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Bullet Collision Detection & Physics Library
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The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. More...
#include <btQuaternion.h>


Public Member Functions | |
| btQuaternion () | |
| No initialization constructor. More... | |
| btQuaternion (const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w) | |
| Constructor from scalars. More... | |
| btQuaternion (const btVector3 &_axis, const btScalar &_angle) | |
| Axis angle Constructor. More... | |
| btQuaternion (const btScalar &yaw, const btScalar &pitch, const btScalar &roll) | |
| Constructor from Euler angles. More... | |
| void | setRotation (const btVector3 &axis, const btScalar &_angle) |
| Set the rotation using axis angle notation. More... | |
| void | setEuler (const btScalar &yaw, const btScalar &pitch, const btScalar &roll) |
| Set the quaternion using Euler angles. More... | |
| void | setEulerZYX (const btScalar &yaw, const btScalar &pitch, const btScalar &roll) |
| Set the quaternion using euler angles. More... | |
| btQuaternion & | operator+= (const btQuaternion &q) |
| Add two quaternions. More... | |
| btQuaternion & | operator-= (const btQuaternion &q) |
| Subtract out a quaternion. More... | |
| btQuaternion & | operator*= (const btScalar &s) |
| Scale this quaternion. More... | |
| btQuaternion & | operator*= (const btQuaternion &q) |
| Multiply this quaternion by q on the right. More... | |
| btScalar | dot (const btQuaternion &q) const |
| Return the dot product between this quaternion and another. More... | |
| btScalar | length2 () const |
| Return the length squared of the quaternion. More... | |
| btScalar | length () const |
| Return the length of the quaternion. More... | |
| btQuaternion & | normalize () |
| Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1. More... | |
| btQuaternion | operator* (const btScalar &s) const |
| Return a scaled version of this quaternion. More... | |
| btQuaternion | operator/ (const btScalar &s) const |
| Return an inversely scaled versionof this quaternion. More... | |
| btQuaternion & | operator/= (const btScalar &s) |
| Inversely scale this quaternion. More... | |
| btQuaternion | normalized () const |
| Return a normalized version of this quaternion. More... | |
| btScalar | angle (const btQuaternion &q) const |
| Return the ***half*** angle between this quaternion and the other. More... | |
| btScalar | angleShortestPath (const btQuaternion &q) const |
| Return the angle between this quaternion and the other along the shortest path. More... | |
| btScalar | getAngle () const |
| Return the angle of rotation represented by this quaternion. More... | |
| btScalar | getAngleShortestPath () const |
| Return the angle of rotation represented by this quaternion along the shortest path. More... | |
| btVector3 | getAxis () const |
| Return the axis of the rotation represented by this quaternion. More... | |
| btQuaternion | inverse () const |
| Return the inverse of this quaternion. More... | |
| btQuaternion | operator+ (const btQuaternion &q2) const |
| Return the sum of this quaternion and the other. More... | |
| btQuaternion | operator- (const btQuaternion &q2) const |
| Return the difference between this quaternion and the other. More... | |
| btQuaternion | operator- () const |
| Return the negative of this quaternion This simply negates each element. More... | |
| btQuaternion | farthest (const btQuaternion &qd) const |
| btQuaternion | nearest (const btQuaternion &qd) const |
| btQuaternion | slerp (const btQuaternion &q, const btScalar &t) const |
| Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion. More... | |
| const btScalar & | getW () const |
| void | serialize (struct btQuaternionData &dataOut) const |
| void | deSerialize (const struct btQuaternionData &dataIn) |
| void | serializeFloat (struct btQuaternionFloatData &dataOut) const |
| void | deSerializeFloat (const struct btQuaternionFloatData &dataIn) |
| void | serializeDouble (struct btQuaternionDoubleData &dataOut) const |
| void | deSerializeDouble (const struct btQuaternionDoubleData &dataIn) |
Public Member Functions inherited from btQuadWord | |
| const btScalar & | getX () const |
| Return the x value. More... | |
| const btScalar & | getY () const |
| Return the y value. More... | |
| const btScalar & | getZ () const |
| Return the z value. More... | |
| void | setX (btScalar _x) |
| Set the x value. More... | |
| void | setY (btScalar _y) |
| Set the y value. More... | |
| void | setZ (btScalar _z) |
| Set the z value. More... | |
| void | setW (btScalar _w) |
| Set the w value. More... | |
| const btScalar & | x () const |
| Return the x value. More... | |
| const btScalar & | y () const |
| Return the y value. More... | |
| const btScalar & | z () const |
| Return the z value. More... | |
| const btScalar & | w () const |
| Return the w value. More... | |
| operator btScalar * () | |
| operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. More... | |
| operator const btScalar * () const | |
| bool | operator== (const btQuadWord &other) const |
| bool | operator!= (const btQuadWord &other) const |
| void | setValue (const btScalar &_x, const btScalar &_y, const btScalar &_z) |
| Set x,y,z and zero w. More... | |
| void | setValue (const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w) |
| Set the values. More... | |
| btQuadWord () | |
| No initialization constructor. More... | |
| btQuadWord (const btScalar &_x, const btScalar &_y, const btScalar &_z) | |
| Three argument constructor (zeros w) More... | |
| btQuadWord (const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w) | |
| Initializing constructor. More... | |
| void | setMax (const btQuadWord &other) |
| Set each element to the max of the current values and the values of another btQuadWord. More... | |
| void | setMin (const btQuadWord &other) |
| Set each element to the min of the current values and the values of another btQuadWord. More... | |
Static Public Member Functions | |
| static const btQuaternion & | getIdentity () |
Additional Inherited Members | |
Protected Attributes inherited from btQuadWord | |
| btScalar | m_floats [4] |
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform.
