class SG_EXPORT osg::Quat

A quaternion class.

Public Fields
Vec4 _fv

Public Methods
Quat( void )
Quat( float x, float y, float z, float w )
Quat( const Vec4& vec )
inline Vec4 asVec4( void ) const
inline Vec3 asVec3( void ) const
inline Quat operator * (const float& rhs) const: Multiply by scalar
inline Quat& operator *= (const float& rhs): Unary multiply by scalar
inline Quat operator*(const Quat& rhs) const: Binary multiply
inline Quat& operator*=(const Quat& rhs): Unary multiply
inline Quat operator / (const float& rhs) const: Divide by scalar
inline Quat& operator /= (const float& rhs): Unary divide by scalar
inline Quat operator/(const Quat& denom) const: Binary divide
inline Quat& operator/=(const Quat& denom): Unary divide
inline Quat operator + (const Quat& rhs) const: Binary addition
inline Quat& operator += (const Quat& rhs): Unary addition
inline Quat operator - (const Quat& rhs) const: Binary subtraction
inline Quat& operator -= (const Quat& rhs): Unary subtraction
inline Quat operator - () const: Negation operator - returns the negative of the quaternion.
float length( void ) const: Length of the quaternion = sqrt( vec . vec )
float length2( void ) const: Length of the quaternion = vec . vec
inline Quat conj( void ) const: Conjugate
inline Quat inverse( void ) const: Multiplicative inverse method: q^(-1) = q^*/(q.q^*)
void makeRot( const float angle, const float x, const float y, const float z )
void makeRot( const float angle, const Vec3& vec )
void makeRot( const Vec3& vec1, const Vec3& vec2 ): Make a rotation Quat which will rotate vec1 to vec2.
void getRot( float& angle, float& x, float& y, float& z ) const: Return the angle and vector components represented by the quaternion
void getRot( float& angle, Vec3& vec ) const: Return the angle and vector represented by the quaternion
void slerp( const float t, const Quat& from, const Quat& to): Spherical Linear Interpolation.
void set( const osg::Matrix& m ): Set quaternion to be equivalent to specified matrix
void get( osg::Matrix& m ) const: Get the equivalent matrix for this quaternion
inline friend ostream& operator << (ostream& output, const Quat& vec)

Documentation

A quaternion class. It can be used to represent an orientation in 3D space.

Vec4 _fv

Quat( void )

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

Quat( const Vec4& vec )

inline Vec4 asVec4( void ) const

inline Vec3 asVec3( void ) const

inline Quat operator * (const float& rhs) const

Multiply by scalar

inline Quat& operator *= (const float& rhs)

Unary multiply by scalar

inline Quat operator*(const Quat& rhs) const

Binary multiply

inline Quat& operator*=(const Quat& rhs)

Unary multiply

inline Quat operator / (const float& rhs) const

Divide by scalar

inline Quat& operator /= (const float& rhs)

Unary divide by scalar

inline Quat operator/(const Quat& denom) const

Binary divide

inline Quat& operator/=(const Quat& denom)

Unary divide

inline Quat operator + (const Quat& rhs) const

Binary addition

inline Quat& operator += (const Quat& rhs)

Unary addition

inline Quat operator - (const Quat& rhs) const

Binary subtraction

inline Quat& operator -= (const Quat& rhs)

Unary subtraction

inline Quat operator - () const

Negation operator - returns the negative of the quaternion. Basically just calls operator - () on the Vec4

float length( void ) const

Length of the quaternion = sqrt( vec . vec )

float length2( void ) const

Length of the quaternion = vec . vec

inline Quat conj( void ) const

Conjugate

inline Quat inverse( void ) const

Multiplicative inverse method: q^(-1) = q^*/(q.q^*)

void makeRot( const float angle, const float x, const float y, const float z )

void makeRot( const float angle, const Vec3& vec )

void makeRot( const Vec3& vec1, const Vec3& vec2 )

Make a rotation Quat which will rotate vec1 to vec2. Generally take adot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases of when the vectors are co-incident or opposite in direction.