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-<div class="title">quaternion.h</div> </div>
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-<div class="contents">
-<a href="quaternion_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/*</span></div>
-<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> This file is part of the MinGfx Project.</span></div>
-<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> </span></div>
-<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> Copyright (c) 2017,2018 Regents of the University of Minnesota.</span></div>
-<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"> All Rights Reserved.</span></div>
-<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> </span></div>
-<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> Original Author(s) of this File:</span></div>
-<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"> Dan Keefe, 2018, University of Minnesota</span></div>
-<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"> </span></div>
-<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"> Author(s) of Significant Updates/Modifications to the File:</span></div>
-<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> ...</span></div>
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-<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; </div>
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-<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="namespacemingfx.html#ad49375487853a642b3f372c95cff1a96"> 132</a></span>&#160;<a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="namespacemingfx.html#a3c3b45ed6edf3fe76f98a7fd165dca03">operator+</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q1, <span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q2);</div>
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-<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="namespacemingfx.html#a59fb7a99df5c572849e31065884b2235"> 136</a></span>&#160;std::istream &amp; <a class="code" href="namespacemingfx.html#a6eb31e6e81c6e29144799be4c9db404d">operator&gt;&gt; </a>( std::istream &amp;is, <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> &amp;q);</div>
-<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>&#160; </div>
-<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160; </div>
-<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160;} <span class="comment">// end namespace</span></div>
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+ &#160;<span id="projectnumber">1.0</span>
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+ <div id="projectbrief">A minimal library for writing cross-platform (Windows, OSX, linux) graphics programs.</div>
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+<div class="title">quaternion.h</div> </div>
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+<div class="contents">
+<a href="quaternion_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> This file is part of the MinGfx Project.</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> </span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> Copyright (c) 2017,2018 Regents of the University of Minnesota.</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"> All Rights Reserved.</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> </span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> Original Author(s) of this File:</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"> Dan Keefe, 2018, University of Minnesota</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"> </span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"> Author(s) of Significant Updates/Modifications to the File:</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> ...</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#ifndef SRC_QUATERNION_H_</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#define SRC_QUATERNION_H_</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="vector3_8h.html">vector3.h</a>&quot;</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemingfx.html">mingfx</a> {</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html"> 41</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> {</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#ad58ac80804ec63af354912a71361f165"> 44</a></span>&#160; <a class="code" href="classmingfx_1_1_quaternion.html#ad58ac80804ec63af354912a71361f165">Quaternion</a>();</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a5c6cbe4fc70e8e4ec23142d0a5a2ba97"> 47</a></span>&#160; <a class="code" href="classmingfx_1_1_quaternion.html#a5c6cbe4fc70e8e4ec23142d0a5a2ba97">Quaternion</a>(<span class="keywordtype">float</span> qx, <span class="keywordtype">float</span> qy, <span class="keywordtype">float</span> qz, <span class="keywordtype">float</span> qw);</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a07bb09eb7d0b368ef5e8d9da02fbdad6"> 51</a></span>&#160; <a class="code" href="classmingfx_1_1_quaternion.html#a07bb09eb7d0b368ef5e8d9da02fbdad6">Quaternion</a>(<span class="keywordtype">float</span> *ptr);</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a0be885a1b3f2d54675c6866ec3578243"> 54</a></span>&#160; <a class="code" href="classmingfx_1_1_quaternion.html#a0be885a1b3f2d54675c6866ec3578243">Quaternion</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; other);</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a1f9ddd82678ccf51a462e4e03a02c7cc"> 56</a></span>&#160; <span class="keyword">virtual</span> <a class="code" href="classmingfx_1_1_quaternion.html#a1f9ddd82678ccf51a462e4e03a02c7cc">~Quaternion</a>();</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#aa89165641485cf9337cd6279df40a403"> 59</a></span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classmingfx_1_1_quaternion.html#aa89165641485cf9337cd6279df40a403">operator==</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#ad72c021d2d1fa543c96ac4a8b360dd2e"> 62</a></span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classmingfx_1_1_quaternion.html#ad72c021d2d1fa543c96ac4a8b360dd2e">operator!