Public Member Functions
	quaternion (real fX, real fY, real fZ, real fW)
	Construct from an explicit list of values.

	quaternion (const real &rfAngle, const vector3 &rkAxis)

	quaternion (const Ogre::Quaternion &quat)

	operator Ogre::Quaternion () const

	quaternion (const btQuaternion &quat)

	operator btQuaternion () const

void	swap (quaternion &other)

real	operator[] (const size_t i) const
	Array accessor operator.

real &	operator[] (const size_t i)
	Array accessor operator.

real *	ptr ()
	Pointer accessor for direct copying.

const real *	ptr () const
	Pointer accessor for direct copying.

quaternion	operator+ (const quaternion &rkQ) const

quaternion	operator- (const quaternion &rkQ) const

quaternion	operator* (const quaternion &rkQ) const

quaternion	operator* (real fScalar) const

vector3	operator* (const vector3 &rkVector) const

quaternion	operator- () const

bool	operator== (const quaternion &rhs) const

bool	operator!= (const quaternion &rhs) const

real	Dot (const quaternion &rkQ) const

real	Norm () const

real	normalise ()

quaternion	getNormalised () const

quaternion	Inverse () const

quaternion	UnitInverse () const

quaternion	Exp () const

quaternion	Log () const

void	FromAngleAxis (const real &rfAngle, const vector3 &rkAxis)

Static Public Member Functions
static quaternion	Slerp (real fT, const quaternion &rkP, const quaternion &rkQ, bool shortestPath=false)

static quaternion	SlerpExtraSpins (real fT, const quaternion &rkP, const quaternion &rkQ, int iExtraSpins)

static void	Intermediate (const quaternion &rkQ0, const quaternion &rkQ1, const quaternion &rkQ2, quaternion &rkA, quaternion &rkB)

static quaternion	Squad (real fT, const quaternion &rkP, const quaternion &rkA, const quaternion &rkB, const quaternion &rkQ, bool shortestPath=false)

static quaternion	nlerp (real fT, const quaternion &rkP, const quaternion &rkQ, bool shortestPath=false)

Protected Member Functions
template<typename Archive >
BLUB_SERIALIZATION_ACCESS void	serialize (Archive &readWrite, const unsigned int version)

Friends
quaternion	operator* (real fScalar, const quaternion &rkQ)

Detailed Description

Member Function Documentation

quaternion quaternion::nlerp	(	real	fT,
		const quaternion &	rkP,
		const quaternion &	rkQ,
		bool	shortestPath = `false`
	)

static

Performs Normalised linear interpolation between two quaternions, and returns the result. nlerp ( 0.0f, A, B ) = A nlerp ( 1.0f, A, B ) = B

Remarks: Nlerp is faster than Slerp. Nlerp has the proprieties of being commutative (

See also: Slerp; commutativity is desired in certain places, like IK animation), and being torque-minimal (unless shortestPath=false). However, it's performing the interpolation at non-constant velocity; sometimes this is desired, sometimes it is not. Having a non-constant velocity can produce a more natural rotation feeling without the need of tweaking the weights; however if your scene relies on the timing of the rotation or assumes it will point at a specific angle at a specific weight value, Slerp is a better choice.

quaternion quaternion::SlerpExtraSpins	(	real	fT,
		const quaternion &	rkP,
		const quaternion &	rkQ,
		int	iExtraSpins
	)

static

See also: Slerp. It adds extra "spins" (i.e. rotates several times) specified by parameter 'iExtraSpins' while interpolating before arriving to the final values

void quaternion::swap ( blub::quaternion & other )

inline

Exchange the contents of this quaternion with another.

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

/home/mlanner/Development/cpp/projects/voxelTerrain/voxelTerrain/modules/math/source/blub/math/quaternion.hpp
/home/mlanner/Development/cpp/projects/voxelTerrain/voxelTerrain/modules/math/source/blub/math/quaternion.cpp