The object holding quaternions and providing operations on these. More...

#include <QuatTemplate.h>

Public Types
typedef T	Type

Public Member Functions
	QuatT ()
	Default constructor. Create a Quaternion with an identity rotation.

	QuatT (const AffineMatrix4x4T< T > &matrix)
	Create a Quaternion based on the rotation part in the specified Affine 4x4 transformation matrix.

	QuatT (const EulerAngles &euler)
	Create a Quaternion based on the rotation from `euler` specified as a EulerAngle.

	QuatT (const QuatT< T > &copy)=default
	Copy constructor.

template<typename T2 >
	QuatT (const QuatT< T2 > &copy)
	Copy constructor for other types.

	QuatT (const Vec3T< T > &from, const Vec3T< T > &to)
	Create a Quaternion which maps the rotation from vector `from` to the vector `to`.

	QuatT (const Vec4T< T > &v)
	Create a Quaternion based on the 4D vector (x,y,z,w)

	QuatT (T angle, const Vec3T< T > &axis)
	Create a Quaternion calculated from a rotation of `angle` radians around the rotation axis `axis`.

	QuatT (T angle1, const Vec3T< T > &axis1, T angle2, const Vec3T< T > &axis2, T angle3, const Vec3T< T > &axis3)
	Create a Quaternion based on the concatenation between the three specified angle and axis.

	QuatT (T x, T y, T z, T w)
	Create a Quaternion with the specified scalar values.

Vec3T< T >	asVec3 () const

Vec4T< T >	asVec4 () const

QuatT< T >	conj () const

void	get (AffineMatrix4x4T< T > &matrix) const
	Set the Rotational part of `matrix` from this quaternion.

void	get (EulerAngles &euler) const
	Convert this quaternion to an EulerAngles representation.

void	get (OrthoMatrix3x3 &matrix) const
	Set an OrthoMatrix3x3 to represent the same rotation as the quaternion.

void	get (T &angle, agx::Vec3T< T > &axis) const
	Convert a Quaternion to an axis and angle representation.

agx::Real	getAngle () const
	Get the rotation angle represented by the quaternion.

Vec3T< T >	getAsEulerAngles (agx::EulerConvention::Convention convention=agx::EulerConvention::Convention::DEFAULT_CONVENTION) const
	Convert to Euler anglers.

void	getRotate (T &angle, T &x, T &y, T &z) const
	Get the angle and vector components represented by the quaternion.

void	getRotate (T &angle, Vec3T< T > &vec) const
	Get the angle and vector represented by the quaternion.

agx::Vec3T< T >	getUnitVector () const
	Get the rotation unit vector represented by the quaternion.

QuatT< T >	inverse () const
	Multiplicative inverse method: q^(-1) = q^‍/(q.q^)

const QuatT< T >	leftMult (const QuatT< T > &rhs) const
	Binary left multiplication: q = p * rhs; results in the OTHER WAY AROUND: q = rhs quatmultiply p;.

T	length () const

T	length2 () const

T	normalize ()
	Normalize the quat so that it has unit length.

bool	operator!= (const QuatT< T > &v) const

const QuatT< T >	operator* (const QuatT< T > &rhs) const
	Binary LEFT multiply: result is q = rhs quatmultiply this, even though the notation is q = this * rhs ;.

Vec3T< T >	operator* (const Vec3T< T > &v) const
	Rotate a vector by this quaternion.

const QuatT< T >	operator* (T rhs) const
	Multiply by scalar `rhs`.

QuatT< T > &	operator*= (const QuatT< T > &rhs)
	Unary LEFT multiply: result is this = rhs quatmultiply this, which makes sense since the notation suggests this = rhs * this ;.

QuatT< T > &	operator*= (T rhs)
	Unary multiply by scalar `rhs`.

const QuatT< T >	operator+ (const QuatT< T > &rhs) const
	Binary addition.

QuatT< T > &	operator+= (const QuatT< T > &rhs)
	Unary addition.

const QuatT< T >	operator- () const
	Negation operator - returns the negative of the quaternion.

const QuatT< T >	operator- (const QuatT< T > &rhs) const
	Binary subtraction.

