Quaternion for 3D rotations. More...

#include <utilities/Quaternion.hpp>

Public Member Functions
	Quaternion (double w, double x, double y, double z)
	Create quaternion from components.

	Quaternion (double w, Vector3 vector)
	Create quaternion from real and vector parts.

	Quaternion (const Quaternion &from)
	Copy constructor.

	Quaternion ()
	Create identity quaternion.

Vector3	Forward () const
	Get forward direction.

Vector3	Right () const
	Get right direction.

Vector3	Up () const
	Get up direction.

Quaternion &	Conjugate ()
	Conjugate this quaternion.

Quaternion &	Inverse ()
	Invert this quaternion.

Quaternion	Get () const
	Get copy of this quaternion.

double	Magnitude () const
	Get magnitude.

Quaternion &	Normalize ()
	Normalize this quaternion.

Quaternion	Normalized () const
	Get normalized copy.

std::tuple< double, Vector3 >	GetAngleAxis () const
	Get angle and axis representation.

Quaternion	operator+ (const Quaternion &other) const
	Addition.

Quaternion	operator- (const Quaternion &other) const
	Subtraction.

Quaternion	operator* (const Quaternion &other) const
	Quaternion multiplication.

Quaternion	operator* (const double &other) const
	Scalar multiplication.

Quaternion	operator/ (const double &other) const
	Scalar division.

Quaternion &	*operator=** (const Quaternion &other)
	Quaternion multiply-assign.

bool	operator== (const Quaternion &other) const
	Equality comparison.

Vector3	operator* (const Vector3 &v) const
	Rotate vector by quaternion.

	operator std::string () const
	Convert to string.

	operator Vector4 () const
	Convert to Vector4.

	operator JPH::Quat () const
	Convert to Jolt quaternion.

Quaternion &	operator= (const JPH::Quat &other)
	Assign from Jolt quaternion.

	Quaternion (const JPH::Quat &other)
	Create from Jolt quaternion.

Static Public Member Functions
static Quaternion	FromAngleAxis (double angle, Vector3 axis)
	Create quaternion from angle and axis.

static double	Angle (const Quaternion &a, const Quaternion &b)
	Get angle between quaternions.

static Quaternion	Lerp (const Quaternion &a, const Quaternion &b, double t)
	Linear interpolation between quaternions.

static Quaternion	Slerp (const Quaternion &a, const Quaternion &b, double t)
	Spherical interpolation between quaternions.

static Quaternion	FromToRotation (Vector3 fromDirection, Vector3 toDirection)
	Create rotation from start to end direction.

static Quaternion	LookRotation (Vector3 forward, const Vector3 &upwards=Vector3::up)
	Create rotation looking in direction.

static Quaternion	Inverse (const Quaternion &q)
	Create inverse of quaternion.

static Quaternion	Conjugate (const Quaternion &q)
	Create conjugate of quaternion.

static double	Dot (const Quaternion &a, const Quaternion &b)
	Calculate dot product.

static double	DegreesToRadians (double degrees)
	Convert degrees to radians.

static double	RadiansToDegrees (double radians)
	Convert radians to degrees.

Public Attributes
double	W

double	X

double	Y

double	Z
	Quaternion components (w + xi + yj + zk)

Detailed Description

Quaternion for 3D rotations.

Implements quaternion mathematics for representing and manipulating 3D rotations. Provides operations for combining rotations and converting between different rotation representations.

Constructor & Destructor Documentation

◆ Quaternion() [1/3]

StevEngine::Utilities::Quaternion::Quaternion	(	double	w,
		double	x,
		double	y,
		double	z )

Create quaternion from components.

Parameters

w	Real component
x	i component
y	j component
z	k component

◆ Quaternion() [2/3]

StevEngine::Utilities::Quaternion::Quaternion	(	double	w,
		Vector3	vector )

Create quaternion from real and vector parts.

Parameters

w	Real component
vector	Vector component (x,y,z)

◆ Quaternion() [3/3]

StevEngine::Utilities::Quaternion::Quaternion ( const Quaternion & from )

Copy constructor.

Parameters

from	Quaternion to copy

Member Function Documentation

◆ Angle()

double StevEngine::Utilities::Quaternion::Angle	(	const Quaternion &	a,
		const Quaternion &	b )

static

Get angle between quaternions.

Parameters

a	First quaternion
b	Second quaternion

Returns: Angle in radians

◆ Conjugate() [1/2]

Quaternion & StevEngine::Utilities::Quaternion::Conjugate ( )

Conjugate this quaternion.

