nnm::Quaternion< Real > Class Template Reference

#include <nnm.hpp>

Public Member Functions
constexpr	Quaternion ()
template<typename Other>
constexpr	Quaternion (const Quaternion< Other > &quaternion)
constexpr	Quaternion (const Vector4< Real > &vector)
constexpr	Quaternion (const Real x, const Real y, const Real z, const Real w)
Quaternion	normalize () const
Vector3< Real >	axis_to (const Quaternion &to) const
Real	angle_to (const Quaternion &to) const
Vector3< Real >	axis () const
Real	angle () const
constexpr Quaternion	inverse () const
constexpr Real	length_sqrd () const
Real	length () const
Quaternion	slerp (const Quaternion &to, const Real weight) const
Quaternion	rotate_axis_angle (const Vector3< Real > &axis, const Real angle) const
constexpr Quaternion	rotate_quaternion (const Quaternion &by) const
constexpr bool	approx_equal (const Quaternion &other) const
constexpr const Real &	at (const uint8_t index) const
constexpr Real &	at (const uint8_t index)
constexpr const Real &	operator[] (const uint8_t index) const
constexpr Real &	operator[] (const uint8_t index)
constexpr bool	operator== (const Quaternion &other) const
constexpr bool	operator!= (const Quaternion &other) const
constexpr Quaternion	operator* (const Quaternion &other) const
constexpr Quaternion &	operator*= (const Quaternion &other)
constexpr bool	operator< (const Quaternion &other) const
constexpr	operator bool () const

Static Public Member Functions
static constexpr Quaternion	identity ()
static Quaternion	from_axis_angle (const Vector3< Real > &axis, const Real angle)
static Quaternion	from_vector_to_vector (const Vector3< Real > &from, const Vector3< Real > &to)

Public Attributes
Real	x
Real	y
Real	z
Real	w

Detailed Description

template<typename Real>
class nnm::Quaternion< Real >

Quaternion which is a four-component vector that represents rotations in three-dimensional space.

Template Parameters

Real	Floating-point value.

Constructor & Destructor Documentation

Quaternion() [1/4]

template<typename Real>

nnm::Quaternion< Real >::Quaternion ( )

inlineconstexpr

Initialize with quaternion identity.

Quaternion() [2/4]

template<typename Real>

template<typename Other>

nnm::Quaternion< Real >::Quaternion ( const Quaternion< Other > & quaternion )

inlineexplicitconstexpr

Cast from another quaternion type.

Template Parameters

Other

Other type.

Parameters

quaternion

Quaternion to cast from.

Quaternion() [3/4]

template<typename Real>

nnm::Quaternion< Real >::Quaternion ( const Vector4< Real > & vector )

inlineexplicitconstexpr

Initialize from a four-dimensional vector. No normalization is done.

Parameters

vector

Vector.

Quaternion() [4/4]

template<typename Real>

nnm::Quaternion< Real >::Quaternion ( const Real x, const Real y, const Real z, const Real w )

inlineconstexpr

Initialize with components. No normalization is done.

Parameters

x	X value.
y	Y value.
z	Z value.
w	W value.

Member Function Documentation

angle()

template<typename Real>

Real nnm::Quaternion< Real >::angle ( ) const

inlinenodiscard

The angle of rotation of the quaternion in radians.

Returns

Resulting angle in radians.

angle_to()

template<typename Real>

Real nnm::Quaternion< Real >::angle_to ( const Quaternion< Real > & to ) const

inlinenodiscard

Angle of rotation, in radians, between this quaternion and another quaternion.

Parameters

to	Quaternion to.

Returns

Resulting angle in radians.

approx_equal()

template<typename Real>

bool nnm::Quaternion< Real >::approx_equal ( const Quaternion< Real > & other ) const

inlinenodiscardconstexpr

Component-wise equality.

Parameters

other

Other quaternion.

Returns

True if approximately equal, false otherwise.

at() [1/2]

template<typename Real>

Real & nnm::Quaternion< Real >::at ( const uint8_t index )

inlineconstexpr

Reference to component at index.

Parameters

index

Index.

Returns

Reference.

at() [2/2]

template<typename Real>

const Real & nnm::Quaternion< Real >::at ( const uint8_t index ) const

inlinenodiscardconstexpr

Constant reference to component at index.

Parameters

index

Index.

Returns

Constant reference.

axis()

template<typename Real>

Vector3< Real > nnm::Quaternion< Real >::axis ( ) const

inlinenodiscard

The axis of rotation of the quaternion.

Returns

Resulting normalized axis.

axis_to()

template<typename Real>

Vector3< Real > nnm::Quaternion< Real >::axis_to ( const Quaternion< Real > & to ) const

inlinenodiscard

The normalized axis of rotation between this quaternion and another quaternion.

Parameters

to	Quaternion to.

