The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. More...

#include <btQuaternion.h>

Public Member Functions
	btQuaternion ()
	No initialization constructor.
	btQuaternion (const btScalar &x, const btScalar &y, const btScalar &z, const btScalar &w)
	Constructor from scalars.
	btQuaternion (const btVector3 &axis, const btScalar &angle)
	Axis angle Constructor.
	btQuaternion (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
	Constructor from Euler angles.
void	setRotation (const btVector3 &axis, const btScalar &angle)
	Set the rotation using axis angle notation.
void	setEuler (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
	Set the quaternion using Euler angles.
void	setEulerZYX (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
	Set the quaternion using euler angles.
SIMD_FORCE_INLINE btQuaternion &	operator+= (const btQuaternion &q)
	Add two quaternions.
btQuaternion &	operator-= (const btQuaternion &q)
	Subtract out a quaternion.
btQuaternion &	operator*= (const btScalar &s)
	Scale this quaternion.
btQuaternion &	operator*= (const btQuaternion &q)
	Multiply this quaternion by q on the right.
btScalar	dot (const btQuaternion &q) const
	Return the dot product between this quaternion and another.
btScalar	length2 () const
	Return the length squared of the quaternion.
btScalar	length () const
	Return the length of the quaternion.
btQuaternion &	normalize ()
	Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.
SIMD_FORCE_INLINE btQuaternion	operator* (const btScalar &s) const
	Return a scaled version of this quaternion.
btQuaternion	operator/ (const btScalar &s) const
	Return an inversely scaled versionof this quaternion.
btQuaternion &	operator/= (const btScalar &s)
	Inversely scale this quaternion.
btQuaternion	normalized () const
	Return a normalized version of this quaternion.
btScalar	angle (const btQuaternion &q) const
	Return the angle between this quaternion and the other.
btScalar	getAngle () const
	Return the angle of rotation represented by this quaternion.
btVector3	getAxis () const
	Return the axis of the rotation represented by this quaternion.
btQuaternion	inverse () const
	Return the inverse of this quaternion.
SIMD_FORCE_INLINE btQuaternion	operator+ (const btQuaternion &q2) const
	Return the sum of this quaternion and the other.
SIMD_FORCE_INLINE btQuaternion	operator- (const btQuaternion &q2) const
	Return the difference between this quaternion and the other.
SIMD_FORCE_INLINE btQuaternion	operator- () const
	Return the negative of this quaternion This simply negates each element.
SIMD_FORCE_INLINE btQuaternion	farthest (const btQuaternion &qd) const
SIMD_FORCE_INLINE btQuaternion	nearest (const btQuaternion &qd) const
btQuaternion	slerp (const btQuaternion &q, const btScalar &t) const
	Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.
SIMD_FORCE_INLINE const btScalar &	getW () const
Static Public Member Functions
static const btQuaternion &	getIdentity ()

Detailed Description

The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform.

Definition at line 25 of file btQuaternion.h.

Constructor & Destructor Documentation

btQuaternion::btQuaternion ( ) [inline]

No initialization constructor.

Definition at line 28 of file btQuaternion.h.

Referenced by inverse(), operator*(), operator+(), operator-(), and slerp().

btQuaternion::btQuaternion	(	const btScalar &	x,
		const btScalar &	y,
		const btScalar &	z,
		const btScalar &	w
	)		`[inline]`

Constructor from scalars.

Definition at line 33 of file btQuaternion.h.

btQuaternion::btQuaternion	(	const btVector3 &	axis,
		const btScalar &	angle
	)		`[inline]`

Axis angle Constructor.

Parameters:

axis	The axis which the rotation is around
angle	The magnitude of the rotation around the angle (Radians)

Definition at line 39 of file btQuaternion.h.

References setRotation().

btQuaternion::btQuaternion	(	const btScalar &	yaw,
		const btScalar &	pitch,
		const btScalar &	roll
	)		`[inline]`

Constructor from Euler angles.

