A POD-struct comprising a quaternion. More...

#include <openvrml/basetypes.h>

Public Member Functions
quatf &	operator*= (const quatf &quat) throw ()
	Multiply by a quaternion. More...

quatf &	operator*= (float scalar) throw ()
	Multiply by a scalar. More...

quatf &	operator/= (float scalar) throw ()
	Divide by a scalar. More...

quatf &	operator+= (const quatf &quat) throw ()
	Add a quaternion. More...

quatf &	operator-= (const quatf &quat) throw ()
	Subtract a quaternion. More...

const float &	operator[] (std::size_t index) const throw ()
	Array element dereference operator (const version). More...

float &	operator[] (std::size_t index) throw ()
	Array element dereference operator (non-const version). More...

float	x () const throw ()
	Get the x component. More...

float	y () const throw ()
	Get the y component. More...

float	z () const throw ()
	Get the z component. More...

float	w () const throw ()
	Get the w component. More...

void	x (float value) throw ()
	Set the x component. More...

void	y (float value) throw ()
	Set the y component. More...

void	z (float value) throw ()
	Set the z component. More...

void	w (float value) throw ()
	Set the w component. More...

const quatf	conjugate () const throw ()
	Get the conjugate. More...

const quatf	inverse () const throw ()
	Get the inverse. More...

float	norm () const throw ()
	Get the norm. More...

const quatf	normalize () const throw ()
	Normalize the quaternion. More...

Public Attributes
float	quat [4]
	An array comprising the quaternion components. More...

Related Functions
(Note that these are not member functions.)
const openvrml::quatf	make_quatf () throw()
	Create a default `quatf`. More...

const openvrml::quatf	make_quatf (const float x, const float y, const float z, const float w) throw()
	Create a `quatf` from four values. More...

const openvrml::quatf	make_quatf (const float(&quat)[4]) throw()
	Create a `quatf` from an array of four values. More...

const openvrml::quatf	make_quatf (const mat4f &mat) throw()
	Create a `quatf` from a rotation matrix. More...

const openvrml::quatf	make_quatf (const rotation &rot) throw()
	Create a `quatf` from a `rotation`. More...

const openvrml::quatf	operator* (const quatf &lhs, const quatf &rhs) throw()
	Multiply two quaternions. More...

const openvrml::quatf	operator* (const quatf &quat, const float scalar) throw()
	Multiply a quaternion by a scalar. More...

const openvrml::quatf	operator* (const float scalar, const quatf &quat) throw()
	Multiply a scalar by a quaternion. More...

const openvrml::quatf	operator/ (const quatf &quat, const float scalar) throw()
	Divide a quaternion by a scalar. More...

const openvrml::quatf	operator+ (const quatf &lhs, const quatf &rhs) throw()
	Add two quaternions. More...

const openvrml::quatf	operator- (const quatf &lhs, const quatf &rhs) throw()
	Take the difference between two quaternions. More...

std::ostream &	operator<< (std::ostream &out, const quatf &quat)
	Stream output. More...

bool	operator== (const quatf &lhs, const quatf &rhs) throw()
	Compare for equality. More...

bool	operator!= (const quatf &lhs, const quatf &rhs) throw()
	Compare for inequality. More...

Detailed Description

A POD-struct comprising a quaternion.

Member Function Documentation

openvrml::quatf & openvrml::quatf::operator*=	(	const quatf &	quat	)
throw	(
	)

Multiply by a quaternion.

Note: $qr = ( \vec{q_v} \times \vec{r_v} + r_w \vec{q_v} + q_w \vec{r_v}, q_w r_w - \vec{q_v} \cdotp \vec{r_v})$

Parameters

[in] quat the quaternion by which to multiply.

Returns: a reference to the object.

openvrml::quatf & openvrml::quatf::operator*=	(	float	scalar	)
throw	(
	)

Multiply by a scalar.

Parameters

[in] scalar value by which to multiply.

Returns: a reference to the object.

openvrml::quatf & openvrml::quatf::operator/=	(	float	scalar	)
throw	(
	)

Divide by a scalar.

Parameters

[in] scalar value by which to divide.

Returns: a reference to the object.

openvrml::quatf & openvrml::quatf::operator+=	(	const quatf &	quat	)
throw	(
	)

Add a quaternion.

Parameters

[in] quat the quaternion to add.

Returns: a reference to the object.

openvrml::quatf & openvrml::quatf::operator-=	(	const quatf &	quat	)
throw	(
	)

Subtract a quaternion.

Parameters

[in] quat the quaternion to subtract.

Returns: a reference to the object.

const float & openvrml::quatf::operator[]	(	std::size_t	index	)	const
throw	(
	)

inline

Array element dereference operator (const version).

Parameters

[in] index an index from 0–3.

Precondition: index is not larger than 3.

float & openvrml::quatf::operator[]	(	std::size_t	index	)
throw	(
	)

inline

Array element dereference operator (non-const version).

Parameters

[in] index an index from 0–3.

Precondition: index is not larger than 3.

float openvrml::quatf::x	(	)	const
throw	(
	)

inline

Get the x component.

Returns: the x component value.

float openvrml::quatf::y	(	)	const
throw	(
	)

inline

Get the y component.

