#include <ImathQuat.h>

Public Types
typedef T	BaseType

Public Member Functions
IMATH_HOSTDEVICE IMATH_CONSTEXPR14 T &	operator[] (int index) IMATH_NOEXCEPT

IMATH_HOSTDEVICE constexpr T	operator[] (int index) const IMATH_NOEXCEPT

Basic Algebra
Note that the operator return values are NOT normalized
IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat < T > &	operator*= (const Quat< T > &q) IMATH_NOEXCEPT
	Quaternion multiplication. More...

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat < T > &	operator*= (T t) IMATH_NOEXCEPT

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat < T > &	operator/= (const Quat< T > &q) IMATH_NOEXCEPT
	Quaterion division, using the inverse() More...

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat < T > &	operator/= (T t) IMATH_NOEXCEPT

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat < T > &	operator+= (const Quat< T > &q) IMATH_NOEXCEPT
	Quaternion addition. More...

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat < T > &	operator-= (const Quat< T > &q) IMATH_NOEXCEPT
	Quaternion subtraction. More...

template<class S >
IMATH_HOSTDEVICE constexpr bool	operator== (const Quat< S > &q) const IMATH_NOEXCEPT
	Equality. More...

template<class S >
IMATH_HOSTDEVICE constexpr bool	operator!= (const Quat< S > &q) const IMATH_NOEXCEPT
	Inequality. More...

Query
IMATH_HOSTDEVICE constexpr T	length () const IMATH_NOEXCEPT
	Return the R4 length. More...

IMATH_HOSTDEVICE constexpr T	angle () const IMATH_NOEXCEPT
	Return the angle of the axis/angle representation. More...

IMATH_HOSTDEVICE constexpr Vec3< T >	axis () const IMATH_NOEXCEPT
	Return the axis of the axis/angle representation. More...

IMATH_HOSTDEVICE constexpr Matrix33< T >	toMatrix33 () const IMATH_NOEXCEPT
	Return a 3x3 rotation matrix. More...

IMATH_HOSTDEVICE constexpr Matrix44< T >	toMatrix44 () const IMATH_NOEXCEPT
	Return a 4x4 rotation matrix. More...

IMATH_HOSTDEVICE Quat< T >	log () const IMATH_NOEXCEPT
	Return the logarithm of the quaterion. More...

IMATH_HOSTDEVICE Quat< T >	exp () const IMATH_NOEXCEPT
	Return the exponent of the quaterion. More...

Utility Methods
IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T > &	invert () IMATH_NOEXCEPT

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T >	inverse () const IMATH_NOEXCEPT
	Return 1/this, leaving this unchanged. More...

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T > &	normalize () IMATH_NOEXCEPT

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T >	normalized () const IMATH_NOEXCEPT
	Return a normalized quaternion, leaving this unmodified. More...

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Vec3< T >	rotateVector (const Vec3< T > &original) const IMATH_NOEXCEPT
	Rotate the given point by the quaterion. More...

IMATH_HOSTDEVICE constexpr T	euclideanInnerProduct (const Quat< T > &q) const IMATH_NOEXCEPT
	Return the Euclidean inner product. More...

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T > &	setAxisAngle (const Vec3< T > &axis, T radians) IMATH_NOEXCEPT

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T > &	setRotation (const Vec3< T > &fromDirection, const Vec3< T > &toDirection) IMATH_NOEXCEPT

Public Attributes
Direct access to elements
T	r
	The real part. More...

Vec3< T >	v
	The imaginary vector. More...

Constructors
IMATH_HOSTDEVICE constexpr	Quat () IMATH_NOEXCEPT
	Default constructor is the identity quat. More...

IMATH_HOSTDEVICE constexpr	Quat (const Quat &q) IMATH_NOEXCEPT
	Copy constructor. More...

template<class S >
IMATH_HOSTDEVICE IMATH_CONSTEXPR14	Quat (const Quat< S > &q) IMATH_NOEXCEPT
	Construct from a quaternion of a another base type. More...

IMATH_HOSTDEVICE constexpr	Quat (T s, T i, T j, T k) IMATH_NOEXCEPT
	Initialize with real part `s` and imaginary vector 1(i,j,k)`. More...

IMATH_HOSTDEVICE constexpr	Quat (T s, Vec3< T > d) IMATH_NOEXCEPT
	Initialize with real part `s` and imaginary vector `d` More...

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat < T > &	operator= (const Quat< T > &q) IMATH_NOEXCEPT
	Assignment. More...

IMATH_HOSTDEVICE	~Quat () IMATH_NOEXCEPT=default
	Destructor. More...

IMATH_HOSTDEVICE static constexpr Quat< T >	identity () IMATH_NOEXCEPT
	The identity quaternion. More...

Detailed Description

template<class T>
class Quat< T >

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.

Definition at line 42 of file ImathQuat.h.

Member Typedef Documentation

template<class T>

typedef T Quat< T >::BaseType

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

Definition at line 193 of file ImathQuat.h.

Constructor & Destructor Documentation

template<class T >

IMATH_HOSTDEVICE constexpr Quat< T >::Quat ( )

inline

Default constructor is the identity quat.

