Bullet Collision Detection & Physics Library
Classes | Macros | Functions
btQuaternion.h File Reference
#include "btVector3.h"
#include "btQuadWord.h"
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Classes

class  btQuaternion
 The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. More...
 
struct  btQuaternionFloatData
 
struct  btQuaternionDoubleData
 

Macros

#define btQuaternionData   btQuaternionFloatData
 
#define btQuaternionDataName   "btQuaternionFloatData"
 

Functions

btQuaternion operator* (const btQuaternion &q1, const btQuaternion &q2)
 Return the product of two quaternions. More...
 
btQuaternion operator* (const btQuaternion &q, const btVector3 &w)
 
btQuaternion operator* (const btVector3 &w, const btQuaternion &q)
 
btScalar dot (const btQuaternion &q1, const btQuaternion &q2)
 Calculate the dot product between two quaternions. More...
 
btScalar length (const btQuaternion &q)
 Return the length of a quaternion. More...
 
btScalar btAngle (const btQuaternion &q1, const btQuaternion &q2)
 Return the angle between two quaternions. More...
 
btQuaternion inverse (const btQuaternion &q)
 Return the inverse of a quaternion. More...
 
btQuaternion slerp (const btQuaternion &q1, const btQuaternion &q2, const btScalar &t)
 Return the result of spherical linear interpolation betwen two quaternions. More...
 
btVector3 quatRotate (const btQuaternion &rotation, const btVector3 &v)
 
btQuaternion shortestArcQuat (const btVector3 &v0, const btVector3 &v1)
 
btQuaternion shortestArcQuatNormalize2 (btVector3 &v0, btVector3 &v1)
 

Macro Definition Documentation

#define btQuaternionData   btQuaternionFloatData

Definition at line 29 of file btQuaternion.h.

#define btQuaternionDataName   "btQuaternionFloatData"

Definition at line 30 of file btQuaternion.h.

Function Documentation

btScalar btAngle ( const btQuaternion q1,
const btQuaternion q2 
)
inline

Return the angle between two quaternions.

Definition at line 860 of file btQuaternion.h.

btScalar dot ( const btQuaternion q1,
const btQuaternion q2 
)
inline

Calculate the dot product between two quaternions.

Definition at line 845 of file btQuaternion.h.

btQuaternion inverse ( const btQuaternion q)
inline

Return the inverse of a quaternion.

Definition at line 867 of file btQuaternion.h.

btScalar length ( const btQuaternion q)
inline

Return the length of a quaternion.

Definition at line 853 of file btQuaternion.h.

btQuaternion operator* ( const btQuaternion q1,
const btQuaternion q2 
)
inline

Return the product of two quaternions.

Definition at line 590 of file btQuaternion.h.

btQuaternion operator* ( const btQuaternion q,
const btVector3 w 
)
inline

Definition at line 678 of file btQuaternion.h.

btQuaternion operator* ( const btVector3 w,
const btQuaternion q 
)
inline

Definition at line 761 of file btQuaternion.h.

btVector3 quatRotate ( const btQuaternion rotation,
const btVector3 v 
)
inline

Definition at line 884 of file btQuaternion.h.

btQuaternion shortestArcQuat ( const btVector3 v0,
const btVector3 v1 
)
inline

Definition at line 898 of file btQuaternion.h.

btQuaternion shortestArcQuatNormalize2 ( btVector3 v0,
btVector3 v1 
)
inline

Definition at line 917 of file btQuaternion.h.

btQuaternion slerp ( const btQuaternion q1,
const btQuaternion q2,
const btScalar t 
)
inline

Return the result of spherical linear interpolation betwen two quaternions.

Parameters
q1The first quaternion
q2The second quaternion
tThe ration between q1 and q2. t = 0 return q1, t=1 returns q2 Slerp assumes constant velocity between positions.

Definition at line 878 of file btQuaternion.h.