U4DEngine::U4DQuaternion Class Reference

The U4DQuaternion class is responsible for implementing Quaternion operations in the engine. These operations include: Quaternion addition, subtraction, multiplication, normalization, etc. More...

Public Member Functions
	U4DQuaternion ()
	Default Constructor which creates a Real Quaternion. That is, it creates a quaternion with a scalar equal to 1.0 and a zero vector.
	U4DQuaternion (float uS, U4DVector3n &uV)
	Quaternion constructor which creates a quaternion with given scalar and vector component.
	~U4DQuaternion ()
	Default quaternion destructor.
	U4DQuaternion (const U4DQuaternion &value)
	Quaternion Copy Constructor. More...
U4DQuaternion &	operator= (const U4DQuaternion &value)
	Quaternion Copy Constructor. More...
void	operator+= (const U4DQuaternion &q)
	Method which adds two quaternions. More...
U4DQuaternion	operator+ (const U4DQuaternion &q) const
	Method which adds two quaternions. More...
void	operator-= (const U4DQuaternion &q)
	Method which subtracts two quaternions. More...
U4DQuaternion	operator- (const U4DQuaternion &q) const
	Method which subtracts two quaternions. More...
void	operator*= (const U4DQuaternion &q)
	Method which multiplies two quaternions. More...
U4DQuaternion	operator* (const U4DQuaternion &q) const
	Method which multiplies two quaternions. More...
U4DQuaternion	multiply (const U4DQuaternion &q) const
	Method which multiplies two quaternions. More...
U4DQuaternion	operator* (const U4DVector3n &uValue) const
	Method which multiplies a quaternion times a 3D vector. More...
float	dot (U4DQuaternion &q)
	Method which computes the dot product between two quaternions. More...
void	operator*= (const float value)
	Method which computes the multiplication between a quaternion and scalar. More...
U4DQuaternion	operator* (const float value) const
	Method which computes the multiplication between a quaternion and scalar. More...
float	norm ()
	Method which computes the norm of the quaternion. More...
void	normalize ()
	Method which normalizes the quaternion.
U4DQuaternion	conjugate ()
	Method which computes the conjugate of the quaternion. More...
U4DQuaternion	inverse ()
	Method which computes the inverse of the quaternion. More...
void	inverse (U4DQuaternion &q)
	Method which computes the inverse of the quaternion. More...
void	convertToUnitNormQuaternion ()
	Method which converts the quaternion into a Unit-Norm quaternion.
U4DMatrix3n	transformQuaternionToMatrix3n ()
	Method that computes the 3x3 matrix representation of the quaternion. More...
void	transformEulerAnglesToQuaternion (float x, float y, float z)
	Method that computes a quaternion representation from an Euler angle. More...
U4DVector3n	transformQuaternionToEulerAngles ()
	Method which computes a quaternion to its Euler angle representation. More...
void	transformMatrix3nToQuaternion (U4DMatrix3n &uMatrix)
	Method that computes a quaternion from its 3x3 matrix representation. More...
U4DQuaternion	slerp (U4DQuaternion &q, float time)
	Method that computes the slerp of a quaternion. More...
void	show ()
	Method which prints the quaternion components to the window console log.

Public Attributes
float	s
	Scalar component of quaternion.
U4DVector3n	v
	Vector component of quaternion.

Detailed Description

The U4DQuaternion class is responsible for implementing Quaternion operations in the engine. These operations include: Quaternion addition, subtraction, multiplication, normalization, etc.

Constructor & Destructor Documentation

U4DQuaternion()

U4DEngine::U4DQuaternion::U4DQuaternion

(

const U4DQuaternion &

value

)

Quaternion Copy Constructor.

Parameters

value

Quaternion to copy

Returns

returns a copy of the quaternion

Member Function Documentation

conjugate()

U4DQuaternion U4DEngine::U4DQuaternion::conjugate

(

)

Method which computes the conjugate of the quaternion.

Returns

Returns the conjugate of the quaternion

dot()

float U4DEngine::U4DQuaternion::dot

(

U4DQuaternion &

q

)

Method which computes the dot product between two quaternions.

Parameters

q	Quaternion to compute the dot product with

Returns

Returns the dot product between the quaternions

inverse() [1/2]

U4DQuaternion U4DEngine::U4DQuaternion::inverse

(

)

Method which computes the inverse of the quaternion.

Returns

Returns the inverse of the quaternion

inverse() [2/2]

void U4DEngine::U4DQuaternion::inverse

(

U4DQuaternion &

q

)

Method which computes the inverse of the quaternion.

