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OpenStructure
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OpenStructure
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#include <quat.hh>
Public Member Functions | |
| Quat () | |
| Quat (Real w, Real x, Real y, Real z) | |
| Quat (Real angle, const geom::Vec3 &axis) | |
| Quat (const Mat3 &rotmat) | |
| Mat3 | ToRotationMatrix () const |
| Vec3 | GetAxis () const |
| Real | GetAngle () const |
| Quat | operator- () |
| Quat & | operator+= (const Quat &q) |
| Quat & | operator-= (const Quat &q) |
| Quat & | operator*= (Real s) |
| Quat & | operator*= (const Quat &q) |
| Quat & | operator/= (Real s) |
| Quat & | operator/= (const Quat &q) |
| bool | operator== (const Quat &q) const |
| bool | operator!= (const Quat &q) const |
| Vec3 | Rotate (const Vec3 &vec) const |
Data Fields | |
| Real | w |
| Real | x |
| Real | y |
| Real | z |
unit quaternion
The four components of a unit quaternion can be seen as [cos(theta),sin(theta)*x,sin(theta)*y,sin(theta)*z], where (x,y,z) constitute the unit vector of the rotation axis, and theta the half-rotation angle around that axis.
| Quat | ( | ) |
| Quat | ( | Real | angle, |
| const geom::Vec3 & | axis | ||
| ) |
| Real GetAngle | ( | ) | const |
| Vec3 GetAxis | ( | ) | const |
| Quat operator- | ( | ) |
| bool operator== | ( | const Quat & | q | ) | const |
| Mat3 ToRotationMatrix | ( | ) | const |
1.8.1.1