# osg::Quat Class Reference

A quaternion class. More...

List of all members.

## Public Types

typedef double | value_type

## Public Member Functions

| Quat ()
| Quat (value_type x, value_type y, value_type z, value_type w)
| Quat (const Vec4f &v)
| Quat (const Vec4d &v)
| Quat (value_type angle, const Vec3f &axis)
| Quat (value_type angle, const Vec3d &axis)
| Quat (value_type angle1, const Vec3f &axis1, value_type angle2, const Vec3f &axis2, value_type angle3, const Vec3f &axis3)
| Quat (value_type angle1, const Vec3d &axis1, value_type angle2, const Vec3d &axis2, value_type angle3, const Vec3d &axis3)
Quat & | operator= (const Quat &v)
bool | operator== (const Quat &v) const
bool | operator!= (const Quat &v) const
bool | operator< (const Quat &v) const
Vec4d | asVec4 () const
Vec3d | asVec3 () const
void | set (value_type x, value_type y, value_type z, value_type w)
void | set (const osg::Vec4f &v)
void | set (const osg::Vec4d &v)
void | set (const Matrixf &matrix)
void | set (const Matrixd &matrix)
void | get (Matrixf &matrix) const
void | get (Matrixd &matrix) const
value_type & | operator[] (int i)
value_type | operator[] (int i) const
value_type & | x ()
value_type & | y ()
value_type & | z ()
value_type & | w ()
value_type | x () const
value_type | y () const
value_type | z () const
value_type | w () const
bool | zeroRotation () const
| return true if the Quat represents a zero rotation, and therefore can be ignored in computations.
const Quat | operator * (value_type rhs) const
| Multiply by scalar.
Quat & | operator *= (value_type rhs)
| Unary multiply by scalar.
const Quat | operator * (const Quat &rhs) const
| Binary multiply.
Quat & | operator *= (const Quat &rhs)
| Unary multiply.
Quat | operator/ (value_type rhs) const
| Divide by scalar.
Quat & | operator/= (value_type rhs)
| Unary divide by scalar.
const Quat | operator/ (const Quat &denom) const
| Binary divide.
Quat & | operator/= (const Quat &denom)
| Unary divide.
const Quat | operator+ (const Quat &rhs) const
| Binary addition.
Quat & | operator+= (const Quat &rhs)
| Unary addition.
const Quat | operator- (const Quat &rhs) const
| Binary subtraction.
Quat & | operator-= (const Quat &rhs)
| Unary subtraction.
const Quat | operator- () const
| Negation operator - returns the negative of the quaternion.
value_type | length () const
| Length of the quaternion = sqrt( vec . vec ).
value_type | length2 () const
| Length of the quaternion = vec . vec.
Quat | conj () const
| Conjugate.
const Quat | inverse () const
| Multiplicative inverse method: q^(-1) = q^*/(q.q^*).
void | makeRotate (value_type angle, value_type x, value_type y, value_type z)
| Set the elements of the Quat to represent a rotation of angle (radians) around the axis (x,y,z).
void | makeRotate (value_type angle, const Vec3f &vec)
void | makeRotate (value_type angle, const Vec3d &vec)
void | makeRotate (value_type angle1, const Vec3f &axis1, value_type angle2, const Vec3f &axis2, value_type angle3, const Vec3f &axis3)
void | makeRotate (value_type angle1, const Vec3d &axis1, value_type angle2, const Vec3d &axis2, value_type angle3, const Vec3d &axis3)
void | makeRotate (const Vec3f &vec1, const Vec3f &vec2)
| Make a rotation Quat which will rotate vec1 to vec2.
void | makeRotate (const Vec3d &vec1, const Vec3d &vec2)
| Make a rotation Quat which will rotate vec1 to vec2.
void | getRotate (value_type &angle, value_type &x, value_type &y, value_type &z) const
| Return the angle and vector components represented by the quaternion.
void | getRotate (value_type &angle, Vec3f &vec) const
| Return the angle and vector represented by the quaternion.
void | getRotate (value_type &angle, Vec3d &vec) const
| Return the angle and vector represented by the quaternion.
void | slerp (value_type t, const Quat &from, const Quat &to)
| Spherical Linear Interpolation.
Vec3f | operator * (const Vec3f &v) const
| Rotate a vector by this quaternion.
Vec3d | operator * (const Vec3d &v) const
| Rotate a vector by this quaternion.

