Quaternion

java.lang.Object
- thothbot.parallax.core.shared.math.Quaternion

public class Quaternion
extends java.lang.Object

Implementation of Quaternion which provide a convenient mathematical notation for representing orientations and rotations of objects in three dimensions.

Quaternion represented by four coordinates: X, Y, Z, W

 
 Quaternion q = new Quaternion(); 
 q.setFromAxisAngle( new Vector3( 0, 1, 0 ), Math.PI / 2 );  
 
 Vector3 v = new Vector3( 1, 0, 0 ); 
 q.multiplyVector3( v );

Author:: thothbot

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static interface Quaternion.QuaternionChangeHandler

Nested Classes
Modifier and Type	Class and Description
`static interface`	`Quaternion.QuaternionChangeHandler`

Field Summary

Fields
Modifier and Type Field and Description

double w
The W coordinate.

double x
The X coordinate.

double y
The Y coordinate.

double z
The Z coordinate.

Fields
Modifier and Type	Field and Description
`double`	`w` The W coordinate.
`double`	`x` The X coordinate.
`double`	`y` The Y coordinate.
`double`	`z` The Z coordinate.

Constructor Summary

Constructors
Constructor and Description
`Quaternion()` Default constructor will make Quaternion (0.0, 0.0, 0.0, 1.0)
`Quaternion(double x, double y, double z)` Constructs and initializes a Quaternion from the specified X, Y, Z coordinates.
`Quaternion(double x, double y, double z, double w)` Constructs and initializes a Quaternion from the specified X, Y, Z, W coordinates.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`Quaternion`	`clone()` Clone the current Quaternion quaternion.clone() !
`Quaternion`	`conjugate()`
`Quaternion`	`copy(Quaternion c1)` Copy values from input Quaternion to the values of current Quaternion.
`double`	`dot(Quaternion v)`
`boolean`	`equals(Quaternion quaternion)`
`double`	`getW()` get W coordinate from the Quaternion
`double`	`getX()` get X coordinate from the Quaternion
`double`	`getY()` get Y coordinate from the Quaternion
`double`	`getZ()` get Z coordinate from the Quaternion
`Quaternion`	`inverse()` Negates the value of this Quaternion in place.
`double`	`length()`
`double`	`lengthSq()`
`Quaternion`	`multiply(Quaternion b)` Sets the value of this Quaternion to the vector multiplication of itself and Quaternion b.
`Quaternion`	`multiply(Quaternion a, Quaternion b)` Sets the value of this Quaternion to the vector multiplication of Quaternion a and Quaternion v2.
`Vector3`	`multiplyVector3(Vector3 vector)` Sets the value of the input vector to the vector multiplication of input vector and the current Quaternion.
`Quaternion`	`normalize()` Normalize the current Quaternion
`Quaternion`	`set(double x, double y, double z, double w)`
`Quaternion`	`setFromAxisAngle(Vector3 axis, double angle)` from www.euclideanspace.com
`Quaternion`	`setFromEuler(Euler euler)`
`Quaternion`	`setFromEuler(Euler euler, boolean update)`
`Quaternion`	`setFromRotationMatrix(Matrix4 m)` http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
`Quaternion`	`setFromUnitVectors(Vector3 vFrom, Vector3 vTo)` http://lolengine.net/blog/2014/02/24/quaternion-from-two-vectors-final assumes direction vectors vFrom and vTo are normalized
`void`	`setHandler(Quaternion.QuaternionChangeHandler handler)`
`Quaternion`	`slerp(Quaternion qb, double t)` Quaternion Interpolation Based on http://www.euclideanspace.com
`static Quaternion`	`slerp(Quaternion qa, Quaternion qb, Quaternion qm, double t)`
`java.lang.String`	`toString()`

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Field Detail
  - x
```
public double x
```
    The X coordinate.
  - y
```
public double y
```
    The Y coordinate.
  - z
```
public double z
```
    The Z coordinate.
  - w
```
public double w
```
    The W coordinate.
- Constructor Detail
  - Quaternion
```
public Quaternion()
```
    Default constructor will make Quaternion (0.0, 0.0, 0.0, 1.0)
  - Quaternion
```
public Quaternion(double x,
                  double y,
                  double z,
                  double w)
```
    Constructs and initializes a Quaternion from the specified X, Y, Z, W coordinates. Will make Quaternion (X, Y, Z, W)
    
    Parameters:
    
    x - the X coordinate
    
    y - the Y coordinate
    
    z - the Z coordinate
    
    w - the W coordinate
  - Quaternion
```
public Quaternion(double x,
                  double y,
                  double z)
```
    Constructs and initializes a Quaternion from the specified X, Y, Z coordinates. Will make Quaternion (X, Y, Z, 1.0)
    
