collision_checking::InterpMotion::SimpleQuaternion Struct Reference

Quaternion used locally by InterpMotion. More...

List of all members.

Public Member Functions
SimpleQuaternion	conj () const
	conjugate
BVH_REAL	dot (const SimpleQuaternion &other) const
	Dot product between quaternions.
void	fromAxisAngle (const Vec3f &axis, BVH_REAL angle)
	Axis and angle to quaternion.
void	fromRotation (const Vec3f R[3])
	Matrix to quaternion.
SimpleQuaternion	inverse () const
	inverse
SimpleQuaternion	operator* (BVH_REAL t) const
	scalar multiplication
SimpleQuaternion	operator* (const SimpleQuaternion &other) const
	multiplication
SimpleQuaternion	operator+ (const SimpleQuaternion &other) const
	addition
SimpleQuaternion	operator- () const
	division
SimpleQuaternion	operator- (const SimpleQuaternion &other) const
	minus
	SimpleQuaternion (BVH_REAL a, BVH_REAL b, BVH_REAL c, BVH_REAL d)
	SimpleQuaternion ()
	Default quaternion is identity rotation.
void	toAxisAngle (Vec3f &axis, BVH_REAL &angle) const
	Quaternion to axis and angle.
void	toRotation (Vec3f R[3]) const
	Quaternion to matrix.
Vec3f	transform (const Vec3f &v) const
	rotate a vector
Public Attributes
BVH_REAL	data [4]

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Detailed Description

Quaternion used locally by InterpMotion.

Definition at line 56 of file conservative_advancement.h.

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Constructor & Destructor Documentation

collision_checking::InterpMotion::SimpleQuaternion::SimpleQuaternion

(

)

[inline]

Default quaternion is identity rotation.

Definition at line 59 of file conservative_advancement.h.

collision_checking::InterpMotion::SimpleQuaternion::SimpleQuaternion	(	BVH_REAL	a,
		BVH_REAL	b,
		BVH_REAL	c,
		BVH_REAL	d
	)			[inline]

Definition at line 67 of file conservative_advancement.h.

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Member Function Documentation

InterpMotion::SimpleQuaternion collision_checking::InterpMotion::SimpleQuaternion::conj

(

)

const

conjugate

Definition at line 172 of file conservative_advancement.cpp.

BVH_REAL collision_checking::InterpMotion::SimpleQuaternion::dot

(

const SimpleQuaternion &

other

)

const

Dot product between quaternions.

Definition at line 137 of file conservative_advancement.cpp.

void collision_checking::InterpMotion::SimpleQuaternion::fromAxisAngle	(	const Vec3f &	axis,
		BVH_REAL	angle
	)

Axis and angle to quaternion.

Definition at line 107 of file conservative_advancement.cpp.

void collision_checking::InterpMotion::SimpleQuaternion::fromRotation

(

const Vec3f

R[3]

)

Matrix to quaternion.

Definition at line 45 of file conservative_advancement.cpp.

InterpMotion::SimpleQuaternion collision_checking::InterpMotion::SimpleQuaternion::inverse

(

)

const

inverse

Definition at line 177 of file conservative_advancement.cpp.

InterpMotion::SimpleQuaternion collision_checking::InterpMotion::SimpleQuaternion::operator*

(

BVH_REAL

t

)

const

scalar multiplication

Definition at line 167 of file conservative_advancement.cpp.

InterpMotion::SimpleQuaternion collision_checking::InterpMotion::SimpleQuaternion::operator*

(

const SimpleQuaternion &

other

)

const

multiplication

Definition at line 154 of file conservative_advancement.cpp.

InterpMotion::SimpleQuaternion collision_checking::InterpMotion::SimpleQuaternion::operator+

(

const SimpleQuaternion &

other

)

const

addition

Definition at line 142 of file conservative_advancement.cpp.

InterpMotion::SimpleQuaternion collision_checking::InterpMotion::SimpleQuaternion::operator-

(

void

)

const

division

Definition at line 162 of file conservative_advancement.cpp.

InterpMotion::SimpleQuaternion collision_checking::InterpMotion::SimpleQuaternion::operator-

(

const SimpleQuaternion &

other

)

const

minus

Definition at line 148 of file conservative_advancement.cpp.

void collision_checking::InterpMotion::SimpleQuaternion::toAxisAngle	(	Vec3f &	axis,
		BVH_REAL &	angle
	)			const

Quaternion to axis and angle.

Definition at line 117 of file conservative_advancement.cpp.

void collision_checking::InterpMotion::SimpleQuaternion::toRotation

(

Vec3f

R[3]

)

const

Quaternion to matrix.

Definition at line 87 of file conservative_advancement.cpp.

Vec3f collision_checking::InterpMotion::SimpleQuaternion::transform

(

const Vec3f &

v

)

const

rotate a vector

Definition at line 191 of file conservative_advancement.cpp.

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Member Data Documentation

BVH_REAL collision_checking::InterpMotion::SimpleQuaternion::data[4]

Definition at line 114 of file conservative_advancement.h.

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The documentation for this struct was generated from the following files:

• conservative_advancement.h
• conservative_advancement.cpp