CQuaternion Class Reference

Related Scripting Object: SIQuaternion

Implementation of a quaternion q=a+bi+cj+dk. More...

#include <xsi_quaternion.h>

List of all members.

Public Member Functions
__forceinline	CQuaternion ()
__forceinline	CQuaternion (const CQuaternion &in_quaternion)
	~CQuaternion ()
__forceinline CQuaternion &	operator= (const CQuaternion &in_quaternion)
__forceinline	CQuaternion (const double in_dW, const double in_dX, const double in_dY, const double in_dZ)
__forceinline	CQuaternion (const CVector3 &in_vct)
__forceinline	CQuaternion (const CVector4 &in_vct)
__forceinline	CQuaternion (const CRotation &in_Rot)
CQuaternion &	operator= (const CRotation &in_Rot)
CQuaternion &	SetFromRotation (const CRotation &in_Rot)
CRotation	GetRotation () const
CQuaternion &	Normalize ()
bool	EpsilonEquals (const CQuaternion &in_Quat, double in_dEpsilon) const
__forceinline bool	Equals (const CQuaternion &in_Quat) const
__forceinline bool	operator== (const CQuaternion &in_Quat) const
CQuaternion &	Slerp (const CQuaternion &in_Quat1, const CQuaternion &in_Quat2, double in_dU)
__forceinline CQuaternion &	operator *= (const CQuaternion &in_Quat)
__forceinline CQuaternion &	MulInPlace (const CQuaternion &in_Quat)
__forceinline CQuaternion &	Mul (const CQuaternion &in_Quat1, const CQuaternion &in_Quat2)
__forceinline CQuaternion &	operator-= (const CQuaternion &in_Quat)
__forceinline CQuaternion &	SubInPlace (const CQuaternion &in_Quat)
__forceinline CQuaternion &	Sub (const CQuaternion &in_Quat1, const CQuaternion &in_Quat2)
__forceinline CQuaternion &	NegateInPlace ()
__forceinline CQuaternion &	Negate (const CQuaternion &in_Quat)
double	GetLengthSquared () const
double	GetLength () const
__forceinline CQuaternion &	operator+= (const CQuaternion &in_Quat)
__forceinline CQuaternion &	AddInPlace (const CQuaternion &in_Quat)
__forceinline CQuaternion &	Add (const CQuaternion &in_Quat1, const CQuaternion &in_Quat2)
__forceinline CQuaternion &	ConjugateInPlace ()
__forceinline CQuaternion &	Conjugate (const CQuaternion &in_Quat)
__forceinline CQuaternion &	InvertInPlace ()
__forceinline CQuaternion &	Invert (const CQuaternion &in_Quat)
__forceinline CQuaternion &	SetIdentity ()
__forceinline CQuaternion &	Copy (const CQuaternion &in_Quat)
__forceinline void	Get (double &out_dW, double &out_dX, double &out_dY, double &out_dZ) const
CVector3	Get () const
__forceinline void	Get (CVector4 &io_XYZWVector) const
__forceinline CQuaternion &	Set (double in_dW, double in_dX, double in_dY, double in_dZ)
__forceinline CQuaternion &	Set (const CVector3 &in_XYZVector)
__forceinline CQuaternion &	Set (const CVector4 &in_XYZWVector)
__forceinline double	GetValue (short in_nIndex) const
__forceinline CQuaternion &	PutValue (short in_nIndex, double newVal)
__forceinline double	GetW () const
__forceinline CQuaternion &	PutW (double newVal)
__forceinline double	GetZ () const
__forceinline CQuaternion &	PutZ (double newVal)
__forceinline double	GetY () const
__forceinline CQuaternion &	PutY (double newVal)
__forceinline double	GetX () const
__forceinline CQuaternion &	PutX (double newVal)
CQuaternion &	SetFromXYZAnglesValues (double x, double y, double z)
void	GetXYZAnglesValues (double &x, double &y, double &z) const
__forceinline bool	operator!= (const CQuaternion &in_quat) const

Detailed Description

A quaternion is often noted q=(s,v) where s is a scalar and v is a 3D vector, or either noted q=(W,X,Y,Z), where W, X, Y and Z are scalar, and X, Y and Z are the components of vector v in previous notation.

You can set a quaternion using various rotation representation with the help of the CRotation class.