Definition at line 55 of file btQuaternion.h.
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No initialization constructor.
Definition at line 58 of file btQuaternion.h.
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Constructor from scalars.
Definition at line 87 of file btQuaternion.h.
Axis angle Constructor.
| axis | The axis which the rotation is around |
| angle | The magnitude of the rotation around the angle (Radians) |
Definition at line 93 of file btQuaternion.h.
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Constructor from Euler angles.
| yaw | Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z |
| pitch | Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y |
| roll | Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X |
Definition at line 101 of file btQuaternion.h.
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Return the ***half*** angle between this quaternion and the other.
| q | The other quaternion |
Definition at line 402 of file btQuaternion.h.
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Return the angle between this quaternion and the other along the shortest path.
| q | The other quaternion |
Definition at line 411 of file btQuaternion.h.
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Definition at line 973 of file btQuaternion.h.
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Definition at line 959 of file btQuaternion.h.
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Definition at line 945 of file btQuaternion.h.
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Return the dot product between this quaternion and another.
| q | The other quaternion |
Definition at line 299 of file btQuaternion.h.
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Definition at line 508 of file btQuaternion.h.
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Return the angle of rotation represented by this quaternion.
Definition at line 422 of file btQuaternion.h.
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Return the angle of rotation represented by this quaternion along the shortest path.
Definition at line 429 of file btQuaternion.h.
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Return the axis of the rotation represented by this quaternion.
Definition at line 442 of file btQuaternion.h.
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Definition at line 562 of file btQuaternion.h.
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Definition at line 568 of file btQuaternion.h.
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Return the inverse of this quaternion.
Definition at line 453 of file btQuaternion.h.
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Return the length of the quaternion.
Definition at line 332 of file btQuaternion.h.
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Return the length squared of the quaternion.
Definition at line 326 of file btQuaternion.h.
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Definition at line 519 of file btQuaternion.h.
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Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.
Definition at line 339 of file btQuaternion.h.
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Return a normalized version of this quaternion.
Definition at line 396 of file btQuaternion.h.
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Return a scaled version of this quaternion.
| s | The scale factor |
Definition at line 365 of file btQuaternion.h.
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Scale this quaternion.
| s | The scalar to scale by |
Definition at line 196 of file btQuaternion.h.
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Multiply this quaternion by q on the right.
| q | The other quaternion Equivilant to this = this * q |
Definition at line 216 of file btQuaternion.h.
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Return the sum of this quaternion and the other.
| q2 | The other quaternion |
Definition at line 467 of file btQuaternion.h.
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Add two quaternions.
| q | The quaternion to add to this one |
Definition at line 162 of file btQuaternion.h.
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Return the difference between this quaternion and the other.
| q2 | The other quaternion |
Definition at line 482 of file btQuaternion.h.
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Return the negative of this quaternion This simply negates each element.
Definition at line 496 of file btQuaternion.h.
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Subtract out a quaternion.
| q | The quaternion to subtract from this one |
Definition at line 179 of file btQuaternion.h.
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Return an inversely scaled versionof this quaternion.
| s | The inverse scale factor |
Definition at line 381 of file btQuaternion.h.
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Inversely scale this quaternion.
| s | The scale factor |
Definition at line 389 of file btQuaternion.h.
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could also do a memcpy, check if it is worth it
Definition at line 966 of file btQuaternion.h.
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could also do a memcpy, check if it is worth it
Definition at line 952 of file btQuaternion.h.
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could also do a memcpy, check if it is worth it
Definition at line 938 of file btQuaternion.h.
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Set the quaternion using Euler angles.
| yaw | Angle around Y |
| pitch | Angle around X |
| roll | Angle around Z |
Definition at line 124 of file btQuaternion.h.
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Set the quaternion using euler angles.
| yaw | Angle around Z |
| pitch | Angle around Y |
| roll | Angle around X |
Definition at line 144 of file btQuaternion.h.
Set the rotation using axis angle notation.
| axis | The axis around which to rotate |
| angle | The magnitude of the rotation in Radians |
Definition at line 112 of file btQuaternion.h.
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Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.
| q | The other quaternion to interpolate with |
| t | The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. Slerp interpolates assuming constant velocity. |
Definition at line 534 of file btQuaternion.h.
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