gmtl::Quat< DATA_TYPE > Class Template Reference [Abstract Data Types: Matrix, Vec, Quat, Coord, Sphere, Plane]

Quat: Class to encapsulate quaternion behaviors. More...

#include <Quat.h>

Collaboration diagram for gmtl::Quat< DATA_TYPE >:

List of all members.

Public Types
enum	Params { Size = 4 }
typedef DATA_TYPE	DataType
	use this to declare single value types of the same type as this matrix.
Public Member Functions
	Quat ()
	default constructor, initializes to quaternion multiplication identity [x,y,z,w] == [0,0,0,1].
	Quat (const DATA_TYPE &x, const DATA_TYPE &y, const DATA_TYPE &z, const DATA_TYPE &w)
	data constructor, initializes to quaternion multiplication identity [x,y,z,w] == [0,0,0,1].
	Quat (const Quat< DATA_TYPE > &q)
	copy constructor
void	set (const DATA_TYPE x, const DATA_TYPE y, const DATA_TYPE z, const DATA_TYPE w)
	directly set the quaternion's values
void	get (DATA_TYPE &x, DATA_TYPE &y, DATA_TYPE &z, DATA_TYPE &w) const
	get the raw data elements of the quaternion.
DATA_TYPE &	operator[] (const int x)
	bracket operator.
const DATA_TYPE &	operator[] (const int x) const
	bracket operator (const version).
const DATA_TYPE *	getData () const
	Get a DATA_TYPE pointer to the quat internal data.
Public Attributes
Vec< DATA_TYPE, 4 >	mData

---

Detailed Description

template<typename DATA_TYPE>
class gmtl::Quat< DATA_TYPE >

Quat: Class to encapsulate quaternion behaviors.

this Quaternion is ordered in memory: x,y,z,w.

See also:

Quatf

Quatd

Note: The code for most of these routines was built using the following references

References:

• Advanced Animation and Rendering Techniques: pp363-365
• Animating Rotation with Quaternion Curves, Ken Shoemake, SIGGRAPH Proceedings Vol 19, Number 3, 1985
• Quaternion Calculus for Animation, Ken Shoemake SIGGRAPH course notes 1989
• Game Developer Magazine: Feb 98, pg.34-42
• Motivation for the use of Quaternions to perform transformations http://www.rust.net/~kgeoinfo/quat1.htm
• On quaternions; or on a new system of imaginaries in algebra, Sir William Rowan Hamilton, Philosophical Magazine, xxv, pp. 10-13 (July 1844)
• You also can find more on quaternions at
  • http://www.gamasutra.com/features/19980703/quaternions_01.htm and at
  • http://archive.ncsa.uiuc.edu/VEG/VPS/emtc/quaternions/index.html
• Or search on google....

Definition at line 47 of file Quat.h.

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Member Typedef Documentation

template<typename DATA_TYPE>

typedef DATA_TYPE gmtl::Quat< DATA_TYPE >::DataType

use this to declare single value types of the same type as this matrix.

Definition at line 52 of file Quat.h.

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Member Enumeration Documentation

template<typename DATA_TYPE>

enum gmtl::Quat::Params

Enumerator:

Size

Definition at line 54 of file Quat.h.

{ Size = 4 };

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Constructor & Destructor Documentation

template<typename DATA_TYPE>

gmtl::Quat< DATA_TYPE >::Quat

(

)

[inline]

default constructor, initializes to quaternion multiplication identity [x,y,z,w] == [0,0,0,1].

NOTE: the addition identity is [0,0,0,0]

Definition at line 60 of file Quat.h.

      : mData( (DATA_TYPE)0.0, (DATA_TYPE)0.0, (DATA_TYPE)0.0, (DATA_TYPE)1.0 )
   {
   }

template<typename DATA_TYPE>

gmtl::Quat< DATA_TYPE >::Quat	(	const DATA_TYPE &	x,
		const DATA_TYPE &	y,
		const DATA_TYPE &	z,
		const DATA_TYPE &	w
	)			[inline]

data constructor, initializes to quaternion multiplication identity [x,y,z,w] == [0,0,0,1].

NOTE: the addition identity is [0,0,0,0]

Definition at line 69 of file Quat.h.

      : mData( x, y, z, w )
   {
   }

template<typename DATA_TYPE>

gmtl::Quat< DATA_TYPE >::Quat

(

const Quat< DATA_TYPE > &

q

)

[inline]

copy constructor

Definition at line 77 of file Quat.h.

                                    : mData( q.mData )
   {
   }

---

Member Function Documentation

template<typename DATA_TYPE>

void gmtl::Quat< DATA_TYPE >::get	(	DATA_TYPE &	x,
		DATA_TYPE &	y,
		DATA_TYPE &	z,
		DATA_TYPE &	w
	)			const [inline]

get the raw data elements of the quaternion.

Postcondition:

sets the given variables to the quaternion's x, y, z, and w values

Definition at line 93 of file Quat.h.

   {
      x = mData[Xelt];
      y = mData[Yelt];
      z = mData[Zelt];
      w = mData[Welt];
   }

template<typename DATA_TYPE>

const DATA_TYPE* gmtl::Quat< DATA_TYPE >::getData

(

)

const [inline]

Get a DATA_TYPE pointer to the quat internal data.

Postcondition:

Returns a ptr to the head of the quat data

Definition at line 141 of file Quat.h.

{ return (DATA_TYPE*)mData.getData();}

template<typename DATA_TYPE>

const DATA_TYPE& gmtl::Quat< DATA_TYPE >::operator[]

(

const int

x

)

const [inline]

bracket operator (const version).

raw data accessor.

"Example (access raw data element in a Quat):"

    Quatf q;
    float rads = acos( q[Welt] ) / 2.0f;

See also:

VectorIndex

Definition at line 132 of file Quat.h.

   {
      gmtlASSERT( x >= 0 && x < 4 && "out of bounds error" );
      return mData[x];
   }

template<typename DATA_TYPE>

DATA_TYPE& gmtl::Quat< DATA_TYPE >::operator[]

(

const int

x

)

[inline]

bracket operator.

raw data accessor.

"Example (access raw data element in a Quat):"

    Quatf q;
    q[Xelt] = 0.001231176f;
    q[Yelt] = 0.1222f;
    q[Zelt] = 0.721f;
    q[Welt] = 0.982323f;

See also:

VectorIndex

Definition at line 115 of file Quat.h.

   {
      gmtlASSERT( x >= 0 && x < 4 && "out of bounds error" );
      return mData[x];
   }

template<typename DATA_TYPE>

void gmtl::Quat< DATA_TYPE >::set	(	const DATA_TYPE	x,
		const DATA_TYPE	y,
		const DATA_TYPE	z,
		const DATA_TYPE	w
	)			[inline]

directly set the quaternion's values

Precondition:

x,y,z,w should be normalized

Postcondition:

the quaternion is set with the given values

Definition at line 85 of file Quat.h.

   {
      mData.set( x, y, z, w );
   }

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Member Data Documentation

template<typename DATA_TYPE>

Vec<DATA_TYPE, 4> gmtl::Quat< DATA_TYPE >::mData

Definition at line 145 of file Quat.h.

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

• Quat.h