Maths::Quat< T > Class Template Reference

Quaternion class template for rotations in 3D space Supports Euler conversion, normalization, multiplication, slerp/lerp, and rotation helpers. More...

#include <MQuaternion.hpp>

Public Member Functions
	Quat (T m_x, T m_y, T m_z, T m_w)
	Constructor from components.
	Quat ()=default
	Default constructor (uninitialized).
	~Quat ()=default
T	x () const
T	y () const
T	z () const
T	w () const
void	SetX (T newX)
void	SetY (T newY)
void	SetZ (T newZ)
void	SetW (T newW)
void	Set (T newX, T newY, T newZ, T newW)
Vec3< T >	EulerAngles () const
	Convert quaternion to Euler angles (radians).
Quat< T >	Normalized () const
	Return normalized quaternion.
T	Magnitude () const
	Compute magnitude of quaternion.
T	This (int i) const
	Access component by index (0=x,1=y,2=z,3=w).
void	SetLookRotation (const Vec3< T > &forward, const Vec3< T > &up)
	Set quaternion from forward and up vectors.
void	ToAngleAxis (T &angle, Vec3< T > &axis)
	Extract rotation angle and axis from quaternion.
void	setFromToRotation (const Quat< T > &to)
	Set quaternion to represent rotation from this to another quaternion.
bool	Equals (const Quat< T > &q) const
	Check equality with another quaternion.
std::string	ToString () const
	Return a string representation for debugging.
void	Normalize ()
	Normalize quaternion in place.
Quat< T >	operator* (const Quat< T > &q) const
	Quaternion multiplication (composition of rotations).
bool	operator== (const Maths::Quat< T > &q) const
	Equality operator.

Static Public Member Functions
static Quat< T >	Identity ()
	Return identity quaternion (no rotation).
static Quat< T >	AngleAxis (T angle, const Quat< T > &axis)
static Quat< T >	SlerpUnclamped (const Quat< T > &b, T t)
static Quat< T >	LerpUnclamped (const Quat< T > &b, T t)
static Quat< T >	FromEuler (const Vec3< T > &eulerRad)
static Quat< T >	Slerp (const Quat< T > &a, const Quat< T > &b, T t)
static Quat< T >	Lerp (const Quat< T > &a, const Quat< T > &b, T t)
static Quat< T >	Cross (const Quat< T > &b)
static Quat< T >	Inverse (const Quat< T > &q)
static Vec3< T >	MulltiplyQuatVec (const Vec3< T > &v, const Quat< T > &q)
	Rotate a vector by quaternion.
static T	Angle (const Quat< T > &a, const Quat< T > &b)
	Compute angle between two quaternions.
static T	Dot (const Quat< T > &a, const Quat< T > &b)
	Dot product of two quaternions.
static void	LookRotation (const Vec3< T > &forward, const Vec3< T > &up)
static void	RotateTowards (const Quat< T > &to, T maxDegreesDelta)
static void	FromToRotation (const Quat< T > &to)

Public Attributes
T	m_x
T	m_y
T	m_z
T	m_w

Static Public Attributes
static constexpr T	kEpsilon = static_cast<T>(1e-6)
static constexpr T	PI = static_cast<T>(3.14159265358979323846)

Detailed Description

template<typename T = float>
class Maths::Quat< T >

Quaternion class template for rotations in 3D space Supports Euler conversion, normalization, multiplication, slerp/lerp, and rotation helpers.

Constructor & Destructor Documentation

Quat() [1/2]

template<typename T = float>

Maths::Quat< T >::Quat	(	T	m_x,
		T	m_y,
		T	m_z,
		T	m_w )

Constructor from components.

Quat() [2/2]

template<typename T = float>

Maths::Quat< T >::Quat ( )

default

Default constructor (uninitialized).

~Quat()

template<typename T = float>

Maths::Quat< T >::~Quat ( )

default

Member Function Documentation

Angle()

template<typename T = float>

T Maths::Quat< T >::Angle ( const Quat< T > & a, const Quat< T > & b )

static

Compute angle between two quaternions.

AngleAxis()

template<typename T = float>

Quat< T > Maths::Quat< T >::AngleAxis ( T angle, const Quat< T > & axis )

static

Cross()

template<typename T = float>

Quat< T > Maths::Quat< T >::Cross ( const Quat< T > & b )

static

Dot()

template<typename T = float>

T Maths::Quat< T >::Dot ( const Quat< T > & a, const Quat< T > & b )

static

Dot product of two quaternions.

Equals()

template<typename T = float>

bool Maths::Quat< T >::Equals

(

const Quat< T > &

q

)

const

Check equality with another quaternion.

EulerAngles()

template<typename T = float>

Vec3< T > Maths::Quat< T >::EulerAngles

(

)

const

Convert quaternion to Euler angles (radians).