=</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#ac5f82b7ed1d620c3c15f57aca028fcdd"> 65</a></span>&#160; <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; <a class="code" href="classmingfx_1_1_quaternion.html#ac5f82b7ed1d620c3c15f57aca028fcdd">operator=</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q);</div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a548d09ecd25788241d734240c0dd7ea8"> 68</a></span>&#160; <span class="keywordtype">float</span> <a class="code" href="classmingfx_1_1_quaternion.html#a548d09ecd25788241d734240c0dd7ea8">operator[]</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> i) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a40e6587cc0511572297c5507634db7e1"> 71</a></span>&#160; <span class="keywordtype">float</span>&amp; <a class="code" href="classmingfx_1_1_quaternion.html#a40e6587cc0511572297c5507634db7e1">operator[]</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> i);</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a85464500e1d3c8ba10f1968426dc24ae"> 74</a></span>&#160; <span class="keywordtype">float</span> <a class="code" href="classmingfx_1_1_quaternion.html#a85464500e1d3c8ba10f1968426dc24ae">x</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> q[0]; }</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#adb294449db2a80bd11426148592d9e0b"> 77</a></span>&#160; <span class="keywordtype">float</span> <a class="code" href="classmingfx_1_1_quaternion.html#adb294449db2a80bd11426148592d9e0b">y</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> q[1]; }</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a75ec001cbbf08cf5c4e1f8978082a55f"> 80</a></span>&#160; <span class="keywordtype">float</span> <a class="code" href="classmingfx_1_1_quaternion.html#a75ec001cbbf08cf5c4e1f8978082a55f">z</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> q[2]; }</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a8aa53f71892f02c981d98d100a8b57c7"> 83</a></span>&#160; <span class="keywordtype">float</span> <a class="code" href="classmingfx_1_1_quaternion.html#a8aa53f71892f02c981d98d100a8b57c7">w</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> q[3]; }</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#abca597e756f257dc33838734ae19baf9"> 86</a></span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> * <a class="code" href="classmingfx_1_1_quaternion.html#abca597e756f257dc33838734ae19baf9">value_ptr</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a90a9b715d06c75ba60eb1164dc6e9c6f"> 89</a></span>&#160; <span class="keywordtype">float</span> <a class="code" href="classmingfx_1_1_quaternion.html#a90a9b715d06c75ba60eb1164dc6e9c6f">Dot</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#af6527ae19f31be2b265b8b8c4b34b77a"> 92</a></span>&#160; <span class="keywordtype">float</span> <a class="code" href="classmingfx_1_1_quaternion.html#af6527ae19f31be2b265b8b8c4b34b77a">Length</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a05def5c8eb729037b3d9522711a5c2a2"> 95</a></span>&#160; <span class="keywordtype">void</span> <a class="code" href="classmingfx_1_1_quaternion.html#a05def5c8eb729037b3d9522711a5c2a2">Normalize</a>();</div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; </div>
+<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a3572b35419c51332204adb5bf35f0b03"> 99</a></span>&#160; <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="classmingfx_1_1_quaternion.html#a3572b35419c51332204adb5bf35f0b03">ToUnit</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; </div>
+<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#ab0e3e20f78e537de0187def78d808584"> 102</a></span>&#160; <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="classmingfx_1_1_quaternion.html#ab0e3e20f78e537de0187def78d808584">Conjugate</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; </div>
+<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a033f05ed7e7215a5c3c4cd26548c8007"> 105</a></span>&#160; <a class="code" href="classmingfx_1_1_vector3.html">Vector3</a> <a class="code" href="classmingfx_1_1_quaternion.html#a033f05ed7e7215a5c3c4cd26548c8007">ToEulerAnglesZYX</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160; </div>
+<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a0290914928a2618f7faaa40989113d22"> 109</a></span>&#160; <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="classmingfx_1_1_quaternion.html#a0290914928a2618f7faaa40989113d22">Slerp</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> &amp;other, <span class="keywordtype">float</span> alpha) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160; <span class="comment">// the specified axis.</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a5bacec2f9a3cbbcf24572f9c8eeb480c"> 113</a></span>&#160; <span class="keyword">static</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="classmingfx_1_1_quaternion.html#a5bacec2f9a3cbbcf24572f9c8eeb480c">FromAxisAngle</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_vector3.html">Vector3</a> &amp;axis, <span class="keywordtype">float</span> angle);</div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160; </div>
