21 #ifndef QUATERNION_HPP
22 #define QUATERNION_HPP
float w() const
get w coordinate
Definition: vec4.cpp:66
vec3 rotate(const vec3 &vec) const
apply a rotation (encoded by the quaternion) to the vector/point 3D
Definition: quaternion.cpp:123
quaternion operator*(const quaternion &q) const
multiplication by other quaternion
Definition: quaternion.cpp:191
quaternion & operator-=(const quaternion &q)
internal substraction with other quaternion
Definition: quaternion.cpp:170
quaternion & operator/=(float s)
internal division by a scalar
Definition: quaternion.cpp:178
float x() const
get x coordinate
Definition: vec4.cpp:37
float angle() const
get the angle corresponding to the quaternion
Definition: quaternion.cpp:56
quaternion operator-() const
unary negation
Definition: quaternion.cpp:233
Matrix 3x3.
Definition: matrix3.hpp:36
quaternion operator+(const quaternion &q) const
addition with other quaternionn
Definition: quaternion.cpp:214
float y() const
get y coordinate
Definition: vec4.cpp:47
Quaternion class.
Definition: quaternion.hpp:31
quaternion operator/(float s) const
division by a scalar
Definition: quaternion.cpp:226
quaternion & operator+=(const quaternion &q)
internal addition with other quaternion
Definition: quaternion.cpp:162
matrix1x4 operator*(float s, const matrix1x4 &m)
multiply by a scalar operator
Definition: matrix1x4.cpp:93
quaternion conjugated() const
get the conjugate of the current quaterion
Definition: quaternion.cpp:78
Vectors/Points 3D.
Definition: vec3.hpp:36
float z() const
get z coordinate
Definition: vec4.cpp:57
vec3 axis() const
get the unit axis corresponding to the quaternion
Definition: quaternion.cpp:52
quaternion & operator*=(const quaternion &q)
internal multiplication by other quaternion
Definition: quaternion.cpp:141
static quaternion slerp(const quaternion &q0, const quaternion &q1, const float alpha)
Spherical Linear Interpolation SLERP.
Definition: quaternion.cpp:83
matrix3 matrix() const
compute the rotation matrix associated to the current quaternion
Definition: quaternion.cpp:61
Vectors/Points 4D.
Definition: vec4.hpp:36
quaternion()
default constructor
Definition: quaternion.cpp:29