Classes | Functions

btQuaternion.h File Reference

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

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

Functions

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

Function Documentation

btScalar btAngle ( const btQuaternion q1,
const btQuaternion q2 
) [inline]

Return the angle between two quaternions.

Definition at line 810 of file btQuaternion.h.

btScalar dot ( const btQuaternion q1,
const btQuaternion q2 
) [inline]

Calculate the dot product between two quaternions.

Definition at line 795 of file btQuaternion.h.

btQuaternion inverse ( const btQuaternion q  )  [inline]

Return the inverse of a quaternion.

Definition at line 817 of file btQuaternion.h.

btScalar length ( const btQuaternion q  )  [inline]

Return the length of a quaternion.

Definition at line 803 of file btQuaternion.h.

btQuaternion operator* ( const btQuaternion q,
const btVector3 w 
) [inline]

Definition at line 628 of file btQuaternion.h.

btQuaternion operator* ( const btQuaternion q1,
const btQuaternion q2 
) [inline]

Return the product of two quaternions.

Definition at line 540 of file btQuaternion.h.

btQuaternion operator* ( const btVector3 w,
const btQuaternion q 
) [inline]

Definition at line 711 of file btQuaternion.h.

btVector3 quatRotate ( const btQuaternion rotation,
const btVector3 v 
) [inline]

Definition at line 834 of file btQuaternion.h.

btQuaternion shortestArcQuat ( const btVector3 v0,
const btVector3 v1 
) [inline]

Definition at line 848 of file btQuaternion.h.

btQuaternion shortestArcQuatNormalize2 ( btVector3 v0,
btVector3 v1 
) [inline]

Definition at line 867 of file btQuaternion.h.

btQuaternion slerp ( const btQuaternion q1,
const btQuaternion q2,
const btScalar t 
) [inline]

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 828 of file btQuaternion.h.