kzc_quaternion.h File Reference

Quaternion operations. More...

#include <system/debug/kzs_error.h>
#include <system/kzs_header.h>

Data Structures
struct	KzcQuaternion
	Structure of quaternion. More...

Functions
void	kzcQuaternionSetIdentity (struct KzcQuaternion *quaternion)
	Sets identity quaternion. More...
void	kzcQuaternionInitializeFromVector (const struct KzcVector3 *axis, kzFloat angleInRadians, struct KzcQuaternion *out_quaternion)
	Creates quaternion from vector and and angle. More...
void	kzcQuaternionInitializeFromMatrix4x4 (const struct KzcMatrix4x4 *matrix, struct KzcQuaternion *out_quaternion)
	Creates quaternion from matrix. More...
void	kzcQuaternionConvertToMatrix4x4 (const struct KzcQuaternion *quaternion, struct KzcMatrix4x4 *out_matrix)
	Converts quaternion from 4x4 matrix. More...
void	kzcQuaternionMultiply (const struct KzcQuaternion *quaternion1, const struct KzcQuaternion *quaternion2, struct KzcQuaternion *out_quaternion)
	Multiplies 2 quaternions, resulting rotation. More...
void	kzcQuaternionMultiplyVector3 (const struct KzcQuaternion *quaternion, const struct KzcVector3 *vector3, struct KzcVector3 *out_vector3)
	Multiplies quaternion with vector, i.e. More...
void	kzcQuaternionNormalize (struct KzcQuaternion *quaternion)
	Normalizes a quaternion. More...
void	kzcQuaternionInverse (struct KzcQuaternion *quaternion)
	Inverses a quaternion. More...
void	kzcQuaternionSlerp (const struct KzcQuaternion *quaternion1, const struct KzcQuaternion *quaternion2, kzFloat t, struct KzcQuaternion *out_quaternion)
	Spherical interpolation of 2 quaternions. More...

Detailed Description

Quaternion operations.

Copyright 2008-2019 by Rightware. All rights reserved.

Function Documentation

void kzcQuaternionSetIdentity

(

struct KzcQuaternion *

quaternion)

Sets identity quaternion.

void kzcQuaternionInitializeFromVector	(	const struct KzcVector3 *	axis,
		kzFloat	angleInRadians,
		struct KzcQuaternion *	out_quaternion
	)

Creates quaternion from vector and and angle.

void kzcQuaternionInitializeFromMatrix4x4	(	const struct KzcMatrix4x4 *	matrix,
		struct KzcQuaternion *	out_quaternion
	)

Creates quaternion from matrix.

void kzcQuaternionConvertToMatrix4x4	(	const struct KzcQuaternion *	quaternion,
		struct KzcMatrix4x4 *	out_matrix
	)

Converts quaternion from 4x4 matrix.

void kzcQuaternionMultiply	(	const struct KzcQuaternion *	quaternion1,
		const struct KzcQuaternion *	quaternion2,
		struct KzcQuaternion *	out_quaternion
	)

Multiplies 2 quaternions, resulting rotation.

void kzcQuaternionMultiplyVector3	(	const struct KzcQuaternion *	quaternion,
		const struct KzcVector3 *	vector3,
		struct KzcVector3 *	out_vector3
	)

Multiplies quaternion with vector, i.e.

applies rotation to vector.

void kzcQuaternionNormalize

(

struct KzcQuaternion *

quaternion)

Normalizes a quaternion.

void kzcQuaternionInverse

(

struct KzcQuaternion *

quaternion)

Inverses a quaternion.

void kzcQuaternionSlerp	(	const struct KzcQuaternion *	quaternion1,
		const struct KzcQuaternion *	quaternion2,
		kzFloat	t,
		struct KzcQuaternion *	out_quaternion
	)

Spherical interpolation of 2 quaternions.

t as interpolation value ranging [0, 1].