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Quaternion Class Reference
Base

Defines a 4-element quaternion that represents the orientation of an object in space. More...

Public Member Functions

 Quaternion ()
 Constructs a quaternion initialized to (0, 0, 0, 1).
 
 Quaternion ()
 Constructs a quaternion initialized to (0, 0, 0, 1).
 
 Quaternion ()
 Constructs a quaternion initialized to (0, 0, 0, 1).
 
 Quaternion (float xx, float yy, float zz, float ww)
 Constructs a quaternion. More...
 
 Quaternion ( var xx, var yy, var zz, var ww)
 Constructs a quaternion. More...
 
 Quaternion ( local xx, local yy, local zz, local ww)
 Constructs a quaternion. More...
 
 Quaternion (float *array)
 Constructs a new quaternion from the values in the specified array. More...
 
 Quaternion (const Mat4 &m)
 Constructs a quaternion equal to the rotational part of the specified matrix. More...
 
 Quaternion (const Vec3 &axis, float angle)
 Constructs a quaternion equal to the rotation from the specified axis and angle. More...
 
 Quaternion ( var axis, var angle)
 Constructs a quaternion equal to the rotation from the specified axis and angle. More...
 
 Quaternion ( local axis, local angle)
 Constructs a quaternion equal to the rotation from the specified axis and angle. More...
 
 Quaternion (const Quaternion &copy)
 Constructs a new quaternion that is a copy of the specified one.
 
 ~Quaternion ()
 Destructor.
 
bool isIdentity () const
 Determines if this quaternion is equal to the identity quaternion. More...
 
bool isZero () const
 Determines if this quaternion is all zeros. More...
 
void conjugate ()
 Sets this quaternion to the conjugate of itself.
 
var conjugate ()
 Sets this quaternion to the conjugate of itself.
 
local conjugate ()
 Sets this quaternion to the conjugate of itself.
 
Quaternion getConjugated () const
 Gets the conjugate of this quaternion.
 
var getConjugated ()
 Gets the conjugate of this quaternion.
 
local getConjugated ()
 Gets the conjugate of this quaternion.
 
bool inverse ()
 Sets this quaternion to the inverse of itself. More...
 
var inverse ()
 Sets this quaternion to the inverse of itself. More...
 
local inverse ()
 Sets this quaternion to the inverse of itself. More...
 
Quaternion getInversed () const
 Gets the inverse of this quaternion. More...
 
var getInversed ()
 Gets the inverse of this quaternion. More...
 
local getInversed ()
 Gets the inverse of this quaternion. More...
 
void multiply (const Quaternion &q)
 Multiplies this quaternion by the specified one and stores the result in this quaternion. More...
 
local multiply ( local q)
 Multiplies this quaternion by the specified one and stores the result in this quaternion. More...
 
void normalize ()
 Normalizes this quaternion to have unit length. More...
 
Quaternion getNormalized () const
 Get the normalized quaternion. More...
 
void set (float xx, float yy, float zz, float ww)
 Sets the elements of the quaternion to the specified values. More...
 
var set ( var xx, var yy, var zz, var ww)
 Sets the elements of the quaternion to the specified values. More...
 
local set ( local xx, local yy, local zz, local ww)
 Sets the elements of the quaternion to the specified values. More...
 
void set (float *array)
 Sets the elements of the quaternion from the values in the specified array. More...
 
void set (const Mat4 &m)
 Sets the quaternion equal to the rotational part of the specified matrix. More...
 
void set (const Vec3 &axis, float angle)
 Sets the quaternion equal to the rotation from the specified axis and angle. More...
 
var set ( var axis, var angle)
 Sets the quaternion equal to the rotation from the specified axis and angle. More...
 
local set ( local axis, local angle)
 Sets the quaternion equal to the rotation from the specified axis and angle. More...
 
void set (const Quaternion &q)
 Sets the elements of this quaternion to a copy of the specified quaternion. More...
 
void setIdentity ()
 Sets this quaternion to be equal to the identity quaternion.
 
var setIdentity ()
 Sets this quaternion to be equal to the identity quaternion.
 
local setIdentity ()
 Sets this quaternion to be equal to the identity quaternion.
 
float toAxisAngle (Vec3 *e) const
 Converts this Quaternion to axis-angle notation. More...
 
var toAxisAngle ( var e)
 Converts this Quaternion to axis-angle notation. More...
 
local toAxisAngle ( local e)
 Converts this Quaternion to axis-angle notation. More...
 
const Quaternion operator* (const Quaternion &q) const
 Calculates the quaternion product of this quaternion with the given quaternion. More...
 