Returns: Reference to this

◆ Conjugate() [2/2]

Quaternion StevEngine::Utilities::Quaternion::Conjugate ( const Quaternion & q )

static

Create conjugate of quaternion.

Parameters

q	Quaternion to conjugate

Returns: Conjugated quaternion

◆ DegreesToRadians()

double StevEngine::Utilities::Quaternion::DegreesToRadians ( double degrees )

static

Convert degrees to radians.

Parameters

degrees Angle in degrees

Returns: Angle in radians

◆ Dot()

double StevEngine::Utilities::Quaternion::Dot	(	const Quaternion &	a,
		const Quaternion &	b )

static

Calculate dot product.

Parameters

a	First quaternion
b	Second quaternion

Returns: Dot product

◆ Forward()

Vector3 StevEngine::Utilities::Quaternion::Forward ( ) const

Get forward direction.

Returns: Forward vector in local space

◆ FromAngleAxis()

Quaternion StevEngine::Utilities::Quaternion::FromAngleAxis	(	double	angle,
		Vector3	axis )

static

Create quaternion from angle and axis.

Parameters

angle	Rotation angle in radians
axis	Rotation axis (normalized)

Returns: Created quaternion

◆ FromToRotation()

Quaternion StevEngine::Utilities::Quaternion::FromToRotation	(	Vector3	fromDirection,
		Vector3	toDirection )

static

Create rotation from start to end direction.

Parameters

fromDirection	Start direction
toDirection	Target direction

Returns: Rotation quaternion

◆ GetAngleAxis()

std::tuple< double, Vector3 > StevEngine::Utilities::Quaternion::GetAngleAxis ( ) const

Get angle and axis representation.

Returns: Tuple of (angle, axis)

◆ Inverse() [1/2]

Quaternion & StevEngine::Utilities::Quaternion::Inverse ( )

Invert this quaternion.

Returns: Reference to this

◆ Inverse() [2/2]

Quaternion StevEngine::Utilities::Quaternion::Inverse ( const Quaternion & q )

static

Create inverse of quaternion.

Parameters

q	Quaternion to invert

Returns: Inverted quaternion

◆ Lerp()

Quaternion StevEngine::Utilities::Quaternion::Lerp	(	const Quaternion &	a,
		const Quaternion &	b,
		double	t )

static

Linear interpolation between quaternions.

Parameters

a	Start quaternion
b	End quaternion
t	Interpolation factor (0-1)

Returns: Interpolated quaternion

◆ LookRotation()

Quaternion StevEngine::Utilities::Quaternion::LookRotation	(	Vector3	forward,
		const Vector3 &	upwards = Vector3::up )

static

Create rotation looking in direction.

Parameters

forward	Forward direction
upwards	Up direction

Returns: Look rotation

◆ operator*()

Vector3 StevEngine::Utilities::Quaternion::operator* ( const Vector3 & v ) const

Rotate vector by quaternion.

Parameters

v	Vector to rotate

Returns: Rotated vector

◆ RadiansToDegrees()

double StevEngine::Utilities::Quaternion::RadiansToDegrees ( double radians )

static

Convert radians to degrees.

Parameters

radians Angle in radians

Returns: Angle in degrees

◆ Right()

Vector3 StevEngine::Utilities::Quaternion::Right ( ) const

Get right direction.

Returns: Right vector in local space

◆ Slerp()

Quaternion StevEngine::Utilities::Quaternion::Slerp	(	const Quaternion &	a,
		const Quaternion &	b,
		double	t )

static

Spherical interpolation between quaternions.

Parameters

a	Start quaternion
b	End quaternion
t	Interpolation factor (0-1)

Returns: Interpolated quaternion

◆ Up()

Vector3 StevEngine::Utilities::Quaternion::Up ( ) const

Get up direction.

Returns: Up vector in local space

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

utilities/Quaternion.hpp
utilities/Quaternion.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Quaternion() [1/3]

◆ Quaternion() [2/3]

◆ Quaternion() [3/3]

Member Function Documentation

◆ Angle()

◆ Conjugate() [1/2]

◆ Conjugate() [2/2]

◆ DegreesToRadians()

◆ Dot()

◆ Forward()

◆ FromAngleAxis()

◆ FromToRotation()

◆ GetAngleAxis()

◆ Inverse() [1/2]

◆ Inverse() [2/2]

◆ Lerp()

◆ LookRotation()

◆ operator*()

◆ RadiansToDegrees()

◆ Right()

◆ Slerp()

◆ Up()