#include <Quat.h>

Inheritance diagram for sofa::type::Quat< Real >:

Static Public Attributes
static constexpr Size	static_size = 4

static constexpr Size	total_size = 4
	Compile-time constant specifying the number of scalars within this vector (equivalent to the size() method) More...

static constexpr Size	spatial_dimensions = 3
	Compile-time constant specifying the number of dimensions of space (NOT equivalent to total_size for quaternions) More...

Public Member Functions
constexpr	Quat ()

constexpr	Quat (qNoInit)
	Fast constructor: no initialization. More...

	~Quat ()=default

constexpr	Quat (Real x, Real y, Real z, Real w)

template<class Real2 >
constexpr	Quat (const Real2 q[])

template<class Real2 >
constexpr	Quat (const Quat< Real2 > &q)

	Quat (const Vec3 &axis, Real angle)

	Quat (const Vec3 &vFrom, const Vec3 &vTo)

void	set (Real x, Real y, Real z, Real w)

const Real *	ptr () const
	Cast into a standard C array of elements. More...

Real *	ptr ()
	Cast into a standard C array of elements. More...

bool	isNormalized ()
	Returns true if norm of Quaternion is one, false otherwise. More...

void	normalize ()
	Normalize a quaternion. More...

void	clear ()

void	fromFrame (const Vec3 &x, const Vec3 &y, const Vec3 &z)
	Convert the reference frame orientation into an orientation quaternion. More...

void	fromMatrix (const Mat3x3 &m)
	Convert a rotation matrix into an orientation quaternion. More...

void	toMatrix (Mat3x3 &m) const
	Convert the quaternion into an orientation matrix. More...

constexpr void	toHomogeneousMatrix (Mat4x4 &m) const

constexpr auto	rotate (const Vec3 &v) const -> Vec3
	Apply the rotation to a given vector. More...

constexpr auto	inverseRotate (const Vec3 &v) const -> Vec3
	Apply the inverse rotation to a given vector. More...

auto	operator+ (const Quat &q1) const -> Quat

constexpr auto	operator* (const Quat &q1) const -> Quat

constexpr auto	operator* (const Real &r) const -> Quat

auto	operator/ (const Real &r) const -> Quat

void	operator*= (const Real &r)

void	operator/= (const Real &r)

constexpr auto	quatVectMult (const Vec3 &vect) const -> Quat
	Given two Quats, multiply them together to get a third quaternion. More...

constexpr auto	vectQuatMult (const Vec3 &vect) const -> Quat

constexpr Real &	operator[] (Size index)

constexpr const Real &	operator[] (Size index) const

auto	inverse () const -> Quat

auto	quatToRotationVector () const -> Vec3
	Given a quaternion, compute rotation vector (axis times angle) More...

auto	toEulerVector () const -> Vec3

void	slerp (const Quat &a, const Quat &b, Real t, bool allowFlip=true)
	Returns the slerp interpolation of Quaternions `a` and `b`, at time `t`. More...

constexpr void	buildRotationMatrix (Real m[4][4]) const

constexpr void	writeOpenGlMatrix (double *m) const

constexpr void	writeOpenGlMatrix (float *m) const

auto	axisToQuat (Vec3 a, Real phi) -> Quat
	Given an axis and angle, compute quaternion. More...

void	quatToAxis (Vec3 &a, Real &phi) const
	Given a quaternion, compute an axis and angle. More...

void	setFromUnitVectors (const Vec3 &vFrom, const Vec3 &vTo)
	Sets this quaternion to the rotation required to rotate direction vector vFrom to direction vector vTo. vFrom and vTo are assumed to be normalized. More...

auto	slerp (const Quat &q1, Real t) const -> Quat

auto	slerp2 (const Quat &q1, Real t) const -> Quat

void	operator+= (const Quat &q2)

constexpr void	operator*= (const Quat &q1)

bool	operator== (const Quat &q) const

bool	operator!= (const Quat &q) const

Static Public Member Functions
static Quat	identity ()

static auto	createQuaterFromFrame (const Vec3 &lox, const Vec3 &loy, const Vec3 &loz) -> Quat

static auto	createFromRotationVector (const Vec3 &a) -> Quat
	Create using rotation vector (axis*angle) given in parent coordinates. More...