See also:

CRotation, CTransformation

Example:

Using CRotation to construct a CQuaternion from various rotation representations.

        using namespace XSI;
        using namespace MATH;

        CVector3 eulerAngles( PI, PI * 2.0, PI / 2.0 );
        CRotation eulerAnglesRot( eulerAngles, CRotation::siXYZ );
        CQuaternion quat( eulerAnglesRot );

        CVector3 axis( 1.0, 2.0, 3.0 );
        CRotation axisAngleRot( axis, PI );
        quat = axisAngleRot;

        CMatrix3 identityMatrix;
        quat.SetFromRotation( CRotation(identityMatrix) );

        // Quaternion linear extrapolation example
        using namespace XSI;
        using namespace MATH;

        Application app;
        Model root = app.GetActiveSceneRoot();

        // define start and end point for rotation
        CQuaternion startQuat;
        CRotation rotationEnd( CVector3( PI, 0.0, 0.0 ) );
        CQuaternion endQuat( rotationEnd );

        // number of interpolation to perform + interpolation increment
        const size_t nbInterpolations = 10;
        const double interpolationIncrement = 1.0 / nbInterpolations;

        CQuaternion interpolatedQuaternion;
        CRotation currentRotation;
        X3DObject currentObject;
        CVector3 rotationAngles;

        // Create cubes rotated using interpolated values
        for ( double i = 0.0; i < 1.0; i += interpolationIncrement )
        {
            // interpolate values
            interpolatedQuaternion.Slerp( startQuat, endQuat, i );

            // create cube
            root.AddGeometry( L"Cube", L"MeshSurface", L"", currentObject );

            // apply interpolated value in X
            currentRotation = interpolatedQuaternion;
            rotationAngles = currentRotation.GetXYZAngles();
            KinematicState globalKS = currentObject.GetKinematics().GetGlobal();
            globalKS.PutParameterValue( L"rotx",
                (double)RadiansToDegrees(rotationAngles.GetX()));
        }

Constructor & Destructor Documentation

Copy constructor.

Parameters:

in_quaternion

constant class object.

Default destructor.

Constructor.

Parameters:

	in_dW	W component
	in_dX	X component of the quaternion's vector
	in_dY	Y component of the quaternion's vector
	in_dZ	Z component of the quaternion's vector

Constructor.

Note:

The W component of the quaternion will be set to 1.0

Parameters:

in_vct

Vector containing the X, Y and Z values

Constructor.

Parameters:

in_vct

Vector containing the X, Y, Z and W values

Constructor (from a rotation).

Parameters:

in_Rot

Rotation to construct from

Member Function Documentation

Sets the quaternion from a rotation

Parameters:

in_Rot

Rotation to set from

Returns:

This quaternion

Sets the quaternion from a rotation

Parameters:

in_Rot

Rotation to set from

Returns:

This quaternion

Returns a rotation that represents the current quaternion

Returns:

CRotation

Normalizes the quaternion

Tests the equality of this quaternion against in_Quat, with a tolerance of in_dEpsilon.

Parameters:

	in_Quat	Quaternion to compare against
	in_dEpsilon	Tolerance. Quaternions are considered equal if each parameter pair have a difference lower than in_dEpsilon.

Returns:

true Quaternions are approximately equal

false Quarternions are not equal

Performs an exact comparison of two quaternions.

Note:

Each parameter of both quaternions must be exactly the same fora match.

Parameters:

in_Quat

Quaternion to compare against

See also:

CQuaternion::EpsilonEquals

Performs a comparison.

Note:

Each parameter of both quaternions must be exactly the same for a match.

Parameters:

in_Quat

Quaternion to compare against

See also:

CQuaternion::EpsilonEquals, CQuaternion::Equals

Performs spherical linear interpolation of two unit quaternions whithin this quaternion.

Parameters:

	in_Quat1	First quaternion
	in_Quat2	Second quaternion
	in_dU	Interpolation factor within [0.0 .. 1.0].

Returns:

This quaternion

Multiplies this quaternion with another one in place.

Parameters:

in_Quat

Quaternion to multiply

Returns:

This quaternion

See also:

CQuaternion::Mul, CQuaternion::MulInPlace

Multiplies this quaternion with another one in place.

Parameters:

in_Quat

Quaternion to multiply

Returns:

This quaternion

See also:

CQuaternion::Mul

Stores the result of the multiplication of two quaternions.

Parameters:

	in_Quat1	First quaternion
	in_Quat2	Second quaternion

Returns:

This quaternion

Subtracts a quaternion from the current quaternion in place.

Parameters:

in_Quat

Quaternion to subtract

Returns:

This quaternion

See also:

CQuaternion::SubInPlace, CQuaternion::Sub

Subtracts a quaternion from the current quaternion in place.

Parameters:

in_Quat

Quaternion to subtract

Returns:

This quaternion

See also:

CQuaternion::Sub

Stores the result of the subtraction of two quaternions.