Definition at line 272 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE constexpr Quat< T >::Quat ( const Quat< T > & q )

inline

Copy constructor.

Definition at line 297 of file ImathQuat.h.

template<class T >

template<class S >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T >::Quat ( const Quat< S > & q )

inline

Construct from a quaternion of a another base type.

Definition at line 279 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE constexpr Quat< T >::Quat	(	T	s,
		T	i,
		T	j,
		T	k
	)

inline

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

Definition at line 285 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE constexpr Quat< T >::Quat	(	T	s,
		Vec3< T >	d
	)

inline

Initialize with real part s and imaginary vector d

Definition at line 291 of file ImathQuat.h.

template<class T>

IMATH_HOSTDEVICE Quat< T >::~Quat ( )

default

Destructor.

Member Function Documentation

template<class T >

IMATH_HOSTDEVICE constexpr T Quat< T >::angle ( ) const

inline

Return the angle of the axis/angle representation.

Definition at line 669 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE constexpr Vec3< T > Quat< T >::axis ( ) const

inline

Return the axis of the axis/angle representation.

Definition at line 676 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE constexpr T Quat< T >::euclideanInnerProduct ( const Quat< T > & q ) const

inline

Return the Euclidean inner product.

Definition at line 491 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE Quat< T > Quat< T >::exp ( ) const

inline

Return the exponent of the quaterion.

Definition at line 645 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE constexpr Quat< T > Quat< T >::identity ( )

inlinestatic

The identity quaternion.

Definition at line 304 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T > Quat< T >::inverse ( ) const

inline

Return 1/this, leaving this unchanged.

Definition at line 447 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T > & Quat< T >::invert ( )

inline

Invert in place: this = 1 / this.

Returns: const reference to this.

Definition at line 461 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE constexpr T Quat< T >::length ( void ) const

inline

Return the R4 length.

Definition at line 412 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE Quat< T > Quat< T >::log ( ) const

inline

Return the logarithm of the quaterion.

Definition at line 620 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T > & Quat< T >::normalize ( )

inline

Normalize in place

Returns: const reference to this.

Definition at line 419 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T > Quat< T >::normalized ( ) const

inline

Return a normalized quaternion, leaving this unmodified.

Definition at line 437 of file ImathQuat.h.

template<class T >

template<class S >

IMATH_HOSTDEVICE constexpr bool Quat< T >::operator!= ( const Quat< S > & q ) const

inline

Inequality.

Definition at line 397 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat< T > & Quat< T >::operator*= ( const Quat< T > & q )

inline

Quaternion multiplication.

Definition at line 320 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat< T > & Quat< T >::operator*= ( T t )

inline

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

Definition at line 330 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat< T > & Quat< T >::operator+= ( const Quat< T > & q )

inline

Quaternion addition.

Definition at line 356 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat< T > & Quat< T >::operator-= ( const Quat< T > & q )

inline

Quaternion subtraction.

Definition at line 365 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat< T > & Quat< T >::operator/= ( const Quat< T > & q )

inline

Quaterion division, using the inverse()

Definition at line 339 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat< T > & Quat< T >::operator/= ( T t )

inline

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

Definition at line 347 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 const Quat< T > & Quat< T >::operator= ( const Quat< T > & q )

inline

Assignment.

Definition at line 311 of file ImathQuat.h.

template<class T >

template<class S >

IMATH_HOSTDEVICE constexpr bool Quat< T >::operator== ( const Quat< S > & q ) const

inline

Equality.

Definition at line 389 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 T & Quat< T >::operator[] ( int index )

inline

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

Definition at line 374 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE constexpr T Quat< T >::operator[] ( int index ) const

inline

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

Definition at line 381 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Vec3< T > Quat< T >::rotateVector ( const Vec3< T > & original ) const

inline

Rotate the given point by the quaterion.

Definition at line 471 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T > & Quat< T >::setAxisAngle	(	const Vec3< T > &	axis,
		T	radians
	)

inline

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

Returns: const reference to this.

Definition at line 683 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE IMATH_CONSTEXPR14 Quat< T > & Quat< T >::setRotation	(	const Vec3< T > &	fromDirection,
		const Vec3< T > &	toDirection
	)

inline

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

Returns: const reference to this.

Definition at line 692 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE constexpr Matrix33< T > Quat< T >::toMatrix33 ( ) const

inline

Return a 3x3 rotation matrix.

Definition at line 797 of file ImathQuat.h.

template<class T >

IMATH_HOSTDEVICE constexpr Matrix44< T > Quat< T >::toMatrix44 ( ) const

inline

Return a 4x4 rotation matrix.

Definition at line 814 of file ImathQuat.h.

Member Data Documentation

template<class T>

T Quat< T >::r

The real part.

Definition at line 50 of file ImathQuat.h.

template<class T>

Vec3<T> Quat< T >::v

The imaginary vector.

Definition at line 53 of file ImathQuat.h.

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

Imath/ImathQuat.h

Public Types

Public Member Functions

Public Attributes

Constructors

Detailed Description

template<class T> class Quat< T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class T>
class Quat< T >