static auto	createQuaterFromEuler (const Vec3 &v, EulerOrder order=EulerOrder::ZYX) -> Quat

static auto	fromEuler (Real alpha, Real beta, Real gamma, EulerOrder order=EulerOrder::ZYX) -> Quat
	Create a quaternion from Euler angles. More...

static auto	createFromRotationVector (Real a0, Real a1, Real a2) -> Quat
	Create using the entries of a rotation vector (axis*angle) given in parent coordinates. More...

static auto	set (const Vec3 &a)
	Create using rotation vector (axis*angle) given in parent coordinates. More...

static auto	set (Real a0, Real a1, Real a2)
	Create using using the entries of a rotation vector (axis*angle) given in parent coordinates. More...

static auto	quatDiff (Quat a, const Quat &b) -> Quat
	Return the quaternion resulting of the movement between 2 quaternions. More...

static auto	angularDisplacement (const Quat &a, const Quat &b) -> Vec3
	Return the eulerian vector resulting of the movement between 2 quaternions. More...

static Size	size ()

Attribute details

◆ spatial_dimensions

template<class Real >

constexpr Size sofa::type::Quat< Real >::spatial_dimensions = 3

staticconstexpr

Compile-time constant specifying the number of dimensions of space (NOT equivalent to total_size for quaternions)

◆ static_size

template<class Real >

constexpr Size sofa::type::Quat< Real >::static_size = 4

staticconstexpr

◆ total_size

template<class Real >

constexpr Size sofa::type::Quat< Real >::total_size = 4

staticconstexpr

Compile-time constant specifying the number of scalars within this vector (equivalent to the size() method)

Constructor details

◆ Quat() [1/7]

template<class Real >

constexpr sofa::type::Quat< Real >::Quat ( )

inlineconstexpr

◆ Quat() [2/7]

template<class Real >

constexpr sofa::type::Quat< Real >::Quat ( qNoInit )

inlineexplicitconstexpr

Fast constructor: no initialization.

◆ ~Quat()

template<class Real >

sofa::type::Quat< Real >::~Quat ( )

default

◆ Quat() [3/7]

template<class Real >

constexpr sofa::type::Quat< Real >::Quat	(	Real	x,
		Real	y,
		Real	z,
		Real	w
	)

inlineconstexpr

◆ Quat() [4/7]

template<class Real >

template<class Real2 >

constexpr sofa::type::Quat< Real >::Quat ( const Real2 q[] )

inlineconstexpr

◆ Quat() [5/7]

template<class Real >

template<class Real2 >

constexpr sofa::type::Quat< Real >::Quat ( const Quat< Real2 > & q )

inlineconstexpr

◆ Quat() [6/7]

template<class Real >

sofa::type::Quat< Real >::Quat	(	const Vec3 &	axis,
		Real	angle
	)

◆ Quat() [7/7]

template<class Real >

sofa::type::Quat< Real >::Quat	(	const Vec3 &	vFrom,
		const Vec3 &	vTo
	)

Sets this quaternion to the rotation required to rotate direction vector vFrom to direction vector vTo.
vFrom and vTo are assumed to be normalized.

Function details

◆ angularDisplacement()

template<class Real >

auto sofa::type::Quat< Real >::angularDisplacement	(	const Quat< Real > &	a,
		const Quat< Real > &	b
	)		-> Vec3

static

Return the eulerian vector resulting of the movement between 2 quaternions.

◆ axisToQuat()

template<class Real >

auto sofa::type::Quat< Real >::axisToQuat	(	Vec3	a,
		Real	phi
	)		-> Quat

Given an axis and angle, compute quaternion.

This function computes a quaternion based on an axis (defined by the given vector) and an angle about which to rotate. The angle is expressed in radians.

