The QQuaternion class represents a quaternion consisting of a vector and scalar. More...

#include <qquaternion.h>

Collaboration diagram for QQuaternion:

Public Member Functions
	QQuaternion ()
	Constructs an identity quaternion (1, 0, 0, 0), i.e.

	QQuaternion (Qt::Initialization)

	QQuaternion (float scalar, float xpos, float ypos, float zpos)
	Constructs a quaternion with the vector (xpos, ypos, zpos) and scalar.

	QQuaternion (float scalar, const QVector3D &vector)
	Constructs a quaternion vector from the specified vector and scalar.

	QQuaternion (const QVector4D &vector)
	Constructs a quaternion from the components of vector.

bool	isNull () const
	Returns `true` if the x, y, z, and scalar components of this quaternion are set to 0.0; otherwise returns `false`.

bool	isIdentity () const
	Returns `true` if the x, y, and z components of this quaternion are set to 0.0, and the scalar component is set to 1.0; otherwise returns `false`.

QVector3D	vector () const
	Returns the vector component of this quaternion.

void	setVector (const QVector3D &vector)
	Sets the vector component of this quaternion to vector.

void	setVector (float x, float y, float z)
	Sets the vector component of this quaternion to (x, y, z).

float	x () const
	Returns the x coordinate of this quaternion's vector.

float	y () const
	Returns the y coordinate of this quaternion's vector.

float	z () const
	Returns the z coordinate of this quaternion's vector.

float	scalar () const
	Returns the scalar component of this quaternion.

void	setX (float x)
	Sets the x coordinate of this quaternion's vector to the given x coordinate.

void	setY (float y)
	Sets the y coordinate of this quaternion's vector to the given y coordinate.

void	setZ (float z)
	Sets the z coordinate of this quaternion's vector to the given z coordinate.

void	setScalar (float scalar)
	Sets the scalar component of this quaternion to scalar.

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

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

QQuaternion	normalized () const
	Returns the normalized unit form of this quaternion.

void	normalize ()
	Normalizes the current quaternion in place.

QQuaternion	inverted () const

QQuaternion	conjugated () const

QVector3D	rotatedVector (const QVector3D &vector) const
	Rotates vector with this quaternion to produce a new vector in 3D space.

QQuaternion &	operator+= (const QQuaternion &quaternion)
	Adds the given quaternion to this quaternion and returns a reference to this quaternion.

QQuaternion &	operator-= (const QQuaternion &quaternion)
	Subtracts the given quaternion from this quaternion and returns a reference to this quaternion.

QQuaternion &	operator*= (float factor)
	Multiplies this quaternion's components by the given factor, and returns a reference to this quaternion.

QQuaternion &	operator*= (const QQuaternion &quaternion)
	Multiplies this quaternion by quaternion and returns a reference to this quaternion.

QQuaternion &	operator/= (float divisor)
	Divides this quaternion's components by the given divisor, and returns a reference to this quaternion.

QVector4D	toVector4D () const
	Returns this quaternion as a 4D vector.

	operator QVariant () const
	Returns the quaternion as a QVariant.

void	getAxisAndAngle (QVector3D axis, float angle) const

void	getAxisAndAngle (float x, float y, float z, float angle) const

QVector3D	toEulerAngles () const

void	getEulerAngles (float pitch, float yaw, float *roll) const

QMatrix3x3	toRotationMatrix () const

void	getAxes (QVector3D xAxis, QVector3D yAxis, QVector3D *zAxis) const

Static Public Member Functions
static constexpr float	dotProduct (const QQuaternion &q1, const QQuaternion &q2)

static QQuaternion	fromAxisAndAngle (const QVector3D &axis, float angle)
	Creates a normalized quaternion that corresponds to rotating through angle degrees about the specified 3D axis.

static QQuaternion	fromAxisAndAngle (float x, float y, float z, float angle)
	Creates a normalized quaternion that corresponds to rotating through angle degrees about the 3D axis (x, y, z).

static QQuaternion	fromEulerAngles (const QVector3D &eulerAngles)

static QQuaternion	fromEulerAngles (float pitch, float yaw, float roll)

static QQuaternion	fromRotationMatrix (const QMatrix3x3 &rot3x3)

static QQuaternion	fromAxes (const QVector3D &xAxis, const QVector3D &yAxis, const QVector3D &zAxis)

static QQuaternion	fromDirection (const QVector3D &direction, const QVector3D &up)

static QQuaternion	rotationTo (const QVector3D &from, const QVector3D &to)

static QQuaternion	slerp (const QQuaternion &q1, const QQuaternion &q2, float t)
	Interpolates along the shortest spherical path between the rotational positions q1 and q2.

static QQuaternion	nlerp (const QQuaternion &q1, const QQuaternion &q2, float t)
	Interpolates along the shortest linear path between the rotational positions q1 and q2.