QuatT< T > &	operator-= (const QuatT< T > &rhs)
	Unary subtraction.

const QuatT< T >	operator/ (const QuatT< T > &denom) const
	Binary divide.

QuatT< T >	operator/ (T rhs) const
	Divide by scalar `rhs`.

QuatT< T > &	operator/= (const QuatT< T > &denom)
	Unary divide.

QuatT< T > &	operator/= (T rhs)
	Unary divide by scalar `rhs`.

QuatT< T > &	operator= (const QuatT< T > &v)
	Assignment operator.

bool	operator== (const QuatT< T > &v) const
	Test for equality.

T &	operator[] (size_t i)

T	operator[] (size_t i) const

T *	ptr ()

const T *	ptr () const

const QuatT< T >	rightMult (const QuatT< T > &rhs) const
	Binary RIGHT multiplication: q = p * rhs ; results in q = p quatmultiply rhs ;.

QuatT< T > &	set (const AffineMatrix4x4T< T > &matrix)
	Set this quaternion with the rotational part of `matrix`.

QuatT< T > &	set (const EulerAngles &euler)
	Set this quaternion with the rotation described by the EulerAngles representation.

QuatT< T > &	set (const OrthoMatrix3x3 &matrix)
	Set this quaternion with the rotation described by a OrthoMatrix3x3.

void	set (const Vec4T< T > &v)
	Set the four elements of the quaternion as an Vec4.

void	set (T x, T y, T z, T w)
	Set the 4 elements of the quaternion as 4 scalars.

void	setRotate (const Vec3T< T > &from, const Vec3T< T > &to)
	Make a rotation QuatT<T> which will rotate `from` to `to` Generally take a dot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases when the vectors are co-incident or opposite in direction.

void	setRotate (T angle, const Vec3T< T > &vec)
	Set the rotation of this Quaternion as a rotation `angle` radians around the vector `vec`.

void	setRotate (T angle, T x, T y, T z)
	Set the rotation of the Quaternion as a rotation `angle` radians around the vector (`x`, `y`, `z`)

void	setRotate (T angle1, const Vec3T< T > &axis1, T angle2, const Vec3T< T > &axis2, T angle3, const Vec3T< T > &axis3)
	Set the rotation of this Quaternion as a concatenation of the three angle/axis rotations:

void	slerp (T t, const QuatT< T > &from, const QuatT< T > &to)
	Spherical Linear Interpolation.

T &	w ()

T	w () const

T &	x ()

T	x () const

T &	y ()

T	y () const

T &	z ()

T	z () const

bool	zeroRotation () const

Static Public Member Functions
static QuatT< T >	rotate (const Vec3T< T > &from, const Vec3T< T > &to)
	Static method which constructs and returns a Quaternion from rotating vector `from` to vector `to`.

static QuatT< T >	rotate (T angle, const Vec3T< T > &vec)
	Static method which constructs and returns a Quaternion from a rotation given as `angle` radians around the vector `vec`.

static QuatT< T >	rotate (T angle, T x, T y, T z)
	Static method which constructs and returns a Quaternion from a rotation given as `angle` radians around the vector (`x`, `y`, `z`)

static QuatT< T >	rotate (T angle1, const Vec3T< T > &axis1, T angle2, const Vec3T< T > &axis2, T angle3, const Vec3T< T > &axis3)
	Static method which constructs and returns a Quaternion from a rotation given as a concatenation of the three angle/axis rotations:

Protected Attributes
T	m_data [4]

Detailed Description

template<typename T>
class agx::QuatT< T >

The object holding quaternions and providing operations on these.

The quaternion class holds a representation of quaternion objects and provides simple arithmetic as well as conversion utilities. In addition, the class can compute the 3x4 matrices for converting angular velocities to quaternion velocities and vice versa. The class can also convert from and to a 3x3 orthonormal matrix.

The convention adopted for quaternions is that they map a moving frame to the fixed global reference.

Definition at line 56 of file QuatTemplate.h.

Member Typedef Documentation

◆ Type

template<typename T >

typedef T agx::QuatT< T >::Type

Definition at line 60 of file QuatTemplate.h.

Constructor & Destructor Documentation

◆ QuatT() [1/10]

template<typename T >

agx::QuatT< T >::QuatT

Default constructor. Create a Quaternion with an identity rotation.