◆ buildRotationMatrix()

template<class Real >

constexpr void sofa::type::Quat< Real >::buildRotationMatrix ( Real m[4][4] ) const

inlineconstexpr

A useful function, builds a rotation matrix in Matrix based on given quaternion.

◆ clear()

template<class Real >

void sofa::type::Quat< Real >::clear ( )

inline

◆ createFromRotationVector() [1/2]

template<class Real >

auto sofa::type::Quat< Real >::createFromRotationVector ( const Vec3 & a ) -> Quat

static

Create using rotation vector (axis*angle) given in parent coordinates.

◆ createFromRotationVector() [2/2]

template<class Real >

auto sofa::type::Quat< Real >::createFromRotationVector	(	Real	a0,
		Real	a1,
		Real	a2
	)		-> Quat

static

Create using the entries of a rotation vector (axis*angle) given in parent coordinates.

◆ createQuaterFromEuler()

template<class Real >

auto sofa::type::Quat< Real >::createQuaterFromEuler	(	const Vec3 &	v,
		EulerOrder	order = `EulerOrder::ZYX`
	)		-> Quat

static

◆ createQuaterFromFrame()

template<class Real >

auto sofa::type::Quat< Real >::createQuaterFromFrame	(	const Vec3 &	lox,
		const Vec3 &	loy,
		const Vec3 &	loz
	)		-> Quat

static

◆ fromEuler()

template<class Real >

auto sofa::type::Quat< Real >::fromEuler	(	Real	alpha,
		Real	beta,
		Real	gamma,
		EulerOrder	order = `EulerOrder::ZYX`
	)		-> Quat

static

Create a quaternion from Euler angles.

◆ fromFrame()

template<class Real >

void sofa::type::Quat< Real >::fromFrame	(	const Vec3 &	x,
		const Vec3 &	y,
		const Vec3 &	z
	)

Convert the reference frame orientation into an orientation quaternion.

◆ fromMatrix()

template<class Real >

void sofa::type::Quat< Real >::fromMatrix ( const Mat3x3 & m )

Convert a rotation matrix into an orientation quaternion.

◆ identity()

template<class Real >

static Quat sofa::type::Quat< Real >::identity ( )

inlinestatic

◆ inverse()

template<class Real >

auto sofa::type::Quat< Real >::inverse

◆ inverseRotate()

template<class Real >

constexpr auto sofa::type::Quat< Real >::inverseRotate ( const Vec3 & v ) const -> Vec3

inlineconstexpr

Apply the inverse rotation to a given vector.

◆ isNormalized()

template<class Real >

bool sofa::type::Quat< Real >::isNormalized

Returns true if norm of Quaternion is one, false otherwise.

Returns true if norm of Quatnion is one, false otherwise.

◆ normalize()

template<class Real >

void sofa::type::Quat< Real >::normalize

Normalize a quaternion.

Quat<Real>s always obey: a^2 + b^2 + c^2 + d^2 = 1.0 If they don't add up to 1.0, dividing by their magnitude will renormalize them.

◆ operator!=()

template<class Real >

bool sofa::type::Quat< Real >::operator!= ( const Quat< Real > & q ) const

◆ operator*() [1/2]

template<class Real >

constexpr auto sofa::type::Quat< Real >::operator* ( const Quat< Real > & q1 ) const -> Quat

inlineconstexpr

◆ operator*() [2/2]

template<class Real >

constexpr auto sofa::type::Quat< Real >::operator* ( const Real & r ) const -> Quat

inlineconstexpr

◆ operator*=() [1/2]

template<class Real >

constexpr void sofa::type::Quat< Real >::operator*= ( const Quat< Real > & q1 )

inlineconstexpr

◆ operator*=() [2/2]

template<class Real >

void sofa::type::Quat< Real >::operator*= ( const Real & r )

inline

◆ operator+()

template<class Real >

auto sofa::type::Quat< Real >::operator+ ( const Quat< Real > & q1 ) const -> Quat

Given two quaternions, add them together to get a third quaternion. Adding quaternions to get a compound rotation is analagous to adding translations to get a compound translation.

