#include <CUQuaternion.h>

Public Member Functions
	Quaternion ()

	Quaternion (float x, float y, float z, float w)

	Quaternion (float *array)

	Quaternion (const Vec3 axis, float angle)

Quaternion &	operator= (const float *array)

Quaternion &	set (float x, float y, float z, float w)

Quaternion &	set (const float *array)

Quaternion &	set (const Vec3 axis, float angle)

Quaternion &	set (const Quaternion &q)

Quaternion &	setIdentity ()

Quaternion &	setZero ()

Quaternion &	add (const Quaternion &q)

Quaternion &	subtract (const Quaternion &q)

Quaternion &	multiply (const Quaternion &q)

Quaternion &	divide (const Quaternion &q)

Quaternion &	scale (float s)

Quaternion &	conjugate ()

Quaternion	getConjugate () const

Quaternion &	invert ()

Quaternion	getInverse () const

Quaternion &	normalize ()

Quaternion	getNormalization () const

Quaternion &	negate ()

Quaternion	getNegation () const

float	dot (const Quaternion &q) const

Quaternion &	operator+= (const Quaternion &q)

Quaternion &	operator-= (const Quaternion &q)

Quaternion &	operator*= (float s)

Quaternion &	operator*= (const Quaternion &q)

Quaternion &	operator/= (float s)

Quaternion &	operator/= (const Quaternion &q)

const Quaternion	operator+ (const Quaternion &q) const

const Quaternion	operator- (const Quaternion &q) const

const Quaternion	operator- () const

const Quaternion	operator* (float s) const

const Quaternion	operator* (const Quaternion &q) const

const Quaternion	operator/ (float s) const

const Quaternion	operator/ (const Quaternion &q) const

bool	operator== (const Quaternion &q) const

bool	operator!= (const Quaternion &q) const

bool	equals (const Quaternion &q, float epsilon=CU_MATH_EPSILON) const

float	norm () const

float	normSquared () const

bool	isZero () const

bool	isNearZero (float epsilon=CU_MATH_EPSILON) const

bool	isIdentity () const

bool	isNearIdentity (float epsilon=CU_MATH_EPSILON) const

bool	isUnit (float epsilon=CU_MATH_EPSILON) const

float	toAxisAngle (Vec3 *e) const

Quaternion &	lerp (const Quaternion &q, float t)

Quaternion &	slerp (const Quaternion &q, float t)

Quaternion &	nlerp (const Quaternion &q, float t)

Quaternion	getLerp (const Quaternion &q, float t)

Quaternion	getSlerp (const Quaternion &q, float t)

Quaternion	getNlerp (const Quaternion &q, float t)

Vec3	getRotation (const Vec3 v)

std::string	toString (bool verbose=false) const

	operator std::string () const

	operator Vec4 () const

	Quaternion (const Vec4 vector)

Quaternion &	operator= (const Vec4 vector)

Quaternion &	set (const Vec4 vector)

	operator Mat4 () const

	Quaternion (const Mat4 &m)

Quaternion &	operator= (const Mat4 &m)

Quaternion &	set (const Mat4 &m)

Static Public Member Functions
static Quaternion *	createFromRotationMatrix (const Mat4 &m, Quaternion *dst)

static Quaternion *	createFromAxisAngle (const Vec3 axis, float angle, Quaternion *dst)

static Quaternion *	add (const Quaternion &q1, const Quaternion &q2, Quaternion *dst)

static Quaternion *	subtract (const Quaternion &q1, const Quaternion &q2, Quaternion *dst)

static Quaternion *	multiply (const Quaternion &q1, const Quaternion &q2, Quaternion *dst)

static Quaternion *	divide (const Quaternion &q1, const Quaternion &q2, Quaternion *dst)

static Quaternion *	scale (const Quaternion &q1, float s, Quaternion *dst)

static Quaternion *	conjugate (const Quaternion &quat, Quaternion *dst)

static Quaternion *	invert (const Quaternion &quat, Quaternion *dst)

static Quaternion *	normalize (const Quaternion &quat, Quaternion *dst)

static Quaternion *	negate (const Quaternion &quat, Quaternion *dst)

static float	dot (const Quaternion &q1, const Quaternion &q2)

static Quaternion *	lerp (const Quaternion &q1, const Quaternion &q2, float t, Quaternion *dst)

static Quaternion *	slerp (const Quaternion &q1, const Quaternion &q2, float t, Quaternion *dst)

static Quaternion *	nlerp (const Quaternion &q1, const Quaternion &q2, float t, Quaternion *dst)

static Vec3 *	rotate (const Vec3 v, const Quaternion &quat, Vec3 *dst)

Public Attributes
float	x

float	y

float	z

float	w

Static Public Attributes
static const Quaternion	ZERO

static const Quaternion	IDENTITY

Detailed Description

This class provides a quaternion that represents an object orientation.

