quat

Header file: include/quat.h

quat is a quaternion with 4 scalars, a, b, c and d.

\(quat = a + bi + cj + dk\)

Class variables

Type	Name	Description
float	a	The first element of the quat.
float	b	The second element of the quat.
float	c	The third element of the quat.
float	d	The fourth element of the quat.

Class functions

Constructors

Name	Description
quat()	Construct a (0.0, 0.0, 0.0, 0.0) quaternion.
quat(float _a, float _b, float _c, float _d)	Construct a (_a, _b, _c, _d) quaternion.
quat(const float* _ptr)	Construct a quaternion from a pointer.

Operators

Name	Description
nml::quat& operator+=(const nml::quat& other)	Add a quat to the current quat.
nml::quat& operator-=(const nml::quat& other)	Substract a quat from the current quat.
nml::quat& operator*=(const nml::quat& other)	Multiply the current quat by a quat.
nml::quat& operator*=(const float other)	Multiply the current quat by a scalar.
nml::quat& operator/=(const float other)	Divide the current quat by a scalar.
nml::quat operator-()	Return the negative of the current quat.
float& operator[](size_t index)	Return a reference to a if index is 0, a reference to b if index is 1, a reference to c if index is 2 or a reference to d if index is 3, else, throw an exception.
const float operator[](size_t index) const	Return the value of a if index is 0, the value of b if index is 1, the value of c if index is 2 or the value of d if index is 3, else, throw an exception.

Functions

Name	Description
float length()	Return the length of the quaternion.
float* data()	Return a pointer to the quaternion’s elements.

Static Functions

Name	Description
nml::quat nml::quat::identity()	Return a (1.0, 0.0, 0.0, 0.0) identity quaternion.

Namespace functions

Operators

Name	Description
nml::quat operator+(nml::quat lhs, const nml::quat& rhs)	Return a quat that is the sum between two quat.
nml::quat operator-(nml::quat lhs, const nml::quat& rhs)	Return a quat that is the difference between two quat.
nml::quat operator*(nml::quat lhs, const nml::quat& rhs)	Return a quat that is the product between two quat.
nml::quat operator*(nml::quat lhs, const float rhs)	Return a quat that is the product between a quat and a scalar.
nml::quat operator*(float lhs, const nml::quat& rhs)	Return a quat that is the product between a scalar and a quat.
nml::quat operator/(nml::quat lhs, const float rhs)	Return a quat that is the quotient between a quat and a scalar.
bool operator==(const nml::quat& lhs, const nml::quat& rhs)	Return true if the two quat are identical, else, return false.
bool operator!=(const nml::quat& lhs, const nml::quat& rhs)	Return true if the two quat are different, else, return false.

Functions

Name	Description
nml::quat nml::conjugate(const nml::quat& qua)	Return the conjugate of a quaternion.
nml::quat nml::normalize(const nml::quat& qua)	Return a quat with the same direction as qua but with length 1.
float nml::dot(const nml::quat& a, const nml::quat& b)	Return the dot product between two quat.
quat nml::slerp(const nml::quat& a, const nml::quat& b, const float interpolationValue)	Return the spherical linear interpolation between two quat and an interpolation value.
nml::quat eulerAnglesToQuat(const nml::vec3& vec)	Return a quaternion from euler angles in radians.
nml::quat rotationMatrixToQuat(const nml::mat4& mat)	Return a quaternion from a rotation matrix.
std::string nml::to_string(const nml::quat& qua)	Return a quat as a string under the format “a + bi + cj + dk”.