Urho3D::Quaternion Class Reference

Rotation represented as a four-dimensional normalized vector. More...

#include <Urho3D/Math/Quaternion.h>

Public Member Functions
	Quaternion () noexcept
	Construct an identity quaternion.
	Quaternion (const Quaternion &quat) noexcept
	Copy-construct from another quaternion.
	Quaternion (float w, float x, float y, float z) noexcept
	Construct from values.
	Quaternion (const float data[]) noexcept
	Construct from a float array.
	Quaternion (float angle, const Vector3 &axis) noexcept
	Construct from an angle (in degrees) and axis.
	Quaternion (float angle) noexcept
	Construct from an angle (in degrees, for Urho2D).
	Quaternion (float x, float y, float z) noexcept
	Construct from Euler angles (in degrees). Equivalent to Y*X*Z.
	Quaternion (const Vector3 &angles) noexcept
	Construct from Euler angles (in degrees).
	Quaternion (const Vector3 &start, const Vector3 &end) noexcept
	Construct from the rotation difference between two direction vectors.
	Quaternion (const Vector3 &xAxis, const Vector3 &yAxis, const Vector3 &zAxis) noexcept
	Construct from orthonormal axes.
	Quaternion (const Matrix3 &matrix) noexcept
	Construct from a rotation matrix.
Quaternion &	operator= (const Quaternion &rhs) noexcept
	Assign from another quaternion.
Quaternion &	operator+= (const Quaternion &rhs)
	Add-assign a quaternion.
Quaternion &	operator*= (float rhs)
	Multiply-assign a scalar.
bool	operator== (const Quaternion &rhs) const
	Test for equality with another quaternion without epsilon.
bool	operator!= (const Quaternion &rhs) const
	Test for inequality with another quaternion without epsilon.
Quaternion	operator* (float rhs) const
	Multiply with a scalar.
Quaternion	operator- () const
	Return negation.
Quaternion	operator+ (const Quaternion &rhs) const
	Add a quaternion.
Quaternion	operator- (const Quaternion &rhs) const
	Subtract a quaternion.
Quaternion	operator* (const Quaternion &rhs) const
	Multiply a quaternion.
Vector3	operator* (const Vector3 &rhs) const
	Multiply a Vector3.
void	FromAngleAxis (float angle, const Vector3 &axis)
	Define from an angle (in degrees) and axis.
void	FromEulerAngles (float x, float y, float z)
	Define from Euler angles (in degrees). Equivalent to Y*X*Z.
void	FromRotationTo (const Vector3 &start, const Vector3 &end)
	Define from the rotation difference between two direction vectors.
void	FromAxes (const Vector3 &xAxis, const Vector3 &yAxis, const Vector3 &zAxis)
	Define from orthonormal axes.
void	FromRotationMatrix (const Matrix3 &matrix)
	Define from a rotation matrix.
bool	FromLookRotation (const Vector3 &direction, const Vector3 &up=Vector3::UP)
	Define from a direction to look in and an up direction. Return true if successful, or false if would result in a NaN, in which case the current value remains.
void	Normalize ()
	Normalize to unit length.
Quaternion	Normalized () const
	Return normalized to unit length.
Quaternion	Inverse () const
	Return inverse.
float	LengthSquared () const
	Return squared length.
float	DotProduct (const Quaternion &rhs) const
	Calculate dot product.
bool	Equals (const Quaternion &rhs, float eps=M_EPSILON) const
	Test for equality with another quaternion with epsilon.
bool	Equivalent (const Quaternion &rhs, float eps=M_EPSILON) const
	Test for equivalence with another quaternion with epsilon.
bool	IsNaN () const
	Return whether any element is NaN.
bool	IsInf () const
	Return whether any element is Inf.
Quaternion	Conjugate () const
	Return conjugate.
Vector3	EulerAngles () const
float	YawAngle () const
float	PitchAngle () const
float	RollAngle () const
Vector3	Axis () const
float	Angle () const
Vector3	AngularVelocity () const
Matrix3	RotationMatrix () const
Quaternion	Slerp (const Quaternion &rhs, float t) const
	Spherical interpolation with another quaternion.
Quaternion	Nlerp (const Quaternion &rhs, float t, bool shortestPath=false) const
	Normalized linear interpolation with another quaternion.
ea::pair< Quaternion, Quaternion >	ToSwingTwist (const Vector3 &twistAxis) const
	Decompose quaternion to swing and twist components. swing * twist is the original quaternion.
float	TwistAngle (const Vector3 &axis) const
	Return twist angle around given axis. Quaternion may or may not have additional rotation that will be ignored.
const float *	Data () const
	Return float data.
ea::string	ToString () const
	Return as string.
unsigned	ToHash () const
	Return hash value for HashSet & HashMap.

Static Public Member Functions
static Quaternion	FromAngularVelocity (const Vector3 &angularVelocity)

Public Attributes
float	w_
	W coordinate.
float	x_
	X coordinate.
float	y_
	Y coordinate.
float	z_
	Z coordinate.

Static Public Attributes
static const Quaternion	IDENTITY
	Identity quaternion.
static const Quaternion	ZERO { 0.0f, 0.0f, 0.0f, 0.0f }
	Zero quaternion.

Detailed Description

Rotation represented as a four-dimensional normalized vector.

Member Function Documentation

Angle()

float Urho3D::Quaternion::Angle

(

)

const

Return rotation angle.

AngularVelocity()

Vector3 Urho3D::Quaternion::AngularVelocity

(

)

const

Return angular velocity assuming unit time. Note: Absolute value of angular velocity is measured in radians.

Axis()

Urho3D::Vector3 Urho3D::Quaternion::Axis

(

)

const

Return rotation axis.

EulerAngles()

Vector3 Urho3D::Quaternion::EulerAngles

(

)

const

Return Euler angles in degrees.

FromAngularVelocity()

Quaternion Urho3D::Quaternion::FromAngularVelocity ( const Vector3 &  angularVelocity )

static

Construct from angular velocity assuming unit time. Note: Absolute value of angular velocity is measured in radians.

PitchAngle()

float Urho3D::Quaternion::PitchAngle

(

)

const

Return pitch angle in degrees.

RollAngle()

float Urho3D::Quaternion::RollAngle

(

)

const

Return roll angle in degrees.

RotationMatrix()

Matrix3 Urho3D::Quaternion::RotationMatrix

(

)

const

Return the rotation matrix that corresponds to this quaternion.

YawAngle()

float Urho3D::Quaternion::YawAngle

(

)

const

Return yaw angle in degrees.

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

• Urho3D/Math/Quaternion.h
• Urho3D/Math/Quaternion.cpp