Quaternions are typically used as a replacement for euler angles and rotation matrices as a way to achieve smooth interpolation and avoid gimbal lock.

Note that this quaternion class does not automatically keep the quaternion normalized. Therefore, care must be taken to normalize the quaternion when necessary, by calling the normalize method.

This class provides three methods for doing quaternion interpolation: lerp, slerp, and nlerp. The advatanges of each of these interpolation types are discussed at

https://keithmaggio.wordpress.com/2011/02/15/math-magician-lerp-slerp-and-nlerp/

lerp (linear interpolation): The interpolation curve gives a straight line in quaternion space. It is simple and fast to compute. The only problem is that it does not provide constant angular velocity. Note that a constant velocity is not necessarily a requirement for a curve.

The lerp method provided here interpolates strictly in quaternion space. Note that the resulting path may pass through the origin if interpolating between a quaternion and its exact negative.

slerp (spherical linear interpolation): The interpolation curve forms a great arc on the quaternion unit sphere. Slerp provides constant angular velocity and is torque minimal. However, it is not commutative and is very computationally expensive.

The slerp method provided here is intended for interpolation of principal rotations. It treats +q and -q as the same principal rotation and is at liberty to use the negative of either input. The resulting path is always the shorter arc.

nlerp (normalized linear interpolation): The interpolation curve gives a straight line in quaternion space, but normalizes the result. When the input quaternions are themselves unit quaternions, this provides a fast alternative to slerp. Again, it does not provide constant angular velocity, but it is communitative and is torque minimal.

The nlerp method provided here interpolates uses lerp as its base.

This class is in standard layout with fields of uniform type. This means that it is safe to reinterpret_cast objects to float arrays.

Constructor & Destructor Documentation

◆ Quaternion() [1/6]

cugl::Quaternion::Quaternion ( )

inline

Constructs a quaternion initialized to (0, 0, 0, 1).

◆ Quaternion() [2/6]

cugl::Quaternion::Quaternion	(	float	x,
		float	y,
		float	z,
		float	w
	)

inline

Constructs a quaternion initialized to the specified values.

Parameters

x	The x component of the quaternion.
y	The y component of the quaternion.
z	The z component of the quaternion.
w	The w component of the quaternion.

◆ Quaternion() [3/6]

cugl::Quaternion::Quaternion ( float * array )

Constructs a new quaternion from the values in the specified array.

The elements of the array are in the order x, y, z, and w.

Parameters

array An array containing the elements of the quaternion.

◆ Quaternion() [4/6]

cugl::Quaternion::Quaternion	(	const Vec3	axis,
		float	angle
	)

Constructs a quaternion equal to the rotation from the specified axis and angle.

Parameters

axis	A vector describing the axis of rotation.
angle	The angle of rotation (in radians).

◆ Quaternion() [5/6]

cugl::Quaternion::Quaternion ( const Vec4 vector )

explicit

Creates a quaternion from the given vector.

Parameters

vector The vector to convert

◆ Quaternion() [6/6]

cugl::Quaternion::Quaternion ( const Mat4 & m )

explicit

Constructs a quaternion equal to the rotational part of the specified matrix.

This constructor may fail, particularly if the scale component of the matrix is too small. In that case, this method intializes this quaternion to the zero quaternion.

Parameters

m	The matrix to extract the rotation.

Member Function Documentation

◆ add() [1/2]

Quaternion & cugl::Quaternion::add ( const Quaternion & q )

inline

Adds the specified quaternion to this one in place.

Parameters

q	The quaternion to add.

Returns: this quaternion, after addition

◆ add() [2/2]

static Quaternion * cugl::Quaternion::add	(	const Quaternion &	q1,
		const Quaternion &	q2,
		Quaternion *	dst
	)

static

Adds the specified quaternions and stores the result in dst.

Parameters

q1	The first quaternion.
q2	The second quaternion.
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ conjugate() [1/2]

Quaternion & cugl::Quaternion::conjugate ( )

inline

Sets this quaternion to the conjugate of itself.

