication this and another quaternions sets the current quat q1 = q1*q2.

Parameters

[in] _q the rhs quaternion argument

Definition at line 110 of file Quaternion.cpp.

void Quaternion::operator*= ( Real _s )

noexcept

Perform a multiplication this and a real scalar sets the current quat to q=q*_s.

Parameters

[in] _s the rhs quaternion argument

Definition at line 160 of file Quaternion.cpp.

Quaternion Quaternion::operator+ ( const Quaternion & _q ) const

noexcept

add two quaternions

Parameters

[in] _q the rhs quaternion argument

Returns: the result of the addition

Definition at line 117 of file Quaternion.cpp.

References m_s, m_x, m_y, and m_z.

void Quaternion::operator+= ( const Quaternion & _q )

noexcept

add _q to the current quaternion

Parameters

[in] _q the rhs quaternion argument

Definition at line 140 of file Quaternion.cpp.

Quaternion Quaternion::operator- ( const Quaternion & _q ) const

noexcept

subtract two quaternions

Parameters

[in] _q the rhs quaternion argument

Returns: the result of the subtraction

Definition at line 128 of file Quaternion.cpp.

References m_s, m_x, m_y, and m_z.

void ngl::Quaternion::operator- ( )

inlinenoexcept

conjugate negate the vector part but for the current vector -

Returns: the conjugate of the current quaternion

Definition at line 220 of file Quaternion.h.

Quaternion ngl::Quaternion::operator- ( ) const

inlinenoexcept

returns the inverse of the quaternion (aka conjugate) the scalar part remains the same and we reverse the vector part

Returns: the conjugate of the quaternion

Definition at line 226 of file Quaternion.h.

References ngl::operator*(), and ngl::operator==().

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void Quaternion::operator-= ( const Quaternion & _q )

noexcept

subtract _q from the current quaternion

Parameters

[in] _q the rhs quaternion argument

Definition at line 146 of file Quaternion.cpp.

bool Quaternion::operator== ( const Quaternion & _q ) const

noexcept

test for equality

Parameters

[in] _q the quaternion to test against

Returns: true if the same (based on EPSILON test range) or false

Definition at line 188 of file Quaternion.cpp.

References FCompare, m_s, m_x, m_y, and m_z.

void Quaternion::rotatePoint	(	const Quaternion &	_r,
		Vec3 &	io_p
	)

noexcept

rotate our point by a quat (but can also be done using the * operator)

[in] _r the rotation Quat [inout] io_p the point to be rotated (result we be set in this point)

Definition at line 274 of file Quaternion.cpp.

References m_x, m_y, m_z, and set().

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void Quaternion::rotateX ( Real _angle )

noexcept

set the current quaternion as a rotation around the X cartesian axis [1,0,0]

Parameters

[in] _angle the angle of rotation around the x axis in degrees

Definition at line 211 of file Quaternion.cpp.

References m_s, m_x, m_y, m_z, and ngl::radians().

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void Quaternion::rotateY ( Real _angle )

noexcept

set the current quaternion as a rotation around the Y cartesian axis [0,1,0]

Parameters

[in] _angle the angle of rotation around the y axis in degrees

Definition at line 221 of file Quaternion.cpp.

References m_s, m_x, m_y, m_z, and ngl::radians().

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void Quaternion::rotateZ ( Real _angle )

noexcept

set the current quaternion as a rotation around the Z cartesian axis [0,0,1]

Parameters

[in] _angle the angle of rotation around the Z axis in degrees

Definition at line 232 of file Quaternion.cpp.

References m_s, m_x, m_y, m_z, and ngl::radians().

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void ngl::Quaternion::set	(	Real	_s,
		Real	_x,
		Real	_y,
		Real	_z
	)

inlinenoexcept

method to set the quaternion values

Parameters

[in]	_x	the x value
[in]	_y	the y value
[in]	_z	the z value
[in]	_w	the w value

Definition at line 87 of file Quaternion.h.

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void ngl::Quaternion::setS ( Real & _s )

inlinenoexcept

mutator for the scalar part

Parameters

[in] _s the scalar part of the quaternion to set

Definition at line 133 of file Quaternion.h.

void ngl::Quaternion::setVector ( const Vec4 & _v )

inlinenoexcept

mutator for the vector components as an Vec4

Parameters

[in] _v the vector to set the quat vector components from

Definition at line 123 of file Quaternion.h.

void ngl::Quaternion::setX ( Real & _x )

inlinenoexcept

mutator for the x vector part

Parameters

[in] _x the x vector part of the quaternion to set

Definition at line 138 of file Quaternion.h.

void ngl::Quaternion::setY ( Real & _y )

inlinenoexcept

mutator for the y vector part

Parameters

[in] _x the x vector part of the quaternion to set

Definition at line 143 of file Quaternion.h.

void ngl::Quaternion::setZ ( Real & _z )

inlinenoexcept

mutator for the z vector part

Parameters

[in] _z the z vector part of the quaternion to set

Definition at line 148 of file Quaternion.h.

References ngl::operator*().

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Quaternion Quaternion::slerp	(	const Quaternion &	_q1,
		const Quaternion &	_q2,
		const Real &	_t
	)

staticnoexcept

this function spherically interpolates between two quaternions with respect to t

Parameters

[in]	_q1	- the first quaternion
[in]	_q2	- the second quaternion
[in]	_t	- the interpolating t value

Definition at line 295 of file Quaternion.cpp.

References m_s, m_x, m_y, and m_z.

void Quaternion::toAxisAngle	(	Vec3 &	o_axis,
		Real &	o_angle
	)

noexcept

return the axis and angle of the current quat (angle in degrees)

[out] o_axis the axis of rotation ( [out] o_angle the angle of rotation about the quat angle in degrees

Definition at line 282 of file Quaternion.cpp.

References ngl::degrees(), m_s, m_x, m_y, and m_z.

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Mat4 Quaternion::toMat4 ( ) const

noexcept

return the current quat as a 4x4 transform matrix

Returns: the quat as a matrix

Definition at line 340 of file Quaternion.cpp.

References ngl::Mat4::m_openGL, m_s, m_x, m_y, and m_z.

Mat4 Quaternion::toMat4Transpose ( ) const

noexcept

return the current quat as a 4x4 transform matrix transposed

Returns: the quat as a matrix

Definition at line 379 of file Quaternion.cpp.

References ngl::Mat4::m_openGL, m_s, m_x, m_y, and m_z.

Member Data Documentation

Real ngl::Quaternion::m_s

protected

the quaternion data for the scalar real part

Definition at line 306 of file Quaternion.h.

Real ngl::Quaternion::m_x

protected

the quaternion data for x

Definition at line 308 of file Quaternion.h.

Real ngl::Quaternion::m_y

protected

the quaternion data for y

Definition at line 310 of file Quaternion.h.

Real ngl::Quaternion::m_z

protected

the quaternion data for z

Definition at line 312 of file Quaternion.h.

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation