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XFcQuaternion Class Reference

Quaternion class. More...

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List of all members.

Public Member Functions

 XFcQuaternion ()
 Empty constructor.

 XFcQuaternion (const XFcQuaternion &aQuat)
 Copy constructor.

 XFcQuaternion (const XFcVector3 &aVec)
 Construction from a vector.

 XFcQuaternion (const REAL aX, const REAL aY, const REAL aZ, const REAL aW)
 Construction from 4 values.

XFcQuaternion & operator+= (const XFcQuaternion &aQuat)
 Adds components of another quaternion to this quaternion.

XFcQuaternion operator+ (const XFcQuaternion &aQuat) const
 Creates a new quaternion which contains the result of this + another quaternion.

XFcQuaternion & operator-= (const XFcQuaternion &aQuat)
 Substracts components of another quaternion from this quaternion.

XFcQuaternion operator- (const XFcQuaternion &aQuat) const
 Creates a new quaternion which contains the result of this - another quaternion.

XFcQuaternion operator *= (const INT32 aArg)
 Multiplies this quaternion by an INT32.

XFcQuaternion operator *= (const FLOAT32 aArg)
 Multiplies this quaternion by a FLOAT32.

XFcQuaternion operator * (const INT32 aArg) const
 Creates a new quaternion which contains the result of this * INT32.

XFcQuaternion operator * (const FLOAT32 aArg) const
 Creates a new quaternion which contains the result of this * FLOAT32.

XFcQuaternion operator/= (const INT32 aArg)
 Divides this quaternion by an INT32.

XFcQuaternion operator/= (const FLOAT32 aArg)
 Divides this quaternion by an FLOAT32.

XFcQuaternion operator/ (const INT32 aArg) const
 Creates a new quaternion which contains the result of this / INT32.

XFcQuaternion operator/ (const FLOAT32 aArg) const
 Creates a new quaternion which contains the result of this / FLOAT32.

XFcQuaternion operator *= (const REAL &aArg)
XFcQuaternion operator * (const REAL &aArg) const
XFcQuaternion operator/= (const REAL &aArg)
XFcQuaternion operator/ (const REAL &aArg) const
XFcQuaternion operator * (const XFcQuaternion &aQuat) const
 Multiplication with another quaternion.

XFcQuaternion & operator *= (const XFcQuaternion &aQuat)
 Multiplication with another quaternion.

XFcQuaternion operator/ (const XFcQuaternion &aQuat) const
 Division with another quaternion.

XFcQuaternion & operator/= (const XFcQuaternion &aQuat)
 Division with another quaternion.

REAL normal ()
 Calculates the normal of the quaterion (x^2+y^2+z^2+w^2).

REAL length ()
 Calculates the length of the quaternion.

void normalize ()
 Normalizes a quaternion to unit length.

void conjugate ()
 Conjugates the quaternion (negates x,y,z).

void inverse ()
 Inverses the quaternion (q^-1 = q^* / N(q)).


Public Attributes

REAL x
 X-component of the rotation.

REAL y
 Y-component of the rotation.

REAL z
 Z-component of the rotation.

REAL w
 W-component of the rotation.


Friends

XFcQuaternion operator * (const INT32 aArg, const XFcQuaternion &aQuat)
 Creates a new quaternion which contains the result of INT32 * this.

XFcQuaternion operator * (const FLOAT32 aArg, const XFcQuaternion &aQuat)
 Creates a new quaternion which contains the result of FLOAT32 * this.

XFcQuaternion operator/ (const INT32 aArg, const XFcQuaternion &aQuat)
 Creates a new quaternion which contains the result of INT32 / this.

XFcQuaternion operator/ (const FLOAT32 aArg, const XFcQuaternion &aQuat)
 Creates a new quaternion which contains the result of FLOAT32 / this.

XFcQuaternion operator * (const REAL &aArg, const XFcQuaternion &aQuat)
XFcQuaternion operator/ (const REAL &aArg, const XFcQuaternion &aQuat)

Detailed Description

Quaternion class.

Provides tools to store and manipulate rotation stored into a quaternion.

See also:
XFcMath

Constructor & Destructor Documentation

XFcQuaternion::XFcQuaternion (    )  [inline]
 

Empty constructor.

XFcQuaternion::XFcQuaternion (  const XFcQuaternion &    aQuat )  [inline]
 

Copy constructor.

XFcQuaternion::XFcQuaternion (  const XFcVector3 &    aVec )  [inline]
 

Construction from a vector.

XFcQuaternion::XFcQuaternion (  const REAL    aX,
const REAL    aY,
const REAL    aZ,
const REAL    aW
)  [inline]
 

Construction from 4 values.

Member Function Documentation

void XFcQuaternion::conjugate (    )  [inline]
 

Conjugates the quaternion (negates x,y,z).

Conjugate of a quaternion is defined in the same way as with complex numbers.

void XFcQuaternion::inverse (    )  [inline]
 

Inverses the quaternion (q^-1 = q^* / N(q)).

REAL XFcQuaternion::length (    )  [inline]
 

Calculates the length of the quaternion.