Returns: this quaternion, after conjugation

◆ conjugate() [2/2]

static Quaternion * cugl::Quaternion::conjugate	(	const Quaternion &	quat,
		Quaternion *	dst
	)

static

Conjugates the specified quaternion and stores the result in dst.

Parameters

quat	The quaternion to conjugate.
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ createFromAxisAngle()

static Quaternion * cugl::Quaternion::createFromAxisAngle	(	const Vec3	axis,
		float	angle,
		Quaternion *	dst
	)

static

Creates this quaternion equal to the rotation from the specified axis and angle.

The result is stored in dst.

Parameters

axis	A vector describing the axis of rotation.
angle	The angle of rotation (in radians).
dst	A quaternion to store the conjugate in.

Returns: A reference to dst for chaining

◆ createFromRotationMatrix()

static Quaternion * cugl::Quaternion::createFromRotationMatrix	(	const Mat4 &	m,
		Quaternion *	dst
	)

static

Creates a quaternion equal to the rotational part of the matrix.

The result is stored in dst.

Parameters

m	The matrix.
dst	A quaternion to store the conjugate in.

Returns: A reference to dst for chaining

◆ divide() [1/2]

Quaternion & cugl::Quaternion::divide ( const Quaternion & q )

inline

Divides this quaternion by the specified one in place.

Division is the same as multiplication by the inverse of q.

Parameters

q	The quaternion to divide by.

Returns: this quaternion, after division

◆ divide() [2/2]

static Quaternion * cugl::Quaternion::divide	(	const Quaternion &	q1,
		const Quaternion &	q2,
		Quaternion *	dst
	)

static

Divides a quaternion by another and stores the result in dst.

This method performs standard quaternion division. That is, it multiplies the first quaternion by the inverse of the second.

Parameters

q1	The initial quaternion.
q2	The quaternion to divide by.
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ dot() [1/2]

float cugl::Quaternion::dot ( const Quaternion & q ) const

inline

Returns the dot product of this quaternion with the specified one.

Parameters

q	The quaternion to compute the dot product with.

Returns: The dot product.

◆ dot() [2/2]

static float cugl::Quaternion::dot	(	const Quaternion &	q1,
		const Quaternion &	q2
	)

static

Returns the dot product of the two quaternions

Parameters

q1	The first quaternion.
q2	The second quaternion.

Returns: The dot product.

◆ equals()

bool cugl::Quaternion::equals	(	const Quaternion &	q,
		float	epsilon = `CU_MATH_EPSILON`
	)		const

Returns true if the quaternions are within tolerance of each other.

The tolerance bounds the norm of the difference between the two quaternions

Parameters

q	The vector to compare against.
epsilon	The comparison tolerance.

Returns: true if the quaternions are within tolerance of each other.

◆ getConjugate()

Quaternion cugl::Quaternion::getConjugate ( ) const

inline

Returns the conjugate of this quaternion.

Returns: the conjugate of this quaternion.

◆ getInverse()

Quaternion cugl::Quaternion::getInverse ( ) const

inline

Gets the inverse of this quaternion.

Note that the inverse of a quaternion is equal to its conjugate when the quaternion is unit-length. For this reason, it is more efficient to use the conjugate method directly when you know your quaternion is already unit-length.

If the inverse cannot be computed, this method returns a quaternion with all NaN values instead.

Returns: the inverse of this quaternion.

◆ getLerp()

Quaternion cugl::Quaternion::getLerp	(	const Quaternion &	q,
		float	t
	)

inline

Returns an interpolation between this quaternion and another.

The interpolation curve for linear interpolation between quaternions gives a straight line in quaternion space.

The interpolation coefficient MUST be between 0 and 1 (inclusive). Any other values will cause an error.

Parameters

q	The quaternion to interpolate.
t	The interpolation coefficient in [0,1].

Note: this does not modify this quaternion.

Returns: an interpolation between this quaternion and another.

◆ getNegation()

Quaternion cugl::Quaternion::getNegation ( ) const

inline

Returns a negated copy of this quaternion.

Note: This method does not modify the quaternion

Returns: a negated copy of this quaternion.

◆ getNlerp()

Quaternion cugl::Quaternion::getNlerp	(	const Quaternion &	q,
		float	t
	)

inline

Returns a normalized linear interpolation between this quaternion and another.

Normalized linear interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

The interpolation coefficient MUST be between 0 and 1 (inclusive). Any other values will cause an error.

In addition, the input quaternions must be at (or close to) unit length. When assertions are enabled, it will test this via the isUnit() method.

