Quat

####Category: Built-In Types

Brief Description

Quaternion.

Member Functions

• Quat cubic_slerp ( Quat b, Quat pre_a, Quat post_b, real t )
• real dot ( Quat b )
• Quat inverse ( )
• real length ( )
• real length_squared ( )
• Quat normalized ( )
• Quat slerp ( Quat b, real t )
• Quat slerpni ( Quat b, real t )
• void Quat ( real x, real y, real z, real w )
• void Quat ( Matrix3 from )

Member Variables

• real x
• real y
• real z
• real w

Description

Quaternion is a 4 dimensional vector that is used to represet a rotation. It mainly exists to perform SLERP (spherical-linear interpolation) between to rotations obtained by a Matrix3 cheaply. Adding quaternions also cheaply adds the rotations, however quaternions need to be often normalized, or else they suffer from precision issues.

Member Function Description

dot

• real dot ( Quat b )

Returns the dot product between two quaternions.

inverse

• Quat inverse ( )

Returns the inverse of the quaternion (applies to the inverse rotatio too).

length

• real length ( )

Returns the length of the quaternion.

length_squared

• real length_squared ( )

Returns the length of the quaternion, minus the square root.

normalized

• Quat normalized ( )

Returns a copy of the quaternion, normalized to unit length.

slerp

• Quat slerp ( Quat b, real t )

Perform a spherical-linear interpolation with another quaternion.