This is used to store information about rotation in 3d space. More...

#include <quaternion.h>

Public Member Functions
	Quaternion ()
	Blank Constructor.
	Quaternion (const Real &X, const Real &Y, const Real &Z, const Real &W)
	Constructor.
	Quaternion (const Matrix3x3 &Mat)
	Rotation Matrix Constructor.
	Quaternion (const Mezzanine::Quaternion &Other)
	Copy Constructor.
	Quaternion (const Vector3 &AxisX, const Vector3 &AxisY, const Vector3 &AxisZ)
	Axes Constructor.
	Quaternion (const Real &Angle, const Vector3 &Axis)
	Axis and Rotation Constructor.
	Quaternion (const btQuaternion &Theirs)
	Bullet Quaternion constructor.
	Quaternion (const Ogre::Quaternion &Theirs)
	Ogre Quaternion constructor.
Real	DotProduct (const Quaternion &Other) const
	Gets the Dot Product of this quaternion and another quaternion.
void	ExtractBulletQuaternion (const btQuaternion &Ours)
	Copies an existing Bullet quaternion.
void	ExtractOgreQuaternion (const Ogre::Quaternion &Ours)
	Copies an existing Ogre quaternion.
btQuaternion	GetBulletQuaternion (bool normalize=false) const
	Gets a Bullet quaternion.
Quaternion	GetInverse () const
	Inverses this Quaternion.
Quaternion	GetNormalizedCopy () const
	Get a normalized copy of this Quaternion without changing this one.
Ogre::Quaternion	GetOgreQuaternion (bool normalize=false) const
	Gets a Ogre quaternion.
Real	Length () const
	Gets the length of the quaternion.
Real	LengthSqrd () const
	Gets the squared length(len^2) of the quaternion.
Quaternion &	Normalize ()
	Normalizes this Quaternion.
Quaternion	operator* (const Mezzanine::Quaternion &Other) const
	Multiplication operator with Mezzanine::Quaternion and Mezzanine::Quaternion.
Quaternion	operator* (const Ogre::Quaternion &Other) const
	Multiplication operator with Mezzanine::Quaternion and Ogre::Quaternion.
Quaternion	operator* (const btQuaternion &Other) const
	Multiplication operator with Mezzanine::Quaternion and btQuaternion.
Vector3	operator* (const Vector3 &Other) const
	Rotates a vector by the provided quaternion.
Quaternion	operator* (const Real &Scalar) const
	Scaling by multiplication.
Quaternion	operator+ (const Mezzanine::Quaternion &Other) const
	Addition operator with Mezzanine::Quaternion and Mezzanine::Quaternion.
Quaternion	operator+ (const Ogre::Quaternion &Other) const
	Addition operator with Mezzanine::Quaternion and Ogre::Quaternion.
Quaternion	operator+ (const btQuaternion &Other) const
	Addition operator with Mezzanine::Quaternion and btQuaternion.
Quaternion &	operator+= (const Mezzanine::Quaternion &Other)
	Incrementing operator with Mezzanine::Quaternion and Mezzanine::Quaternion.
Quaternion &	operator+= (const Ogre::Quaternion &Other)
	Incrementing operator with Mezzanine::Quaternion and Ogre::Quaternion.
Quaternion &	operator+= (const btQuaternion &Other)
	Incrementing operator with Mezzanine::Quaternion and btQuaternion.
Quaternion	operator- (const Mezzanine::Quaternion &Other) const
	Subtraction operator with Mezzanine::Quaternion and Mezzanine::Quaternion.
Quaternion	operator- (const Ogre::Quaternion &Other) const
	Subtraction operator with Mezzanine::Quaternion and Ogre::Quaternion.
Quaternion	operator- (const btQuaternion &Other) const
	Subtraction operator with Mezzanine::Quaternion and btQuaternion.
Quaternion &	operator-= (const btQuaternion &Other)
	Decrementing operator with Mezzanine::Quaternion and btQuaternion.
Quaternion &	operator-= (const Ogre::Quaternion &Other)
	Decrementing operator with Mezzanine::Quaternion and Ogre::Quaternion.
Quaternion &	operator-= (const Mezzanine::Quaternion &Other)
	Decrementing operator with Mezzanine::Quaternion and Mezzanine::Quaternion.
Quaternion	operator/ (const Real &Scalar) const
	Scaling by division.
Quaternion &	operator= (const btQuaternion &Other)
	Assignment Operator from btQuaternion.
Quaternion &	operator= (const Mezzanine::Quaternion &Other)
	Assignment Operator from Mezzanine::Quaternion.
Quaternion &	operator= (const Ogre::Quaternion &Other)
	Assignment Operator from Ogre::Quaternion.
bool	operator== (const btQuaternion &Other) const
	Equality Comparison Operator from btQuaternion.
bool	operator== (const Ogre::Quaternion &Other) const
	Equality Comparison Operator from Ogre::Quaternion.
bool	operator== (const Mezzanine::Quaternion &Other) const
	Equality Comparison Operator from Mezzanine::Quaternion.
Real	operator[] (const Whole &Index) const
	Allows Array style access to the members of this class.
Real &	operator[] (const Whole &Index)
	Allows Array style access to the members of this class.
virtual void	ProtoDeSerialize (const xml::Node &OneNode)
	Take the data stored in an XML and overwrite this instance of this object with it.
virtual void	ProtoSerialize (xml::Node &CurrentRoot) const
	Convert this class to an xml::Node ready for serialization.
void	SetFromAxes (const Vector3 &AxisX, const Vector3 &AxisY, const Vector3 &AxisZ)
	Generates and sets the values of this quaternion from 3 Axis vectors.
void	SetFromAxisAngle (const Real &Angle, const Vector3 &Axis)
	Generates and sets the values of this quaternion to a rotation from an axis and angle on that axis.
void	SetFromMatrix3x3 (const Matrix3x3 &Mat)
	Sets this quaternions values to express the same rotation as a Matrix3x3.
void	SetIdentity ()
	Sets default/identity values to the members of this quaternion.
void	SetValues (const Real &X, const Real &Y, const Real &Z, const Real &W)
	Sets the individual values of this quaterion directly.
Static Public Member Functions
static String	SerializableName ()
	Get the name of the the XML tag this class will leave behind as its instances are serialized.
Public Attributes
Real	W
	Rotation on the Axis X, Y and Z defined.
Real	X
	The X component of the Axis.
Real	Y
	The Y component of the Axis.
Real	Z
	The Z component of the Axis.

Detailed Description

This is used to store information about rotation in 3d space.

This is used to store information about rotation in 3d space. The X, Y and Z are used to identify a ray from the origin (0,0,0), about which W represents an amount of rotation.

Definition at line 64 of file quaternion.h.

Constructor & Destructor Documentation

Mezzanine::Quaternion::Quaternion ( )

Blank Constructor.

Basic no-initialization constructor.

Definition at line 61 of file quaternion.cpp.

Mezzanine::Quaternion::Quaternion	(	const Real &	X,
		const Real &	Y,
		const Real &	Z,
		const Real &	W
	)

Constructor.

Constructor that sets all four axis' of rotation.

Parameters:

X	The X component of the Axis.
Y	The Y component of the Axis.
Z	The Z component of the Axis.
W	Rotation on the Axis X, Y and Z defined.

Definition at line 64 of file quaternion.cpp.

Mezzanine::Quaternion::Quaternion	(	const Real &	Angle,
		const Vector3 &	Axis
	)

Axis and Rotation Constructor.

This assembles a quaternion based on an axis and a rotation in radians.

Parameters:

Angle	Real representing the angle to be applied along the axis in radians.
Axis	Vector3 representing the axis to apply the rotation.

Definition at line 67 of file quaternion.cpp.

Mezzanine::Quaternion::Quaternion ( const Matrix3x3 & Mat )

Rotation Matrix Constructor.

Parameters:

Mat	The matrix to set this quaternion from.

Definition at line 70 of file quaternion.cpp.

Mezzanine::Quaternion::Quaternion	(	const Vector3 &	AxisX,
		const Vector3 &	AxisY,
		const Vector3 &	AxisZ
	)

Axes Constructor.

Parameters:

AxisX	The vector expressing the X axis.
AxisY	The vector expressing the Y axis.
AxisZ	The vector expressing the Z axis.

Definition at line 73 of file quaternion.cpp.

Mezzanine::Quaternion::Quaternion ( const btQuaternion & Theirs ) [explicit]

Bullet Quaternion constructor.

Constructor that sets all values to match the Bullet quaternion.

Parameters:

Theirs The quaternion to be copied to make this quaternion.

Definition at line 76 of file quaternion.cpp.