Note: this does not modify this quaternion.

Parameters

q	The quaternion to interpolate.
t	The interpolation coefficient in [0,1].

Returns: a spherical linear interpolation of this quaternion.

◆ getNormalization()

Quaternion cugl::Quaternion::getNormalization ( ) const

inline

Returns a normalized copy of this quaternion.

If the quaternion already has unit length or if the length of the quaternion is zero, this method simply copies this quaternion.

Note: This method does not modify the quaternion

Returns: a normalized copy of this quaternion.

◆ getRotation()

Vec3 cugl::Quaternion::getRotation ( const Vec3 v )

inline

Returns a copy of the vector rotated by this quaternion.

The rotation is defined by the matrix associated with the vector. *

Parameters

v	The vector to rotate.

Returns: a copy of the vector rotated by this quaternion.

◆ getSlerp()

Quaternion cugl::Quaternion::getSlerp	(	const Quaternion &	q,
		float	t
	)

inline

Returns a spherical linear interpolation between this quaternion and another.

Spherical linear interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

The interpolation coefficient MUST be between 0 and 1 (inclusive). Any other values will cause an error.

In addition, the input quaternions must be at (or close to) unit length. When assertions are enabled, it will test this via the isUnit() method.

Note: this does not modify this quaternion.

Parameters

q	The quaternion to interpolate.
t	The interpolation coefficient in [0,1].

Returns: a spherical linear interpolation of this quaternion.

◆ invert() [1/2]

Quaternion & cugl::Quaternion::invert ( )

inline

Sets this quaternion to the inverse of itself.

Note that the inverse of a quaternion is equal to its conjugate when the quaternion is unit-length. For this reason, it is more efficient to use the conjugate method directly when you know your quaternion is already unit-length.

If the inverse cannot be computed, this method sets the quaternion to have NaN values.

Returns: this quaternion, after inverting

◆ invert() [2/2]

static Quaternion * cugl::Quaternion::invert	(	const Quaternion &	quat,
		Quaternion *	dst
	)

static

Inverts the specified quaternion and stores the result in dst.

Note that the inverse of a quaternion is equal to its conjugate when the quaternion is unit-length. For this reason, it is more efficient to use the conjugate method directly when you know your quaternion is already unit-length.

If the inverse cannot be computed, this method stores a quaternion with NaN values in dst.

Parameters

quat	The quaternion to invert.
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ isIdentity()

bool cugl::Quaternion::isIdentity ( ) const

Returns true if this quaternion is the identity.

Returns: true if this quaternion is the identity.

◆ isNearIdentity()

bool cugl::Quaternion::isNearIdentity ( float epsilon = CU_MATH_EPSILON ) const

inline

Returns true if this quaternion is near the identity.

The tolerance bounds the quaternion norm of the differences.

Parameters

epsilon The comparison tolerance

Returns: true if this quaternion is near the identity.

◆ isNearZero()

bool cugl::Quaternion::isNearZero ( float epsilon = CU_MATH_EPSILON ) const

inline

Returns true if this quaternion is with tolerance of the zero quaternion.

The tolerance bounds the quaternion norm.

Parameters

epsilon The comparison tolerance

Returns: true if this quaternion is with tolerance of the zero quaternion.

◆ isUnit()

bool cugl::Quaternion::isUnit ( float epsilon = CU_MATH_EPSILON ) const

inline

Returns true if this vector is a unit vector.

Parameters

epsilon The comparison tolerance

Returns: true if this vector is a unit vector.

◆ isZero()

bool cugl::Quaternion::isZero ( ) const

Returns true this quaternion contains all zeros.

Comparison is exact, which may be unreliable given that the attributes are floats.

Returns: true if this quaternion contains all zeros, false otherwise.

◆ lerp() [1/2]

Quaternion & cugl::Quaternion::lerp	(	const Quaternion &	q,
		float	t
	)

inline

Interpolates between this quaternion and another.

The interpolation curve for linear interpolation between quaternions gives a straight line in quaternion space.

The interpolation coefficient MUST be between 0 and 1 (inclusive). Any other values will cause an error.

Parameters

q	The quaternion to interpolate.
t	The interpolation coefficient in [0,1].

Returns: this quaternion, after interpolation.

◆ lerp() [2/2]

static Quaternion * cugl::Quaternion::lerp	(	const Quaternion &	q1,
		const Quaternion &	q2,
		float	t,
		Quaternion *	dst
	)

static

Interpolates between two quaternions using linear interpolation.

