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

Public Types
typedef float	ScalarType

typedef GfVec3f	ImaginaryType

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

	GfQuatf (float realVal)
	Initialize the real coefficient to `realVal` and the imaginary coefficients to zero. More...

	GfQuatf (float real, float i, float j, float k)
	Initialize the real and imaginary coefficients. More...

	GfQuatf (float real, const GfVec3f &imaginary)
	Initialize the real and imaginary coefficients. More...

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

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

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

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

const GfVec3f &	GetImaginary () const
	Return the imaginary coefficient. More...

void	SetImaginary (const GfVec3f &imaginary)
	Set the imaginary coefficients. More...

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

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

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

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

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

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

GF_API GfVec3f	Transform (const GfVec3f &point) const
	Transform the GfVec3f point. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

GfQuatf	operator/ (const GfQuatf &q, float 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 quatf.h.

Constructor & Destructor Documentation

◆ GfQuatf() [1/6]

GfQuatf ( )

inline

Default constructor leaves the quaternion undefined.

Definition at line 66 of file quatf.h.

◆ GfQuatf() [2/6]

GfQuatf ( float 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 quatf.h.

◆ GfQuatf() [3/6]

GfQuatf	(	float	real,
		float	i,
		float	j,
		float	k
	)

inline

Initialize the real and imaginary coefficients.

Definition at line 78 of file quatf.h.

◆ GfQuatf() [4/6]

GfQuatf	(	float	real,
		const GfVec3f &	imaginary
	)

inline

Initialize the real and imaginary coefficients.

Definition at line 84 of file quatf.h.

◆ GfQuatf() [5/6]

GF_API GfQuatf ( class GfQuatd const & other )

explicit

Construct from GfQuatd.

◆ GfQuatf() [6/6]

GF_API GfQuatf ( class GfQuath const & other )

Implicitly convert from GfQuath.

Member Function Documentation

◆ GetConjugate()

GfQuatf 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 quatf.h.

◆ GetIdentity()

static GfQuatf GetIdentity ( )

inlinestatic

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

Definition at line 102 of file quatf.h.

◆ GetImaginary()

const GfVec3f& GetImaginary ( ) const

inline

Return the imaginary coefficient.

Definition at line 111 of file quatf.h.

◆ GetInverse()

GfQuatf 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 quatf.h.

◆ GetLength()

float GetLength ( ) const

inline

Return geometric length of this quaternion.

Definition at line 124 of file quatf.h.

◆ GetNormalized()

GfQuatf GetNormalized ( float 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 quatf.h.

◆ GetReal()

float GetReal ( ) const

inline

Return the real coefficient.

Definition at line 105 of file quatf.h.

◆ GetZero()

static GfQuatf GetZero ( )

inlinestatic

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

Definition at line 98 of file quatf.h.

◆ Normalize()

GF_API float Normalize ( float 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 GfQuatf& operator *= ( const GfQuatf & q )

Post-multiply quaternion q into this quaternion.

◆ operator *=() [2/2]

GfQuatf& operator *= ( float s )

inline

Multiply this quaternion's coefficients by s.

Definition at line 191 of file quatf.h.

◆ operator -=()

GfQuatf& operator -= ( const GfQuatf & q )

inline

Component-wise unary difference operator.

Definition at line 212 of file quatf.h.

◆ operator!=()

bool operator!= ( const GfQuatf & 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 quatf.h.

◆ operator+=()

GfQuatf& operator+= ( const GfQuatf & q )

inline

Add quaternion q to this quaternion.

Definition at line 205 of file quatf.h.

◆ operator-()

GfQuatf operator- ( ) const

inline

Component-wise negation.

Definition at line 169 of file quatf.h.

◆ operator/=()

GfQuatf& operator/= ( float s )

inline

Divide this quaternion's coefficients by s.

Definition at line 198 of file quatf.h.

◆ operator==()

bool operator== ( const GfQuatf & 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 quatf.h.

◆ SetImaginary() [1/2]

void SetImaginary ( const GfVec3f & imaginary )

inline

Set the imaginary coefficients.

Definition at line 114 of file quatf.h.

◆ SetImaginary() [2/2]

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

inline

Set the imaginary coefficients.

Definition at line 119 of file quatf.h.

◆ SetReal()

void SetReal ( float real )

inline

Set the real coefficient.

Definition at line 108 of file quatf.h.

◆ Transform()

GF_API GfVec3f Transform ( const GfVec3f & point ) const

Transform the GfVec3f point.

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

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

but is more efficient.

Friends And Related Function Documentation

◆ hash_value

size_t hash_value ( const GfQuatf & q )

friend

Hash.

Definition at line 164 of file quatf.h.

◆ operator * [1/3]

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

friend

Returns the product of quaternions q1 and q2.

Definition at line 232 of file quatf.h.

◆ operator * [2/3]

GfQuatf operator *	(	const GfQuatf &	q,
		float	s
	)

friend

Returns the product of quaternion q and scalar s.

Definition at line 238 of file quatf.h.

◆ operator * [3/3]

GfQuatf operator *	(	float	s,
		const GfQuatf &	q
	)

friend

Returns the product of quaternion q and scalar s.

Definition at line 244 of file quatf.h.

◆ operator -

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

friend

Component-wise binary difference operator.

Definition at line 226 of file quatf.h.

◆ operator+

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

friend

Component-wise binary sum operator.

Definition at line 220 of file quatf.h.

◆ operator/

GfQuatf operator/	(	const GfQuatf &	q,
		float	s
	)

friend

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

Definition at line 250 of file quatf.h.

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

pxr/base/gf/quatf.h

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ GfQuatf() [1/6]

◆ GfQuatf() [2/6]

◆ GfQuatf() [3/6]

◆ GfQuatf() [4/6]

◆ GfQuatf() [5/6]

◆ GfQuatf() [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/