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ExQuaternion Class Reference

#include <ExQuaternion.h>


Public Methods

 ExQuaternion ()
 ExQuaternion (float w, float x, float y, float z)
 ~ExQuaternion ()
void LoadIdentity (void)
void SetQuaternion (float w, float x, float y, float z)
void Normalize (void)
void Conjugate (void)
float GetMagnitude (void)
void SetEuler (float yaw, float pitch, float roll)
ExQuaternion operator- (const ExQuaternion &Q)
ExQuaternion operator+ (const ExQuaternion &Q)
ExQuaternion operator * (const float scalar)
ExQuaternion operator * (const ExQuaternion &Q)

Data Fields

float qw
float qx
float qy
float qz

Friends

std::ostream & operator<< (std::ostream &s, const ExQuaternion &q)

Constructor & Destructor Documentation

ExQuaternion (    ) 
 

Definition at line 26 of file ExQuaternion.cpp.

References SetQuaternion(). 

00027 {
00028         SetQuaternion(1,0,0,0);
00029 }

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

Definition at line 31 of file ExQuaternion.cpp.

References SetQuaternion(). 

00032 {
00033         SetQuaternion(w,x,y,z);
00034 }

~ExQuaternion (    ) 
 

Definition at line 36 of file ExQuaternion.cpp. 

00037 {
00038 
00039 }

Member Function Documentation

void Conjugate (  void    ) 
 

Definition at line 52 of file ExQuaternion.cpp. 

00053 {
00054 
00055 }

float GetMagnitude (  void    ) 
 

Definition at line 63 of file ExQuaternion.cpp.

References qw, qx, qy, and qz.

Referenced by Normalize(). 

00064 {
00065         return(sqrt(qw*qw+qx*qx+qy*qy+qz*qz));
00066         
00067 }

void LoadIdentity (  void    ) 
 

Definition at line 57 of file ExQuaternion.cpp.

References qx, qy, and qz. 

00058 {
00059         qx=-qx;
00060         qy=-qy;
00061         qz=-qz;
00062 }

void Normalize (  void    ) 
 

Definition at line 68 of file ExQuaternion.cpp.

References GetMagnitude(), qw, qx, qy, and qz. 

00069 {
00070         float factor=GetMagnitude();
00071         float scaleby(1.0/sqrt(factor));
00072         qw=qw*scaleby;
00073         qx=qx*scaleby;
00074         qy=qy*scaleby;
00075         qz=qz*scaleby;
00076 }

ExQuaternion operator * (  const ExQuaternion &    Q ) 
 

Definition at line 96 of file ExQuaternion.cpp.

References qw, qx, qy, and qz. 

00097 {
00098         ExQuaternion result;
00099         result.qw=(Q.qw*result.qw)-(Q.qx*result.qx)-(Q.qy*result.qy)-(Q.qz*result.qz);
00100         result.qx=(Q.qw*result.qx)-(Q.qx*result.qw)-(Q.qy*result.qz)-(Q.qz*result.qw);
00101         result.qy=(Q.qw*result.qy)-(Q.qx*result.qz)-(Q.qy*result.qw)-(Q.qz*result.qx);
00102         result.qz=(Q.qw*result.qz)-(Q.qx*result.qy)-(Q.qy*result.qx)-(Q.qz*result.qw);
00103         return result;
00104 }

ExQuaternion operator * (  const float    scalar ) 
 

ExQuaternion operator+ (  const ExQuaternion &    Q ) 
 

ExQuaternion operator- (  const ExQuaternion &    Q ) 
 

void SetEuler (  float    yaw,
float    pitch,
float    roll
) 
 

Definition at line 78 of file ExQuaternion.cpp.

References qw, qx, qy, and qz. 

00079 {
00080         float cosY = cosf(yaw/2.0f);
00081         float sinY = sinf(yaw/2.0f);
00082         float cosP = cosf(pitch/2.0f);
00083         float sinP = sinf(pitch/2.0f);
00084         float cosR = cosf(roll/2.0f);
00085         float sinR = sinf(roll/2.0f);
00086 
00087         qw=cosR*sinP*cosY+sinR*cosP*sinY;
00088         qx=cosR*cosP*sinY-sinR*sinP*cosY;
00089         qy=sinR*cosP*cosY-cosR*sinP*sinY;
00090         qz=cosR*cosP*cosY+sinR*sinP*sinY;
00091 
00092 }

void SetQuaternion (  float    w,
float    x,
float    y,
float    z
) 
 

Definition at line 44 of file ExQuaternion.cpp.

Referenced by ExQuaternion(). 

00045 {
00046         qw=w;
00047         qx=x;
00048         qy=y;
00049         qz=z;
00050 }

Friends And Related Function Documentation

std::ostream& operator<< (  std::ostream &    s,
const ExQuaternion &    q
)  [friend]
 

Definition at line 109 of file ExQuaternion.cpp. 

00110 {
00111 Guard(friend std::ostream& operator<<(std::ostream& s,const ExQuaternion &q))
00112         s<<"W:"<<q.qw<<"X:"<<q.qx<<"Y:"<<q.qy<<"Z:"<<q.qz<<std::endl;
00113         return s;
00114 UnGuard
00115 }

Field Documentation

float qw
 

Definition at line 55 of file ExQuaternion.h.

Referenced by GetMagnitude(), GetMatrixFromQuaternion(), GetQuaternionFromEuler(), Normalize(), operator *(), operator<<(), and SetEuler().

float qx
 

Definition at line 55 of file ExQuaternion.h.

Referenced by GetAxisFromQuaternion(), GetMagnitude(), GetMatrixFromQuaternion(), GetQuaternionFromEuler(), LoadIdentity(), Normalize(), operator *(), operator<<(), and SetEuler().

float qy
 

Definition at line 55 of file ExQuaternion.h.

Referenced by GetAxisFromQuaternion(), GetMagnitude(), GetMatrixFromQuaternion(), GetQuaternionFromEuler(), LoadIdentity(), Normalize(), operator *(), operator<<(), and SetEuler().

float qz
 

Definition at line 55 of file ExQuaternion.h.

Referenced by GetAxisFromQuaternion(), GetMagnitude(), GetMatrixFromQuaternion(), GetQuaternionFromEuler(), LoadIdentity(), Normalize(), operator *(), operator<<(), and SetEuler().

The documentation for this class was generated from the following files:
Generated on Tue Dec 10 18:20:47 2002 for ExNihilo by doxygen1.3-rc1