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RtQuat
[Math Tools]


Data Structures
struct	RtQuat
Functions
RwBool	RtQuatConvertFromMatrix (RtQuat const qpQuat, const RwMatrix const mpMatrix)
RtQuat *	RtQuatRotate (RtQuat quat, const RwV3d axis, RwReal angle, RwOpCombineType combineOp)
const RtQuat *	RtQuatQueryRotate (const RtQuat quat, RwV3d unitAxis, RwReal *angle)
RwV3d *	RtQuatTransformVectors (RwV3d vectorsOut, const RwV3d vectorsIn, const RwInt32 numPoints, const RtQuat *quat)
RwReal	RtQuatModulus (RtQuat *q)
void	RtQuatInit (RtQuat *result, RwReal x, RwReal y, RwReal z, RwReal w)
void	RtQuatAssign (RtQuat to, RtQuat from)
void	RtQuatAdd (RtQuat result, RtQuat q1, RtQuat *q2)
void	RtQuatIncrementRealPart (RtQuat result, RwReal s, RtQuat q)
void	RtQuatDecrementRealPart (RtQuat result, RwReal s, RtQuat q)
void	RtQuatIncrement (RtQuat result, RtQuat dq)
void	RtQuatSub (RtQuat result, RtQuat q1, RtQuat *q2)
void	RtQuatNegate (RtQuat result, RtQuat q)
void	RtQuatConjugate (RtQuat result, RtQuat q)
void	RtQuatScale (RtQuat result, RtQuat q, RwReal scale)
RwReal	RtQuatModulusSquared (RtQuat *q)
void	RtQuatMultiply (RtQuat result, RtQuat q1, RtQuat *q2)
void	RtQuatReciprocal (RtQuat result, RtQuat q)
void	RtQuatSquare (RtQuat result, RtQuat q)
void	RtQuatSquareRoot (RtQuat result, RtQuat q)
void	RtQuatLog (RtQuat result, RtQuat q)
void	RtQuatExp (RtQuat result, RtQuat q)
void	RtQuatPow (RtQuat result, RtQuat q, RwReal e)
void	RtQuatUnitLog (RtQuat result, RtQuat q)
void	RtQuatUnitExp (RtQuat result, RtQuat q)
void	RtQuatUnitPow (RtQuat result, RtQuat q, RwReal e)
void	RtQuatConvertToMatrix (const RtQuat const qpQuat, RwMatrix const mpMatrix)
void	RtQuatUnitConvertToMatrix (const RtQuat const qpQuat, RwMatrix const mpMatrix)

Detailed Description

Quaternion Toolkit for RenderWare.

RtQuat Toolkit Overview

Requirements

Headers: rwcore.h, rtquat.h
Libraries: rwcore, rtquat
Plugin attachments: None

Overview

This toolkit defines a new general-purpose quaternion datatype, RtQuat, and provides a number of useful functions for performing quaternion arithmetic and conversion to other formats.

Legacy applications should

include the rtquat.h header file, and
link against rtquat.lib if recompiled using this or future builds of RenderWare Graphics.

Function Documentation

void RtQuatAdd ( RtQuat * result,

RtQuat * q1,

RtQuat * q2

)

RtQuatAdd calcuates the sum of an RtQuat pair
Parameters:

result Target Quaternion

q1 First Source Quaternion

q2 Second Source Quaternion

See also:
RtQuatSub

void RtQuatAssign ( RtQuat * to,

RtQuat * from

)

RtQuatAssign assigns to an RtQuat from an RtQuat
Parameters:

to Target Quaternion

from Source Quaternion

See also:
RtQuatInit

void RtQuatConjugate ( RtQuat * result,

RtQuat * q

)

RtQuatConjugate conjugates an RtQuat to another RtQuat
Parameters:

result Target Quaternion

q Source Quaternion

See also:
RtQuatModulusSquared

RwBool RtQuatConvertFromMatrix ( RtQuat *const qpQuat,

const RwMatrix *const mpMatrix

)

RtQuatConvertFromMatrix converts to an RtQuat from an RwMatrix
Parameters:

qpQuat Target quaternion.

mpMatrix Source matrix.

