TQuaternion Class Reference

#include <TQuaternion.h>

Public Member Functions
	TQuaternion ()
	TQuaternion (const TQuaternion &a_pQuaternion)
	TQuaternion (TFLOAT a_fX, TFLOAT a_fY, TFLOAT a_fZ, TFLOAT a_fW)
void	Set (TFLOAT a_fX, TFLOAT a_fY, TFLOAT a_fZ, TFLOAT a_fW)
void	SetIdentity ()
void	SetFromEulerYX (const TFLOAT *fVal)
void	SetFromEulerRollPitchYaw (TFLOAT a_fRoll, TFLOAT a_fPitch, TFLOAT a_fYaw)
void	SetConjugate ()
void	SetInverse ()
void	SetRotation (const TVector3 &a_rVec3, TFLOAT a_fVal)
void	SetVectorDirection (const TVector3 &a_rVec3, const TVector3 &a_rVec3_2)
void	RotateAroundAxis (const TVector3 &param_1, TFLOAT param_2)
void	Negate ()
void	GetEulerXYZ (TVector3 &outVec) const
TFLOAT	Magnitude () const
TFLOAT	MagnitudeSq () const
const TVector4 &	AsVector4 () const
TVector4 &	AsVector4 ()
void	operator= (const TQuaternion &other)
TQuaternion &	operator*= (const TQuaternion &a_rQuat)

Static Public Member Functions
static void	RotateVector (TVector3 &param_1, const TQuaternion &param_2, const TVector3 param_3)
static void	Nlerp (TQuaternion &a_rOut, const TQuaternion &a_rStart, const TQuaternion &a_rEnd, float a_fProgress)
static void	Slerp (TQuaternion &a_rOut, const TQuaternion &a_rStart, const TQuaternion &a_rEnd, float a_fProgress)

Public Attributes
TFLOAT	x
TFLOAT	y
TFLOAT	z
TFLOAT	w

Static Public Attributes
static const TQuaternion	IDENTITY = { 0.0f, 0.0f, 0.0f, 1.0f }
static constexpr TFLOAT	DELTA = 0.001f

Detailed Description

Definition at line 18 of file TQuaternion.h.

Constructor & Destructor Documentation

TQuaternion() [1/3]

TQuaternion::TQuaternion ( )

inline

Definition at line 21 of file TQuaternion.h.

        : x( 0.0f ), y( 0.0f ), z( 0.0f ), w( 1.0f )
    {}

TQuaternion() [2/3]

TQuaternion::TQuaternion ( const TQuaternion & a_pQuaternion )

inline

Definition at line 25 of file TQuaternion.h.

        : x( a_pQuaternion.x ), y( a_pQuaternion.y ), z( a_pQuaternion.z ), w( a_pQuaternion.w ) {}

TQuaternion() [3/3]

TQuaternion::TQuaternion ( TFLOAT a_fX, TFLOAT a_fY, TFLOAT a_fZ, TFLOAT a_fW )

inline

Definition at line 28 of file TQuaternion.h.

        : x( a_fX ), y( a_fY ), z( a_fZ ), w( a_fW ) {}

Member Function Documentation

AsVector4() [1/2]

TVector4 & TQuaternion::AsVector4 ( )

inline

Definition at line 67 of file TQuaternion.h.

{ return reinterpret_cast<TVector4&>( *this ); }

AsVector4() [2/2]

const TVector4 & TQuaternion::AsVector4 ( ) const

inline

Definition at line 66 of file TQuaternion.h.

{ return reinterpret_cast<const TVector4&>( *this ); }

GetEulerXYZ()

void TQuaternion::GetEulerXYZ

(

TVector3 &

outVec

)

const

Definition at line 109 of file TQuaternion.cpp.

{
    TMatrix44 matrix;
    matrix.SetFromQuaternion( *this );
 
    matrix.GetEulerXYZ( outVec );
}

Magnitude()

TFLOAT TQuaternion::Magnitude ( ) const

inline

Definition at line 63 of file TQuaternion.h.