Mezzanine::Quaternion::Quaternion ( const Ogre::Quaternion & Theirs ) [explicit]

Ogre Quaternion constructor.

Constructor that sets all values to match the Ogre quaternion.

Parameters:

Theirs The quaternion to be copied to make this quaternion.

Definition at line 79 of file quaternion.cpp.

Mezzanine::Quaternion::Quaternion ( const Mezzanine::Quaternion & Other )

Copy Constructor.

Parameters:

Other The Quaternion to copy.

Definition at line 82 of file quaternion.cpp.

Member Function Documentation

Real Mezzanine::Quaternion::DotProduct ( const Quaternion & Other ) const

Gets the Dot Product of this quaternion and another quaternion.

Parameters:

Other The other quaternion to calculate the dot product from.

Returns:: Returns a Real that is the Dot Product of the two quaternions.

Definition at line 169 of file quaternion.cpp.

void Mezzanine::Quaternion::ExtractBulletQuaternion ( const btQuaternion & Ours )

Copies an existing Bullet quaternion.

This function will copy the values stored in an existing Bullet quaternion and set the values of this class to be the same.

Parameters:

Ours	The quaternion to be extracted.

Definition at line 221 of file quaternion.cpp.

void Mezzanine::Quaternion::ExtractOgreQuaternion ( const Ogre::Quaternion & Ours )

Copies an existing Ogre quaternion.

This function will copy the values stored in an existing Ogre quaternion and set the values of this class to be the same.

Parameters:

Ours	The quaternion to be extracted.

Definition at line 241 of file quaternion.cpp.

btQuaternion Mezzanine::Quaternion::GetBulletQuaternion ( bool normalize = false ) const

Gets a Bullet quaternion.

Creates a Bullet quaternion with values equal to this class and returns it.

Parameters:

normalize Whether or not you want this function to normalize the quaternion for you.

Returns:: A btQuaternion that has the same contents as this Mezzanine::Quaternion.

Definition at line 209 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::GetInverse ( ) const

Inverses this Quaternion.

Returns:: Returns a quaternion that is a copy of this one after it has been inversed.

Definition at line 194 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::GetNormalizedCopy ( ) const

Get a normalized copy of this Quaternion without changing this one.

Returns:: A Copy of this Quaternion after the copy has been normalized.

Definition at line 190 of file quaternion.cpp.

Ogre::Quaternion Mezzanine::Quaternion::GetOgreQuaternion ( bool normalize = false ) const

Gets a Ogre quaternion.

Creates a Ogre quaternion with values equal to this class and returns it.

Parameters:

normalize Whether or not you want this function to normalize the quaternion for you.

Definition at line 229 of file quaternion.cpp.

Real Mezzanine::Quaternion::Length ( ) const

Gets the length of the quaternion.

Returns:: Returns a Real representing the length of the quaternion.

Definition at line 174 of file quaternion.cpp.

Real Mezzanine::Quaternion::LengthSqrd ( ) const

Gets the squared length(len^2) of the quaternion.

Returns:: Returns a Real representing the squared length(len^2) of the quaternion.

Definition at line 179 of file quaternion.cpp.

Quaternion & Mezzanine::Quaternion::Normalize ( )

Normalizes this Quaternion.

Returns:: Returns a normalized reference of this quaternion.

Definition at line 184 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator* ( const Real & Scalar ) const

Scaling by multiplication.

Parameters:

Scalar This is the amount to scale the quaternion by.

Returns:: Returns a scaled quaternion.

Definition at line 281 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator* ( const Mezzanine::Quaternion & Other ) const

Multiplication operator with Mezzanine::Quaternion and Mezzanine::Quaternion.

Parameters:

Other The other Quaternion to multiply from this one.

Returns:: A Mezzanine::Quaternion with the result.

Definition at line 314 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator* ( const Ogre::Quaternion & Other ) const

Multiplication operator with Mezzanine::Quaternion and Ogre::Quaternion.

Parameters:

Other The other Quaternion to multiply from this one.

Returns:: A Mezzanine::Quaternion with the result.

Definition at line 325 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator* ( const btQuaternion & Other ) const

Multiplication operator with Mezzanine::Quaternion and btQuaternion.

Parameters:

Other The other Quaternion to multiply from this one.

Returns:: A Mezzanine::Quaternion with the result.

Definition at line 336 of file quaternion.cpp.

Vector3 Mezzanine::Quaternion::operator* ( const Vector3 & Other ) const

Rotates a vector by the provided quaternion.