Definition at line 408 of file QuatTemplate.h.

◆ QuatT() [2/10]

template<typename T >

agx::QuatT< T >::QuatT	(	T	x,
		T	y,
		T	z,
		T	w
	)

Create a Quaternion with the specified scalar values.

Definition at line 417 of file QuatTemplate.h.

◆ QuatT() [3/10]

template<typename T >

agx::QuatT< T >::QuatT ( const Vec4T< T > & v )

explicit

Create a Quaternion based on the 4D vector (x,y,z,w)

Definition at line 426 of file QuatTemplate.h.

References agx::Vec4T< T >::w(), agx::Vec4T< T >::x(), agx::Vec4T< T >::y(), and agx::Vec4T< T >::z().

◆ QuatT() [4/10]

template<typename T >

agx::QuatT< T >::QuatT	(	T	angle,
		const Vec3T< T > &	axis
	)

Create a Quaternion calculated from a rotation of angle radians around the rotation axis axis.

Definition at line 435 of file QuatTemplate.h.

◆ QuatT() [5/10]

template<typename T >

agx::QuatT< T >::QuatT	(	T	angle1,
		const Vec3T< T > &	axis1,
		T	angle2,
		const Vec3T< T > &	axis2,
		T	angle3,
		const Vec3T< T > &	axis3
	)

Create a Quaternion based on the concatenation between the three specified angle and axis.

Definition at line 441 of file QuatTemplate.h.

◆ QuatT() [6/10]

template<typename T >

agx::QuatT< T >::QuatT	(	const Vec3T< T > &	from,
		const Vec3T< T > &	to
	)

Create a Quaternion which maps the rotation from vector from to the vector to.

Definition at line 449 of file QuatTemplate.h.

◆ QuatT() [7/10]

template<typename T >

agx::QuatT< T >::QuatT ( const EulerAngles & euler )

explicit

Create a Quaternion based on the rotation from euler specified as a EulerAngle.

◆ QuatT() [8/10]

template<typename T >

agx::QuatT< T >::QuatT ( const QuatT< T > & copy )

default

Copy constructor.

◆ QuatT() [9/10]

template<typename T >

template<typename T2 >

agx::QuatT< T >::QuatT ( const QuatT< T2 > & copy )

explicit

Copy constructor for other types.

Definition at line 457 of file QuatTemplate.h.

◆ QuatT() [10/10]

template<typename T >

agx::QuatT< T >::QuatT ( const AffineMatrix4x4T< T > & matrix )

explicit

Create a Quaternion based on the rotation part in the specified Affine 4x4 transformation matrix.

Definition at line 466 of file QuatTemplate.h.

Member Function Documentation

◆ asVec3()

template<typename T >

Vec3T< T > agx::QuatT< T >::asVec3

Returns: the vector part (x,y,z) as a Vec3T<T>

Definition at line 501 of file QuatTemplate.h.

◆ asVec4()

template<typename T >

Vec4T< T > agx::QuatT< T >::asVec4

Returns: the elements in the Quaternion as a Vec4

Definition at line 495 of file QuatTemplate.h.

◆ conj()

template<typename T >

QuatT< T > agx::QuatT< T >::conj

Returns: the conjugate

Definition at line 730 of file QuatTemplate.h.

◆ get() [1/4]

template<typename T >

void agx::QuatT< T >::get ( AffineMatrix4x4T< T > & matrix ) const

Set the Rotational part of matrix from this quaternion.

Parameters

matrix - reference to the matrix where the result will be written.

◆ get() [2/4]

template<typename T >

void agx::QuatT< T >::get ( EulerAngles & euler ) const

Convert this quaternion to an EulerAngles representation.

param euler - reference to where the result will be written.

◆ get() [3/4]

template<typename T >

void agx::QuatT< T >::get ( OrthoMatrix3x3 & matrix ) const

Set an OrthoMatrix3x3 to represent the same rotation as the quaternion.

Parameters

matrix - reference to the matrix where the result will be written.

◆ get() [4/4]

template<typename T >

void agx::QuatT< T >::get	(	T &	angle,
		agx::Vec3T< T > &	axis
	)		const

Convert a Quaternion to an axis and angle representation.