## Public Attributes

value_type | _v [4]

## Friends

std::ostream & | operator<< (std::ostream &output, const Quat &vec)

## Detailed Description

A quaternion class.

It can be used to represent an orientation in 3D space.

## Member Typedef Documentation

typedef double osg::Quat::value_type

## Constructor & Destructor Documentation

osg::Quat::Quat | ( |  | ) | `[inline]`

osg::Quat::Quat | ( | value_type | x,
|  | value_type | y,
|  | value_type | z,
|  | value_type | w
| ) | `[inline]`

osg::Quat::Quat | ( | const Vec4f & | v | ) | `[inline]`

osg::Quat::Quat | ( | const Vec4d & | v | ) | `[inline]`

osg::Quat::Quat | ( | value_type | angle,
|  | const Vec3f & | axis
| ) | `[inline]`

osg::Quat::Quat | ( | value_type | angle,
|  | const Vec3d & | axis
| ) | `[inline]`

osg::Quat::Quat | ( | value_type | angle1,
|  | const Vec3f & | axis1,
|  | value_type | angle2,
|  | const Vec3f & | axis2,
|  | value_type | angle3,
|  | const Vec3f & | axis3
| ) | `[inline]`

osg::Quat::Quat | ( | value_type | angle1,
|  | const Vec3d & | axis1,
|  | value_type | angle2,
|  | const Vec3d & | axis2,
|  | value_type | angle3,
|  | const Vec3d & | axis3
| ) | `[inline]`

## Member Function Documentation

Vec3d osg::Quat::asVec3 | ( |  | ) | const`[inline]`

Vec4d osg::Quat::asVec4 | ( |  | ) | const`[inline]`

Quat osg::Quat::conj | ( |  | ) | const`[inline]`

| Conjugate.

void Quat::get | ( | Matrixd & | matrix | ) | const

void Quat::get | ( | Matrixf & | matrix | ) | const

void Quat::getRotate | ( | value_type & | angle,
|  | Vec3d & | vec
| ) | const

| Return the angle and vector represented by the quaternion.

void Quat::getRotate | ( | value_type & | angle,
|  | Vec3f & | vec
| ) | const

| Return the angle and vector represented by the quaternion.

void Quat::getRotate | ( | value_type & | angle,
|  | value_type & | x,
|  | value_type & | y,
|  | value_type & | z
| ) | const

| Return the angle and vector components represented by the quaternion.

const Quat osg::Quat::inverse | ( |  | ) | const`[inline]`

| Multiplicative inverse method: q^(-1) = q^*/(q.q^*).

value_type osg::Quat::length | ( |  | ) | const`[inline]`

| Length of the quaternion = sqrt( vec . vec ).

value_type osg::Quat::length2 | ( |  | ) | const`[inline]`

| Length of the quaternion = vec . vec.

void Quat::makeRotate | ( | const Vec3d & | vec1,
|  | const Vec3d & | vec2
| ) |

| Make a rotation Quat which will rotate vec1 to vec2. Generally take a dot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases of when the vectors are co-incident or opposite in direction.

void Quat::makeRotate | ( | const Vec3f & | vec1,
|  | const Vec3f & | vec2
| ) |

| Make a rotation Quat which will rotate vec1 to vec2. Generally take a dot product to get the angle between these and then use a cross product to get the rotation axis Watch out for the two special cases when the vectors are co-incident or opposite in direction.

void Quat::makeRotate | ( | value_type | angle1,
|  | const Vec3d & | axis1,
|  | value_type | angle2,
|  | const Vec3d & | axis2,
|  | value_type | angle3,
|  | const Vec3d & | axis3
| ) |

void Quat::makeRotate | ( | value_type | angle1,
|  | const Vec3f & | axis1,
|  | value_type | angle2,
|  | const Vec3f & | axis2,
|  | value_type | angle3,
|  | const Vec3f & | axis3
| ) |

void Quat::makeRotate | ( | value_type | angle,
|  | const Vec3d & | vec
| ) |

void Quat::makeRotate | ( | value_type | angle,
|  | const Vec3f & | vec
| ) |

void Quat::makeRotate | ( | value_type | angle,
|  | value_type | x,
|  | value_type | y,
|  | value_type | z
| ) |

| Set the elements of the Quat to represent a rotation of angle (radians) around the axis (x,y,z).

