Class for Euler rotations. More...

#include <SO3Euler.h>

Public Member Functions
	Euler ()
	Default constructor.

	Euler (const Ogre::Radian &y, const Ogre::Radian &p=Ogre::Radian(0.0f), const Ogre::Radian &r=Ogre::Radian(0.0f))
	Constructor which takes yaw, pitch and roll values.

	Euler (Ogre::Real y, Ogre::Real p=0.0f, Ogre::Real r=0.0f)
	Constructor which takes yaw, pitch and roll values as reals (radians).

	Euler (const Ogre::Quaternion &quaternion)
	Default constructor with presets.

	Euler (const Ogre::Matrix3 &matrix)

Ogre::Radian	getYaw () const
	Get the Yaw angle.

Ogre::Radian	getPitch () const
	Get the Pitch angle.

Ogre::Radian	getRoll () const
	Get the Roll angle.

Euler &	setYaw (Ogre::Radian y)
	Set the yaw.

Euler &	setPitch (Ogre::Radian p)
	Set the pitch.

Euler &	setRoll (Ogre::Radian r)
	Set the roll.

Euler &	setRotation (const Ogre::Radian &y, const Ogre::Radian &p, const Ogre::Radian &r)
	Set all rotations at once.

Euler &	yaw (const Ogre::Radian &y)
	Apply a relative yaw.

Euler &	pitch (const Ogre::Radian &p)
	Apply a relative pitch.

Euler &	roll (const Ogre::Radian &r)
	Apply a relative roll.

Euler &	rotate (const Ogre::Radian &y, const Ogre::Radian &p, const Ogre::Radian &r)
	Apply all relative rotations at once.

Ogre::Vector3	getForward ()
	Get a vector pointing forwards.

Ogre::Vector3	getRight ()
	Get a vector pointing to the right.

Ogre::Vector3	getUp ()
	Get a vector pointing up.

Ogre::Quaternion	toQuaternion ()
	Calculate the quaternion of the euler object.

	operator Ogre::Quaternion ()
	Casting operator. This allows any ogre function that wants a Quaternion to accept a Euler instead.

Euler &	fromQuaternion (const Ogre::Quaternion &quaternion)
	Calculate the current euler angles of a given quaternion object.

Euler &	fromMatrix3 (const Ogre::Matrix3 &matrix)
	Calculate the current euler angles of a given matrix object.

Euler &	setDirection (const Ogre::Vector3 &v, bool setYaw=true, bool setPitch=true)
	Set the yaw and pitch to face in the given direction.

Euler &	normalise (bool normYaw=true, bool normPitch=true, bool normRoll=true)
	Normalise the selected rotations to be within the +/-180 degree range.

Euler	getRotationTo (const Ogre::Vector3 &dir, bool setYaw=true, bool setPitch=true, bool shortest=true)
	Return the relative euler angles required to rotate from the current forward direction to the specified dir vector.

Euler &	limitYaw (const Ogre::Radian &limit)
	Clamp the yaw angle to a range of +/-limit.

Euler &	limitPitch (const Ogre::Radian &limit)
	Clamp the pitch angle to a range of +/-limit.

Euler &	limitRoll (const Ogre::Radian &limit)
	Clamp the roll angle to a range of +/-limit.

Euler	operator+ (const Euler &rhs) const
	Add two euler objects.

Euler	operator- (const Euler &rhs) const
	Subtract two euler objects.

Euler	operator* (Ogre::Real rhs) const
	Interpolate the euler angles by rhs.

Ogre::Quaternion	operator* (const Euler &rhs) const
	Multiply two eulers.

Ogre::Vector3	operator* (const Ogre::Vector3 &rhs)
	Apply the euler rotation to the vector rhs.

Euler &	operator= (const Euler &src)
	Copy assignment operator (Euler)

Euler &	operator= (const Ogre::Quaternion &quaternion)
	Copy assignment operator (Quaternion)

Euler &	operator= (const Ogre::Matrix3 &matrix)
	Copy assignment operator (Matrix3)

Protected Attributes
Ogre::Radian	mYaw
	Rotation around the Y axis.

Ogre::Radian	mPitch
	Rotation around the X axis.

Ogre::Radian	mRoll
	Rotation around the Z axis.

Ogre::Quaternion	mCachedQuaternion
	Cached quaternion equivalent of this euler object.

bool	mChanged
	Is the cached quaternion out of date?