Parameters

axis	- reference to which the axis will be written
angle	- reference to the real value where the angle will be written

◆ getAngle()

template<typename T >

agx::Real agx::QuatT< T >::getAngle ( ) const

Get the rotation angle represented by the quaternion.

◆ getAsEulerAngles()

template<typename T >

Vec3T< T > agx::QuatT< T >::getAsEulerAngles ( agx::EulerConvention::Convention convention = agx::EulerConvention::Convention::DEFAULT_CONVENTION ) const

Convert to Euler anglers.

and retrieve as a Vec3 with the angles stored.

Parameters

convention - The specified convention for EulerAngles

◆ getRotate() [1/2]

template<typename T >

void agx::QuatT< T >::getRotate	(	T &	angle,
		T &	x,
		T &	y,
		T &	z
	)		const

Get the angle and vector components represented by the quaternion.

Referenced by agx::RigidBody::getCmRotation(), agx::RigidBody::getRotation(), and agxCollide::Geometry::getRotation().

◆ getRotate() [2/2]

template<typename T >

void agx::QuatT< T >::getRotate	(	T &	angle,
		Vec3T< T > &	vec
	)		const

Get the angle and vector represented by the quaternion.

◆ getUnitVector()

template<typename T >

agx::Vec3T< T > agx::QuatT< T >::getUnitVector ( ) const

Get the rotation unit vector represented by the quaternion.

◆ inverse()

template<typename T >

QuatT< T > agx::QuatT< T >::inverse

Multiplicative inverse method: q^(-1) = q^*‍/(q.q^*)

Definition at line 736 of file QuatTemplate.h.

Referenced by agx::QuatT< T >::operator/(), and agx::QuatT< T >::operator/=().

◆ leftMult()

template<typename T >

const QuatT< T > agx::QuatT< T >::leftMult ( const QuatT< T > & rhs ) const

Binary left multiplication: q = p * rhs; results in the OTHER WAY AROUND: q = rhs quatmultiply p;.

Definition at line 634 of file QuatTemplate.h.

◆ length()

template<typename T >

T agx::QuatT< T >::length

Returns: the length of the quaternion = sqrt( vec . vec )

Definition at line 718 of file QuatTemplate.h.

◆ length2()

template<typename T >

T agx::QuatT< T >::length2

Returns: the squared length of the quaternion = vec . vec

Definition at line 724 of file QuatTemplate.h.

◆ normalize()

template<typename T >

T agx::QuatT< T >::normalize

Normalize the quat so that it has unit length.

Returns the previous length of the quat.

Definition at line 789 of file QuatTemplate.h.

◆ operator!=()

template<typename T >

bool agx::QuatT< T >::operator!= ( const QuatT< T > & v ) const

Returns: true if v is not identical to this quaternion

Definition at line 489 of file QuatTemplate.h.

References agx::QuatT< T >::m_data.

◆ operator*() [1/3]

template<typename T >

const QuatT< T > agx::QuatT< T >::operator* ( const QuatT< T > & rhs ) const

Binary LEFT multiply: result is q = rhs quatmultiply this, even though the notation is q = this * rhs ;.

Definition at line 610 of file QuatTemplate.h.

References agx::QuatT< T >::m_data.

◆ operator*() [2/3]

template<typename T >

Vec3T< T > agx::QuatT< T >::operator* ( const Vec3T< T > & v ) const

inline

Rotate a vector by this quaternion.

Definition at line 776 of file QuatTemplate.h.

◆ operator*() [3/3]

template<typename T >

const QuatT< T > agx::QuatT< T >::operator* ( T rhs ) const

Multiply by scalar rhs.

Definition at line 594 of file QuatTemplate.h.

◆ operator*=() [1/2]

template<typename T >

QuatT< T > & agx::QuatT< T >::operator*= ( const QuatT< T > & rhs )

Unary LEFT multiply: result is this = rhs quatmultiply this, which makes sense since the notation suggests this = rhs * this ;.

Definition at line 619 of file QuatTemplate.h.

References agx::QuatT< T >::m_data.

◆ operator*=() [2/2]

template<typename T >

QuatT< T > & agx::QuatT< T >::operator*= ( T rhs )

Unary multiply by scalar rhs.

