Sirikata::Quaternion Class Reference

#include <Quaternion.hpp>

Inheritance diagram for Sirikata::Quaternion:

Collaboration diagram for Sirikata::Quaternion:

List of all members.

Classes
class	WXYZ
class	XYZW
Public Types
typedef float	scalar
Public Member Functions
	Quaternion ()
	Quaternion (scalar x, scalar y, scalar z, scalar w)
	Quaternion (scalar x, scalar y, scalar z, scalar w, XYZW convention)
	Quaternion (scalar w, scalar x, scalar y, scalar z, WXYZ convention)
	Quaternion (const Vector3< scalar > &axis, scalar angle)
	Quaternion (const Vector3< scalar > &xAxis, const Vector3< scalar > &yAxis, const Vector3< scalar > &zAxis)
	Quaternion (const Matrix3x3< Quaternion::scalar > &kRot)
void	toAngleAxis (scalar &returnAngleRadians, Vector3< scalar > &returnAxis) const
Quaternion	normal () const
Quaternion	operator+ (const Quaternion &other) const
Quaternion	operator- (const Quaternion &other) const
Quaternion	operator- () const
Quaternion	operator* (scalar other) const
Quaternion	operator/ (scalar other) const
Quaternion	operator* (const Quaternion &other) const
template<typename myscalar >
Vector3< myscalar >	operator* (const Vector3< myscalar > &other) const
Quaternion	inverse () const
Vector3< scalar >	xAxis () const
Vector3< scalar >	yAxis () const
Vector3< scalar >	zAxis () const
void	toAxes (Vector3< scalar > &xAxis, Vector3< scalar > &yAxis, Vector3< scalar > &zAxis) const
Quaternion	exp (float32 n) const
	Raise the quaternion to a power (i.e.
Static Public Member Functions
static Quaternion	identity ()
static Quaternion	zero ()
Private Member Functions
	Quaternion (const Vector4< scalar > &value)
Static Private Member Functions
static void	ToRotationMatrix (const Quaternion &q, Matrix3x3< Quaternion::scalar > kRot)
static void	FromRotationMatrix (Quaternion &q, const Matrix3x3< Quaternion::scalar > &kRot)
Friends
Quaternion	operator* (scalar, const Quaternion &)
Quaternion	operator/ (scalar, const Quaternion &)

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Member Typedef Documentation

typedef float Sirikata::Quaternion::scalar

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Constructor & Destructor Documentation

Sirikata::Quaternion::Quaternion

(

const Vector4< scalar > &

value

)

[inline, private]

Sirikata::Quaternion::Quaternion

(

)

[inline]

Referenced by exp(), inverse(), normal(), operator*(), operator+(), operator-(), operator/(), and zero().

Sirikata::Quaternion::Quaternion	(	scalar	x,
		scalar	y,
		scalar	z,
		scalar	w
	)		[inline]

Sirikata::Quaternion::Quaternion	(	scalar	x,
		scalar	y,
		scalar	z,
		scalar	w,
		XYZW	convention
	)		[inline]

Sirikata::Quaternion::Quaternion	(	scalar	w,
		scalar	x,
		scalar	y,
		scalar	z,
		WXYZ	convention
	)		[inline]

Sirikata::Quaternion::Quaternion	(	const Vector3< scalar > &	axis,
		scalar	angle
	)		[inline]

References Sirikata::Vector4< float >::w, Sirikata::Vector3< scalar >::x, Sirikata::Vector4< float >::x, Sirikata::Vector3< scalar >::y, Sirikata::Vector4< float >::y, Sirikata::Vector3< scalar >::z, and Sirikata::Vector4< float >::z.

Sirikata::Quaternion::Quaternion	(	const Vector3< scalar > &	xAxis,
		const Vector3< scalar > &	yAxis,
		const Vector3< scalar > &	zAxis
	)		[inline]

References FromRotationMatrix().

Sirikata::Quaternion::Quaternion

(

const Matrix3x3< Quaternion::scalar > &

kRot

)

[inline]

References FromRotationMatrix().

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Member Function Documentation

Quaternion Sirikata::Quaternion::exp

(

float32

n

)

const [inline]

Raise the quaternion to a power (i.e.

apply the rotation n times).

Parameters:

n	the exponent

References Quaternion(), and toAngleAxis().

Referenced by Sirikata::MotionQuaternion::extrapolatePosition().

static void Sirikata::Quaternion::FromRotationMatrix	(	Quaternion &	q,
		const Matrix3x3< Quaternion::scalar > &	kRot
	)		[inline, static, private]

References Sirikata::Vector4< scalar >::w, Sirikata::Vector4< scalar >::x, Sirikata::Vector4< scalar >::y, and Sirikata::Vector4< scalar >::z.

Referenced by Quaternion().

static Quaternion Sirikata::Quaternion::identity

(

)

[inline, static]

References Sirikata::Vector4< scalar >::w, Sirikata::Vector4< scalar >::x, Sirikata::Vector4< scalar >::y, and Sirikata::Vector4< scalar >::z.

Referenced by Sirikata::JS::JSPositionListener::getOrientation(), Sirikata::JS::JSPositionListener::getOrientationVelocity(), Sirikata::ProxyObject::isStatic(), Sirikata::LocalPintoServerQuerier::notifyLocUpdate(), Sirikata::LocalPintoServerQuerier::notifyResult(), Sirikata::ManualPintoManager::queryHasEvents(), and Sirikata::BulletPhysicsService::updateObjectFromDeactivation().

