Class MTQuaternion

Inherits from:

NSObject

Declared in:

../libmoltalk/MTQuaternion.oh

Class Hierarchy

    NSObject
      |
      +---MTQuaternion

Class Description

class Quaternion reprents a quaternion (x,y,z,w)

Last modified:

16-May-2006 (../libmoltalk/MTQuaternion.oh)

Instance Variables

protected double x,y,z,w

Method Index

• access
  

  -(NSString*)description

  -(MTQuaternion*)invert

  -(MTMatrix44*)rotationMatrix

  -(NSString*)toString

  -(double)w

  -(double)x

  -(double)y

  -(double)z

• operation
  

  -(id)multiplyWith: (MTQuaternion*)q2

  -(id)normalize

  -(id)rotate:(double)phi

• creation
  

  +(MTQuaternion*)identity

  +(MTQuaternion*)rotation:(double)phi aroundAxis:(MTCoordinates*)axis

Methods

+(MTQuaternion*)identity

create a new quaternion

+(MTQuaternion*)rotation:(double)phi aroundAxis:(MTCoordinates*)axis

-(NSString*)description

-(MTQuaternion*)invert

return the inverted quaternion

-(id)multiplyWith: (MTQuaternion*)q2

product between two quaternions

-(id)normalize

normalize

-(id)rotate:(double)phi

combine this quaternion with a rotation

-(MTMatrix44*)rotationMatrix

return rotation matrix

-(NSString*)toString

access

-(double)w

-(double)x

-(double)y

-(double)z