Quaternion_< T > Class Template Reference

Detailed Description

template<class T>
class asl::Quaternion_< T >

A Quaternion representing an orientation or rotation in 3D space.

#include <Quaternion.h>

Public Member Functions
	Quaternion_ (T w, T x, T y, T z)
	Creates a quaternion from its 4 elements.
	Quaternion_ (T w, const Vec3_< T > &v)
	Creates a quaternion from a scalar and a vector.
T	angle () const
	Returns the angle rotated by this quaternion.
Vec3_< T >	axis () const
	Returns the normalized axis of rotation of this quaternion.
Vec3_< T >	axisAngle () const
	Returns the axis-angle representation of the rotation equivalent to this quaternion (a vector aligned with the rotation axis and with length equal to the rotation angle)
Matrix4_< T >	matrix () const
	Returns a transform matrix equivalent to the rotation of this quaternion.
Quaternion_	operator- () const
	Returns this quaternion negated.
Quaternion_	conj () const
	Returns the conjugate of this quaternion.
Quaternion_	operator* (T t) const
	Returns this quaternion multiplied by a scalar.
Quaternion_	operator/ (T t) const
	Returns this quaternion divided by a scalar.
T	length () const
	Returns the length (norm) of this quaternion.
T	length2 () const
	Returns the length (norm) of this quaternion squared.
Quaternion_	inverse () const
	Returns the inverse of this quaternion.
Vec3_< T >	operator* (const Vec3_< T > &v) const
	Returns the given vector rotated by this quaterion.
T	operator* (const Quaternion_ &q) const
	Returns the dot product of this quaternion and q.
Quaternion_	operator^ (const Quaternion_ &q) const
	Returns the product of this quaternion and q, representing the rotation q followed by this rotation.
Quaternion_	slerp (const Quaternion_ &q, T t) const
	Returns an interpolated quaternion between this and b at the given interpolation factor t in [0..1].

Static Public Member Functions
static Quaternion_	fromAxisAngle (const Vec3_< T > &axis, T angle)
	Creates a quaternion representing a rotation of angle angle around axis axis
static Quaternion_	fromAxisAngleU (const Vec3_< T > &axis, T angle)
	Creates a quaternion representing a rotation of angle angle around axis axis of length one
static Quaternion_	fromAxisAngle (const Vec3_< T > &v)
	Creates a quaternion from a rotation vector (aligned with the rotation axis and with length equal to the rotation angle)

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

• Matrix4.h
• Quaternion.h