Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients, stored as a 3-vector. More...

Public Types
typedef double	ScalarType

typedef GfVec3d	ImaginaryType

Public Member Functions
	GfQuatd ()
	Default constructor leaves the quaternion undefined. More...

	GfQuatd (double realVal)
	Initialize the real coefficient to `realVal` and the imaginary coefficients to zero. More...

	GfQuatd (double real, double i, double j, double k)
	Initialize the real and imaginary coefficients. More...

	GfQuatd (double real, const GfVec3d &imaginary)
	Initialize the real and imaginary coefficients. More...

GF_API	GfQuatd (class GfQuatf const &other)
	Implicitly convert from GfQuatf. More...

GF_API	GfQuatd (class GfQuath const &other)
	Implicitly convert from GfQuath. More...

double	GetReal () const
	Return the real coefficient. More...

void	SetReal (double real)
	Set the real coefficient. More...

const GfVec3d &	GetImaginary () const
	Return the imaginary coefficient. More...

void	SetImaginary (const GfVec3d &imaginary)
	Set the imaginary coefficients. More...

void	SetImaginary (double i, double j, double k)
	Set the imaginary coefficients. More...

double	GetLength () const
	Return geometric length of this quaternion. More...

GfQuatd	GetNormalized (double eps=GF_MIN_VECTOR_LENGTH) const
	length of this quaternion is smaller than `eps`, return the identity quaternion. More...

GF_API double	Normalize (double eps=GF_MIN_VECTOR_LENGTH)
	Normalizes this quaternion in place to unit length, returning the length before normalization. More...

GfQuatd	GetConjugate () const
	Return this quaternion's conjugate, which is the quaternion with the same real coefficient and negated imaginary coefficients. More...

GfQuatd	GetInverse () const
	Return this quaternion's inverse, or reciprocal. More...

GF_API GfVec3d	Transform (const GfVec3d &point) const
	Transform the GfVec3d point. More...

GfQuatd	operator- () const
	Component-wise negation. More...

bool	operator== (const GfQuatd &q) const
	Component-wise quaternion equality test. More...

bool	operator!= (const GfQuatd &q) const
	Component-wise quaternion inequality test. More...

GF_API GfQuatd &	operator *= (const GfQuatd &q)
	Post-multiply quaternion `q` into this quaternion. More...

GfQuatd &	operator *= (double s)
	Multiply this quaternion's coefficients by `s`. More...

GfQuatd &	operator/= (double s)
	Divide this quaternion's coefficients by `s`. More...

GfQuatd &	operator+= (const GfQuatd &q)
	Add quaternion `q` to this quaternion. More...

GfQuatd &	operator -= (const GfQuatd &q)
	Component-wise unary difference operator. More...

Static Public Member Functions
static GfQuatd	GetZero ()
	Return the zero quaternion, with real coefficient 0 and an imaginary coefficients all zero. More...

static GfQuatd	GetIdentity ()
	Return the identity quaternion, with real coefficient 1 and an imaginary coefficients all zero. More...

Friends
size_t	hash_value (const GfQuatd &q)
	Hash. More...

GfQuatd	operator+ (const GfQuatd &q1, const GfQuatd &q2)
	Component-wise binary sum operator. More...

GfQuatd	operator - (const GfQuatd &q1, const GfQuatd &q2)
	Component-wise binary difference operator. More...

GfQuatd	operator * (const GfQuatd &q1, const GfQuatd &q2)
	Returns the product of quaternions `q1` and `q2`. More...

GfQuatd	operator * (const GfQuatd &q, double s)
	Returns the product of quaternion `q` and scalar `s`. More...

GfQuatd	operator * (double s, const GfQuatd &q)
	Returns the product of quaternion `q` and scalar `s`. More...

GfQuatd	operator/ (const GfQuatd &q, double s)
	Returns the product of quaternion `q` and scalar 1 / `s`. More...

Detailed Description

Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients, stored as a 3-vector.