Vec3 operator* (const Vec3 &v) const
 Calculates the quaternion product of this quaternion with the given vec3. More...
 
Quaternion & operator*= (const Quaternion &q)
 Multiplies this quaternion with the given quaternion. More...
 

Static Public Member Functions

static const Quaternion & identity ()
 Returns the identity quaternion. More...
 
var identity ()
 Returns the identity quaternion. More...
 
local identity ()
 Returns the identity quaternion. More...
 
static const Quaternion & zero ()
 Returns the quaternion with all zeros. More...
 
static void createFromRotationMatrix (const Mat4 &m, Quaternion *dst)
 Creates a quaternion equal to the rotational part of the specified matrix and stores the result in dst. More...
 
var createFromRotationMatrix ( var m, var dst)
 Creates a quaternion equal to the rotational part of the specified matrix and stores the result in dst. More...
 
local createFromRotationMatrix ( local m, local dst)
 Creates a quaternion equal to the rotational part of the specified matrix and stores the result in dst. More...
 
static void createFromAxisAngle (const Vec3 &axis, float angle, Quaternion *dst)
 Creates this quaternion equal to the rotation from the specified axis and angle and stores the result in dst. More...
 
local createFromAxisAngle ( local axis, local angle, local dst)
 Creates this quaternion equal to the rotation from the specified axis and angle and stores the result in dst. More...
 
static void multiply (const Quaternion &q1, const Quaternion &q2, Quaternion *dst)
 Multiplies the specified quaternions and stores the result in dst. More...
 
var multiply ( var q1, var q2, var dst)
 Multiplies the specified quaternions and stores the result in dst. More...
 
local multiply ( local q1, local q2, local dst)
 Multiplies the specified quaternions and stores the result in dst. More...
 
static void lerp (const Quaternion &q1, const Quaternion &q2, float t, Quaternion *dst)
 Interpolates between two quaternions using linear interpolation. More...
 
local lerp ( local q1, local q2, local t, local dst)
 Interpolates between two quaternions using linear interpolation. More...
 
static void slerp (const Quaternion &q1, const Quaternion &q2, float t, Quaternion *dst)
 Interpolates between two quaternions using spherical linear interpolation. More...
 
var slerp ( var q1, var q2, var t, var dst)
 Interpolates between two quaternions using spherical linear interpolation. More...
 
local slerp ( local q1, local q2, local t, local dst)
 Interpolates between two quaternions using spherical linear interpolation. More...
 
static void squad (const Quaternion &q1, const Quaternion &q2, const Quaternion &s1, const Quaternion &s2, float t, Quaternion *dst)
 Interpolates over a series of quaternions using spherical spline interpolation. More...
 
local squad ( local q1, local q2, local s1, local s2, local t, local dst)
 Interpolates over a series of quaternions using spherical spline interpolation. More...
 

Public Attributes

float x
 The x-value of the quaternion's vector component.
 
var x
 The x-value of the quaternion's vector component.
 
local x
 The x-value of the quaternion's vector component.
 
float y
 The y-value of the quaternion's vector component.
 
var y
 The y-value of the quaternion's vector component.
 
local y
 The y-value of the quaternion's vector component.
 
float z
 The z-value of the quaternion's vector component.
 
var z
 The z-value of the quaternion's vector component.
 
local z
 The z-value of the quaternion's vector component.
 
float w
 The scalar component of the quaternion.
 
var w
 The scalar component of the quaternion.
 
local w
 The scalar component of the quaternion.
 

Static Public Attributes

static const Quaternion ZERO
 equals to Quaternion(0,0,0, 0)
 

Detailed Description

Defines a 4-element quaternion that represents the orientation of an object in space.

Quaternions are typically used as a replacement for euler angles and rotation matrices as a way to achieve smooth interpolation and avoid gimbal lock.

Note that this quaternion class does not automatically keep the quaternion normalized. Therefore, care must be taken to normalize the quaternion when necessary, by calling the normalize method. This class provides three methods for doing quaternion interpolation: lerp, slerp, and squad.

lerp (linear interpolation): the interpolation curve gives a straight line in quaternion space. It is simple and fast to compute. The only problem is that it does not provide constant angular velocity. Note that a constant velocity is not necessarily a requirement for a curve; slerp (spherical linear interpolation): the interpolation curve forms a great arc on the quaternion unit sphere. Slerp provides constant angular velocity; squad (spherical spline interpolation): interpolating between a series of rotations using slerp leads to the following problems:

  • the curve is not smooth at the control points;
  • the angular velocity is not constant;
  • the angular velocity is not continuous at the control points.

Since squad is continuously differentiable, it remedies the first and third problems mentioned above. The slerp method provided here is intended for interpolation of principal rotations. It treats +q and -q as the same principal rotation and is at liberty to use the negative of either input. The resulting path is always the shorter arc.

The lerp method provided here interpolates strictly in quaternion space. Note that the resulting path may pass through the origin if interpolating between a quaternion and its exact negative.

As an example, consider the following quaternions:

q1 = (0.6, 0.8, 0.0, 0.0), q2 = (0.0, 0.6, 0.8, 0.0), q3 = (0.6, 0.0, 0.8, 0.0), and q4 = (-0.8, 0.0, -0.6, 0.0). For the point p = (1.0, 1.0, 1.0), the following figures show the trajectories of p using lerp, slerp, and squad.

Constructor & Destructor Documentation

Quaternion ( float  xx,
float  yy,
float  zz,
float  ww 
)

Constructs a quaternion.

The x component of the quaternion. The y component of the quaternion. The z component of the quaternion. The w component of the quaternion.

var Quaternion ( var  xx,
var  yy,
var  zz,
var  ww 
)

Constructs a quaternion.

The x component of the quaternion. The y component of the quaternion. The z component of the quaternion. The w component of the quaternion.

local Quaternion ( local  xx,
local  yy,
local  zz,
local  ww 
)

Constructs a quaternion.

The x component of the quaternion. The y component of the quaternion. The z component of the quaternion. The w component of the quaternion.

Quaternion ( float *  array)

Constructs a new quaternion from the values in the specified array.

The values for the new quaternion.

var Quaternion ( var  array)

Constructs a new quaternion from the values in the specified array.

The values for the new quaternion.

local Quaternion ( local  array)

Constructs a new quaternion from the values in the specified array.

The values for the new quaternion.

Quaternion ( const Mat4 &  m)

Constructs a quaternion equal to the rotational part of the specified matrix.

The matrix.

var Quaternion ( var  m)

Constructs a quaternion equal to the rotational part of the specified matrix.

The matrix.

local Quaternion ( local  m)

Constructs a quaternion equal to the rotational part of the specified matrix.

The matrix.

Quaternion ( const Vec3 &  axis,
float  angle 
)

Constructs a quaternion equal to the rotation from the specified axis and angle.

A vector describing the axis of rotation. The angle of rotation (in radians).

var Quaternion ( var  axis,
var  angle 
)

Constructs a quaternion equal to the rotation from the specified axis and angle.

A vector describing the axis of rotation. The angle of rotation (in radians).

local Quaternion ( local  axis,
local  angle 
)

Constructs a quaternion equal to the rotation from the specified axis and angle.

A vector describing the axis of rotation. The angle of rotation (in radians).

Member Function Documentation

static const Quaternion& identity ( )
static

Returns the identity quaternion.

The identity quaternion.

var identity ( )
static

Returns the identity quaternion.

The identity quaternion.

local identity ( )
static

Returns the identity quaternion.

The identity quaternion.

static const Quaternion& zero ( )
static

Returns the quaternion with all zeros.

The quaternion.

var zero ( )
static

Returns the quaternion with all zeros.

The quaternion.

local zero ( )
static

Returns the quaternion with all zeros.

The quaternion.

bool isIdentity ( ) const

Determines if this quaternion is equal to the identity quaternion.

true if it is the identity quaternion, false otherwise.

var isIdentity ( )

Determines if this quaternion is equal to the identity quaternion.

true if it is the identity quaternion, false otherwise.

local isIdentity ( )

Determines if this quaternion is equal to the identity quaternion.

true if it is the identity quaternion, false otherwise.

bool isZero ( ) const

Determines if this quaternion is all zeros.

true if this quaternion is all zeros, false otherwise.

var isZero ( )

Determines if this quaternion is all zeros.

true if this quaternion is all zeros, false otherwise.

local isZero ( )

Determines if this quaternion is all zeros.

true if this quaternion is all zeros, false otherwise.

static void
createFromRotationMatrix 		( const Mat4 &  m,
Quaternion *  dst 
)
static

Creates a quaternion equal to the rotational part of the specified matrix and stores the result in dst.

