KS::ksQuaternion Class Reference

Public Member Functions
	ksQuaternion ()
	ksQuaternion (const ksQuaternion &q)
	ksQuaternion (Scalar x, Scalar y, Scalar z, Scalar w)
	~ksQuaternion ()
Scalar &	x ()
Scalar &	y ()
Scalar &	z ()
Scalar &	w ()
const Scalar &	x () const
const Scalar &	y () const
const Scalar &	z () const
const Scalar &	w () const
Scalar &	operator[] (const int index)
ksVector3	Vec () const
bool	GetFirstNonZeroComponentSign ()
ksQuaternion	operator* (const ksQuaternion &q) const
ksVector3	operator* (ksVector3 point)
ksQuaternion	operator- () const
ksQuaternion &	operator*= (const ksQuaternion &q)
bool	operator== (const ksQuaternion &q)
bool	operator!= (const ksQuaternion &q)
void	Normalize ()
ksQuaternion	Inverse () const
void	ToAxisAngle (ksVector3 &axis, float &angle)
void	ToAxisAngleRadians (ksVector3 &axis, float &angle)
std::string	ToString ()

Static Public Member Functions
static ksQuaternion	FromVectorDelta (ksVector3 startDirection, ksVector3 endDirection)
static ksQuaternion	FromAxisAngle (ksVector3 axis, float angle)
static ksQuaternion	FromAxisAngleRadians (ksVector3 axis, float angle)
static Scalar	Dot (const ksQuaternion &q1, const ksQuaternion &q2)
static ksVector3	TransformVector (const ksVector3 &v, const ksQuaternion &q)
static ksQuaternion	Slerp (const ksQuaternion &from, const ksQuaternion &to, float t)
static ksQuaternion	AddAngularDisplacementRadians (const ksQuaternion &quaternion, const ksVector3 &angularDisplacement)

Constructor & Destructor Documentation

ksQuaternion() [1/3]

KS::ksQuaternion::ksQuaternion ( )

inline

Default constructor.

ksQuaternion() [2/3]

KS::ksQuaternion::ksQuaternion ( const ksQuaternion &  q )

inline

Copy constructor.

ksQuaternion() [3/3]

KS::ksQuaternion::ksQuaternion ( Scalar  x, Scalar  y, Scalar  z, Scalar  w  )

inline

Initialized constructor.

~ksQuaternion()

KS::ksQuaternion::~ksQuaternion ( )

inline

Destructor

Member Function Documentation

AddAngularDisplacementRadians()

static ksQuaternion KS::ksQuaternion::AddAngularDisplacementRadians ( const ksQuaternion &  quaternion, const ksVector3 &  angularDisplacement  )

inlinestatic

Rotates a ksQuaternion using angular displacement.

Parameters

ksQuaternion&	ksQuaternion to rotate.
ksVector3&	angularDisplacement in radians.

Returns

ksQuaternion

Dot()

static Scalar KS::ksQuaternion::Dot ( const ksQuaternion &  q1, const ksQuaternion &  q2  )

inlinestatic

Dot product of two ksQuaternions.

Parameters

const	ksQuaternion& ksQuaternion 1
const	ksQuaternion& ksQuaternion 2

Returns

Scalar

FromAxisAngle()

static ksQuaternion KS::ksQuaternion::FromAxisAngle ( ksVector3  axis, float  angle  )

inlinestatic

Constructs a ksQuaternion from an axis-angle.

Parameters

ksVector3	axis of rotation.
float	angle of rotation in degrees.

Returns

ksQuaternion

FromAxisAngleRadians()

static ksQuaternion KS::ksQuaternion::FromAxisAngleRadians ( ksVector3  axis, float  angle  )

inlinestatic

Constructs a ksQuaternion from an axis-angle.

Parameters

ksVector3	axis of rotation.
float	angle of rotation in radians.

Returns

ksQuaternion

FromVectorDelta()

static ksQuaternion KS::ksQuaternion::FromVectorDelta ( ksVector3  startDirection, ksVector3  endDirection  )

inlinestatic

Constructs a ksQuaternion that rotates one vector to another.

Parameters

ksVector3	startDirection
ksVector3	endDirection

Returns

ksQuaternion

GetFirstNonZeroComponentSign()

bool KS::ksQuaternion::GetFirstNonZeroComponentSign ( )

inline

Return first nonzero component's sign. If all components are zeros, return true.

Returns

bool

Inverse()

ksQuaternion KS::ksQuaternion::Inverse ( ) const

inline

Return the inverse of the ksQuaternion

Returns

ksQuaternion inversed ksQuaternion

Normalize()

void KS::ksQuaternion::Normalize ( )

inline

Normalize the ksQuaternion

operator!=()

bool KS::ksQuaternion::operator!= ( const ksQuaternion &  q )

inline

Not equivalence.

Parameters

const

ksQuaternion& q

Returns

bool

operator*() [1/2]

ksQuaternion KS::ksQuaternion::operator* ( const ksQuaternion &  q ) const

inline

Rotation composition

Parameters

const

ksQuaternion& q

Returns

ksQuaternion

operator*() [2/2]

ksVector3 KS::ksQuaternion::operator* ( ksVector3  point )

inline

Rotates a vector by a ksQuaternion.

Parameters

ksVector3

point to rotate.

Returns

ksVector3 rotated point.

operator*=()

ksQuaternion& KS::ksQuaternion::operator*= ( const ksQuaternion &  q )

inline

Rotation composition

Parameters

const

ksQuaternion& q

Returns

ksQuaternion&

operator-()

ksQuaternion KS::ksQuaternion::operator- ( ) const

inline

Unary minus.

Returns

ksQuaternion

operator==()

bool KS::ksQuaternion::operator== ( const ksQuaternion &  q )

inline

Equivalence.

Parameters

const

ksQuaternion& q

Returns

bool

Slerp()

static ksQuaternion KS::ksQuaternion::Slerp ( const ksQuaternion &  from, const ksQuaternion &  to, float  t  )

inlinestatic

Spherically interpolates between two ksQuaternions.

Parameters

ksQuaternion&	from - ksQuaternion to interpolate from.
ksQuaternion&	to - ksQuaternion to interpolate to.
float	t - value between 0 and 1 that determines the amount of interpolation.

Returns

ksQuaternion interpolated ksQuaternion.

ToAxisAngle()

void KS::ksQuaternion::ToAxisAngle ( ksVector3 &  axis, float &  angle  )

inline

Converts the ksQuaternion to axis-angle representation.

Parameters

ksVector3	&axis of rotation.
float	&angle of rotation in degrees.

ToAxisAngleRadians()

void KS::ksQuaternion::ToAxisAngleRadians ( ksVector3 &  axis, float &  angle  )

inline

Converts the ksQuaternion to axis-angle representation.

Parameters

ksVector3	&axis of rotation.
float	&angle of rotation in radians.

ToString()

std::string KS::ksQuaternion::ToString ( )

inline

String

Returns

std::string

TransformVector()

static ksVector3 KS::ksQuaternion::TransformVector ( const ksVector3 &  v, const ksQuaternion &  q  )

inlinestatic

Apply a ksQuaternion rotation to a vector

Parameters

const	ksVector3& vector
const	ksQuaternion& ksQuaternion

Returns

ksVector3

Vec()

ksVector3 KS::ksQuaternion::Vec ( ) const

inline

Return a vector component of this ksQuaternion

Returns

ksVector3

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

• ksQuaternion.h