#include <openvdb/math/Mat.h>

Public Types
using	value_type = T

using	ValueType = T

Public Member Functions
	Quat ()=default
	Trivial constructor, the quaternion is NOT initialized. More...

	Quat (T x, T y, T z, T w)
	Constructor with four arguments, e.g. Quatf q(1,2,3,4);. More...

	Quat (T *a)
	Constructor with array argument, e.g. float a[4]; Quatf q(a);. More...

	Quat (const Vec3< T > &axis, T angle)

	Quat (math::Axis axis, T angle)
	Constructor given rotation as axis and angle. More...

template<typename T1 >
	Quat (const Mat3< T1 > &rot)
	Constructor given a rotation matrix. More...

T &	x ()
	Reference to the component, e.g. q.x() = 4.5f;. More...

T &	y ()

T &	z ()

T &	w ()

T	x () const
	Get the component, e.g. float f = q.w();. More...

T	y () const

T	z () const

T	w () const

T &	operator[] (int i)
	Array style reference to the components, e.g. q[3] = 1.34f;. More...

T	operator[] (int i) const
	Array style constant reference to the components, e.g. float f = q[1];. More...

	operator T * ()
	Cast to T*. More...

	operator const T * () const

T &	operator() (int i)
	Alternative indexed reference to the elements. More...

T	operator() (int i) const
	Alternative indexed constant reference to the elements,. More...

T	angle () const
	Return angle of rotation. More...

Vec3< T >	axis () const
	Return axis of rotation. More...

Quat &	init (T x, T y, T z, T w)
	"this" quaternion gets initialized to [x, y, z, w] More...

Quat &	init ()
	"this" quaternion gets initialized to identity, same as setIdentity() More...

Quat &	setAxisAngle (const Vec3< T > &axis, T angle)

Quat &	setZero ()
	Set "this" vector to zero. More...

Quat &	setIdentity ()
	Set "this" vector to identity. More...

Vec3< T >	eulerAngles (RotationOrder rotationOrder) const
	Returns vector of x,y,z rotational components. More...

bool	operator== (const Quat &q) const
	Equality operator, does exact floating point comparisons. More...

bool	eq (const Quat &q, T eps=1.0e-7) const
	Test if "this" is equivalent to q with tolerance of eps value. More...

Quat &	operator+= (const Quat &q)
	Add quaternion q to "this" quaternion, e.g. q += q1;. More...

Quat &	operator-= (const Quat &q)
	Subtract quaternion q from "this" quaternion, e.g. q -= q1;. More...

Quat &	operator*= (T scalar)
	Scale "this" quaternion by scalar, e.g. q *= scalar;. More...

Quat	operator+ (const Quat &q) const
	Return (this+q), e.g. q = q1 + q2;. More...

Quat	operator- (const Quat &q) const
	Return (this-q), e.g. q = q1 - q2;. More...

Quat	operator* (const Quat &q) const
	Return (thisq), e.g. q = q1 q2;. More...

Quat	operator*= (const Quat &q)
	Assigns this to (thisq), e.g. q = q1;. More...

Quat	operator* (T scalar) const
	Return (thisscalar), e.g. q = q1 scalar;. More...

Quat	operator/ (T scalar) const
	Return (this/scalar), e.g. q = q1 / scalar;. More...

Quat	operator- () const
	Negation operator, e.g. q = -q;. More...

Quat &	add (const Quat &q1, const Quat &q2)

Quat &	sub (const Quat &q1, const Quat &q2)

Quat &	mult (const Quat &q1, const Quat &q2)

Quat &	scale (T scale, const Quat &q)

T	dot (const Quat &q) const
	Dot product. More...

Quat	derivative (const Vec3< T > &omega) const

bool	normalize (T eps=T(1.0e-8))
	this = normalized this More...

Quat	unit () const
	this = normalized this More...

Quat	inverse (T tolerance=T(0)) const
	returns inverse of this More...

Quat	conjugate () const

Vec3< T >	rotateVector (const Vec3< T > &v) const
	Return rotated vector by "this" quaternion. More...

std::string	str () const

void	write (std::ostream &os) const

void	read (std::istream &is)

Static Public Member Functions
static unsigned	numElements ()

static Quat	zero ()
	Predefined constants, e.g. Quat q = Quat::identity();. More...

static Quat	identity ()

Static Public Attributes
static const int	size = 4

Protected Attributes
T	mm [4]

Friends
std::ostream &	operator<< (std::ostream &stream, const Quat &q)
	Output to the stream, e.g. std::cout << q << std::endl;. More...

Quat	slerp (const Quat &q1, const Quat &q2, T t, T tolerance)

Member Typedef Documentation

using value_type = T

using ValueType = T

Constructor & Destructor Documentation

Quat ( )

default

Trivial constructor, the quaternion is NOT initialized.

Note: destructor, copy constructor, assignment operator and move constructor are left to be defined by the compiler (default)

Quat	(	T	x,
		T	y,
		T	z,
		T	w
	)

inline

Constructor with four arguments, e.g. Quatf q(1,2,3,4);.

Quat ( T * a )

inline

Constructor with array argument, e.g. float a[4]; Quatf q(a);.

Quat	(	const Vec3< T > &	axis,
		T	angle
	)

inline

Constructor given rotation as axis and angle, the axis must be unit vector

Quat	(	math::Axis	axis,
		T	angle
	)

inline

Constructor given rotation as axis and angle.

