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

#include <btQuaternion.h>

Inheritance diagram for btQuaternion:

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Collaboration diagram for btQuaternion:

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Public Member Functions
	btQuaternion ()
	No initialization constructor. More...

	btQuaternion (const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
	Constructor from scalars. More...

	btQuaternion (const btVector3 &_axis, const btScalar &_angle)
	Axis angle Constructor. More...

	btQuaternion (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
	Constructor from Euler angles. More...

void	setRotation (const btVector3 &axis, const btScalar &_angle)
	Set the rotation using axis angle notation. More...

void	setEuler (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
	Set the quaternion using Euler angles. More...

void	setEulerZYX (const btScalar &yawZ, const btScalar &pitchY, const btScalar &rollX)
	Set the quaternion using euler angles. More...

void	getEulerZYX (btScalar &yawZ, btScalar &pitchY, btScalar &rollX) const
	Get the euler angles from this quaternion. More...

btQuaternion &	operator+= (const btQuaternion &q)
	Add two quaternions. More...

btQuaternion &	operator-= (const btQuaternion &q)
	Subtract out a quaternion. More...

btQuaternion &	operator*= (const btScalar &s)
	Scale this quaternion. More...

btQuaternion &	operator*= (const btQuaternion &q)
	Multiply this quaternion by q on the right. More...

btScalar	dot (const btQuaternion &q) const
	Return the dot product between this quaternion and another. More...

btScalar	length2 () const
	Return the length squared of the quaternion. More...

btScalar	length () const
	Return the length of the quaternion. More...

btQuaternion &	safeNormalize ()

btQuaternion &	normalize ()
	Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1. More...

btQuaternion	operator* (const btScalar &s) const
	Return a scaled version of this quaternion. More...

btQuaternion	operator/ (const btScalar &s) const
	Return an inversely scaled versionof this quaternion. More...

btQuaternion &	operator/= (const btScalar &s)
	Inversely scale this quaternion. More...

btQuaternion	normalized () const
	Return a normalized version of this quaternion. More...

btScalar	angle (const btQuaternion &q) const
	Return the half angle between this quaternion and the other. More...

btScalar	angleShortestPath (const btQuaternion &q) const
	Return the angle between this quaternion and the other along the shortest path. More...

btScalar	getAngle () const
	Return the angle [0, 2Pi] of rotation represented by this quaternion. More...

btScalar	getAngleShortestPath () const
	Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path. More...

btVector3	getAxis () const
	Return the axis of the rotation represented by this quaternion. More...

btQuaternion	inverse () const
	Return the inverse of this quaternion. More...

btQuaternion	operator+ (const btQuaternion &q2) const
	Return the sum of this quaternion and the other. More...

btQuaternion	operator- (const btQuaternion &q2) const
	Return the difference between this quaternion and the other. More...

btQuaternion	operator- () const
	Return the negative of this quaternion This simply negates each element. More...

btQuaternion	farthest (const btQuaternion &qd) const

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. More...

const btScalar &	getW () const

void	serialize (struct btQuaternionData &dataOut) const

void	deSerialize (const struct btQuaternionFloatData &dataIn)

void	deSerialize (const struct btQuaternionDoubleData &dataIn)

void	serializeFloat (struct btQuaternionFloatData &dataOut) const

void	deSerializeFloat (const struct btQuaternionFloatData &dataIn)

void	serializeDouble (struct btQuaternionDoubleData &dataOut) const

void	deSerializeDouble (const struct btQuaternionDoubleData &dataIn)

Public Member Functions inherited from btQuadWord
const btScalar &	getX () const
	Return the x value. More...

const btScalar &	getY () const
	Return the y value. More...

const btScalar &	getZ () const
	Return the z value. More...

void	setX (btScalar _x)
	Set the x value. More...

void	setY (btScalar _y)
	Set the y value. More...

void	setZ (btScalar _z)
	Set the z value. More...

void	setW (btScalar _w)
	Set the w value. More...

const btScalar &	x () const
	Return the x value. More...

const btScalar &	y () const
	Return the y value. More...

const btScalar &	z () const
	Return the z value. More...

const btScalar &	w () const
	Return the w value. More...

	operator btScalar * ()
	operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. More...

	operator const btScalar * () const

bool	operator== (const btQuadWord &other) const

bool	operator!= (const btQuadWord &other) const

void	setValue (const btScalar &_x, const btScalar &_y, const btScalar &_z)
	Set x,y,z and zero w. More...

void	setValue (const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
	Set the values. More...

	btQuadWord ()
	No initialization constructor. More...

	btQuadWord (const btScalar &_x, const btScalar &_y, const btScalar &_z)
	Three argument constructor (zeros w) More...

	btQuadWord (const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
	Initializing constructor. More...

void	setMax (const btQuadWord &other)
	Set each element to the max of the current values and the values of another btQuadWord. More...

void	setMin (const btQuadWord &other)
	Set each element to the min of the current values and the values of another btQuadWord. More...

Static Public Member Functions
static const btQuaternion &	getIdentity ()

Additional Inherited Members
Protected Attributes inherited from btQuadWord
btScalar	m_floats [4]

Detailed Description

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

Definition at line 49 of file btQuaternion.h.

Constructor & Destructor Documentation

◆ btQuaternion() [1/4]

btQuaternion::btQuaternion ( )

inline

No initialization constructor.

Definition at line 53 of file btQuaternion.h.

◆ btQuaternion() [2/4]

btQuaternion::btQuaternion	(	const btScalar &	_x,
		const btScalar &	_y,
		const btScalar &	_z,
		const btScalar &	_w
	)

inline

Constructor from scalars.

Definition at line 82 of file btQuaternion.h.

◆ btQuaternion() [3/4]

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 89 of file btQuaternion.h.

◆ btQuaternion() [4/4]

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 97 of file btQuaternion.h.

Member Function Documentation

◆ angle()

btScalar btQuaternion::angle ( const btQuaternion & q ) const

inline

Return the half angle between this quaternion and the other.

Parameters

q	The other quaternion

Definition at line 448 of file btQuaternion.h.

◆ angleShortestPath()

btScalar btQuaternion::angleShortestPath ( const btQuaternion & q ) const

inline

Return the angle between this quaternion and the other along the shortest path.

Parameters

q	The other quaternion

Definition at line 457 of file btQuaternion.h.

◆ deSerialize() [1/2]

void btQuaternion::deSerialize ( const struct btQuaternionDoubleData & dataIn )

inline

Definition at line 1015 of file btQuaternion.h.

◆ deSerialize() [2/2]

void btQuaternion::deSerialize ( const struct btQuaternionFloatData & dataIn )

inline

Definition at line 1009 of file btQuaternion.h.

◆ deSerializeDouble()

void btQuaternion::deSerializeDouble ( const struct btQuaternionDoubleData & dataIn )

inline

Definition at line 996 of file btQuaternion.h.

◆ deSerializeFloat()

void btQuaternion::deSerializeFloat ( const struct btQuaternionFloatData & dataIn )

inline

Definition at line 983 of file btQuaternion.h.

◆ dot()

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 337 of file btQuaternion.h.

◆ farthest()

btQuaternion btQuaternion::farthest ( const btQuaternion & qd ) const

inline

Definition at line 552 of file btQuaternion.h.

◆ getAngle()

btScalar btQuaternion::getAngle ( ) const

inline

Return the angle [0, 2Pi] of rotation represented by this quaternion.

Definition at line 468 of file btQuaternion.h.

◆ getAngleShortestPath()

btScalar btQuaternion::getAngleShortestPath ( ) const

inline

Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path.

Definition at line 475 of file btQuaternion.h.

◆ getAxis()

btVector3 btQuaternion::getAxis ( ) const

inline

Return the axis of the rotation represented by this quaternion.

Definition at line 486 of file btQuaternion.h.

◆ getEulerZYX()

void btQuaternion::getEulerZYX	(	btScalar &	yawZ,
		btScalar &	pitchY,
		btScalar &	rollX
	)		const

inline

Get the euler angles from this quaternion.

Parameters

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

Definition at line 161 of file btQuaternion.h.

◆ getIdentity()

static const btQuaternion & btQuaternion::getIdentity ( )

inlinestatic

Definition at line 608 of file btQuaternion.h.

◆ getW()

const btScalar & btQuaternion::getW ( ) const

inline

Definition at line 614 of file btQuaternion.h.

◆ inverse()

btQuaternion btQuaternion::inverse ( ) const

inline

Return the inverse of this quaternion.

Definition at line 497 of file btQuaternion.h.

◆ length()

btScalar btQuaternion::length ( ) const

inline

Return the length of the quaternion.

Definition at line 370 of file btQuaternion.h.

◆ length2()

btScalar btQuaternion::length2 ( ) const

inline

Return the length squared of the quaternion.