Friends
QT_WARNING_PUSH QT_WARNING_DISABLE_FLOAT_COMPARE friend bool	operator== (const QQuaternion &q1, const QQuaternion &q2) noexcept
	Returns `true` if q1 is equal to q2; otherwise returns `false`.

bool	operator!= (const QQuaternion &q1, const QQuaternion &q2) noexcept
	Returns `true` if q1 is not equal to q2; otherwise returns `false`.

QT_WARNING_POP friend const QQuaternion	operator+ (const QQuaternion &q1, const QQuaternion &q2)
	Returns a QQuaternion object that is the sum of the given quaternions, q1 and q2; each component is added separately.

const QQuaternion	operator- (const QQuaternion &q1, const QQuaternion &q2)
	Returns a QQuaternion object that is formed by subtracting q2 from q1; each component is subtracted separately.

const QQuaternion	operator* (float factor, const QQuaternion &quaternion)
	Returns a copy of the given quaternion, multiplied by the given factor.

const QQuaternion	operator* (const QQuaternion &quaternion, float factor)
	Returns a copy of the given quaternion, multiplied by the given factor.

const QQuaternion	operator* (const QQuaternion &q1, const QQuaternion &q2)
	Multiplies q1 and q2 using quaternion multiplication.

const QQuaternion	operator- (const QQuaternion &quaternion)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.Returns a QQuaternion object that is formed by changing the sign of all three components of the given quaternion.

const QQuaternion	operator/ (const QQuaternion &quaternion, float divisor)
	Returns the QQuaternion object formed by dividing all components of the given quaternion by the given divisor.

bool	qFuzzyCompare (const QQuaternion &q1, const QQuaternion &q2)
	Returns `true` if q1 and q2 are equal, allowing for a small fuzziness factor for floating-point comparisons; false otherwise.

Related Symbols
(Note that these are not member symbols.)
const QQuaternion	operator+ (const QQuaternion &q1, const QQuaternion &q2)
	Returns a QQuaternion object that is the sum of the given quaternions, q1 and q2; each component is added separately.

const QQuaternion	operator- (const QQuaternion &q1, const QQuaternion &q2)
	Returns a QQuaternion object that is formed by subtracting q2 from q1; each component is subtracted separately.

const QQuaternion	operator* (float factor, const QQuaternion &quaternion)
	Returns a copy of the given quaternion, multiplied by the given factor.

const QQuaternion	operator* (const QQuaternion &quaternion, float factor)
	Returns a copy of the given quaternion, multiplied by the given factor.

const QQuaternion	operator* (const QQuaternion &q1, const QQuaternion &q2)
	Multiplies q1 and q2 using quaternion multiplication.

const QQuaternion	operator- (const QQuaternion &quaternion)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.Returns a QQuaternion object that is formed by changing the sign of all three components of the given quaternion.

const QQuaternion	operator/ (const QQuaternion &quaternion, float divisor)
	Returns the QQuaternion object formed by dividing all components of the given quaternion by the given divisor.

QVector3D	operator* (const QQuaternion &quaternion, const QVector3D &vec)

bool	qFuzzyCompare (const QQuaternion &q1, const QQuaternion &q2)
	Returns `true` if q1 and q2 are equal, allowing for a small fuzziness factor for floating-point comparisons; false otherwise.

QDataStream &	operator<< (QDataStream &stream, const QQuaternion &quaternion)
	Writes the given quaternion to the given stream and returns a reference to the stream.

QDataStream &	operator>> (QDataStream &stream, QQuaternion &quaternion)
	Reads a quaternion from the given stream into the given quaternion and returns a reference to the stream.

Detailed Description

The QQuaternion class represents a quaternion consisting of a vector and scalar.

Since: 4.6

\inmodule QtGui

Quaternions are used to represent rotations in 3D space, and consist of a 3D rotation axis specified by the x, y, and z coordinates, and a scalar representing the rotation angle.

Definition at line 20 of file qquaternion.h.

Constructor & Destructor Documentation

◆ QQuaternion() [1/5]

QQuaternion::QQuaternion ( )

inline

Constructs an identity quaternion (1, 0, 0, 0), i.e.

with the vector (0, 0, 0) and scalar 1.

Definition at line 138 of file qquaternion.h.

Referenced by conjugated(), fromAxisAndAngle(), fromAxisAndAngle(), fromDirection(), fromEulerAngles(), fromRotationMatrix(), inverted(), normalized(), rotatedVector(), and rotationTo().

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◆ QQuaternion() [2/5]

QQuaternion::QQuaternion ( Qt::Initialization )

inlineexplicit

Since: 5.5

Constructs a quaternion without initializing the contents.

Definition at line 24 of file qquaternion.h.

◆ QQuaternion() [3/5]

QQuaternion::QQuaternion	(	float	scalar,
		float	xpos,
		float	ypos,
		float	zpos
	)

inline

Constructs a quaternion with the vector (xpos, ypos, zpos) and scalar.

Definition at line 140 of file qquaternion.h.

◆ QQuaternion() [4/5]

QQuaternion::QQuaternion	(	float	scalar,
		const QVector3D &	vector
	)

inline

Constructs a quaternion vector from the specified vector and scalar.

See also: vector(), scalar()

Definition at line 287 of file qquaternion.h.

◆ QQuaternion() [5/5]

QQuaternion::QQuaternion ( const QVector4D & vector )

inlineexplicit

Constructs a quaternion from the components of vector.

Definition at line 337 of file qquaternion.h.

Member Function Documentation

◆ conjugated()

QQuaternion QQuaternion::conjugated ( ) const

inline

Since: 5.5

Returns the conjugate of this quaternion, which is (-x, -y, -z, scalar).

Definition at line 184 of file qquaternion.h.

References QQuaternion().

Referenced by QQuickQuaternionValueType::conjugated(), rotatedVector(), and src_gui_math3d_qquaternion::wrapper1().

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◆ dotProduct()

constexpr float QQuaternion::dotProduct	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

inlinestaticconstexpr

Since: 5.5

Returns the dot product of q1 and q2.

See also: length()

Definition at line 166 of file qquaternion.h.

Referenced by QQuickQuaternionValueType::dotProduct(), nlerp(), and slerp().

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◆ fromAxes()

QQuaternion QQuaternion::fromAxes	(	const QVector3D &	xAxis,
		const QVector3D &	yAxis,
		const QVector3D &	zAxis
	)

static

Since: 5.5

Constructs the quaternion using 3 axes (xAxis, yAxis, zAxis).

Note: The axes are assumed to be orthonormal.

See also: getAxes(), fromRotationMatrix()

Definition at line 660 of file qquaternion.cpp.

References fromRotationMatrix(), Qt::Uninitialized, QVector3D::x(), QVector3D::y(), and QVector3D::z().

Referenced by fromDirection().

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◆ fromAxisAndAngle() [1/2]

QQuaternion QQuaternion::fromAxisAndAngle	(	const QVector3D &	axis,
		float	angle
	)

static

Creates a normalized quaternion that corresponds to rotating through angle degrees about the specified 3D axis.

See also: getAxisAndAngle()

Definition at line 348 of file qquaternion.cpp.

References QQuaternion(), QVector3D::normalized(), qDegreesToRadians(), QVector3D::x(), QVector3D::y(), and QVector3D::z().

Referenced by QQuick3DQuaternionUtils::fromAxesAndAngles(), QQuick3DQuaternionUtils::fromAxesAndAngles(), QQuick3DQuaternionUtils::fromAxisAndAngle(), QQuick3DQuaternionUtils::fromAxisAndAngle(), QQuick3DQuaternionUtils::lookAt(), QQuick3DNode::rotate(), and rotationQuaternionForLookAt().

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◆ fromAxisAndAngle() [2/2]

QQuaternion QQuaternion::fromAxisAndAngle	(	float	x,
		float	y,
		float	z,
		float	angle
	)

static

Creates a normalized quaternion that corresponds to rotating through angle degrees about the 3D axis (x, y, z).

See also: getAxisAndAngle()

Definition at line 402 of file qquaternion.cpp.

References QQuaternion(), length(), qDegreesToRadians(), qFuzzyCompare, qFuzzyIsNull(), and qHypot().

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◆ fromDirection()

QQuaternion QQuaternion::fromDirection	(	const QVector3D &	direction,
		const QVector3D &	up
	)

static

Since: 5.5

Constructs the quaternion using specified forward direction direction and upward direction up. If the upward direction was not specified or the forward and upward vectors are collinear, a new orthonormal upward direction will be generated.

See also: fromAxes(), rotationTo()

Definition at line 686 of file qquaternion.cpp.

References QQuaternion(), QVector3D::crossProduct(), direction, fromAxes(), QVector3D::lengthSquared(), QVector3D::normalize(), qFuzzyIsNull(), and rotationTo().

Referenced by setupCameraForShadowMap().

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◆ fromEulerAngles() [1/2]

QQuaternion QQuaternion::fromEulerAngles ( const QVector3D & eulerAngles )

inlinestatic

Since: 5.5 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Creates a quaternion that corresponds to a rotation of eulerAngles: eulerAngles.z() degrees around the z axis, eulerAngles.x() degrees around the x axis, and eulerAngles.y() degrees around the y axis (in that order).

