---

mini3d::quat4d Class Reference
[Core]

quat4d - A 4D quaternion class, derived from array<double, 4> More...

Inheritance diagram for mini3d::quat4d:

List of all members.

Public Member Functions
	quat4d ()
	A default constructor.
	quat4d (const array<double, 4>& src)
	A copy constructor from base class.
	quat4d (const quat4d& src)
	A copy constructor.
	quat4d (double v[4])
	A constructor.
	quat4d (double s, const vector3d& v)
	A constructor.
	quat4d (double vw, double vx, double vy, double vz)
	A constructor.
virtual	~quat4d ()
	A destructor.
quat4d	operator* (const quat4d& rhs) const
	Multiply two quaternion and return the product.
quat4d	operator/ (const quat4d& rhs) const
	Divide two quaternion and return the result ( will throw divid_by_zero exception if rhs.normal() < EPSILON ).
double	w () const
	Get the w component of the quaternion.
double	x () const
	Get the x component of the quaternion.
double	y () const
	Get the y component of the quaternion.
double	z () const
	Get the z component of the quaternion.
void	w (double ww)
	Set the w component of the quaternion.
void	x (double xx)
	Set the x component of the quaternion.
void	y (double yy)
	Set the y component of the quaternion.
void	z (double zz)
	Set the z component of the quaternion.
double	scalar () const
	Get the scalar component (w).
vector3d	vector () const
	Get the vector component (x, y, z).
quat4d	conjugate () const
	Get the conjugate.
quat4d	inverse () const
	Get the inverse ( will throw divid_by_zero exception if normal < EPSILON ).
void	invert ()
	Invert itself.
void	makeRotate (double rad, const vector3d& v)
	Construct a quaternion which represents the rotation about v in opAngle rad.
void	makeRotate (const vector3d& v1, const vector3d& v2)
	Construct a quaternion which represents the rotation from v1 to v2.
quat4d&	operator= (const array<double, 4>& src)
	Copy from the base class.
quat4d&	slerp (quat4d q1, quat4d q2, double t)
	Spherical linear interpolation between two quaternion.
Static Public Attributes
static const quat4d	_zero_quat
Protected Member Functions
void	assign (double vw, double vx, double vy, double vz)
	Assignment.

---

Detailed Description

quat4d - A 4D quaternion class, derived from array<double, 4>

A quaternion [w x y z] contains
a scalar component w, and
a vector component [x, y, z].

---

Constructor & Destructor Documentation

mini3d::quat4d::quat4d (  )

A default constructor. The quaternion will set as [0 0 0 0].

mini3d::quat4d::quat4d ( const array<double, 4>&  src  )

A copy constructor from base class. Parameters: src  the quat4d vector to copy from.

mini3d::quat4d::quat4d ( const quat4d&  src  )

A copy constructor. Parameters: src  the quat4d vector to copy from.

mini3d::quat4d::quat4d ( double  v[4]  )

A constructor. The quaternion will set as [v[0] v[1] v[2] v[3]]. Parameters: v  a double array with 4 components

mini3d::quat4d::quat4d ( double  s, const vector3d&  v )

A constructor. The quaternion will set as [vw vx vy vz]. Parameters: s  the scalar component v  the vector component

mini3d::quat4d::quat4d ( double  vw, double  vx, double  vy, double  vz )

A constructor. The quaternion will set as [vw vx vy vz]. Parameters: vw  the scalar component vx  the x component for the vector vy  the y component for the vector vz  the z component for the vector

virtual mini3d::quat4d::~quat4d (  )  [virtual]

A destructor.

---

Member Function Documentation

void mini3d::quat4d::assign ( double  vw, double  vx, double  vy, double  vz )  [protected]

Assignment. The quaternion will set as [vw vx vy vz]. Parameters: vw  the scalar component vx  the x component for the vector vy  the y component for the vector vz  the z component for the vector

quat4d mini3d::quat4d::conjugate (  )  const

Get the conjugate. Returns: the conjugate

quat4d mini3d::quat4d::inverse (  )  const

Get the inverse ( will throw divid_by_zero exception if normal < EPSILON ). Returns: the inverse

void mini3d::quat4d::invert (  )

Invert itself.

void mini3d::quat4d::makeRotate ( const vector3d&  v1, const vector3d&  v2 )

Construct a quaternion which represents the rotation from v1 to v2. Parameters: v1  the from vector v2  the to vector

void mini3d::quat4d::makeRotate ( double  rad, const vector3d&  v )

Construct a quaternion which represents the rotation about v in opAngle rad. Parameters: rad  the radian v  the axis of rotation

quat4d mini3d::quat4d::operator* ( const quat4d&  rhs  )  const

Multiply two quaternion and return the product. Parameters: rhs  the quaternion to multiply with Returns: the product of two quaternion

quat4d mini3d::quat4d::operator/ ( const quat4d&  rhs  )  const

Divide two quaternion and return the result ( will throw divid_by_zero exception if rhs.normal() < EPSILON ). Parameters: rhs  the second operand quaternion Returns: the result of the division

quat4d& mini3d::quat4d::operator= ( const array<double, 4>&  src  )

Copy from the base class. Parameters: src  the quaternion to copy from Returns: itself

double mini3d::quat4d::scalar (  )  const

Get the scalar component (w). Returns: w

quat4d& mini3d::quat4d::slerp ( quat4d  q1, quat4d  q2, double  t )

Spherical linear interpolation between two quaternion. Parameters: q1  the quaternion to start from q2  the quaternion at the end t  the parametric value Returns: itself (the quaternion at time t)

vector3d mini3d::quat4d::vector (  )  const

Get the vector component (x, y, z). Returns: (x, y, z)

void mini3d::quat4d::w ( double  ww  )  [inline]

Set the w component of the quaternion. Parameters: the  w component

double mini3d::quat4d::w (  )  const [inline]

Get the w component of the quaternion. Returns: the w component

void mini3d::quat4d::x ( double  xx  )  [inline]

Set the x component of the quaternion. Parameters: the  x component

double mini3d::quat4d::x (  )  const [inline]

Get the x component of the quaternion. Returns: the x component

void mini3d::quat4d::y ( double  yy  )  [inline]

Set the y component of the quaternion. Parameters: the  y component

double mini3d::quat4d::y (  )  const [inline]

Get the y component of the quaternion. Returns: the y component

void mini3d::quat4d::z ( double  zz  )  [inline]

Set the z component of the quaternion. Parameters: the  z component

double mini3d::quat4d::z (  )  const [inline]

Get the z component of the quaternion. Returns: the z component

---

Member Data Documentation

const quat4d mini3d::quat4d::_zero_quat [static]

---

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

• quat4d.h

---