JPL::Quat< Vec3 > Struct Template Reference

Minimal quaternion (w + xi + yj + zk) More...

#include <JPLSpatial/Math/MinimalQuat.h>

Public Types
using	Float = Internal::FloatOf< Vec3 >

Public Member Functions
bool	operator== (const Quat &rhs) const noexcept
	Check if two quaternions are exactly equal.
bool	operator!= (const Quat &rhs) const noexcept
JPL_INLINE Quat	Conjugated () const noexcept
JPL_INLINE Quat	Inversed () const noexcept
JPL_INLINE Vec3	Rotate (const Vec3 &vector) const noexcept
	Rotate a vector by this quaternion.
JPL_INLINE Float	LengthSquared () const noexcept
JPL_INLINE Float	Length () const noexcept
JPL_INLINE Quat	Normalized () const noexcept
JPL_INLINE bool	IsNormalized (Float tolerance=Float(1.0e-5)) const noexcept
JPL_INLINE Float	GetRotationAngle (const Vec3 &axis) const noexcept
	Get rotation angle around axis.
Basis< Vec3 >	ToBasis () const noexcept
	Convert to an orthonormal Basis3 (column-major)

Static Public Member Functions
static JPL_INLINE Quat	Identity () noexcept
static JPL_INLINE Quat	Rotation (const Vec3 &axis, Float angleRad) noexcept
static Quat	FromTo (const Vec3 &from, const Vec3 &to) noexcept
static Quat	FromBasis (const Basis< Vec3 > &basis) noexcept
	Construct quaternian from basis columns X, Y, Z.
static JPL_INLINE Quat	FromUpAndForward (const Vec3 &up, const Vec3 &forward) noexcept
static JPL_INLINE Quat	LookAt (const Vec3 &direction, const Vec3 &up) noexcept
static JPL_INLINE Quat	MakeSlerp (const Vec3 &from, const Vec3 &to, Float t) noexcept
	Create quaternian to slerp direction vector based on 'from' and 'to'.

Public Attributes
Vec3	V
Float	W

Friends
JPL_INLINE friend Quat	operator* (const Quat &a, const Quat &b) noexcept
	Quaternion multiplication (rotation composition)

Detailed Description

template<CVec3 Vec3>
struct JPL::Quat< Vec3 >

Minimal quaternion (w + xi + yj + zk)

Member Typedef Documentation

Float

template<CVec3 Vec3>

using JPL::Quat< Vec3 >::Float = Internal::FloatOf<Vec3>

Member Function Documentation

Conjugated()

template<CVec3 Vec3>

JPL_INLINE Quat JPL::Quat< Vec3 >::Conjugated ( ) const

inlinenoexcept

FromBasis()

template<CVec3 Vec3>

static Quat JPL::Quat< Vec3 >::FromBasis ( const Basis< Vec3 > &  basis )

inlinestaticnoexcept

Construct quaternian from basis columns X, Y, Z.

FromTo()

template<CVec3 Vec3>

static Quat JPL::Quat< Vec3 >::FromTo ( const Vec3 &  from, const Vec3 &  to  )

inlinestaticnoexcept

Find quaternian rotation between two unit vectors Input vectors must be normalized

FromUpAndForward()

template<CVec3 Vec3>

static JPL_INLINE Quat JPL::Quat< Vec3 >::FromUpAndForward ( const Vec3 &  up, const Vec3 &  forward  )

inlinestaticnoexcept

Construct rotation quaternion from up and forward axis Input parameters must be normalized.

GetRotationAngle()

template<CVec3 Vec3>

JPL_INLINE Float JPL::Quat< Vec3 >::GetRotationAngle ( const Vec3 &  axis ) const

inlinenoexcept

Get rotation angle around axis.

Identity()

template<CVec3 Vec3>

static JPL_INLINE Quat JPL::Quat< Vec3 >::Identity ( )

inlinestaticnoexcept

Inversed()

template<CVec3 Vec3>

JPL_INLINE Quat JPL::Quat< Vec3 >::Inversed ( ) const

inlinenoexcept

IsNormalized()

template<CVec3 Vec3>

JPL_INLINE bool JPL::Quat< Vec3 >::IsNormalized ( Float  tolerance = Float(1.0e-5) ) const

inlinenoexcept

Length()

template<CVec3 Vec3>

JPL_INLINE Float JPL::Quat< Vec3 >::Length ( ) const

inlinenoexcept

LengthSquared()

template<CVec3 Vec3>

JPL_INLINE Float JPL::Quat< Vec3 >::LengthSquared ( ) const

inlinenoexcept

LookAt()

template<CVec3 Vec3>

static JPL_INLINE Quat JPL::Quat< Vec3 >::LookAt ( const Vec3 &  direction, const Vec3 &  up  )

inlinestaticnoexcept

MakeSlerp()

template<CVec3 Vec3>

static JPL_INLINE Quat JPL::Quat< Vec3 >::MakeSlerp ( const Vec3 &  from, const Vec3 &  to, Float  t  )

inlinestaticnoexcept

Create quaternian to slerp direction vector based on 'from' and 'to'.

Normalized()

template<CVec3 Vec3>

JPL_INLINE Quat JPL::Quat< Vec3 >::Normalized ( ) const

inlinenoexcept

operator!=()

template<CVec3 Vec3>

bool JPL::Quat< Vec3 >::operator!= ( const Quat< Vec3 > &  rhs ) const

inlinenoexcept

operator==()

template<CVec3 Vec3>

bool JPL::Quat< Vec3 >::operator== ( const Quat< Vec3 > &  rhs ) const

inlinenoexcept

Check if two quaternions are exactly equal.

Rotate()

template<CVec3 Vec3>

JPL_INLINE Vec3 JPL::Quat< Vec3 >::Rotate ( const Vec3 &  vector ) const

inlinenoexcept

Rotate a vector by this quaternion.

Rotation()

template<CVec3 Vec3>

static JPL_INLINE Quat JPL::Quat< Vec3 >::Rotation ( const Vec3 &  axis, Float  angleRad  )

inlinestaticnoexcept

Construct quaternion from the a rotation around the given axis.

Parameters

axis	: must be a normalized direction vector

ToBasis()

template<CVec3 Vec3>

Basis< Vec3 > JPL::Quat< Vec3 >::ToBasis ( ) const

inlinenoexcept

Convert to an orthonormal Basis3 (column-major)

Friends And Related Symbol Documentation

operator*

template<CVec3 Vec3>

JPL_INLINE friend Quat operator* ( const Quat< Vec3 > &  a, const Quat< Vec3 > &  b  )

friend

Quaternion multiplication (rotation composition)

Member Data Documentation

V

template<CVec3 Vec3>

Vec3 JPL::Quat< Vec3 >::V

W

template<CVec3 Vec3>

Float JPL::Quat< Vec3 >::W

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

• JPLSpatial/Math/MinimalQuat.h