ork::quat< type > Class Template Reference
[math]

A templated quaternion class. More...

#include <quat.h>

List of all members.

Public Member Functions
	quat ()
	Creates a new, uninitialized quaternion.
	quat (type x, type y, type z, type w)
	Creates a new quaternion with the given coordinates (useless in general outside this header).
	quat (const type v[4])
	Creates a new quaternion with the given coordinates.
	quat (const quat &v)
	Creates a new quaternion as a copy of the given quaternion.
	quat (const vec3< type > &axis, type angle)
	Create a normalized quaternion from an axis and an angle (MOST USEFUL).
	quat (const vec3< type > &to, const vec3< type > &from)
	Create a normalized quaternion which transform a vector into another.
quat	operator* (const quat &a) const
	Multiply by another quaternion (replace a 3x3 rotation matrix multiplication).
vec3< type >	operator* (const vec3< type > &a) const
	Multiply directly by a vector.
quat &	operator*= (const quat &a)
	Multiply by another quaternion (replace a 3x3 rotation matrix multiplication).
quat	inverse () const
	Returns the inverse of this quaternion.
type	length () const
	If length is 1, this is a normalized quaternion (the interesting ones).
quat	normalize () const
	Returns this quaternion normalized to unit length.
mat3< type >	toMat3 () const
	Returns the correponding 3x3 rotation matrix.
mat4< type >	toMat4 () const
	Returns the correponding 4x4 rotation matrix.
Public Attributes
type	x
	x coordinate.
type	y
	y coordinate.
type	z
	z coordinate.
type	w
	w coordinate.

---

Detailed Description

template<typename type>
class ork::quat< type >

A templated quaternion class.

Important : assumes T is typeing point type.

---

Constructor & Destructor Documentation

template<typename type >

ork::quat< type >::quat

(

)

[inline]

Creates a new, uninitialized quaternion.

template<typename type >

ork::quat< type >::quat	(	type	x,
		type	y,
		type	z,
		type	w
	)			[inline]

Creates a new quaternion with the given coordinates (useless in general outside this header).

template<typename type >

ork::quat< type >::quat

(

const type

v[4]

)

[inline]

Creates a new quaternion with the given coordinates.

template<typename type >

ork::quat< type >::quat

(

const quat< type > &

v

)

[inline]

Creates a new quaternion as a copy of the given quaternion.

template<typename type >

ork::quat< type >::quat	(	const vec3< type > &	axis,
		type	angle
	)			[inline]

Create a normalized quaternion from an axis and an angle (MOST USEFUL).

Parameters:

	axis	an axis (do not need to be normalized)
	angle	angle in radian

template<typename type >

ork::quat< type >::quat	(	const vec3< type > &	to,
		const vec3< type > &	from
	)			[inline]

Create a normalized quaternion which transform a vector into another.

No need to pass normalized vectors.

---

Member Function Documentation

template<typename type >

quat< type > ork::quat< type >::inverse

(

)

const [inline]

Returns the inverse of this quaternion.

template<typename type >

type ork::quat< type >::length

(

)

const [inline]

If length is 1, this is a normalized quaternion (the interesting ones).

template<typename type >

quat< type > ork::quat< type >::normalize

(

)

const [inline]

Returns this quaternion normalized to unit length.

template<typename type >

vec3< type > ork::quat< type >::operator*

(

const vec3< type > &

a

)

const [inline]

Multiply directly by a vector.

Returns a rotated vector.

template<typename type >

quat< type > ork::quat< type >::operator*

(

const quat< type > &

a

)

const [inline]

Multiply by another quaternion (replace a 3x3 rotation matrix multiplication).

template<typename type >

quat< type > & ork::quat< type >::operator*=

(

const quat< type > &

a

)

[inline]

Multiply by another quaternion (replace a 3x3 rotation matrix multiplication).

template<typename type >

mat3< type > ork::quat< type >::toMat3

(

)

const [inline]

Returns the correponding 3x3 rotation matrix.

template<typename type >

mat4< type > ork::quat< type >::toMat4

(

)

const [inline]

Returns the correponding 4x4 rotation matrix.

---

Member Data Documentation

template<typename type >

type ork::quat< type >::w

w coordinate.

template<typename type >

type ork::quat< type >::x

x coordinate.

template<typename type >

type ork::quat< type >::y

y coordinate.

template<typename type >

type ork::quat< type >::z

z coordinate.