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Rémi Verschelde
2018-05-28 14:55:19 +02:00
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classes/class_quat.rst
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@@ -18,16 +18,20 @@ Member Functions
----------------
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Quat<class_quat>` | :ref:`Quat<class_Quat_Quat>` **(** :ref:`float<class_float>` x, :ref:`float<class_float>` y, :ref:`float<class_float>` z, :ref:`float<class_float>` w **)** |
| :ref:`Quat<class_quat>` | :ref:`Quat<class_Quat_Quat>` **(** :ref:`Basis<class_basis>` from **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Quat<class_quat>` | :ref:`Quat<class_Quat_Quat>` **(** :ref:`Vector3<class_vector3>` euler **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Quat<class_quat>` | :ref:`Quat<class_Quat_Quat>` **(** :ref:`Vector3<class_vector3>` axis, :ref:`float<class_float>` angle **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Quat<class_quat>` | :ref:`Quat<class_Quat_Quat>` **(** :ref:`Basis<class_basis>` from **)** |
| :ref:`Quat<class_quat>` | :ref:`Quat<class_Quat_Quat>` **(** :ref:`float<class_float>` x, :ref:`float<class_float>` y, :ref:`float<class_float>` z, :ref:`float<class_float>` w **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Quat<class_quat>` | :ref:`cubic_slerp<class_Quat_cubic_slerp>` **(** :ref:`Quat<class_quat>` b, :ref:`Quat<class_quat>` pre_a, :ref:`Quat<class_quat>` post_b, :ref:`float<class_float>` t **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`dot<class_Quat_dot>` **(** :ref:`Quat<class_quat>` b **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_vector3>` | :ref:`get_euler<class_Quat_get_euler>` **(** **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Quat<class_quat>` | :ref:`inverse<class_Quat_inverse>` **(** **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>` | :ref:`is_normalized<class_Quat_is_normalized>` **(** **)** |
@@ -38,6 +42,10 @@ Member Functions
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Quat<class_quat>` | :ref:`normalized<class_Quat_normalized>` **(** **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`set_axis_angle<class_Quat_set_axis_angle>` **(** :ref:`Vector3<class_vector3>` axis, :ref:`float<class_float>` angle **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`set_euler<class_Quat_set_euler>` **(** :ref:`Vector3<class_vector3>` euler **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Quat<class_quat>` | :ref:`slerp<class_Quat_slerp>` **(** :ref:`Quat<class_quat>` b, :ref:`float<class_float>` t **)** |
+--------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Quat<class_quat>` | :ref:`slerpni<class_Quat_slerpni>` **(** :ref:`Quat<class_quat>` b, :ref:`float<class_float>` t **)** |
@@ -68,22 +76,28 @@ Member Variables
Description
-----------
A 4-dimensional vector representing a rotation.
A unit quaternion used for representing 3D rotations.
The vector represents a 4 dimensional complex number where multiplication of the basis elements is not commutative (multiplying i with j gives a different result than multiplying j with i).
It is similar to :ref:`Basis<class_basis>`, which implements matrix representation of rotations, and can be parametrized using both an axis-angle pair or Euler angles. But due to its compactness and the way it is stored in memory, certain operations (obtaining axis-angle and performing SLERP, in particular) are more efficient and robust against floating point errors.
Multiplying quaternions reproduces rotation sequences. However quaternions need to be often renormalized, or else they suffer from precision issues.
It can be used to perform SLERP (spherical-linear interpolation) between two rotations.
Quaternions need to be (re)normalized.
Member Function Description
---------------------------
.. _class_Quat_Quat:
- :ref:`Quat<class_quat>` **Quat** **(** :ref:`float<class_float>` x, :ref:`float<class_float>` y, :ref:`float<class_float>` z, :ref:`float<class_float>` w **)**
- :ref:`Quat<class_quat>` **Quat** **(** :ref:`Basis<class_basis>` from **)**
Returns a quaternion defined by these values.
Returns the rotation matrix corresponding to the given quaternion.
.. _class_Quat_Quat:
- :ref:`Quat<class_quat>` **Quat** **(** :ref:`Vector3<class_vector3>` euler **)**
Returns a quaternion that will perform a rotation specified by Euler angles (in the YXZ convention: first Z, then X, and Y last), given in the vector format as (X-angle, Y-angle, Z-angle).
.. _class_Quat_Quat:
@@ -93,9 +107,9 @@ Returns a quaternion that will rotate around the given axis by the specified ang
.. _class_Quat_Quat:
- :ref:`Quat<class_quat>` **Quat** **(** :ref:`Basis<class_basis>` from **)**
- :ref:`Quat<class_quat>` **Quat** **(** :ref:`float<class_float>` x, :ref:`float<class_float>` y, :ref:`float<class_float>` z, :ref:`float<class_float>` w **)**
Returns the rotation matrix corresponding to the given quaternion.
Returns a quaternion defined by these values.
.. _class_Quat_cubic_slerp:
@@ -109,6 +123,12 @@ Performs a cubic spherical-linear interpolation with another quaternion.
Returns the dot product of two quaternions.
.. _class_Quat_get_euler:
- :ref:`Vector3<class_vector3>` **get_euler** **(** **)**
Return Euler angles (in the YXZ convention: first Z, then X, and Y last) corresponding to the rotation represented by the unit quaternion. Returned vector contains the rotation angles in the format (X-angle, Y-angle, Z-angle).
.. _class_Quat_inverse:
- :ref:`Quat<class_quat>` **inverse** **(** **)**
@@ -139,6 +159,18 @@ Returns the length of the quaternion, squared.
Returns a copy of the quaternion, normalized to unit length.
.. _class_Quat_set_axis_angle:
- void **set_axis_angle** **(** :ref:`Vector3<class_vector3>` axis, :ref:`float<class_float>` angle **)**
Set the quaternion to a rotation which rotates around axis by the specified angle, in radians. The axis must be a normalized vector.
.. _class_Quat_set_euler:
- void **set_euler** **(** :ref:`Vector3<class_vector3>` euler **)**
Set the quaternion to a rotation specified by Euler angles (in the YXZ convention: first Z, then X, and Y last), given in the vector format as (X-angle, Y-angle, Z-angle).
.. _class_Quat_slerp:
- :ref:`Quat<class_quat>` **slerp** **(** :ref:`Quat<class_quat>` b, :ref:`float<class_float>` t **)**