{ return TMath::Sqrt( w * w + z * z + y * y + x * x ); }

MagnitudeSq()

TFLOAT TQuaternion::MagnitudeSq ( ) const

inline

Definition at line 64 of file TQuaternion.h.

{ return w * w + z * z + y * y + x * x; }

Negate()

void TQuaternion::Negate ( )

inline

Definition at line 60 of file TQuaternion.h.

{ Set( -x, -y, -z, -w ); }

Nlerp()

void TQuaternion::Nlerp ( TQuaternion & a_rOut, const TQuaternion & a_rStart, const TQuaternion & a_rEnd, float a_fProgress )

static

Definition at line 129 of file TQuaternion.cpp.

{
    TFLOAT fDot = TVector4::DotProduct4( a_rStart.AsVector4(), a_rEnd.AsVector4() );
 
    if ( 0.0f <= fDot )
    {
        TVector4 vec = a_rEnd.AsVector4();
 
        vec.Substract4( a_rStart.AsVector4() );
        vec.Multiply4( vec, a_fProgress );
 
        a_rOut.x = vec.x + a_rStart.x;
        a_rOut.y = vec.y + a_rStart.y;
        a_rOut.z = vec.z + a_rStart.z;
        a_rOut.w = vec.w + a_rStart.w;
 
        a_rOut.AsVector4().Normalise4();
    }
    else
    {
        TVector4 vec = a_rEnd.AsVector4();
        vec.Add4( a_rStart.AsVector4() );
        vec.Multiply4( vec, a_fProgress );
 
        a_rOut.x = vec.x - a_rStart.x;
        a_rOut.y = vec.y - a_rStart.y;
        a_rOut.z = vec.z - a_rStart.z;
        a_rOut.w = vec.w - a_rStart.w;
 
        a_rOut.AsVector4().Normalise4();
    }
}

operator*=()

TQuaternion & TQuaternion::operator*=

(

const TQuaternion &

a_rQuat

)

Definition at line 118 of file TQuaternion.cpp.

{
    TFLOAT fX = ( ( x * a_Quat.w + a_Quat.z * y ) - a_Quat.y * z ) + a_Quat.x * w;
    TFLOAT fY = a_Quat.x * z + ( y * a_Quat.w - a_Quat.z * x ) + a_Quat.y * w;
    TFLOAT fZ = w * a_Quat.z + ( a_Quat.y * x - a_Quat.x * y ) + z * a_Quat.w;
    TFLOAT fW = ( -( a_Quat.y * y + a_Quat.x * x ) - a_Quat.z * z ) + a_Quat.w * w;
    Set( fX, fY, fZ, fW );
    return *this;
}

operator=()

void TQuaternion::operator= ( const TQuaternion & other )

inline

Definition at line 69 of file TQuaternion.h.

{ Set( other.x, other.y, other.z, other.w ); }

RotateAroundAxis()

void TQuaternion::RotateAroundAxis	(	const TVector3 &	param_1,
		TFLOAT	param_2 )

Definition at line 100 of file TQuaternion.cpp.

{
    TFLOAT fVal;
    TFLOAT fVal2;
 
    TMath::SinCos( param_2 * 0.5f, fVal, fVal2 );
    *this *= TQuaternion( param_1.x * fVal, param_1.y * fVal, param_1.z * fVal, fVal2 );
}

RotateVector()

void TQuaternion::RotateVector ( TVector3 & param_1, const TQuaternion & param_2, const TVector3 param_3 )

static

Definition at line 87 of file TQuaternion.cpp.

{
    TQuaternion quat = param_2;
    quat.Negate();
    TQuaternion quat2 = TQuaternion( param_3.x, param_3.y, param_3.z, 0.0f );
    TQuaternion quat3 = param_2;
    quat3 *= quat2;
    quat3 *= quat;
 
    param_1.Set( quat3.x, quat3.y, quat3.z );
}

Set()

void TQuaternion::Set ( TFLOAT a_fX, TFLOAT a_fY, TFLOAT a_fZ, TFLOAT a_fW )

inline

Definition at line 31 of file TQuaternion.h.