Returns:
Flags success
See also:
RtQuatConvertToMatrix

void RtQuatConvertToMatrix ( const RtQuat *const qpQuat,

RwMatrix *const mpMatrix

)

RtQuatConvertToMatrix converts from an RtQuat to an RwMatrix
Parameters:

qpQuat Source quaternion

mpMatrix Target matrix

See also:
RtQuatConvertFromMatrix

void RtQuatDecrementRealPart ( RtQuat * result,

RwReal s,

RtQuat * q

)

RtQuatDecrementRealPart decrements the real component of an RtQuat
Parameters:

result Target Quaternion

s Shift Factor

q Source Quaternion

See also:
RtQuatIncrementRealPart

void RtQuatExp ( RtQuat * result,

RtQuat * q

)

RtQuatExp calculates the exponential of an RtQuat
Parameters:

result Target Quaternion

q Source Quaternion

See also:
RtQuatLog

void RtQuatIncrement ( RtQuat * result,

RtQuat * dq

)

RtQuatIncrement increments an RtQuat by another RtQuat
Parameters:

result Target Quaternion

dq Shift Quaternion

See also:
RtQuatAdd

void RtQuatIncrementRealPart ( RtQuat * result,

RwReal s,

RtQuat * q

)

RtQuatIncrementRealPart increments the real component of an RtQuat
Parameters:

result Target Quaternion

s Scale Factor

q Source Quaternion

See also:
RtQuatDecrementRealPart

void RtQuatInit ( RtQuat * result,

RwReal x,

RwReal y,

RwReal z,

RwReal w

)

RtQuatInit initializes the components of an RtQuat
Parameters:

result Target Quaternion

x First imaginary component

y Second imaginary component

z Third imaginary component

w Real component

See also:
RtQuatAssign

void RtQuatLog ( RtQuat * result,

RtQuat * q

)

RtQuatLog calculates the logarithm of an RtQuat
Parameters:

result Target Quaternion

q Source Quaternion

See also:
RtQuatExp

RwReal RtQuatModulus ( RtQuat * q )

RtQuatModulus returns the modulus of an RtQuat
Parameters:

q Source Quaternion

Returns:
the modulus of the RtQuat
See also:
RtQuatModulusSquared

RwReal RtQuatModulusSquared ( RtQuat * q )

RtQuatModulusSquared returns the square of the modulus of an RtQuat
Parameters:

q Source Quaternion

Returns:
the square of the modulus of the RtQuat
See also:
RtQuatModulus

void RtQuatMultiply ( RtQuat * result,

RtQuat * q1,

RtQuat * q2

)

RtQuatMultiply calculates the (non-commutative) product of an RtQuat pair
Parameters:

result Target Quaternion

q1 First Source Quaternion

q2 Second Source Quaternion

See also:
RtQuatReciprocal

void RtQuatNegate ( RtQuat * result,

RtQuat * q

)

RtQuatNegate negates an RtQuat to the additive inverse
Parameters:

result Target Quaternion

q Source Quaternion

See also:
RtQuatAssign

void RtQuatPow ( RtQuat * result,

RtQuat * q,

RwReal e

)

RtQuatPow calculates the power of an RtQuat
Parameters:

result Target Quaternion

q Source Quaternion

e Power exponent

See also:
RtQuatLog , RtQuatExp

const RtQuat* RtQuatQueryRotate ( const RtQuat * quat,

RwV3d * unitAxis,

RwReal * angle

)

RtQuatQueryRotate determines the rotation represented by a quaternion. The rotation is returned as a unit vector along the axis of rotation, and an angle of rotation. The rotation component has two possible descriptions since a rotation about an axis of theta degrees is equivalent to a rotation about an axis pointing in the opposite direction by an angle of 360-theta in the reverse direction. The angle returned by RtQuatQueryRotate is always between 0 and 180 degrees and the direction of the axis of rotation returned is chosen to ensure the angle is in this range.
Parameters:

quat Pointer to quaternion to be investigated.

unitAxis Pointer to vector which will receive the unit direction vector along axis of rotation.

angle Pointer to RwReal which will receive angle of rotation in degrees.

