Quaternion class. More...

#include <GEO_Detail.h>

Public Types
typedef T	value_type

typedef UT_QuaternionT< T >	ThisType

Public Member Functions
	UT_QuaternionT (T qx=0, T qy=0, T qz=0, T qw=0)

	UT_QuaternionT (const fpreal32 v[tuple_size])

	UT_QuaternionT (const fpreal64 v[tuple_size])

	UT_QuaternionT (const UT_Vector4T< T > &v)

	UT_QuaternionT (T angle, const UT_Vector3T< T > &axis, int donormalize=1)

	UT_QuaternionT (const UT_Vector3T< T > &rot, const UT_XformOrder &order)

SYS_FORCE_INLINE	UT_QuaternionT (const ThisType &that)=default

SYS_FORCE_INLINE	UT_QuaternionT (ThisType &&that)=default

SYS_FORCE_INLINE ThisType &	operator= (const ThisType &that)=default

SYS_FORCE_INLINE ThisType &	operator= (ThisType &&that)=default

template<typename S >
	UT_QuaternionT (const UT_QuaternionT< S > &v)

template<typename S >
UT_QuaternionT< T > &	operator= (const UT_QuaternionT< S > &v)

UT_QuaternionT< T > &	operator*= (const UT_QuaternionT< T > &q)

UT_QuaternionT< T > &	operator*= (T scalar)

UT_QuaternionT< T > &	operator/= (const UT_QuaternionT< T > &quat)

UT_QuaternionT< T > &	operator/= (T scalar)

UT_QuaternionT< T > &	operator+= (const UT_QuaternionT< T > &quat)

bool	operator== (const UT_QuaternionT< T > &quat) const

bool	operator!= (const UT_QuaternionT< T > &quat) const

T	operator() (int idx) const

T &	operator() (int idx)

T	operator[] (int idx) const

T &	operator[] (int idx)

bool	isEqual (const UT_QuaternionT< T > &quat, T tol=T(SYS_FTOLERANCE)) const

void	getRotationMatrix (UT_Matrix3 &mat) const

void	getRotationMatrix (UT_DMatrix3 &mat) const

void	getInverseRotationMatrix (UT_Matrix3 &mat) const

void	getInverseRotationMatrix (UT_DMatrix3 &mat) const

void	getTransformMatrix (UT_Matrix4 &mat) const

void	getTransformMatrix (UT_DMatrix4 &mat) const

UT_QuaternionT< T >	interpolate (const UT_QuaternionT< T > &target, T t, T b=0.0f) const
	Interpolates between this quat (t==0) and the target (t==1) More...

void	interpolate (const UT_QuaternionT< T > q, const T w, exint n, T tol=T(1e-6))

void	lerp (const UT_QuaternionT< T > &target, T t)
	Do component-wise lerp between this quat (t=0) and the target (t=1). More...

void	lerp (const UT_QuaternionT< T > &src, const UT_QuaternionT< T > &dst, T t)
	Do component-wise lerp between this src (t=0) and dst (t=1). More...

void	assign (T qx, T qy, T qz, T qw)

void	identity ()

void	conjugate ()

void	negate ()

T	normal () const

void	normalize ()

T	length () const

void	invert ()

UT_QuaternionT< T >	exp () const

UT_QuaternionT< T >	ln () const

UT_QuaternionT< T >	log () const

void	updateFromVectors (const UT_Vector3T< T > &v1, const UT_Vector3T< T > &v2)

void	updateFromArbitraryMatrix (const UT_Matrix3 &)

void	updateFromArbitraryMatrix (const UT_Matrix3D &)

void	updateFromRotationMatrix (const UT_Matrix3 &)

void	updateFromRotationMatrix (const UT_Matrix3D &)

void	updateFromAngleAxis (T angle, const UT_Vector3T< T > &axis, int normalize=1)

void	getAngleAxis (T &angle, UT_Vector3T< T > &axis) const

void	updateFromLogMap (const UT_Vector3T< T > &v)

void	getLogMap (UT_Vector3T< T > &v) const

void	updateFromEuler (const UT_Vector3T< T > &rot, const UT_XformOrder &order)

void	computeDerivative (const UT_Vector3T< T > &omega, UT_QuaternionT< T > &q_prime)