The matrix. A quaternion to save the result.

var createFromRotationMatrix ( var  m,
var  dst 
)
static

Creates a quaternion equal to the rotational part of the specified matrix and stores the result in dst.

The matrix. A quaternion to save the result.

local createFromRotationMatrix ( local  m,
local  dst 
)
static

Creates a quaternion equal to the rotational part of the specified matrix and stores the result in dst.

The matrix. A quaternion to save the result.

static void createFromAxisAngle ( const Vec3 &  axis,
float  angle,
Quaternion *  dst 
)
static

Creates this quaternion equal to the rotation from the specified axis and angle and stores the result in dst.

A vector describing the axis of rotation. The angle of rotation (in radians). A quaternion to save the result.

var createFromAxisAngle ( var  axis,
var  angle,
var  dst 
)
static

Creates this quaternion equal to the rotation from the specified axis and angle and stores the result in dst.

A vector describing the axis of rotation. The angle of rotation (in radians). A quaternion to save the result.

local createFromAxisAngle ( local  axis,
local  angle,
local  dst 
)
static

Creates this quaternion equal to the rotation from the specified axis and angle and stores the result in dst.

A vector describing the axis of rotation. The angle of rotation (in radians). A quaternion to save the result.

bool inverse ( )

Sets this quaternion to the inverse of itself.

Note that the inverse of a quaternion is equal to its conjugate when the quaternion is unit-length. For this reason, it is more efficient to use the conjugate method directly when you know your quaternion is already unit-length.

true if the inverse can be computed, false otherwise.

var inverse ( )

Sets this quaternion to the inverse of itself.

Note that the inverse of a quaternion is equal to its conjugate when the quaternion is unit-length. For this reason, it is more efficient to use the conjugate method directly when you know your quaternion is already unit-length.

true if the inverse can be computed, false otherwise.

local inverse ( )

Sets this quaternion to the inverse of itself.

Note that the inverse of a quaternion is equal to its conjugate when the quaternion is unit-length. For this reason, it is more efficient to use the conjugate method directly when you know your quaternion is already unit-length.

true if the inverse can be computed, false otherwise.

Quaternion getInversed ( ) const

Gets the inverse of this quaternion.

Note that the inverse of a quaternion is equal to its conjugate when the quaternion is unit-length. For this reason, it is more efficient to use the conjugate method directly when you know your quaternion is already unit-length.

var getInversed ( )

Gets the inverse of this quaternion.

Note that the inverse of a quaternion is equal to its conjugate when the quaternion is unit-length. For this reason, it is more efficient to use the conjugate method directly when you know your quaternion is already unit-length.

local getInversed ( )

Gets the inverse of this quaternion.

Note that the inverse of a quaternion is equal to its conjugate when the quaternion is unit-length. For this reason, it is more efficient to use the conjugate method directly when you know your quaternion is already unit-length.

void multiply ( const Quaternion &  q)

Multiplies this quaternion by the specified one and stores the result in this quaternion.

The quaternion to multiply.

var multiply ( var  q)

Multiplies this quaternion by the specified one and stores the result in this quaternion.

The quaternion to multiply.

local multiply ( local  q)

Multiplies this quaternion by the specified one and stores the result in this quaternion.

The quaternion to multiply.

static void multiply ( const Quaternion &  q1,
const Quaternion &  q2,
Quaternion *  dst 
)
static

Multiplies the specified quaternions and stores the result in dst.

The first quaternion. The second quaternion. A quaternion to store the result in.

var multiply ( var  q1,
var  q2,
var  dst 
)
static

Multiplies the specified quaternions and stores the result in dst.

The first quaternion. The second quaternion. A quaternion to store the result in.

local multiply ( local  q1,
local  q2,
local  dst 
)
static

Multiplies the specified quaternions and stores the result in dst.

The first quaternion. The second quaternion. A quaternion to store the result in.

void normalize ( )

Normalizes this quaternion to have unit length.

If the quaternion already has unit length or if the length of the quaternion is zero, this method does nothing.

var normalize ( )

Normalizes this quaternion to have unit length.

If the quaternion already has unit length or if the length of the quaternion is zero, this method does nothing.

local normalize ( )

Normalizes this quaternion to have unit length.

If the quaternion already has unit length or if the length of the quaternion is zero, this method does nothing.

Quaternion getNormalized ( ) const

Get the normalized quaternion.

If the quaternion already has unit length or if the length of the quaternion is zero, this method simply copies this vector.

var getNormalized ( )

Get the normalized quaternion.

If the quaternion already has unit length or if the length of the quaternion is zero, this method simply copies this vector.

local getNormalized ( )

Get the normalized quaternion.

If the quaternion already has unit length or if the length of the quaternion is zero, this method simply copies this vector.

void set ( float  xx,
float  yy,
float  zz,
float  ww 
)

Sets the elements of the quaternion to the specified values.

The new x-value. The new y-value. The new z-value. The new w-value.

var set ( var  xx,
var  yy,
var  zz,
var  ww 
)

Sets the elements of the quaternion to the specified values.

The new x-value. The new y-value. The new z-value. The new w-value.

local set ( local  xx,
local  yy,
local  zz,
local  ww 
)

Sets the elements of the quaternion to the specified values.

The new x-value. The new y-value. The new z-value. The new w-value.

void set ( float *  array)

Sets the elements of the quaternion from the values in the specified array.

An array containing the elements of the quaternion in the order x, y, z, w.

var set ( var  array)

Sets the elements of the quaternion from the values in the specified array.

An array containing the elements of the quaternion in the order x, y, z, w.

local set ( local  array)

Sets the elements of the quaternion from the values in the specified array.

An array containing the elements of the quaternion in the order x, y, z, w.

void set ( const Mat4 &  m)

Sets the quaternion equal to the rotational part of the specified matrix.

The matrix.

var set ( var  m)

Sets the quaternion equal to the rotational part of the specified matrix.

The matrix.

local set ( local  m)

Sets the quaternion equal to the rotational part of the specified matrix.

The matrix.

void set ( const Vec3 &  axis,
float  angle 
)

Sets the quaternion equal to the rotation from the specified axis and angle.

The axis of rotation. The angle of rotation (in radians).

var set ( var  axis,
var  angle 
)

Sets the quaternion equal to the rotation from the specified axis and angle.

The axis of rotation. The angle of rotation (in radians).

local set ( local  axis,
local  angle 
)

Sets the quaternion equal to the rotation from the specified axis and angle.

The axis of rotation. The angle of rotation (in radians).

void set ( const Quaternion &  q)

Sets the elements of this quaternion to a copy of the specified quaternion.

The quaternion to copy.

var set ( var  q)

Sets the elements of this quaternion to a copy of the specified quaternion.

The quaternion to copy.

local set ( local  q)

Sets the elements of this quaternion to a copy of the specified quaternion.

The quaternion to copy.

float toAxisAngle ( Vec3 *  e) const

Converts this Quaternion to axis-angle notation.

The axis is normalized.

The Vec3f which stores the axis.

The angle (in radians).

var toAxisAngle ( var  e)

Converts this Quaternion to axis-angle notation.

The axis is normalized.

The Vec3f which stores the axis.

The angle (in radians).

local toAxisAngle ( local  e)

Converts this Quaternion to axis-angle notation.

The axis is normalized.

The Vec3f which stores the axis.

The angle (in radians).

static void lerp ( const Quaternion &  q1,
const Quaternion &  q2,
float  t,
Quaternion *  dst 
)
static

Interpolates between two quaternions using linear interpolation.

The interpolation curve for linear interpolation between quaternions gives a straight line in quaternion space.

The first quaternion. The second quaternion. The interpolation coefficient. A quaternion to store the result in.

var lerp ( var  q1,
var  q2,
var  t,
var  dst 
)
static

Interpolates between two quaternions using linear interpolation.

The interpolation curve for linear interpolation between quaternions gives a straight line in quaternion space.

The first quaternion. The second quaternion. The interpolation coefficient. A quaternion to store the result in.

local lerp ( local  q1,
local  q2,
local  t,
local  dst 
)
static

Interpolates between two quaternions using linear interpolation.

The interpolation curve for linear interpolation between quaternions gives a straight line in quaternion space.

The first quaternion. The second quaternion. The interpolation coefficient. A quaternion to store the result in.

static void slerp ( const Quaternion &  q1,
const Quaternion &  q2,
float  t,
Quaternion *  dst 
)
static

Interpolates between two quaternions using spherical linear interpolation.

