Urho3D::Quaternion Class Reference

Rotation represented as a four-dimensional normalized vector. More...

#include <Urho3D/Math/Quaternion.h>

Collaboration diagram for Urho3D::Quaternion:

Public Member Functions
	Quaternion ()
	Construct an identity quaternion.
	Quaternion (const Quaternion &quat)
	Copy-construct from another quaternion.
	Quaternion (float w, float x, float y, float z)
	Construct from values.
	Quaternion (const float *data)
	Construct from a float array.
	Quaternion (float angle, const Vector3 &axis)
	Construct from an angle (in degrees) and axis.
	Quaternion (float angle)
	Construct from an angle (in degrees, for Urho2D).
	Quaternion (float x, float y, float z)
	Construct from Euler angles (in degrees.)
	Quaternion (const Vector3 &start, const Vector3 &end)
	Construct from the rotation difference between two direction vectors.
	Quaternion (const Vector3 &xAxis, const Vector3 &yAxis, const Vector3 &zAxis)
	Construct from orthonormal axes.
	Quaternion (const Matrix3 &matrix)
	Construct from a rotation matrix.
Quaternion &	operator= (const Quaternion &rhs)
	Assign from another quaternion.
Quaternion &	operator+= (const Quaternion &rhs)
	Add-assign a quaternion.
Quaternion &	operator*= (float rhs)
	Multiply-assign a scalar.
bool	operator== (const Quaternion &rhs) const
	Test for equality with another quaternion without epsilon.
bool	operator!= (const Quaternion &rhs) const
	Test for inequality with another quaternion without epsilon.
Quaternion	operator* (float rhs) const
	Multiply with a scalar.
Quaternion	operator- () const
	Return negation.
Quaternion	operator+ (const Quaternion &rhs) const
	Add a quaternion.
Quaternion	operator- (const Quaternion &rhs) const
	Subtract a quaternion.
Quaternion	operator* (const Quaternion &rhs) const
	Multiply a quaternion.
Vector3	operator* (const Vector3 &rhs) const
	Multiply a Vector3.
void	FromAngleAxis (float angle, const Vector3 &axis)
	Define from an angle (in degrees) and axis.
void	FromEulerAngles (float x, float y, float z)
	Define from Euler angles (in degrees.)
void	FromRotationTo (const Vector3 &start, const Vector3 &end)
	Define from the rotation difference between two direction vectors.
void	FromAxes (const Vector3 &xAxis, const Vector3 &yAxis, const Vector3 &zAxis)
	Define from orthonormal axes.
void	FromRotationMatrix (const Matrix3 &matrix)
	Define from a rotation matrix.
bool	FromLookRotation (const Vector3 &direction, const Vector3 &up=Vector3::UP)
	Define from a direction to look in and an up direction. Return true if successful, or false if would result in a NaN, in which case the current value remains.
void	Normalize ()
	Normalize to unit length.
Quaternion	Normalized () const
	Return normalized to unit length.
Quaternion	Inverse () const
	Return inverse.
float	LengthSquared () const
	Return squared length.
float	DotProduct (const Quaternion &rhs) const
	Calculate dot product.
bool	Equals (const Quaternion &rhs) const
	Test for equality with another quaternion with epsilon.
bool	IsNaN () const
	Return whether is NaN.
Quaternion	Conjugate () const
	Return conjugate.
Vector3	EulerAngles () const
	Return Euler angles in degrees.
float	YawAngle () const
	Return yaw angle in degrees.
float	PitchAngle () const
	Return pitch angle in degrees.
float	RollAngle () const
	Return roll angle in degrees.
Matrix3	RotationMatrix () const
	Return the rotation matrix that corresponds to this quaternion.
Quaternion	Slerp (Quaternion rhs, float t) const
	Spherical interpolation with another quaternion.
Quaternion	Nlerp (Quaternion rhs, float t, bool shortestPath=false) const
	Normalized linear interpolation with another quaternion.
const float *	Data () const
	Return float data.
String	ToString () const
	Return as string.

Public Attributes
float	w_
	W coordinate.
float	x_
	X coordinate.
float	y_
	Y coordinate.
float	z_
	Z coordinate.

Static Public Attributes
static const Quaternion	IDENTITY
	Identity quaternion.

Detailed Description

Rotation represented as a four-dimensional normalized vector.

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

• Source/Urho3D/Math/Quaternion.h
• Source/Urho3D/Math/Quaternion.cpp