This is a quaternion class. For more information on quaternion mathematics consult a mathematics source on complex numbers. More...

#include <PxQuat.h>

Public Member Functions
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuat ()
	Default constructor, does not do any initialization. More...

PX_CUDA_CALLABLE PX_INLINE	PxQuat (PxIDENTITY r)
	identity constructor More...

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuat (PxReal r)
	Constructor from a scalar: sets the real part w to the scalar value, and the imaginary parts (x,y,z) to zero. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuat (PxReal nx, PxReal ny, PxReal nz, PxReal nw)
	Constructor. Take note of the order of the elements! More...

PX_CUDA_CALLABLE PX_INLINE	PxQuat (PxReal angleRadians, const PxVec3 &unitAxis)
	Creates from angle-axis representation. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuat (const PxQuat &v)
	Copy ctor. More...

PX_CUDA_CALLABLE PX_INLINE	PxQuat (const PxMat33 &m)
	Creates from orientation matrix. More...

PX_CUDA_CALLABLE bool	isFinite () const
	returns true if all elements are finite (not NAN or INF, etc.) More...

PX_CUDA_CALLABLE bool	isUnit () const
	returns true if finite and magnitude is close to unit More...

PX_CUDA_CALLABLE bool	isSane () const
	returns true if finite and magnitude is reasonably close to unit to allow for some accumulation of error vs isValid More...

PX_CUDA_CALLABLE PX_INLINE bool	operator== (const PxQuat &q) const
	returns true if the two quaternions are exactly equal More...

PX_CUDA_CALLABLE PX_INLINE void	toRadiansAndUnitAxis (PxReal &angle, PxVec3 &axis) const
	converts this quaternion to angle-axis representation More...

PX_CUDA_CALLABLE PX_INLINE PxReal	getAngle () const
	Gets the angle between this quat and the identity quaternion. More...

PX_CUDA_CALLABLE PX_INLINE PxReal	getAngle (const PxQuat &q) const
	Gets the angle between this quat and the argument. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	magnitudeSquared () const
	This is the squared 4D vector length, should be 1 for unit quaternions. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	dot (const PxQuat &v) const
	returns the scalar product of this and other. More...

PX_CUDA_CALLABLE PX_INLINE PxQuat	getNormalized () const

PX_CUDA_CALLABLE PX_INLINE float	magnitude () const

PX_CUDA_CALLABLE PX_INLINE PxReal	normalize ()
	maps to the closest unit quaternion. More...

PX_CUDA_CALLABLE PX_INLINE PxQuat	getConjugate () const

PX_CUDA_CALLABLE PX_INLINE PxVec3	getImaginaryPart () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3	getBasisVector0 () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3	getBasisVector1 () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3	getBasisVector2 () const

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3	rotate (const PxVec3 &v) const

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3	rotateInv (const PxVec3 &v) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat &	operator= (const PxQuat &p)
	Assignment operator. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat &	operator*= (const PxQuat &q)

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat &	operator+= (const PxQuat &q)

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat &	operator-= (const PxQuat &q)

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat &	operator*= (const PxReal s)

PX_CUDA_CALLABLE PX_INLINE PxQuat	operator* (const PxQuat &q) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat	operator+ (const PxQuat &q) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat	operator- () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat	operator- (const PxQuat &q) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat	operator* (PxReal r) const

Static Public Member Functions
static PX_DEPRECATED PX_CUDA_CALLABLE PX_INLINE PxQuat	createIdentity ()

Public Attributes
PxReal	x

PxReal	y

PxReal	z

PxReal	w

Detailed Description

This is a quaternion class. For more information on quaternion mathematics consult a mathematics source on complex numbers.

Constructor & Destructor Documentation

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat::PxQuat ( )

inline

Default constructor, does not do any initialization.

PX_CUDA_CALLABLE PX_INLINE PxQuat::PxQuat ( PxIDENTITY r )

inline

identity constructor

References PX_UNUSED().

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat::PxQuat ( PxReal r )

inlineexplicit

Constructor from a scalar: sets the real part w to the scalar value, and the imaginary parts (x,y,z) to zero.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat::PxQuat	(	PxReal	nx,
		PxReal	ny,
		PxReal	nz,
		PxReal	nw
	)

inline

Constructor. Take note of the order of the elements!

PX_CUDA_CALLABLE PX_INLINE PxQuat::PxQuat	(	PxReal	angleRadians,
		const PxVec3 &	unitAxis
	)

inline

Creates from angle-axis representation.

Axis must be normalized!

Angle is in radians!

Unit: Radians

References PxVec3::magnitude(), PX_ASSERT, PxAbs(), PxCos(), PxSin(), PxVec3::x, PxVec3::y, and PxVec3::z.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat::PxQuat ( const PxQuat & v )

inline

Copy ctor.

Member Function Documentation

static PX_DEPRECATED PX_CUDA_CALLABLE PX_INLINE PxQuat PxQuat::createIdentity ( )

inlinestatic

Deprecated:: use PxQuat(PxIdentity)

References PxIdentity.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxQuat::dot ( const PxQuat & v ) const

inline

returns the scalar product of this and other.

References w, x, y, and z.

PX_CUDA_CALLABLE PX_INLINE PxReal PxQuat::getAngle ( ) const

inline

Gets the angle between this quat and the identity quaternion.

Unit: Radians

References PxAcos().

PX_CUDA_CALLABLE PX_INLINE PxReal PxQuat::getAngle ( const PxQuat & q ) const

inline

Gets the angle between this quat and the argument.

Unit: Radians

References PxAcos().

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxQuat::getBasisVector0 ( ) const

inline

brief computes rotation of x-axis

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxQuat::getBasisVector1 ( ) const

inline

brief computes rotation of y-axis

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxQuat::getBasisVector2 ( ) const

inline

brief computes rotation of z-axis

PX_CUDA_CALLABLE PX_INLINE PxQuat PxQuat::getConjugate ( ) const

inline

Referenced by PxTransform::transformInv().

PX_CUDA_CALLABLE PX_INLINE PxVec3 PxQuat::getImaginaryPart ( ) const

inline

PX_CUDA_CALLABLE PX_INLINE PxQuat PxQuat::getNormalized ( ) const

inline

PX_CUDA_CALLABLE bool PxQuat::isFinite ( ) const

inline

returns true if all elements are finite (not NAN or INF, etc.)

References PxIsFinite().

PX_CUDA_CALLABLE bool PxQuat::isSane ( ) const

inline

returns true if finite and magnitude is reasonably close to unit to allow for some accumulation of error vs isValid

References PxAbs().

Referenced by PxTransform::PxTransform().

PX_CUDA_CALLABLE bool PxQuat::isUnit ( ) const

inline

returns true if finite and magnitude is close to unit

References PxAbs().

Referenced by PxMeshScale::PxMeshScale().

PX_CUDA_CALLABLE PX_INLINE float PxQuat::magnitude ( ) const

inline

References PxSqrt().

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxQuat::magnitudeSquared ( ) const

inline

This is the squared 4D vector length, should be 1 for unit quaternions.

PX_CUDA_CALLABLE PX_INLINE PxReal PxQuat::normalize ( )

inline

maps to the closest unit quaternion.

PX_CUDA_CALLABLE PX_INLINE PxQuat PxQuat::operator* ( const PxQuat & q ) const

inline

quaternion multiplication

References w, x, y, and z.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat PxQuat::operator* ( PxReal r ) const

inline

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat& PxQuat::operator*= ( const PxQuat & q )

inline

References w, x, y, and z.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat& PxQuat::operator*= ( const PxReal s )

inline

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat PxQuat::operator+ ( const PxQuat & q ) const

inline

quaternion addition

References w, x, y, and z.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat& PxQuat::operator+= ( const PxQuat & q )

inline

References w, x, y, and z.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat PxQuat::operator- ( ) const

inline

quaternion subtraction

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat PxQuat::operator- ( const PxQuat & q ) const

inline

References w, x, y, and z.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat& PxQuat::operator-= ( const PxQuat & q )

inline

References w, x, y, and z.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat& PxQuat::operator= ( const PxQuat & p )

inline

Assignment operator.

References w, x, y, and z.

PX_CUDA_CALLABLE PX_INLINE bool PxQuat::operator== ( const PxQuat & q ) const

inline

returns true if the two quaternions are exactly equal

References w, x, y, and z.

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 PxQuat::rotate ( const PxVec3 & v ) const

inline

rotates passed vec by this (assumed unitary)

References PxVec3::x, PxVec3::y, and PxVec3::z.

Referenced by PxTransform::transformInv().

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 PxQuat::rotateInv ( const PxVec3 & v ) const

inline

inverse rotates passed vec by this (assumed unitary)

References PxVec3::x, PxVec3::y, and PxVec3::z.

PX_CUDA_CALLABLE PX_INLINE void PxQuat::toRadiansAndUnitAxis	(	PxReal &	angle,
		PxVec3 &	axis
	)		const

inline

converts this quaternion to angle-axis representation

References PxAbs(), PxAtan2(), PxPi, and PxRecipSqrt().

Member Data Documentation

PxReal PxQuat::w

Referenced by dot(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-=(), operator=(), operator==(), PxMat33::PxMat33(), and PxMat44::PxMat44().

PxReal PxQuat::x

the quaternion elements

Referenced by dot(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-=(), operator=(), operator==(), PxMat33::PxMat33(), and PxMat44::PxMat44().

PxReal PxQuat::y

Referenced by dot(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-=(), operator=(), operator==(), PxMat33::PxMat33(), and PxMat44::PxMat44().

PxReal PxQuat::z

Referenced by dot(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-=(), operator=(), operator==(), PxMat33::PxMat33(), and PxMat44::PxMat44().

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

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation