#include <transform.h>
Public Member Functions | |
| Quaternion3f () | |
| Default quaternion is identity rotation. | |
| Quaternion3f (FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d) | |
| bool | isIdentity () const |
| Whether the rotation is identity. | |
| void | fromRotation (const Matrix3f &R) |
| Matrix to quaternion. | |
| void | toRotation (Matrix3f &R) const |
| Quaternion to matrix. | |
| void | fromAxes (const Vec3f axis[3]) |
| Axes to quaternion. | |
| void | toAxes (Vec3f axis[3]) const |
| Axes to matrix. | |
| void | fromAxisAngle (const Vec3f &axis, FCL_REAL angle) |
| Axis and angle to quaternion. | |
| void | toAxisAngle (Vec3f &axis, FCL_REAL &angle) const |
| Quaternion to axis and angle. | |
| FCL_REAL | dot (const Quaternion3f &other) const |
| Dot product between quaternions. | |
| Quaternion3f | operator+ (const Quaternion3f &other) const |
| addition | |
| const Quaternion3f & | operator+= (const Quaternion3f &other) |
| Quaternion3f | operator- (const Quaternion3f &other) const |
| minus | |
| const Quaternion3f & | operator-= (const Quaternion3f &other) |
| Quaternion3f | operator * (const Quaternion3f &other) const |
| multiplication | |
| const Quaternion3f & | operator *= (const Quaternion3f &other) |
| Quaternion3f | operator- () const |
| division | |
| Quaternion3f | operator * (FCL_REAL t) const |
| scalar multiplication | |
| const Quaternion3f & | operator *= (FCL_REAL t) |
| Quaternion3f & | conj () |
| conjugate | |
| Quaternion3f & | inverse () |
| inverse | |
| Vec3f | transform (const Vec3f &v) const |
| rotate a vector | |
| const FCL_REAL & | getW () const |
| const FCL_REAL & | getX () const |
| const FCL_REAL & | getY () const |
| const FCL_REAL & | getZ () const |
| FCL_REAL & | getW () |
| FCL_REAL & | getX () |
| FCL_REAL & | getY () |
| FCL_REAL & | getZ () |
Definition at line 48 of file transform.h.