Spherical linear interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

Note: For accurate interpolation, the input quaternions must be at (or close to) unit length. This method does not automatically normalize the input quaternions, so it is up to the caller to ensure they call normalize beforehand, if necessary.

The first quaternion. The second quaternion. The interpolation coefficient. A quaternion to store the result in.

var slerp ( var  q1,
var  q2,
var  t,
var  dst 
)
static

Interpolates between two quaternions using spherical linear interpolation.

Spherical linear interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

Note: For accurate interpolation, the input quaternions must be at (or close to) unit length. This method does not automatically normalize the input quaternions, so it is up to the caller to ensure they call normalize beforehand, if necessary.

The first quaternion. The second quaternion. The interpolation coefficient. A quaternion to store the result in.

local slerp ( local  q1,
local  q2,
local  t,
local  dst 
)
static

Interpolates between two quaternions using spherical linear interpolation.

Spherical linear interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

Note: For accurate interpolation, the input quaternions must be at (or close to) unit length. This method does not automatically normalize the input quaternions, so it is up to the caller to ensure they call normalize beforehand, if necessary.

The first quaternion. The second quaternion. The interpolation coefficient. A quaternion to store the result in.

static void squad ( const Quaternion &  q1,
const Quaternion &  q2,
const Quaternion &  s1,
const Quaternion &  s2,
float  t,
Quaternion *  dst 
)
static

Interpolates over a series of quaternions using spherical spline interpolation.

Spherical spline interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

Note: For accurate interpolation, the input quaternions must be unit. This method does not automatically normalize the input quaternions, so it is up to the caller to ensure they call normalize beforehand, if necessary.

The first quaternion. The second quaternion. The first control point. The second control point. The interpolation coefficient. A quaternion to store the result in.

var squad ( var  q1,
var  q2,
var  s1,
var  s2,
var  t,
var  dst 
)
static

Interpolates over a series of quaternions using spherical spline interpolation.

Spherical spline interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

Note: For accurate interpolation, the input quaternions must be unit. This method does not automatically normalize the input quaternions, so it is up to the caller to ensure they call normalize beforehand, if necessary.

The first quaternion. The second quaternion. The first control point. The second control point. The interpolation coefficient. A quaternion to store the result in.

local squad ( local  q1,
local  q2,
local  s1,
local  s2,
local  t,
local  dst 
)
static

Interpolates over a series of quaternions using spherical spline interpolation.

Spherical spline interpolation provides smooth transitions between different orientations and is often useful for animating models or cameras in 3D.

Note: For accurate interpolation, the input quaternions must be unit. This method does not automatically normalize the input quaternions, so it is up to the caller to ensure they call normalize beforehand, if necessary.

The first quaternion. The second quaternion. The first control point. The second control point. The interpolation coefficient. A quaternion to store the result in.

const Quaternion operator* ( const Quaternion &  q) const
inline

Calculates the quaternion product of this quaternion with the given quaternion.

Note: this does not modify this quaternion.

The quaternion to multiply. The quaternion product.

const Quaternion operator* ( var  q)
inline

Calculates the quaternion product of this quaternion with the given quaternion.

Note: this does not modify this quaternion.

The quaternion to multiply. The quaternion product.

const Quaternion operator* ( local  q)
inline

Calculates the quaternion product of this quaternion with the given quaternion.

Note: this does not modify this quaternion.

The quaternion to multiply. The quaternion product.

Vec3 operator* ( const Vec3 &  v) const
inline

Calculates the quaternion product of this quaternion with the given vec3.

The vec3 to multiply. The vec3 product.

Vec3 operator* ( var  v)
inline

Calculates the quaternion product of this quaternion with the given vec3.

The vec3 to multiply. The vec3 product.

Vec3 operator* ( local  v)
inline

Calculates the quaternion product of this quaternion with the given vec3.

The vec3 to multiply. The vec3 product.

Quaternion& operator*= ( const Quaternion &  q)
inline

Multiplies this quaternion with the given quaternion.

The quaternion to multiply. This quaternion, after the multiplication occurs.

Quaternion& operator*= ( var  q)
inline

Multiplies this quaternion with the given quaternion.

The quaternion to multiply. This quaternion, after the multiplication occurs.

Quaternion& operator*= ( local  q)
inline

Multiplies this quaternion with the given quaternion.

The quaternion to multiply. This quaternion, after the multiplication occurs.

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