Quat ( const Mat3< T1 > & rot )

inline

Constructor given a rotation matrix.

Member Function Documentation

Quat& add	(	const Quat< T > &	q1,
		const Quat< T > &	q2
	)

inline

this = q1 + q2 "this", q1 and q2 need not be distinct objects, e.g. q.add(q1,q);

T angle ( ) const

inline

Return angle of rotation.

Vec3<T> axis ( ) const

inline

Return axis of rotation.

Quat conjugate ( ) const

inline

Return the conjugate of "this", same as invert without unit quaternion test

Quat derivative ( const Vec3< T > & omega ) const

inline

Return the quaternion rate corrsponding to the angular velocity omega and "this" current rotation

T dot ( const Quat< T > & q ) const

inline

Dot product.

bool eq	(	const Quat< T > &	q,
		T	eps = `1.0e-7`
	)		const

inline

Test if "this" is equivalent to q with tolerance of eps value.

Vec3<T> eulerAngles ( RotationOrder rotationOrder ) const

inline

Returns vector of x,y,z rotational components.

static Quat identity ( )

inlinestatic

Quat& init	(	T	x,
		T	y,
		T	z,
		T	w
	)

inline

"this" quaternion gets initialized to [x, y, z, w]

Quat& init ( )

inline

"this" quaternion gets initialized to identity, same as setIdentity()

Quat inverse ( T tolerance = T(0) ) const

inline

returns inverse of this

Quat& mult	(	const Quat< T > &	q1,
		const Quat< T > &	q2
	)

inline

this = q1 * q2 q1 and q2 must be distinct objects than "this", e.g. q.mult(q1,q2);

bool normalize ( T eps = T(1.0e-8) )

inline

this = normalized this

static unsigned numElements ( )

inlinestatic

operator const T * ( ) const

inline

operator T * ( )

inline

Cast to T*.

T& operator() ( int i )

inline

Alternative indexed reference to the elements.

T operator() ( int i ) const

inline

Alternative indexed constant reference to the elements,.

Quat operator* ( const Quat< T > & q ) const

inline

Return (this*q), e.g. q = q1 * q2;.

Quat operator* ( T scalar ) const

inline

Return (this*scalar), e.g. q = q1 * scalar;.

Quat& operator*= ( T scalar )

inline

Scale "this" quaternion by scalar, e.g. q *= scalar;.

Quat operator*= ( const Quat< T > & q )

inline

Assigns this to (this*q), e.g. q *= q1;.

Quat operator+ ( const Quat< T > & q ) const

inline

Return (this+q), e.g. q = q1 + q2;.

Quat& operator+= ( const Quat< T > & q )

inline

Add quaternion q to "this" quaternion, e.g. q += q1;.

Quat operator- ( const Quat< T > & q ) const

inline

Return (this-q), e.g. q = q1 - q2;.

Quat operator- ( ) const

inline

Negation operator, e.g. q = -q;.

Quat& operator-= ( const Quat< T > & q )

inline

Subtract quaternion q from "this" quaternion, e.g. q -= q1;.

Quat operator/ ( T scalar ) const

inline

Return (this/scalar), e.g. q = q1 / scalar;.

bool operator== ( const Quat< T > & q ) const

inline

Equality operator, does exact floating point comparisons.

T& operator[] ( int i )

inline

Array style reference to the components, e.g. q[3] = 1.34f;.

T operator[] ( int i ) const

inline

Array style constant reference to the components, e.g. float f = q[1];.

void read ( std::istream & is )

inline

Vec3<T> rotateVector ( const Vec3< T > & v ) const

inline

Return rotated vector by "this" quaternion.

Quat& scale	(	T	scale,
		const Quat< T > &	q
	)

inline

this = scalar*q, q need not be distinct object than "this", e.g. q.scale(1.5,q1);

Quat& setAxisAngle	(	const Vec3< T > &	axis,
		T	angle
	)

inline

Set "this" quaternion to rotation specified by axis and angle, the axis must be unit vector

Quat& setIdentity ( )

inline

Set "this" vector to identity.

Quat& setZero ( )

inline

Set "this" vector to zero.

std::string str ( ) const

inline

Returns: string representation of Classname

Quat& sub	(	const Quat< T > &	q1,
		const Quat< T > &	q2
	)

inline

this = q1 - q2 "this", q1 and q2 need not be distinct objects, e.g. q.sub(q1,q);

Quat unit ( ) const

inline

this = normalized this

T& w ( )

inline

T w ( ) const

inline

void write ( std::ostream & os ) const

inline

T& x ( )

inline

Reference to the component, e.g. q.x() = 4.5f;.

T x ( ) const

inline

Get the component, e.g. float f = q.w();.

T& y ( )

inline

T y ( ) const

inline

T& z ( )

inline

T z ( ) const

inline

static Quat zero ( )

inlinestatic

Predefined constants, e.g. Quat q = Quat::identity();.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	stream,
		const Quat< T > &	q
	)

friend

Output to the stream, e.g. std::cout << q << std::endl;.

Quat slerp	(	const Quat< T > &	q1,
		const Quat< T > &	q2,
		T	t,
		T	tolerance
	)

friend

Member Data Documentation

T mm[4]

protected

const int size = 4

static

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Friends

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation