GfQuath Class Reference

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

#include <quath.h>

Public Types
typedef GfHalf	ScalarType
typedef GfVec3h	ImaginaryType

Public Member Functions
	GfQuath ()
	Default constructor leaves the quaternion undefined.
	GfQuath (GfHalf realVal)
	Initialize the real coefficient to realVal and the imaginary coefficients to zero.
	GfQuath (GfHalf real, GfHalf i, GfHalf j, GfHalf k)
	Initialize the real and imaginary coefficients.
	GfQuath (GfHalf real, const GfVec3h &imaginary)
	Initialize the real and imaginary coefficients.
GF_API	GfQuath (class GfQuatd const &other)
	Construct from GfQuatd.
GF_API	GfQuath (class GfQuatf const &other)
	Construct from GfQuatf.
GfHalf	GetReal () const
	Return the real coefficient.
void	SetReal (GfHalf real)
	Set the real coefficient.
const GfVec3h &	GetImaginary () const
	Return the imaginary coefficient.
void	SetImaginary (const GfVec3h &imaginary)
	Set the imaginary coefficients.
void	SetImaginary (GfHalf i, GfHalf j, GfHalf k)
	Set the imaginary coefficients.
GfHalf	GetLength () const
	Return geometric length of this quaternion.
GfQuath	GetNormalized (GfHalf eps=GF_MIN_VECTOR_LENGTH) const
	length of this quaternion is smaller than eps, return the identity quaternion.
GF_API GfHalf	Normalize (GfHalf eps=GF_MIN_VECTOR_LENGTH)
	Normalizes this quaternion in place to unit length, returning the length before normalization.
GfQuath	GetConjugate () const
	Return this quaternion's conjugate, which is the quaternion with the same real coefficient and negated imaginary coefficients.
GfQuath	GetInverse () const
	Return this quaternion's inverse, or reciprocal.
GF_API GfVec3h	Transform (const GfVec3h &point) const
	Transform the GfVec3h point.
GfQuath	operator- () const
	Component-wise negation.
bool	operator== (const GfQuath &q) const
	Component-wise quaternion equality test.
bool	operator!= (const GfQuath &q) const
	Component-wise quaternion inequality test.
GF_API GfQuath &	operator*= (const GfQuath &q)
	Post-multiply quaternion q into this quaternion.
GfQuath &	operator*= (GfHalf s)
	Multiply this quaternion's coefficients by s.
GfQuath &	operator/= (GfHalf s)
	Divide this quaternion's coefficients by s.
GfQuath &	operator+= (const GfQuath &q)
	Add quaternion q to this quaternion.
GfQuath &	operator-= (const GfQuath &q)
	Component-wise unary difference operator.

Static Public Member Functions
static GfQuath	GetZero ()
	Return the zero quaternion, with real coefficient 0 and an imaginary coefficients all zero.
static GfQuath	GetIdentity ()
	Return the identity quaternion, with real coefficient 1 and an imaginary coefficients all zero.

Friends
size_t	hash_value (const GfQuath &q)
	Hash.
GfQuath	operator+ (const GfQuath &q1, const GfQuath &q2)
	Component-wise binary sum operator.
GfQuath	operator- (const GfQuath &q1, const GfQuath &q2)
	Component-wise binary difference operator.
GfQuath	operator* (const GfQuath &q1, const GfQuath &q2)
	Returns the product of quaternions q1 and q2.
GfQuath	operator* (const GfQuath &q, GfHalf s)
	Returns the product of quaternion q and scalar s.
GfQuath	operator* (GfHalf s, const GfQuath &q)
	Returns the product of quaternion q and scalar s.
GfQuath	operator/ (const GfQuath &q, GfHalf s)
	Returns the product of quaternion q and scalar 1 / s.

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 43 of file quath.h.

Member Typedef Documentation

ImaginaryType

typedef GfVec3h ImaginaryType

Definition at line 47 of file quath.h.

ScalarType

typedef GfHalf ScalarType

Definition at line 46 of file quath.h.

Constructor & Destructor Documentation

GfQuath() [1/6]

GfQuath ( )

inline

Default constructor leaves the quaternion undefined.

Definition at line 50 of file quath.h.

GfQuath() [2/6]

GfQuath ( GfHalf  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 59 of file quath.h.

GfQuath() [3/6]

GfQuath ( GfHalf  real, GfHalf  i, GfHalf  j, GfHalf  k  )

inline

Initialize the real and imaginary coefficients.

Definition at line 62 of file quath.h.

GfQuath() [4/6]

GfQuath ( GfHalf  real, const GfVec3h &  imaginary  )

inline

Initialize the real and imaginary coefficients.

Definition at line 68 of file quath.h.

GfQuath() [5/6]

GF_API GfQuath ( class GfQuatd const &  other )

explicit

Construct from GfQuatd.

GfQuath() [6/6]

GF_API GfQuath ( class GfQuatf const &  other )

explicit

Construct from GfQuatf.

Member Function Documentation

GetConjugate()

GfQuath GetConjugate ( ) const

inline

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

Definition at line 127 of file quath.h.

GetIdentity()

static GfQuath GetIdentity ( )

inlinestatic

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

Definition at line 86 of file quath.h.

GetImaginary()

const GfVec3h & GetImaginary ( ) const

inline

Return the imaginary coefficient.

Definition at line 95 of file quath.h.

GetInverse()

GfQuath 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 133 of file quath.h.

GetLength()

GfHalf GetLength ( ) const

inline

Return geometric length of this quaternion.

Definition at line 108 of file quath.h.

GetNormalized()

GfQuath GetNormalized ( GfHalf  eps = GF_MIN_VECTOR_LENGTH ) const

inline

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

Definition at line 113 of file quath.h.

GetReal()

GfHalf GetReal ( ) const

inline

Return the real coefficient.

Definition at line 89 of file quath.h.

GetZero()

static GfQuath GetZero ( )

inlinestatic

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

Definition at line 82 of file quath.h.

Normalize()

GF_API GfHalf Normalize

(

GfHalf

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!=()

bool operator!= ( const GfQuath &  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 166 of file quath.h.

operator*=() [1/2]

GF_API GfQuath & operator*=

(

const GfQuath &

q

)

Post-multiply quaternion q into this quaternion.

operator*=() [2/2]

GfQuath & operator*= ( GfHalf  s )

inline

Multiply this quaternion's coefficients by s.

Definition at line 175 of file quath.h.

operator+=()

GfQuath & operator+= ( const GfQuath &  q )

inline

Add quaternion q to this quaternion.

Definition at line 189 of file quath.h.

operator-()

GfQuath operator- ( ) const

inline

Component-wise negation.

Definition at line 153 of file quath.h.

operator-=()

GfQuath & operator-= ( const GfQuath &  q )

inline

Component-wise unary difference operator.

Definition at line 196 of file quath.h.

operator/=()

GfQuath & operator/= ( GfHalf  s )

inline

Divide this quaternion's coefficients by s.

Definition at line 182 of file quath.h.

operator==()

bool operator== ( const GfQuath &  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 159 of file quath.h.

SetImaginary() [1/2]

void SetImaginary ( const GfVec3h &  imaginary )

inline

Set the imaginary coefficients.

Definition at line 98 of file quath.h.

SetImaginary() [2/2]

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

inline

Set the imaginary coefficients.

Definition at line 103 of file quath.h.

SetReal()

void SetReal ( GfHalf  real )

inline

Set the real coefficient.

Definition at line 92 of file quath.h.

Transform()

GF_API GfVec3h Transform

(

const GfVec3h &

point

)

const

Transform the GfVec3h point.

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

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

but is more efficient.

Friends And Related Function Documentation

hash_value

size_t hash_value ( const GfQuath &  q )

friend

Hash.

Definition at line 148 of file quath.h.

operator* [1/3]

GfQuath operator* ( const GfQuath &  q, GfHalf  s  )

friend

Returns the product of quaternion q and scalar s.

Definition at line 222 of file quath.h.

operator* [2/3]

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

friend

Returns the product of quaternions q1 and q2.

Definition at line 216 of file quath.h.

operator* [3/3]

GfQuath operator* ( GfHalf  s, const GfQuath &  q  )

friend

Returns the product of quaternion q and scalar s.

Definition at line 228 of file quath.h.

operator+

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

friend

Component-wise binary sum operator.

Definition at line 204 of file quath.h.

operator-

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

friend

Component-wise binary difference operator.

Definition at line 210 of file quath.h.

operator/

GfQuath operator/ ( const GfQuath &  q, GfHalf  s  )

friend

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

Definition at line 234 of file quath.h.

---

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

• pxr/base/gf/quath.h