UT_Vector3T< T >	computeAngVel (const UT_QuaternionT< T > &dest, T time) const

void	integrate (const UT_Vector3T< T > &angvel, T timestep, bool accurate=true)

UT_Vector3T< T >	computeRotations (const UT_XformOrder &) const

UT_Vector3T< T >	rotate (const UT_Vector3T< T > &) const

UT_Vector3T< T >	rotateInverse (const UT_Vector3T< T > &) const

void	multAngle (T s)

void	swingTwistDecompose (const UT_Vector3T< T > &axis, UT_QuaternionT< T > &swing, UT_QuaternionT< T > &twist, const bool reverse=false) const

T &	x ()

T &	y ()

T &	z ()

T &	w ()

T	x () const

T	y () const

T	z () const

T	w () const

void	save (std::ostream &os, int binary=0) const

bool	load (UT_IStream &is)

const T *	data () const

T *	data ()

T	distance2 (const UT_QuaternionT< T > &b) const noexcept

T	distance (const UT_QuaternionT< T > &b) const noexcept

unsigned	hash () const
	Compute a hash. More...


bool	save (UT_JSONWriter &w) const

bool	save (UT_JSONValue &v) const

bool	load (UT_JSONParser &p)

Static Public Member Functions
static int	entries ()

Static Public Attributes
static constexpr int	tuple_size = 4

Protected Member Functions
void	initialize (T qx=0, T qy=0, T qz=0, T qw=0)

Friends
std::ostream &	operator<< (std::ostream &os, const UT_QuaternionT< T > &v)

Detailed Description

template<typename T>
class UT_QuaternionT< T >

Quaternion class.

Definition at line 48 of file GEO_Detail.h.

Member Typedef Documentation

template<typename T>

typedef UT_QuaternionT<T> UT_QuaternionT< T >::ThisType

Definition at line 88 of file UT_Quaternion.h.

template<typename T>

typedef T UT_QuaternionT< T >::value_type

Definition at line 55 of file UT_Quaternion.h.

Constructor & Destructor Documentation

template<typename T>

UT_QuaternionT< T >::UT_QuaternionT	(	T	qx = `0`,
		T	qy = `0`,
		T	qz = `0`,
		T	qw = `0`
	)

inline

Definition at line 58 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT< T >::UT_QuaternionT ( const fpreal32 v[tuple_size] )

inline

Definition at line 64 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT< T >::UT_QuaternionT ( const fpreal64 v[tuple_size] )

inline

Definition at line 69 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT< T >::UT_QuaternionT ( const UT_Vector4T< T > & v )

inline

Definition at line 74 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT< T >::UT_QuaternionT	(	T	angle,
		const UT_Vector3T< T > &	axis,
		int	donormalize = `1`
	)

inline

Definition at line 363 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT< T >::UT_QuaternionT	(	const UT_Vector3T< T > &	rot,
		const UT_XformOrder &	order
	)

inline

Definition at line 82 of file UT_Quaternion.h.

template<typename T>

SYS_FORCE_INLINE UT_QuaternionT< T >::UT_QuaternionT ( const ThisType & that )

default

template<typename T>

SYS_FORCE_INLINE UT_QuaternionT< T >::UT_QuaternionT ( ThisType && that )

default

template<typename T>

template<typename S >

UT_QuaternionT< T >::UT_QuaternionT ( const UT_QuaternionT< S > & v )

inline

Definition at line 96 of file UT_Quaternion.h.

Member Function Documentation

template<typename T>

void UT_QuaternionT< T >::assign	(	T	qx,
		T	qy,
		T	qz,
		T	qw
	)

inline

Definition at line 159 of file UT_Quaternion.h.

template<typename T>

UT_Vector3T<T> UT_QuaternionT< T >::computeAngVel	(	const UT_QuaternionT< T > &	dest,
		T	time
	)		const

template<typename T>

void UT_QuaternionT< T >::computeDerivative	(	const UT_Vector3T< T > &	omega,
		UT_QuaternionT< T > &	q_prime
	)

template<typename T>

UT_Vector3T<T> UT_QuaternionT< T >::computeRotations ( const UT_XformOrder & ) const

template<typename T>

void UT_QuaternionT< T >::conjugate ( )

inline

Definition at line 170 of file UT_Quaternion.h.

template<typename T>

const T* UT_QuaternionT< T >::data ( ) const

inline

Definition at line 324 of file UT_Quaternion.h.

template<typename T>

T* UT_QuaternionT< T >::data ( )

inline

Definition at line 325 of file UT_Quaternion.h.

template<typename T>

T UT_QuaternionT< T >::distance ( const UT_QuaternionT< T > & b ) const

inlinenoexcept

Definition at line 331 of file UT_Quaternion.h.

template<typename T>

T UT_QuaternionT< T >::distance2 ( const UT_QuaternionT< T > & b ) const

inlinenoexcept

Definition at line 327 of file UT_Quaternion.h.

template<typename T>

static int UT_QuaternionT< T >::entries ( )

inlinestatic

Definition at line 336 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT<T> UT_QuaternionT< T >::exp ( ) const

template<typename T>

void UT_QuaternionT< T >::getAngleAxis	(	T &	angle,
		UT_Vector3T< T > &	axis
	)		const

template<typename T>

void UT_QuaternionT< T >::getInverseRotationMatrix ( UT_Matrix3 & mat ) const

template<typename T>

void UT_QuaternionT< T >::getInverseRotationMatrix ( UT_DMatrix3 & mat ) const

template<typename T>

void UT_QuaternionT< T >::getLogMap ( UT_Vector3T< T > & v ) const

template<typename T>

void UT_QuaternionT< T >::getRotationMatrix ( UT_Matrix3 & mat ) const

template<typename T>

void UT_QuaternionT< T >::getRotationMatrix ( UT_DMatrix3 & mat ) const

template<typename T>

void UT_QuaternionT< T >::getTransformMatrix ( UT_Matrix4 & mat ) const

template<typename T>

void UT_QuaternionT< T >::getTransformMatrix ( UT_DMatrix4 & mat ) const

template<typename T>

unsigned UT_QuaternionT< T >::hash ( void ) const

inline

Compute a hash.

Definition at line 339 of file UT_Quaternion.h.

template<typename T>

void UT_QuaternionT< T >::identity ( )

inline

Definition at line 165 of file UT_Quaternion.h.

template<typename T>

void UT_QuaternionT< T >::initialize	(	T	qx = `0`,
		T	qy = `0`,
		T	qz = `0`,
		T	qw = `0`
	)

inlineprotected

Definition at line 342 of file UT_Quaternion.h.

template<typename T>

void UT_QuaternionT< T >::integrate	(	const UT_Vector3T< T > &	angvel,
		T	timestep,
		bool	accurate = `true`
	)

template<typename T>

UT_QuaternionT<T> UT_QuaternionT< T >::interpolate	(	const UT_QuaternionT< T > &	target,
		T	t,
		T	b = `0.0f`
	)		const

Interpolates between this quat (t==0) and the target (t==1)

template<typename T>

void UT_QuaternionT< T >::interpolate	(	const UT_QuaternionT< T > *	q,
		const T *	w,
		exint	n,
		T	tol = `T(1e-6)`
	)

Interpolates between the n quaternions in q, with weights w, to within tolerance tol. NOTE: The q's must be normalized, and the weights may need to sum to 1.

template<typename T>

void UT_QuaternionT< T >::invert ( )

inline

Definition at line 204 of file UT_Quaternion.h.

template<typename T>

bool UT_QuaternionT< T >::isEqual	(	const UT_QuaternionT< T > &	quat,
		T	tol = `T(SYS_FTOLERANCE)`
	)		const

inline

Does a comparison with a tolerance. This also returns true if quat.negated() is equal to us, unlike operator==().

