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csQuaternion Class Reference Class for a quaternion. More... #include <quaterni.h> Inheritance diagram for csQuaternion: List of all members. Public Methods void  Init (float theR, float theX, float theY, float theZ)   Initialize a quaternion with specific values.   csQuaternion ()   Construct a 0,0,0,0 quaternion.   csQuaternion (float theR, float theX=0.0, float theY=0.0, float theZ=0.0)   Construct a quaternion with the given parameters.   csQuaternion (const csQuaternion &q)   Copy constructor.   csQuaternion (const csVector3 &q)   Construct quaternion from a vector. csQuaternion&  operator *= (const csQuaternion &q2) void  Conjugate () void  Negate ()   Negate all parameters of the quaternion. void  PrepRotation (float angle, csVector3 vec)   Prepare a rotation quaternion, we do a rotation around vec by an angle of "angle". More... csVector3  Rotate (csVector3 vec)   rotated = q * vec * qConj. void  Normalize ()   Normalize this quaternion. void  SetWithEuler (const csVector3 &rot)   Convert a set of Euler angles to a Quaternion Takes a (X,Y,Z) rather than Yaw-Pitch-Roll (Y,X,Z) The output is NOT Normalized, if you wish to do so, normalize it yourself. csQuaternion  ToAxisAngle () const   Return an Axis Angle representation of this Quaternion. csQuaternion  Slerp (const csQuaternion &quat2, float slerp) const   Spherical Linear Interpolation between two quaternions Calculated between this class & the second quaternion by the slerp factor and returned as a new quaternion. Public Attributes float  r float  x float  y float  z Friends class   operator+ class   operator- class   operator * Detailed Description Class for a quaternion. Member Function Documentation void csQuaternion::PrepRotation ( float angle, csVector3 vec ) [inline]   Prepare a rotation quaternion, we do a rotation around vec by an angle of "angle". Note that vec needs to be a normalized vector ( we don't check this ). The documentation for this class was generated from the following file: quaterni.h Generated for Crystal Space by doxygen 1.2.5 written by Dimitri van Heesch, ©1997-2000