Returns:
Returns pointer to the queried quaternion if successful or NULL if there is an error.
See also:
RtQuatRotate

void RtQuatReciprocal ( RtQuat * result,

RtQuat * q

)

RtQuatReciprocal recipricates an RtQuat to its multiplicative inverse
Parameters:

result Target Quaternion

q Source Quaternion

RtQuat* RtQuatRotate ( RtQuat * quat,

const RwV3d * axis,

RwReal angle,

RwOpCombineType combineOp

)

RtQuatRotate builds a rotation quaternion from the given axis and angle of rotation.
Parameters:

quat Pointer to quat to apply rotation to.

axis Pointer to vector specifying axis of rotation.

angle Angle of rotation, in degrees.

combineOp An RwOpCombineType flag.

Valid flags for "combineOp" are: rwCOMBINEREPLACE, rwCOMBINEPRECONCAT and rwCOMBINEPOSTCONCAT.

Returns:
Returns pointer to the new quat if successful or NULL if there is an error.
See also:
RtQuatQueryRotate

void RtQuatScale ( RtQuat * result,

RtQuat * q,

RwReal scale

)

RtQuatScale scales an RtQuat by a factor to another RtQuat
Parameters:

result Target Quaternion

q Source Quaternion

scale Scale Factor

See also:
RtQuatMultiply

void RtQuatSquare ( RtQuat * result,

RtQuat * q

)

RtQuatSquare calculates the square of an RtQuat
Parameters:

result Target Quaternion

q Source Quaternion

See also:
RtQuatSquareRoot

void RtQuatSquareRoot ( RtQuat * result,

RtQuat * q

)

RtQuatSquareRoot calculates the square root of an RtQuat
Parameters:

result Target Quaternion

q Source Quaternion

See also:
RtQuatSquare

void RtQuatSub ( RtQuat * result,

RtQuat * q1,

RtQuat * q2

)

RtQuatSub calculates the difference of an RtQuat pair
Parameters:

result Target Quaternion

q1 First Source Quaternion

q2 Second Source Quaternion

See also:
RtQuatAdd

RwV3d* RtQuatTransformVectors ( RwV3d * vectorsOut,

const RwV3d * vectorsIn,

const RwInt32 numPoints,

const RtQuat * quat

)

RtQuatTransformVectors uses the given quaternion describing a transformation and applies it to the specified array of vectors. The results are then placed in another array (which may be the same array as the source).
Note: The source and destination array may be separate or coincident, but the result is not defined if the source and destination overlap in any other way (ie, if they are offset from one another but still overlap).
Parameters:

vectorsOut Pointer to an array of RwV3ds which are to receive the results of the vector transformation.

vectorsIn Pointer to an array of RwV3ds which are to supply to vectors to be transformed.

numPoints Number of vectors to transform.

quat Pointer to the quaternion supplying the transformation.

Returns:
pointer to the transformed vectors if successful, or NULL if there is an error.
See also:
RwV3dTransformPoints , RwV3dTransformVectors

void RtQuatUnitConvertToMatrix ( const RtQuat *const qpQuat,

RwMatrix *const mpMatrix

)

RtQuatUnitConvertToMatrix converts from a unitary RtQuat to an RwMatrix
Parameters:

qpQuat Source quaternion

mpMatrix Target matrix

See also:
RtQuatConvertFromMatrix

void RtQuatUnitExp ( RtQuat * result,

RtQuat * q

)

RtQuatUnitExp calculates the exponential of a unitary RtQuat
Parameters:

result Target Quaternion

q Source Quaternion

See also:
RtQuatUnitLog

void RtQuatUnitLog ( RtQuat * result,

RtQuat * q

)

RtQuatUnitLog calculates the logarithm of a unitary RtQuat
Parameters:

result Target Quaternion

q Source Quaternion

See also:
RtQuatUnitExp

void RtQuatUnitPow ( RtQuat * result,

RtQuat * q,

RwReal e

)

RtQuatUnitPow calculates the power of a unitary RtQuat
Parameters:

result Target Quaternion

q Source Quaternion

e Power exponent

See also:
RtQuatUnitLog , RtQuatUnitExp

RtQuat [Math Tools]

Data Structures

Functions

Detailed Description

RtQuat Toolkit Overview

Overview

Function Documentation

RtQuat
[Math Tools]