The interpolation curve for linear interpolation between quaternions gives a straight line in quaternion space.

The interpolation coefficient MUST be between 0 and 1 (inclusive). Any other values will cause an error.

Parameters

q1	The first quaternion.
q2	The second quaternion.
t	The interpolation coefficient in [0,1].
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ multiply() [1/2]

Quaternion & cugl::Quaternion::multiply ( const Quaternion & q )

inline

Multiplies this quaternion by the specified one in place.

Parameters

q	The quaternion to multiply.

Returns: this quaternion, after multiplication

◆ multiply() [2/2]

static Quaternion * cugl::Quaternion::multiply	(	const Quaternion &	q1,
		const Quaternion &	q2,
		Quaternion *	dst
	)

static

Multiplies the specified quaternions and stores the result in dst.

This method performs standard quaternion multiplication

Parameters

q1	The first quaternion.
q2	The second quaternion.
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ negate() [1/2]

Quaternion & cugl::Quaternion::negate ( )

inline

Negates this quaternion in place.

Returns: this quaternion, after negation

◆ negate() [2/2]

static Quaternion * cugl::Quaternion::negate	(	const Quaternion &	quat,
		Quaternion *	dst
	)

static

Negates the specified quaternion and stores the result in dst.

Parameters

quat	The quaternion to negate.
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ nlerp() [1/2]

Quaternion & cugl::Quaternion::nlerp	(	const Quaternion &	q,
		float	t
	)

inline

Interpolates between this quaternion and another with normalized linear interpolation.

Normalized linear interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

The interpolation coefficient MUST be between 0 and 1 (inclusive). Any other values will cause an error.

In addition, the input quaternions must be at (or close to) unit length. When assertions are enabled, it will test this via the isUnit() method.

Parameters

q	The quaternion to interpolate.
t	The interpolation coefficient in [0,1].

Returns: this quaternion, after interpolation.

◆ nlerp() [2/2]

static Quaternion * cugl::Quaternion::nlerp	(	const Quaternion &	q1,
		const Quaternion &	q2,
		float	t,
		Quaternion *	dst
	)

static

Interpolates between two quaternions using normalized linear interpolation.

Normalized linear interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

The interpolation coefficient MUST be between 0 and 1 (inclusive). Any other values will cause an error.

In addition, the input quaternions must be at (or close to) unit length. When assertions are enabled, it will test this via the isUnit() method.

Parameters

q1	The first quaternion.
q2	The second quaternion.
t	The interpolation coefficient in [0,1].
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ norm()

float cugl::Quaternion::norm ( ) const

inline

Returns the norm of this quaternion.

Returns: The of the quaternion.

{

See also: normSquared}

◆ normalize() [1/2]

Quaternion & cugl::Quaternion::normalize ( )

inline

Normalizes this quaternion to have unit length.

If the quaternion already has unit length or if the length of the quaternion is zero, this method does nothing.

Returns: this quaternion, after normalization

◆ normalize() [2/2]

static Quaternion * cugl::Quaternion::normalize	(	const Quaternion &	quat,
		Quaternion *	dst
	)

static

Normalizes the specified quaternion and stores the result in dst.

If the quaternion already has unit length or if the length of the quaternion is zero, this method copies quat into dst.

Parameters

quat	The quaternion to normalize.
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ normSquared()

float cugl::Quaternion::normSquared ( ) const

inline

Returns the squared norm of this quaternion.

This method is faster than norm because it does not need to compute a square root. Hence it is best to us this method when it is not necessary to get the exact length of a quaternions (e.g. when simply comparing the norm to a threshold value).

Returns: The squared norm of the quaternion.

{

See also: length}

◆ operator Mat4()

cugl::Quaternion::operator Mat4 ( ) const

Cast from Quaternion to a Matrix.

The matrix is a rotation matrix equivalent to the rotation represented by this quaternion.

◆ operator std::string()

cugl::Quaternion::operator std::string ( ) const

inline

Cast from Quaternion to a string.

◆ operator Vec4()

cugl::Quaternion::operator Vec4 ( ) const

Cast from Quaternion to a Vec4.

◆ operator!=()

bool cugl::Quaternion::operator!= ( const Quaternion & q ) const

Returns true if this quaternion is not equal to the given quaternion.

Comparison is exact, which may be unreliable given that the attributes are floats.

Parameters

q	The quaternion to compare quaternion.

Returns: True if this quaternion is not equal to the given quaternion.

