Unigine::Math::quat Struct

Header:

#include <UnigineMathLib.h>

List of functions:

List of Variables:

IDENTITY
ZERO

Quaternion.

To use this structure, include the UnigineMathLib.h file.

Usage Example

The following example creates a quaternion for node rotation: 60 degrees per second along Z axis.

Notice

It's supposed that you have already created node instance to rotate.

Source code (C#)

// AppWorldLogic.cpp file

int AppWorldLogic::update()
{
	/* ... */

	// get delta time value
	float delta_time = Game::get()->getIFps();

	// create quat for 60 degrees per second rotation along Z axis
	Unigine::Math::quat rotation_delta = Unigine::Math::quat(0.0f, 0.0f, 1.0f, 60 * delta_time);

	// rotate the node
	node->setNodeWorldRotation(node->getNodeWorldRotation() * delta_rotation);

	/* ... */
}

In the example above, the quaternion was initialized by using four values: 3 axis components (x,y,z) and angle (w component of the quaternion). 1 value of the Z axis component shows that the rotation will be performed along Z axis.

quat Class

Members

quat(const __m128 & v)

Arguments

const __m128 & v

quat(const mat3 & m)

Arguments

const mat3 & m

quat(const vec4 & v)

Arguments

const vec4 & v

quat(const vec3 & v)

Arguments

const vec3 & v

quat()

Default constructor that produces an identity quaternion.

quat(const quat & q)

Initialization by a quaternion.

Arguments

const quat & q - The value of the quaternion.

quat(const vec3 & axis, float angle)

Initialization by axis and angle values.

Arguments

const vec3 & axis - Rotation axis.
float angle - Rotation angle (in degrees).

quat(float angle_x, float angle_y, float angle_z)

Initialization by 3 angles.

Arguments

float angle_x - Rotation angle along the X axis (in degrees).
float angle_y - Rotation angle along the Y axis (in degrees).
float angle_z - Rotation angle along the Z axis (in degrees).

quat(const vec3 & col0, const vec3 & col1, const vec3 & col2)

Initialization by 3 matrix columns.

Arguments

const vec3 & col0 - First matrix column.
const vec3 & col1 - Second matrix column.
const vec3 & col2 - Third matrix column.

quat(float x, float y, float z, float angle)

Initialization by scalars.

Arguments

float x - X component of the quaternion.
float y - Y component of the quaternion.
float z - Z component of the quaternion.
float angle - W component of the quaternion.

explicit quat(const mat4 & m)

Initialization by a matrix.

Arguments

const mat4 & m - The value of the matrix.

explicit quat(const dmat4 & m)

Initialization by a matrix.

Arguments

const dmat4 & m - The value of the matrix.

explicit quat(const float * q)

Initialization by a pointer to the quaternion.

Arguments

const float * q - Pointer to the quaternion.

void set(float x, float y, float z, float angle)

Set quaternion.

Arguments

float x - X component of the quaternion.
float y - Y component of the quaternion.
float z - Z component of the quaternion.
float angle - W component of the quaternion.

void set(const float * qq)

Set quaternion.

Arguments

const float * qq - Pointer to the quaternion.

void set(const mat3 & m)

Arguments

const mat3 & m

void set(const vec3 & col0, const vec3 & col1, const vec3 & col2)

Arguments

const vec3 & col0
const vec3 & col1
const vec3 & col2

void set(float angle_x, float angle_y, float angle_z)

Arguments

float angle_x
float angle_y
float angle_z

void set(const vec3 & axis, float angle)

Arguments

const vec3 & axis
float angle

void set(const vec3 & v)

Arguments

const vec3 & v

void set(const dmat4 & m)

Arguments

const dmat4 & m

void set(const mat4 & m)

Arguments

const mat4 & m

void get(float * qq) const

Get quaternion.

Arguments

float * qq - Pointer to the quaternion.

float * get()

Get a pointer to the quaternion.

Return value

Pointer to the quaternion.

const float * get() const

Get a constant pointer to the quaternion.

Return value

Pointer to the quaternion.

void get(vec3 & axis, float & angle)

Arguments

vec3 & axis
float & angle

float getAngle(const vec3 & axis)

Arguments

const vec3 & axis

vec3 getBinormal() const

Returns the quaternion binormal vector with respect to orientation.

Return value

Quaternion binormal.

mat3 getMat3()

vec3 getNormal() const

Returns the quaternion normal vector.

Return value

Quaternion normal.

vec3 getTangent() const

Returns the quaternion tangent vector.

Return value

Quaternion tangent.

vec4 getTangent4() const

Returns the quaternion tangent vector and binormal orientation.

Return value

Quaternion tangent.

quat & normalize()

quat & normalizeFast()

m128 operator m128()

const float * operator const float *()

const void * operator const void *()

float * operator float *()

void * operator void *()

quat & operator*=(const quat & q)

Arguments

const quat & q

quat & operator*=(float v)

Arguments

float v

quat & operator+=(const quat & q)

Arguments

const quat & q

quat operator-()

quat & operator-=(const quat & q)

Arguments

const quat & q

quat & operator=(const __m128 & v)

Arguments

const __m128 & v

quat & operator=(const quat & qq)

Arguments

const quat & qq

float & operator[](int i)

Array access.

Arguments

int i - Array item index.

Return value

The array item.

float operator[](int i) const

Constant array access.

Arguments

int i - Array item index.

Return value

The array item.

__m128 sse()

void sse(const __m128 & v)

Arguments

const __m128 & v

int IDENTITY

int ZERO

Last update: 03.07.2017

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Unigine::Math::quat Struct

List of functions:

List of Variables:

Usage Example

See Also

quat Class

Members

quat(const __m128 & v)

Arguments

quat(const mat3 & m)

Arguments

quat(const vec4 & v)

Arguments

quat(const vec3 & v)

Arguments

quat()

quat(const quat & q)

Arguments

quat(const vec3 & axis, float angle)

Arguments

quat(float angle_x, float angle_y, float angle_z)

Arguments

quat(const vec3 & col0, const vec3 & col1, const vec3 & col2)

Arguments

quat(float x, float y, float z, float angle)

Arguments

explicit quat(const mat4 & m)

Arguments

explicit quat(const dmat4 & m)

Arguments

explicit quat(const float * q)

Arguments

void set(float x, float y, float z, float angle)

Arguments

void set(const float * qq)

Arguments

void set(const mat3 & m)

Arguments

void set(const vec3 & col0, const vec3 & col1, const vec3 & col2)

Arguments

void set(float angle_x, float angle_y, float angle_z)

Arguments

void set(const vec3 & axis, float angle)

Arguments

void set(const vec3 & v)

Arguments

void set(const dmat4 & m)

Arguments

void set(const mat4 & m)

Arguments

void get(float * qq) const

Arguments

float * get()

Return value

const float * get() const

Return value

void get(vec3 & axis, float & angle)

Arguments

float getAngle(const vec3 & axis)

Arguments

vec3 getBinormal() const

Return value

mat3 getMat3()

vec3 getNormal() const

Return value

vec3 getTangent() const

Return value

vec4 getTangent4() const

Return value

quat & normalize()

quat & normalizeFast()

__m128 operator __m128()

const float * operator const float *()

const void * operator const void *()

float * operator float *()

void * operator void *()

quat & operator*=(const quat & q)

Arguments

quat & operator*=(float v)

Arguments

m128 operator m128()