#include <cQuaternion.h>

Inheritance diagram for GrayLib::cQuaternionf:

Public Types
typedef cQuaternionT< float >	SUPER_t

typedef cQuaternionf	THIS_t

Public Types inherited from GrayLib::cQuaternionT< float >
typedef cVecT4< float >	SUPER_t

Public Types inherited from GrayLib::cVecTC< float, 4, cVecT4< float > >
typedef float	DVALUE_t
	Dimension value type. More...

typedef cVecTC< float, _IQTY, cVecT4< float > >	THIS_t

Public Member Functions
	cQuaternionf () noexcept

	cQuaternionf (DVALUE_t _x, DVALUE_t _y, DVALUE_t _z, DVALUE_t _w)

	cQuaternionf (const SUPER_t &q)

	cQuaternionf (const cMatrix4x4f &rm)

	cQuaternionf (const cVector3f &vAxis, RADIANf_t fAngle)

THIS_t	GetMulQ (const THIS_t &q) const

THIS_t	operator* (const THIS_t &q) const

RADIANf_t	get_EulerY () const

cVector3f	get_EulerV () const

void	InitIdentity ()

void	InitSlerp (const THIS_t &q1, const THIS_t &q2, DVALUE_t t)

void	InitRotationAxis (const cVector3f &vNorm, RADIANf_t fAngle)

void	InitAngle (const cVector3f &v, RADIANf_t fAngle)

void	InitMulQ (const THIS_t &q1, const THIS_t &q2)

void	InitRotationMatrix (const cMatrix4x4f &rm)

void	InitEulerV (const cVector3f &v)

void	AlignToNormal (cVector3f &vNorm)

void	SetToAngleBetween (const cVector3f &v1, const cVector3f &v2)

void	SetEulerY (RADIANf_t fAngleY, bool bMoveNormalized)

	UNITTEST_FRIEND (cQuaternion)

Public Member Functions inherited from GrayLib::cQuaternionT< float >
	cQuaternionT () noexcept

	cQuaternionT (float _x, float _y, float _z, float _w) noexcept

	cQuaternionT (const SUPER_t &q) noexcept

bool	isIdentity () const noexcept

bool	IsNearQ (const SUPER_t &q, float fDist=k_FLT_MIN2) const

Public Member Functions inherited from GrayLib::cVecT4< float >
	cVecT4 () noexcept

	cVecT4 (const SUPER_t &v) noexcept

	cVecT4 (const float *pVals) noexcept

	cVecT4 (float n0, float n1, float n2=0, float n3=0) noexcept

	cVecT4 (const cVecT3< float > &v2, float _w=0)

const float &	get_X () const noexcept

const float &	get_Y () const noexcept

const float &	get_Z () const noexcept

const float &	get_W () const noexcept

const cVecT3< float > &	get_V3 () const noexcept

cVecT3< float > &	ref_V3 () noexcept

void	InitCross (const THIS_t &v1, const THIS_t &v2, const THIS_t &v3)

Public Member Functions inherited from GrayLib::cVecTC< float, 4, cVecT4< float > >
float *	get_T () noexcept

const float *	get_CT () const noexcept

const cVecT4< float > &	get_CR () const noexcept

	operator const float * () const noexcept

float	GetElem (int i) const noexcept

float	operator[] (int i) const noexcept

float &	operator[] (int i)

bool	isZero () const noexcept

COMPARE_t	Compare (const THIS_t &v2) const noexcept

bool	operator== (const THIS_t &v2) const noexcept

bool	operator!= (const THIS_t &v2) const noexcept

bool	IsNear (const THIS_t &v2, float fDist=(float) k_FLT_MIN2) const

float	get_MagnitudeSq () const noexcept

float	get_Magnitude () const noexcept

cVecT4< float >	operator- () const

cVecT4< float >	operator- (const THIS_t &v2) const

cVecT4< float >	get_Abs () const

cVecT4< float >	GetSum (const THIS_t &v2) const

cVecT4< float >	operator+ (const THIS_t &v2) const

cVecT4< float >	GetDiff (const THIS_t &v2) const

cVecT4< float >	GetScaled (float nScale) const

cVecT4< float >	operator* (float nScale) const

cVecT4< float >	operator/ (float nScale) const

cVecT4< float >	GetMul (const THIS_t &v2) const

cVecT4< float >	GetDiv (const THIS_t &v2) const

float	GetDistSq (const THIS_t &v2) const

float	GetDist (const THIS_t &v2) const

float	GetDot (const THIS_t &v2) const

cVecT4< float >	get_Normalized () const

	operator float * ()