See also: toEulerAngles()

Definition at line 321 of file qquaternion.h.

References fromEulerAngles(), QVector3D::x(), QVector3D::y(), and QVector3D::z().

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◆ fromEulerAngles() [2/2]

QQuaternion QQuaternion::fromEulerAngles	(	float	pitch,
		float	yaw,
		float	roll
	)

static

Since: 5.5

Creates a quaternion that corresponds to a rotation of roll degrees around the z axis, pitch degrees around the x axis, and yaw degrees around the y axis (in that order).

See also: getEulerAngles()

Definition at line 513 of file qquaternion.cpp.

References QQuaternion(), c2, qDegreesToRadians(), s2, and s3.

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◆ fromRotationMatrix()

QQuaternion QQuaternion::fromRotationMatrix ( const QMatrix3x3 & rot3x3 )

static

Since: 5.5

Creates a quaternion that corresponds to a rotation matrix rot3x3.

Note: If a given rotation matrix is not normalized, the resulting quaternion will contain scaling information.

See also: toRotationMatrix(), fromAxes()

Definition at line 596 of file qquaternion.cpp.

References QQuaternion(), i, j, and scalar().

Referenced by QQuick3DNodePrivate::emitChangesToSceneTransform(), fromAxes(), getPhysXWorldTransform(), QQuick3DInstancing::InstanceTableEntry::getRotation(), QQuick3DNode::rotate(), QQuick3DNode::sceneRotation(), and QQuick3DNode::updateSpatialNode().

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◆ getAxes()

void QQuaternion::getAxes	(	QVector3D *	xAxis,
		QVector3D *	yAxis,
		QVector3D *	zAxis
	)		const

Since: 5.5

Returns the 3 orthonormal axes (xAxis, yAxis, zAxis) defining the quaternion.

See also: fromAxes(), toRotationMatrix()

Definition at line 640 of file qquaternion.cpp.

References Q_ASSERT, and toRotationMatrix().

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◆ getAxisAndAngle() [1/2]

void QQuaternion::getAxisAndAngle	(	float *	x,
		float *	y,
		float *	z,
		float *	angle
	)		const

Since: 5.5

Extracts a 3D axis (x, y, z) and a rotating angle angle (in degrees) that corresponds to this quaternion.

See also: fromAxisAndAngle()

Definition at line 371 of file qquaternion.cpp.

References length(), Q_ASSERT, qFuzzyCompare, qFuzzyIsNull(), qHypot(), and qRadiansToDegrees().

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◆ getAxisAndAngle() [2/2]

void QQuaternion::getAxisAndAngle	(	QVector3D *	axis,
		float *	angle
	)		const

inline

Since: 5.5 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Extracts a 3D axis axis and a rotating angle angle (in degrees) that corresponds to this quaternion.

See also: fromAxisAndAngle()

Definition at line 307 of file qquaternion.h.

References getAxisAndAngle().

Referenced by getAxisAndAngle().

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◆ getEulerAngles()

void QQuaternion::getEulerAngles	(	float *	pitch,
		float *	yaw,
		float *	roll
	)		const

Since: 5.5

Calculates roll, pitch, and yaw Euler angles (in degrees) that corresponds to this quaternion.

See also: fromEulerAngles()

Definition at line 452 of file qquaternion.cpp.

References epsilon, length(), M_PI_2, Q_ASSERT, qFuzzyIsNull(), and qRadiansToDegrees().

Referenced by toEulerAngles().

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◆ inverted()

QQuaternion QQuaternion::inverted ( ) const

inline

Since: 5.5

Returns the inverse of this quaternion. If this quaternion is null, then a null quaternion is returned.

See also: isNull(), length()

Definition at line 171 of file qquaternion.h.

References QQuaternion(), and qFuzzyIsNull().

Referenced by calculateParticleRotation(), QQuickQuaternionValueType::inverted(), and QAbstractPhysicsNode::updateFromPhysicsTransform().

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◆ isIdentity()

bool QQuaternion::isIdentity ( ) const

inline

Returns true if the x, y, and z components of this quaternion are set to 0.0, and the scalar component is set to 1.0; otherwise returns false.

Definition at line 150 of file qquaternion.h.

◆ isNull()

QT_WARNING_PUSH QT_WARNING_DISABLE_FLOAT_COMPARE bool QQuaternion::isNull ( ) const

inline

Returns true if the x, y, z, and scalar components of this quaternion are set to 0.0; otherwise returns false.

Definition at line 145 of file qquaternion.h.

◆ length()

float QQuaternion::length ( ) const

Returns the length of the quaternion.

This is also called the "norm".

See also: lengthSquared(), normalized(), dotProduct()

Definition at line 199 of file qquaternion.cpp.

References qHypot().

Referenced by fromAxisAndAngle(), getAxisAndAngle(), getEulerAngles(), normalize(), and normalized().

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◆ lengthSquared()

float QQuaternion::lengthSquared ( ) const

Returns the squared length of the quaternion.

Note: Though cheap to compute, this is susceptible to overflow and underflow that length() avoids in many cases.

See also: length(), dotProduct()

Definition at line 212 of file qquaternion.cpp.

◆ nlerp()

QQuaternion QQuaternion::nlerp	(	const QQuaternion &	q1,
		const QQuaternion &	q2,
		float	t
	)

static

Interpolates along the shortest linear path between the rotational positions q1 and q2.

The value t should be between 0 and 1, indicating the distance to travel between q1 and q2. The result will be normalized().

If t is less than or equal to 0, then q1 will be returned. If t is greater than or equal to 1, then q2 will be returned.

The nlerp() function is typically faster than slerp() and will give approximate results to spherical interpolation that are good enough for some applications.

See also: slerp()

Definition at line 906 of file qquaternion.cpp.

References dot(), dotProduct(), and normalized().

Referenced by q_quaternionNlerpInterpolator().

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◆ normalize()

void QQuaternion::normalize ( )

Normalizes the current quaternion in place.

Nothing happens if this is a null quaternion or the length of the quaternion is very close to 1.

See also: length(), normalized()

Definition at line 241 of file qquaternion.cpp.

References length(), and qFuzzyIsNull().

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◆ normalized()

QQuaternion QQuaternion::normalized ( ) const

Returns the normalized unit form of this quaternion.

If this quaternion is null, then a null quaternion is returned. If the length of the quaternion is very close to 1, then the quaternion will be returned as-is. Otherwise the normalized form of the quaternion of length 1 will be returned.

See also: normalize(), length(), dotProduct()

Definition at line 227 of file qquaternion.cpp.

References QQuaternion(), length(), and qFuzzyIsNull().

Referenced by QQuick3DNodePrivate::emitChangesToSceneTransform(), getPhysXWorldTransform(), RotationData::getQuaternionRotation(), QQuick3DInstancing::InstanceTableEntry::getRotation(), nlerp(), QQuickQuaternionValueType::normalized(), RotationData::operator=(), QQuick3DNode::rotate(), and QQuick3DNode::sceneRotation().

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◆ operator QVariant()

QQuaternion::operator QVariant ( ) const

Returns the quaternion as a QVariant.

Definition at line 928 of file qquaternion.cpp.

References QVariant::fromValue().

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◆ operator*=() [1/2]

QQuaternion & QQuaternion::operator*= ( const QQuaternion & quaternion )

inline

Multiplies this quaternion by quaternion and returns a reference to this quaternion.

Definition at line 232 of file qquaternion.h.

◆ operator*=() [2/2]

QQuaternion & QQuaternion::operator*= ( float factor )

inline

Multiplies this quaternion's components by the given factor, and returns a reference to this quaternion.

See also: operator/=()

Definition at line 207 of file qquaternion.h.

◆ operator+=()

QQuaternion & QQuaternion::operator+= ( const QQuaternion & quaternion )

inline

Adds the given quaternion to this quaternion and returns a reference to this quaternion.

See also: operator-=()

Definition at line 189 of file qquaternion.h.

◆ operator-=()

QQuaternion & QQuaternion::operator-= ( const QQuaternion & quaternion )

inline

Subtracts the given quaternion from this quaternion and returns a reference to this quaternion.

See also: operator+=()

Definition at line 198 of file qquaternion.h.

◆ operator/=()

QQuaternion & QQuaternion::operator/= ( float divisor )

inline

Divides this quaternion's components by the given divisor, and returns a reference to this quaternion.

See also: operator*=()

Definition at line 238 of file qquaternion.h.

◆ rotatedVector()

QVector3D QQuaternion::rotatedVector ( const QVector3D & vector ) const

Rotates vector with this quaternion to produce a new vector in 3D space.

The following code:

QVector3D result = q.rotatedVector(vector);

QQuaternion::vector

QVector3D vector() const

Returns the vector component of this quaternion.

Definition qquaternion.h:297

QVector3D

The QVector3D class represents a vector or vertex in 3D space.

Definition qvectornd.h:171

q

GLdouble GLdouble GLdouble GLdouble q

Definition qopenglext.h:259

result

GLuint64EXT * result

[6]

Definition qopenglext.h:10932

is equivalent to the following:

QVector3D result = (q * QQuaternion(0, vector) * q.conjugated()).vector();

QQuaternion::QQuaternion

QQuaternion()

Constructs an identity quaternion (1, 0, 0, 0), i.e.

