---

GAUGE3D::GQuaternion Class Reference

Represents a quaternion, or an axis-angle rotation. More...

#include <gauge3d/3dmath/quaternion.h>

List of all members.

Public Methods
	GQuaternion ()
	Creates an uninitialized quaternion.
	GQuaternion (const GVector &axis,GCoordinate angle)
	Creates a quaternion that represents the given axis-angle rotation. The axis must be normalized!
void	Rotate (const GVector in[],GVector out[],int num)const
	Applies the quaternion rotation to a set of vectors. More...
void	Rotate (GVector *vec)const
	Rotate a single vector in place.
void	Interpolate (const GQuaternion &q1,const GQuaternion &q2,GCoordinate t)
	Spherical linear interpolation between quaternions. More...
GCoordinate	Angle ()const
	Extracts the angle of the quaternion rotation.
GVector	Axis ()const
	Extracts the axis of the quaternion rotation.
GVector	RawAxis ()const
	Returns the axis without normalizing it. Faster.
void	Set (const GVector &axis,GCoordinate angle)
	Sets the quaternion to represent the given axis-angle rotation. The axis must be a unit vector!
GQuaternion	operator * (const GQuaternion &other)const
	Combines two quaternion rotations into one. More...
const GQuaternion&	operator *= (const GQuaternion &other)
	Combines two quaternion rotations into one. More...
Public Attributes
Coordinates
GCoordinate	x
	imaginary component 1.
GCoordinate	y
	imaginary component 2.
GCoordinate	z
	imaginary component 3.
GCoordinate	w
	real component.

---

Detailed Description

Represents a quaternion, or an axis-angle rotation.

A quaternion is a complex number with one real component and three imaginary components. But you don't need to worry about that. All you care about is the fact that quaternions are an efficient way to represent axis-angle rotations.

---

Member Function Documentation

void GAUGE3D::GQuaternion::Rotate ( const GVector in[], GVector out[], int num ) const

Applies the quaternion rotation to a set of vectors. Parameters: in   An array of vectors to rotate. out   Location to which to write the rotated vectors. May be the same as in. num   Number of vectors to rotate. Remarks: Rotating many vectors at once is faster than rotating vectors individually.

void GAUGE3D::GQuaternion::Interpolate ( const GQuaternion & q1, const GQuaternion & q2, GCoordinate t )

Spherical linear interpolation between quaternions. Interpolate() interpolates along a sphere between q1 and q2 using time value t, which is between 0.0 (q1), and 1.0 (q2). The results are stored in this. This is useful if you want to find the orientation between two quaternions, or want to animate an object moving between these two orientations.

GQuaternion GAUGE3D::GQuaternion::operator * ( const GQuaternion & other ) const

Combines two quaternion rotations into one. Applying the resulting quaternion to a vector will have the same effect as if you had first applied the second operand of the multiplication to the vector, and then the first operand. This is similar to matrix multiplication.

const GQuaternion & GAUGE3D::GQuaternion::operator *= ( const GQuaternion & other )

Combines two quaternion rotations into one. Applying the resulting quaternion to a vector will have the same effect as if you had first applied the second operand of the multiplication to the vector, and then the first operand. This is similar to matrix multiplication.

---

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

• gauge3d/3dmath/quaternion.h

---