SIMD 32bit floating point quaternion rotation container. (In 3D space). More...

#include <quaternion.hpp>

Public Member Functions
	quat (f32x4 xyzw=identity) noexcept
	Creates a new identity SIMD 32bit floating point quaternion structure.
	quat (float x, float y, float z, float w) noexcept
	Creates a new SIMD 32bit floating point quaternion structure.
	quat (float angle, f32x4 axis) noexcept
	Creates a new SIMD quaternion structure from the angle and axis. (In radians).
quat	operator* (quat q) const noexcept
	Rotates this SIMD quaternion by the specified one.
f32x4	operator* (f32x4 v) const noexcept
	Rotates 3D vector by this SIMD quaternion.
quat &	operator*= (quat v) noexcept
	Rotates this SIMD quaternion by the specified one.
float	extractPitch () const noexcept
	Extracts SIMD quaternion rotation around X axis. (In radians).
float	extractYaw () const noexcept
	Extracts SIMD quaternion around Y axis. (In radians).
float	extractRoll () const noexcept
	Extracts SIMD quaternion around Z axis. (In radians).
f32x4	extractEulerAngles () const noexcept
	Calculates SIMD quaternion euler angles. (In radians).
void	loadAligned (const float *v) noexcept
	Loads SIMD 4 component 32bit floating point aligned vector values.
void	store (float *v) noexcept
	Stores SIMD 4 component 32bit floating point unaligned vector values.
void	storeAligned (float *v) noexcept
	Stores SIMD 4 component 32bit floating point aligned vector values.
float	getX () const noexcept
	Returns SIMD vector first component value.
float	getY () const noexcept
	Returns SIMD vector second component value.
float	getZ () const noexcept
	Returns SIMD vector third component value.
float	getW () const noexcept
	Returns SIMD vector fourth component value.
void	setX (float value) noexcept
	Sets SIMD vector first component value.
void	setY (float value) noexcept
	Sets SIMD vector second component value.
void	setZ (float value) noexcept
	Sets SIMD vector third component value.
void	setW (float value) noexcept
	Sets SIMD vector fourth component value.
void	fixW () noexcept
	Sets SIMD vector Z component value to the W component.
template<uint32 X, uint32 Y, uint32 Z, uint32 W = SwU>
f32x4	swizzle () const noexcept
	Swizzles SIMD vector components.
f32x4	splatX () const noexcept
f32x4	splatY () const noexcept
f32x4	splatZ () const noexcept
f32x4	splatW () const noexcept
template<int X, int Y, int Z, int W = 1>
f32x4	flipSign () const noexcept
	Flips sign of the SIMD vector components.
float &	operator[] (psize i) noexcept
	Returns SIMD vector component by index.
float	operator[] (psize i) const noexcept
	Returns SIMD vector component by index.
	operator u32x4 () const noexcept
	Returns as 4 component unsigned integer SIMD vector.
	operator i32x4 () const noexcept
	Returns as 4 component signed integer SIMD vector.
	operator float4 () const noexcept
	Returns SIMD vector as 4 component floating point vector. (xyzw).
	operator float3 () const noexcept
	Returns SIMD vector as 3 component floating point vector. (xyz).
	operator float2 () const noexcept
	Returns SIMD vector as 2 component floating point vector. (xy).
	operator float () const noexcept
	Returns SIMD first vector component value. (x).
f32x4	operator+ (f32x4 v) const noexcept
f32x4	operator+ (float n) const noexcept
f32x4	operator- (f32x4 v) const noexcept
f32x4	operator- () const noexcept
f32x4	operator- (float n) const noexcept
f32x4	operator* (float n) const noexcept
f32x4	operator/ (f32x4 v) const noexcept
f32x4	operator/ (float n) const noexcept
f32x4	operator^ (f32x4 v) const noexcept
f32x4	operator^ (float n) const noexcept
f32x4 &	operator+= (f32x4 v) noexcept
f32x4 &	operator+= (float n) noexcept
f32x4 &	operator-= (f32x4 v) noexcept
f32x4 &	operator-= (float n) noexcept
f32x4 &	*operator=** (f32x4 v) noexcept
f32x4 &	*operator=** (float n) noexcept
f32x4 &	operator/= (f32x4 v) noexcept
f32x4 &	operator/= (float n) noexcept
f32x4 &	operator^= (f32x4 v) noexcept
f32x4 &	operator^= (float n) noexcept
bool	operator== (f32x4 v) const noexcept
bool	operator== (float n) const noexcept
bool	operator!= (f32x4 v) const noexcept
bool	operator!= (float n) const noexcept
u32x4	operator< (f32x4 v) const noexcept
u32x4	operator< (float n) const noexcept
u32x4	operator> (f32x4 v) const noexcept
u32x4	operator> (float n) const noexcept
u32x4	operator<= (f32x4 v) const noexcept
u32x4	operator<= (float n) const noexcept
u32x4	operator>= (f32x4 v) const noexcept
u32x4	operator>= (float n) const noexcept

Public Attributes
union {
_simd_f128	data
float4	floats
int4	ints
uint4	uints
};

Static Public Attributes
static const quat	identity = quat(0.0f, 0.0f, 0.0f, 1.0f)
static const f32x4	zero = f32x4(0.0f)
static const f32x4	one = f32x4(1.0f)
static const f32x4	minusOne = f32x4(-1.0f)
static const f32x4	min = f32x4(FLT_MIN)
static const f32x4	minusMin = f32x4(-FLT_MIN)
static const f32x4	max = f32x4(FLT_MAX)
static const f32x4	minusMax = f32x4(-FLT_MAX)
static const f32x4	epsilon = f32x4(FLT_EPSILON)
static const f32x4	inf = f32x4(INFINITY)
static const f32x4	minusInf = f32x4(-INFINITY)
static const f32x4	nan = f32x4(NAN)
static const f32x4	left = f32x4(-1.0f, 0.0f, 0.0f, 0.0f)
static const f32x4	right = f32x4(1.0f, 0.0f, 0.0f, 0.0f)
static const f32x4	bottom = f32x4(0.0f, -1.0f, 0.0f, 0.0f)
static const f32x4	top = f32x4(0.0f, 1.0f, 0.0f, 0.0f)
static const f32x4	back = f32x4(0.0f, 0.0f, -1.0f, 0.0f)
static const f32x4	front = f32x4(0.0f, 0.0f, 1.0f, 0.0f)

Detailed Description

SIMD 32bit floating point quaternion rotation container. (In 3D space).

Represents rotation using complex numbers, avoiding gimbal lock problem.

Constructor & Destructor Documentation

◆ quat() [1/3]

quat ( f32x4 xyzw = identity )

inlinenoexcept

Creates a new identity SIMD 32bit floating point quaternion structure.

Note: Identity quaternion represents rotation of 0 degrees around all axis.

Parameters

xyzw	quaternion parts vector

◆ quat() [2/3]

quat	(	float	x,
		float	y,
		float	z,
		float	w )

inlinenoexcept

Creates a new SIMD 32bit floating point quaternion structure.

Parameters

x	imaginary vector X part
y	imaginary vector Y part
z	imaginary vector Z part
w	real scalar part

◆ quat() [3/3]

quat	(	float	angle,
		f32x4	axis )

inlinenoexcept

Creates a new SIMD quaternion structure from the angle and axis. (In radians).

Parameters

angle	target rotation around axis in radians
axis	target 3D axis to rotate around

Member Function Documentation

◆ operator*() [1/2]

quat operator* ( quat q ) const

inlinenoexcept

Rotates this SIMD quaternion by the specified one.

Parameters

q	target SIMD quaternion to rotate by

◆ operator*() [2/2]

f32x4 operator* ( f32x4 v ) const

inlinenoexcept

Rotates 3D vector by this SIMD quaternion.

Parameters

v	target 3D vector to rotate

◆ operator*=()

quat & operator*= ( quat v )

inlinenoexcept

Rotates this SIMD quaternion by the specified one.

Parameters

v	target SIMD quaternion to rotate by

◆ loadAligned()

void loadAligned ( const float * v )

inlinenoexceptinherited

Loads SIMD 4 component 32bit floating point aligned vector values.

Warning: Specified vector pointer must be aligned in the memory!!!

Parameters

[in] v target 4 component vector value pointer (aligned)

◆ store()

void store ( float * v )

inlinenoexceptinherited

Stores SIMD 4 component 32bit floating point unaligned vector values.

Parameters

[out] v target 4 component vector value pointer (unaligned)

◆ storeAligned()

void storeAligned ( float * v )

inlinenoexceptinherited

Stores SIMD 4 component 32bit floating point aligned vector values.

Warning: Specified vector pointer must be aligned in the memory!!!

Parameters

[out] v target 4 component vector value pointer (aligned)

◆ setX()

void setX ( float value )

inlinenoexceptinherited

Sets SIMD vector first component value.

Parameters

value target X vector component value

◆ setY()

void setY ( float value )

inlinenoexceptinherited

Sets SIMD vector second component value.

Parameters

value target Y vector component value

◆ setZ()

void setZ ( float value )

inlinenoexceptinherited

Sets SIMD vector third component value.

Parameters

value target Z vector component value

◆ setW()

void setW ( float value )

inlinenoexceptinherited

Sets SIMD vector fourth component value.

Parameters

value target W vector component value

◆ fixW()

void fixW ( )

inlinenoexceptinherited

Sets SIMD vector Z component value to the W component.

Note: Useful when you want to prevent SIMD division by zero.

◆ swizzle()

template<uint32 X, uint32 Y, uint32 Z, uint32 W = SwU>

f32x4 swizzle ( ) const

inlinenoexceptinherited

Swizzles SIMD vector components.

Template Parameters

X	first vector component swizzle index
Y	second vector component swizzle index
Z	third vector component swizzle index
W	fourth vector component swizzle index

◆ flipSign()

template<int X, int Y, int Z, int W = 1>

f32x4 flipSign ( ) const

inlinenoexceptinherited

Flips sign of the SIMD vector components.

Template Parameters

X	first vector component flip value, 1 or -1
Y	second vector component flip value, 1 or -1
Z	third vector component flip value, 1 or -1
W	fourth vector component flip value, 1 or -1

◆ operator[]() [1/2]

float & operator[] ( psize i )

inlinenoexceptinherited

Returns SIMD vector component by index.

Parameters

i	target component index

◆ operator[]() [2/2]

float operator[] ( psize i ) const

inlinenoexceptinherited

Returns SIMD vector component by index.

Parameters

i	target component index

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ quat() [1/3]

◆ quat() [2/3]

◆ quat() [3/3]

Member Function Documentation

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ loadAligned()

◆ store()

◆ storeAligned()

◆ setX()

◆ setY()

◆ setZ()

◆ setW()

◆ fixW()

◆ swizzle()

◆ flipSign()

◆ operator[]() [1/2]

◆ operator[]() [2/2]