The QQuaternion class represents a quaternion consisting of a vector and scalar. More...
| Header: | #include <QQuaternion> |
| qmake: | QT += gui |
| Since: | Qt 4.6 |
This class was introduced in Qt 4.6.
| QQuaternion(const QVector4D &vector) | |
| QQuaternion(float scalar, const QVector3D &vector) | |
| QQuaternion(float scalar, float xpos, float ypos, float zpos) | |
| QQuaternion() | |
| QQuaternion | conjugated() const |
| void | getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const |
| void | getAxisAndAngle(float *x, float *y, float *z, float *angle) const |
| void | getAxisAndAngle(QVector3D *axis, float *angle) const |
| void | getEulerAngles(float *pitch, float *yaw, float *roll) const |
| QQuaternion | inverted() const |
| bool | isIdentity() const |
| bool | isNull() const |
| float | length() const |
| float | lengthSquared() const |
| void | normalize() |
| QQuaternion | normalized() const |
| QVector3D | rotatedVector(const QVector3D &vector) const |
| float | scalar() const |
| void | setScalar(float scalar) |
| void | setVector(const QVector3D &vector) |
| void | setVector(float x, float y, float z) |
| void | setX(float x) |
| void | setY(float y) |
| void | setZ(float z) |
| QVector3D | toEulerAngles() const |
| QMatrix3x3 | toRotationMatrix() const |
| QVector4D | toVector4D() const |
| QVector3D | vector() const |
| float | x() const |
| float | y() const |
| float | z() const |
| QVariant | operator QVariant() const |
| QQuaternion & | operator*=(float factor) |
| QQuaternion & | operator*=(const QQuaternion &quaternion) |
| QQuaternion & | operator+=(const QQuaternion &quaternion) |
| QQuaternion & | operator-=(const QQuaternion &quaternion) |
| QQuaternion & | operator/=(float divisor) |
| float | dotProduct(const QQuaternion &q1, const QQuaternion &q2) |
| QQuaternion | fromAxes(const QVector3D &xAxis, const QVector3D &yAxis, const QVector3D &zAxis) |
| QQuaternion | fromAxisAndAngle(const QVector3D &axis, float angle) |
| QQuaternion | fromAxisAndAngle(float x, float y, float z, float angle) |
| QQuaternion | fromDirection(const QVector3D &direction, const QVector3D &up) |
| QQuaternion | fromEulerAngles(float pitch, float yaw, float roll) |
| QQuaternion | fromEulerAngles(const QVector3D &eulerAngles) |
| QQuaternion | fromRotationMatrix(const QMatrix3x3 &rot3x3) |
| QQuaternion | nlerp(const QQuaternion &q1, const QQuaternion &q2, float t) |
| QQuaternion | rotationTo(const QVector3D &from, const QVector3D &to) |
| QQuaternion | slerp(const QQuaternion &q1, const QQuaternion &q2, float t) |
| bool | qFuzzyCompare(const QQuaternion &q1, const QQuaternion &q2) |
| bool | operator!=(const QQuaternion &q1, const QQuaternion &q2) |
| const QQuaternion | operator*(float factor, const QQuaternion &quaternion) |
| const QQuaternion | operator*(const QQuaternion &quaternion, float factor) |
| const QQuaternion | operator*(const QQuaternion &q1, const QQuaternion &q2) |
| QVector3D | operator*(const QQuaternion &quaternion, const QVector3D &vec) |
| const QQuaternion | operator+(const QQuaternion &q1, const QQuaternion &q2) |
| const QQuaternion | operator-(const QQuaternion &q1, const QQuaternion &q2) |
| const QQuaternion | operator-(const QQuaternion &quaternion) |
| const QQuaternion | operator/(const QQuaternion &quaternion, float divisor) |
| QDataStream & | operator<<(QDataStream &stream, const QQuaternion &quaternion) |
| bool | operator==(const QQuaternion &q1, const QQuaternion &q2) |
| QDataStream & | operator>>(QDataStream &stream, QQuaternion &quaternion) |
Quaternions are used to represent rotations in 3D space, and consist of a 3D rotation axis specified by the x, y, and z coordinates, and a scalar representing the rotation angle.
Constructs a quaternion from the components of vector.
Constructs a quaternion vector from the specified vector and scalar.
See also vector() and scalar().
Constructs a quaternion with the vector (xpos, ypos, zpos) and scalar.
Constructs an identity quaternion (1, 0, 0, 0), i.e. with the vector (0, 0, 0) and scalar 1.
Returns the conjugate of this quaternion, which is (-x, -y, -z, scalar).
This function was introduced in Qt 5.5.
[static] float QQuaternion::dotProduct(const QQuaternion &q1, const QQuaternion &q2)
Returns the dot product of q1 and q2.
This function was introduced in Qt 5.5.
See also length().
[static] QQuaternion QQuaternion::fromAxes(const QVector3D &xAxis, const QVector3D &yAxis, const QVector3D &zAxis)
Constructs the quaternion using 3 axes (xAxis, yAxis, zAxis).
Note: The axes are assumed to be orthonormal.
This function was introduced in Qt 5.5.
See also getAxes() and fromRotationMatrix().
[static] QQuaternion QQuaternion::fromAxisAndAngle(const QVector3D &axis, float angle)
Creates a normalized quaternion that corresponds to rotating through angle degrees about the specified 3D axis.
See also getAxisAndAngle().
[static] QQuaternion QQuaternion::fromAxisAndAngle(float x, float y, float z, float angle)
Creates a normalized quaternion that corresponds to rotating through angle degrees about the 3D axis (x, y, z).
See also getAxisAndAngle().
[static] QQuaternion QQuaternion::fromDirection(const QVector3D &direction, const QVector3D &up)
Constructs the quaternion using specified forward direction direction and upward direction up. If the upward direction was not specified or the forward and upward vectors are collinear, a new orthonormal upward direction will be generated.
This function was introduced in Qt 5.5.
See also fromAxes() and rotationTo().
[static] QQuaternion QQuaternion::fromEulerAngles(float pitch, float yaw, float roll)
Creates a quaternion that corresponds to a rotation of roll degrees around the z axis, pitch degrees around the x axis, and yaw degrees around the y axis (in that order).
This function was introduced in Qt 5.5.
See also getEulerAngles().
[static] QQuaternion QQuaternion::fromEulerAngles(const QVector3D &eulerAngles)
This is an overloaded function.
Creates a quaternion that corresponds to a rotation of eulerAngles: eulerAngles.z() degrees around the z axis, eulerAngles.x() degrees around the x axis, and eulerAngles.y() degrees around the y axis (in that order).
This function was introduced in Qt 5.5.
See also toEulerAngles().
[static] QQuaternion QQuaternion::fromRotationMatrix(const QMatrix3x3 &rot3x3)
Creates a quaternion that corresponds to a rotation matrix rot3x3.
Note: If a given rotation matrix is not normalized, the resulting quaternion will contain scaling information.
This function was introduced in Qt 5.5.
See also toRotationMatrix() and fromAxes().
Returns the 3 orthonormal axes (xAxis, yAxis, zAxis) defining the quaternion.
This function was introduced in Qt 5.5.
See also fromAxes() and toRotationMatrix().
Extracts a 3D axis (x, y, z) and a rotating angle angle (in degrees) that corresponds to this quaternion.
This function was introduced in Qt 5.5.
See also fromAxisAndAngle().
This is an overloaded function.
Extracts a 3D axis axis and a rotating angle angle (in degrees) that corresponds to this quaternion.
This function was introduced in Qt 5.5.
See also fromAxisAndAngle().
Calculates roll, pitch, and yaw Euler angles (in degrees) that corresponds to this quaternion.
This function was introduced in Qt 5.5.
See also fromEulerAngles().
Returns the inverse of this quaternion. If this quaternion is null, then a null quaternion is returned.
This function was introduced in Qt 5.5.
See also isNull() and length().
Returns true if the x, y, and z components of this quaternion are set to 0.0, and the scalar component is set to 1.0; otherwise returns false.
Returns true if the x, y, z, and scalar components of this quaternion are set to 0.0; otherwise returns false.
Returns the length of the quaternion. This is also called the "norm".
See also lengthSquared(), normalized(), and dotProduct().
Returns the squared length of the quaternion.
See also length() and dotProduct().
[static] QQuaternion QQuaternion::nlerp(const QQuaternion &q1, const QQuaternion &q2, float t)
Interpolates along the shortest linear path between the rotational positions q1 and q2. The value t should be between 0 and 1, indicating the distance to travel between q1 and q2. The result will be normalized().
If t is less than or equal to 0, then q1 will be returned. If t is greater than or equal to 1, then q2 will be returned.
The nlerp() function is typically faster than slerp() and will give approximate results to spherical interpolation that are good enough for some applications.
See also slerp().
Normalizes the current quaternion in place. Nothing happens if this is a null quaternion or the length of the quaternion is very close to 1.
See also length() and normalized().
Returns the normalized unit form of this quaternion.
If this quaternion is null, then a null quaternion is returned. If the length of the quaternion is very close to 1, then the quaternion will be returned as-is. Otherwise the normalized form of the quaternion of length 1 will be returned.
See also normalize(), length(), and dotProduct().
