This is a quaternion class. For more information on quaternion mathematics consult a mathematics source on complex numbers. More...

#include <PxQuat.h>

Public Member Functions
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuatT ()
	Default constructor, does not do any initialization.

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuatT (PxIDENTITY)
	identity constructor

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuatT (Type r)
	Constructor from a scalar: sets the real part w to the scalar value, and the imaginary parts (x,y,z) to zero.

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuatT (Type nx, Type ny, Type nz, Type nw)
	Constructor. Take note of the order of the elements!

PX_CUDA_CALLABLE PX_INLINE	PxQuatT (Type angleRadians, const PxVec3T< Type > &unitAxis)
	Creates from angle-axis representation.

PX_CUDA_CALLABLE PX_FORCE_INLINE	PxQuatT (const PxQuatT &v)
	Copy ctor.

PX_CUDA_CALLABLE PX_INLINE	PxQuatT (const PxMat33T< Type > &m)
	Creates from orientation matrix.

PX_CUDA_CALLABLE PX_FORCE_INLINE bool	isIdentity () const
	returns true if quat is identity

PX_CUDA_CALLABLE bool	isFinite () const
	returns true if all elements are finite (not NAN or INF, etc.)

PX_CUDA_CALLABLE bool	isUnit () const
	returns true if finite and magnitude is close to unit

PX_CUDA_CALLABLE bool	isSane () const
	returns true if finite and magnitude is reasonably close to unit to allow for some accumulation of error vs isValid

PX_CUDA_CALLABLE PX_FORCE_INLINE bool	operator== (const PxQuatT &q) const
	returns true if the two quaternions are exactly equal

PX_CUDA_CALLABLE PX_INLINE void	toRadiansAndUnitAxis (Type &angle, PxVec3T< Type > &axis) const
	converts this quaternion to angle-axis representation

PX_CUDA_CALLABLE PX_FORCE_INLINE Type	getAngle () const
	Gets the angle between this quat and the identity quaternion.

PX_CUDA_CALLABLE PX_FORCE_INLINE Type	getAngle (const PxQuatT &q) const
	Gets the angle between this quat and the argument.

PX_CUDA_CALLABLE PX_FORCE_INLINE Type	magnitudeSquared () const
	This is the squared 4D vector length, should be 1 for unit quaternions.

PX_CUDA_CALLABLE PX_FORCE_INLINE Type	dot (const PxQuatT &v) const
	returns the scalar product of this and other.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT	getNormalized () const

PX_CUDA_CALLABLE PX_FORCE_INLINE Type	magnitude () const

PX_CUDA_CALLABLE PX_FORCE_INLINE Type	normalize ()
	maps to the closest unit quaternion.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT	getConjugate () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T< Type >	getImaginaryPart () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T< Type >	getBasisVector0 () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T< Type >	getBasisVector1 () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T< Type >	getBasisVector2 () const

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T< Type >	rotate (const PxVec3T< Type > &v) const

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T< Type >	rotateInv (const PxVec3T< Type > &v) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT &	operator= (const PxQuatT &p)
	Assignment operator.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT &	*operator=** (const PxQuatT &q)

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT &	operator+= (const PxQuatT &q)

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT &	operator-= (const PxQuatT &q)

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT &	*operator=** (const Type s)

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT	operator* (const PxQuatT &q) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT	operator+ (const PxQuatT &q) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT	operator- () const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT	operator- (const PxQuatT &q) const

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT	operator* (Type r) const

Public Attributes
Type	x

Type	y

Type	z

Type	w

Detailed Description

template<class Type>
class physx::PxQuatT< Type >

This is a quaternion class. For more information on quaternion mathematics consult a mathematics source on complex numbers.

Constructor & Destructor Documentation

◆ PxQuatT() [1/2]

template<class Type >

PX_CUDA_CALLABLE PX_INLINE physx::PxQuatT< Type >::PxQuatT	(	Type	angleRadians,
		const PxVec3T< Type > &	unitAxis
	)

inline

Creates from angle-axis representation.

Axis must be normalized!

Angle is in radians!

Unit: Radians

◆ PxQuatT() [2/2]

template<class Type >

PX_CUDA_CALLABLE PX_INLINE physx::PxQuatT< Type >::PxQuatT ( const PxMat33T< Type > & m )

explicit

Creates from orientation matrix.

Parameters

[in] m Rotation matrix to extract quaternion from.

Member Function Documentation

◆ getAngle() [1/2]

template<class Type >

PX_CUDA_CALLABLE PX_FORCE_INLINE Type physx::PxQuatT< Type >::getAngle ( ) const

inline

Gets the angle between this quat and the identity quaternion.

Unit: Radians

◆ getAngle() [2/2]

template<class Type >

PX_CUDA_CALLABLE PX_FORCE_INLINE Type physx::PxQuatT< Type >::getAngle ( const PxQuatT< Type > & q ) const

inline

Gets the angle between this quat and the argument.

Unit: Radians

◆ getBasisVector0()

template<class Type >

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T< Type > physx::PxQuatT< Type >::getBasisVector0 ( ) const

inline

brief computes rotation of x-axis

◆ getBasisVector1()

template<class Type >

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T< Type > physx::PxQuatT< Type >::getBasisVector1 ( ) const

inline

brief computes rotation of y-axis

◆ getBasisVector2()

template<class Type >

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3T< Type > physx::PxQuatT< Type >::getBasisVector2 ( ) const

inline

brief computes rotation of z-axis

◆ operator*()

template<class Type >

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT physx::PxQuatT< Type >::operator* ( const PxQuatT< Type > & q ) const

inline

quaternion multiplication

◆ operator+()

template<class Type >

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT physx::PxQuatT< Type >::operator+ ( const PxQuatT< Type > & q ) const

inline

quaternion addition

◆ operator-()

template<class Type >

PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuatT physx::PxQuatT< Type >::operator- ( ) const

inline

quaternion subtraction

◆ rotate()

template<class Type >

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T< Type > physx::PxQuatT< Type >::rotate ( const PxVec3T< Type > & v ) const

inline

rotates passed vec by this (assumed unitary)

◆ rotateInv()

template<class Type >

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3T< Type > physx::PxQuatT< Type >::rotateInv ( const PxVec3T< Type > & v ) const

inline

inverse rotates passed vec by this (assumed unitary)

Member Data Documentation

◆ x

template<class Type >

Type physx::PxQuatT< Type >::x

the quaternion elements

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

RavEngine/deps/physx/physx/include/foundation/Px.h
RavEngine/deps/physx/physx/include/foundation/PxQuat.h
RavEngine/deps/physx/physx/include/foundation/PxMat33.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PxQuatT() [1/2]

◆ PxQuatT() [2/2]

Member Function Documentation

◆ getAngle() [1/2]

◆ getAngle() [2/2]

◆ getBasisVector0()

◆ getBasisVector1()

◆ getBasisVector2()

◆ operator*()

◆ operator+()

◆ operator-()

◆ rotate()

◆ rotateInv()

Member Data Documentation

◆ x