Quaternions

Functions
triQuat *	triQuatUnit (triQuat *a)
	Make unit quaternion (0,0,0,1).
triQuat *	triQuatCopy (triQuat *a, const triQuat *b)
	Copy quaternion.
triMat4f *	triQuatToMatrix (triMat4f *a, const triQuat *b)
	Convert quaternion to matrix.
triVec4f *	triQuatApply (triVec4f *a, const triQuat *b, const triVec4f *c)
	Apply quaternion to vector.
triQuat *	triQuatAdd (triQuat *a, const triQuat *b, const triQuat *c)
	Add quaternions.
triQuat *	triQuatSub (triQuat *a, const triQuat *b, const triQuat *c)
	Subtract quaternions.
triQuat *	triQuatMul (triQuat *a, const triQuat *b, const triQuat *c)
	Multiply quaternions.
triFloat	triQuatInnerProduct (const triQuat *a, const triQuat *b)
	Quaternion innerproduct (dotproduct).
triQuat *	triQuatNLerp (triQuat *a, const triQuat *b, const triQuat *c, triFloat t)
	Normal (linear) interpolation of quaternions.
triQuat *	triQuatSLerp (triQuat *a, const triQuat *b, const triQuat *c, triFloat t)
	Spherical interpolation of quaternions.
triQuat *	triQuatSquad (triQuat *a, const triQuat *b, const triQuat *c, const triQuat *d, const triQuat *e, triFloat t)
	Cubical interpolation of quaternions.
triQuat *	triQuatNormalize (triQuat *a, const triQuat *b)
	Normalize quaternion.
triQuat *	triQuatConj (triQuat *a, const triQuat *b)
	Conjugate quaternion (-x,-y,-z,-w).
triQuat *	triQuatInverse (triQuat *a, const triQuat *b)
	Inverse quaternion (normalize(-x,-y,-z,w)).
triQuat *	triQuatFromRotate (triQuat *a, triFloat angle, const triVec4f *b)
	Make quaternion from axis rotation.

Detailed Description

Function Documentation

triQuatUnit()

triQuat * triQuatUnit

(

triQuat *

a

)

Make unit quaternion (0,0,0,1).

Parameters

a	- Pointer to dest quaternion

Returns

Pointer to a

triQuatCopy()

triQuat * triQuatCopy	(	triQuat *	a,
		const triQuat *	b )

Copy quaternion.

Parameters

a	- Pointer to dest quaternion
b	- Pointer to source quaternion

Returns

Pointer to a

triQuatToMatrix()

triMat4f * triQuatToMatrix	(	triMat4f *	a,
		const triQuat *	b )

Convert quaternion to matrix.

Parameters

a	- Pointer to dest matrix
b	- Pointer to source quaternion

Returns

Pointer to a

triQuatApply()

triVec4f * triQuatApply	(	triVec4f *	a,
		const triQuat *	b,
		const triVec4f *	c )

Apply quaternion to vector.

Parameters

a	- Pointer to dest vector
b	- Pointer to source quaternion
c	- Pointer to source vector

Returns

Pointer to a

triQuatAdd()

triQuat * triQuatAdd	(	triQuat *	a,
		const triQuat *	b,
		const triQuat *	c )

Add quaternions.

Parameters

a	- Pointer to dest quaternion
b	- Pointer to first source quaternion
c	- Pointer to second source quaternion

Returns

Pointer to a

triQuatSub()

triQuat * triQuatSub	(	triQuat *	a,
		const triQuat *	b,
		const triQuat *	c )

Subtract quaternions.

Parameters

a	- Pointer to dest quaternion
b	- Pointer to first source quaternion
c	- Pointer to second source quaternion

Returns

Pointer to a

triQuatMul()

triQuat * triQuatMul	(	triQuat *	a,
		const triQuat *	b,
		const triQuat *	c )

Multiply quaternions.

Parameters

a	- Pointer to dest quaternion
b	- Pointer to first source quaternion
c	- Pointer to second source quaternion

Returns

Pointer to a

triQuatInnerProduct()

triFloat triQuatInnerProduct	(	const triQuat *	a,
		const triQuat *	b )

Quaternion innerproduct (dotproduct).

Parameters

a	- Pointer to first source quaternion
b	- Pointer to second source quaternion

Returns

Dotproduct of quaternions

triQuatNLerp()

triQuat * triQuatNLerp	(	triQuat *	a,
		const triQuat *	b,
		const triQuat *	c,
		triFloat	t )

Normal (linear) interpolation of quaternions.

Parameters

a	- Pointer to dest quaternion
b	- Pointer to first source quaternion
c	- Pointer to second source quaternion
t	- Interpolation step

Returns

Pointer to a

triQuatSLerp()

triQuat * triQuatSLerp	(	triQuat *	a,
		const triQuat *	b,
		const triQuat *	c,
		triFloat	t )

Spherical interpolation of quaternions.

Parameters

a	- Pointer to dest quaternion
b	- Pointer to first source quaternion
c	- Pointer to second source quaternion
t	- Interpolation step

Returns

Pointer to a

triQuatSquad()

triQuat * triQuatSquad	(	triQuat *	a,
		const triQuat *	b,
		const triQuat *	c,
		const triQuat *	d,
		const triQuat *	e,
		triFloat	t )

Cubical interpolation of quaternions.

return SLerp( SLerp( b, c, t ), SLerp( d, e, t ), 2*t*(1-t) )

Parameters

a	- Pointer to dest quaternion
b	- Pointer to first source quaternion
c	- Pointer to second source quaternion
d	- Pointer to third source quaternion
e	- Pointer to fourth source quaternion
t	- Interpolation step

Returns

Pointer to a

triQuatNormalize()

triQuat * triQuatNormalize	(	triQuat *	a,
		const triQuat *	b )

Normalize quaternion.

Parameters

a	- Pointer to dest quaternion
b	- Pointer to source quaternion

Returns

Pointer to a

triQuatConj()

triQuat * triQuatConj	(	triQuat *	a,
		const triQuat *	b )

Conjugate quaternion (-x,-y,-z,-w).

Parameters

a	- Pointer to dest quaternion
b	- Pointer to source quaternion

Returns

Pointer to a

triQuatInverse()

triQuat * triQuatInverse	(	triQuat *	a,
		const triQuat *	b )

Inverse quaternion (normalize(-x,-y,-z,w)).

Parameters

a	- Pointer to dest quaternion
b	- Pointer to source quaternion

Returns

Pointer to a

triQuatFromRotate()

triQuat * triQuatFromRotate	(	triQuat *	a,
		triFloat	angle,
		const triVec4f *	b )

Make quaternion from axis rotation.

Parameters

a	- Pointer to dest quaternion
angle	- angle in radians to rotate about
b	- Pointer to vector describing the axis to rotate about

Returns

Pointer to a