◆ operator*() [1/2]

const Quaternion cugl::Quaternion::operator* ( const Quaternion & q ) const

inline

Returns the product of this quaternion with the given quaternion.

This method performs standard quaternion multiplication

Note: this does not modify this quaternion.

Parameters

q	The quaternion to multiply by.

Returns: the product of this quaternion with the given quaternion.

◆ operator*() [2/2]

const Quaternion cugl::Quaternion::operator* ( float s ) const

inline

Returns the scalar product of this quaternion with the given value.

Note: this does not modify this quaternion.

Parameters

s	The value to scale by.

Returns: The scalar product of this quaternion with the given value.

◆ operator*=() [1/2]

Quaternion & cugl::Quaternion::operator*= ( const Quaternion & q )

inline

Multiplies this quaternion in place by the given quaternion.

This method performs standard quaternion multiplication

Parameters

q	The quaternion to multiply by

Returns: A reference to this (modified) Quaternion for chaining.

◆ operator*=() [2/2]

Quaternion & cugl::Quaternion::operator*= ( float s )

inline

Scales this quaternion in place by the given factor.

Parameters

s	The value to scale by

Returns: A reference to this (modified) Quaternion for chaining.

◆ operator+()

const Quaternion cugl::Quaternion::operator+ ( const Quaternion & q ) const

inline

Returns the sum of this quaternion with the given quaternion.

Note: this does not modify this quaternion.

Parameters

q	The quaternion to add.

Returns: The sum of this quaternion with the given quaternion.

◆ operator+=()

Quaternion & cugl::Quaternion::operator+= ( const Quaternion & q )

inline

Adds the given quaternion to this one in place.

Parameters

q	The quaternion to add

Returns: A reference to this (modified) Quaternion for chaining.

◆ operator-() [1/2]

const Quaternion cugl::Quaternion::operator- ( ) const

inline

Returns the negation of this quaternion.

Note: this does not modify this quaternion.

Returns: The negation of this quaternion.

◆ operator-() [2/2]

const Quaternion cugl::Quaternion::operator- ( const Quaternion & q ) const

inline

Returns the difference of this quaternion with the given quaternion.

Note: this does not modify this quaternion.

Parameters

q	The quaternion to subtract.

Returns: The difference of this quaternion with the given quaternion.

◆ operator-=()

Quaternion & cugl::Quaternion::operator-= ( const Quaternion & q )

inline

Subtracts the given quaternion from this one in place.

Parameters

q	The quaternion to subtract

Returns: A reference to this (modified) Quaternion for chaining.

◆ operator/() [1/2]

const Quaternion cugl::Quaternion::operator/ ( const Quaternion & q ) const

inline

Returns a copy of this quaternion divided by the given quaternion.

This method is the same as multiplying by the inverse of the given quaternion. If the quaternion is not invertible this method will store NaN in the current quaternion.

Note: this does not modify this quaternion.

Parameters

q	The quaternion to divide by

Returns: a copy of this quaternion divided by the given quaternion.

◆ operator/() [2/2]

const Quaternion cugl::Quaternion::operator/ ( float s ) const

inline

Returns a copy of this quaternion divided by the given constant

Note: this does not modify this quaternion.

Parameters

s	the constant to divide this quaternion with

Returns: A copy of this vector quaternion by the given constant

◆ operator/=() [1/2]

Quaternion & cugl::Quaternion::operator/= ( const Quaternion & q )

inline

Divides this quaternion in place by the given quaternion.

This method is the same as multiplying by the inverse of the given quaternion. If the quaternion is not invertible this method will store NaN in the current quaternion.

Parameters

q	The quaternion to divide by

Returns: A reference to this (modified) Quaternion for chaining.

◆ operator/=() [2/2]

Quaternion & cugl::Quaternion::operator/= ( float s )

inline

Divides this quaternion in place by the given factor.

Parameters

s	The scalar to divide by

Returns: A reference to this (modified) Quaternion for chaining.

◆ operator=() [1/3]

Quaternion & cugl::Quaternion::operator= ( const float * array )

inline

Sets the elements of this quaternion from the values in the specified array.

The elements of the array are in the order x, y, z, and w.

Parameters

array An array containing the elements of the quaternion.

Returns: A reference to this (modified) Quaternion for chaining.

◆ operator=() [2/3]

Quaternion & cugl::Quaternion::operator= ( const Mat4 & m )

inline

Sets quaternion equal to the rotational part of the specified matrix.

