kzc_quaternion.h File Reference

Quaternion operations. More...

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

Classes
struct	KzcQuaternion
	Structure of quaternion. More...

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

Detailed Description

Quaternion operations.

Copyright 2008-2020 by Rightware. All rights reserved.

Function Documentation

KANZI_API void kzcQuaternionSetIdentity

(

KzcQuaternion *

quaternion

)

Sets identity quaternion.

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

Creates quaternion from vector and and angle.

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

Creates quaternion from matrix.

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

Converts quaternion from 4x4 matrix.

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

Multiplies 2 quaternions, resulting rotation.

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

Multiplies quaternion with vector, i.e.

applies rotation to vector.

KANZI_API void kzcQuaternionNormalize

(

KzcQuaternion *

quaternion

)

Normalizes a quaternion.

KANZI_API void kzcQuaternionInverse

(

KzcQuaternion *

quaternion

)

Inverses a quaternion.

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

Spherical interpolation between two quaternions.

t is the interpolation parameter from range [0, 1].

KANZI_API void kzcQuaternionSlerpLongerPath	(	const KzcQuaternion *	quaternion1,
		const KzcQuaternion *	quaternion2,
		kzFloat	t,
		KzcQuaternion *	out_quaternion
	)

Spherical interpolation between two quaternions.

Goes through the longer path (more than 180 degree turn). t is the interpolation parameter from range [0, 1].