Definition at line 364 of file btQuaternion.h.

◆ nearest()

btQuaternion btQuaternion::nearest ( const btQuaternion & qd ) const

inline

Definition at line 563 of file btQuaternion.h.

◆ normalize()

btQuaternion & btQuaternion::normalize ( )

inline

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

Definition at line 385 of file btQuaternion.h.

◆ normalized()

btQuaternion btQuaternion::normalized ( ) const

inline

Return a normalized version of this quaternion.

Definition at line 442 of file btQuaternion.h.

◆ operator*()

btQuaternion btQuaternion::operator* ( const btScalar & s ) const

inline

Return a scaled version of this quaternion.

Parameters

s	The scale factor

Definition at line 411 of file btQuaternion.h.

◆ operator*=() [1/2]

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 254 of file btQuaternion.h.

◆ operator*=() [2/2]

btQuaternion & btQuaternion::operator*= ( const btScalar & s )

inline

Scale this quaternion.

Parameters

s	The scalar to scale by

Definition at line 234 of file btQuaternion.h.

◆ operator+()

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 511 of file btQuaternion.h.

◆ operator+=()

btQuaternion & btQuaternion::operator+= ( const btQuaternion & q )

inline

Add two quaternions.

Parameters

q	The quaternion to add to this one

Definition at line 200 of file btQuaternion.h.

◆ operator-() [1/2]

btQuaternion btQuaternion::operator- ( ) const

inline

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

Definition at line 540 of file btQuaternion.h.

◆ operator-() [2/2]

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 526 of file btQuaternion.h.

◆ operator-=()

btQuaternion & btQuaternion::operator-= ( const btQuaternion & q )

inline

Subtract out a quaternion.

Parameters

q	The quaternion to subtract from this one

Definition at line 217 of file btQuaternion.h.

◆ operator/()

btQuaternion btQuaternion::operator/ ( const btScalar & s ) const

inline

Return an inversely scaled versionof this quaternion.

Parameters

s	The inverse scale factor

Definition at line 427 of file btQuaternion.h.

◆ operator/=()

btQuaternion & btQuaternion::operator/= ( const btScalar & s )

inline

Inversely scale this quaternion.

Parameters

s	The scale factor

Definition at line 435 of file btQuaternion.h.

◆ safeNormalize()

btQuaternion & btQuaternion::safeNormalize ( )

inline

Definition at line 374 of file btQuaternion.h.

◆ serialize()

void btQuaternion::serialize ( struct btQuaternionData & dataOut ) const

inline

could also do a memcpy, check if it is worth it

Definition at line 1002 of file btQuaternion.h.

◆ serializeDouble()

void btQuaternion::serializeDouble ( struct btQuaternionDoubleData & dataOut ) const

inline

could also do a memcpy, check if it is worth it

Definition at line 989 of file btQuaternion.h.

◆ serializeFloat()

void btQuaternion::serializeFloat ( struct btQuaternionFloatData & dataOut ) const

inline

could also do a memcpy, check if it is worth it

Definition at line 976 of file btQuaternion.h.

◆ setEuler()

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 120 of file btQuaternion.h.

◆ setEulerZYX()

void btQuaternion::setEulerZYX	(	const btScalar &	yawZ,
		const btScalar &	pitchY,
		const btScalar &	rollX
	)

inline

Set the quaternion using euler angles.

Parameters

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

Definition at line 140 of file btQuaternion.h.

◆ setRotation()

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 108 of file btQuaternion.h.

◆ slerp()

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 577 of file btQuaternion.h.

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

btQuaternion.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btQuaternion() [1/4]

◆ btQuaternion() [2/4]

◆ btQuaternion() [3/4]

◆ btQuaternion() [4/4]

Member Function Documentation

◆ angle()

◆ angleShortestPath()

◆ deSerialize() [1/2]

◆ deSerialize() [2/2]

◆ deSerializeDouble()

◆ deSerializeFloat()

◆ dot()

◆ farthest()

◆ getAngle()

◆ getAngleShortestPath()

◆ getAxis()

◆ getEulerZYX()

◆ getIdentity()

◆ getW()

◆ inverse()

◆ length()

◆ length2()

◆ nearest()

◆ normalize()

◆ normalized()

◆ operator*()

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ safeNormalize()

◆ serialize()

◆ serializeDouble()

◆ serializeFloat()

◆ setEuler()

◆ setEulerZYX()

◆ setRotation()

◆ slerp()