Definition qquaternion.h:138

Definition at line 281 of file qquaternion.cpp.

References QQuaternion(), conjugated(), and vector().

Referenced by operator*(), and QSpatialSoundPrivate::updateRoomEffects().

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◆ rotationTo()

QQuaternion QQuaternion::rotationTo	(	const QVector3D &	from,
		const QVector3D &	to
	)

static

Since: 5.5

Returns the shortest arc quaternion to rotate from the direction described by the vector from to the direction described by the vector to.

See also: fromDirection()

Definition at line 712 of file qquaternion.cpp.

References QQuaternion(), QVector3D::crossProduct(), d, QVector3D::dotProduct(), QVector3D::lengthSquared(), QVector3D::normalize(), QVector3D::normalized(), qFuzzyIsNull(), v0, v1, QVector3D::x(), QVector3D::y(), and QVector3D::z().

Referenced by fromDirection().

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◆ scalar()

float QQuaternion::scalar ( ) const

inline

Returns the scalar component of this quaternion.

See also: setScalar(), x(), y(), z()

Definition at line 159 of file qquaternion.h.

Referenced by fromRotationMatrix(), operator<<(), QMatrix4x4::rotate(), QAudioListener::setRotation(), and QPhysicsUtils::toPhysXType().

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◆ setScalar()

void QQuaternion::setScalar ( float scalar )

inline

Sets the scalar component of this quaternion to scalar.

See also: scalar(), setX(), setY(), setZ()

Definition at line 164 of file qquaternion.h.

Referenced by operator>>().

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◆ setVector() [1/2]

void QQuaternion::setVector ( const QVector3D & vector )

inline

Sets the vector component of this quaternion to vector.

See also: vector(), setScalar()

Definition at line 290 of file qquaternion.h.

References QVector3D::x(), QVector3D::y(), and QVector3D::z().

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◆ setVector() [2/2]

void QQuaternion::setVector	(	float	x,
		float	y,
		float	z
	)

inline

Sets the vector component of this quaternion to (x, y, z).

See also: vector(), setScalar()

Definition at line 328 of file qquaternion.h.

◆ setX()

void QQuaternion::setX ( float x )

inline

Sets the x coordinate of this quaternion's vector to the given x coordinate.

See also: x(), setY(), setZ(), setScalar()

Definition at line 161 of file qquaternion.h.

Referenced by operator>>().

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◆ setY()

void QQuaternion::setY ( float y )

inline

Sets the y coordinate of this quaternion's vector to the given y coordinate.

See also: y(), setX(), setZ(), setScalar()

Definition at line 162 of file qquaternion.h.

Referenced by operator>>().

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◆ setZ()

void QQuaternion::setZ ( float z )

inline

Sets the z coordinate of this quaternion's vector to the given z coordinate.

See also: z(), setX(), setY(), setScalar()

Definition at line 163 of file qquaternion.h.

Referenced by operator>>().

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◆ slerp()

QQuaternion QQuaternion::slerp	(	const QQuaternion &	q1,
		const QQuaternion &	q2,
		float	t
	)

static

Interpolates along the shortest spherical path between the rotational positions q1 and q2.

The value t should be between 0 and 1, indicating the spherical distance to travel between q1 and q2.

If t is less than or equal to 0, then q1 will be returned. If t is greater than or equal to 1, then q2 will be returned.

See also: nlerp()

Definition at line 857 of file qquaternion.cpp.

References dot(), and dotProduct().

Referenced by _q_interpolate(), and q_quaternionInterpolator().

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◆ toEulerAngles()

QVector3D QQuaternion::toEulerAngles ( ) const

inline

Since: 5.5 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Calculates roll, pitch, and yaw Euler angles (in degrees) that corresponds to this quaternion.

See also: fromEulerAngles()

Definition at line 314 of file qquaternion.h.

References getEulerAngles().

Referenced by RotationData::getEulerRotation().

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◆ toRotationMatrix()

QMatrix3x3 QQuaternion::toRotationMatrix ( ) const

Since: 5.5

Creates a rotation matrix that corresponds to this quaternion.

Note: If this quaternion is not normalized, the resulting rotation matrix will contain scaling information.

See also: fromRotationMatrix(), getAxes()

Definition at line 553 of file qquaternion.cpp.

References Qt::Uninitialized.

Referenced by calculate(), QQuick3DInstancing::calculateTableEntryFromQuaternion(), QSSGRenderNode::calculateTransformMatrix(), getAxes(), QQuick3DNode::rotate(), QSSGRenderLayer::setProbeOrientation(), and RotationData::toRotationMatrix().