Given two rotations, e1 and e2, expressed as quaternion rotations, figure out the equivalent single rotation and stuff it into dest. NOTE: This routine is written so that q1 or q2 may be the same as dest (or each other).

◆ operator+=()

template<class Real >

void sofa::type::Quat< Real >::operator+= ( const Quat< Real > & q2 )

◆ operator/()

template<class Real >

auto sofa::type::Quat< Real >::operator/ ( const Real & r ) const -> Quat

inline

◆ operator/=()

template<class Real >

void sofa::type::Quat< Real >::operator/= ( const Real & r )

inline

◆ operator==()

template<class Real >

bool sofa::type::Quat< Real >::operator== ( const Quat< Real > & q ) const

◆ operator[]() [1/2]

template<class Real >

constexpr Real& sofa::type::Quat< Real >::operator[] ( Size index )

inlineconstexpr

◆ operator[]() [2/2]

template<class Real >

constexpr const Real& sofa::type::Quat< Real >::operator[] ( Size index ) const

inlineconstexpr

◆ ptr() [1/2]

template<class Real >

Real* sofa::type::Quat< Real >::ptr ( )

inline

Cast into a standard C array of elements.

◆ ptr() [2/2]

template<class Real >

const Real* sofa::type::Quat< Real >::ptr ( ) const

inline

Cast into a standard C array of elements.

◆ quatDiff()

template<class Real >

Quat< Real > sofa::type::Quat< Real >::quatDiff	(	Quat< Real >	a,
		const Quat< Real > &	b
	)		-> Quat

static

Return the quaternion resulting of the movement between 2 quaternions.

◆ quatToAxis()

template<class Real >

void sofa::type::Quat< Real >::quatToAxis	(	Vec3 &	a,
		Real &	phi
	)		const

Given a quaternion, compute an axis and angle.

◆ quatToRotationVector()

template<class Real >

auto sofa::type::Quat< Real >::quatToRotationVector

Given a quaternion, compute rotation vector (axis times angle)

◆ quatVectMult()

template<class Real >

constexpr auto sofa::type::Quat< Real >::quatVectMult ( const Vec3 & vect ) const -> Quat

inlineconstexpr

Given two Quats, multiply them together to get a third quaternion.

◆ rotate()

template<class Real >

constexpr auto sofa::type::Quat< Real >::rotate ( const Vec3 & v ) const -> Vec3

inlineconstexpr

Apply the rotation to a given vector.

◆ set() [1/3]

template<class Real >

static auto sofa::type::Quat< Real >::set ( const Vec3 & a )

inlinestatic

Create using rotation vector (axis*angle) given in parent coordinates.

◆ set() [2/3]

template<class Real >

static auto sofa::type::Quat< Real >::set	(	Real	a0,
		Real	a1,
		Real	a2
	)

inlinestatic

Create using using the entries of a rotation vector (axis*angle) given in parent coordinates.

◆ set() [3/3]

template<class Real >

void sofa::type::Quat< Real >::set	(	Real	x,
		Real	y,
		Real	z,
		Real	w
	)

inline

◆ setFromUnitVectors()

template<class Real >

void sofa::type::Quat< Real >::setFromUnitVectors	(	const Vec3 &	vFrom,
		const Vec3 &	vTo
	)

Sets this quaternion to the rotation required to rotate direction vector vFrom to direction vector vTo. vFrom and vTo are assumed to be normalized.

◆ size()

template<class Real >

static Size sofa::type::Quat< Real >::size ( void )

inlinestatic

◆ slerp() [1/2]

template<class Real >

void sofa::type::Quat< Real >::slerp	(	const Quat< Real > &	a,
		const Quat< Real > &	b,
		Real	t,
		bool	allowFlip = `true`
	)

Returns the slerp interpolation of Quaternions a and b, at time t.

t should range in [0,1]. Result is a when t=0 and b when t=1. When allowFlip is true (default) the slerp interpolation will always use the "shortest path" between the Quaternions' orientations, by "flipping" the source Quaternion if needed (see negate()).

t should range in [0,1]. Result is a when t=0 and b when t=1.