Vec3d osg::Quat::operator * | ( | const Vec3d & | v | ) | const`[inline]`

| Rotate a vector by this quaternion.

Vec3f osg::Quat::operator * | ( | const Vec3f & | v | ) | const`[inline]`

| Rotate a vector by this quaternion.

const Quat osg::Quat::operator * | ( | const Quat & | rhs | ) | const`[inline]`

| Binary multiply.

const Quat osg::Quat::operator * | ( | value_type | rhs | ) | const`[inline]`

| Multiply by scalar.

Quat& osg::Quat::operator *= | ( | const Quat & | rhs | ) | `[inline]`

| Unary multiply.

Quat& osg::Quat::operator *= | ( | value_type | rhs | ) | `[inline]`

| Unary multiply by scalar.

bool osg::Quat::operator!= | ( | const Quat & | v | ) | const`[inline]`

const Quat osg::Quat::operator+ | ( | const Quat & | rhs | ) | const`[inline]`

| Binary addition.

Quat& osg::Quat::operator+= | ( | const Quat & | rhs | ) | `[inline]`

| Unary addition.

const Quat osg::Quat::operator- | ( |  | ) | const`[inline]`

| Negation operator - returns the negative of the quaternion. Basically just calls operator - () on the Vec4

const Quat osg::Quat::operator- | ( | const Quat & | rhs | ) | const`[inline]`

| Binary subtraction.

Quat& osg::Quat::operator-= | ( | const Quat & | rhs | ) | `[inline]`

| Unary subtraction.

const Quat osg::Quat::operator/ | ( | const Quat & | denom | ) | const`[inline]`

| Binary divide.

Quat osg::Quat::operator/ | ( | value_type | rhs | ) | const`[inline]`

| Divide by scalar.

Quat& osg::Quat::operator/= | ( | const Quat & | denom | ) | `[inline]`

| Unary divide.

Quat& osg::Quat::operator/= | ( | value_type | rhs | ) | `[inline]`

| Unary divide by scalar.

bool osg::Quat::operator< | ( | const Quat & | v | ) | const`[inline]`

Quat& osg::Quat::operator= | ( | const Quat & | v | ) | `[inline]`

bool osg::Quat::operator== | ( | const Quat & | v | ) | const`[inline]`

value_type osg::Quat::operator[] | ( | int | i | ) | const`[inline]`

value_type& osg::Quat::operator[] | ( | int | i | ) | `[inline]`

void Quat::set | ( | const Matrixd & | matrix | ) |

void Quat::set | ( | const Matrixf & | matrix | ) |

void osg::Quat::set | ( | const osg::Vec4d & | v | ) | `[inline]`

void osg::Quat::set | ( | const osg::Vec4f & | v | ) | `[inline]`

void osg::Quat::set | ( | value_type | x,
|  | value_type | y,
|  | value_type | z,
|  | value_type | w
| ) | `[inline]`

void Quat::slerp | ( | value_type | t,
|  | const Quat & | from,
|  | const Quat & | to
| ) |

| Spherical Linear Interpolation. As t goes from 0 to 1, the Quat object goes from "from" to "to".

value_type osg::Quat::w | ( |  | ) | const`[inline]`

value_type& osg::Quat::w | ( |  | ) | `[inline]`

value_type osg::Quat::x | ( |  | ) | const`[inline]`

value_type& osg::Quat::x | ( |  | ) | `[inline]`

value_type osg::Quat::y | ( |  | ) | const`[inline]`

value_type& osg::Quat::y | ( |  | ) | `[inline]`

value_type osg::Quat::z | ( |  | ) | const`[inline]`

value_type& osg::Quat::z | ( |  | ) | `[inline]`

bool osg::Quat::zeroRotation | ( |  | ) | const`[inline]`

| return true if the Quat represents a zero rotation, and therefore can be ignored in computations.

## Friends And Related Function Documentation

std::ostream& operator<< | ( | std::ostream & | output,
|  | const Quat & | vec
| ) | `[friend]`

## Member Data Documentation

value_type osg::Quat::_v[4]

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

- Quat
- Quat.cpp