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◆ toVector4D()

QVector4D QQuaternion::toVector4D ( ) const

inline

Returns this quaternion as a 4D vector.

Definition at line 340 of file qquaternion.h.

◆ vector()

QVector3D QQuaternion::vector ( ) const

inline

Returns the vector component of this quaternion.

See also: setVector(), scalar()

Definition at line 297 of file qquaternion.h.

Referenced by rotatedVector().

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◆ x()

QT_WARNING_POP float QQuaternion::x ( ) const

inline

Returns the x coordinate of this quaternion's vector.

See also: setX(), y(), z(), scalar()

Definition at line 156 of file qquaternion.h.

Referenced by operator<<(), QMatrix4x4::rotate(), QAudioListener::setRotation(), QPhysicsUtils::toPhysXType(), and QAbstractPhysicsNode::updateFromPhysicsTransform().

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◆ y()

float QQuaternion::y ( ) const

inline

Returns the y coordinate of this quaternion's vector.

See also: setY(), x(), z(), scalar()

Definition at line 157 of file qquaternion.h.

Referenced by operator<<(), QMatrix4x4::rotate(), QAudioListener::setRotation(), QPhysicsUtils::toPhysXType(), and QAbstractPhysicsNode::updateFromPhysicsTransform().

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◆ z()

float QQuaternion::z ( ) const

inline

Returns the z coordinate of this quaternion's vector.

See also: setZ(), x(), y(), scalar()

Definition at line 158 of file qquaternion.h.

Referenced by operator<<(), QMatrix4x4::rotate(), QAudioListener::setRotation(), QPhysicsUtils::toPhysXType(), and QAbstractPhysicsNode::updateFromPhysicsTransform().

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Friends And Related Symbol Documentation

◆ operator!=

bool QQuaternion::operator!=	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

friend

Returns true if q1 is not equal to q2; otherwise returns false.

This operator uses an exact floating-point comparison.

Definition at line 78 of file qquaternion.h.

◆ operator*() [1/7]

const QQuaternion operator*	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

The result corresponds to applying both of the rotations specified by q1 and q2.

See also: QQuaternion::operator*=()

Definition at line 216 of file qquaternion.h.

◆ operator* [2/7]

const QQuaternion operator*	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

friend

Multiplies q1 and q2 using quaternion multiplication.

The result corresponds to applying both of the rotations specified by q1 and q2.

See also: QQuaternion::operator*=()

Definition at line 216 of file qquaternion.h.

◆ operator*() [3/7]

QVector3D operator*	(	const QQuaternion &	quaternion,
		const QVector3D &	vec
	)

Since: 5.5

Rotates a vector vec with a quaternion quaternion to produce a new vector in 3D space.

Definition at line 302 of file qquaternion.h.

References rotatedVector().

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◆ operator*() [4/7]

const QQuaternion operator*	(	const QQuaternion &	quaternion,
		float	factor
	)

See also: QQuaternion::operator*=()

Definition at line 262 of file qquaternion.h.

◆ operator* [5/7]

const QQuaternion operator*	(	const QQuaternion &	quaternion,
		float	factor
	)

friend

Returns a copy of the given quaternion, multiplied by the given factor.

See also: QQuaternion::operator*=()

Definition at line 262 of file qquaternion.h.

◆ operator*() [6/7]

const QQuaternion operator*	(	float	factor,
		const QQuaternion &	quaternion
	)

See also: QQuaternion::operator*=()

Definition at line 257 of file qquaternion.h.

◆ operator* [7/7]

const QQuaternion operator*	(	float	factor,
		const QQuaternion &	quaternion
	)

friend

Returns a copy of the given quaternion, multiplied by the given factor.

See also: QQuaternion::operator*=()

Definition at line 257 of file qquaternion.h.

◆ operator+() [1/2]

const QQuaternion operator+	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

See also: QQuaternion::operator+=()

Definition at line 247 of file qquaternion.h.

◆ operator+ [2/2]

const QQuaternion operator+	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

friend

Returns a QQuaternion object that is the sum of the given quaternions, q1 and q2; each component is added separately.

See also: QQuaternion::operator+=()

Definition at line 247 of file qquaternion.h.

◆ operator-() [1/4]

const QQuaternion operator-	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

See also: QQuaternion::operator-=()

Definition at line 252 of file qquaternion.h.

◆ operator- [2/4]

const QQuaternion operator-	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

friend

Returns a QQuaternion object that is formed by subtracting q2 from q1; each component is subtracted separately.

See also: QQuaternion::operator-=()

Definition at line 252 of file qquaternion.h.

◆ operator-() [3/4]

const QQuaternion operator- ( const QQuaternion & quaternion )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.Returns a QQuaternion object that is formed by changing the sign of all three components of the given quaternion.

Equivalent to {QQuaternion(0,0,0,0) - quaternion}.

Definition at line 267 of file qquaternion.h.

◆ operator- [4/4]

const QQuaternion operator- ( const QQuaternion & quaternion )

friend

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.Returns a QQuaternion object that is formed by changing the sign of all three components of the given quaternion.

Equivalent to {QQuaternion(0,0,0,0) - quaternion}.

Definition at line 267 of file qquaternion.h.

◆ operator/() [1/2]

const QQuaternion operator/	(	const QQuaternion &	quaternion,
		float	divisor
	)

See also: QQuaternion::operator/=()

Definition at line 272 of file qquaternion.h.

◆ operator/ [2/2]

const QQuaternion operator/	(	const QQuaternion &	quaternion,
		float	divisor
	)

friend

Returns the QQuaternion object formed by dividing all components of the given quaternion by the given divisor.

See also: QQuaternion::operator/=()

Definition at line 272 of file qquaternion.h.

◆ operator<<()

QDataStream & operator<<	(	QDataStream &	stream,
		const QQuaternion &	quaternion
	)

See also: {Serializing Qt Data Types}

Definition at line 958 of file qquaternion.cpp.

References scalar(), x(), y(), and z().

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◆ operator==

bool QQuaternion::operator==	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

friend

Returns true if q1 is equal to q2; otherwise returns false.

This operator uses an exact floating-point comparison.

Definition at line 74 of file qquaternion.h.

◆ operator>>()

QDataStream & operator>>	(	QDataStream &	stream,
		QQuaternion &	quaternion
	)

See also: {Serializing Qt Data Types}

Definition at line 975 of file qquaternion.cpp.

References setScalar(), setX(), setY(), and setZ().

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◆ qFuzzyCompare() [1/2]

bool qFuzzyCompare	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

Definition at line 277 of file qquaternion.h.

◆ qFuzzyCompare [2/2]

bool qFuzzyCompare	(	const QQuaternion &	q1,
		const QQuaternion &	q2
	)

friend

Returns true if q1 and q2 are equal, allowing for a small fuzziness factor for floating-point comparisons; false otherwise.

Definition at line 277 of file qquaternion.h.

Referenced by fromAxisAndAngle(), and getAxisAndAngle().

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

qtbase/src/gui/math3d/qquaternion.h
qtbase/src/gui/math3d/qquaternion.cpp

Public Member Functions

Static Public Member Functions

Friends

Related Symbols

Detailed Description

Constructor & Destructor Documentation

◆ QQuaternion() [1/5]

◆ QQuaternion() [2/5]

◆ QQuaternion() [3/5]

◆ QQuaternion() [4/5]

◆ QQuaternion() [5/5]

Member Function Documentation

◆ conjugated()

◆ dotProduct()

◆ fromAxes()

◆ fromAxisAndAngle() [1/2]

◆ fromAxisAndAngle() [2/2]

◆ fromDirection()

◆ fromEulerAngles() [1/2]

◆ fromEulerAngles() [2/2]

◆ fromRotationMatrix()

◆ getAxes()

◆ getAxisAndAngle() [1/2]

◆ getAxisAndAngle() [2/2]

◆ getEulerAngles()

◆ inverted()

◆ isIdentity()

◆ isNull()

◆ length()

◆ lengthSquared()

◆ nlerp()

◆ normalize()

◆ normalized()

◆ operator QVariant()

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+=()

◆ operator-=()

◆ operator/=()

◆ rotatedVector()

◆ rotationTo()

◆ scalar()

◆ setScalar()

◆ setVector() [1/2]

◆ setVector() [2/2]

◆ setX()

◆ setY()

◆ setZ()

◆ slerp()

◆ toEulerAngles()

◆ toRotationMatrix()

◆ toVector4D()

◆ vector()

◆ x()

◆ y()

◆ z()

Friends And Related Symbol Documentation

◆ operator!=

◆ operator*() [1/7]

◆ operator* [2/7]

◆ operator*() [3/7]

◆ operator*() [4/7]

◆ operator* [5/7]

◆ operator*() [6/7]

◆ operator* [7/7]

◆ operator+() [1/2]

◆ operator+ [2/2]

◆ operator-() [1/4]

◆ operator- [2/4]

◆ operator-() [3/4]

◆ operator- [4/4]

◆ operator/() [1/2]

◆ operator/ [2/2]

◆ operator<<()

◆ operator==

◆ operator>>()

◆ qFuzzyCompare() [1/2]

◆ qFuzzyCompare [2/2]