A class for representing a quaternion and its operations.

Contains a class representing a quaternion and allowing operations like multiplying quaternions, transforming vertices and generating a matrix from a quaternion.

Source:

../src/cQuaternion.hh:27

See Also:

cMatrix, cVertex

public cQuaternion ( ) ;

default constructor

public cQuaternion ( const GLfloat cw ,
                     const GLfloat cx ,
                     const GLfloat cy ,
                     const GLfloat cz ) ;

constructor w/ hard initialization of quaternion

public cQuaternion ( const GLfloat angle ,
                     const cVertex & axis ) ;

constructor w/ initialization

public cQuaternion operator * ( const cQuaternion & q ) const ;

operator * for two quaternions (multiply two quaternions)

Return:

resulting cQuaternion object

public cQuaternion & operator *= ( const cQuaternion & q ) ;

operator *= for quaternions (multiply two quaternions)

Return:

reference to cQuaternion

public cVertex operator * ( const cVertex & v ) ;

operator * for vertices (applies quaternion to vertex)

Return:

the transformed vertex as cVertex object

public void SetIdentity ( ) ;

set quaternion to identity (no transformation/rotation)

public void SetRotation ( const GLfloat angle ,
                          const cVertex & axis ) ;

set quaternion to represent given rotation (angle in degree)

public void Normalize ( ) ;

normalize the quaternion (make it length 1)

public GLfloat GetS ( ) const ;

return s component of quaternion

Return:

GLfloat value of s

public cVertex GetV ( ) const ;

return v component of quaternion

Return:

cVertex object with value of v

public GLfloat GetLength ( ) const ;

return "length" of quaternion

Return:

GLfloat

public cQuaternion GetInverse ( ) ;

return the inverse of the quaternion

Return:

inverse quaternion

public cMatrix GetAsMatrix ( ) ;

return the matrix representation of the quaternion

Return:

cMatrix object representing quaternion

public void GetAsMatrix ( cMatrix & tmp ) ;

shortcut for retrieving the quaternion in matrix representation prevents allocating temporary on stack