Friends
std::ostream &	operator<< (std::ostream &o, const Euler &e)
	Stream operator, for printing the euler component angles to a stream.

Euler	operator* (Ogre::Real lhs, const Euler &rhs)
	Interpolate the euler angle by lhs.

Detailed Description

Class for Euler rotations.

Yaw is a rotation around the Y axis.	Pitch is a rotation around the X axis.	Roll is a rotation around the Z axis.

Definition at line 24 of file SO3Euler.h.

Constructor & Destructor Documentation

◆ Euler() [1/5]

Ogre::Euler::Euler ( )

inline

Default constructor.

Definition at line 28 of file SO3Euler.h.

◆ Euler() [2/5]

Ogre::Euler::Euler	(	const Ogre::Radian &	y,
		const Ogre::Radian &	p = `Ogre::Radian(0.0f)`,
		const Ogre::Radian &	r = `Ogre::Radian(0.0f)`
	)

inline

Constructor which takes yaw, pitch and roll values.

Parameters

y	Starting value for yaw
p	Starting value for pitch
r	Starting value for roll

Definition at line 39 of file SO3Euler.h.

◆ Euler() [3/5]

Ogre::Euler::Euler	(	Ogre::Real	y,
		Ogre::Real	p = `0.0f`,
		Ogre::Real	r = `0.0f`
	)

inline

Constructor which takes yaw, pitch and roll values as reals (radians).

Parameters

y	Starting value for yaw [radian]
p	Starting value for pitch [radian]
r	Starting value for roll [radian]

Definition at line 50 of file SO3Euler.h.

◆ Euler() [4/5]

Ogre::Euler::Euler ( const Ogre::Quaternion & quaternion )

inlineexplicit

Default constructor with presets.

Parameters

quaternion Calculate starting values from this quaternion

Definition at line 59 of file SO3Euler.h.

◆ Euler() [5/5]

Ogre::Euler::Euler ( const Ogre::Matrix3 & matrix )

inlineexplicit

Definition at line 64 of file SO3Euler.h.

Member Function Documentation

◆ fromMatrix3()

Euler & Ogre::Euler::fromMatrix3 ( const Ogre::Matrix3 & matrix )

inline

Calculate the current euler angles of a given matrix object.

Parameters

matrix Matrix3 which is used to calculate current euler angles.

Definition at line 219 of file SO3Euler.h.

◆ fromQuaternion()

Euler & Ogre::Euler::fromQuaternion ( const Ogre::Quaternion & quaternion )

inline

Calculate the current euler angles of a given quaternion object.

Parameters

quaternion Quaternion which is used to calculate current euler angles.

Definition at line 207 of file SO3Euler.h.

◆ getForward()

Ogre::Vector3 Ogre::Euler::getForward ( )

inline

Get a vector pointing forwards.

Definition at line 175 of file SO3Euler.h.

◆ getPitch()

Ogre::Radian Ogre::Euler::getPitch ( ) const

inline

Get the Pitch angle.

Definition at line 73 of file SO3Euler.h.

◆ getRight()

Ogre::Vector3 Ogre::Euler::getRight ( )

inline

Get a vector pointing to the right.

Definition at line 178 of file SO3Euler.h.

◆ getRoll()

Ogre::Radian Ogre::Euler::getRoll ( ) const

inline

Get the Roll angle.

Definition at line 76 of file SO3Euler.h.

◆ getRotationTo()

Euler Ogre::Euler::getRotationTo	(	const Ogre::Vector3 &	dir,
		bool	setYaw = `true`,
		bool	setPitch = `true`,
		bool	shortest = `true`
	)

inline

Return the relative euler angles required to rotate from the current forward direction to the specified dir vector.

The result euler can then be added to the current euler to immediately face dir. The rotation won't flip upside down then roll instead of a 180 degree yaw.

Parameters

setYaw	If false, the angle is set to 0. If true, the angle is calculated.
setPitch	If false, the angle is set to 0. If true, the angle is calculated.
shortest	If false, the full value of each angle is used. If true, the angles are normalised and the shortest rotation is found to face the correct direction. For example, when false a yaw of 1000 degrees and a dir of (0,0,-1) will return a -1000 degree yaw. When true, the same yaw and dir would give 80 degrees (1080 degrees faces the same way as (0,0,-1).

Definition at line 338 of file SO3Euler.h.

◆ getUp()

Ogre::Vector3 Ogre::Euler::getUp ( )

inline

Get a vector pointing up.

Definition at line 181 of file SO3Euler.h.

◆ getYaw()

Ogre::Radian Ogre::Euler::getYaw ( ) const

inline

Get the Yaw angle.

Definition at line 70 of file SO3Euler.h.

◆ limitPitch()

Euler & Ogre::Euler::limitPitch ( const Ogre::Radian & limit )

inline

Clamp the pitch angle to a range of +/-limit.

Definition at line 368 of file SO3Euler.h.

◆ limitRoll()

Euler & Ogre::Euler::limitRoll ( const Ogre::Radian & limit )

inline

Clamp the roll angle to a range of +/-limit.

Definition at line 384 of file SO3Euler.h.

◆ limitYaw()

Euler & Ogre::Euler::limitYaw ( const Ogre::Radian & limit )

inline

Clamp the yaw angle to a range of +/-limit.

Definition at line 352 of file SO3Euler.h.

◆ normalise()

Euler & Ogre::Euler::normalise	(	bool	normYaw = `true`,
		bool	normPitch = `true`,
		bool	normRoll = `true`
	)

inline

Normalise the selected rotations to be within the +/-180 degree range.

The normalise uses a wrap around, so for example a yaw of 360 degrees becomes 0 degrees, and -190 degrees becomes 170.

Parameters

normYaw	If false, the yaw isn't normalized.
normPitch	If false, the pitch isn't normalized.
normRoll	If false, the roll isn't normalized.

Definition at line 250 of file SO3Euler.h.

◆ operator Ogre::Quaternion()

Ogre::Euler::operator Ogre::Quaternion ( )

inline

Casting operator. This allows any ogre function that wants a Quaternion to accept a Euler instead.

Definition at line 198 of file SO3Euler.h.

◆ operator*() [1/3]

Ogre::Quaternion Ogre::Euler::operator* ( const Euler & rhs ) const

inline

Multiply two eulers.

This has the same effect as multiplying quaternions.

Returns: The result is a quaternion.

Definition at line 438 of file SO3Euler.h.

◆ operator*() [2/3]

Ogre::Vector3 Ogre::Euler::operator* ( const Ogre::Vector3 & rhs )

inline

Apply the euler rotation to the vector rhs.

Definition at line 445 of file SO3Euler.h.

◆ operator*() [3/3]

Euler Ogre::Euler::operator* ( Ogre::Real rhs ) const

inline

Interpolate the euler angles by rhs.

Definition at line 422 of file SO3Euler.h.

◆ operator+()

Euler Ogre::Euler::operator+ ( const Euler & rhs ) const

inline

Add two euler objects.

Definition at line 407 of file SO3Euler.h.

◆ operator-()

Euler Ogre::Euler::operator- ( const Euler & rhs ) const

inline

Subtract two euler objects.

This finds the difference as relative angles.

Definition at line 416 of file SO3Euler.h.

◆ operator=() [1/3]

Euler & Ogre::Euler::operator= ( const Euler & src )

inline

Copy assignment operator (Euler)

Definition at line 451 of file SO3Euler.h.

◆ operator=() [2/3]

Euler & Ogre::Euler::operator= ( const Ogre::Matrix3 & matrix )

inline

Copy assignment operator (Matrix3)

Definition at line 465 of file SO3Euler.h.

◆ operator=() [3/3]

Euler & Ogre::Euler::operator= ( const Ogre::Quaternion & quaternion )

inline

Copy assignment operator (Quaternion)

Definition at line 458 of file SO3Euler.h.

◆ pitch()

Euler & Ogre::Euler::pitch ( const Ogre::Radian & p )

inline

Apply a relative pitch.

Parameters

p	Angle to add on current pitch

Definition at line 141 of file SO3Euler.h.

◆ roll()

Euler & Ogre::Euler::roll ( const Ogre::Radian & r )

inline

Apply a relative roll.

Parameters

r	Angle to add on current roll

Definition at line 152 of file SO3Euler.h.

◆ rotate()

Euler & Ogre::Euler::rotate	(	const Ogre::Radian &	y,
		const Ogre::Radian &	p,
		const Ogre::Radian &	r
	)

inline

Apply all relative rotations at once.

Parameters

y	Angle to add on current yaw
p	Angle to add on current pitch
r	Angle to add on current roll

Definition at line 165 of file SO3Euler.h.

◆ setDirection()

Euler & Ogre::Euler::setDirection	(	const Ogre::Vector3 &	v,
		bool	setYaw = `true`,
		bool	setPitch = `true`
	)

inline

Set the yaw and pitch to face in the given direction.

The direction doesn't need to be normalised. Roll is always unaffected.

Parameters

setYaw	If false, the yaw isn't changed.
setPitch	If false, the pitch isn't changed.

Definition at line 232 of file SO3Euler.h.

◆ setPitch()

Euler & Ogre::Euler::setPitch ( Ogre::Radian p )

inline

Set the pitch.

Parameters

p	New value for pitch

Definition at line 93 of file SO3Euler.h.

◆ setRoll()

Euler & Ogre::Euler::setRoll ( Ogre::Radian r )

inline

Set the roll.

Parameters

r	New value for roll

Definition at line 104 of file SO3Euler.h.

◆ setRotation()

Euler & Ogre::Euler::setRotation	(	const Ogre::Radian &	y,
		const Ogre::Radian &	p,
		const Ogre::Radian &	r
	)

inline

Set all rotations at once.

Parameters

y	New value for yaw
p	New value for pitch
r	New value for roll

Definition at line 117 of file SO3Euler.h.

◆ setYaw()

Euler & Ogre::Euler::setYaw ( Ogre::Radian y )

inline

Set the yaw.

Parameters

y	New value for yaw

Definition at line 82 of file SO3Euler.h.

◆ toQuaternion()

Ogre::Quaternion Ogre::Euler::toQuaternion ( )

inline

Calculate the quaternion of the euler object.

The result is cached, it is only recalculated when the component euler angles are changed.

Definition at line 187 of file SO3Euler.h.

◆ yaw()

Euler & Ogre::Euler::yaw ( const Ogre::Radian & y )

inline

Apply a relative yaw.

Parameters

y	Angle to add on current yaw

Definition at line 130 of file SO3Euler.h.

Friends And Related Symbol Documentation

◆ operator*

Euler operator*	(	Ogre::Real	lhs,
		const Euler &	rhs
	)

friend

Interpolate the euler angle by lhs.

Definition at line 428 of file SO3Euler.h.

◆ operator<<

std::ostream & operator<<	(	std::ostream &	o,
		const Euler &	e
	)

friend

Stream operator, for printing the euler component angles to a stream.

Definition at line 400 of file SO3Euler.h.

Member Data Documentation

◆ mCachedQuaternion

Ogre::Quaternion Ogre::Euler::mCachedQuaternion

protected

Cached quaternion equivalent of this euler object.

Definition at line 475 of file SO3Euler.h.

◆ mChanged

bool Ogre::Euler::mChanged

protected

Is the cached quaternion out of date?

Definition at line 476 of file SO3Euler.h.

◆ mPitch

Ogre::Radian Ogre::Euler::mPitch

protected

Rotation around the X axis.

Definition at line 473 of file SO3Euler.h.

◆ mRoll

Ogre::Radian Ogre::Euler::mRoll

protected

Rotation around the Z axis.

Definition at line 474 of file SO3Euler.h.

◆ mYaw

Ogre::Radian Ogre::Euler::mYaw

protected

Rotation around the Y axis.

Definition at line 472 of file SO3Euler.h.

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

include/SO3Utils/SO3Euler.h

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Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Euler() [1/5]

◆ Euler() [2/5]

◆ Euler() [3/5]

◆ Euler() [4/5]

◆ Euler() [5/5]

Member Function Documentation

◆ fromMatrix3()

◆ fromQuaternion()

◆ getForward()

◆ getPitch()

◆ getRight()

◆ getRoll()

◆ getRotationTo()

◆ getUp()

◆ getYaw()

◆ limitPitch()

◆ limitRoll()

◆ limitYaw()

◆ normalise()

◆ operator Ogre::Quaternion()

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator+()

◆ operator-()

◆ operator=() [1/3]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ pitch()

◆ roll()

◆ rotate()

◆ setDirection()

◆ setPitch()

◆ setRoll()

◆ setRotation()

◆ setYaw()

◆ toQuaternion()

◆ yaw()

Friends And Related Symbol Documentation

◆ operator*

◆ operator<<

Member Data Documentation

◆ mCachedQuaternion

◆ mChanged

◆ mPitch

◆ mRoll

◆ mYaw