Definition at line 388 of file UT_Quaternion.h.

template<typename T>

T UT_QuaternionT< T >::length ( void ) const

inline

Definition at line 200 of file UT_Quaternion.h.

template<typename T>

void UT_QuaternionT< T >::lerp	(	const UT_QuaternionT< T > &	target,
		T	t
	)

inline

Do component-wise lerp between this quat (t=0) and the target (t=1).

Definition at line 141 of file UT_Quaternion.h.

template<typename T>

void UT_QuaternionT< T >::lerp	(	const UT_QuaternionT< T > &	src,
		const UT_QuaternionT< T > &	dst,
		T	t
	)

inline

Do component-wise lerp between this src (t=0) and dst (t=1).

Definition at line 149 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT<T> UT_QuaternionT< T >::ln ( ) const

template<typename T>

bool UT_QuaternionT< T >::load ( UT_IStream & is )

template<typename T>

bool UT_QuaternionT< T >::load ( UT_JSONParser & p )

Methods to serialize to a JSON stream. The vector is stored as an array of 4 reals.

template<typename T>

UT_QuaternionT<T> UT_QuaternionT< T >::log ( ) const

inline

Definition at line 220 of file UT_Quaternion.h.

template<typename T>

void UT_QuaternionT< T >::multAngle ( T s )

template<typename T>

void UT_QuaternionT< T >::negate ( )

inline

Definition at line 176 of file UT_Quaternion.h.

template<typename T>

T UT_QuaternionT< T >::normal ( ) const

inline

Definition at line 183 of file UT_Quaternion.h.

template<typename T>

void UT_QuaternionT< T >::normalize ( )

inline

Definition at line 190 of file UT_Quaternion.h.

template<typename T>

bool UT_QuaternionT< T >::operator!= ( const UT_QuaternionT< T > & quat ) const

inline

Definition at line 381 of file UT_Quaternion.h.

template<typename T>

T UT_QuaternionT< T >::operator() ( int idx ) const

inline

Definition at line 109 of file UT_Quaternion.h.

template<typename T>

T& UT_QuaternionT< T >::operator() ( int idx )

inline

Definition at line 111 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT< T > & UT_QuaternionT< T >::operator*= ( const UT_QuaternionT< T > & q )

inline

Definition at line 478 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT< T > & UT_QuaternionT< T >::operator*= ( T scalar )

inline

Definition at line 496 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT< T > & UT_QuaternionT< T >::operator+= ( const UT_QuaternionT< T > & quat )

inline

Definition at line 426 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT< T > & UT_QuaternionT< T >::operator/= ( const UT_QuaternionT< T > & quat )

inline

Definition at line 529 of file UT_Quaternion.h.

template<typename T>

UT_QuaternionT< T > & UT_QuaternionT< T >::operator/= ( T scalar )

inline

Definition at line 541 of file UT_Quaternion.h.

template<typename T>

SYS_FORCE_INLINE ThisType& UT_QuaternionT< T >::operator= ( const ThisType & that )

default

template<typename T>

SYS_FORCE_INLINE ThisType& UT_QuaternionT< T >::operator= ( ThisType && that )

default

template<typename T>

template<typename S >

UT_QuaternionT<T>& UT_QuaternionT< T >::operator= ( const UT_QuaternionT< S > & v )

inline

Definition at line 99 of file UT_Quaternion.h.

template<typename T>

bool UT_QuaternionT< T >::operator== ( const UT_QuaternionT< T > & quat ) const

inline

Definition at line 371 of file UT_Quaternion.h.

template<typename T>

T UT_QuaternionT< T >::operator[] ( int idx ) const

inline

Definition at line 113 of file UT_Quaternion.h.

template<typename T>

T& UT_QuaternionT< T >::operator[] ( int idx )

inline

Definition at line 115 of file UT_Quaternion.h.

template<typename T>

UT_Vector3T< T > UT_QuaternionT< T >::rotate ( const UT_Vector3T< T > & v ) const

inline

Rotates a vector by this quaternion Requires that this is normalized.