INSTANCE PROPERTIES ////////

FromEuler()

template<typename T = float>

Quat< T > Maths::Quat< T >::FromEuler ( const Vec3< T > & eulerRad )

static

FromToRotation()

template<typename T = float>

void Maths::Quat< T >::FromToRotation ( const Quat< T > & to )

static

Identity()

template<typename T = float>

Quat< T > Maths::Quat< T >::Identity ( )

static

Return identity quaternion (no rotation).

STATIC PROPERTIES ////////

Inverse()

template<typename T = float>

Quat< T > Maths::Quat< T >::Inverse ( const Quat< T > & q )

static

Lerp()

template<typename T = float>

Quat< T > Maths::Quat< T >::Lerp ( const Quat< T > & a, const Quat< T > & b, T t )

static

LerpUnclamped()

template<typename T = float>

Quat< T > Maths::Quat< T >::LerpUnclamped ( const Quat< T > & b, T t )

static

LookRotation()

template<typename T = float>

void Maths::Quat< T >::LookRotation ( const Vec3< T > & forward, const Vec3< T > & up )

static

Magnitude()

template<typename T = float>

T Maths::Quat< T >::Magnitude

(

)

const

Compute magnitude of quaternion.

MulltiplyQuatVec()

template<typename T = float>

Vec3< T > Maths::Quat< T >::MulltiplyQuatVec ( const Vec3< T > & v, const Quat< T > & q )

static

Rotate a vector by quaternion.

Normalize()

template<typename T = float>

void Maths::Quat< T >::Normalize

(

)

Normalize quaternion in place.

Normalized()

template<typename T = float>

Quat< T > Maths::Quat< T >::Normalized

(

)

const

Return normalized quaternion.

operator*()

template<typename T = float>

Quat< T > Maths::Quat< T >::operator*

(

const Quat< T > &

q

)

const

Quaternion multiplication (composition of rotations).

OPERATORS ////////

operator==()

template<typename T = float>

bool Maths::Quat< T >::operator==

(

const Maths::Quat< T > &

q

)

const

Equality operator.

RotateTowards()

template<typename T = float>

void Maths::Quat< T >::RotateTowards ( const Quat< T > & to, T maxDegreesDelta )

static

Set()

template<typename T = float>

void Maths::Quat< T >::Set ( T newX, T newY, T newZ, T newW )

inline

setFromToRotation()

template<typename T = float>

void Maths::Quat< T >::setFromToRotation

(

const Quat< T > &

to

)

Set quaternion to represent rotation from this to another quaternion.

SetLookRotation()

template<typename T = float>

void Maths::Quat< T >::SetLookRotation	(	const Vec3< T > &	forward,
		const Vec3< T > &	up )

Set quaternion from forward and up vectors.

PUBLIC METHODS ////////

SetW()

template<typename T = float>

void Maths::Quat< T >::SetW ( T newW )

inline

SetX()

template<typename T = float>

void Maths::Quat< T >::SetX ( T newX )

inline

SetY()

template<typename T = float>

void Maths::Quat< T >::SetY ( T newY )

inline

SetZ()

template<typename T = float>

void Maths::Quat< T >::SetZ ( T newZ )

inline

Slerp()

template<typename T = float>

Quat< T > Maths::Quat< T >::Slerp ( const Quat< T > & a, const Quat< T > & b, T t )

static

SlerpUnclamped()

template<typename T = float>

Quat< T > Maths::Quat< T >::SlerpUnclamped ( const Quat< T > & b, T t )

static

This()

template<typename T = float>

T Maths::Quat< T >::This

(

int

i

)

const

Access component by index (0=x,1=y,2=z,3=w).

ToAngleAxis()

template<typename T = float>

void Maths::Quat< T >::ToAngleAxis	(	T &	angle,
		Vec3< T > &	axis )

Extract rotation angle and axis from quaternion.

ToString()

template<typename T = float>

std::string Maths::Quat< T >::ToString

(

)

const

Return a string representation for debugging.

w()

template<typename T = float>

T Maths::Quat< T >::w ( ) const

inline

x()

template<typename T = float>

T Maths::Quat< T >::x ( ) const

inline

y()

template<typename T = float>

T Maths::Quat< T >::y ( ) const

inline

z()

template<typename T = float>

T Maths::Quat< T >::z ( ) const

inline

Member Data Documentation

kEpsilon

template<typename T = float>

T Maths::Quat< T >::kEpsilon = static_cast<T>(1e-6)

staticconstexpr

m_w

template<typename T = float>

T Maths::Quat< T >::m_w

m_x

template<typename T = float>

T Maths::Quat< T >::m_x

m_y

template<typename T = float>

T Maths::Quat< T >::m_y

m_z

template<typename T = float>

T Maths::Quat< T >::m_z

PI

template<typename T = float>

T Maths::Quat< T >::PI = static_cast<T>(3.14159265358979323846)

staticconstexpr

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

• Engine/Externals/Maths/Headers/MQuaternion.hpp