Definition at line 600 of file QuatTemplate.h.

◆ operator+()

template<typename T >

const QuatT< T > agx::QuatT< T >::operator+ ( const QuatT< T > & rhs ) const

Binary addition.

Definition at line 678 of file QuatTemplate.h.

References agx::QuatT< T >::m_data.

◆ operator+=()

template<typename T >

QuatT< T > & agx::QuatT< T >::operator+= ( const QuatT< T > & rhs )

Unary addition.

Definition at line 685 of file QuatTemplate.h.

References agx::QuatT< T >::m_data.

◆ operator-() [1/2]

template<typename T >

const QuatT< T > agx::QuatT< T >::operator-

Negation operator - returns the negative of the quaternion.

Basically just calls operator - () on the Vec4

Definition at line 712 of file QuatTemplate.h.

◆ operator-() [2/2]

template<typename T >

const QuatT< T > agx::QuatT< T >::operator- ( const QuatT< T > & rhs ) const

Binary subtraction.

Definition at line 695 of file QuatTemplate.h.

References agx::QuatT< T >::m_data.

◆ operator-=()

template<typename T >

QuatT< T > & agx::QuatT< T >::operator-= ( const QuatT< T > & rhs )

Unary subtraction.

Definition at line 702 of file QuatTemplate.h.

References agx::QuatT< T >::m_data.

◆ operator/() [1/2]

template<typename T >

const QuatT< T > agx::QuatT< T >::operator/ ( const QuatT< T > & denom ) const

Binary divide.

Definition at line 665 of file QuatTemplate.h.

References agx::QuatT< T >::inverse().

◆ operator/() [2/2]

template<typename T >

QuatT< T > agx::QuatT< T >::operator/ ( T rhs ) const

Divide by scalar rhs.

Definition at line 647 of file QuatTemplate.h.

◆ operator/=() [1/2]

template<typename T >

QuatT< T > & agx::QuatT< T >::operator/= ( const QuatT< T > & denom )

Unary divide.

Definition at line 671 of file QuatTemplate.h.

References agx::QuatT< T >::inverse().

◆ operator/=() [2/2]

template<typename T >

QuatT< T > & agx::QuatT< T >::operator/= ( T rhs )

Unary divide by scalar rhs.

Definition at line 654 of file QuatTemplate.h.

◆ operator=()

template<typename T >

QuatT< T > & agx::QuatT< T >::operator= ( const QuatT< T > & v )

Assignment operator.

Definition at line 473 of file QuatTemplate.h.

References agx::QuatT< T >::m_data.

◆ operator==()

template<typename T >

bool agx::QuatT< T >::operator== ( const QuatT< T > & v ) const

Test for equality.

Returns: true if this Quaternion is identical (using == operator) to v

Definition at line 483 of file QuatTemplate.h.

References agx::QuatT< T >::m_data.

◆ operator[]() [1/2]

template<typename T >

T & agx::QuatT< T >::operator[] ( size_t i )

Returns: a reference to the i:th element of the quaternion in the order x,y,z,w

Definition at line 525 of file QuatTemplate.h.

References agxAssert.

◆ operator[]() [2/2]

template<typename T >

T agx::QuatT< T >::operator[] ( size_t i ) const

Returns: the value of the i:th element of the quaternion in the order x,y,z,w

Definition at line 532 of file QuatTemplate.h.

References agxAssert.

◆ ptr() [1/2]

template<typename T >

T * agx::QuatT< T >::ptr

Returns: a pointer to the data

Definition at line 804 of file QuatTemplate.h.

◆ ptr() [2/2]

template<typename T >

const T * agx::QuatT< T >::ptr

Returns: a const pointer to the data

Definition at line 810 of file QuatTemplate.h.

◆ rightMult()

template<typename T >

const QuatT< T > agx::QuatT< T >::rightMult ( const QuatT< T > & rhs ) const

Binary RIGHT multiplication: q = p * rhs ; results in q = p quatmultiply rhs ;.

Definition at line 640 of file QuatTemplate.h.

◆ rotate() [1/4]

template<typename T >

QuatT< T > agx::QuatT< T >::rotate	(	const Vec3T< T > &	from,
		const Vec3T< T > &	to
	)

static

Static method which constructs and returns a Quaternion from rotating vector from to vector to.

Definition at line 767 of file QuatTemplate.h.

References agx::QuatT< T >::setRotate().

◆ rotate() [2/4]

template<typename T >

QuatT< T > agx::QuatT< T >::rotate	(	T	angle,
		const Vec3T< T > &	vec
	)

static

Static method which constructs and returns a Quaternion from a rotation given as angle radians around the vector vec.

Definition at line 749 of file QuatTemplate.h.

References agx::QuatT< T >::setRotate().

◆ rotate() [3/4]

template<typename T >

QuatT< T > agx::QuatT< T >::rotate	(	T	angle,
		T	x,
		T	y,
		T	z
	)

static

Static method which constructs and returns a Quaternion from a rotation given as angle radians around the vector (x, y, z)

Definition at line 743 of file QuatTemplate.h.

◆ rotate() [4/4]

template<typename T >

QuatT< T > agx::QuatT< T >::rotate	(	T	angle1,
		const Vec3T< T > &	axis1,
		T	angle2,
		const Vec3T< T > &	axis2,
		T	angle3,
		const Vec3T< T > &	axis3
	)

static

Static method which constructs and returns a Quaternion from a rotation given as a concatenation of the three angle/axis rotations:

this = q1*q2*q3

Definition at line 757 of file QuatTemplate.h.

References agx::QuatT< T >::setRotate().

◆ set() [1/5]

template<typename T >

QuatT< T > & agx::QuatT< T >::set ( const AffineMatrix4x4T< T > & matrix )

Set this quaternion with the rotational part of matrix.

Returns: a reference to this updated quaternion.

◆ set() [2/5]

template<typename T >

QuatT< T > & agx::QuatT< T >::set ( const EulerAngles & euler )

Set this quaternion with the rotation described by the EulerAngles representation.

Returns: reference to this updated quaternion.

◆ set() [3/5]

template<typename T >

QuatT< T > & agx::QuatT< T >::set ( const OrthoMatrix3x3 & matrix )

Set this quaternion with the rotation described by a OrthoMatrix3x3.

Returns: a reference to this updated quaternion.

◆ set() [4/5]

template<typename T >

void agx::QuatT< T >::set ( const Vec4T< T > & v )

Set the four elements of the quaternion as an Vec4.

Definition at line 516 of file QuatTemplate.h.

References agx::Vec4T< T >::w(), agx::Vec4T< T >::x(), agx::Vec4T< T >::y(), and agx::Vec4T< T >::z().

◆ set() [5/5]

template<typename T >

void agx::QuatT< T >::set	(	T	x,
		T	y,
		T	z,
		T	w
	)

Set the 4 elements of the quaternion as 4 scalars.

Definition at line 507 of file QuatTemplate.h.

◆ setRotate() [1/4]

template<typename T >

void agx::QuatT< T >::setRotate	(	const Vec3T< T > &	from,
		const Vec3T< T > &	to
	)

Make a rotation QuatT<T> which will rotate from to to Generally take a dot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases when the vectors are co-incident or opposite in direction.

◆ setRotate() [2/4]

template<typename T >

void agx::QuatT< T >::setRotate	(	T	angle,
		const Vec3T< T > &	vec
	)

Set the rotation of this Quaternion as a rotation angle radians around the vector vec.

◆ setRotate() [3/4]

template<typename T >

void agx::QuatT< T >::setRotate	(	T	angle,
		T	x,
		T	y,
		T	z
	)

Set the rotation of the Quaternion as a rotation angle radians around the vector (x, y, z)

Referenced by agx::QuatT< T >::rotate(), agx::AffineMatrix4x4T< T >::setRotate(), and agx::Matrix4x4T< T >::setRotate().

◆ setRotate() [4/4]

template<typename T >

void agx::QuatT< T >::setRotate	(	T	angle1,
		const Vec3T< T > &	axis1,
		T	angle2,
		const Vec3T< T > &	axis2,
		T	angle3,
		const Vec3T< T > &	axis3
	)

Set the rotation of this Quaternion as a concatenation of the three angle/axis rotations:

this = q1*q2*q3

◆ slerp()

template<typename T >

void agx::QuatT< T >::slerp	(	T	t,
		const QuatT< T > &	from,
		const QuatT< T > &	to
	)

Spherical Linear Interpolation.

As t goes from 0 to 1, the QuatT<T> object goes from from to to.

◆ w() [1/2]

template<typename T >

T & agx::QuatT< T >::w

Returns: a reference to the scalar (last) element of the quaternion.

Definition at line 557 of file QuatTemplate.h.

◆ w() [2/2]

template<typename T >

T agx::QuatT< T >::w

Returns: the value of the scalar (last) element of the quaternion.

Definition at line 581 of file QuatTemplate.h.

◆ x() [1/2]

template<typename T >

T & agx::QuatT< T >::x

Returns: a reference to the first element of the vector part of the quaternion.

Definition at line 539 of file QuatTemplate.h.

◆ x() [2/2]

template<typename T >

T agx::QuatT< T >::x

Returns: the value of the first element of the vector part of the quaternion.

Definition at line 563 of file QuatTemplate.h.

◆ y() [1/2]

template<typename T >

T & agx::QuatT< T >::y

Returns: a reference to the second element of the vector part of the quaternion.

Definition at line 545 of file QuatTemplate.h.

◆ y() [2/2]

template<typename T >

T agx::QuatT< T >::y

Returns: the value of the second element of the vector part of the quaternion.

Definition at line 569 of file QuatTemplate.h.

◆ z() [1/2]

template<typename T >

T & agx::QuatT< T >::z

Returns: a reference to the third element of the vector part of the quaternion.

Definition at line 551 of file QuatTemplate.h.

◆ z() [2/2]

template<typename T >

T agx::QuatT< T >::z

Returns: the value of the third element of the vector part of the quaternion.

Definition at line 575 of file QuatTemplate.h.

◆ zeroRotation()

template<typename T >

bool agx::QuatT< T >::zeroRotation

inline

Returns: true if the QuatT<T> represents a zero rotation, and therefore can be ignored in computations.

Definition at line 587 of file QuatTemplate.h.

Member Data Documentation

◆ m_data

template<typename T >

T agx::QuatT< T >::m_data[4]

protected

Definition at line 402 of file QuatTemplate.h.

Referenced by agx::QuatT< T >::operator!=(), agx::QuatT< T >::operator*(), agx::QuatT< T >::operator*=(), agx::QuatT< T >::operator+(), agx::QuatT< T >::operator+=(), agx::QuatT< T >::operator-(), agx::QuatT< T >::operator-=(), agx::QuatT< T >::operator=(), and agx::QuatT< T >::operator==().

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

QuatTemplate.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Type

Constructor & Destructor Documentation

◆ QuatT() [1/10]

◆ QuatT() [2/10]

◆ QuatT() [3/10]

◆ QuatT() [4/10]

◆ QuatT() [5/10]

◆ QuatT() [6/10]

◆ QuatT() [7/10]

◆ QuatT() [8/10]

◆ QuatT() [9/10]

◆ QuatT() [10/10]

Member Function Documentation

◆ asVec3()

◆ asVec4()

◆ conj()

◆ get() [1/4]

◆ get() [2/4]

◆ get() [3/4]

◆ get() [4/4]

◆ getAngle()

◆ getAsEulerAngles()

◆ getRotate() [1/2]

◆ getRotate() [2/2]

◆ getUnitVector()

◆ inverse()

◆ leftMult()

◆ length()

◆ length2()

◆ normalize()

◆ operator!=()

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator/=() [1/2]

◆ operator/=() [2/2]

◆ operator=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ ptr() [1/2]

◆ ptr() [2/2]

◆ rightMult()

◆ rotate() [1/4]

◆ rotate() [2/4]

◆ rotate() [3/4]

◆ rotate() [4/4]

◆ set() [1/5]

◆ set() [2/5]

◆ set() [3/5]

◆ set() [4/5]

◆ set() [5/5]

◆ setRotate() [1/4]

◆ setRotate() [2/4]

◆ setRotate() [3/4]

◆ setRotate() [4/4]

◆ slerp()

◆ w() [1/2]

◆ w() [2/2]

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ z() [1/2]

◆ z() [2/2]