Definition at line 555 of file UT_Quaternion.h.

template<typename T>

UT_Vector3T< T > UT_QuaternionT< T >::rotateInverse ( const UT_Vector3T< T > & v ) const

inline

rotates a vector by the inverse of this quaternion. Requires that this is normalized.

Definition at line 565 of file UT_Quaternion.h.

template<typename T>

void UT_QuaternionT< T >::save	(	std::ostream &	os,
		int	binary = `0`
	)		const

template<typename T>

bool UT_QuaternionT< T >::save ( UT_JSONWriter & w ) const

Methods to serialize to a JSON stream. The vector is stored as an array of 4 reals.

template<typename T>

bool UT_QuaternionT< T >::save ( UT_JSONValue & v ) const

Methods to serialize to a JSON stream. The vector is stored as an array of 4 reals.

template<typename T>

void UT_QuaternionT< T >::swingTwistDecompose	(	const UT_Vector3T< T > &	axis,
		UT_QuaternionT< T > &	swing,
		UT_QuaternionT< T > &	twist,
		const bool	reverse = `false`
	)		const

template<typename T>

void UT_QuaternionT< T >::updateFromAngleAxis	(	T	angle,
		const UT_Vector3T< T > &	axis,
		int	normalize = `1`
	)

template<typename T>

void UT_QuaternionT< T >::updateFromArbitraryMatrix ( const UT_Matrix3 & )

Form the quaternion from the rotation component of an arbitrary 3x3 matrix.

template<typename T>

void UT_QuaternionT< T >::updateFromArbitraryMatrix ( const UT_Matrix3D & )

template<typename T>

void UT_QuaternionT< T >::updateFromEuler	(	const UT_Vector3T< T > &	rot,
		const UT_XformOrder &	order
	)

template<typename T>

void UT_QuaternionT< T >::updateFromLogMap ( const UT_Vector3T< T > & v )

template<typename T>

void UT_QuaternionT< T >::updateFromRotationMatrix ( const UT_Matrix3 & )

Form the quaternion from a rotation matrix WARNING: This will produce incorrect results if given a non-rotation matrix! Use updateFromArbitraryMatrix if you may have a non-rotation matrix.

template<typename T>

void UT_QuaternionT< T >::updateFromRotationMatrix ( const UT_Matrix3D & )

template<typename T>

void UT_QuaternionT< T >::updateFromVectors	(	const UT_Vector3T< T > &	v1,
		const UT_Vector3T< T > &	v2
	)

template<typename T>

T& UT_QuaternionT< T >::w ( )

inline

Definition at line 306 of file UT_Quaternion.h.

template<typename T>

T UT_QuaternionT< T >::w ( ) const

inline

Definition at line 311 of file UT_Quaternion.h.

template<typename T>

T& UT_QuaternionT< T >::x ( )

inline

Definition at line 303 of file UT_Quaternion.h.

template<typename T>

T UT_QuaternionT< T >::x ( ) const

inline

Definition at line 308 of file UT_Quaternion.h.

template<typename T>

T& UT_QuaternionT< T >::y ( )

inline

Definition at line 304 of file UT_Quaternion.h.

template<typename T>

T UT_QuaternionT< T >::y ( ) const

inline

Definition at line 309 of file UT_Quaternion.h.

template<typename T>

T& UT_QuaternionT< T >::z ( )

inline

Definition at line 305 of file UT_Quaternion.h.

template<typename T>

T UT_QuaternionT< T >::z ( ) const

inline

Definition at line 310 of file UT_Quaternion.h.

Friends And Related Function Documentation

template<typename T>

std::ostream& operator<<	(	std::ostream &	os,
		const UT_QuaternionT< T > &	v
	)

friend

Definition at line 350 of file UT_Quaternion.h.

Member Data Documentation

template<typename T>

constexpr int UT_QuaternionT< T >::tuple_size = 4

static

Definition at line 56 of file UT_Quaternion.h.

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

GEO/GEO_Detail.h
UT/UT_Quaternion.h

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Detailed Description

template<typename T> class UT_QuaternionT< T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename T>
class UT_QuaternionT< T >