Rotates vector with this quaternion to produce a new vector in 3D space. The following code:
QVector3D result = q.rotatedVector(vector);
is equivalent to the following:
QVector3D result = (q * QQuaternion(0, vector) * q.conjugated()).vector();
[static] QQuaternion QQuaternion::rotationTo(const QVector3D &from, const QVector3D &to)
Returns the shortest arc quaternion to rotate from the direction described by the vector from to the direction described by the vector to.
This function was introduced in Qt 5.5.
See also fromDirection().
Returns the scalar component of this quaternion.
See also setScalar(), x(), y(), and z().
Sets the scalar component of this quaternion to scalar.
See also scalar(), setX(), setY(), and setZ().
Sets the vector component of this quaternion to vector.
See also vector() and setScalar().
Sets the vector component of this quaternion to (x, y, z).
See also vector() and setScalar().
Sets the x coordinate of this quaternion's vector to the given x coordinate.
See also x(), setY(), setZ(), and setScalar().
Sets the y coordinate of this quaternion's vector to the given y coordinate.
See also y(), setX(), setZ(), and setScalar().
Sets the z coordinate of this quaternion's vector to the given z coordinate.
See also z(), setX(), setY(), and setScalar().
[static] QQuaternion QQuaternion::slerp(const QQuaternion &q1, const QQuaternion &q2, float t)
Interpolates along the shortest spherical path between the rotational positions q1 and q2. The value t should be between 0 and 1, indicating the spherical distance to travel between q1 and q2.
If t is less than or equal to 0, then q1 will be returned. If t is greater than or equal to 1, then q2 will be returned.
See also nlerp().
This is an overloaded function.
Calculates roll, pitch, and yaw Euler angles (in degrees) that corresponds to this quaternion.
This function was introduced in Qt 5.5.
See also fromEulerAngles().
Creates a rotation matrix that corresponds to this quaternion.
Note: If this quaternion is not normalized, the resulting rotation matrix will contain scaling information.
This function was introduced in Qt 5.5.
See also fromRotationMatrix() and getAxes().
Returns this quaternion as a 4D vector.
Returns the vector component of this quaternion.
See also setVector() and scalar().
Returns the x coordinate of this quaternion's vector.
See also setX(), y(), z(), and scalar().
Returns the y coordinate of this quaternion's vector.
See also setY(), x(), z(), and scalar().
Returns the z coordinate of this quaternion's vector.
See also setZ(), x(), y(), and scalar().
Returns the quaternion as a QVariant.
Multiplies this quaternion's components by the given factor, and returns a reference to this quaternion.
See also operator/=().
Multiplies this quaternion by quaternion and returns a reference to this quaternion.
Adds the given quaternion to this quaternion and returns a reference to this quaternion.
See also operator-=().
Subtracts the given quaternion from this quaternion and returns a reference to this quaternion.
See also operator+=().
Divides this quaternion's components by the given divisor, and returns a reference to this quaternion.
See also operator*=().
Returns true if q1 and q2 are equal, allowing for a small fuzziness factor for floating-point comparisons; false otherwise.
Returns true if q1 is not equal to q2; otherwise returns false. This operator uses an exact floating-point comparison.
Returns a copy of the given quaternion, multiplied by the given factor.
See also QQuaternion::operator*=().
Returns a copy of the given quaternion, multiplied by the given factor.
See also QQuaternion::operator*=().
Multiplies q1 and q2 using quaternion multiplication. The result corresponds to applying both of the rotations specified by q1 and q2.
See also QQuaternion::operator*=().
Rotates a vector vec with a quaternion quaternion to produce a new vector in 3D space.
This function was introduced in Qt 5.5.
Returns a QQuaternion object that is the sum of the given quaternions, q1 and q2; each component is added separately.
See also QQuaternion::operator+=().
Returns a QQuaternion object that is formed by subtracting q2 from q1; each component is subtracted separately.
See also QQuaternion::operator-=().
This is an overloaded function.
Returns a QQuaternion object that is formed by changing the sign of all three components of the given quaternion.
Equivalent to QQuaternion(0,0,0,0) - quaternion.
Returns the QQuaternion object formed by dividing all components of the given quaternion by the given divisor.
See also QQuaternion::operator/=().
Writes the given quaternion to the given stream and returns a reference to the stream.
See also Serializing Qt Data Types.
Returns true if q1 is equal to q2; otherwise returns false. This operator uses an exact floating-point comparison.
Reads a quaternion from the given stream into the given quaternion and returns a reference to the stream.
See also Serializing Qt Data Types.
© The Qt Company Ltd
Licensed under the GNU Free Documentation License, Version 1.3.
https://doc.qt.io/qt-5.15/qquaternion.html