btQuaternion Class Reference

The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. More...

#include <btQuaternion.h>

List of all members.

Public Member Functions
btScalar	angle (const btQuaternion &q) const
	Return the ***half*** angle between this quaternion and the other.
btScalar	angleShortestPath (const btQuaternion &q) const
	Return the angle between this quaternion and the other along the shortest path.
	btQuaternion ()
	No initialization constructor.
	btQuaternion (const btScalar &x, const btScalar &y, const btScalar &z, const btScalar &w)
	Constructor from scalars.
	btQuaternion (const btVector3 &axis, const btScalar &angle)
	Axis angle Constructor.
	btQuaternion (const btScalar &yaw, const btScalar &pitch, const btScalar &roll) __attribute__((deprecated))
	Constructor from Euler angles.
btScalar	dot (const btQuaternion &q) const
	Return the dot product between this quaternion and another.
SIMD_FORCE_INLINE btQuaternion	farthest (const btQuaternion &qd) const
btScalar	getAngle () const
	Return the angle of rotation represented by this quaternion.
btScalar	getAngleShortestPath () const
	Return the angle of rotation represented by this quaternion along the shortest path.
btVector3	getAxis () const
	Return the axis of the rotation represented by this quaternion.
SIMD_FORCE_INLINE const btScalar &	getW () const
btQuaternion	inverse () const
	Return the inverse of this quaternion.
btScalar	length () const
	Return the length of the quaternion.
btScalar	length2 () const
	Return the length squared of the quaternion.
SIMD_FORCE_INLINE btQuaternion	nearest (const btQuaternion &qd) const
btQuaternion &	normalize ()
	Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.
btQuaternion	normalized () const
	Return a normalized version of this quaternion.
SIMD_FORCE_INLINE btQuaternion	operator* (const btScalar &s) const
	Return a scaled version of this quaternion.
btQuaternion &	operator*= (const btScalar &s)
	Scale this quaternion.
btQuaternion &	operator*= (const btQuaternion &q)
	Multiply this quaternion by q on the right.
SIMD_FORCE_INLINE btQuaternion	operator+ (const btQuaternion &q2) const
	Return the sum of this quaternion and the other.
SIMD_FORCE_INLINE btQuaternion &	operator+= (const btQuaternion &q)
	Add two quaternions.
SIMD_FORCE_INLINE btQuaternion	operator- (const btQuaternion &q2) const
	Return the difference between this quaternion and the other.
SIMD_FORCE_INLINE btQuaternion	operator- () const
	Return the negative of this quaternion This simply negates each element.
btQuaternion &	operator-= (const btQuaternion &q)
	Subtract out a quaternion.
btQuaternion	operator/ (const btScalar &s) const
	Return an inversely scaled versionof this quaternion.
btQuaternion &	operator/= (const btScalar &s)
	Inversely scale this quaternion.
void	setEuler (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
	Set the quaternion using Euler angles.
void	setEulerZYX (const btScalar &yaw, const btScalar &pitch, const btScalar &roll) __attribute__((deprecated))
	Set the quaternion using euler angles.
void	setRotation (const btVector3 &axis, const btScalar &angle)
	Set the rotation using axis angle notation.
void	setRPY (const btScalar &roll, const btScalar &pitch, const btScalar &yaw)
	Set the quaternion using fixed axis RPY.
btQuaternion	slerp (const btQuaternion &q, const btScalar &t) const
	Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.
Static Public Member Functions
static const btQuaternion &	getIdentity ()

---

Detailed Description

The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform.

Definition at line 25 of file btQuaternion.h.

---

Constructor & Destructor Documentation

btQuaternion::btQuaternion

(

)

[inline]

No initialization constructor.

Definition at line 28 of file btQuaternion.h.

btQuaternion::btQuaternion	(	const btScalar &	x,
		const btScalar &	y,
		const btScalar &	z,
		const btScalar &	w
	)		[inline]

Constructor from scalars.

Definition at line 33 of file btQuaternion.h.

btQuaternion::btQuaternion	(	const btVector3 &	axis,
		const btScalar &	angle
	)		[inline]

Axis angle Constructor.

Parameters:

axis	The axis which the rotation is around
angle	The magnitude of the rotation around the angle (Radians)

Definition at line 39 of file btQuaternion.h.

btQuaternion::btQuaternion	(	const btScalar &	yaw,
		const btScalar &	pitch,
		const btScalar &	roll
	)		[inline]

Constructor from Euler angles.

Parameters:

yaw	Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z
pitch	Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y
roll	Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X

Definition at line 47 of file btQuaternion.h.

---

Member Function Documentation

btScalar btQuaternion::angle

(

const btQuaternion &

q

)

const [inline]

Return the ***half*** angle between this quaternion and the other.

Parameters:

q	The other quaternion

Definition at line 207 of file btQuaternion.h.

btScalar btQuaternion::angleShortestPath

(

const btQuaternion &

q

)

const [inline]

Return the angle between this quaternion and the other along the shortest path.

Parameters:

q	The other quaternion

Definition at line 215 of file btQuaternion.h.

btScalar btQuaternion::dot

(

const btQuaternion &

q

)

const [inline]

Return the dot product between this quaternion and another.

Parameters:

q	The other quaternion

Definition at line 151 of file btQuaternion.h.

SIMD_FORCE_INLINE btQuaternion btQuaternion::farthest

(

const btQuaternion &

qd

)

const [inline]

Todo:

document this and it's use

Definition at line 285 of file btQuaternion.h.

btScalar btQuaternion::getAngle

(

)

const [inline]

Return the angle of rotation represented by this quaternion.