This constructor may fail, particularly if the scale component of the matrix is too small. In that case, this method intializes this quaternion to the zero quaternion.

Parameters

m	The matrix to extract the rotation.

Returns: A reference to this (modified) Qauternion for chaining.

◆ operator=() [3/3]

Quaternion & cugl::Quaternion::operator= ( const Vec4 vector )

Sets the coordinates of this quaternion to those of the given vector.

Parameters

vector The vector to convert

Returns: A reference to this (modified) Qauternion for chaining.

◆ operator==()

bool cugl::Quaternion::operator== ( const Quaternion & q ) const

Returns true if this quaternion is equal to the given quaternion.

Comparison is exact, which may be unreliable given that the attributes are floats.

Parameters

q	The quaternion to compare against.

Returns: True if this quaternion is equal to the given quaternion.

◆ rotate()

static Vec3 * cugl::Quaternion::rotate	(	const Vec3	v,
		const Quaternion &	quat,
		Vec3 *	dst
	)

static

Rotates the vector by this quaternion and stores the result in dst.

The rotation is defined by the matrix associated with the vector.

Parameters

v	The vector to rotate.
quat	The rotation quaternion.
dst	A vector to store the result in.

Returns: A reference to dst for chaining

◆ scale() [1/2]

static Quaternion * cugl::Quaternion::scale	(	const Quaternion &	q1,
		float	s,
		Quaternion *	dst
	)

static

Scales the specified quaternion by s and stores the result in dst.

Parameters

q1	The first quaternion.
s	The scalar value.
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ scale() [2/2]

Quaternion & cugl::Quaternion::scale ( float s )

inline

Scales this quaternion by the specified value in place.

Parameters

s	The value to scale the quaternion.

Returns: this quaternion, after multiplication

◆ set() [1/6]

Quaternion & cugl::Quaternion::set ( const float * array )

Sets the elements of this quaternion from the values in the specified array.

The elements of the array are in the order x, y, z, and w.

Parameters

array An array containing the elements of the quaternion.

Returns: A reference to this (modified) Quaternion for chaining.

◆ set() [2/6]

Quaternion & cugl::Quaternion::set ( const Mat4 & m )

Sets quaternion equal to the rotational part of the specified matrix.

This constructor may fail, particularly if the scale component of the matrix is too small. In that case, this method intializes this quaternion to the zero quaternion.

Parameters

m	The matrix to extract the rotation.

Returns: A reference to this (modified) Qauternion for chaining.

◆ set() [3/6]

Quaternion & cugl::Quaternion::set ( const Quaternion & q )

inline

Sets the elements of this quaternion to those in the specified quaternion.

Parameters

q	The quaternion to copy.

Returns: A reference to this (modified) Quaternion for chaining.

◆ set() [4/6]

Quaternion & cugl::Quaternion::set	(	const Vec3	axis,
		float	angle
	)

Sets the quaternion equal to the rotation from the specified axis and angle.

Parameters

axis	The axis of rotation.
angle	The angle of rotation (in radians).

Returns: A reference to this (modified) Quaternion for chaining.

◆ set() [5/6]

Quaternion & cugl::Quaternion::set ( const Vec4 vector )

Sets the coordinates of this quaternion to those of the given vector.

Parameters

vector The vector to convert

Returns: A reference to this (modified) Qauternion for chaining.

◆ set() [6/6]

Quaternion & cugl::Quaternion::set	(	float	x,
		float	y,
		float	z,
		float	w
	)

inline

Sets the elements of the quaternion to the specified values.

Parameters

x	The x component of the quaternion.
y	The y component of the quaternion.
z	The z component of the quaternion.
w	The w component of the quaternion.

Returns: A reference to this (modified) Quaternion for chaining.

◆ setIdentity()

Quaternion & cugl::Quaternion::setIdentity ( )

inline

Sets this quaternion to be equal to the identity quaternion.

Returns: A reference to this (modified) Quaternion for chaining.

◆ setZero()

Quaternion & cugl::Quaternion::setZero ( )

inline

Sets this quaternion to be equal to the zero quaternion.

Returns: A reference to this (modified) Quaternion for chaining.

◆ slerp() [1/2]

Quaternion & cugl::Quaternion::slerp	(	const Quaternion &	q,
		float	t
	)

inline

Interpolates between this quaternion and another with spherical linear interpolation.

Spherical linear interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

The interpolation coefficient MUST be between 0 and 1 (inclusive). Any other values will cause an error.

In addition, the input quaternions must be at (or close to) unit length. When assertions are enabled, it will test this via the isUnit() method.

Parameters

q	The quaternion to interpolate.
t	The interpolation coefficient in [0,1].

Returns: this quaternion, after interpolation.

◆ slerp() [2/2]

static Quaternion * cugl::Quaternion::slerp	(	const Quaternion &	q1,
		const Quaternion &	q2,
		float	t,
		Quaternion *	dst
	)

static

Interpolates between two quaternions using spherical linear interpolation.

Spherical linear interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

The interpolation coefficient MUST be between 0 and 1 (inclusive). Any other values will cause an error.

In addition, the input quaternions must be at (or close to) unit length. When assertions are enabled, it will test this via the isUnit() method.

Parameters

q1	The first quaternion.
q2	The second quaternion.
t	The interpolation coefficient in [0,1].
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ subtract() [1/2]

Quaternion & cugl::Quaternion::subtract ( const Quaternion & q )

inline

Subtracts the specified quaternion from this one in place.

Parameters

q	The quaternion to subtract.

Returns: this quaternion, after subtraction

◆ subtract() [2/2]

static Quaternion * cugl::Quaternion::subtract	(	const Quaternion &	q1,
		const Quaternion &	q2,
		Quaternion *	dst
	)

static

Subtacts the quaternions q2 from q1 and stores the result in dst.

Parameters

q1	The first quaternion.
q2	The second quaternion.
dst	A quaternion to store the result in.

Returns: A reference to dst for chaining

◆ toAxisAngle()

float cugl::Quaternion::toAxisAngle ( Vec3 * e ) const

Converts this Quaternion4f to axis-angle notation.

The angle is in radians. The axis is normalized.

Parameters

e	The Vec3f which stores the axis.

Returns: The angle (in radians).

◆ toString()

std::string cugl::Quaternion::toString ( bool verbose = false ) const

Returns a string representation of this quaternion for debuggging purposes.

If verbose is true, the string will include class information. This allows us to unambiguously identify the class.

Parameters

verbose Whether to include class information

Returns: a string representation of this vector for debuggging purposes.

Member Data Documentation

◆ IDENTITY

const Quaternion cugl::Quaternion::IDENTITY

static

The identity Quaternion(0,0,0,1)

◆ w

float cugl::Quaternion::w

The scalar component of the quaternion.

◆ x

float cugl::Quaternion::x

The x-value of the quaternion's vector component.

◆ y

float cugl::Quaternion::y

The y-value of the quaternion's vector component.

◆ z

float cugl::Quaternion::z

The z-value of the quaternion's vector component.

◆ ZERO

const Quaternion cugl::Quaternion::ZERO

static

The zero to Quaternion(0,0,0,0)

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

cugl/include/cugl/math/CUQuaternion.h

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Quaternion() [1/6]

◆ Quaternion() [2/6]

◆ Quaternion() [3/6]

◆ Quaternion() [4/6]

◆ Quaternion() [5/6]

◆ Quaternion() [6/6]

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ conjugate() [1/2]

◆ conjugate() [2/2]

◆ createFromAxisAngle()

◆ createFromRotationMatrix()

◆ divide() [1/2]

◆ divide() [2/2]

◆ dot() [1/2]

◆ dot() [2/2]

◆ equals()

◆ getConjugate()

◆ getInverse()

◆ getLerp()

◆ getNegation()

◆ getNlerp()

◆ getNormalization()

◆ getRotation()

◆ getSlerp()

◆ invert() [1/2]

◆ invert() [2/2]

◆ isIdentity()

◆ isNearIdentity()

◆ isNearZero()

◆ isUnit()

◆ isZero()

◆ lerp() [1/2]

◆ lerp() [2/2]

◆ multiply() [1/2]

◆ multiply() [2/2]

◆ negate() [1/2]

◆ negate() [2/2]

◆ nlerp() [1/2]

◆ nlerp() [2/2]

◆ norm()

◆ normalize() [1/2]

◆ normalize() [2/2]

◆ normSquared()

◆ operator Mat4()

◆ operator std::string()

◆ operator Vec4()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator/=() [1/2]

◆ operator/=() [2/2]

◆ operator=() [1/3]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ operator==()

◆ rotate()

◆ scale() [1/2]

◆ scale() [2/2]

◆ set() [1/6]

◆ set() [2/6]

◆ set() [3/6]

◆ set() [4/6]

◆ set() [5/6]