PxQuat Class Reference
[Foundation]

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

#include <PxQuat.h>

List of all members.

Public Member Functions
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuat ()
	Default constructor, does not do any initialization.
PX_CUDA_CALLABLE PX_INLINE	PxQuat (PxIDENTITY r)
	identity constructor
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuat (float r)
	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 (float nx, float ny, float nz, float nw)
	Constructor. Take note of the order of the elements!
PX_CUDA_CALLABLE PX_INLINE	PxQuat (float angleRadians, const PxVec3 &unitAxis)
	Creates from angle-axis representation.
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuat (const PxQuat &v)
	Copy ctor.
PX_CUDA_CALLABLE PX_INLINE	PxQuat (const PxMat33 &m)
	Creates from orientation matrix.
PX_CUDA_CALLABLE PX_FORCE_INLINE bool	isIdentity () const
	returns true if quat is identity
PX_CUDA_CALLABLE bool	isFinite () const
	returns true if all elements are finite (not NAN or INF, etc.)
PX_CUDA_CALLABLE bool	isUnit () const
	returns true if finite and magnitude is close to unit
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
PX_CUDA_CALLABLE PX_INLINE bool	operator== (const PxQuat &q) const
	returns true if the two quaternions are exactly equal
PX_CUDA_CALLABLE PX_INLINE void	toRadiansAndUnitAxis (float &angle, PxVec3 &axis) const
	converts this quaternion to angle-axis representation
PX_CUDA_CALLABLE PX_INLINE float	getAngle () const
	Gets the angle between this quat and the identity quaternion.
PX_CUDA_CALLABLE PX_INLINE float	getAngle (const PxQuat &q) const
	Gets the angle between this quat and the argument.
PX_CUDA_CALLABLE PX_FORCE_INLINE float	magnitudeSquared () const
	This is the squared 4D vector length, should be 1 for unit quaternions.
PX_CUDA_CALLABLE PX_FORCE_INLINE float	dot (const PxQuat &v) const
	returns the scalar product of this and other.
PX_CUDA_CALLABLE PX_INLINE PxQuat	getNormalized () const
PX_CUDA_CALLABLE PX_INLINE float	magnitude () const
PX_CUDA_CALLABLE PX_INLINE float	normalize ()
	maps to the closest unit quaternion.
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.
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 float 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* (float r) const
Public Attributes
float	x
float	y
float	z
float	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.

Referenced by PxQuat().

PX_CUDA_CALLABLE PX_INLINE PxQuat::PxQuat

(

PxIDENTITY

r

)

[inline]

identity constructor

References PX_UNUSED().

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat::PxQuat

(

float

r

)

[inline, explicit]

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	(	float	nx,
		float	ny,
		float	nz,
		float	nw
	)			[inline]

Constructor. Take note of the order of the elements!

PX_CUDA_CALLABLE PX_INLINE PxQuat::PxQuat	(	float	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

PX_CUDA_CALLABLE PX_FORCE_INLINE float 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 float PxQuat::getAngle

(

const PxQuat &

q

)

const [inline]

Gets the angle between this quat and the argument.

Unit: Radians

References PxAcos().

PX_CUDA_CALLABLE PX_INLINE float PxQuat::getAngle

(

)

const [inline]

Gets the angle between this quat and the identity quaternion.

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 PxMassProperties::scaleInertia().

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().

Referenced by PxMassProperties::getMassSpaceInertia().

PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxQuat::isIdentity

(

)

const [inline]

returns true if quat is identity

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 PxTriangleMeshGeometry::isValid(), PxConvexMeshGeometry::isValid(), PxMeshScale::PxMeshScale(), PxMassProperties::rotateInertia(), and PxMassProperties::scaleInertia().

PX_CUDA_CALLABLE PX_INLINE float PxQuat::magnitude

(

)

const [inline]

References PxSqrt().

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxQuat::magnitudeSquared

(

)

const [inline]

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

PX_CUDA_CALLABLE PX_INLINE float PxQuat::normalize

(

)

[inline]

maps to the closest unit quaternion.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat PxQuat::operator*

(

float

r

)

const [inline]

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*=

(

const float

s

)

[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 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 PxQuat &

q

)

const [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

)

[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 PxMassProperties::PxMassProperties(), and 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.

Referenced by PxMassProperties::PxMassProperties().

PX_CUDA_CALLABLE PX_INLINE void PxQuat::toRadiansAndUnitAxis	(	float &	angle,
		PxVec3 &	axis
	)			const [inline]

converts this quaternion to angle-axis representation

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

---

Member Data Documentation

float PxQuat::w

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

float PxQuat::x

the quaternion elements

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

float PxQuat::y

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

float 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:

• PxQuat.h
• PxMat33.h