    {
        x = a_fX;
        y = a_fY;
        z = a_fZ;
        w = a_fW;
    }

SetConjugate()

void TQuaternion::SetConjugate ( )

inline

Definition at line 52 of file TQuaternion.h.

{ AsVector4().Negate3(); }

SetFromEulerRollPitchYaw()

void TQuaternion::SetFromEulerRollPitchYaw	(	TFLOAT	a_fRoll,
		TFLOAT	a_fPitch,
		TFLOAT	a_fYaw )

Definition at line 21 of file TQuaternion.cpp.

{
    TFLOAT fCosRoll  = cos( a_fRoll * 0.5f );
    TFLOAT fSinRoll  = sin( a_fRoll * 0.5f );
    TFLOAT fCosPitch = cos( a_fPitch * 0.5f );
    TFLOAT fSinPitch = sin( a_fPitch * 0.5f );
    TFLOAT fCosYaw   = cos( a_fYaw * 0.5f );
    TFLOAT fSinYaw   = sin( a_fYaw * 0.5f );
 
    TFLOAT fX = fCosYaw * fCosPitch * fSinRoll - fSinYaw * fSinPitch * fCosRoll;
    TFLOAT fY = fCosPitch * fSinRoll * fSinYaw + fSinPitch * fCosRoll * fCosYaw;
    TFLOAT fZ = fCosRoll * fCosPitch * fSinYaw - fCosYaw * fSinPitch * fSinRoll;
    TFLOAT fW = fSinYaw * fSinPitch * fSinRoll + fCosYaw * fCosPitch * fCosRoll;
 
    Set( fX, fY, fZ, fW );
}

SetFromEulerYX()

void TQuaternion::SetFromEulerYX

(

const TFLOAT *

fVal

)

Definition at line 9 of file TQuaternion.cpp.

{
    TFLOAT f1;
    TFLOAT f2;
 
    TMath::SinCos( fVal[ 0 ] * 0.5f, f1, f2 );
    TQuaternion quat = TQuaternion( f1, 0, 0, f2 );
    TMath::SinCos( fVal[ 1 ] * 0.5f, f1, f2 );
    Set( 0, f1, 0, f2 );
    *this *= quat;
}

SetIdentity()

void TQuaternion::SetIdentity ( )

inline

Definition at line 39 of file TQuaternion.h.

    {
        Set(
            TQuaternion::IDENTITY.x,
            TQuaternion::IDENTITY.y,
            TQuaternion::IDENTITY.z,
            TQuaternion::IDENTITY.w
        );
    }

SetInverse()

void TQuaternion::SetInverse ( )

inline

Definition at line 53 of file TQuaternion.h.

{ SetConjugate(); }

SetRotation()

void TQuaternion::SetRotation	(	const TVector3 &	a_rVec3,
		TFLOAT	a_fVal )

Definition at line 39 of file TQuaternion.cpp.

{
    TFLOAT fVal;
    TFLOAT fVal2;
 
    TMath::SinCos( a_fVal * 0.5f, fVal, fVal2 );
    Set( a_rVec3.x * fVal, a_rVec3.y * fVal, a_rVec3.z * fVal, fVal2 );
}

SetVectorDirection()

void TQuaternion::SetVectorDirection	(	const TVector3 &	a_rVec3,
		const TVector3 &	a_rVec3_2 )

Definition at line 49 of file TQuaternion.cpp.

