HQuat

Content

operator*

Fields

float	`x`
float	`y`
float	`z`
float	`w`

Functions

HQuat const &	`Normalize`
	`HQuat`
	`HQuat`
	`HQuat`
	`HQuat`
void	`Set`
HQuat	`operator*`
HQuat	`operator*`
HQuat	`operator/`
HQuat	`operator-`
HQuat	`operator+`
void	`ToMatrix`
HQuat	`Qlog`
HQuat	`Qexp`
HQuat	`Qlerp`
HQuat	`Qslerp`
HQuat	`QslerpNoInvert`
HQuat	`QslerpNoInvertExtraSpins`
HQuat	`Qsquad`
HQuat	`Qspline`
HQuat	`MatrixToQuaternion`

Detailed Description

class HQuat

The HQuat class defines the data type of a Quaternion.

The HQuat class encapsulates the x,y,x,w values used to define a quaternion as well as various functions to perform algebrahic operations on quaternions

Public Functions

HQuat const &Normalize(): normalizes an HQuat

inline HQuat(): default constructor

inline HQuat(float X, float Y, float Z, float W): constructor that accepts three floats

inline HQuat(HQuat const *p): constructor that accepts a pointer to an HQuat object

inline HQuat(HQuat const &p): constructor that accepts an HQuat reference

inline void Set(float X, float Y, float Z, float W): Set packs an HQuat object with coordinate values.

inline HQuat operator*(HQuat const &q2) const

Multiplies two quaternions

Parameters: q2 – Quaternion to multiply with
Returns: Result of multiplication

inline HQuat operator*(float v) const

Multiplies a quaternion with a float value

Parameters: v – Value to multiply Quaternion with
Returns: Result of multiplication

inline HQuat operator/(float v) const

Divides a quaternion by a float value

Parameters: v – Value to divide Quaternion by
Returns: Result of multiplication

inline HQuat operator-(HQuat const &q2) const

Subtracts one quaternion from another

Parameters: q2 – Quaternion to subtract with
Returns: Result of subtraction

inline HQuat operator+(HQuat const &q2) const

Add one quaternion to another

Parameters: q2 – Quaternion to add
Returns: Result of addition

void ToMatrix(float matrix[16])

Convert Quaternion to matrix form

Parameters: matrix – Returns result matrix

Public Members

float x: Quaternion x Coordinate

float y: Quaternion y Coordinate

float z: Quaternion z Coordinate

float w: Quaternion w Coordinate

Public Static Functions

static HQuat Qlog(HQuat const &q)

Logarithm of a HQuat, given as: Qlog(q) = v*a where q = [cos(a),v*sin(a)]

Parameters: q – Quaternion to perform log on
Returns: Result of logarithm

static HQuat Qexp(HQuat const &q)

Qexp(v*a) = [cos(a),vsin(a)]

Parameters: q – Quaternion to perform exp on
Returns: Result of Exp

static HQuat Qlerp(HQuat const &q1, HQuat const &q2, float fraction)

Linear interpolation between two HQuats

Parameters

q1 – First Quaternion for Interpolation
q2 – Second Quaternion for Interpolation
fraction – Interpolation Distance (0 - 1)

Returns

Result of interplation

static HQuat Qslerp(HQuat const &q1, HQuat const &q2, float fraction)

Spherical interpolation between two HQuats

Parameters

q1 – First Quaternion for Interpolation
q2 – Second Quaternion for Interpolation
fraction – Interpolation Distance (0 - 1)

Returns

Result of interplation

static HQuat QslerpNoInvert(HQuat const &q1, HQuat const &q2, float fraction)

Spherical interpolation between two HQuats This version of slerp, used by squad, does not check for theta > 90.

Parameters

q1 – First Quaternion for Interpolation
q2 – Second Quaternion for Interpolation
fraction – Interpolation Distance (0 - 1)

Returns

Result of interplation

static HQuat QslerpNoInvertExtraSpins(HQuat const &q1, HQuat const &q2, float fraction, int ExtraSpins)

Spherical interpolation between two HQuats This version of slerp, used by squad, does not check for theta > 90.

Parameters

q1 – First Quaternion for Interpolation
q2 – Second Quaternion for Interpolation
fraction – Interpolation Distance (0 - 1)

Returns

Result of interplation

static HQuat Qsquad(HQuat const &q1, HQuat const &q2, HQuat const &a, HQuat const &b, float fraction)

Spherical cubic interpolation between two HQuats

Parameters

q1 – First Quaternion for Interpolation
q2 – Second Quaternion for Interpolation
a – First Control Point
b – Second Control Point
fraction – Interpolation Distance (0 - 1)

Returns

Result of interplation

static HQuat Qspline(HQuat const &qnm1, HQuat const &qn, HQuat const &qnp1)

Given 3 HQuats, qn-1,qn and qn+1, calculate a control point to be used in spline interpolation

Parameters

qnm1 – qn-1 control point
qn – qn control point
qnp1 – qn + 1 control point

Returns

Result of interplation

static HQuat MatrixToQuaternion(float matrix[])

Convert matrix to quaternion

Returns: converted quaternion

Friends

inline friend HQuat operator*(float v, HQuat const &q)

Multiplies a quaternion with a float value

Parameters

v – Value to multiply Quaternion with
q – Quaternion to multiply with

Returns

Result of multiplication