eu::Q Struct Reference

A quaternion representing a rotation in 3d. More...

Public Member Functions
constexpr	Q (float aw, const v3 &v)
constexpr	Q (const float *arr)
void	normalize ()
	Normalize the quaternion.
Q	then_get_rotated (const Q &q) const
	Return the passed rotation composed after the current rotation.
n3	get_rotated (const n3 &v) const
	Rotate a unit vector according to the quaternion.
Q	get_negated () const
	Gets the negated quaternion.
v3	get_vec_part () const
	Get the [x,y,z] part as a regular 3d vector.
Q	get_conjugate () const
	Returns the conjugate of the quaternion.
Q	get_inverse () const
	Gets the inverse rotation.
float	get_length () const
	Gets the length of the quaternion.
Q	get_normalized () const
	Return a normalized quaternion If it can't be normalized, the identity is returned.
n3	get_local_in () const
	Get the local in vector.
n3	get_local_out () const
	Get the local out vector.
n3	get_local_right () const
	Get the local right vector.
n3	get_local_left () const
	Get the local left vector.
n3	get_local_up () const
	Get the local up vector.
n3	get_local_down () const
	Get the local down vector.
void	operator*= (float rhs)
void	operator*= (const Q &rhs)

Static Public Member Functions
static Q	from (const AA &aa)
	Create a quaternion from an axis angle.
static Q	from (const Ypr &ypr)
	Create a quaternion from a yaw-pitch-roll.
static Q	from_fast (const Ypr &ypr)
static Q	from_to (const Q &from, const Q &to)
	Create a quaternion going from from to to.
static std::optional< Q >	look_at (const v3 &from, const v3 &to, const n3 &up)
	Creates a look-at quaternion from 2 positions.
static Q	look_in_direction (const n3 &dir, const n3 &up)
	Creates a look-at quaternion looking in a direction.
static Q	nlerp (const Q &f, float scale, const Q &t)
	Normalized lerp between 2 quaternions This will result in a non-linear rotation.
static Q	slerp_fast (const Q &qa, float t, const Q &qb)
	Spherical lerp between 2 quaternions.
static Q	slerp (const Q &from, float scale, const Q &to)
	Shortest spherical lerp between 2 quaternions.

Public Attributes
float	w
float	x
float	y
float	z

Detailed Description

A quaternion representing a rotation in 3d.

Definition at line 18 of file quat.h.

Constructor & Destructor Documentation

Q() [1/2]

eu::Q::Q ( float aw, const v3 & v )

inlineconstexpr

Definition at line 25 of file quat.h.

Q() [2/2]

eu::Q::Q ( const float * arr )

inlineconstexpr

Definition at line 33 of file quat.h.

Member Function Documentation

from() [1/2]

Q eu::Q::from ( const AA & aa )

staticnodiscard

Create a quaternion from an axis angle.

from() [2/2]

Q eu::Q::from ( const Ypr & ypr )

staticnodiscard

Create a quaternion from a yaw-pitch-roll.

from_fast()

Q eu::Q::from_fast ( const Ypr & ypr )

staticnodiscard

from_to()

Q eu::Q::from_to ( const Q & from, const Q & to )

staticnodiscard

Create a quaternion going from from to to.

get_conjugate()

Q eu::Q::get_conjugate ( ) const

nodiscard

Returns the conjugate of the quaternion.

get_inverse()

Q eu::Q::get_inverse ( ) const

nodiscard

Gets the inverse rotation.

Implemented as a conjugate with assert that the quaternion is normalized.

See also

get_conjugate()

get_length()

float eu::Q::get_length ( ) const

nodiscard

Gets the length of the quaternion.

Since the quaternion should be a unit, this should always be 1

get_local_down()

n3 eu::Q::get_local_down ( ) const

nodiscard

Get the local down vector.

get_local_in()

n3 eu::Q::get_local_in ( ) const

nodiscard

Get the local in vector.

get_local_left()

n3 eu::Q::get_local_left ( ) const

nodiscard

Get the local left vector.

get_local_out()

n3 eu::Q::get_local_out ( ) const

nodiscard

Get the local out vector.

get_local_right()

n3 eu::Q::get_local_right ( ) const

nodiscard

Get the local right vector.

get_local_up()

n3 eu::Q::get_local_up ( ) const

nodiscard

Get the local up vector.

get_negated()

Q eu::Q::get_negated ( ) const

nodiscard

Gets the negated quaternion.

The negated represents the same rotation

get_normalized()

Q eu::Q::get_normalized ( ) const

nodiscard

Return a normalized quaternion If it can't be normalized, the identity is returned.

get_rotated()

n3 eu::Q::get_rotated ( const n3 & v ) const

nodiscard

Rotate a unit vector according to the quaternion.

get_vec_part()

v3 eu::Q::get_vec_part ( ) const

nodiscard

Get the [x,y,z] part as a regular 3d vector.

look_at()

std::optional< Q > eu::Q::look_at ( const v3 & from, const v3 & to, const n3 & up )

staticnodiscard

Creates a look-at quaternion from 2 positions.

Standing at from and up is up, the result will be a quaternion looking at to

look_in_direction()

Q eu::Q::look_in_direction ( const n3 & dir, const n3 & up )

staticnodiscard

Creates a look-at quaternion looking in a direction.

nlerp()

Q eu::Q::nlerp ( const Q & f, float scale, const Q & t )

static

Normalized lerp between 2 quaternions This will result in a non-linear rotation.

See also

slerp()

normalize()

void eu::Q::normalize

(

)

Normalize the quaternion.

If it can't be normalized, it is set to the identity.

operator*=() [1/2]

void eu::Q::operator*=

(

const Q &

rhs

)

operator*=() [2/2]

void eu::Q::operator*=

(

float

rhs

)

slerp()

Q eu::Q::slerp ( const Q & from, float scale, const Q & to )

static

Shortest spherical lerp between 2 quaternions.

Has extra logic to take the shortest route.

See also

slerp_fast()

nlerp()

slerp_fast()

Q eu::Q::slerp_fast ( const Q & qa, float t, const Q & qb )

static

Spherical lerp between 2 quaternions.

Will take the longer route sometimes but is technically faster.

See also

nlerp()

then_get_rotated()

Q eu::Q::then_get_rotated ( const Q & q ) const

nodiscard

Return the passed rotation composed after the current rotation.

Member Data Documentation

w

float eu::Q::w

Definition at line 20 of file quat.h.

x

float eu::Q::x

Definition at line 21 of file quat.h.

y

float eu::Q::y

Definition at line 22 of file quat.h.

z

float eu::Q::z

Definition at line 23 of file quat.h.

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

• libs/base/src/eu/base/quat.h