Represents a quaternion for 3D rotations. More...

#include <Quaternion.h>

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

	Quaternion (float inX, float inY, float inZ, float inW)
	Directly sets the quaternion components.

	Quaternion (const Vector3 &axis, float angle)
	Constructs the quaternion from an axis and angle.

	Quaternion (float inAll)
	Sets all components to the same value.

void	Set (float inX, float inY, float inZ, float inW)
	Sets the quaternion components.

void	Conjugate ()
	Conjugates the quaternion.

void	Normalize ()
	Normalizes the quaternion in place.

float	LengthSqr () const
	Returns the squared length of the quaternion.

float	Length () const
	Returns the length (magnitude) of the quaternion.

Quaternion	Normalized () const
	Returns a normalized copy of the quaternion.

Quaternion	Inverse () const
	Returns the inverse of the quaternion.

Vector3	QuaternionToEuler () const
	Converts the quaternion to Euler angles (in radians).

std::string	ToString ()
	Returns a string representation of the quaternion.

class Matrix4	AsMatrix () const
	Converts the quaternion to a 4x4 matrix.

class Matrix4Row	AsMatrixRow () const
	Converts the quaternion to a row-major 4x4 matrix.

Static Public Member Functions
static Quaternion	Normalize (const Quaternion &q)
	Returns a normalized copy of the provided quaternion.

static Quaternion	Lerp (const Quaternion &a, const Quaternion &b, float f)
	Linearly interpolates between two quaternions.

static float	Dot (const Quaternion &a, const Quaternion &b)
	Computes the dot product of two quaternions.

static Quaternion	Slerp (const Quaternion &a, const Quaternion &b, float f)
	Spherical linear interpolation between two quaternions.

static Quaternion	Concatenate (const Quaternion &q, const Quaternion &p)
	Concatenates two quaternions (applies q, then p).

static Quaternion	FromEuler (const Vector3 &axis)
	Creates a quaternion from Euler angles (in degrees).

static Quaternion	LookAt (const Vector3 &sourcePoint, const Vector3 &targetPoint, const Vector3 &up=Vector3::Up)
	Creates a quaternion that rotates from sourcePoint to targetPoint.

Public Attributes
float	x
	X component.

float	y
	Y component.

float	z
	Z component.

float	w
	W (scalar) component.

Static Public Attributes
static const Quaternion	Identity
	The identity quaternion (no rotation).

Detailed Description

Represents a quaternion for 3D rotations.

Constructor & Destructor Documentation

◆ Quaternion() [1/3]

Quaternion::Quaternion	(	float	inX,
		float	inY,
		float	inZ,
		float	inW )

Directly sets the quaternion components.

Parameters

inX	X component
inY	Y component
inZ	Z component
inW	W (scalar) component

Note: Do not use for axis/angle construction.

◆ Quaternion() [2/3]

Quaternion::Quaternion	(	const Vector3 &	axis,
		float	angle )

Constructs the quaternion from an axis and angle.

Parameters

axis	Normalized axis of rotation
angle	Angle in radians

◆ Quaternion() [3/3]

Quaternion::Quaternion ( float inAll )

Sets all components to the same value.

Parameters

inAll Value for all components

Member Function Documentation

◆ AsMatrix()

Matrix4 Quaternion::AsMatrix ( ) const

Converts the quaternion to a 4x4 matrix.

Returns: Matrix4 representation

◆ AsMatrixRow()

Matrix4Row Quaternion::AsMatrixRow ( ) const

Converts the quaternion to a row-major 4x4 matrix.

Returns: Matrix4Row representation

◆ Concatenate()

static Quaternion Quaternion::Concatenate	(	const Quaternion &	q,
		const Quaternion &	p )

inlinestatic

Concatenates two quaternions (applies q, then p).

