Quat

#include <Imath/ImathQuat.h>

The Quat class template represents a quaterion rotation/orientation, with predefined typedefs for float and double.

Example:

#include <Imath/ImathQuat.h>

void
quat_example()
{
    Imath::Quatf q (2.0f, 3.0f, 4.0f, 5.0f);
    assert (q.r == 2.0f && q.v == Imath::V3f (3.0f, 4.0f, 5.0f));

    Imath::Quatf r (1.0f, 0.0f, 0.0f, 1.0f);
    assert (r.inverse() == Imath::Quatf (0.5f, 0.0f, 0.0f, -0.5f));
}
typedef Quat<float> Imath::Quatf

Quaternion of type float.

template<class T>
class Imath::Quat

The Quat class implements the quaternion numerical type you will probably want to use this class to represent orientations in R3 and to convert between various euler angle reps.

You should probably use Imath::Euler<> for that.

Direct access to elements

T r

The real part.

Vec3<T> v

The imaginary vector.

Constructors

inline constexpr Quat() noexcept

Default constructor is the identity quat.

inline constexpr Quat(const Quat &q) noexcept

Copy constructor.

template<class S>
inline constexpr Quat(const Quat<S> &q) noexcept

Construct from a quaternion of a another base type.

inline constexpr Quat(T s, T i, T j, T k) noexcept

Initialize with real part s and imaginary vector 1(i,j,k)`.

inline constexpr Quat(T s, Vec3<T> d) noexcept

Initialize with real part s and imaginary vector d

inline constexpr const Quat<T> &operator=(const Quat<T> &q) noexcept

Assignment.

~Quat() noexcept = default

Destructor.

static inline constexpr Quat<T> identity() noexcept

The identity quaternion.

Basic Algebra

Note that the operator return values are NOT normalized

inline constexpr const Quat<T> &operator*=(const Quat<T> &q) noexcept

Quaternion multiplication.

inline constexpr const Quat<T> &operator*=(T t) noexcept

Scalar multiplication: multiply both real and imaginary parts by the given scalar.

inline constexpr const Quat<T> &operator/=(const Quat<T> &q) noexcept

Quaterion division, using the inverse()

inline constexpr const Quat<T> &operator/=(T t) noexcept

Scalar division: multiply both real and imaginary parts by the given scalar.

inline constexpr const Quat<T> &operator+=(const Quat<T> &q) noexcept

Quaternion addition.

inline constexpr const Quat<T> &operator-=(const Quat<T> &q) noexcept

Quaternion subtraction.

template<class S>
inline constexpr bool operator==(const Quat<S> &q) const noexcept

Equality.

template<class S>
inline constexpr bool operator!=(const Quat<S> &q) const noexcept

Inequality.

Query

inline constexpr T length() const noexcept

Return the R4 length.

inline constexpr T angle() const noexcept

Return the angle of the axis/angle representation.

inline constexpr Vec3<T> axis() const noexcept

Return the axis of the axis/angle representation.

inline constexpr Matrix33<T> toMatrix33() const noexcept

Return a 3x3 rotation matrix.

inline constexpr Matrix44<T> toMatrix44() const noexcept

Return a 4x4 rotation matrix.

inline Quat<T> log() const noexcept

Return the logarithm of the quaterion.

inline Quat<T> exp() const noexcept

Return the exponent of the quaterion.

Utility Methods

inline constexpr Quat<T> &invert() noexcept

Invert in place: this = 1 / this.

Returns

const reference to this.

inline constexpr Quat<T> inverse() const noexcept

Return 1/this, leaving this unchanged.

inline constexpr Quat<T> &normalize() noexcept

Normalize in place.

Returns

const reference to this.

inline constexpr Quat<T> normalized() const noexcept

Return a normalized quaternion, leaving this unmodified.

inline constexpr Vec3<T> rotateVector(const Vec3<T> &original) const noexcept

Rotate the given point by the quaterion.

inline constexpr T euclideanInnerProduct(const Quat<T> &q) const noexcept

Return the Euclidean inner product.

inline constexpr Quat<T> &setAxisAngle(const Vec3<T> &axis, T radians) noexcept

Set the quaterion to be a rotation around the given axis by the given angle.

Returns

const reference to this.

inline constexpr Quat<T> &setRotation(const Vec3<T> &fromDirection, const Vec3<T> &toDirection) noexcept

Set the quaternion to be a rotation that transforms the direction vector fromDirection to toDirection

Returns

const reference to this.

Public Types

typedef T BaseType

The base type: In templates that accept a parameter V, you can refer to T as V::BaseType

Public Functions

inline constexpr T &operator[](int index) noexcept

Element access: q[0] is the real part, (q[1],q[2],q[3]) is the imaginary part.

inline constexpr T operator[](int index) const noexcept

Element access: q[0] is the real part, (q[1],q[2],q[3]) is the imaginary part.

template<class T>
std::ostream &Imath::operator<<(std::ostream &o, const Quat<T> &q)

Stream output as “(r x y z)”.