When allowFlip is true (default) the slerp interpolation will always use the "shortest path" between the Quaternions' orientations, by "flipping" the source Quatnion if needed (see negate()).

◆ slerp() [2/2]

template<class Real >

auto sofa::type::Quat< Real >::slerp	(	const Quat< Real > &	q1,
		Real	t
	)		const -> Quat

◆ slerp2()

template<class Real >

auto sofa::type::Quat< Real >::slerp2	(	const Quat< Real > &	q1,
		Real	t
	)		const -> Quat

◆ toEulerVector()

template<class Real >

auto sofa::type::Quat< Real >::toEulerVector

Compute the Euler angles: Roll: rotation about the X-axis Pitch: rotation about the Y-axis Yaw: rotation about the Z-axis

◆ toHomogeneousMatrix()

template<class Real >

constexpr void sofa::type::Quat< Real >::toHomogeneousMatrix ( Mat4x4 & m ) const

inlineconstexpr

Convert the quaternion into an orientation homogeneous matrix The homogeneous part is set to 0,0,0,1

◆ toMatrix()

template<class Real >

void sofa::type::Quat< Real >::toMatrix ( Mat3x3 & m ) const

inline

Convert the quaternion into an orientation matrix.

◆ vectQuatMult()

template<class Real >

constexpr auto sofa::type::Quat< Real >::vectQuatMult ( const Vec3 & vect ) const -> Quat

inlineconstexpr

◆ writeOpenGlMatrix() [1/2]

template<class Real >

constexpr void sofa::type::Quat< Real >::writeOpenGlMatrix ( double * m ) const

inlineconstexpr

◆ writeOpenGlMatrix() [2/2]

template<class Real >

constexpr void sofa::type::Quat< Real >::writeOpenGlMatrix ( float * m ) const

inlineconstexpr

Enum details

◆ EulerOrder

template<class Real >

enum sofa::type::Quat::EulerOrder

strong

Create a quaternion from Euler angles Thanks to https://github.com/mrdoob/three.js/blob/dev/src/math/Quaternion.js#L199

Enumerator
XYZ
YXZ
ZXY
ZYX
YZX
XZY

Static Public Attributes

Public Member Functions

Static Public Member Functions

Attribute details

◆ spatial_dimensions

◆ static_size

◆ total_size

Constructor details

◆ Quat() [1/7]

◆ Quat() [2/7]

◆ ~Quat()

◆ Quat() [3/7]

◆ Quat() [4/7]

◆ Quat() [5/7]

◆ Quat() [6/7]

◆ Quat() [7/7]

Function details

◆ angularDisplacement()

◆ axisToQuat()

◆ buildRotationMatrix()

◆ clear()

◆ createFromRotationVector() [1/2]

◆ createFromRotationVector() [2/2]

◆ createQuaterFromEuler()

◆ createQuaterFromFrame()

◆ fromEuler()

◆ fromFrame()

◆ fromMatrix()

◆ identity()

◆ inverse()

◆ inverseRotate()

◆ isNormalized()

◆ normalize()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator/()

◆ operator/=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ ptr() [1/2]

◆ ptr() [2/2]

◆ quatDiff()

◆ quatToAxis()

◆ quatToRotationVector()

◆ quatVectMult()

◆ rotate()

◆ set() [1/3]

◆ set() [2/3]

◆ set() [3/3]

◆ setFromUnitVectors()

◆ size()

◆ slerp() [1/2]

◆ slerp() [2/2]

◆ slerp2()

◆ toEulerVector()

◆ toHomogeneousMatrix()

◆ toMatrix()

◆ vectQuatMult()

◆ writeOpenGlMatrix() [1/2]

◆ writeOpenGlMatrix() [2/2]

Enum details

◆ EulerOrder