    Parameters:
    
    x - the x coordinate
    
    y - the y coordinate
    
    z - the z coordinate
- Method Detail
  - setHandler
```
public void setHandler(Quaternion.QuaternionChangeHandler handler)
```
  - getX
```
public double getX()
```
    get X coordinate from the Quaternion
    
    Returns:
    
    a X coordinate
  - getY
```
public double getY()
```
    get Y coordinate from the Quaternion
    
    Returns:
    
    a Y coordinate
  - getZ
```
public double getZ()
```
    get Z coordinate from the Quaternion
    
    Returns:
    
    a Z coordinate
  - getW
```
public double getW()
```
    get W coordinate from the Quaternion
    
    Returns:
    
    a W coordinate
  - set
```
public Quaternion set(double x,
                      double y,
                      double z,
                      double w)
```
  - copy
```
public Quaternion copy(Quaternion c1)
```
    Copy values from input Quaternion to the values of current Quaternion.
    
    Parameters:
    
    c1 - the input Quaternion
  - setFromEuler
```
public Quaternion setFromEuler(Euler euler)
```
  - setFromEuler
```
public Quaternion setFromEuler(Euler euler,
                               boolean update)
```
  - setFromAxisAngle
```
public Quaternion setFromAxisAngle(Vector3 axis,
                                   double angle)
```
    from www.euclideanspace.com
    
    Parameters:
    
    axis - the axis have to be normalized
    
    angle - the angle
  - setFromRotationMatrix
```
public Quaternion setFromRotationMatrix(Matrix4 m)
```
    http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
    
    Parameters:
    
    m -
    
    Returns:
  - setFromUnitVectors
```
public Quaternion setFromUnitVectors(Vector3 vFrom,
                                     Vector3 vTo)
```
    http://lolengine.net/blog/2014/02/24/quaternion-from-two-vectors-final assumes direction vectors vFrom and vTo are normalized
    
    Parameters:
    
    vFrom -
    
    vTo -
    
    Returns:
  - inverse
```
public Quaternion inverse()
```
    Negates the value of this Quaternion in place.
  - conjugate
```
public Quaternion conjugate()
```
  - dot
```
public double dot(Quaternion v)
```
  - lengthSq
```
public double lengthSq()
```
  - length
```
public double length()
```
  - normalize
```
public Quaternion normalize()
```
    Normalize the current Quaternion
  - multiply
```
public Quaternion multiply(Quaternion a,
                           Quaternion b)
```
    Sets the value of this Quaternion to the vector multiplication of Quaternion a and Quaternion v2. Based on http://www.euclideanspace.com
    
    Parameters:
    
    a - the first Quaternion
    
    b - the second Quaternion
  - multiply
```
public Quaternion multiply(Quaternion b)
```
    Sets the value of this Quaternion to the vector multiplication of itself and Quaternion b. (this = this * b)
    
    Parameters:
    
    b - the other Quaternion
  - multiplyVector3
```
public Vector3 multiplyVector3(Vector3 vector)
```
    Sets the value of the input vector to the vector multiplication of input vector and the current Quaternion.
    
    Parameters:
    
    vector - the input vector
    
    Returns:
    
    the modified input vector
  - slerp
```
public Quaternion slerp(Quaternion qb,
                        double t)
```
    Quaternion Interpolation Based on http://www.euclideanspace.com
    
    Parameters:
    
    qb - the quaternion a (first quaternion to be interpolated between)
    
    t - a scalar between 0.0 (at qa) and 1.0 (at qb)
    
    Returns:
    
    the interpolated quaternion
  - slerp
```
public static Quaternion slerp(Quaternion qa,
                               Quaternion qb,
                               Quaternion qm,
                               double t)
```
  - equals
```
public boolean equals(Quaternion quaternion)
```
  - clone
```
public Quaternion clone()
```
    Clone the current Quaternion quaternion.clone() != quaternion;
    
    Overrides:
    
    clone in class java.lang.Object
    
    Returns:
    
    the new instance of Quaternion
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class java.lang.Object

Class Quaternion

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

x

y

z

w

Constructor Detail

Quaternion

Quaternion

Quaternion

Method Detail

setHandler

getX

getY

getZ

getW

set

copy

setFromEuler

setFromEuler

setFromAxisAngle

setFromRotationMatrix

setFromUnitVectors

inverse

conjugate

dot

lengthSq

length

normalize

multiply

multiply

multiplyVector3

slerp

slerp

equals

clone

toString