QQuaternion 类表示由向量和标量组成的四元数。 更多...
| 头： | #include <QQuaternion> |
| CMake: |
find_package(Qt6 COMPONENTS Gui REQUIRED)
target_link_libraries(mytarget PRIVATE Qt6::Gui) |
| qmake: | QT += gui |
| QQuaternion (const QVector4D & vector ) | |
| QQuaternion (float scalar , const QVector3D & vector ) | |
| QQuaternion (float scalar , float xpos , float ypos , float zpos ) | |
| QQuaternion () | |
| QQuaternion | conjugated () const |
| void | getAxes (QVector3D * xAxis , QVector3D * yAxis , QVector3D * zAxis ) const |
| void | getAxisAndAngle (float * x , float * y , float * z , float * angle ) const |
| void | getAxisAndAngle (QVector3D * axis , float * angle ) const |
| void | getEulerAngles (float * pitch , float * yaw , float * roll ) const |
| QQuaternion | inverted () const |
| bool | isIdentity () const |
| bool | isNull () const |
| float | length () const |
| float | lengthSquared () const |
| void | normalize () |
| QQuaternion | normalized () const |
| QVector3D | rotatedVector (const QVector3D & vector ) const |
| float | scalar () const |
| void | setScalar (float scalar ) |
| void | setVector (const QVector3D & vector ) |
| void | setVector (float x , float y , float z ) |
| void | setX (float x ) |
| void | setY (float y ) |
| void | setZ (float z ) |
| QVector3D | toEulerAngles () const |
| QMatrix3x3 | toRotationMatrix () const |
| QVector4D | toVector4D () const |
| QVector3D | vector () const |
| float | x () const |
| float | y () const |
| float | z () const |
| QVariant | operator QVariant () const |
| QQuaternion & | operator*= (float factor ) |
| QQuaternion & | operator*= (const QQuaternion & quaternion ) |
| QQuaternion & | operator+= (const QQuaternion & quaternion ) |
| QQuaternion & | operator-= (const QQuaternion & quaternion ) |
| QQuaternion & | operator/= (float divisor ) |
| float | dotProduct (const QQuaternion & q1 , const QQuaternion & q2 ) |
| QQuaternion | fromAxes (const QVector3D & xAxis , const QVector3D & yAxis , const QVector3D & zAxis ) |
| QQuaternion | fromAxisAndAngle (const QVector3D & axis , float angle ) |
| QQuaternion | fromAxisAndAngle (float x , float y , float z , float angle ) |
| QQuaternion | fromDirection (const QVector3D & direction , const QVector3D & up ) |
| QQuaternion | fromEulerAngles (float pitch , float yaw , float roll ) |
| QQuaternion | fromEulerAngles (const QVector3D & eulerAngles ) |
| QQuaternion | fromRotationMatrix (const QMatrix3x3 & rot3x3 ) |
| QQuaternion | nlerp (const QQuaternion & q1 , const QQuaternion & q2 , float t ) |
| QQuaternion | rotationTo (const QVector3D & from , const QVector3D & to ) |
| QQuaternion | slerp (const QQuaternion & q1 , const QQuaternion & q2 , float t ) |
| bool | qFuzzyCompare (const QQuaternion & q1 , const QQuaternion & q2 ) |
| bool | operator!= (const QQuaternion & q1 , const QQuaternion & q2 ) |
| const QQuaternion | operator* (float factor , const QQuaternion & quaternion ) |
| const QQuaternion | operator* (const QQuaternion & quaternion , float factor ) |
| const QQuaternion | operator* (const QQuaternion & q1 , const QQuaternion & q2 ) |
| QVector3D | operator* (const QQuaternion & quaternion , const QVector3D & vec ) |
| const QQuaternion | operator+ (const QQuaternion & q1 , const QQuaternion & q2 ) |
| const QQuaternion | operator- (const QQuaternion & q1 , const QQuaternion & q2 ) |
| const QQuaternion | operator- (const QQuaternion & quaternion ) |
| const QQuaternion | operator/ (const QQuaternion & quaternion , float divisor ) |
| QDataStream & | operator<< (QDataStream & stream , const QQuaternion & quaternion ) |
| bool | operator== (const QQuaternion & q1 , const QQuaternion & q2 ) |
| QDataStream & | operator>> (QDataStream & stream , QQuaternion & quaternion ) |
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.
构造四元数从分量为 vector .
Constructs a quaternion vector from the specified vector and scalar .
Constructs a quaternion with the vector ( xpos , ypos , zpos ) 和 scalar .
Constructs an identity quaternion (1, 0, 0, 0), i.e. with the vector (0, 0, 0) and scalar 1.
[since 5.5]
QQuaternion
QQuaternion::
conjugated
() const
Returns the conjugate of this quaternion, which is (-x, -y, -z, scalar).
该函数在 Qt 5.5 引入。
[static, since 5.5]
float
QQuaternion::
dotProduct
(const
QQuaternion
&
q1
, const
QQuaternion
&
q2
)
返回点积为 q1 and q2 .
该函数在 Qt 5.5 引入。
另请参阅 length ().
[static, since 5.5]
QQuaternion
QQuaternion::
fromAxes
(const
QVector3D
&
xAxis
, const
QVector3D
&
yAxis
, const
QVector3D
&
zAxis
)
Constructs the quaternion using 3 axes ( xAxis , yAxis , zAxis ).
注意： The axes are assumed to be orthonormal.
该函数在 Qt 5.5 引入。
另请参阅 getAxes () 和 fromRotationMatrix ().
[static]
QQuaternion
QQuaternion::
fromAxisAndAngle
(const
QVector3D
&
axis
,
float
angle
)
Creates a normalized quaternion that corresponds to rotating through angle degrees about the specified 3D axis .
另请参阅 getAxisAndAngle ().
[static]
QQuaternion
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 ).
另请参阅 getAxisAndAngle ().
[static, since 5.5]
QQuaternion
QQuaternion::
fromDirection
(const
QVector3D
&
direction
, const
QVector3D
&
up
)
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.
该函数在 Qt 5.5 引入。
另请参阅 fromAxes () 和 rotationTo ().
[static, since 5.5]
QQuaternion
QQuaternion::
fromEulerAngles
(
float
pitch
,
float
yaw
,
float
roll
)
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).
该函数在 Qt 5.5 引入。
另请参阅 getEulerAngles ().
[static, since 5.5]
QQuaternion
QQuaternion::
fromEulerAngles
(const
QVector3D
&
eulerAngles
)
这是重载函数。
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).
该函数在 Qt 5.5 引入。
另请参阅 toEulerAngles ().
[static, since 5.5]
QQuaternion
QQuaternion::
fromRotationMatrix
(const
QMatrix3x3
&
rot3x3
)
Creates a quaternion that corresponds to a rotation matrix rot3x3 .
注意： If a given rotation matrix is not normalized, the resulting quaternion will contain scaling information.
该函数在 Qt 5.5 引入。
另请参阅 toRotationMatrix () 和 fromAxes ().
[since 5.5]
void
QQuaternion::
getAxes
(
QVector3D
*
xAxis
,
QVector3D
*
yAxis
,
QVector3D
*
zAxis
) const
Returns the 3 orthonormal axes ( xAxis , yAxis , zAxis ) defining the quaternion.
该函数在 Qt 5.5 引入。
另请参阅 fromAxes () 和 toRotationMatrix ().
[since 5.5]
void
QQuaternion::
getAxisAndAngle
(
float
*
x
,
float
*
y
,
float
*
z
,
float
*
angle
) const
Extracts a 3D axis ( x , y , z ) and a rotating angle angle (in degrees) that corresponds to this quaternion.
该函数在 Qt 5.5 引入。
另请参阅 fromAxisAndAngle ().
[since 5.5]
void
QQuaternion::
getAxisAndAngle
(
QVector3D
*
axis
,
float
*
angle
) const
这是重载函数。
Extracts a 3D axis axis and a rotating angle angle (in degrees) that corresponds to this quaternion.
该函数在 Qt 5.5 引入。
另请参阅 fromAxisAndAngle ().
[since 5.5]
void
QQuaternion::
getEulerAngles
(
float
*
pitch
,
float
*
yaw
,
float
*
roll
) const
计算 roll , pitch ，和 yaw Euler angles (in degrees) that corresponds to this quaternion.
该函数在 Qt 5.5 引入。
另请参阅 fromEulerAngles ().
[since 5.5]
QQuaternion
QQuaternion::
inverted
() const
Returns the inverse of this quaternion. If this quaternion is null, then a null quaternion is returned.
该函数在 Qt 5.5 引入。
返回
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
.
返回
true
if the x, y, z, and scalar components of this quaternion are set to 0.0; otherwise returns
false
.
Returns the length of the quaternion. This is also called the "norm".
另请参阅 lengthSquared (), normalized ()，和 dotProduct ().
Returns the squared length of the quaternion.
注意： Though cheap to compute, this is susceptible to overflow and underflow that length () avoids in many cases.
另请参阅 length () 和 dotProduct ().
[static]
QQuaternion
QQuaternion::
nlerp
(const
QQuaternion
&
q1
, const
QQuaternion
&
q2
,
float
t
)
Interpolates along the shortest linear path between the rotational positions q1 and q2 。值 t should be between 0 and 1, indicating the distance to travel between q1 and q2 . The result will be normalized ().
若 t is less than or equal to 0, then q1 will be returned. If t is greater than or equal to 1, then q2 将被返回。
The nlerp() function is typically faster than slerp () and will give approximate results to spherical interpolation that are good enough for some applications.
另请参阅 slerp ().
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.
另请参阅 length () 和 normalized ().
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.
另请参阅 normalize (), length ()，和 dotProduct ().
Rotates vector with this quaternion to produce a new vector in 3D space. The following code:
QVector3D result = q.rotatedVector(vector);
相当于以下：
QVector3D result = (q * QQuaternion(0, vector) * q.conjugated()).vector();
[static, since 5.5]
QQuaternion
QQuaternion::
rotationTo
(const
QVector3D
&
from
, const
QVector3D
&
to
)
Returns the shortest arc quaternion to rotate from the direction described by the vector from to the direction described by the vector to .
该函数在 Qt 5.5 引入。
另请参阅 fromDirection ().
Returns the scalar component of this quaternion.
另请参阅 setScalar (), x (), y ()，和 z ().
Sets the scalar component of this quaternion to scalar .
另请参阅 scalar (), setX (), setY ()，和 setZ ().
Sets the vector component of this quaternion to vector .
另请参阅 vector () 和 setScalar ().
Sets the vector component of this quaternion to ( x , y , z ).
另请参阅 vector () 和 setScalar ().
Sets the x coordinate of this quaternion's vector to the given x 坐标。
另请参阅 x (), setY (), setZ ()，和 setScalar ().
Sets the y coordinate of this quaternion's vector to the given y 坐标。
另请参阅 y (), setX (), setZ ()，和 setScalar ().
Sets the z coordinate of this quaternion's vector to the given z 坐标。
另请参阅 z (), setX (), setY ()，和 setScalar ().
[static]
QQuaternion
QQuaternion::
slerp
(const
QQuaternion
&
q1
, const
QQuaternion
&
q2
,
float
t
)
Interpolates along the shortest spherical path between the rotational positions q1 and q2 。值 t should be between 0 and 1, indicating the spherical distance to travel between q1 and q2 .
若 t is less than or equal to 0, then q1 will be returned. If t is greater than or equal to 1, then q2 将被返回。
另请参阅 nlerp ().
[since 5.5]
QVector3D
QQuaternion::
toEulerAngles
() const
这是重载函数。
Calculates roll, pitch, and yaw Euler angles (in degrees) that corresponds to this quaternion.
该函数在 Qt 5.5 引入。
另请参阅 fromEulerAngles ().
[since 5.5]
QMatrix3x3
QQuaternion::
toRotationMatrix
() const
Creates a rotation matrix that corresponds to this quaternion.
注意： If this quaternion is not normalized, the resulting rotation matrix will contain scaling information.
该函数在 Qt 5.5 引入。
另请参阅 fromRotationMatrix () 和 getAxes ().
Returns this quaternion as a 4D vector.
Returns the vector component of this quaternion.
另请参阅 setVector () 和 scalar ().
Returns the x coordinate of this quaternion's vector.
另请参阅 setX (), y (), z ()，和 scalar ().
Returns the y coordinate of this quaternion's vector.
另请参阅 setY (), x (), z ()，和 scalar ().
Returns the z coordinate of this quaternion's vector.
另请参阅 setZ (), x (), y ()，和 scalar ().
Returns the quaternion as a QVariant .
Multiplies this quaternion's components by the given factor , and returns a reference to this quaternion.
另请参阅 operator/= ().
Multiplies this quaternion by quaternion and returns a reference to this quaternion.
添加给定 quaternion to this quaternion and returns a reference to this quaternion.
另请参阅 operator-= ().
减去给定 quaternion from this quaternion and returns a reference to this quaternion.
另请参阅 operator+= ().
Divides this quaternion's components by the given divisor , and returns a reference to this quaternion.
另请参阅 operator*= ().
返回
true
if
q1
and
q2
are equal, allowing for a small fuzziness factor for floating-point comparisons; false otherwise.
返回
true
if
q1
不等于
q2
；否则返回
false
。此运算符使用精确浮点比较。
返回副本为给定 quaternion ，乘以给定 factor .
另请参阅 QQuaternion::operator*= ().
返回副本为给定 quaternion ，乘以给定 factor .
另请参阅 QQuaternion::operator*= ().
Multiplies q1 and q2 using quaternion multiplication. The result corresponds to applying both of the rotations specified by q1 and q2 .
另请参阅 QQuaternion::operator*= ().
[since 5.5]
QVector3D
operator*
(const
QQuaternion
&
quaternion
, const
QVector3D
&
vec
)
Rotates a vector vec with a quaternion quaternion to produce a new vector in 3D space.
该函数在 Qt 5.5 引入。
返回 QQuaternion object that is the sum of the given quaternions, q1 and q2 ；分别相加各分量。
另请参阅 QQuaternion::operator+= ().
返回 QQuaternion 对象的形成是通过减去 q2 from q1 ；分别减去各分量。
另请参阅 QQuaternion::operator-= ().
这是重载函数。
返回 QQuaternion object that is formed by changing the sign of all three components of the given quaternion .
相当于
QQuaternion(0,0,0,0) - quaternion
.
返回 QQuaternion object formed by dividing all components of the given quaternion 通过给定 divisor .
另请参阅 QQuaternion::operator/= ().
写入给定 quaternion 到给定 stream 并返回流引用。
另请参阅 序列化 Qt 数据类型 .
返回
true
if
q1
等于
q2
；否则返回
false
。此运算符使用精确浮点比较。
读取四元数从给定 stream 进给定 quaternion 并返回流引用。
另请参阅 序列化 Qt 数据类型 .