+<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a9548599ea5c527f9f67d2ea6710e3d18"> 116</a></span>&#160; <span class="keyword">static</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="classmingfx_1_1_quaternion.html#a9548599ea5c527f9f67d2ea6710e3d18">FromEulerAnglesZYX</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_vector3.html">Vector3</a> &amp;angles);</div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classmingfx_1_1_quaternion.html#a31d37561099fab3d75a74455c5f43133"> 120</a></span>&#160; <span class="keyword">static</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="classmingfx_1_1_quaternion.html#a31d37561099fab3d75a74455c5f43133">Slerp</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> &amp;a, <span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> &amp;b, <span class="keywordtype">float</span> alpha);</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160;<span class="keyword">private</span>:</div>
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+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160;};</div>
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+<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="namespacemingfx.html#a0a456bccfb238b9644cf21669cf35b8c"> 127</a></span>&#160;<a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="namespacemingfx.html#ae5708e414f585dde2a5418ddae259a57">operator*</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q1, <span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q2);</div>
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+<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="namespacemingfx.html#a55f694123e83d1649c112e806359d4b6"> 129</a></span>&#160;<a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="namespacemingfx.html#ae5708e414f585dde2a5418ddae259a57">operator*</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> s, <span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q);</div>
+<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="namespacemingfx.html#adb96b0188d1ceda03ed8d297817502c9"> 130</a></span>&#160;<a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="namespacemingfx.html#ae5708e414f585dde2a5418ddae259a57">operator*</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q, <span class="keyword">const</span> <span class="keywordtype">float</span> s);</div>
+<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="namespacemingfx.html#a2f5a225a54f07164d5172a3721a3aee6"> 131</a></span>&#160;<a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="namespacemingfx.html#a2f5a225a54f07164d5172a3721a3aee6">operator-</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q);</div>
+<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="namespacemingfx.html#ad49375487853a642b3f372c95cff1a96"> 132</a></span>&#160;<a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="namespacemingfx.html#a3c3b45ed6edf3fe76f98a7fd165dca03">operator+</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q1, <span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q2);</div>
+<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="namespacemingfx.html#a61f2d974c78e8884bb64c2759e455101"> 133</a></span>&#160;<a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> <a class="code" href="namespacemingfx.html#a2f5a225a54f07164d5172a3721a3aee6">operator-</a>(<span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q1, <span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a>&amp; q2);</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="namespacemingfx.html#ac4b78a682ff8d1ec298e0df7f742658d"> 135</a></span>&#160;std::ostream &amp; <a class="code" href="namespacemingfx.html#a6bc967741341f4f318a505d884192906">operator&lt;&lt; </a>( std::ostream &amp;os, <span class="keyword">const</span> <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> &amp;q);</div>
+<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="namespacemingfx.html#a59fb7a99df5c572849e31065884b2235"> 136</a></span>&#160;std::istream &amp; <a class="code" href="namespacemingfx.html#a6eb31e6e81c6e29144799be4c9db404d">operator&gt;&gt; </a>( std::istream &amp;is, <a class="code" href="classmingfx_1_1_quaternion.html">Quaternion</a> &amp;q);</div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>&#160; </div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160; </div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160;} <span class="comment">// end namespace</span></div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160; </div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>&#160; </div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html"><div class="ttname"><a href="classmingfx_1_1_quaternion.html">mingfx::Quaternion</a></div><div class="ttdoc">A quaternion to represent rotations in 3D space.</div><div class="ttdef"><b>Definition:</b> <a href="quaternion_8h_source.html#l00041">quaternion.h:41</a></div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a0290914928a2618f7faaa40989113d22"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a0290914928a2618f7faaa40989113d22">mingfx::Quaternion::Slerp</a></div><div class="ttdeci">Quaternion Slerp(const Quaternion &amp;other, float alpha) const</div><div class="ttdoc">Uses spherical interpolation to interpoloate between the rotation stored in this quaternion and the r...</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a033f05ed7e7215a5c3c4cd26548c8007"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a033f05ed7e7215a5c3c4cd26548c8007">mingfx::Quaternion::ToEulerAnglesZYX</a></div><div class="ttdeci">Vector3 ToEulerAnglesZYX() const</div><div class="ttdoc">Converts the rotation specified by the quaternion into Euler angles.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a05def5c8eb729037b3d9522711a5c2a2"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a05def5c8eb729037b3d9522711a5c2a2">mingfx::Quaternion::Normalize</a></div><div class="ttdeci">void Normalize()</div><div class="ttdoc">Normalizes the quat by making it unit length.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a07bb09eb7d0b368ef5e8d9da02fbdad6"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a07bb09eb7d0b368ef5e8d9da02fbdad6">mingfx::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(float *ptr)</div><div class="ttdoc">Creates a quate from a pointer to 4 floating point numbers in the order qx, qy, qz,...</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a0be885a1b3f2d54675c6866ec3578243"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a0be885a1b3f2d54675c6866ec3578243">mingfx::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(const Quaternion &amp;other)</div><div class="ttdoc">Copy constructor.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a1f9ddd82678ccf51a462e4e03a02c7cc"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a1f9ddd82678ccf51a462e4e03a02c7cc">mingfx::Quaternion::~Quaternion</a></div><div class="ttdeci">virtual ~Quaternion()</div></div>
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+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a3572b35419c51332204adb5bf35f0b03"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a3572b35419c51332204adb5bf35f0b03">mingfx::Quaternion::ToUnit</a></div><div class="ttdeci">Quaternion ToUnit() const</div><div class="ttdoc">Returns a normalized (i.e., unit length) version of the quaternion without modifying the original.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a40e6587cc0511572297c5507634db7e1"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a40e6587cc0511572297c5507634db7e1">mingfx::Quaternion::operator[]</a></div><div class="ttdeci">float &amp; operator[](const int i)</div><div class="ttdoc">Writable access the ith coordinate of the quaternion (qx, qy, qz, qw).</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a548d09ecd25788241d734240c0dd7ea8"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a548d09ecd25788241d734240c0dd7ea8">mingfx::Quaternion::operator[]</a></div><div class="ttdeci">float operator[](const int i) const</div><div class="ttdoc">Read only access to the ith coordinate of the quaternion (qx, qy, qz, qw).</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a5bacec2f9a3cbbcf24572f9c8eeb480c"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a5bacec2f9a3cbbcf24572f9c8eeb480c">mingfx::Quaternion::FromAxisAngle</a></div><div class="ttdeci">static Quaternion FromAxisAngle(const Vector3 &amp;axis, float angle)</div><div class="ttdoc">Creates a new quaternion that describes a rotation by angle radians about.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a5c6cbe4fc70e8e4ec23142d0a5a2ba97"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a5c6cbe4fc70e8e4ec23142d0a5a2ba97">mingfx::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(float qx, float qy, float qz, float qw)</div><div class="ttdoc">Creates a quat from the 4 parameters.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a75ec001cbbf08cf5c4e1f8978082a55f"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a75ec001cbbf08cf5c4e1f8978082a55f">mingfx::Quaternion::z</a></div><div class="ttdeci">float z() const</div><div class="ttdoc">Read only access to the z coordinate of the imaginary part of the quaternion.</div><div class="ttdef"><b>Definition:</b> <a href="quaternion_8h_source.html#l00080">quaternion.h:80</a></div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a85464500e1d3c8ba10f1968426dc24ae"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a85464500e1d3c8ba10f1968426dc24ae">mingfx::Quaternion::x</a></div><div class="ttdeci">float x() const</div><div class="ttdoc">Read only access to the x coordinate of the imaginary part of the quaternion.</div><div class="ttdef"><b>Definition:</b> <a href="quaternion_8h_source.html#l00074">quaternion.h:74</a></div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a8aa53f71892f02c981d98d100a8b57c7"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a8aa53f71892f02c981d98d100a8b57c7">mingfx::Quaternion::w</a></div><div class="ttdeci">float w() const</div><div class="ttdoc">Read only access to the w, real part, of the quaternion.</div><div class="ttdef"><b>Definition:</b> <a href="quaternion_8h_source.html#l00083">quaternion.h:83</a></div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a90a9b715d06c75ba60eb1164dc6e9c6f"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a90a9b715d06c75ba60eb1164dc6e9c6f">mingfx::Quaternion::Dot</a></div><div class="ttdeci">float Dot(const Quaternion &amp;q) const</div><div class="ttdoc">Returns the dot product of this quaternion with another.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_a9548599ea5c527f9f67d2ea6710e3d18"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#a9548599ea5c527f9f67d2ea6710e3d18">mingfx::Quaternion::FromEulerAnglesZYX</a></div><div class="ttdeci">static Quaternion FromEulerAnglesZYX(const Vector3 &amp;angles)</div><div class="ttdoc">Creates a new quaternion from a rotation defined in Euler angles.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_aa89165641485cf9337cd6279df40a403"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#aa89165641485cf9337cd6279df40a403">mingfx::Quaternion::operator==</a></div><div class="ttdeci">bool operator==(const Quaternion &amp;q) const</div><div class="ttdoc">Check for &quot;equality&quot;, taking floating point imprecision into account.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_ab0e3e20f78e537de0187def78d808584"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#ab0e3e20f78e537de0187def78d808584">mingfx::Quaternion::Conjugate</a></div><div class="ttdeci">Quaternion Conjugate() const</div><div class="ttdoc">Returns the conjugate of the quaternion.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_abca597e756f257dc33838734ae19baf9"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#abca597e756f257dc33838734ae19baf9">mingfx::Quaternion::value_ptr</a></div><div class="ttdeci">const float * value_ptr() const</div><div class="ttdoc">Returns a const pointer to the raw data array, stored in the order qx, qy, qz, qw.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_ac5f82b7ed1d620c3c15f57aca028fcdd"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#ac5f82b7ed1d620c3c15f57aca028fcdd">mingfx::Quaternion::operator=</a></div><div class="ttdeci">Quaternion &amp; operator=(const Quaternion &amp;q)</div><div class="ttdoc">Assignment operator.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_ad58ac80804ec63af354912a71361f165"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#ad58ac80804ec63af354912a71361f165">mingfx::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion()</div><div class="ttdoc">Creates a quat with the identity rotation.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_ad72c021d2d1fa543c96ac4a8b360dd2e"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#ad72c021d2d1fa543c96ac4a8b360dd2e">mingfx::Quaternion::operator!=</a></div><div class="ttdeci">bool operator!=(const Quaternion &amp;q) const</div><div class="ttdoc">Check for &quot;inequality&quot;, taking floating point imprecision into account.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_adb294449db2a80bd11426148592d9e0b"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#adb294449db2a80bd11426148592d9e0b">mingfx::Quaternion::y</a></div><div class="ttdeci">float y() const</div><div class="ttdoc">Read only access to the y coordinate of the imaginary part of the quaternion.</div><div class="ttdef"><b>Definition:</b> <a href="quaternion_8h_source.html#l00077">quaternion.h:77</a></div></div>
+<div class="ttc" id="aclassmingfx_1_1_quaternion_html_af6527ae19f31be2b265b8b8c4b34b77a"><div class="ttname"><a href="classmingfx_1_1_quaternion.html#af6527ae19f31be2b265b8b8c4b34b77a">mingfx::Quaternion::Length</a></div><div class="ttdeci">float Length() const</div><div class="ttdoc">Returns the length of the quaternion.</div></div>
+<div class="ttc" id="aclassmingfx_1_1_vector3_html"><div class="ttname"><a href="classmingfx_1_1_vector3.html">mingfx::Vector3</a></div><div class="ttdoc">A 3D Vector with floating point coordinates, used for storing normals and all sorts of other 3D graph...</div><div class="ttdef"><b>Definition:</b> <a href="vector3_8h_source.html#l00062">vector3.h:62</a></div></div>
+<div class="ttc" id="anamespacemingfx_html"><div class="ttname"><a href="namespacemingfx.html">mingfx</a></div><div class="ttdoc">Namespace for the MinGfx Toolkit.</div><div class="ttdef"><b>Definition:</b> <a href="aabb_8h_source.html#l00021">aabb.h:21</a></div></div>
+<div class="ttc" id="anamespacemingfx_html_a2f5a225a54f07164d5172a3721a3aee6"><div class="ttname"><a href="namespacemingfx.html#a2f5a225a54f07164d5172a3721a3aee6">mingfx::operator-</a></div><div class="ttdeci">Quaternion operator-(const Quaternion &amp;q)</div></div>
+<div class="ttc" id="anamespacemingfx_html_a3c3b45ed6edf3fe76f98a7fd165dca03"><div class="ttname"><a href="namespacemingfx.html#a3c3b45ed6edf3fe76f98a7fd165dca03">mingfx::operator+</a></div><div class="ttdeci">AABB operator+(const AABB &amp;A, const AABB &amp;B)</div></div>
+<div class="ttc" id="anamespacemingfx_html_a444ae88d836b913ac8307fbf4357f7ed"><div class="ttname"><a href="namespacemingfx.html#a444ae88d836b913ac8307fbf4357f7ed">mingfx::operator/</a></div><div class="ttdeci">Quaternion operator/(const Quaternion &amp;q, const float s)</div></div>
+<div class="ttc" id="anamespacemingfx_html_a6bc967741341f4f318a505d884192906"><div class="ttname"><a href="namespacemingfx.html#a6bc967741341f4f318a505d884192906">mingfx::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const Color &amp;c)</div></div>
+<div class="ttc" id="anamespacemingfx_html_a6eb31e6e81c6e29144799be4c9db404d"><div class="ttname"><a href="namespacemingfx.html#a6eb31e6e81c6e29144799be4c9db404d">mingfx::operator&gt;&gt;</a></div><div class="ttdeci">std::istream &amp; operator&gt;&gt;(std::istream &amp;is, Color &amp;c)</div></div>
+<div class="ttc" id="anamespacemingfx_html_ae5708e414f585dde2a5418ddae259a57"><div class="ttname"><a href="namespacemingfx.html#ae5708e414f585dde2a5418ddae259a57">mingfx::operator*</a></div><div class="ttdeci">Matrix4 operator*(const Matrix4 &amp;m, const float &amp;s)</div><div class="ttdoc">Multiply matrix and scalar, returns the new matrix.</div></div>
+<div class="ttc" id="avector3_8h_html"><div class="ttname"><a href="vector3_8h.html">vector3.h</a></div></div>
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