Parameters

q	Quaternion to compute the inverse

multiply()

U4DQuaternion U4DEngine::U4DQuaternion::multiply

(

const U4DQuaternion &

q

)

const

Method which multiplies two quaternions.

Parameters

q	Quaternion to multiply

Returns

Returns the multiplication of two quaternions

norm()

float U4DEngine::U4DQuaternion::norm

(

)

Method which computes the norm of the quaternion.

Returns

Returns the norm of the quaternion

operator*() [1/3]

U4DQuaternion U4DEngine::U4DQuaternion::operator*

(

const float

value

)

const

Method which computes the multiplication between a quaternion and scalar.

Parameters

value

Scalar to multiply the quaternion

Returns

Returns the multiplication result between the scalar and quaternion

operator*() [2/3]

U4DQuaternion U4DEngine::U4DQuaternion::operator*

(

const U4DQuaternion &

q

)

const

Method which multiplies two quaternions.

Parameters

q	Quaternion to multiply

Returns

Returns the multiplication of two quaternions

operator*() [3/3]

U4DQuaternion U4DEngine::U4DQuaternion::operator*

(

const U4DVector3n &

uValue

)

const

Method which multiplies a quaternion times a 3D vector.

Parameters

uValue

3D vector to multiply

Returns

Returns the multiplication of the quaternion and vector

operator*=() [1/2]

void U4DEngine::U4DQuaternion::operator*=

(

const float

value

)

Method which computes the multiplication between a quaternion and scalar.

Parameters

value

Scalar to multiply the quaternion

Returns

Returns the multiplication result between the scalar and quaternion

operator*=() [2/2]

void U4DEngine::U4DQuaternion::operator*=

(

const U4DQuaternion &

q

)

Method which multiplies two quaternions.

Parameters

q	Quaternion to multiply

Returns

Returns the multiplication of two quaternions

operator+()

U4DQuaternion U4DEngine::U4DQuaternion::operator+

(

const U4DQuaternion &

q

)

const

Method which adds two quaternions.

Parameters

q	Quaternion to add

Returns

Returns the addition result of the two quaternions

operator+=()

void U4DEngine::U4DQuaternion::operator+=

(

const U4DQuaternion &

q

)

Method which adds two quaternions.

Parameters

q	Quaternion to add

Returns

Returns the addition result of the two quaternions

operator-()

U4DQuaternion U4DEngine::U4DQuaternion::operator-

(

const U4DQuaternion &

q

)

const

Method which subtracts two quaternions.

Parameters

q	Quaternion to subtract

Returns

Returns the subtraction difference of the two quaternions

operator-=()

void U4DEngine::U4DQuaternion::operator-=

(

const U4DQuaternion &

q

)

Method which subtracts two quaternions.

Parameters

q	Quaternion to subtract

Returns

Returns the subtraction difference of the two quaternions

operator=()

U4DQuaternion & U4DEngine::U4DQuaternion::operator=

(

const U4DQuaternion &

value

)

Quaternion Copy Constructor.

Parameters

value

Quaternion to copy

Returns

returns a copy of the quaternion

slerp()

U4DQuaternion U4DEngine::U4DQuaternion::slerp	(	U4DQuaternion &	q,
		float	time
	)

Method that computes the slerp of a quaternion.

Parameters

U4DQuaternion&q	Quaternion to compute the slerp
time	Time value

Returns

Returns the slerp of the quaternion

transformEulerAnglesToQuaternion()

void U4DEngine::U4DQuaternion::transformEulerAnglesToQuaternion	(	float	x,
		float	y,
		float	z
	)

Method that computes a quaternion representation from an Euler angle.

Parameters

x	The x component of the euler angle
y	The y component of the euler angle
z	The z component of the euler angle

transformMatrix3nToQuaternion()

void U4DEngine::U4DQuaternion::transformMatrix3nToQuaternion

(

U4DMatrix3n &

uMatrix

)

Method that computes a quaternion from its 3x3 matrix representation.

Parameters

uMatrix

3x3 matrix to convert

transformQuaternionToEulerAngles()

U4DVector3n U4DEngine::U4DQuaternion::transformQuaternionToEulerAngles

(

)

Method which computes a quaternion to its Euler angle representation.

Returns

Returns an Euler Angle representation of the quaternion

transformQuaternionToMatrix3n()

U4DMatrix3n U4DEngine::U4DQuaternion::transformQuaternionToMatrix3n

(

)

Method that computes the 3x3 matrix representation of the quaternion.

You need to convert the quaternion to a Unit Norm quaternion before using this method.

Returns

Returns a 3x3 matrix representation of the quaternion