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 (float 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 (float nx, float ny, float nz, float nw)
	Constructor. Take note of the order of the elements! More...

PX_CUDA_CALLABLE PX_INLINE	PxQuat (float 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 PX_FORCE_INLINE bool	isIdentity () const
	returns true if quat is identity 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 (float &angle, PxVec3 &axis) const
	converts this quaternion to angle-axis representation More...

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

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

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

PX_CUDA_CALLABLE PX_FORCE_INLINE float	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 float	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 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

◆ PxQuat() [1/6]

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat::PxQuat ( )

inline

Default constructor, does not do any initialization.

◆ PxQuat() [2/6]

PX_CUDA_CALLABLE PX_INLINE PxQuat::PxQuat ( PxIDENTITY r )

inline

identity constructor

References PX_UNUSED().

◆ PxQuat() [3/6]

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat::PxQuat ( float r )

inlineexplicit

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

◆ PxQuat() [4/6]

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!

◆ PxQuat() [5/6]

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_SHARED_ASSERT, PxAbs(), PxCos(), PxSin(), PxVec3::x, PxVec3::y, and PxVec3::z.

◆ PxQuat() [6/6]

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

inline

Copy ctor.

Member Function Documentation

◆ dot()

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.

◆ getAngle() [1/2]

PX_CUDA_CALLABLE PX_INLINE float PxQuat::getAngle ( ) const

inline

Gets the angle between this quat and the identity quaternion.

Unit: Radians

References PxAcos().

◆ getAngle() [2/2]

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().

◆ getBasisVector0()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxQuat::getBasisVector0 ( ) const

inline

brief computes rotation of x-axis

◆ getBasisVector1()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxQuat::getBasisVector1 ( ) const

inline

brief computes rotation of y-axis

◆ getBasisVector2()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxQuat::getBasisVector2 ( ) const

inline

brief computes rotation of z-axis

◆ getConjugate()

PX_CUDA_CALLABLE PX_INLINE PxQuat PxQuat::getConjugate ( ) const

inline

Referenced by PxTransform::getInverse(), PxMassProperties::scaleInertia(), and PxTransform::transformInv().

◆ getImaginaryPart()

PX_CUDA_CALLABLE PX_INLINE PxVec3 PxQuat::getImaginaryPart ( ) const

inline

◆ getNormalized()

PX_CUDA_CALLABLE PX_INLINE PxQuat PxQuat::getNormalized ( ) const

inline

Referenced by PxTransform::getNormalized().

◆ isFinite()

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(), PxTransform::isFinite(), and PxTransform::isValid().

◆ isIdentity()

PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxQuat::isIdentity ( ) const

inline

returns true if quat is identity

◆ isSane()

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 physx::intrinsics::isFinite(), and PxAbs().

Referenced by PxTransform::isSane(), and PxTransform::PxTransform().

◆ isUnit()

PX_CUDA_CALLABLE bool PxQuat::isUnit ( ) const

inline

returns true if finite and magnitude is close to unit

References physx::intrinsics::isFinite(), and PxAbs().

Referenced by PxTransform::isValid(), PxMeshScale::PxMeshScale(), PxMassProperties::rotateInertia(), and PxMassProperties::scaleInertia().

◆ magnitude()

PX_CUDA_CALLABLE PX_INLINE float PxQuat::magnitude ( ) const

inline

References PxSqrt().

◆ magnitudeSquared()

PX_CUDA_CALLABLE PX_FORCE_INLINE float PxQuat::magnitudeSquared ( ) const

inline

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

◆ normalize()

PX_CUDA_CALLABLE PX_INLINE float PxQuat::normalize ( )

inline

maps to the closest unit quaternion.

◆ operator*() [1/2]

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

inline

quaternion multiplication

References w, x, y, and z.

◆ operator*() [2/2]

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

inline

◆ operator*=() [1/2]

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

inline

References w, x, y, and z.

◆ operator*=() [2/2]

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

inline

◆ operator+()

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

inline

quaternion addition

References w, x, y, and z.

◆ operator+=()

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

inline

References w, x, y, and z.

◆ operator-() [1/2]

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat PxQuat::operator- ( ) const

inline

quaternion subtraction

◆ operator-() [2/2]

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

inline

References w, x, y, and z.

◆ operator-=()

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

inline

References w, x, y, and z.

◆ operator=()

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

inline

Assignment operator.

References w, x, y, and z.

◆ operator==()

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.

◆ rotate()

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(), PxTransform::rotate(), PxTransform::transform(), and PxTransform::transformInv().

◆ rotateInv()

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 PxTransform::getInverse(), PxMassProperties::PxMassProperties(), PxTransform::rotateInv(), and PxTransform::transformInv().

◆ toRadiansAndUnitAxis()

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

◆ w

float PxQuat::w

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

◆ x

float PxQuat::x

the quaternion elements

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

◆ y

float PxQuat::y

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

◆ z

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:

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PxQuat() [1/6]

◆ PxQuat() [2/6]

◆ PxQuat() [3/6]

◆ PxQuat() [4/6]

◆ PxQuat() [5/6]

◆ PxQuat() [6/6]

Member Function Documentation

◆ dot()

◆ getAngle() [1/2]

◆ getAngle() [2/2]

◆ getBasisVector0()

◆ getBasisVector1()

◆ getBasisVector2()

◆ getConjugate()

◆ getImaginaryPart()

◆ getNormalized()

◆ isFinite()

◆ isIdentity()

◆ isSane()

◆ isUnit()

◆ magnitude()

◆ magnitudeSquared()

◆ normalize()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator=()

◆ operator==()

◆ rotate()

◆ rotateInv()

◆ toRadiansAndUnitAxis()

Member Data Documentation

◆ w

◆ x

◆ y

◆ z