Returns

Resulting normalized, three-dimensional axis.

from_axis_angle()

template<typename Real>

Quaternion nnm::Quaternion< Real >::from_axis_angle ( const Vector3< Real > & axis, const Real angle )

inlinestaticnodiscard

Quaternion from a normalized axis and angle in radians.

Parameters

axis	Normalized axis.
angle	Angle in radians.

Returns

Result.

from_vector_to_vector()

template<typename Real>

Quaternion nnm::Quaternion< Real >::from_vector_to_vector ( const Vector3< Real > & from, const Vector3< Real > & to )

inlinestaticnodiscard

Quaternion that represents the rotation required to align one vector in the direction of another vector.

Parameters

from	Vector from.
to	Vector to.

Returns

Result.

identity()

template<typename Real>

constexpr Quaternion nnm::Quaternion< Real >::identity ( )

inlinestaticnodiscardconstexpr

Quaternion identity which is x, y, and z being zero and w being one.

Returns

Result.

inverse()

template<typename Real>

Quaternion nnm::Quaternion< Real >::inverse ( ) const

inlinenodiscardconstexpr

Quaternion inverse.

Returns

Result.

length()

template<typename Real>

Real nnm::Quaternion< Real >::length ( ) const

inlinenodiscard

Length of quaternion.

Returns

Result.

length_sqrd()

template<typename Real>

Real nnm::Quaternion< Real >::length_sqrd ( ) const

inlinenodiscardconstexpr

Squared length of quaternion.

Returns

Result.

normalize()

template<typename Real>

Quaternion nnm::Quaternion< Real >::normalize ( ) const

inlinenodiscard

Normalize quaternion.

Returns

Result.

operator bool()

template<typename Real>

nnm::Quaternion< Real >::operator bool ( ) const

inlineexplicitnodiscardconstexpr

Evaluates to false if all components are zero, true otherwise.

operator!=()

template<typename Real>

bool nnm::Quaternion< Real >::operator!= ( const Quaternion< Real > & other ) const

inlinenodiscardconstexpr

Component-wise inequality.

Parameters

other

Other quaternion.

Returns

True if unequal, false otherwise.

operator*()

template<typename Real>

Quaternion nnm::Quaternion< Real >::operator* ( const Quaternion< Real > & other ) const

inlinenodiscardconstexpr

Quaternion multiplication.

Parameters

other

Other quaternion.

Returns

Result.

operator*=()

template<typename Real>

Quaternion & nnm::Quaternion< Real >::operator*= ( const Quaternion< Real > & other )

inlineconstexpr

Quaternion multiplication.

Parameters

other

Other quaternion.

Returns

Reference to this modified quaternion.

operator<()

template<typename Real>

bool nnm::Quaternion< Real >::operator< ( const Quaternion< Real > & other ) const

inlinenodiscardconstexpr

Lexicographical comparison between components.

Parameters

other

Other quaternion.

Returns

True if less than, false otherwise.

operator==()

template<typename Real>

bool nnm::Quaternion< Real >::operator== ( const Quaternion< Real > & other ) const

inlinenodiscardconstexpr

Component-wise equality.

Parameters

other

Other quaternion.

Returns

True if equal, false otherwise.

operator[]() [1/2]

template<typename Real>

Real & nnm::Quaternion< Real >::operator[] ( const uint8_t index )

inlinenodiscardconstexpr

Reference to component at index.

Parameters

index

Index.

Returns

Result.

operator[]() [2/2]

template<typename Real>

const Real & nnm::Quaternion< Real >::operator[] ( const uint8_t index ) const

inlinenodiscardconstexpr

Constant reference to component at index.

Parameters

index

Index.

Returns

Result.

rotate_axis_angle()

template<typename Real>

Quaternion nnm::Quaternion< Real >::rotate_axis_angle ( const Vector3< Real > & axis, const Real angle ) const

inlinenodiscard

Rotate about a normalized axis and angle in radians.

Parameters

axis	Normalized axis.
angle	Angle in radians.

Returns

Result.

rotate_quaternion()

template<typename Real>

Quaternion nnm::Quaternion< Real >::rotate_quaternion ( const Quaternion< Real > & by ) const

inlinenodiscardconstexpr

Rotate by another quaternion.

Parameters

by	Quaternion to rotate by.

Returns

Result.

slerp()

template<typename Real>

Quaternion nnm::Quaternion< Real >::slerp ( const Quaternion< Real > & to, const Real weight ) const

inlinenodiscard

Spherical linear interpolation from one quaternion to another.

Parameters

to	Quaternion to interpolate to.
weight	Interpolate weight typically from zero to one.

Returns

Result.

Member Data Documentation

w

template<typename Real>

Real nnm::Quaternion< Real >::w

x

template<typename Real>

Real nnm::Quaternion< Real >::x

y

template<typename Real>

Real nnm::Quaternion< Real >::y

z

template<typename Real>

Real nnm::Quaternion< Real >::z

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

• include/nnm/nnm.hpp