#include "btVector3.h"
#include "btQuadWord.h"

Classes
class	btQuaternion
	The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. More...
struct	btQuaternionFloatData
struct	btQuaternionDoubleData

Macros
#define	btQuaternionData btQuaternionFloatData
#define	btQuaternionDataName "btQuaternionFloatData"

Functions
SIMD_FORCE_INLINE btQuaternion	operator* (const btQuaternion &q1, const btQuaternion &q2)
	Return the product of two quaternions.
SIMD_FORCE_INLINE btQuaternion	operator* (const btQuaternion &q, const btVector3 &w)
SIMD_FORCE_INLINE btQuaternion	operator* (const btVector3 &w, const btQuaternion &q)
SIMD_FORCE_INLINE btScalar	dot (const btQuaternion &q1, const btQuaternion &q2)
	Calculate the dot product between two quaternions.
SIMD_FORCE_INLINE btScalar	length (const btQuaternion &q)
	Return the length of a quaternion.
SIMD_FORCE_INLINE btScalar	btAngle (const btQuaternion &q1, const btQuaternion &q2)
	Return the angle between two quaternions.
SIMD_FORCE_INLINE btQuaternion	inverse (const btQuaternion &q)
	Return the inverse of a quaternion.
SIMD_FORCE_INLINE btQuaternion	slerp (const btQuaternion &q1, const btQuaternion &q2, const btScalar &t)
	Return the result of spherical linear interpolation betwen two quaternions.
SIMD_FORCE_INLINE btVector3	quatRotate (const btQuaternion &rotation, const btVector3 &v)
SIMD_FORCE_INLINE btQuaternion	shortestArcQuat (const btVector3 &v0, const btVector3 &v1)
SIMD_FORCE_INLINE btQuaternion	shortestArcQuatNormalize2 (btVector3 &v0, btVector3 &v1)

Macro Definition Documentation

◆ btQuaternionData

#define btQuaternionData btQuaternionFloatData

Definition at line 25 of file btQuaternion.h.

Referenced by btQuaternion::serialize().

◆ btQuaternionDataName

#define btQuaternionDataName "btQuaternionFloatData"

Definition at line 26 of file btQuaternion.h.

Function Documentation

◆ btAngle()

SIMD_FORCE_INLINE btScalar btAngle	(	const btQuaternion &	q1,
		const btQuaternion &	q2 )

Return the angle between two quaternions.

Definition at line 902 of file btQuaternion.h.

References btQuaternion::angle().

Referenced by calculateNormalCone().

◆ dot()

SIMD_FORCE_INLINE btScalar dot	(	const btQuaternion &	q1,
		const btQuaternion &	q2 )

Calculate the dot product between two quaternions.

Definition at line 888 of file btQuaternion.h.

References btQuaternion::dot().

◆ inverse()

SIMD_FORCE_INLINE btQuaternion inverse ( const btQuaternion & q )

Return the inverse of a quaternion.

Definition at line 909 of file btQuaternion.h.

References btQuaternion::inverse().

◆ length()

SIMD_FORCE_INLINE btScalar length ( const btQuaternion & q )

Return the length of a quaternion.

Definition at line 895 of file btQuaternion.h.

References btQuaternion::length().

◆ operator*() [1/3]

SIMD_FORCE_INLINE btQuaternion operator*	(	const btQuaternion &	q,
		const btVector3 &	w )

Definition at line 721 of file btQuaternion.h.

References A1, A2, btVector3, and w().

◆ operator*() [2/3]

SIMD_FORCE_INLINE btQuaternion operator*	(	const btQuaternion &	q1,
		const btQuaternion &	q2 )

Return the product of two quaternions.

Definition at line 633 of file btQuaternion.h.

References A0, A1, and A2.

◆ operator*() [3/3]

SIMD_FORCE_INLINE btQuaternion operator*	(	const btVector3 &	w,
		const btQuaternion &	q )

Definition at line 804 of file btQuaternion.h.

References A1, A2, btVector3, and w().

◆ quatRotate()

SIMD_FORCE_INLINE btVector3 quatRotate	(	const btQuaternion &	rotation,
		const btVector3 &	v )

Definition at line 926 of file btQuaternion.h.

References btVector3, btQuaternion::inverse(), and v.

Referenced by btAdjustInternalEdgeContacts(), btHingeConstraint(), btHingeConstraint(), calcAngleInfo(), calcAngleInfo2(), compTreeLinkVelocities(), btRigidBody::computeGyroscopicImpulseImplicit_Body(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), btMultiBodyDynamicsWorld::debugDrawWorld(), GetPointForAngle(), localDirToWorld(), localPosToWorld(), predictPositionsMultiDof(), btConnectivityProcessor::processTriangle(), setAxis(), setMotorTarget(), setMotorTargetInConstraintSpace(), stepPositionsMultiDof(), btMultibodyLink::updateCacheMultiDof(), updateCollisionObjectInterpolationWorldTransforms(), updateCollisionObjectWorldTransforms(), btMultibodyLink::updateInterpolationCacheMultiDof(), worldDirToLocal(), and worldPosToLocal().

◆ shortestArcQuat()

SIMD_FORCE_INLINE btQuaternion shortestArcQuat	(	const btVector3 &	v0,
		const btVector3 &	v1 )

Definition at line 940 of file btQuaternion.h.

References btPlaneSpace1(), btSqrt(), btVector3, and SIMD_EPSILON.

Referenced by btHingeConstraint(), btHingeConstraint(), calcAngleInfo(), calcAngleInfo2(), setAxis(), setMotorTarget(), setMotorTargetInConstraintSpace(), and shortestArcQuatNormalize2().

◆ shortestArcQuatNormalize2()

SIMD_FORCE_INLINE btQuaternion shortestArcQuatNormalize2	(	btVector3 &	v0,
		btVector3 &	v1 )

Definition at line 959 of file btQuaternion.h.

References btVector3, and shortestArcQuat().

Referenced by getRotation().

◆ slerp()

SIMD_FORCE_INLINE btQuaternion slerp	(	const btQuaternion &	q1,
		const btQuaternion &	q2,
		const btScalar &	t )

Return the result of spherical linear interpolation betwen two quaternions.

Parameters

q1	The first quaternion
q2	The second quaternion
t	The ration between q1 and q2. t = 0 return q1, t=1 returns q2 Slerp assumes constant velocity between positions.

Definition at line 920 of file btQuaternion.h.

References btQuaternion::slerp().

Classes

Macros

Functions