The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. More...

#include <btQuaternion.h>

Inherits btQuadWord.

Public Member Functions
	btQuaternion ()
	No initialization constructor.

	btQuaternion (const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
	Constructor from scalars.

	btQuaternion (const btVector3 &_axis, const btScalar &_angle)
	Axis angle Constructor.

	btQuaternion (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
	Constructor from Euler angles.

void	setRotation (const btVector3 &axis, const btScalar &_angle)
	Set the rotation using axis angle notation.

void	setEuler (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
	Set the quaternion using Euler angles.

void	setEulerZYX (const btScalar &yawZ, const btScalar &pitchY, const btScalar &rollX)
	Set the quaternion using euler angles.

void	getEulerZYX (btScalar &yawZ, btScalar &pitchY, btScalar &rollX) const
	Get the euler angles from this quaternion.

SIMD_FORCE_INLINE btQuaternion &	operator+= (const btQuaternion &q)
	Add two quaternions.

btQuaternion &	operator-= (const btQuaternion &q)
	Subtract out a quaternion.

btQuaternion &	operator*= (const btScalar &s)
	Scale this quaternion.

btQuaternion &	operator*= (const btQuaternion &q)
	Multiply this quaternion by q on the right.

btScalar	dot (const btQuaternion &q) const
	Return the dot product between this quaternion and another.

btScalar	length2 () const
	Return the length squared of the quaternion.

btScalar	length () const
	Return the length of the quaternion.

btQuaternion &	safeNormalize ()

btQuaternion &	normalize ()
	Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.

SIMD_FORCE_INLINE btQuaternion	operator* (const btScalar &s) const
	Return a scaled version of this quaternion.

btQuaternion	operator/ (const btScalar &s) const
	Return an inversely scaled versionof this quaternion.

btQuaternion &	operator/= (const btScalar &s)
	Inversely scale this quaternion.

btQuaternion	normalized () const
	Return a normalized version of this quaternion.

btScalar	angle (const btQuaternion &q) const
	Return the half angle between this quaternion and the other.

btScalar	angleShortestPath (const btQuaternion &q) const
	Return the angle between this quaternion and the other along the shortest path.

btScalar	getAngle () const
	Return the angle [0, 2Pi] of rotation represented by this quaternion.

btScalar	getAngleShortestPath () const
	Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path.

btVector3	getAxis () const
	Return the axis of the rotation represented by this quaternion.

btQuaternion	inverse () const
	Return the inverse of this quaternion.

SIMD_FORCE_INLINE btQuaternion	operator+ (const btQuaternion &q2) const
	Return the sum of this quaternion and the other.

SIMD_FORCE_INLINE btQuaternion	operator- (const btQuaternion &q2) const
	Return the difference between this quaternion and the other.

SIMD_FORCE_INLINE btQuaternion	operator- () const
	Return the negative of this quaternion This simply negates each element.

SIMD_FORCE_INLINE btQuaternion	farthest (const btQuaternion &qd) const

SIMD_FORCE_INLINE btQuaternion	nearest (const btQuaternion &qd) const

btQuaternion	slerp (const btQuaternion &q, const btScalar &t) const
	Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.

SIMD_FORCE_INLINE const btScalar &	getW () const

SIMD_FORCE_INLINE void	serialize (struct btQuaternionData &dataOut) const

SIMD_FORCE_INLINE void	deSerialize (const struct btQuaternionFloatData &dataIn)

SIMD_FORCE_INLINE void	deSerialize (const struct btQuaternionDoubleData &dataIn)

SIMD_FORCE_INLINE void	serializeFloat (struct btQuaternionFloatData &dataOut) const

SIMD_FORCE_INLINE void	deSerializeFloat (const struct btQuaternionFloatData &dataIn)

SIMD_FORCE_INLINE void	serializeDouble (struct btQuaternionDoubleData &dataOut) const

SIMD_FORCE_INLINE void	deSerializeDouble (const struct btQuaternionDoubleData &dataIn)

Static Public Member Functions
static const btQuaternion &	getIdentity ()

Detailed Description

The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform.

Definition at line 49 of file btQuaternion.h.

Constructor & Destructor Documentation

◆ btQuaternion() [1/4]

btQuaternion::btQuaternion ( )

inline

No initialization constructor.

Definition at line 53 of file btQuaternion.h.

Referenced by inverse(), operator*(), operator+(), operator-(), operator-(), and slerp().

◆ btQuaternion() [2/4]

btQuaternion::btQuaternion	(	const btScalar &	_x,
		const btScalar &	_y,
		const btScalar &	_z,
		const btScalar &	_w )

inline

Constructor from scalars.

Definition at line 82 of file btQuaternion.h.

◆ btQuaternion() [3/4]

btQuaternion::btQuaternion	(	const btVector3 &	_axis,
		const btScalar &	_angle )

inline

Axis angle Constructor.

Parameters

axis	The axis which the rotation is around
angle	The magnitude of the rotation around the angle (Radians)

Definition at line 89 of file btQuaternion.h.

References setRotation().

◆ btQuaternion() [4/4]

btQuaternion::btQuaternion	(	const btScalar &	yaw,
		const btScalar &	pitch,
		const btScalar &	roll )

inline

Constructor from Euler angles.

Parameters

yaw	Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z
pitch	Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y
roll	Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X

Definition at line 97 of file btQuaternion.h.

References setEuler(), and setEulerZYX().

Member Function Documentation

◆ angle()

btScalar btQuaternion::angle ( const btQuaternion & q ) const

inline

Return the half angle between this quaternion and the other.

Parameters

q	The other quaternion

Definition at line 448 of file btQuaternion.h.

References btAcos(), btAssert, btSqrt(), dot(), and length2().

◆ angleShortestPath()

btScalar btQuaternion::angleShortestPath ( const btQuaternion & q ) const

inline

Return the angle between this quaternion and the other along the shortest path.

Parameters

q	The other quaternion

Definition at line 457 of file btQuaternion.h.

References btAcos(), btAssert, btSqrt(), dot(), and length2().

◆ deSerialize() [1/2]

SIMD_FORCE_INLINE void btQuaternion::deSerialize ( const struct btQuaternionDoubleData & dataIn )

Definition at line 1015 of file btQuaternion.h.

References btQuaternionDoubleData::m_floats, and m_floats.

◆ deSerialize() [2/2]

SIMD_FORCE_INLINE void btQuaternion::deSerialize ( const struct btQuaternionFloatData & dataIn )

Definition at line 1009 of file btQuaternion.h.

References btQuaternionFloatData::m_floats, and m_floats.

◆ deSerializeDouble()

SIMD_FORCE_INLINE void btQuaternion::deSerializeDouble ( const struct btQuaternionDoubleData & dataIn )

Definition at line 996 of file btQuaternion.h.

References btQuaternionDoubleData::m_floats, and m_floats.

◆ deSerializeFloat()

SIMD_FORCE_INLINE void btQuaternion::deSerializeFloat ( const struct btQuaternionFloatData & dataIn )

Definition at line 983 of file btQuaternion.h.

References btQuaternionFloatData::m_floats, and m_floats.

◆ dot()

btScalar btQuaternion::dot ( const btQuaternion & q ) const

inline

Return the dot product between this quaternion and another.

Parameters

q	The other quaternion

Definition at line 337 of file btQuaternion.h.

References m_floats.

Referenced by angle(), angleShortestPath(), length2(), and slerp().

◆ farthest()

SIMD_FORCE_INLINE btQuaternion btQuaternion::farthest ( const btQuaternion & qd ) const

inline

Todo: document this and it's use

Definition at line 552 of file btQuaternion.h.

References diff(), and sum().

◆ getAngle()

btScalar btQuaternion::getAngle ( ) const

inline

Return the angle [0, 2Pi] of rotation represented by this quaternion.

Definition at line 468 of file btQuaternion.h.

References btAcos(), and m_floats.

Referenced by calcAngleInfo2(), btTransformUtil::calculateDiffAxisAngle(), btTransformUtil::calculateDiffAxisAngleQuaternion(), computeConeLimitInfo(), computeTwistLimitInfo(), and setMotorTarget().

◆ getAngleShortestPath()

btScalar btQuaternion::getAngleShortestPath ( ) const

inline

Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path.

Definition at line 475 of file btQuaternion.h.

References btAcos(), and m_floats.

◆ getAxis()

btVector3 btQuaternion::getAxis ( ) const

inline

Return the axis of the rotation represented by this quaternion.

Definition at line 486 of file btQuaternion.h.

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

◆ getEulerZYX()

void btQuaternion::getEulerZYX	(	btScalar &	yawZ,
		btScalar &	pitchY,
		btScalar &	rollX ) const

inline

Get the euler angles from this quaternion.

Parameters

yaw	Angle around Z
pitch	Angle around Y
roll	Angle around X

Definition at line 161 of file btQuaternion.h.

References btAsin(), btAtan2(), m_floats, and SIMD_PI.

◆ getIdentity()

static const btQuaternion & btQuaternion::getIdentity ( )

inlinestatic

Definition at line 608 of file btQuaternion.h.

◆ getW()

SIMD_FORCE_INLINE const btScalar & btQuaternion::getW ( ) const

inline

Definition at line 614 of file btQuaternion.h.

References m_floats.

Referenced by copy_quat_btquat().

◆ inverse()

btQuaternion btQuaternion::inverse ( ) const

inline

Return the inverse of this quaternion.

Definition at line 497 of file btQuaternion.h.

References btQuaternion(), and m_floats.

Referenced by calcAngleInfo2(), btTransformUtil::calculateDiffAxisAngleQuaternion(), btRigidBody::computeGyroscopicImpulseImplicit_Body(), btMultiBodySphericalJointMotor::createConstraintRows(), inverse(), quatRotate(), setMotorTarget(), setMotorTarget(), setMotorTargetInConstraintSpace(), and setUpVector().

◆ length()

btScalar btQuaternion::length ( ) const

inline

Return the length of the quaternion.

Definition at line 370 of file btQuaternion.h.

References btSqrt(), and length2().

Referenced by length(), normalize(), and normalized().

◆ length2()

btScalar btQuaternion::length2 ( ) const

inline

Return the length squared of the quaternion.

Definition at line 364 of file btQuaternion.h.

References dot().

Referenced by angle(), angleShortestPath(), btTransformUtil::integrateTransform(), length(), safeNormalize(), setRotation(), and slerp().

◆ nearest()

SIMD_FORCE_INLINE btQuaternion btQuaternion::nearest ( const btQuaternion & qd ) const

inline

Todo: document this and it's use

Definition at line 563 of file btQuaternion.h.

References diff(), and sum().

Referenced by btTransformUtil::calculateDiffAxisAngleQuaternion().

◆ normalize()

btQuaternion & btQuaternion::normalize ( )

inline

Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.

Definition at line 385 of file btQuaternion.h.

References length().

Referenced by calcAngleInfo2(), btTransformUtil::calculateDiffAxisAngle(), extractRotation(), predictPositionsMultiDof(), safeNormalize(), setMotorTarget(), setMotorTargetInConstraintSpace(), and stepPositionsMultiDof().

◆ normalized()

btQuaternion btQuaternion::normalized ( ) const

inline

Return a normalized version of this quaternion.

Definition at line 442 of file btQuaternion.h.

References length().

◆ operator*()

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator* ( const btScalar & s ) const

inline

Return a scaled version of this quaternion.

Parameters

s	The scale factor

Definition at line 411 of file btQuaternion.h.

References btQuaternion(), m_floats, x, y, and z().

◆ operator*=() [1/2]

btQuaternion & btQuaternion::operator*= ( const btQuaternion & q )

inline

Multiply this quaternion by q on the right.

Parameters

q	The other quaternion Equivilant to this = this * q

Definition at line 254 of file btQuaternion.h.

References A0, A1, A2, m_floats, and setValue().

◆ operator*=() [2/2]

btQuaternion & btQuaternion::operator*= ( const btScalar & s )

inline

Scale this quaternion.

Parameters

s	The scalar to scale by

Definition at line 234 of file btQuaternion.h.

References m_floats.

◆ operator+()

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator+ ( const btQuaternion & q2 ) const

inline

Return the sum of this quaternion and the other.

Parameters

q2	The other quaternion

Definition at line 511 of file btQuaternion.h.

References btQuaternion(), and q1.

◆ operator+=()

SIMD_FORCE_INLINE btQuaternion & btQuaternion::operator+= ( const btQuaternion & q )

inline

Add two quaternions.

Parameters

q	The quaternion to add to this one

Definition at line 200 of file btQuaternion.h.

References m_floats.

◆ operator-() [1/2]

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator- ( ) const

inline

Return the negative of this quaternion This simply negates each element.

Definition at line 540 of file btQuaternion.h.

References btQuaternion().

◆ operator-() [2/2]

SIMD_FORCE_INLINE btQuaternion btQuaternion::operator- ( const btQuaternion & q2 ) const

inline

Return the difference between this quaternion and the other.

Parameters

q2	The other quaternion

Definition at line 526 of file btQuaternion.h.

References btQuaternion(), and q1.

◆ operator-=()

btQuaternion & btQuaternion::operator-= ( const btQuaternion & q )

inline

Subtract out a quaternion.

Parameters

q	The quaternion to subtract from this one

Definition at line 217 of file btQuaternion.h.

References m_floats.

◆ operator/()

btQuaternion btQuaternion::operator/ ( const btScalar & s ) const

inline

Return an inversely scaled versionof this quaternion.

Parameters

s	The inverse scale factor

Definition at line 427 of file btQuaternion.h.

References btAssert.

◆ operator/=()

btQuaternion & btQuaternion::operator/= ( const btScalar & s )

inline

Inversely scale this quaternion.

Parameters

s	The scale factor

Definition at line 435 of file btQuaternion.h.

References btAssert.

◆ safeNormalize()

btQuaternion & btQuaternion::safeNormalize ( )

inline

Definition at line 374 of file btQuaternion.h.

References length2(), normalize(), and SIMD_EPSILON.

Referenced by btTransformUtil::integrateTransform().

◆ serialize()

SIMD_FORCE_INLINE void btQuaternion::serialize ( struct btQuaternionData & dataOut ) const

could also do a memcpy, check if it is worth it

Definition at line 1002 of file btQuaternion.h.

References m_floats.

◆ serializeDouble()

SIMD_FORCE_INLINE void btQuaternion::serializeDouble ( struct btQuaternionDoubleData & dataOut ) const

could also do a memcpy, check if it is worth it

Definition at line 989 of file btQuaternion.h.

References btQuaternionDoubleData::m_floats, and m_floats.

◆ serializeFloat()

SIMD_FORCE_INLINE void btQuaternion::serializeFloat ( struct btQuaternionFloatData & dataOut ) const

could also do a memcpy, check if it is worth it

Definition at line 976 of file btQuaternion.h.

References btQuaternionFloatData::m_floats, and m_floats.

◆ setEuler()

void btQuaternion::setEuler	(	const btScalar &	yaw,
		const btScalar &	pitch,
		const btScalar &	roll )

inline

Set the quaternion using Euler angles.

Parameters

yaw	Angle around Y
pitch	Angle around X
roll	Angle around Z

Definition at line 120 of file btQuaternion.h.

References btCos(), btSin(), and setValue().

Referenced by btQuaternion().

◆ setEulerZYX()

void btQuaternion::setEulerZYX	(	const btScalar &	yawZ,
		const btScalar &	pitchY,
		const btScalar &	rollX )

inline

Set the quaternion using euler angles.

Parameters

yaw	Angle around Z
pitch	Angle around Y
roll	Angle around X

Definition at line 140 of file btQuaternion.h.

References btCos(), btSin(), and setValue().

Referenced by btQuaternion().

◆ setRotation()

void btQuaternion::setRotation	(	const btVector3 &	axis,
		const btScalar &	_angle )

inline

Set the rotation using axis angle notation.

Parameters

axis	The axis around which to rotate
angle	The magnitude of the rotation in Radians

Definition at line 108 of file btQuaternion.h.

References btAssert, btCos(), btSin(), and setValue().

Referenced by btQuaternion(), btTransformUtil::integrateTransform(), setUpVector(), and btSoftBody::updateDeformation().

◆ slerp()

btQuaternion btQuaternion::slerp	(	const btQuaternion &	q,
		const btScalar &	t ) const

inline

Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.

Parameters

q	The other quaternion to interpolate with
t	The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. Slerp interpolates assuming constant velocity.

Definition at line 577 of file btQuaternion.h.

References btAcos(), btAssert, btFabs(), btQuaternion(), btSin(), btSqrt(), dot(), length2(), m_floats, and SIMD_EPSILON.

Referenced by slerp().

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

btQuaternion.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ btQuaternion() [1/4]

◆ btQuaternion() [2/4]

◆ btQuaternion() [3/4]

◆ btQuaternion() [4/4]

Member Function Documentation

◆ angle()

◆ angleShortestPath()

◆ deSerialize() [1/2]

◆ deSerialize() [2/2]

◆ deSerializeDouble()

◆ deSerializeFloat()

◆ dot()

◆ farthest()

◆ getAngle()

◆ getAngleShortestPath()

◆ getAxis()

◆ getEulerZYX()

◆ getIdentity()

◆ getW()

◆ inverse()

◆ length()

◆ length2()

◆ nearest()

◆ normalize()

◆ normalized()

◆ operator*()

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ safeNormalize()

◆ serialize()

◆ serializeDouble()

◆ serializeFloat()

◆ setEuler()

◆ setEulerZYX()

◆ setRotation()

◆ slerp()