{
    TVector3 vec3;
    vec3.CrossProduct( a_rVec3_2, a_rVec3 );
 
    TFLOAT mag = vec3.Magnitude();
 
    if ( mag > TMath::TFLOAT_EPSILON )
    {
        vec3.Divide( mag );
        TFLOAT dotProduct = TVector3::DotProduct( a_rVec3_2, a_rVec3 );
        TFLOAT rot        = 0.0f;
        if ( ( dotProduct <= 1.0f - TMath::TFLOAT_EPSILON ) && ( rot = TMath::PI, -1.0f + TMath::TFLOAT_EPSILON <= dotProduct ) )
        {
            rot = TMath::ACos( dotProduct );
        }
        SetRotation( vec3, rot );
        return;
    }
 
    TFLOAT dotProduct = TVector3::DotProduct( a_rVec3_2, a_rVec3 );
 
    if ( dotProduct < 0.0f )
    {
        TVector3 vec = a_rVec3_2;
        if ( TMath::Abs( a_rVec3_2.y ) < 0.95f )
        {
            vec.RotateY( TMath::PI * 0.0055555557f * 90.0f );
        }
        else
        {
            vec.RotateX( TMath::PI * 0.0055555557f * 90.0f );
        }
        SetIdentity();
        RotateAroundAxis( vec, TMath::PI * 0.0055555557f * 180.0f );
    }
}

Slerp()

void TQuaternion::Slerp ( TQuaternion & a_rOut, const TQuaternion & a_rStart, const TQuaternion & a_rEnd, float a_fProgress )

static

Definition at line 163 of file TQuaternion.cpp.

{
    if ( a_fProgress == 0.0f )
    {
        a_rOut = a_rStart;
        return;
    }
 
    if ( a_fProgress == 1.0f )
    {
        a_rOut = a_rEnd;
        return;
    }
 
    TFLOAT fDot         = TVector4::DotProduct4( a_rStart.AsVector4(), a_rEnd.AsVector4() );
    TBOOL  bNegativeDot = fDot < 0.0f;
 
    if ( bNegativeDot )
        fDot *= -1;
 
    TFLOAT fProg1 = a_fProgress;
    TFLOAT fProg2;
 
    if ( 1.0f - fDot <= 0.001f )
    {
        fProg2 = 1.0f - a_fProgress;
    }
    else
    {
        TFLOAT fAcos = TMath::ACos( fDot );
        TFLOAT fSin  = TMath::Sin( fAcos );
 
        fProg1 = TMath::Sin( fAcos * a_fProgress ) * ( 1.0f / fSin );
        fProg2 = TMath::Sin( ( 1.0f - a_fProgress ) * fAcos ) * ( 1.0f / fSin );
    }
 
    if ( bNegativeDot )
    {
        a_rOut.x = a_rStart.x * fProg2 - a_rEnd.x * fProg1;
        a_rOut.y = a_rStart.y * fProg2 - a_rEnd.y * fProg1;
        a_rOut.z = a_rStart.z * fProg2 - a_rEnd.z * fProg1;
        a_rOut.w = a_rStart.w * fProg2 - a_rEnd.w * fProg1;
    }
    else
    {
        a_rOut.x = a_rStart.x * fProg2 + a_rEnd.x * fProg1;
        a_rOut.y = a_rStart.y * fProg2 + a_rEnd.y * fProg1;
        a_rOut.z = a_rStart.z * fProg2 + a_rEnd.z * fProg1;
        a_rOut.w = a_rStart.w * fProg2 + a_rEnd.w * fProg1;
    }
}

Member Data Documentation

DELTA

TFLOAT TQuaternion::DELTA = 0.001f

inlinestaticconstexpr

Definition at line 77 of file TQuaternion.h.

IDENTITY

const TQuaternion TQuaternion::IDENTITY = { 0.0f, 0.0f, 0.0f, 1.0f }

static

Definition at line 7 of file TQuaternion.h.

w

TFLOAT TQuaternion::w

Definition at line 80 of file TQuaternion.h.

x

TFLOAT TQuaternion::x

Definition at line 80 of file TQuaternion.h.

y

TFLOAT TQuaternion::y

Definition at line 80 of file TQuaternion.h.

z

TFLOAT TQuaternion::z

Definition at line 80 of file TQuaternion.h.

---

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

• D:/_dev/OpenBarnyard/Source/Toshi/Source/Math/TQuaternion.h
• D:/_dev/OpenBarnyard/Source/Toshi/Source/Math/TQuaternion.cpp