Quaternion class inheriting from glm::qua. More...

#include <headers/utility/math/quaternion.hpp>

Inheritance diagram for utility::math::Quaternion< QuaternionComponentType >:

Collaboration diagram for utility::math::Quaternion< QuaternionComponentType >:

Public Member Functions
	Quaternion ()
	Default constructor (identity quaternion).

	Quaternion (QuaternionComponentType x, QuaternionComponentType y, QuaternionComponentType z, QuaternionComponentType w)
	Construct from explicit components in (x, y, z, w) order.

	Quaternion (const glm::qua< QuaternionComponentType > &q)
	Construct from a GLM quaternion.

	Quaternion (const Quaternion &other)=default
	Copy constructor.

	Quaternion (Quaternion &&other) noexcept=default
	Move constructor.

	~Quaternion ()=default
	Default destructor for Quaternion.

Quaternion &	operator= (const Quaternion &other)=default
	Copy assignment operator.

Quaternion &	operator= (Quaternion &&other) noexcept=default
	Move assignment operator.

Quaternion	operator+ (const Quaternion &rhs) const noexcept
	Quaternion addition.

Quaternion &	operator+= (const Quaternion &rhs) noexcept
	Quaternion addition assignment.

Quaternion	operator- (const Quaternion &rhs) const noexcept
	Quaternion subtraction.

Quaternion &	operator-= (const Quaternion &rhs) noexcept
	Quaternion subtraction assignment.

Quaternion	operator* (const Quaternion &rhs) const noexcept
	Quaternion multiplication (Hamilton product).

Quaternion &	operator*= (const Quaternion &rhs) noexcept
	Quaternion multiplication assignment (Hamilton product).

Quaternion	operator* (QuaternionComponentType scalar) const noexcept
	Scalar multiplication.

Quaternion &	operator*= (QuaternionComponentType scalar) noexcept
	Scalar multiplication assignment.

bool	operator== (const Quaternion &rhs) const noexcept
	Equality comparison.

bool	equalsEpsilon (const Quaternion &rhs, QuaternionComponentType epsilon=QuaternionComponentType { 1e-5 }) const
	Approximate equality using an epsilon threshold.

bool	operator!= (const Quaternion &rhs) const noexcept
	Inequality comparison.

Quaternion	operator- (void) const noexcept
	Unary negation.

Friends
Quaternion	operator* (QuaternionComponentType scalar, const Quaternion &q)
	Friend function for scalar multiplication with scalar on the left.

Detailed Description

template<CanBeQuaternionComponent QuaternionComponentType>
class utility::math::Quaternion< QuaternionComponentType >

Quaternion class inheriting from glm::qua.

Template Parameters

QuaternionComponentType Floating-point type for quaternion components.

Definition at line 65 of file quaternion.hpp.

Constructor & Destructor Documentation

◆ Quaternion() [1/5]

template<CanBeQuaternionComponent QuaternionComponentType>

utility::math::Quaternion< QuaternionComponentType >::Quaternion ( )

inline

Default constructor (identity quaternion).

Definition at line 72 of file quaternion.hpp.

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◆ Quaternion() [2/5]

template<CanBeQuaternionComponent QuaternionComponentType>

utility::math::Quaternion< QuaternionComponentType >::Quaternion	(	QuaternionComponentType	x,
		QuaternionComponentType	y,
		QuaternionComponentType	z,
		QuaternionComponentType	w
	)

inline

Construct from explicit components in (x, y, z, w) order.

Note: this library exposes the parameter order (x, y, z, w) with the scalar component (w) last. This deliberately differs from GLM's glm::qua(w, x, y, z) constructor, which places the scalar component first. The arguments are remapped internally; pass (x, y, z, w).

Parameters

x	X component.
y	Y component.
z	Z component.
w	W component.

Definition at line 92 of file quaternion.hpp.

◆ Quaternion() [3/5]

template<CanBeQuaternionComponent QuaternionComponentType>

utility::math::Quaternion< QuaternionComponentType >::Quaternion ( const glm::qua< QuaternionComponentType > & q )

inlineexplicit

Construct from a GLM quaternion.

Parameters

q	Source quaternion.

Definition at line 102 of file quaternion.hpp.

◆ Quaternion() [4/5]

template<CanBeQuaternionComponent QuaternionComponentType>

utility::math::Quaternion< QuaternionComponentType >::Quaternion ( const Quaternion< QuaternionComponentType > & other )

default

Copy constructor.

Parameters

other The Quaternion object to copy from.

◆ Quaternion() [5/5]

template<CanBeQuaternionComponent QuaternionComponentType>

utility::math::Quaternion< QuaternionComponentType >::Quaternion ( Quaternion< QuaternionComponentType > && other )

defaultnoexcept

Move constructor.

Parameters

other The Quaternion object to move from.

Member Function Documentation

◆ equalsEpsilon()

template<CanBeQuaternionComponent QuaternionComponentType>

bool utility::math::Quaternion< QuaternionComponentType >::equalsEpsilon	(	const Quaternion< QuaternionComponentType > &	rhs,
		QuaternionComponentType	epsilon = `QuaternionComponentType { 1e-5 }`
	)		const

inline

Approximate equality using an epsilon threshold.

Returns true if each component is within epsilon of its counterpart in rhs.

Parameters

rhs	The quaternion to compare with.
epsilon	The maximum allowed difference per component.

Returns: True if the quaternions are equal within epsilon.

Definition at line 257 of file quaternion.hpp.

