OdGeQuaternion Class

Class Hierarchy

Syntax

C++

class OdGeQuaternion;

File

GeQuaternion.h

Description

This class represents a rotation quaternion in 3D space. Quaternions provide a convenient mathematical notation for representing orientations and rotations of objects in three dimensions. Quaternions resolve the problem of "gimbal locks".

The quaternion consists of 2 components:

Component of rotation (WW)
Components of rotation axis (XX, YY, ZZ)

To define quaternion components, use following formulas: XX = x*sin(angle/2) YY = y*sin(angle/2) ZZ = z*sin(angle/2) WW = cos(angle/2),

where angle is angle of desired rotation specified in radians, x, y, z - components of a 3D unit vector that represents axis of rotation. For example, a quaternion that rotates 1.5 radian by the x axis (unit vector(1,0,0)), looks the following way:

WW XX YY ZZ cos(1.5/2) 1*sin(1.5/2) 0*sin(1.5/2) 0*sin(1.5/2)

Corresponding C++ library: TD_Ge

Group

OdGe Classes

Public Methods

	Name	Description
	OdGeQuaternion	This is the overview for the OdGeQuaternion constructor overload.

OdGeQuaternion Data Members

	Name	Description
	kOrigin	This is kOrigin, a member of class OdGeQuaternion.
	w	This is w, a member of class OdGeQuaternion.
	x	This is x, a member of class OdGeQuaternion.
	y	This is y, a member of class OdGeQuaternion.
	z	This is z, a member of class OdGeQuaternion.

OdGeQuaternion Methods

	Name	Description
	dotProduct	Returns the dot product of this quaternion and the specified quaternion.
	getMatrix	Returns a 3D matrix that represents this quaternion.
	isEqualTo	Returns true if and only if quat is identical to this quaternion, within the specified tolerance.
	norm	Returns the norm of this quaternion.
	normalize	Sets this quaternion to the unit quaternion and returns a reference to this quaternion
	normSqrd	Returns the square of the norm of this quaternion.
	rotate	This is the overview for the rotate method overload.
	set	This is the overview for the set method overload.
	slerp	Performs spherical linear interpolation, introduced by Ken Shoemake in the context of quaternion interpolation. It refers to constant-speed motion along a unit-radius great circle arc, given the ends and an interpolation parameter between 0 and 1

OdGeQuaternion Operators

	Name	Description
	-	This is the overview for the - operator overload.
	!=	Inequality operator. Returns true if this quaternion is not equal to the input quaternion.
	*	param scale [in] Input scale factor.
	*=	param scale [in] Input scale factor.
	/	param scale [in] Input scale factor.
	/=	param scale [in] Input scale factor.
	+	param quat [in] Input quaternion, component values of which are added to component values of this quaternion.
	+=	param quat [in] A reference to a quaternion, component values of which are added to component values of this quaternion.
	-=	param quat [in] A reference to a quaternion, component values of which are subtracted from component values of this quaternion.
	==	Equality operator. Returns true if this quaternion is equal to the input quaternion.

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