Parameters:

Other The vector to rotate.

Returns:: Returns a rotated version of the provided vector.

Definition at line 350 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator+ ( const Mezzanine::Quaternion & Other ) const

Addition operator with Mezzanine::Quaternion and Mezzanine::Quaternion.

Parameters:

Other The other Quaternion to add to this one.

Returns:: A Mezzanine::Quaternion with the sum.

Definition at line 296 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator+ ( const Ogre::Quaternion & Other ) const

Addition operator with Mezzanine::Quaternion and Ogre::Quaternion.

Parameters:

Other The other Quaternion to add to this one.

Returns:: A Mezzanine::Quaternion with the sum.

Definition at line 299 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator+ ( const btQuaternion & Other ) const

Addition operator with Mezzanine::Quaternion and btQuaternion.

Parameters:

Other The other Quaternion to add to this one.

Returns:: A Mezzanine::Quaternion with the sum.

Definition at line 302 of file quaternion.cpp.

Quaternion & Mezzanine::Quaternion::operator+= ( const btQuaternion & Other )

Incrementing operator with Mezzanine::Quaternion and btQuaternion.

Parameters:

Other The other Quaternion to add to this one.

Returns:: This Mezzanine::Quaternion with the sum.

Definition at line 382 of file quaternion.cpp.

Quaternion & Mezzanine::Quaternion::operator+= ( const Mezzanine::Quaternion & Other )

Incrementing operator with Mezzanine::Quaternion and Mezzanine::Quaternion.

Parameters:

Other The other Quaternion to add to this one.

Returns:: This Mezzanine::Quaternion with the sum.

Definition at line 364 of file quaternion.cpp.

Quaternion & Mezzanine::Quaternion::operator+= ( const Ogre::Quaternion & Other )

Incrementing operator with Mezzanine::Quaternion and Ogre::Quaternion.

Parameters:

Other The other Quaternion to add to this one.

Returns:: This Mezzanine::Quaternion with the sum.

Definition at line 373 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator- ( const Mezzanine::Quaternion & Other ) const

Subtraction operator with Mezzanine::Quaternion and Mezzanine::Quaternion.

Parameters:

Other The other Quaternion to subtract from this one.

Returns:: A Mezzanine::Quaternion with the difference.

Definition at line 305 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator- ( const Ogre::Quaternion & Other ) const

Subtraction operator with Mezzanine::Quaternion and Ogre::Quaternion.

Parameters:

Other The other Quaternion to subtract from this one.

Returns:: A Mezzanine::Quaternion with the difference.

Definition at line 308 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator- ( const btQuaternion & Other ) const

Subtraction operator with Mezzanine::Quaternion and btQuaternion.

Parameters:

Other The other Quaternion to subtract from this one.

Returns:: A Mezzanine::Quaternion with the difference.

Definition at line 311 of file quaternion.cpp.

Quaternion & Mezzanine::Quaternion::operator-= ( const Mezzanine::Quaternion & Other )

Decrementing operator with Mezzanine::Quaternion and Mezzanine::Quaternion.

Parameters:

Other The other Quaternion to subtract from this one.

Returns:: This Mezzanine::Quaternion with the difference.

Definition at line 391 of file quaternion.cpp.

Quaternion & Mezzanine::Quaternion::operator-= ( const Ogre::Quaternion & Other )

Decrementing operator with Mezzanine::Quaternion and Ogre::Quaternion.

Parameters:

Other The other Quaternion to subtract from this one.

Returns:: This Mezzanine::Quaternion with the difference.

Definition at line 400 of file quaternion.cpp.

Quaternion & Mezzanine::Quaternion::operator-= ( const btQuaternion & Other )

Decrementing operator with Mezzanine::Quaternion and btQuaternion.

Parameters:

Other The other Quaternion to subtract from this one.

Returns:: This Mezzanine::Quaternion with the difference.

Definition at line 409 of file quaternion.cpp.

Quaternion Mezzanine::Quaternion::operator/ ( const Real & Scalar ) const

Scaling by division.

Parameters:

Scalar This is the amount to scale the quaternion by.

Returns:: Returns a scaled quaternion.

Definition at line 286 of file quaternion.cpp.

Quaternion & Mezzanine::Quaternion::operator= ( const Ogre::Quaternion & Other )

Assignment Operator from Ogre::Quaternion.

Parameters: