Single-precision quaternion. More...

#include <FXQuatf.h>

Public Member Functions
	FXQuatf ()
	Default constructor; value is not initialized.

	FXQuatf (const FXQuatf &q)
	Copy constructor.

	FXQuatf (const FXfloat v[])
	Construct from array of four floats.

	FXQuatf (FXfloat xx, FXfloat yy, FXfloat zz, FXfloat ww)
	Construct from four components.

	FXQuatf (const FXVec3f &axis, FXfloat phi)
	Construct from rotation axis and angle in radians.

	FXQuatf (const FXVec3f &fr, const FXVec3f &to)
	Construct quaternion from arc between two unit vectors fm and to.

	FXQuatf (FXfloat roll, FXfloat pitch, FXfloat yaw)
	Construct from euler angles yaw (z), pitch (y), and roll (x).

	FXQuatf (const FXVec3f &ex, const FXVec3f &ey, const FXVec3f &ez)
	Construct quaternion from three orthogonal unit vectors.

	FXQuatf (const FXVec3f &rot)
	Construct quaternion from rotation vector rot, representing a rotation by \|rot\| radians about a unit vector rot/\|rot\|.

FXfloat &	operator[] (FXint i)
	Return a non-const reference to the ith element.

const FXfloat &	operator[] (FXint i) const
	Return a const reference to the ith element.

FXQuatf &	operator= (const FXQuatf &v)
	Assignment from other quaternion.

FXQuatf &	operator= (const FXfloat v[])
	Assignment from array of four floats.

FXQuatf &	set (const FXQuatf &v)
	Set value from another quaternion.

FXQuatf &	set (const FXfloat v[])
	Set value from array of four floats.

FXQuatf &	set (FXfloat xx, FXfloat yy, FXfloat zz, FXfloat ww)
	Set value from four components.

FXQuatf &	operator*= (FXfloat n)
	Assigning operators.

FXQuatf &	operator/= (FXfloat n)

FXQuatf &	operator+= (const FXQuatf &v)

FXQuatf &	operator-= (const FXQuatf &v)

FXQuatf &	*operator=** (const FXQuatf &b)

FXQuatf &	operator/= (const FXQuatf &b)

	operator FXfloat * ()
	Conversion.

	operator const FXfloat * () const

	operator FXVec3f & ()
	Conversion to 3-vector, axis of rotation.

	operator const FXVec3f & () const

FXbool	operator! () const
	Test if zero.

FXQuatf	operator+ () const
	Unary.

FXQuatf	operator- () const

FXfloat	length2 () const
	Length and square of length.

FXfloat	length () const

FXQuatf &	adjust ()
	Adjust quaternion length.

void	setAxisAngle (const FXVec3f &axis, FXfloat phi)
	Set quaternion from axis and angle. More...

void	getAxisAngle (FXVec3f &axis, FXfloat &phi) const
	Obtain axis and angle from quaternion. More...

void	setRotation (const FXVec3f &rot)
	Set quaternion from rotation vector rot, representing a rotation by \|rot\| radians about a unit vector rot/\|rot\|. More...

FXVec3f	getRotation () const
	Get rotation vector from quaternion, representing a rotation of \|rot\| radians about an axis rot/\|rot\|. More...

void	setMRP (const FXVec3f &m)
	Set unit quaternion to modified rodrigues parameters. More...

FXVec3f	getMRP () const
	Return modified rodrigues parameters from unit quaternion.

void	setRollPitchYaw (FXfloat roll, FXfloat pitch, FXfloat yaw)
	Set quaternion from roll (x), pitch (y), yaw (z), in that order.

void	getRollPitchYaw (FXfloat &roll, FXfloat &pitch, FXfloat &yaw) const
	Return the roll (x), pitch (y), yaw (z) angles represented by the quaternion.

void	setYawPitchRoll (FXfloat yaw, FXfloat pitch, FXfloat roll)
	Set quaternion from yaw (z), pitch (y), roll (x), in that order.

void	getYawPitchRoll (FXfloat &yaw, FXfloat &pitch, FXfloat &roll) const
	Return the yaw (z), pitch (y), roll (x) angles represented by the quaternion.