Definition at line 59 of file quatd.h.

Constructor & Destructor Documentation

◆ GfQuatd() [1/6]

GfQuatd ( )

inline

Default constructor leaves the quaternion undefined.

Definition at line 66 of file quatd.h.

◆ GfQuatd() [2/6]

GfQuatd ( double realVal )

inlineexplicit

Initialize the real coefficient to realVal and the imaginary coefficients to zero.

Since quaternions typically must be normalized, reasonable values for realVal are -1, 0, or 1. Other values are legal but are likely to be meaningless.

Definition at line 75 of file quatd.h.

◆ GfQuatd() [3/6]

GfQuatd	(	double	real,
		double	i,
		double	j,
		double	k
	)

inline

Initialize the real and imaginary coefficients.

Definition at line 78 of file quatd.h.

◆ GfQuatd() [4/6]

GfQuatd	(	double	real,
		const GfVec3d &	imaginary
	)

inline

Initialize the real and imaginary coefficients.

Definition at line 84 of file quatd.h.

◆ GfQuatd() [5/6]

GF_API GfQuatd ( class GfQuatf const & other )

Implicitly convert from GfQuatf.

◆ GfQuatd() [6/6]

GF_API GfQuatd ( class GfQuath const & other )

Implicitly convert from GfQuath.

Member Function Documentation

◆ GetConjugate()

GfQuatd GetConjugate ( ) const

inline

Return this quaternion's conjugate, which is the quaternion with the same real coefficient and negated imaginary coefficients.

Definition at line 143 of file quatd.h.

◆ GetIdentity()

static GfQuatd GetIdentity ( )

inlinestatic

Return the identity quaternion, with real coefficient 1 and an imaginary coefficients all zero.

Definition at line 102 of file quatd.h.

◆ GetImaginary()

const GfVec3d& GetImaginary ( ) const

inline

Return the imaginary coefficient.

Definition at line 111 of file quatd.h.

◆ GetInverse()

GfQuatd GetInverse ( ) const

inline

Return this quaternion's inverse, or reciprocal.

This is the quaternion's conjugate divided by it's squared length.

Definition at line 149 of file quatd.h.

◆ GetLength()

double GetLength ( ) const

inline

Return geometric length of this quaternion.

Definition at line 124 of file quatd.h.

◆ GetNormalized()

GfQuatd GetNormalized ( double eps = GF_MIN_VECTOR_LENGTH ) const

inline

length of this quaternion is smaller than eps, return the identity quaternion.

Definition at line 129 of file quatd.h.

◆ GetReal()

double GetReal ( ) const

inline

Return the real coefficient.

Definition at line 105 of file quatd.h.

◆ GetZero()

static GfQuatd GetZero ( )

inlinestatic

Return the zero quaternion, with real coefficient 0 and an imaginary coefficients all zero.

Definition at line 98 of file quatd.h.

◆ Normalize()

GF_API double Normalize ( double eps = GF_MIN_VECTOR_LENGTH )

Normalizes this quaternion in place to unit length, returning the length before normalization.

If the length of this quaternion is smaller than eps, this sets the quaternion to identity.

◆ operator *=() [1/2]

GF_API GfQuatd& operator *= ( const GfQuatd & q )

Post-multiply quaternion q into this quaternion.

◆ operator *=() [2/2]

GfQuatd& operator *= ( double s )

inline

Multiply this quaternion's coefficients by s.

Definition at line 191 of file quatd.h.

◆ operator -=()

GfQuatd& operator -= ( const GfQuatd & q )

inline

Component-wise unary difference operator.

Definition at line 212 of file quatd.h.

◆ operator!=()

bool operator!= ( const GfQuatd & q ) const

inline

Component-wise quaternion inequality test.

The real and imaginary parts must match exactly for quaternions to be considered equal.

Definition at line 182 of file quatd.h.

◆ operator+=()

GfQuatd& operator+= ( const GfQuatd & q )

inline

Add quaternion q to this quaternion.