Parameters

q	First quaternion
p	Second quaternion

Returns: Concatenated quaternion

◆ Dot()

static float Quaternion::Dot	(	const Quaternion &	a,
		const Quaternion &	b )

inlinestatic

Computes the dot product of two quaternions.

Parameters

a	First quaternion
b	Second quaternion

Returns: Dot product

◆ FromEuler()

static Quaternion Quaternion::FromEuler ( const Vector3 & axis )

inlinestatic

Creates a quaternion from Euler angles (in degrees).

Parameters

axis	Euler angles (degrees) for x, y, z

Returns: Quaternion representing the rotation

◆ Inverse()

Quaternion Quaternion::Inverse ( ) const

inline

Returns the inverse of the quaternion.

Returns: Inverse quaternion

◆ Length()

float Quaternion::Length ( ) const

inline

Returns the length (magnitude) of the quaternion.

Returns: Length

◆ LengthSqr()

float Quaternion::LengthSqr ( ) const

inline

Returns the squared length of the quaternion.

Returns: Squared length

◆ Lerp()

static Quaternion Quaternion::Lerp	(	const Quaternion &	a,
		const Quaternion &	b,
		float	f )

inlinestatic

Linearly interpolates between two quaternions.

Parameters

a	Start quaternion
b	End quaternion
f	Interpolation factor [0, 1]

Returns: Interpolated quaternion

◆ LookAt()

static Quaternion Quaternion::LookAt	(	const Vector3 &	sourcePoint,
		const Vector3 &	targetPoint,
		const Vector3 &	up = Vector3::Up )

inlinestatic

Creates a quaternion that rotates from sourcePoint to targetPoint.

Parameters

sourcePoint	Source position
targetPoint	Target position
up	Up direction (default: Vector3::Up)

Returns: Quaternion representing the look-at rotation

◆ Normalize()

static Quaternion Quaternion::Normalize ( const Quaternion & q )

inlinestatic

Returns a normalized copy of the provided quaternion.

Parameters

q	Quaternion to normalize

Returns: Normalized quaternion

◆ Normalized()

Quaternion Quaternion::Normalized ( ) const

inline

Returns a normalized copy of the quaternion.

Returns: Normalized quaternion

◆ QuaternionToEuler()

Vector3 Quaternion::QuaternionToEuler ( ) const

inline

Converts the quaternion to Euler angles (in radians).

Returns: Euler angles as a Vector3 (pitch, yaw, roll)

◆ Set()

void Quaternion::Set	(	float	inX,
		float	inY,
		float	inZ,
		float	inW )

Sets the quaternion components.

Parameters

inX	X component
inY	Y component
inZ	Z component
inW	W (scalar) component

◆ Slerp()

static Quaternion Quaternion::Slerp	(	const Quaternion &	a,
		const Quaternion &	b,
		float	f )

inlinestatic

Spherical linear interpolation between two quaternions.

Parameters

a	Start quaternion
b	End quaternion
f	Interpolation factor [0, 1]

Returns: Interpolated quaternion

◆ ToString()

std::string Quaternion::ToString ( )

inline

Returns a string representation of the quaternion.

Returns: String in the format "Rotation: (x, y, z, w)"

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

D:/DEV JEUX/2025/CPP/Opengl/ClutterEngineOpenGL/ClutterEngine/Engine/Core/Maths/Quaternion.h
D:/DEV JEUX/2025/CPP/Opengl/ClutterEngineOpenGL/ClutterEngine/Engine/Core/Maths/Quaternion.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Quaternion() [1/3]

◆ Quaternion() [2/3]

◆ Quaternion() [3/3]

Member Function Documentation

◆ AsMatrix()

◆ AsMatrixRow()

◆ Concatenate()

◆ Dot()

◆ FromEuler()

◆ Inverse()

◆ Length()

◆ LengthSqr()

◆ Lerp()

◆ LookAt()

◆ Normalize()

◆ Normalized()

◆ QuaternionToEuler()

◆ Set()

◆ Slerp()

◆ ToString()