spk::Quaternion Class Reference

Represents a rotation using (x, y, z, w) and offers common conversions. More...

#include <spk_quaternion.hpp>

Collaboration diagram for spk::Quaternion:

Public Member Functions
	Quaternion ()
	Builds an identity quaternion.
	Quaternion (float p_x, float p_y, float p_z, float p_w)
	Builds from components.
std::wstring	toWstring () const
	Converts the quaternion to a wide string.
std::string	toString () const
	Converts the quaternion to a string.
Vector3	toEuler () const
	Converts to Euler angles in degrees.
Quaternion	normalize () const
	Returns a normalized copy.
Quaternion	operator* (const Quaternion &p_rhs) const
	Concatenates two rotations.
Vector3	operator* (const Vector3 &p_rhs) const
	Rotates a vector by this quaternion.
Vector3	rotate (const Vector3 &p_v) const
	Rotates a vector by this quaternion.

Static Public Member Functions
static Quaternion	identity ()
	Returns the identity quaternion.
static Quaternion	fromEuler (const Vector3 &p_euler)
	Builds from Euler angles in degrees.
static Quaternion	fromAxisAngle (const Vector3 &p_axis, float p_angle)
	Builds from axis and angle in degrees.
static Quaternion	lookAt (const Vector3 &p_eye, const Vector3 &p_target, const Vector3 &p_up)
	Builds a quaternion looking from eye to target with an up vector.

Public Attributes
float	x
	X component of the quaternion vector part.
float	y
	Y component of the quaternion vector part.
float	z
	Z component of the quaternion vector part.
float	w
	W component representing the scalar part.

Friends
std::wostream &	operator<< (std::wostream &p_os, const Quaternion &p_vec)
	Streams the quaternion to a wide output stream.
std::ostream &	operator<< (std::ostream &p_os, const Quaternion &p_vec)
	Streams the quaternion to a narrow output stream.

Detailed Description

Represents a rotation using (x, y, z, w) and offers common conversions.

See also

Vector3

spk::Quaternion q = spk::Quaternion::fromEuler({0.f, 90.f, 0.f});
spk::Vector3 rotated = q.rotate({1.f, 0.f, 0.f});

Constructor & Destructor Documentation

Quaternion()

spk::Quaternion::Quaternion	(	float	p_x,
		float	p_y,
		float	p_z,
		float	p_w )

Builds from components.

Parameters

p_x	X component.
p_y	Y component.
p_z	Z component.
p_w	W component.

Member Function Documentation

fromAxisAngle()

Quaternion spk::Quaternion::fromAxisAngle ( const Vector3 & p_axis, float p_angle )

static

Builds from axis and angle in degrees.

Parameters

p_axis	Normalized axis.
p_angle	Angle in degrees.

Returns

Quaternion representing the axis-angle rotation.

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fromEuler()

Quaternion spk::Quaternion::fromEuler ( const Vector3 & p_euler )

static

Builds from Euler angles in degrees.

Parameters

p_euler

Pitch/Yaw/Roll in degrees.

Returns

Quaternion representing the rotation.

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identity()

Quaternion spk::Quaternion::identity ( )

static

Returns the identity quaternion.

Returns

Quaternion with vector part zero and scalar part one.

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lookAt()

Quaternion spk::Quaternion::lookAt ( const Vector3 & p_eye, const Vector3 & p_target, const Vector3 & p_up )

static

Builds a quaternion looking from eye to target with an up vector.

Parameters

p_eye	Eye position.
p_target	Target position.
p_up	Up direction.

Returns

Quaternion aligning forward to the target.

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normalize()

Quaternion spk::Quaternion::normalize

(

)

const

Returns a normalized copy.

Returns

Unit-length quaternion pointing in the same direction.

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operator*() [1/2]

Quaternion spk::Quaternion::operator*

(

const Quaternion &

p_rhs

)

const

Concatenates two rotations.

Parameters

p_rhs

Right-hand quaternion.

Returns

Combined rotation.

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operator*() [2/2]

Vector3 spk::Quaternion::operator*

(

const Vector3 &

p_rhs

)

const

Rotates a vector by this quaternion.

Parameters

p_rhs

Vector to rotate.

Returns

Rotated vector.

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rotate()

Vector3 spk::Quaternion::rotate

(

const Vector3 &

p_v

)

const

Rotates a vector by this quaternion.

Parameters

p_v	Vector to rotate.

Returns

Rotated vector.

toEuler()

Vector3 spk::Quaternion::toEuler

(

)

const

Converts to Euler angles in degrees.

Returns

Pitch/Yaw/Roll.

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toString()

std::string spk::Quaternion::toString

(

)

const

Converts the quaternion to a string.

Returns

Components in (x, y, z, w) format.

toWstring()

std::wstring spk::Quaternion::toWstring

(

)

const

Converts the quaternion to a wide string.

Returns

Components in (x, y, z, w) wide format.

Friends And Related Symbol Documentation

operator<< [1/2]

std::ostream & operator<< ( std::ostream & p_os, const Quaternion & p_vec )

friend

Streams the quaternion to a narrow output stream.

Parameters

p_os	Destination stream.
p_vec	Quaternion to print.

Returns

Stream reference after write.

operator<< [2/2]

std::wostream & operator<< ( std::wostream & p_os, const Quaternion & p_vec )

friend

Streams the quaternion to a wide output stream.

Parameters

p_os	Destination stream.
p_vec	Quaternion to print.

Returns

Stream reference after write.

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

• includes/structure/math/spk_quaternion.hpp
• srcs/structure/math/spk_quaternion.cpp