Definition at line 205 of file quatd.h.

◆ operator-()

GfQuatd operator- ( ) const

inline

Component-wise negation.

Definition at line 169 of file quatd.h.

◆ operator/=()

GfQuatd& operator/= ( double s )

inline

Divide this quaternion's coefficients by s.

Definition at line 198 of file quatd.h.

◆ operator==()

bool operator== ( const GfQuatd & q ) const

inline

Component-wise quaternion equality test.

The real and imaginary parts must match exactly for quaternions to be considered equal.

Definition at line 175 of file quatd.h.

◆ SetImaginary() [1/2]

void SetImaginary ( const GfVec3d & imaginary )

inline

Set the imaginary coefficients.

Definition at line 114 of file quatd.h.

◆ SetImaginary() [2/2]

void SetImaginary	(	double	i,
		double	j,
		double	k
	)

inline

Set the imaginary coefficients.

Definition at line 119 of file quatd.h.

◆ SetReal()

void SetReal ( double real )

inline

Set the real coefficient.

Definition at line 108 of file quatd.h.

◆ Transform()

GF_API GfVec3d Transform ( const GfVec3d & point ) const

Transform the GfVec3d point.

If the quaternion is normalized, the transformation is a rotation. Given a GfQuatd q, q.Transform(point) is equivalent to:

(q * GfQuatd(0, point) * q.GetInverse()).GetImaginary()

but is more efficient.

Friends And Related Function Documentation

◆ hash_value

size_t hash_value ( const GfQuatd & q )

friend

Hash.

Definition at line 164 of file quatd.h.

◆ operator * [1/3]

GfQuatd operator *	(	const GfQuatd &	q1,
		const GfQuatd &	q2
	)

friend

Returns the product of quaternions q1 and q2.

Definition at line 232 of file quatd.h.

◆ operator * [2/3]

GfQuatd operator *	(	const GfQuatd &	q,
		double	s
	)

friend

Returns the product of quaternion q and scalar s.

Definition at line 238 of file quatd.h.

◆ operator * [3/3]

GfQuatd operator *	(	double	s,
		const GfQuatd &	q
	)

friend

Returns the product of quaternion q and scalar s.

Definition at line 244 of file quatd.h.

◆ operator -

GfQuatd operator -	(	const GfQuatd &	q1,
		const GfQuatd &	q2
	)

friend

Component-wise binary difference operator.

Definition at line 226 of file quatd.h.

◆ operator+

GfQuatd operator+	(	const GfQuatd &	q1,
		const GfQuatd &	q2
	)

friend

Component-wise binary sum operator.

Definition at line 220 of file quatd.h.

◆ operator/

GfQuatd operator/	(	const GfQuatd &	q,
		double	s
	)

friend

Returns the product of quaternion q and scalar 1 / s.

Definition at line 250 of file quatd.h.

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

pxr/base/gf/quatd.h

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ GfQuatd() [1/6]

◆ GfQuatd() [2/6]

◆ GfQuatd() [3/6]

◆ GfQuatd() [4/6]

◆ GfQuatd() [5/6]

◆ GfQuatd() [6/6]

Member Function Documentation

◆ GetConjugate()

◆ GetIdentity()

◆ GetImaginary()

◆ GetInverse()

◆ GetLength()

◆ GetNormalized()

◆ GetReal()

◆ GetZero()

◆ Normalize()

◆ operator *=() [1/2]

◆ operator *=() [2/2]

◆ operator -=()

◆ operator!=()

◆ operator+=()

◆ operator-()

◆ operator/=()

◆ operator==()

◆ SetImaginary() [1/2]

◆ SetImaginary() [2/2]

◆ SetReal()

◆ Transform()

Friends And Related Function Documentation

◆ hash_value

◆ operator * [1/3]

◆ operator * [2/3]

◆ operator * [3/3]

◆ operator -

◆ operator+

◆ operator/