◆ operator!=()

template<CanBeQuaternionComponent QuaternionComponentType>

bool utility::math::Quaternion< QuaternionComponentType >::operator!= ( const Quaternion< QuaternionComponentType > & rhs ) const

inlinenoexcept

Inequality comparison.

Parameters

rhs	The quaternion to compare with.

Returns: True if the quaternions are not equal, false otherwise.

Definition at line 272 of file quaternion.hpp.

◆ operator*() [1/2]

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion utility::math::Quaternion< QuaternionComponentType >::operator* ( const Quaternion< QuaternionComponentType > & rhs ) const

inlinenoexcept

Quaternion multiplication (Hamilton product).

Parameters

rhs	The quaternion to multiply with.

Returns: The resulting quaternion.

Definition at line 191 of file quaternion.hpp.

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◆ operator*() [2/2]

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion utility::math::Quaternion< QuaternionComponentType >::operator* ( QuaternionComponentType scalar ) const

inlinenoexcept

Scalar multiplication.

Parameters

scalar The scalar value to multiply with.

Returns: The resulting quaternion.

Definition at line 216 of file quaternion.hpp.

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◆ operator*=() [1/2]

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion & utility::math::Quaternion< QuaternionComponentType >::operator*= ( const Quaternion< QuaternionComponentType > & rhs )

inlinenoexcept

Quaternion multiplication assignment (Hamilton product).

Parameters

rhs	The quaternion to multiply with.

Returns: A reference to this quaternion after multiplication.

Definition at line 203 of file quaternion.hpp.

◆ operator*=() [2/2]

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion & utility::math::Quaternion< QuaternionComponentType >::operator*= ( QuaternionComponentType scalar )

inlinenoexcept

Scalar multiplication assignment.

Parameters

scalar The scalar value to multiply with.

Returns: A reference to this quaternion after multiplication.

Definition at line 228 of file quaternion.hpp.

◆ operator+()

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion utility::math::Quaternion< QuaternionComponentType >::operator+ ( const Quaternion< QuaternionComponentType > & rhs ) const

inlinenoexcept

Quaternion addition.

Parameters

rhs	The quaternion to add.

Returns: The resulting quaternion.

Definition at line 143 of file quaternion.hpp.

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◆ operator+=()

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion & utility::math::Quaternion< QuaternionComponentType >::operator+= ( const Quaternion< QuaternionComponentType > & rhs )

inlinenoexcept

Quaternion addition assignment.

Parameters

rhs	The quaternion to add.

Returns: A reference to this quaternion after addition.

Definition at line 155 of file quaternion.hpp.

◆ operator-() [1/2]

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion utility::math::Quaternion< QuaternionComponentType >::operator- ( const Quaternion< QuaternionComponentType > & rhs ) const

inlinenoexcept

Quaternion subtraction.

Parameters

rhs	The quaternion to subtract.

Returns: The resulting quaternion.

Definition at line 167 of file quaternion.hpp.

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◆ operator-() [2/2]

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion utility::math::Quaternion< QuaternionComponentType >::operator- ( void ) const

inlinenoexcept

Unary negation.

Returns: The negated quaternion.

Definition at line 281 of file quaternion.hpp.

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◆ operator-=()

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion & utility::math::Quaternion< QuaternionComponentType >::operator-= ( const Quaternion< QuaternionComponentType > & rhs )

inlinenoexcept

Quaternion subtraction assignment.

Parameters

rhs	The quaternion to subtract.

Returns: A reference to this quaternion after subtraction.

Definition at line 179 of file quaternion.hpp.

◆ operator=() [1/2]

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion & utility::math::Quaternion< QuaternionComponentType >::operator= ( const Quaternion< QuaternionComponentType > & other )

default

Copy assignment operator.

Parameters

other The Quaternion object to copy from.

Returns: A reference to this Quaternion object.

◆ operator=() [2/2]

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion & utility::math::Quaternion< QuaternionComponentType >::operator= ( Quaternion< QuaternionComponentType > && other )

defaultnoexcept

Move assignment operator.

Parameters

other The Quaternion object to move from.

Returns: A reference to this Quaternion object.

◆ operator==()

template<CanBeQuaternionComponent QuaternionComponentType>

bool utility::math::Quaternion< QuaternionComponentType >::operator== ( const Quaternion< QuaternionComponentType > & rhs ) const

inlinenoexcept

Equality comparison.

Uses exact component-wise equality. For floating-point types prefer equalsEpsilon to tolerate rounding error.

Parameters

rhs	The quaternion to compare with.

Returns: True if the quaternions are equal, false otherwise.

Definition at line 242 of file quaternion.hpp.

Friends And Related Symbol Documentation

◆ operator*

template<CanBeQuaternionComponent QuaternionComponentType>

Quaternion operator*	(	QuaternionComponentType	scalar,
		const Quaternion< QuaternionComponentType > &	q
	)

friend

Friend function for scalar multiplication with scalar on the left.

Parameters

scalar	The scalar value to multiply with.
q	The quaternion to multiply.

Returns: The resulting quaternion.

Definition at line 294 of file quaternion.hpp.

The documentation for this class was generated from the following file:

headers/utility/math/quaternion.hpp

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Quaternion() [1/5]

◆ Quaternion() [2/5]

◆ Quaternion() [3/5]

◆ Quaternion() [4/5]

◆ Quaternion() [5/5]

Member Function Documentation

◆ equalsEpsilon()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

Friends And Related Symbol Documentation

◆ operator*