Parameters:

	in_Quat1	First quaternion
	in_Quat2	Second quaternion

Returns:

This quaternion

See also:

CQuaternion::SubInPlace

Negates all the components of this quaternion.

Returns:

This quaternion

See also:

CQuaternion::Negate

Stores the result of the negation of a given quaternion without changing it.

Parameters:

in_Quat

Quaternion to negate

Returns:

This quaternion

See also:

CQuaternion::NegateInPlace

Returns the squared length of this quaternion.

Returns:

The squared length

See also:

CQuaternion::GetLength

Returns the length of this quaternion.

Returns:

Length of this quaternion

See also:

CQuaternion::GetLengthSquared

Adds a quaternion to this quaternion.

Parameters:

in_Quat

Quaternion to add

See also:

CQuaternion::AddInPlace, CQuaternion::Add

Adds a quaternion to this quaternion.

Parameters:

in_Quat

Quaternion to add

See also:

CQuaternion::Add

Stores the result of the addition of two quaternions.

Parameters:

	in_Quat1	First quaternion
	in_Quat2	Second quaternion

Returns:

This quaternion

See also:

CQuaternion::AddInPlace

Conjugates this quaternion.

Returns:

This quaternion

See also:

CQuaternion::ConjugateInPlace

Stores the conjugate of a quaternion without changing it.

Parameters:

in_Quat

Quaternion to conjugate.

Returns:

This quaternion

See also:

CQuaternion::ConjugateInPlace

Inverts this quaternion.

Returns:

This quaternion

See also:

CQuaternion::Invert

Stores the invert of a quaternion without changing it.

Parameters:

in_Quat

Quaternion to invert

Returns:

This quaternion

See also:

CQuaternion::Invert

Sets this quaternion to identity quaternion.

Returns:

This quaternion

Copies the content of a quaternion.

Parameters:

in_Quat

Quaternion to copy

Returns:

This quaternion

Returns the components of this quaternion.

Return values:

	out_dW	The current value of the W component
	out_dX	The current value of the X component
	out_dY	The current value of the Y component
	out_dZ	The current value of the Z component

Returns the components of this quaternion.

Returns:

Vector that holds the values of the X, Y and Z components

Returns the components of this quaternion.

Parameters:

io_XYZWVector

Vector that holds the values of the X, Y, Z and W components

Sets the quaternion's components.

Parameters:

	in_dW	New value for the W component
	in_dX	New value for the X component
	in_dY	New value for the Y component
	in_dZ	New value for the Z component

Returns:

This quaternion

Sets the quaternion's components.

Note:

The W value is left as is.

Parameters:

in_XYZVector

Vector that holds the new values for the X, Y and Z components

Returns:

This quaternion

Sets the quaternion's components.

Parameters:

in_XYZWVector

Vector that holds the new values for the X, Y and Z components. The W component is set to 1.0.

Returns:

This quaternion

Gets the value of a single component.

Parameters:

in_nIndex

0-based index of the component to get. This value can be 0 (W), 1(X), 2(Y) or 3(Z).

Returns:

The requested value

0.0 if an invalid index was provided.

See also:

CQuaternion::PutValue

Sets the value of a single component.

Note:

The quaternion is unchanged if the provided index is invalid

Parameters:

	in_nIndex	0-based index of the component to set. This value can be 0 (W), 1(X), 2(Y) or 3(Z).
	newVal	new value

Returns:

This quaternion

See also:

CQuaternion::SetValue

Returns the W component.

Returns:

The W component

Sets the W component.

Parameters:

newVal

The new value for the component

Returns:

This quaternion

Returns the Z component.

Returns:

The Z component

Sets the Z component.

Parameters:

newVal

The new value for the component

Returns:

This quaternion

Returns the Y component.

Returns:

The Y component

Sets the Y component.

Parameters:

newVal

The new value for the component

Returns:

This quaternion

Returns the X component.

Returns:

The X component

Sets the X component.

Parameters:

newVal

The new value for the component

Returns:

This quaternion

Sets the quaternion using X,Y,Z Euler angles (in radians).

Parameters:

	x	The Euler X value in radians
	y	The Euler Y value in radians
	z	The Euler Z value in radians

Returns:

This quaternion

Returns the X,Y,Z Euler angles (in radians) for this quaternion.

Return values:

	x	The Euler X value in radians
	y	The Euler Y value in radians
	z	The Euler Z value in radians

Inequality operator (tests the strict inequality of this quaternion with the quaternion in_quat).

Parameters:

in_quat

Operand quaternion.

Returns:

true if equal else false.

See also:

CQuaternion::Equals

• xsi_quaternion.h