Definition at line 225 of file btQuaternion.h.

btScalar btQuaternion::getAngleShortestPath

(

)

const [inline]

Return the angle of rotation represented by this quaternion along the shortest path.

Definition at line 232 of file btQuaternion.h.

btVector3 btQuaternion::getAxis

(

)

const [inline]

Return the axis of the rotation represented by this quaternion.

Definition at line 244 of file btQuaternion.h.

static const btQuaternion& btQuaternion::getIdentity

(

)

[inline, static]

Definition at line 337 of file btQuaternion.h.

SIMD_FORCE_INLINE const btScalar& btQuaternion::getW

(

)

const [inline]

Definition at line 343 of file btQuaternion.h.

btQuaternion btQuaternion::inverse

(

)

const [inline]

Return the inverse of this quaternion.

Definition at line 254 of file btQuaternion.h.

btScalar btQuaternion::length

(

)

const [inline]

Return the length of the quaternion.

Definition at line 163 of file btQuaternion.h.

btScalar btQuaternion::length2

(

)

const [inline]

Return the length squared of the quaternion.

Definition at line 157 of file btQuaternion.h.

SIMD_FORCE_INLINE btQuaternion btQuaternion::nearest

(

const btQuaternion &

qd

)

const [inline]

Todo:

document this and it's use

Definition at line 296 of file btQuaternion.h.

btQuaternion& btQuaternion::normalize

(

)

[inline]

Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.

Definition at line 170 of file btQuaternion.h.

btQuaternion btQuaternion::normalized

(

)

const [inline]

Return a normalized version of this quaternion.

Definition at line 201 of file btQuaternion.h.

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator*

(

const btScalar &

s

)

const [inline]

Return a scaled version of this quaternion.

Parameters:

s	The scale factor

Definition at line 178 of file btQuaternion.h.

btQuaternion& btQuaternion::operator*=

(

const btScalar &

s

)

[inline]

Scale this quaternion.

Parameters:

s	The scalar to scale by

Definition at line 132 of file btQuaternion.h.

btQuaternion& btQuaternion::operator*=

(

const btQuaternion &

q

)

[inline]

Multiply this quaternion by q on the right.

Parameters:

q	The other quaternion Equivilant to this = this * q

Definition at line 141 of file btQuaternion.h.

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator+

(

const btQuaternion &

q2

)

const [inline]

Return the sum of this quaternion and the other.

Parameters:

q2	The other quaternion

Definition at line 262 of file btQuaternion.h.

SIMD_FORCE_INLINE btQuaternion& btQuaternion::operator+=

(

const btQuaternion &

q

)

[inline]

Add two quaternions.

Parameters:

q	The quaternion to add to this one

Definition at line 116 of file btQuaternion.h.

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator-

(

const btQuaternion &

q2

)

const [inline]

Return the difference between this quaternion and the other.

Parameters:

q2	The other quaternion

Definition at line 271 of file btQuaternion.h.

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator-

(

)

const [inline]

Return the negative of this quaternion This simply negates each element.

Definition at line 279 of file btQuaternion.h.

btQuaternion& btQuaternion::operator-=

(

const btQuaternion &

q

)

[inline]

Subtract out a quaternion.

Parameters:

q	The quaternion to subtract from this one

Definition at line 124 of file btQuaternion.h.

btQuaternion btQuaternion::operator/

(

const btScalar &

s

)

const [inline]

Return an inversely scaled versionof this quaternion.

Parameters:

s	The inverse scale factor

Definition at line 186 of file btQuaternion.h.

btQuaternion& btQuaternion::operator/=

(

const btScalar &

s

)

[inline]

Inversely scale this quaternion.

Parameters:

s	The scale factor

Definition at line 194 of file btQuaternion.h.

void btQuaternion::setEuler	(	const btScalar &	yaw,
		const btScalar &	pitch,
		const btScalar &	roll
	)		[inline]

Set the quaternion using Euler angles.

Parameters:

yaw	Angle around Y
pitch	Angle around X
roll	Angle around Z

Definition at line 70 of file btQuaternion.h.

void btQuaternion::setEulerZYX	(	const btScalar &	yaw,
		const btScalar &	pitch,
		const btScalar &	roll
	)		[inline]

Set the quaternion using euler angles.

Parameters:

yaw	Angle around Z
pitch	Angle around Y
roll	Angle around X

Definition at line 110 of file btQuaternion.h.

void btQuaternion::setRotation	(	const btVector3 &	axis,
		const btScalar &	angle
	)		[inline]

Set the rotation using axis angle notation.

Parameters:

axis	The axis around which to rotate
angle	The magnitude of the rotation in Radians

Definition at line 58 of file btQuaternion.h.

void btQuaternion::setRPY	(	const btScalar &	roll,
		const btScalar &	pitch,
		const btScalar &	yaw
	)		[inline]

Set the quaternion using fixed axis RPY.

Parameters:

roll	Angle around X
pitch	Angle around Y
yaw	Angle around Z

Definition at line 90 of file btQuaternion.h.

btQuaternion btQuaternion::slerp	(	const btQuaternion &	q,
		const btScalar &	t
	)		const [inline]

Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.

Parameters:

q	The other quaternion to interpolate with
t	The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. Slerp interpolates assuming constant velocity.

Definition at line 311 of file btQuaternion.h.

---

The documentation for this class was generated from the following file:

• btQuaternion.h