void	setRollYawPitch (FXfloat roll, FXfloat yaw, FXfloat pitch)
	Set quaternion from roll (x), yaw (z), pitch (y), in that order.

void	getRollYawPitch (FXfloat &roll, FXfloat &yaw, FXfloat &pitch) const
	Return the roll (x), yaw (z), pitch (y) angles represented by the quaternion.

void	setPitchRollYaw (FXfloat pitch, FXfloat roll, FXfloat yaw)
	Set quaternion from pitch (y), roll (x),yaw (z), in that order.

void	getPitchRollYaw (FXfloat &pitch, FXfloat &roll, FXfloat &yaw) const
	Return the pitch (y), roll (x),yaw (z) angles represented by the quaternion.

void	setPitchYawRoll (FXfloat pitch, FXfloat yaw, FXfloat roll)
	Set quaternion from pitch (y), yaw (z), roll (x), in that order.

void	getPitchYawRoll (FXfloat &pitch, FXfloat &yaw, FXfloat &roll) const
	Return the pitch (y), yaw (z), roll (x) angles represented by the quaternion.

void	setYawRollPitch (FXfloat yaw, FXfloat roll, FXfloat pitch)
	Set quaternion from yaw (z), roll (x), pitch (y), in that order.

void	getYawRollPitch (FXfloat &yaw, FXfloat &roll, FXfloat &pitch) const
	Return the yaw (z), roll (x), pitch (y) angles represented by the quaternion.

void	setAxes (const FXVec3f &ex, const FXVec3f &ey, const FXVec3f &ez)
	Set quaternion from axes.

void	getAxes (FXVec3f &ex, FXVec3f &ey, FXVec3f &ez) const
	Get quaternion axes.

FXVec3f	getXAxis () const
	Obtain local x axis.

FXVec3f	getYAxis () const
	Obtain local y axis.

FXVec3f	getZAxis () const
	Obtain local z axis.

FXQuatf	exp () const
	Exponentiate quaternion.

FXQuatf	log () const
	Take logarithm of quaternion.

FXQuatf	pow (FXfloat t) const
	Power of quaternion.

FXQuatf	conj () const
	Conjugate quaternion.

FXQuatf	unitinvert () const
	Invert unit quaternion.

FXQuatf	invert () const
	Invert quaternion.

	~FXQuatf ()
	Destructor.

Public Attributes
FXfloat	x

FXfloat	y

FXfloat	z

FXfloat	w

Detailed Description

Single-precision quaternion.

Member Function Documentation

◆ getAxisAngle()

void FX::FXQuatf::getAxisAngle	(	FXVec3f &	axis,
		FXfloat &	phi
	)		const

Obtain axis and angle from quaternion.

Return unit vector and angle of rotation phi, in radians. If identity quaternion (0,0,0,1), return axis as (1,0.0).

◆ getRotation()

FXVec3f FX::FXQuatf::getRotation ( ) const

Get rotation vector from quaternion, representing a rotation of |rot| radians about an axis rot/|rot|.

If quaternion is identity quaternion (0,0,0,1), return (0,0,0).

◆ setAxisAngle()

void FX::FXQuatf::setAxisAngle	(	const FXVec3f &	axis,
		FXfloat	phi
	)

Set quaternion from axis and angle.

Quaternion represents a rotation of phi radians about unit vector axis.

◆ setMRP()

void FX::FXQuatf::setMRP ( const FXVec3f & m )

Set unit quaternion to modified rodrigues parameters.

Modified Rodriques parameters are defined as MRP = tan(theta/4)*E, where theta is rotation angle (radians), and E is unit axis of rotation.

◆ setRotation()

void FX::FXQuatf::setRotation ( const FXVec3f & rot )

Set quaternion from rotation vector rot, representing a rotation by |rot| radians about a unit vector rot/|rot|.

Set to the identity quaternion (0,0,0,1) if the rotation vector is equal to (0,0,0).

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

/home/jeroen/FOX/fox/fox-1.7.86/include/FXQuatf.h

Public Member Functions