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

#include <Quaternion.h>

Public Member Functions
	Quaternion ()
	Constructs a quaternion initialized to (0, 0, 0, 1). More...

	Quaternion ()
	Constructs a quaternion initialized to (0, 0, 0, 1). More...

	Quaternion ()
	Constructs a quaternion initialized to (0, 0, 0, 1). More...

	Quaternion (float xx, float yy, float zz, float ww)
	Constructs a quaternion initialized to (0, 0, 0, 1). More...

	Quaternion ( var xx, var yy, var zz, var ww)
	Constructs a quaternion initialized to (0, 0, 0, 1). More...

	Quaternion ( local xx, local yy, local zz, local ww)
	Constructs a quaternion initialized to (0, 0, 0, 1). 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 (const Quaternion &copy)
	Constructs a new quaternion that is a copy of the specified one. More...

	~Quaternion ()
	Destructor. More...

	~Quaternion ()
	Destructor. More...

bool	isIdentity () const
	Determines if this quaternion is equal to the identity quaternion. More...

var	isIdentity ()
	Determines if this quaternion is equal to the identity quaternion. More...

local	isIdentity ()
	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. More...

var	conjugate ()
	Sets this quaternion to the conjugate of itself. More...

local	conjugate ()
	Sets this quaternion to the conjugate of itself. More...

Quaternion	getConjugated () const
	Gets the conjugate of this quaternion in dst. More...

local	getConjugated ()
	Gets the conjugate of this quaternion in dst. More...

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 in dst. More...

void	multiply (const Quaternion &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
	Normalizes this quaternion and stores the result in dst. 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. More...

float	toAxisAngle (Vec3 *e) const
	Converts this Quaternion4f to axis-angle notation. More...

var	toAxisAngle ( var e)
	Converts this Quaternion4f to axis-angle notation. More...

local	toAxisAngle ( local e)
	Converts this Quaternion4f to axis-angle notation. More...

const Quaternion	operator* (const Quaternion &q) const
	Calculates the quaternion product of this quaternion with the given quaternion. 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...

local	identity ()
	Returns the identity quaternion. More...

static const Quaternion &	zero ()
	Returns the quaternion with all zeros. More...

local	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...

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...

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. More...

var	x
	The x-value of the quaternion's vector component. More...

local	x
	The x-value of the quaternion's vector component. More...

float	y
	The y-value of the quaternion's vector component. More...

var	y
	The y-value of the quaternion's vector component. More...

local	y
	The y-value of the quaternion's vector component. More...

float	z
	The z-value of the quaternion's vector component. More...

var	z
	The z-value of the quaternion's vector component. More...

local	z
	The z-value of the quaternion's vector component. More...

float	w
	The scalar component of the quaternion. More...

var	w
	The scalar component of the quaternion. More...

local	w
	The scalar component of the quaternion. More...

Static Public Attributes
static const Quaternion	ZERO
	equals to Quaternion(0,0,0, 0) More...

Friends
class	Curve
class	Transform

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 ( )

Constructs a quaternion initialized to (0, 0, 0, 1).

var Quaternion ( )

Constructs a quaternion initialized to (0, 0, 0, 1).

local Quaternion ( )

Constructs a quaternion initialized to (0, 0, 0, 1).

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

Constructs a quaternion initialized to (0, 0, 0, 1).

Parameters

xx	The x component of the quaternion.
yy	The y component of the quaternion.
zz	The z component of the quaternion.
ww	The w component of the quaternion.

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

Constructs a quaternion initialized to (0, 0, 0, 1).

Parameters

xx	The x component of the quaternion.
yy	The y component of the quaternion.
zz	The z component of the quaternion.
ww	The w component of the quaternion.

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

Constructs a quaternion initialized to (0, 0, 0, 1).

Parameters

xx	The x component of the quaternion.
yy	The y component of the quaternion.
zz	The z component of the quaternion.
ww	The w component of the quaternion.

Quaternion ( float * array )

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

Parameters

array The values for the new quaternion.

var Quaternion ( var array )

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

Parameters

array The values for the new quaternion.

local Quaternion ( local array )

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

Parameters

array The values for the new quaternion.

Quaternion ( const Mat4 & m )

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

Parameters

m	The matrix.

var Quaternion ( var m )

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

Parameters

m	The matrix.

local Quaternion ( local m )

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

Parameters

m	The matrix.

Quaternion	(	const Vec3 &	axis,
		float	angle
	)

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

Parameters

axis	A vector describing the axis of rotation.
angle	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.

Parameters

axis	A vector describing the axis of rotation.
angle	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.

Parameters

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

Quaternion ( const Quaternion & copy )

Constructs a new quaternion that is a copy of the specified one.

Parameters

copy	The quaternion to copy.

var Quaternion ( var copy )

Constructs a new quaternion that is a copy of the specified one.

Parameters

copy	The quaternion to copy.

local Quaternion ( local copy )

Constructs a new quaternion that is a copy of the specified one.

Parameters

copy	The quaternion to copy.

~Quaternion ( )

Destructor.

var ~Quaternion ( )

Destructor.

local ~Quaternion ( )

Destructor.

Member Function Documentation

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.

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.

Parameters

axis	A vector describing the axis of rotation.
angle	The angle of rotation (in radians).
dst	A quaternion to store the conjugate in.

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.

Parameters

axis	A vector describing the axis of rotation.
angle	The angle of rotation (in radians).
dst	A quaternion to store the conjugate in.

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.

Parameters

axis	A vector describing the axis of rotation.
angle	The angle of rotation (in radians).
dst	A quaternion to store the conjugate in.

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.

Parameters

m	The matrix.
dst	A quaternion to store the conjugate in.

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.

Parameters

m	The matrix.
dst	A quaternion to store the conjugate in.

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.

Parameters

m	The matrix.
dst	A quaternion to store the conjugate in.

Quaternion getConjugated ( ) const

Gets the conjugate of this quaternion in dst.

Parameters

dst	A quaternion to store the conjugate in.

var getConjugated ( )

Gets the conjugate of this quaternion in dst.

Parameters

dst	A quaternion to store the conjugate in.

local getConjugated ( )

Gets the conjugate of this quaternion in dst.

Parameters

dst	A quaternion to store the conjugate in.

Quaternion getInversed ( ) const

Gets the inverse of this quaternion in dst.

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.

Parameters

dst	A quaternion to store the inverse in.

Returns: true if the inverse can be computed, false otherwise.

var getInversed ( )

Gets the inverse of this quaternion in dst.

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.

Parameters

dst	A quaternion to store the inverse in.

Returns: true if the inverse can be computed, false otherwise.

local getInversed ( )

Gets the inverse of this quaternion in dst.

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.

Parameters

dst	A quaternion to store the inverse in.

Returns: true if the inverse can be computed, false otherwise.

Quaternion getNormalized ( ) const

Normalizes this quaternion and stores the result in dst.

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

Parameters

dst	A quaternion to store the result in.

var getNormalized ( )

Normalizes this quaternion and stores the result in dst.

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

Parameters

dst	A quaternion to store the result in.

local getNormalized ( )

Normalizes this quaternion and stores the result in dst.

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

Parameters

dst	A quaternion to store the result in.

static const Quaternion& identity ( )

static

Returns the identity quaternion.

Returns: The identity quaternion.

var identity ( )

static

Returns the identity quaternion.

Returns: The identity quaternion.

local identity ( )

static

Returns the identity quaternion.

Returns: The identity quaternion.

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.

Returns: 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.

Returns: 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.

Returns: true if the inverse can be computed, false otherwise.

bool isIdentity ( ) const

Determines if this quaternion is equal to the identity quaternion.

Returns: true if it is the identity quaternion, false otherwise.

var isIdentity ( )

Determines if this quaternion is equal to the identity quaternion.

Returns: true if it is the identity quaternion, false otherwise.

local isIdentity ( )

Determines if this quaternion is equal to the identity quaternion.

Returns: true if it is the identity quaternion, false otherwise.

bool isZero ( ) const

Determines if this quaternion is all zeros.

Returns: true if this quaternion is all zeros, false otherwise.

var isZero ( )

Determines if this quaternion is all zeros.

Returns: true if this quaternion is all zeros, false otherwise.

local isZero ( )

Determines if this quaternion is all zeros.

Returns: true if this quaternion is all zeros, false otherwise.

