Quaternion Class Reference

Quaternion is an extension to complex numbers. More...

Public Member Functions
	Quaternion (double s, double x, double y, double z)
	Quaternion (const Vector3 &axis, float angle)
void	setRotation (const Vector3 &axis, float angle)
void	getRotation (Vector3 &axis, float &angle) const
Coord3	rotate (const Coord3 &) const
Quaternion	operator+ (const Quaternion &) const
Quaternion &	operator+= (const Quaternion &)
Quaternion	operator- (const Quaternion &) const
Quaternion &	operator-= (const Quaternion &)
Quaternion	operator* (const Quaternion &) const
Quaternion &	operator*= (const Quaternion &)
Quaternion	inverse () const

Public Attributes
double	s_
Vector3	vec_

Detailed Description

Quaternion is an extension to complex numbers.

A Quaternion is represented by the equation:
q = s + xi + yj + zk
where: i*i = j*j = k*k = -1.

Constructor & Destructor Documentation

Quaternion::Quaternion	(	double	s,
		double	x,
		double	y,
		double	z
	)

Quaternion::Quaternion	(	const Vector3 &	axis,
		float	angle
	)

Member Function Documentation

void Quaternion::getRotation	(	Vector3 &	axis,
		float &	angle
	)		const

Note

axis is not normalized.

Quaternion Quaternion::inverse

(

)

const

Quaternion Quaternion::operator*

(

const Quaternion &

)

const

Quaternion& Quaternion::operator*=

(

const Quaternion &

)

Quaternion Quaternion::operator+

(

const Quaternion &

)

const

Quaternion& Quaternion::operator+=

(

const Quaternion &

)

Quaternion Quaternion::operator-

(

const Quaternion &

)

const

Quaternion& Quaternion::operator-=

(

const Quaternion &

)

Coord3 Quaternion::rotate

(

const Coord3 &

)

const

void Quaternion::setRotation	(	const Vector3 &	axis,
		float	angle
	)

Member Data Documentation

double Quaternion::s_

Vector3 Quaternion::vec_