Dubious::Math::Unit_quaternionT< T > Class Template Reference

Unit Quaternions are used to represent rotation. More...

#include <Unit_quaternion.h>

Public Member Functions
	Unit_quaternionT ()=default
	Default Constructor. More...
	Unit_quaternionT (const QuaternionT< T > &q)
	Copy Constructor. More...
	Unit_quaternionT (const Unit_vectorT< T > &axis, float angle)
	Construct from axis and angle. More...
float	w () const
	real component accessor More...
const VectorT< T > &	v () const
	imaginary component accessor More...
Unit_quaternionT	conjugate () const
	The conjugate. More...
void	get_matrix (float matrix[16]) const
	Get the rotation matrix. More...
std::tuple< Unit_vectorT< T >, float >	get_axis_angle () const
	Get the Axis and Angle. More...
Unit_quaternionT< T >	operator- () const

Friends
class	Math_test::Unit_quaternion_test
class	Physics_test::Collision_solver_test
class	Coordinate_space
Unit_quaternionT< T >	operator* (const Unit_quaternionT< T > &a, const Unit_quaternionT< T > &b)

Detailed Description

template<int T>
class Dubious::Math::Unit_quaternionT< T >

Unit Quaternions are used to represent rotation.

Everyone's favorite 4 dimensional, completely mysterious mathmatical construct. Quaternions with magnitude 1, Unit Quaternions, can be used to represent rotations in 3D space. This class implements all of the basic math (basically copy and paste of that found in Quaternion) but with more careful considerations for type conversions back to non-Unit Quaternions. It goes a bit further to include some functions for converting to other rotation representations.

Here are some resources I found useful in understanding Quaternions https://www.youtube.com/watch?v=mHVwd8gYLnI https://www.3dgep.com/understanding-quaternions/

Constructor & Destructor Documentation

template<int T>

Dubious::Math::Unit_quaternionT< T >::Unit_quaternionT ( )

default

Default Constructor.

Will create a Quaternion that has X, Y, Z axis aligned with the global X, Y, and Z.

template<int T>

Dubious::Math::Unit_quaternionT< T >::Unit_quaternionT

(

const QuaternionT< T > &

q

)

Copy Constructor.

template<int T>

Dubious::Math::Unit_quaternionT< T >::Unit_quaternionT	(	const Unit_vectorT< T > &	axis,
		float	angle
	)

Construct from axis and angle.

This is a more useful constructor where you can specify an axis and an angle around that axis. This is a right hand coordinate system, so the angle is counter-clockwise rotation around the axis

Parameters

axis	- [in] The axis around which we will rotate
angle	- [in] Magnitude of Rotation (in radians)

Member Function Documentation

template<int T>

Unit_quaternionT Dubious::Math::Unit_quaternionT< T >::conjugate ( ) const

inline

The conjugate.

The conjugate is simply (w, -v) The magnitude of the Unit Quaternion is maintained

Returns

the conjugate

template<int T>

std::tuple< Unit_vectorT< T >, float > Dubious::Math::Unit_quaternionT< T >::get_axis_angle

(

)

const

Get the Axis and Angle.

Return a unit vector representing the axis of rotation, as well as a float representing the angle around that axis, in radians

Returns

tuple of axis and angle

template<int T>

void Dubious::Math::Unit_quaternionT< T >::get_matrix

(

float

matrix[16]

)

const

Get the rotation matrix.

Return the rotation matrix representation of this quaternion. This is basically a shortcut for OpenGL rotation as it takes this same matrix as an input. It's also handy for finding the three axis of rotation in one call

Parameters

matrix

- [out] Will be filled with the rotation matrix

template<int T>

Unit_quaternionT<T> Dubious::Math::Unit_quaternionT< T >::operator- ( ) const

inline

template<int T>

const VectorT<T>& Dubious::Math::Unit_quaternionT< T >::v ( ) const

inline

imaginary component accessor

template<int T>

float Dubious::Math::Unit_quaternionT< T >::w ( ) const

inline

real component accessor

Friends And Related Function Documentation

template<int T>

friend class Coordinate_space

friend

template<int T>

friend class Math_test::Unit_quaternion_test

friend

template<int T>

Unit_quaternionT<T> operator* ( const Unit_quaternionT< T > &  a, const Unit_quaternionT< T > &  b  )

friend

template<int T>

friend class Physics_test::Collision_solver_test

friend

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

• Math/src/Unit_quaternion.h
• Math/src/Unit_quaternion.cpp