Quaternion Sirikata::Quaternion::inverse

(

)

const [inline]

References Sirikata::Vector4< float >::lengthSquared(), Quaternion(), Sirikata::Vector4< float >::w, Sirikata::Vector4< float >::x, Sirikata::Vector4< float >::y, Sirikata::Vector4< float >::z, and zero().

Referenced by Sirikata::Location::changeToLocal(), and Sirikata::Transform::toLocal().

Quaternion Sirikata::Quaternion::normal

(

)

const [inline]

Reimplemented from Sirikata::Vector4< float >.

References Quaternion().

Referenced by Sirikata::Transform::Error::Error(), Sirikata::MotionQuaternion::extrapolatePosition(), Sirikata::AggregateManager::generateAggregateMeshAsync(), Sirikata::Graphics::Skybox::materialLoadFinished(), Sirikata::HostedObject::objectHostConnect(), and Sirikata::JS::JSPresence::setOrientation().

Quaternion Sirikata::Quaternion::operator*

(

scalar

other

)

const [inline]

Reimplemented from Sirikata::Vector4< float >.

References Quaternion().

Quaternion Sirikata::Quaternion::operator*

(

const Quaternion &

other

)

const [inline]

References Quaternion(), Sirikata::Vector4< scalar >::w, Sirikata::Vector4< float >::w, Sirikata::Vector4< scalar >::x, Sirikata::Vector4< float >::x, Sirikata::Vector4< scalar >::y, Sirikata::Vector4< float >::y, Sirikata::Vector4< scalar >::z, and Sirikata::Vector4< float >::z.

template<typename myscalar >

Vector3<myscalar> Sirikata::Quaternion::operator*

(

const Vector3< myscalar > &

other

)

const [inline]

References Sirikata::Vector3< scalar >::cross(), Sirikata::Vector4< float >::w, Sirikata::Vector4< float >::x, Sirikata::Vector4< float >::y, and Sirikata::Vector4< float >::z.

Quaternion Sirikata::Quaternion::operator+

(

const Quaternion &

other

)

const [inline]

References Quaternion().

Quaternion Sirikata::Quaternion::operator-

(

)

const [inline]

Reimplemented from Sirikata::Vector4< float >.

References Quaternion().

Quaternion Sirikata::Quaternion::operator-

(

const Quaternion &

other

)

const [inline]

References Quaternion().

Quaternion Sirikata::Quaternion::operator/

(

scalar

other

)

const [inline]

Reimplemented from Sirikata::Vector4< float >.

References Quaternion().

void Sirikata::Quaternion::toAngleAxis	(	scalar &	returnAngleRadians,
		Vector3< scalar > &	returnAxis
	)		const [inline]

References Sirikata::Vector4< float >::length(), Sirikata::Vector4< float >::w, Sirikata::Vector3< scalar >::x, Sirikata::Vector4< float >::x, Sirikata::Vector3< scalar >::y, Sirikata::Vector4< float >::y, Sirikata::Vector3< scalar >::z, and Sirikata::Vector4< float >::z.

Referenced by Sirikata::BulletRigidBodyObject::addRigidBody(), exp(), and Sirikata::JS::EmersonScript::restorePresence().

void Sirikata::Quaternion::toAxes	(	Vector3< scalar > &	xAxis,
		Vector3< scalar > &	yAxis,
		Vector3< scalar > &	zAxis
	)		const [inline]

References Sirikata::Matrix3x3< scalar >::getCol(), and ToRotationMatrix().

Referenced by Sirikata::ProxyObject::UpdateNeeded::operator()().

static void Sirikata::Quaternion::ToRotationMatrix	(	const Quaternion &	q,
		Matrix3x3< Quaternion::scalar >	kRot
	)		[inline, static, private]

References Sirikata::Vector4< scalar >::w, Sirikata::Vector4< scalar >::x, Sirikata::Vector4< scalar >::y, and Sirikata::Vector4< scalar >::z.

Referenced by toAxes().

Vector3<scalar> Sirikata::Quaternion::xAxis

(

)

const [inline]

References Sirikata::Vector4< float >::w, Sirikata::Vector4< float >::x, Sirikata::Vector4< float >::y, and Sirikata::Vector4< float >::z.

Referenced by Sirikata::Graphics::pixelToDirection(), and Sirikata::Matrix4x4< float32 >::rotate().

Vector3<scalar> Sirikata::Quaternion::yAxis

(

)

const [inline]

References Sirikata::Vector4< float >::w, Sirikata::Vector4< float >::x, Sirikata::Vector4< float >::y, and Sirikata::Vector4< float >::z.

Referenced by Sirikata::Graphics::pixelToDirection(), and Sirikata::Matrix4x4< float32 >::rotate().

Vector3<scalar> Sirikata::Quaternion::zAxis

(

)

const [inline]

References Sirikata::Vector4< float >::w, Sirikata::Vector4< float >::x, Sirikata::Vector4< float >::y, and Sirikata::Vector4< float >::z.

Referenced by Sirikata::Graphics::direction(), Sirikata::Graphics::pixelToDirection(), and Sirikata::Matrix4x4< float32 >::rotate().

static Quaternion Sirikata::Quaternion::zero

(

)

[inline, static]

Reimplemented from Sirikata::Vector4< float >.

References Quaternion().

Referenced by inverse().

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Friends And Related Function Documentation

Quaternion operator*	(	Quaternion::scalar	s,
		const Quaternion &	q
	)		[friend]

Quaternion operator/	(	Quaternion::scalar	s,
		const Quaternion &	q
	)		[friend]

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

• libcore/include/sirikata/core/util/Quaternion.hpp