| 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 &yawZ, const btScalar &pitchY, const btScalar &rollX) | 
| Set the quaternion using euler angles.  More... | |
| void | getEulerZYX (btScalar &yawZ, btScalar &pitchY, btScalar &rollX) const | 
| Get the euler angles from this quaternion.  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 & | safeNormalize () | 
| 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 [0, 2Pi] of rotation represented by this quaternion.  More... | |
| btScalar | getAngleShortestPath () const | 
| Return the angle [0, Pi] 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 btQuaternionFloatData &dataIn) | 
| void | deSerialize (const struct btQuaternionDoubleData &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 49 of file btQuaternion.h.
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 | inline | 
No initialization constructor.
Definition at line 53 of file btQuaternion.h.
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Constructor from scalars.
Definition at line 82 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 89 of file btQuaternion.h.
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 | inline | 
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 97 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 448 of file btQuaternion.h.
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 | inline | 
Return the angle between this quaternion and the other along the shortest path.
| q | The other quaternion | 
Definition at line 457 of file btQuaternion.h.
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 | inline | 
Definition at line 1015 of file btQuaternion.h.
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 | inline | 
Definition at line 1009 of file btQuaternion.h.
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 | inline | 
Definition at line 996 of file btQuaternion.h.
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 | inline | 
Definition at line 983 of file btQuaternion.h.
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 | inline | 
Return the dot product between this quaternion and another.
| q | The other quaternion | 
Definition at line 337 of file btQuaternion.h.
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 | inline | 
Definition at line 552 of file btQuaternion.h.
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 | inline | 
Return the angle [0, 2Pi] of rotation represented by this quaternion.
Definition at line 468 of file btQuaternion.h.
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 | inline | 
Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path.
Definition at line 475 of file btQuaternion.h.
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 | inline | 
Return the axis of the rotation represented by this quaternion.
Definition at line 486 of file btQuaternion.h.
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 | inline | 
Get the euler angles from this quaternion.
| yaw | Angle around Z | 
| pitch | Angle around Y | 
| roll | Angle around X | 
Definition at line 161 of file btQuaternion.h.
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 | inlinestatic | 
Definition at line 608 of file btQuaternion.h.
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 | inline | 
Definition at line 614 of file btQuaternion.h.
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Return the inverse of this quaternion.
Definition at line 497 of file btQuaternion.h.
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Return the length of the quaternion.
Definition at line 370 of file btQuaternion.h.
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Return the length squared of the quaternion.
Definition at line 364 of file btQuaternion.h.
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 | inline | 
Definition at line 563 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 385 of file btQuaternion.h.
| 
 | inline | 
Return a normalized version of this quaternion.
Definition at line 442 of file btQuaternion.h.
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Return a scaled version of this quaternion.
| s | The scale factor | 
Definition at line 411 of file btQuaternion.h.
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 | inline | 
Multiply this quaternion by q on the right.
| q | The other quaternion Equivilant to this = this * q | 
Definition at line 254 of file btQuaternion.h.
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 | inline | 
Scale this quaternion.
| s | The scalar to scale by | 
Definition at line 234 of file btQuaternion.h.
| 
 | inline | 
Return the sum of this quaternion and the other.
| q2 | The other quaternion | 
Definition at line 511 of file btQuaternion.h.
| 
 | inline | 
Add two quaternions.
| q | The quaternion to add to this one | 
Definition at line 200 of file btQuaternion.h.
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Return the negative of this quaternion This simply negates each element.
Definition at line 540 of file btQuaternion.h.
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Return the difference between this quaternion and the other.
| q2 | The other quaternion | 
Definition at line 526 of file btQuaternion.h.
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Subtract out a quaternion.
| q | The quaternion to subtract from this one | 
Definition at line 217 of file btQuaternion.h.
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Return an inversely scaled versionof this quaternion.
| s | The inverse scale factor | 
Definition at line 427 of file btQuaternion.h.
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 | inline | 
Inversely scale this quaternion.
| s | The scale factor | 
Definition at line 435 of file btQuaternion.h.
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 | inline | 
Definition at line 374 of file btQuaternion.h.
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 | inline | 
could also do a memcpy, check if it is worth it
Definition at line 1002 of file btQuaternion.h.
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 | inline | 
could also do a memcpy, check if it is worth it
Definition at line 989 of file btQuaternion.h.
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 | inline | 
could also do a memcpy, check if it is worth it
Definition at line 976 of file btQuaternion.h.
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 | inline | 
Set the quaternion using Euler angles.
| yaw | Angle around Y | 
| pitch | Angle around X | 
| roll | Angle around Z | 
Definition at line 120 of file btQuaternion.h.
| 
 | inline | 
Set the quaternion using euler angles.
| yaw | Angle around Z | 
| pitch | Angle around Y | 
| roll | Angle around X | 
Definition at line 140 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 108 of file btQuaternion.h.
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 | inline | 
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 577 of file btQuaternion.h.
 1.8.16
 1.8.16