REAL XFcQuaternion::normal (    )  [inline]
 

Calculates the normal of the quaterion (x^2+y^2+z^2+w^2).

void XFcQuaternion::normalize (    )  [inline]
 

Normalizes a quaternion to unit length.

Note:
Matrix conversion requires unit quaternions.

XFcQuaternion XFcQuaternion::operator * (  const XFcQuaternion &    aQuat )  const [inline]
 

Multiplication with another quaternion.

XFcQuaternion XFcQuaternion::operator * (  const REAL &    aArg )  const [inline]
 

XFcQuaternion XFcQuaternion::operator * (  const FLOAT32    aArg )  const [inline]
 

Creates a new quaternion which contains the result of this * FLOAT32.

XFcQuaternion XFcQuaternion::operator * (  const INT32    aArg )  const [inline]
 

Creates a new quaternion which contains the result of this * INT32.

XFcQuaternion & XFcQuaternion::operator *= (  const XFcQuaternion &    aQuat )  [inline]
 

Multiplication with another quaternion.

XFcQuaternion XFcQuaternion::operator *= (  const REAL &    aArg )  [inline]
 

XFcQuaternion XFcQuaternion::operator *= (  const FLOAT32    aArg )  [inline]
 

Multiplies this quaternion by a FLOAT32.

XFcQuaternion XFcQuaternion::operator *= (  const INT32    aArg )  [inline]
 

Multiplies this quaternion by an INT32.

XFcQuaternion XFcQuaternion::operator+ (  const XFcQuaternion &    aQuat )  const [inline]
 

Creates a new quaternion which contains the result of this + another quaternion.

Parameters:
aQuat quaternion to be added to this quaternion.
Returns:
A new quaternion containing the result.

XFcQuaternion & XFcQuaternion::operator+= (  const XFcQuaternion &    aQuat )  [inline]
 

Adds components of another quaternion to this quaternion.

Parameters:
aQuat quaternion to be added to this quaternion.
Returns:
reference to this quaternion.

XFcQuaternion XFcQuaternion::operator- (  const XFcQuaternion &    aQuat )  const [inline]
 

Creates a new quaternion which contains the result of this - another quaternion.

Parameters:
aQuat quaternion to be substracted from this quaternion.
Returns:
A new quaternion containing the result.

XFcQuaternion & XFcQuaternion::operator-= (  const XFcQuaternion &    aQuat )  [inline]
 

Substracts components of another quaternion from this quaternion.

Parameters:
aQuat quaternion to be substracted from this quaternion.
Returns:
reference to this quaternion.

XFcQuaternion XFcQuaternion::operator/ (  const XFcQuaternion &    aQuat )  const [inline]
 

Division with another quaternion.

XFcQuaternion XFcQuaternion::operator/ (  const REAL &    aArg )  const [inline]
 

XFcQuaternion XFcQuaternion::operator/ (  const FLOAT32    aArg )  const [inline]
 

Creates a new quaternion which contains the result of this / FLOAT32.

XFcQuaternion XFcQuaternion::operator/ (  const INT32    aArg )  const [inline]
 

Creates a new quaternion which contains the result of this / INT32.

XFcQuaternion & XFcQuaternion::operator/= (  const XFcQuaternion &    aQuat )  [inline]
 

Division with another quaternion.

XFcQuaternion XFcQuaternion::operator/= (  const REAL &    aArg )  [inline]
 

XFcQuaternion XFcQuaternion::operator/= (  const FLOAT32    aArg )  [inline]
 

Divides this quaternion by an FLOAT32.

XFcQuaternion XFcQuaternion::operator/= (  const INT32    aArg )  [inline]
 

Divides this quaternion by an INT32.

Friends And Related Function Documentation

XFcQuaternion operator * (  const REAL &    aArg,
const XFcQuaternion &    aQuat
)  [friend]
 

XFcQuaternion operator * (  const FLOAT32    aArg,
const XFcQuaternion &    aQuat
)  [friend]
 

Creates a new quaternion which contains the result of FLOAT32 * this.

XFcQuaternion operator * (  const INT32    aArg,
const XFcQuaternion &    aQuat
)  [friend]
 

Creates a new quaternion which contains the result of INT32 * this.

XFcQuaternion operator/ (  const REAL &    aArg,
const XFcQuaternion &    aQuat
)  [friend]
 

XFcQuaternion operator/ (  const FLOAT32    aArg,
const XFcQuaternion &    aQuat
)  [friend]
 

Creates a new quaternion which contains the result of FLOAT32 / this.

XFcQuaternion operator/ (  const INT32    aArg,
const XFcQuaternion &    aQuat
)  [friend]
 

Creates a new quaternion which contains the result of INT32 / this.

Member Data Documentation

REAL XFcQuaternion::w
 

W-component of the rotation.

REAL XFcQuaternion::x
 

X-component of the rotation.

REAL XFcQuaternion::y
 

Y-component of the rotation.

REAL XFcQuaternion::z
 

Z-component of the rotation.


   
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