Parameters:

yaw	Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z
pitch	Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y
roll	Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X

Definition at line 47 of file btQuaternion.h.

References setEuler(), and setEulerZYX().

Member Function Documentation

btScalar btQuaternion::angle ( const btQuaternion & q ) const [inline]

Return the angle between this quaternion and the other.

Parameters:

q	The other quaternion

Definition at line 199 of file btQuaternion.h.

References btAcos(), btAssert, btSqrt(), dot(), and length2().

Referenced by angle(), and slerp().

btScalar btQuaternion::dot ( const btQuaternion & q ) const [inline]

Return the dot product between this quaternion and another.

Parameters:

q	The other quaternion

Definition at line 143 of file btQuaternion.h.

Referenced by angle(), dot(), farthest(), length2(), nearest(), and slerp().

SIMD_FORCE_INLINE btQuaternion btQuaternion::farthest ( const btQuaternion & qd ) const [inline]

Todo:: document this and it's use

Definition at line 254 of file btQuaternion.h.

References KDL::diff(), dot(), and sum().

btScalar btQuaternion::getAngle ( ) const [inline]

Return the angle of rotation represented by this quaternion.

Definition at line 206 of file btQuaternion.h.

References btAcos().

Referenced by btConeTwistConstraint::calcAngleInfo2(), btTransformUtil::calculateDiffAxisAngle(), btTransformUtil::calculateDiffAxisAngleQuaternion(), btConeTwistConstraint::computeConeLimitInfo(), and btConeTwistConstraint::computeTwistLimitInfo().

btVector3 btQuaternion::getAxis ( ) const [inline]

Return the axis of the rotation represented by this quaternion.

Definition at line 213 of file btQuaternion.h.

References btPow(), btSqrt(), and SIMD_EPSILON.

static const btQuaternion& btQuaternion::getIdentity ( ) [inline, static]

Definition at line 306 of file btQuaternion.h.

SIMD_FORCE_INLINE const btScalar& btQuaternion::getW ( ) const [inline]

Definition at line 312 of file btQuaternion.h.

Referenced by plGetOrientation(), and plSetEuler().

btQuaternion btQuaternion::inverse ( ) const [inline]

Return the inverse of this quaternion.

Definition at line 223 of file btQuaternion.h.

References btQuaternion().

Referenced by btConeTwistConstraint::calcAngleInfo2(), btTransformUtil::calculateDiffAxisAngleQuaternion(), inverse(), quatRotate(), btConeTwistConstraint::setMotorTarget(), and btConeTwistConstraint::setMotorTargetInConstraintSpace().

btScalar btQuaternion::length ( ) const [inline]

Return the length of the quaternion.

Definition at line 155 of file btQuaternion.h.

References btSqrt(), and length2().

Referenced by length(), normalize(), and normalized().

btScalar btQuaternion::length2 ( ) const [inline]

Return the length squared of the quaternion.

Definition at line 149 of file btQuaternion.h.

References dot().

Referenced by angle(), length(), and btMatrix3x3::setRotation().

SIMD_FORCE_INLINE btQuaternion btQuaternion::nearest ( const btQuaternion & qd ) const [inline]

Todo:: document this and it's use

Definition at line 265 of file btQuaternion.h.

References KDL::diff(), dot(), and sum().

Referenced by btTransformUtil::calculateDiffAxisAngleQuaternion().

btQuaternion& btQuaternion::normalize ( ) [inline]

Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.

Definition at line 162 of file btQuaternion.h.

References length().

Referenced by btConeTwistConstraint::calcAngleInfo2(), btTransformUtil::calculateDiffAxisAngle(), btTransformUtil::integrateTransform(), btConeTwistConstraint::setMotorTargetInConstraintSpace(), and shortestArcQuatNormalize2().

btQuaternion btQuaternion::normalized ( ) const [inline]

Return a normalized version of this quaternion.

Definition at line 193 of file btQuaternion.h.

References length().

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator* ( const btScalar & s ) const [inline]

Return a scaled version of this quaternion.

Parameters:

s	The scale factor

Definition at line 170 of file btQuaternion.h.

References btQuaternion().

btQuaternion& btQuaternion::operator*= ( const btScalar & s ) [inline]

Scale this quaternion.

Parameters:

s	The scalar to scale by

Definition at line 124 of file btQuaternion.h.

btQuaternion& btQuaternion::operator*= ( const btQuaternion & q ) [inline]

Multiply this quaternion by q on the right.

Parameters:

q	The other quaternion Equivilant to this = this * q

Definition at line 133 of file btQuaternion.h.

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator+ ( const btQuaternion & q2 ) const [inline]

Return the sum of this quaternion and the other.

Parameters:

q2	The other quaternion

Definition at line 231 of file btQuaternion.h.

References btQuaternion().

SIMD_FORCE_INLINE btQuaternion& btQuaternion::operator+= ( const btQuaternion & q ) [inline]

Add two quaternions.

Parameters:

q	The quaternion to add to this one

Definition at line 108 of file btQuaternion.h.

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator- ( const btQuaternion & q2 ) const [inline]

Return the difference between this quaternion and the other.

Parameters:

q2	The other quaternion

Definition at line 240 of file btQuaternion.h.

References btQuaternion().

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator- ( ) const [inline]

Return the negative of this quaternion This simply negates each element.

Definition at line 248 of file btQuaternion.h.

References btQuaternion().

btQuaternion& btQuaternion::operator-= ( const btQuaternion & q ) [inline]

Subtract out a quaternion.

Parameters:

q	The quaternion to subtract from this one

Definition at line 116 of file btQuaternion.h.

btQuaternion btQuaternion::operator/ ( const btScalar & s ) const [inline]

Return an inversely scaled versionof this quaternion.

Parameters:

s	The inverse scale factor

Definition at line 178 of file btQuaternion.h.

References btAssert.

btQuaternion& btQuaternion::operator/= ( const btScalar & s ) [inline]

Inversely scale this quaternion.

Parameters:

s	The scale factor

Definition at line 186 of file btQuaternion.h.

References btAssert.

void btQuaternion::setEuler	(	const btScalar &	yaw,
		const btScalar &	pitch,
		const btScalar &	roll
	)		`[inline]`

Set the quaternion using Euler angles.

Parameters:

yaw	Angle around Y
pitch	Angle around X
roll	Angle around Z

Definition at line 70 of file btQuaternion.h.

References btCos(), and btSin().

Referenced by btQuaternion(), and plSetEuler().

void btQuaternion::setEulerZYX	(	const btScalar &	yaw,
		const btScalar &	pitch,
		const btScalar &	roll
	)		`[inline]`

Set the quaternion using euler angles.

Parameters:

yaw	Angle around Z
pitch	Angle around Y
roll	Angle around X

Definition at line 90 of file btQuaternion.h.

References btCos(), and btSin().

Referenced by btQuaternion().

void btQuaternion::setRotation	(	const btVector3 &	axis,
		const btScalar &	angle
	)		`[inline]`

Set the rotation using axis angle notation.

Parameters:

axis	The axis around which to rotate
angle	The magnitude of the rotation in Radians

Definition at line 58 of file btQuaternion.h.

References btAssert, btCos(), btSin(), and simple_enum_gen::d.

Referenced by btQuaternion().

btQuaternion btQuaternion::slerp	(	const btQuaternion &	q,
		const btScalar &	t
	)		const `[inline]`

Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.

Parameters:

q	The other quaternion to interpolate with
t	The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. Slerp interpolates assuming constant velocity.

Definition at line 280 of file btQuaternion.h.

References angle(), btQuaternion(), btSin(), simple_enum_gen::d, and dot().

Referenced by slerp().

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

btQuaternion.h

btQuaternion Class Reference

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation