OpenVDB
12.0.0
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#include <openvdb/math/Mat.h>
Public Types | |
using | value_type = T |
using | ValueType = T |
Public Member Functions | |
Quat ()=default | |
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 (this*q), e.g. q = q1 * q2;. More... | |
Quat | operator*= (const Quat &q) |
Assigns this to (this*q), e.g. q *= q1;. More... | |
Quat | operator* (T scalar) const |
Return (this*scalar), 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) |
using value_type = T |
using ValueType = T |
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default |
Trivial constructor, the quaternion is NOT initialized
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Constructor with four arguments, e.g. Quatf q(1,2,3,4);.
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Constructor with array argument, e.g. float a[4]; Quatf q(a);.
Constructor given rotation as axis and angle, the axis must be unit vector
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Constructor given rotation as axis and angle.
this = q1 + q2 "this", q1 and q2 need not be distinct objects, e.g. q.add(q1,q);
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Return angle of rotation.
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Return axis of rotation.
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Return the conjugate of "this", same as invert without unit quaternion test
Return the quaternion rate corrsponding to the angular velocity omega and "this" current rotation
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Dot product.
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Test if "this" is equivalent to q with tolerance of eps value.
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Returns vector of x,y,z rotational components.
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inlinestatic |
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"this" quaternion gets initialized to [x, y, z, w]
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"this" quaternion gets initialized to identity, same as setIdentity()
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returns inverse of this
this = q1 * q2 q1 and q2 must be distinct objects than "this", e.g. q.mult(q1,q2);
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this = normalized this
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inlinestatic |
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Cast to T*.
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Alternative indexed reference to the elements.
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Alternative indexed constant reference to the elements,.
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Return (this*scalar), e.g. q = q1 * scalar;.
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Scale "this" quaternion by scalar, e.g. q *= scalar;.
Add quaternion q to "this" quaternion, e.g. q += q1;.
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Negation operator, e.g. q = -q;.
Subtract quaternion q from "this" quaternion, e.g. q -= q1;.
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Return (this/scalar), e.g. q = q1 / scalar;.
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Equality operator, does exact floating point comparisons.
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Array style reference to the components, e.g. q[3] = 1.34f;.
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Array style constant reference to the components, e.g. float f = q[1];.
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Return rotated vector by "this" quaternion.
this = scalar*q, q need not be distinct object than "this", e.g. q.scale(1.5,q1);
Set "this" quaternion to rotation specified by axis and angle, the axis must be unit vector
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Set "this" vector to identity.
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Set "this" vector to zero.
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this = q1 - q2 "this", q1 and q2 need not be distinct objects, e.g. q.sub(q1,q);
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this = normalized this
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Reference to the component, e.g. q.x() = 4.5f;.
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Get the component, e.g. float f = q.w();.
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inlinestatic |
Predefined constants, e.g. Quat q = Quat::identity();.
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friend |
Output to the stream, e.g. std::cout << q << std::endl;.
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