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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
t	The interpolation coefficient.
dst	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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
t	The interpolation coefficient.
dst	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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
t	The interpolation coefficient.
dst	A quaternion to store the result in.

void multiply ( const Quaternion & q )

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

Parameters

q	The quaternion to multiply.

var multiply ( var q )

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

Parameters

q	The quaternion to multiply.

local multiply ( local q )

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

Parameters

q	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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
dst	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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
dst	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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
dst	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.

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.

Parameters

q	The quaternion to multiply.

Returns: 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.

Parameters

q	The quaternion to multiply.

Returns: 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.

Parameters

q	The quaternion to multiply.

Returns: The quaternion product.

Quaternion& operator*= ( const Quaternion & q )

inline

Multiplies this quaternion with the given quaternion.

Parameters

q	The quaternion to multiply.

Returns: This quaternion, after the multiplication occurs.

Quaternion& operator*= ( var q )

inline

Multiplies this quaternion with the given quaternion.

Parameters

q	The quaternion to multiply.

Returns: This quaternion, after the multiplication occurs.

Quaternion& operator*= ( local q )

inline

Multiplies this quaternion with the given quaternion.

Parameters

q	The quaternion to multiply.

Returns: This quaternion, after the multiplication occurs.

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

Sets the elements of the quaternion to the specified values.

Parameters

xx	The new x-value.
yy	The new y-value.
zz	The new z-value.
ww	The new w-value.

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

Sets the elements of the quaternion to the specified values.

Parameters

xx	The new x-value.
yy	The new y-value.
zz	The new z-value.
ww	The new w-value.

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

Sets the elements of the quaternion to the specified values.

Parameters

xx	The new x-value.
yy	The new y-value.
zz	The new z-value.
ww	The new w-value.

void set ( float * array )

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

Parameters

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.

Parameters

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.

Parameters

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.

Parameters

m	The matrix.

var set ( var m )

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

Parameters

m	The matrix.

local set ( local m )

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

Parameters

m	The matrix.

void set	(	const Vec3 &	axis,
		float	angle
	)

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

Parameters

axis	The axis of rotation.
angle	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.

Parameters

axis	The axis of rotation.
angle	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.

Parameters

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

void set ( const Quaternion & q )

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

Parameters

q	The quaternion to copy.

var set ( var q )

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

Parameters

q	The quaternion to copy.

local set ( local q )

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

Parameters

q	The quaternion to copy.

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.

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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
t	The interpolation coefficient.
dst	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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
t	The interpolation coefficient.
dst	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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
t	The interpolation coefficient.
dst	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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
s1	The first control point.
s2	The second control point.
t	The interpolation coefficient.
dst	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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
s1	The first control point.
s2	The second control point.
t	The interpolation coefficient.
dst	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.

Parameters

q1	The first quaternion.
q2	The second quaternion.
s1	The first control point.
s2	The second control point.
t	The interpolation coefficient.
dst	A quaternion to store the result in.

float toAxisAngle ( Vec3 * e ) const

Converts this Quaternion4f to axis-angle notation.

The axis is normalized.

Parameters

e	The Vec3f which stores the axis.

Returns: The angle (in radians).

var toAxisAngle ( var e )

Converts this Quaternion4f to axis-angle notation.

The axis is normalized.

Parameters

e	The Vec3f which stores the axis.

Returns: The angle (in radians).

local toAxisAngle ( local e )

Converts this Quaternion4f to axis-angle notation.

The axis is normalized.

Parameters

e	The Vec3f which stores the axis.

Returns: The angle (in radians).

static const Quaternion& zero ( )

static

Returns the quaternion with all zeros.

Returns: The quaternion.

var zero ( )

static

Returns the quaternion with all zeros.

Returns: The quaternion.

local zero ( )

static

Returns the quaternion with all zeros.

Returns: The quaternion.

Friends And Related Function Documentation

friend class Curve

friend

friend class Transform

friend

var Transform

friend

local Transform

friend

Member Data Documentation

float w

The scalar component of the quaternion.

var w

The scalar component of the quaternion.

local w

The scalar component of the quaternion.

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.

const Quaternion ZERO

static

equals to Quaternion(0,0,0, 0)

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

/Users/guanghui/cocos2d-x-v2/cocos/math/Quaternion.h

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation