#include <Base/include/Framework/Math/Quaternion.hpp>
template<typename T>
bpf::math::Quaternion class

Template parameters
T the number type

Contents

Represents a quaternion

Public static variables

static const Quaternion<T> Zero
static const Quaternion<T> Identity

Public static functions

static auto Lerp(const Quaternion<T>& q, const Quaternion<T>& q1, T t) -> Quaternion<T>
static auto Slerp(const Quaternion<T>& q, const Quaternion<T>& q1, T t) -> Quaternion<T>
static auto LookAt(const Vector3<T>& dir, const Vector3<T>& forward = Vector3<T>::Forward, const Vector3<T>& up = Vector3<T>::Up) -> Quaternion<T>

Constructors, destructors, conversion operators

Quaternion()
Quaternion(const T w, const T i, const T j, const T k)
Quaternion(const Vector<T, 3>& euler) explicit
Quaternion(const Vector<T, 3>& from, const Vector<T, 3>& to)
Quaternion(const Vector<T, 3>& axis, T ang)

Public functions

auto Rotate(const Vector<T, 3>& v) const -> Vector<T, 3>
auto Up() const -> Vector<T, 3>
auto Forward() const -> Vector<T, 3>
auto Right() const -> Vector<T, 3>
auto ToMatrix() const -> Matrix<T, 4, 4>
auto Inverse() const -> Quaternion<T>
auto Norm() const -> T noexcept
auto Normalize() const -> Quaternion<T> noexcept
auto operator==(const Quaternion<T>& other) const -> bool
auto operator!=(const Quaternion<T>& other) const -> bool
auto operator*(const Quaternion<T>& other) const -> Quaternion<T>
auto operator*(const T& other) const -> Quaternion<T>
auto operator+(const Quaternion<T>& other) const -> Quaternion<T>
auto operator-(const Quaternion<T>& other) const -> Quaternion<T>
auto Dot(const Quaternion<T>& other) const -> T
auto Angle(const Quaternion<T>& other) const -> T
auto ToEulerAngles() const -> Vector<T, 3>

Public variables

T I
T J
T K
T W

Function documentation

template<typename T>
static Quaternion<T> bpf::math::Quaternion<T>::Lerp(const Quaternion<T>& q, const Quaternion<T>& q1, T t)

Parameters
q first quaternion
q1 second quaternion
t interpolation factor
Returns new quaternion

Performs linear interpolation between two quaternions

template<typename T>
static Quaternion<T> bpf::math::Quaternion<T>::Slerp(const Quaternion<T>& q, const Quaternion<T>& q1, T t)

Parameters
q first quaternion
q1 second quaternion
t interpolation factor
Returns new quaternion

Performs spherical linear interpolation between two quaternions

template<typename T>
static Quaternion<T> bpf::math::Quaternion<T>::LookAt(const Vector3<T>& dir, const Vector3<T>& forward = Vector3<T>::Forward, const Vector3<T>& up = Vector3<T>::Up)

Parameters
dir the direction to look at
forward the world's forward vector
up the world's up vector
Returns new quaternion

Computes a quaternion to point a vector in a given direction

template<typename T>
bpf::math::Quaternion<T>::Quaternion()

Constructs an empty quaternion

template<typename T>
bpf::math::Quaternion<T>::Quaternion(const T w, const T i, const T j, const T k)

Parameters
w real component
i imaginary I component
j imaginary J component
k imaginary K component

Constructs a quaternion from individual components

template<typename T>
bpf::math::Quaternion<T>::Quaternion(const Vector<T, 3>& euler) explicit

Parameters
euler euler angles X = Pitch, Y = Yaw, Z = Roll

Constructs a quaternion from euler angles WARNING : Angles are expressed in radians

template<typename T>
bpf::math::Quaternion<T>::Quaternion(const Vector<T, 3>& from, const Vector<T, 3>& to)

Parameters
from first vector
to second vector

Constructs a quaternion from the rotation between two vectors

template<typename T>
bpf::math::Quaternion<T>::Quaternion(const Vector<T, 3>& axis, T ang)

Parameters
axis the rotation axis
ang the rotation angle

Constructs a quaternion from axis angle WARNING : Angle is expressed in radians

template<typename T>
Vector<T, 3> bpf::math::Quaternion<T>::Rotate(const Vector<T, 3>& v) const

Parameters
v the vector to rotate
Returns new rotated vector

Rotates the given vector by this quaternion

template<typename T>
Vector<T, 3> bpf::math::Quaternion<T>::Up() const

Returns up vector from rotation of Vector3<T>::Up

Computes an Up vector by rotating the Framework's default up vector by this quaternion

template<typename T>
Vector<T, 3> bpf::math::Quaternion<T>::Forward() const

Returns forward vector from rotation of Vector3<T>::Forward

Computes a Forward vector by rotating the Framework's default forward vector by this quaternion

template<typename T>
Vector<T, 3> bpf::math::Quaternion<T>::Right() const

Returns right vector from rotation of Vector3<T>::Right

Computes a Right vector by rotating the Framework's default right vector by this quaternion

template<typename T>
Matrix<T, 4, 4> bpf::math::Quaternion<T>::ToMatrix() const

Returns new matrix

Converts this quaternion to it's rotation matrix representation. Result is undefined if this quaternion is not a unit quaternion

template<typename T>
Quaternion<T> bpf::math::Quaternion<T>::Inverse() const

Returns new quaternion

Computes the inverse of this quaternion

template<typename T>
T bpf::math::Quaternion<T>::Norm() const noexcept

Returns number

Computes the norm of this quaternion

template<typename T>
Quaternion<T> bpf::math::Quaternion<T>::Normalize() const noexcept

Returns new unit quaternion

Normalizes this quaternion to a unit quaternion

template<typename T>
bool bpf::math::Quaternion<T>::operator==(const Quaternion<T>& other) const

Parameters
other quaternion to compare with
Returns true if the two quaternions are equal, false otherwise

Compare two quaternions

template<typename T>
bool bpf::math::Quaternion<T>::operator!=(const Quaternion<T>& other) const

Parameters
other quaternion to compare with
Returns true if the two quaternions are not equal, false otherwise

Compare two quaternions

template<typename T>
Quaternion<T> bpf::math::Quaternion<T>::operator*(const Quaternion<T>& other) const

Parameters
other operand
Returns new quaternion

Performs quaternion-quaternion multiplication

template<typename T>
Quaternion<T> bpf::math::Quaternion<T>::operator*(const T& other) const

Parameters
other operand
Returns new quaternion

Performs quaternion-scalar multiplication

template<typename T>
Quaternion<T> bpf::math::Quaternion<T>::operator+(const Quaternion<T>& other) const

Parameters
other operand
Returns new quaternion

Performs quaternion-quaternion addition

template<typename T>
Quaternion<T> bpf::math::Quaternion<T>::operator-(const Quaternion<T>& other) const

Parameters
other operand
Returns new quaternion

Performs quaternion-quaternion subtraction

template<typename T>
T bpf::math::Quaternion<T>::Dot(const Quaternion<T>& other) const

Parameters
other operand
Returns number

Computes a dot product between two quaternions

template<typename T>
T bpf::math::Quaternion<T>::Angle(const Quaternion<T>& other) const

Parameters
other operand
Returns number

Returns the angle between two quaternions. WARNING : Angle is expressed in radians

template<typename T>
Vector<T, 3> bpf::math::Quaternion<T>::ToEulerAngles() const

Returns 3D vector, X = Pitch, Y = Yaw, Z = Roll

Returns the euler angles representation of that quaternion. WARNING : Angles are expressed in radians

Variable documentation

template<typename T>
static const Quaternion<T> bpf::math::Quaternion<T>::Zero

Zero quaternion constant

template<typename T>
static const Quaternion<T> bpf::math::Quaternion<T>::Identity

Identity quaternion constant

template<typename T>
T bpf::math::Quaternion<T>::I

Imaginary I component

template<typename T>
T bpf::math::Quaternion<T>::J

Imaginary J component

template<typename T>
T bpf::math::Quaternion<T>::K

Imaginary K component

template<typename T>
T bpf::math::Quaternion<T>::W

Real component