Overview
The following functions manipulate quaternions.
Summary
| Functions | |
|---|---|
| rsQuaternionAdd | Add two quaternions |
| rsQuaternionConjugate | Conjugate a quaternion |
| rsQuaternionDot | Dot product of two quaternions |
| rsQuaternionGetMatrixUnit | Get a rotation matrix from a quaternion |
| rsQuaternionLoadRotate | Create a rotation quaternion |
| rsQuaternionLoadRotateUnit | Quaternion that represents a rotation about an arbitrary unit vector |
| rsQuaternionMultiply | Multiply a quaternion by a scalar or another quaternion |
| rsQuaternionNormalize | Normalize a quaternion |
| rsQuaternionSet | Create a quaternion |
| rsQuaternionSlerp | Spherical linear interpolation between two quaternions |
Functions
rsQuaternionAdd : Add two quaternions
| void rsQuaternionAdd(rs_quaternion* q, const rs_quaternion* rhs); |
Parameters
| q | Destination quaternion to add to. |
|---|---|
| rhs | Quaternion to add. |
Adds two quaternions, i.e. *q += *rhs;
rsQuaternionConjugate : Conjugate a quaternion
| void rsQuaternionConjugate(rs_quaternion* q); |
Parameters
| q | Quaternion to modify. |
|---|
Conjugates the quaternion.
rsQuaternionDot : Dot product of two quaternions
| float rsQuaternionDot(const rs_quaternion* q0, const rs_quaternion* q1); |
Parameters
| q0 | First quaternion. |
|---|---|
| q1 | Second quaternion. |
Returns the dot product of two quaternions.
rsQuaternionGetMatrixUnit : Get a rotation matrix from a quaternion
| void rsQuaternionGetMatrixUnit(rs_matrix4x4* m, const rs_quaternion* q); |
Parameters
| m | Resulting matrix. |
|---|---|
| q | Normalized quaternion. |
Computes a rotation matrix from the normalized quaternion.
rsQuaternionLoadRotate : Create a rotation quaternion
| void rsQuaternionLoadRotate(rs_quaternion* q, float rot, float x, float y, float z); |
Parameters
| q | Destination quaternion. |
|---|---|
| rot | Angle to rotate by. |
| x | X component of a vector. |
| y | Y component of a vector. |
| z | Z component of a vector. |
Loads a quaternion that represents a rotation about an arbitrary vector (doesn't have to be unit)
rsQuaternionLoadRotateUnit : Quaternion that represents a rotation about an arbitrary unit vector
| void rsQuaternionLoadRotateUnit(rs_quaternion* q, float rot, float x, float y, float z); |
Parameters
| q | Destination quaternion. |
|---|---|
| rot | Angle to rotate by, in radians. |
| x | X component of the vector. |
| y | Y component of the vector. |
| z | Z component of the vector. |
Loads a quaternion that represents a rotation about an arbitrary unit vector.
rsQuaternionMultiply : Multiply a quaternion by a scalar or another quaternion
| void rsQuaternionMultiply(rs_quaternion* q, const rs_quaternion* rhs); | |
| void rsQuaternionMultiply(rs_quaternion* q, float scalar); |
Parameters
| q | Destination quaternion. |
|---|---|
| scalar | Scalar to multiply the quaternion by. |
| rhs | Quaternion to multiply the destination quaternion by. |
Multiplies a quaternion by a scalar or by another quaternion, e.g.
*q = *q * scalar; or *q = *q * *rhs;.
rsQuaternionNormalize : Normalize a quaternion
| void rsQuaternionNormalize(rs_quaternion* q); |
Parameters
| q | Quaternion to normalize. |
|---|
Normalizes the quaternion.
rsQuaternionSet : Create a quaternion
| void rsQuaternionSet(rs_quaternion* q, const rs_quaternion* rhs); | |
| void rsQuaternionSet(rs_quaternion* q, float w, float x, float y, float z); |
Parameters
| q | Destination quaternion. |
|---|---|
| w | W component. |
| x | X component. |
| y | Y component. |
| z | Z component. |
| rhs | Source quaternion. |
Creates a quaternion from its four components or from another quaternion.
rsQuaternionSlerp : Spherical linear interpolation between two quaternions
| void rsQuaternionSlerp(rs_quaternion* q, const rs_quaternion* q0, const rs_quaternion* q1, float t); |
Parameters
| q | Result quaternion from the interpolation. |
|---|---|
| q0 | First input quaternion. |
| q1 | Second input quaternion. |
| t | How much to interpolate by. |
Performs spherical linear interpolation between two quaternions.