float &	RefElem (int i) noexcept

void	Set (const THIS_t &v)

void	SetZero () noexcept

float	SetNormalized (void) noexcept

bool	put_Magnitude (float nLength)

void	SetLerp (const THIS_t &a, const THIS_t &b, DVALUE_t t)

const cVecT4< float > &	operator+= (const THIS_t &v2)

const cVecT4< float > &	operator+= (float n)

const cVecT4< float > &	operator-= (const THIS_t &v2) noexcept

const cVecT4< float > &	operator-= (float n) noexcept

void	DoScale (float n) noexcept

const cVecT4< float > &	operator*= (float nScale) noexcept

cVecT4< float > &	operator*= (const THIS_t &v2) noexcept

const cVecT4< float > &	operator/= (float nScale)

cVecT4< float > &	operator/= (const THIS_t &v2)

void	DoMul (const THIS_t &v2) noexcept

void	DoDiv (const THIS_t &v2)

Static Public Attributes
static const cQuaternionf	k_Identity

Static Public Attributes inherited from GrayLib::cVecTC< float, 4, cVecT4< float > >
static const int	k_nDim

Additional Inherited Members
Static Public Member Functions inherited from GrayLib::cVecTC< float, 4, cVecT4< float > >
static float	GetDot (const THIS_t &v1, const THIS_t &v2)

Public Attributes inherited from GrayLib::cVecT4< float >
float	m_a [4]

float	m_x

float	m_y

float	m_z

float	m_w

float	x

float	y

float	z

float	w

float	r

float	g

float	b

float	a

union {
TYPE m_a [4]

struct {
TYPE m_x

TYPE m_y

TYPE m_z

TYPE m_w

}

struct {
TYPE x

TYPE y

TYPE z

TYPE w

}

struct {
TYPE r

TYPE g

TYPE b

TYPE a

}

};

Protected Member Functions inherited from GrayLib::cVecTC< float, 4, cVecT4< float > >
	cVecTC ()

Detailed Description

Angle of 3d orientation. Avoids Gimbel lock of pitch,bank/yaw,roll Euler angles for objects in motion. similar to float4 and D3DXQUATERNION Quaternions can be added to add angles.

Member Typedef Documentation

◆ SUPER_t

typedef cQuaternionT<float> GrayLib::cQuaternionf::SUPER_t

◆ THIS_t

typedef cQuaternionf GrayLib::cQuaternionf::THIS_t

Constructor & Destructor Documentation

◆ cQuaternionf() [1/5]

GrayLib::cQuaternionf::cQuaternionf ( )

inlinenoexcept

◆ cQuaternionf() [2/5]

GrayLib::cQuaternionf::cQuaternionf	(	DVALUE_t	_x,
		DVALUE_t	_y,
		DVALUE_t	_z,
		DVALUE_t	_w
	)

inline

◆ cQuaternionf() [3/5]

GrayLib::cQuaternionf::cQuaternionf ( const SUPER_t & q )

inline

◆ cQuaternionf() [4/5]

GrayLib::cQuaternionf::cQuaternionf ( const cMatrix4x4f & rm )

inline

◆ cQuaternionf() [5/5]

GrayLib::cQuaternionf::cQuaternionf	(	const cVector3f &	vAxis,
		RADIANf_t	fAngle
	)

inline

Create a Euler type angle for a particular axis.

Member Function Documentation

◆ AlignToNormal()

void GrayLib::cQuaternionf::AlignToNormal ( cVector3f & vNorm )

Alter this orientation such that it is aligned to the vNorm normal. Modify 2 of the 3 Euler angles. but leave the heading.

vNorm = normalized normal vector of the ground.

◆ get_EulerV()

cVector3f GrayLib::cQuaternionf::get_EulerV ( ) const

I want a Euler angle (pitch,bank,roll) from this quaternion. from www.euclideanspace.com similar but NOT the same as D3DXQuaternionToAxisAngle

Note: was old void v::put_EulerFromQuaternion( const cQuaternionf& q );

◆ get_EulerY()

RADIANf_t GrayLib::cQuaternionf::get_EulerY ( ) const

Get the Euler value (radians) for Y only similar but NOT the same as D3DXQuaternionToAxisAngle y=yaw=heading,x=pitch,z=roll=bank

◆ GetMulQ()

THIS_t GrayLib::cQuaternionf::GetMulQ ( const THIS_t & q ) const

inline

multiply 2 quaternions.

◆ InitAngle()

void GrayLib::cQuaternionf::InitAngle	(	const cVector3f &	v,
		RADIANf_t	fAngle
	)

inline

http://cache-www.intel.com/cd/00/00/29/37/293748_293748.pdf v1 = the unit length axis of rotation in 3D space fAngle = the angle of rotation about the axis in radians.

◆ InitEulerV()

void GrayLib::cQuaternionf::InitEulerV ( const cVector3f & v )

I have a Euler angle (pitch,bank_yaw,roll), get a cQuaternionf. y=yaw=heading,x=pitch,z=roll=bank radians ASSUME QuaternionNormalized();

Note: was old cQuaternionf v::get_QuaternionFromEuler() const;

◆ InitIdentity()

void GrayLib::cQuaternionf::InitIdentity ( )

inline

set to Identity Quaternion.

◆ InitMulQ()

void GrayLib::cQuaternionf::InitMulQ	(	const THIS_t &	q1,
		const THIS_t &	q2
	)

inline

multiply 2 quaternion's. D3DXQuaternionMultiply

◆ InitRotationAxis()

void GrayLib::cQuaternionf::InitRotationAxis	(	const cVector3f &	vNorm,
		RADIANf_t	fAngle
	)

inline

init q with an axis vector and an angle (radians) ASSUME v is normalized. D3DXQuaternionRotationAxis is an inverse of D3DXQuaternionToAxisAngle().

◆ InitRotationMatrix()

void GrayLib::cQuaternionf::InitRotationMatrix ( const cMatrix4x4f & rm )

set this Q from rotation matrix. used by Matrix::get_RotationQ() ASSUME matrix is NOT scaled. use Normalized matrix to remove scaling first.

◆ InitSlerp()

void GrayLib::cQuaternionf::InitSlerp	(	const THIS_t &	q1,
		const THIS_t &	q2,
		DVALUE_t	t
	)

inline

like D3DXQuaternionSlerp() not like a Calc::Lerp()

◆ operator*()

THIS_t GrayLib::cQuaternionf::operator* ( const THIS_t & q ) const

inline

◆ SetEulerY()

void GrayLib::cQuaternionf::SetEulerY	(	RADIANf_t	fAngleY,
		bool	bMoveNormalized
	)

Take on the fAngleY heading. y=yaw=heading,x=pitch,z=roll=bank

◆ SetToAngleBetween()

void GrayLib::cQuaternionf::SetToAngleBetween	(	const cVector3f &	v1,
		const cVector3f &	v2
	)

v1,v2 = vectors what is the shortest arc from v1 to v2

Note: v1 and v2 DONT have to be normalized http://www.euclideanspace.com/maths/algebra/vectors/angleBetween/minorlogic.htm

◆ UNITTEST_FRIEND()

GrayLib::cQuaternionf::UNITTEST_FRIEND ( cQuaternion )

Member Data Documentation

◆ k_Identity

const cQuaternionf GrayLib::cQuaternionf::k_Identity

static

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

c:/Dennis/Source/Gray/GrayLib/include/Math/cQuaternion.h
c:/Dennis/Source/Gray/GrayLib/src/Math/cQuaternion.cpp

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ SUPER_t

◆ THIS_t

Constructor & Destructor Documentation

◆ cQuaternionf() [1/5]

◆ cQuaternionf() [2/5]

◆ cQuaternionf() [3/5]

◆ cQuaternionf() [4/5]

◆ cQuaternionf() [5/5]

Member Function Documentation

◆ AlignToNormal()

◆ get_EulerV()

◆ get_EulerY()

◆ GetMulQ()

◆ InitAngle()

◆ InitEulerV()

◆ InitIdentity()

◆ InitMulQ()

◆ InitRotationAxis()

◆ InitRotationMatrix()

◆ InitSlerp()

◆ operator*()

◆ SetEulerY()

◆ SetToAngleBetween()

◆ UNITTEST_FRIEND()

Member Data Documentation

◆ k_Identity