Returns: the y component value.

float openvrml::quatf::z	(	)	const
throw	(
	)

inline

Get the z component.

Returns: the z component value.

float openvrml::quatf::w	(	)	const
throw	(
	)

inline

Get the w component.

Returns: the w component value.

void openvrml::quatf::x	(	float	value	)
throw	(
	)

inline

Set the x component.

Parameters

[in] value x component value.

void openvrml::quatf::y	(	float	value	)
throw	(
	)

inline

Set the y component.

Parameters

[in] value y component value.

void openvrml::quatf::z	(	float	value	)
throw	(
	)

inline

Set the z component.

Parameters

[in] value z component value.

void openvrml::quatf::w	(	float	value	)
throw	(
	)

inline

Set the w component.

Parameters

[in] value w component value.

const openvrml::quatf openvrml::quatf::conjugate	(	)	const
throw	(
	)

Get the conjugate.

Note: $q^* = (- \vec{q_v}, q_w)$

Returns: the conjugate of the quaternion.

const openvrml::quatf openvrml::quatf::inverse	(	)	const
throw	(
	)

Get the inverse.

Note: $q^{-1} = \frac{q^*}{n(q)}$

Returns: the multiplicative inverse.

float openvrml::quatf::norm	(	)	const
throw	(
	)

Get the norm.

Note: $n(q) = q_x^2 + q_y^2 + q_z^2 + q_w^2$

Returns: the norm.

const openvrml::quatf openvrml::quatf::normalize	(	)	const
throw	(
	)

Normalize the quaternion.

Returns: a unit quaternion derived from the quaternion.

Friends And Related Function Documentation

const openvrml::quatf make_quatf	(	)
throw	(
	)

Returns: a quatf with the value [0.0, 0.0, 0.0, 1.0].

const openvrml::quatf make_quatf	(	const float	x,
		const float	y,
		const float	z,
		const float	w
	)
throw	(
	)

Parameters

[in]	x	the x vector component.
[in]	y	the y vector component.
[in]	z	the z vector component.
[in]	w	the scalar value w.

Returns: a quatf with the value [x, y, z, w].

const openvrml::quatf make_quatf	(	const float(&)	quat[4]	)
throw	(
	)

Parameters

[in] quat the first three values in the array are used for the x, y, and z vector components, respectively. The fourth value in the array is used for the scalar part of the quaternion.

Returns: a quatf with the values in quat.

const openvrml::quatf make_quatf	(	const mat4f &	mat	)
throw	(
	)

Parameters

[in] mat a rotation matrix.

Returns: a quatf corresponding to the rotation applied by mat.

const openvrml::quatf make_quatf	(	const rotation &	rot	)
throw	(
	)

Parameters

[in] rot a rotation.

Returns: a quatf corresponding to the rotation applied by rot.

const openvrml::quatf operator*	(	const quatf &	lhs,
		const quatf &	rhs
	)
throw	(
	)

Parameters

[in]	lhs	left-hand operand.
[in]	rhs	right-hand operand.

Returns: the product of lhs and rhs.

const openvrml::quatf operator*	(	const quatf &	quat,
		const float	scalar
	)
throw	(
	)

Parameters

[in]	quat	quaternion.
[in]	scalar	scalar.

Returns: the product of quat and scalar.

const openvrml::quatf operator*	(	const float	scalar,
		const quatf &	quat
	)
throw	(
	)

Parameters

[in]	scalar	scalar.
[in]	quat	quaternion.

Returns: the product of scalar and quat.

const openvrml::quatf operator/	(	const quatf &	quat,
		const float	scalar
	)
throw	(
	)

Parameters

[in]	quat	quaternion.
[in]	scalar	scalar.

Returns: the result of dividing quat by scalar.

const openvrml::quatf operator+	(	const quatf &	lhs,
		const quatf &	rhs
	)
throw	(
	)

Parameters

[in]	lhs	left-hand operand.
[in]	rhs	right-hand operand.

Returns: the sum of lhs and rhs.

const openvrml::quatf operator-	(	const quatf &	lhs,
		const quatf &	rhs
	)
throw	(
	)

Parameters

[in]	lhs	left-hand operand.
[in]	rhs	right-hand operand.

Returns: the difference between lhs and rhs.

std::ostream & operator<<	(	std::ostream &	out,
		const quatf &	quat
	)

Parameters

[in,out]	out	an output stream.
[in]	quat	a quaternion.

Returns: out.

bool operator==	(	const quatf &	lhs,
		const quatf &	rhs
	)
throw	(
	)

Parameters

[in]	lhs	left-hand operand.
[in]	rhs	right-hand operand.

Returns: true if lhs and rhs are equal; false otherwise.

bool operator!=	(	const quatf &	lhs,
		const quatf &	rhs
	)
throw	(
	)

Parameters

[in]	lhs	left-hand operand.
[in]	rhs	right-hand operand.

Returns: true if lhs and rhs are not equal; false otherwise.

Member Data Documentation

float openvrml::quatf::quat[4]

An array comprising the quaternion components.

Public Member Functions

Public Attributes

Related Functions

Detailed Description

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation