javax.vecmath

Class Quat4d

public class Quat4d extends Tuple4d implements Serializable

A 4 element quaternion represented by double precision floating point x,y,z,w coordinates.
Constructor Summary
Quat4d(double x, double y, double z, double w)
Constructs and initializes a Quat4d from the specified xyzw coordinates.
Quat4d(double[] q)
Constructs and initializes a Quat4d from the array of length 4.
Quat4d(Quat4d q1)
Constructs and initializes a Quat4d from the specified Quat4d.
Quat4d(Quat4f q1)
Constructs and initializes a Quat4d from the specified Quat4f.
Quat4d(Tuple4d t1)
Constructs and initializes a Quat4d from the specified Tuple4d.
Quat4d(Tuple4f t1)
Constructs and initializes a Quat4d from the specified Tuple4f.
Quat4d()
Constructs and initializes a Quat4d to (0,0,0,0).
Method Summary
voidconjugate(Quat4d q1)
Sets the value of this quaternion to the conjugate of quaternion q1.
voidconjugate()
Negate the value of of each of this quaternion's x,y,z coordinates in place.
voidinterpolate(Quat4d q1, double alpha)
Performs a great circle interpolation between this quaternion and the quaternion parameter and places the result into this quaternion.
voidinterpolate(Quat4d q1, Quat4d q2, double alpha)
Performs a great circle interpolation between quaternion q1 and quaternion q2 and places the result into this quaternion.
voidinverse(Quat4d q1)
Sets the value of this quaternion to quaternion inverse of quaternion q1.
voidinverse()
Sets the value of this quaternion to the quaternion inverse of itself.
voidmul(Quat4d q1, Quat4d q2)
Sets the value of this quaternion to the quaternion product of quaternions q1 and q2 (this = q1 * q2).
voidmul(Quat4d q1)
Sets the value of this quaternion to the quaternion product of itself and q1 (this = this * q1).
voidmulInverse(Quat4d q1, Quat4d q2)
Multiplies quaternion q1 by the inverse of quaternion q2 and places the value into this quaternion.
voidmulInverse(Quat4d q1)
Multiplies this quaternion by the inverse of quaternion q1 and places the value into this quaternion.
voidnormalize(Quat4d q1)
Sets the value of this quaternion to the normalized value of quaternion q1.
voidnormalize()
Normalizes the value of this quaternion in place.
voidset(Matrix4f m1)
Sets the value of this quaternion to the rotational component of the passed matrix.
voidset(Matrix4d m1)
Sets the value of this quaternion to the rotational component of the passed matrix.
voidset(Matrix3f m1)
Sets the value of this quaternion to the rotational component of the passed matrix.
voidset(Matrix3d m1)
Sets the value of this quaternion to the rotational component of the passed matrix.
voidset(AxisAngle4f a1)
Sets the value of this quaternion to the equivalent rotation of teh AxisAngle argument.
voidset(AxisAngle4d a1)
Sets the value of this quaternion to the equivalent rotation of teh AxisAngle argument.

Constructor Detail

Quat4d

public Quat4d(double x, double y, double z, double w)
Constructs and initializes a Quat4d from the specified xyzw coordinates.

Parameters: x the x coordinate y the y coordinate z the z coordinate w the w scalar component

Quat4d

public Quat4d(double[] q)
Constructs and initializes a Quat4d from the array of length 4.

Parameters: v the array of length 4 containing xyzw in order

Quat4d

public Quat4d(Quat4d q1)
Constructs and initializes a Quat4d from the specified Quat4d.

Parameters: q1 the Quat4d containing the initialization x y z w data

Quat4d

public Quat4d(Quat4f q1)
Constructs and initializes a Quat4d from the specified Quat4f.

Parameters: q1 the Quat4f containing the initialization x y z w data

Quat4d

public Quat4d(Tuple4d t1)
Constructs and initializes a Quat4d from the specified Tuple4d.

Parameters: t1 the Tuple4d containing the initialization x y z w data

Quat4d

public Quat4d(Tuple4f t1)
Constructs and initializes a Quat4d from the specified Tuple4f.

Parameters: t1 the Tuple4f containing the initialization x y z w data

Quat4d

public Quat4d()
Constructs and initializes a Quat4d to (0,0,0,0).

Method Detail

conjugate

public final void conjugate(Quat4d q1)
Sets the value of this quaternion to the conjugate of quaternion q1.

Parameters: q1 the source vector

conjugate

public final void conjugate()
Negate the value of of each of this quaternion's x,y,z coordinates in place.

interpolate

public final void interpolate(Quat4d q1, double alpha)
Performs a great circle interpolation between this quaternion and the quaternion parameter and places the result into this quaternion.

Parameters: q1 the other quaternion alpha the alpha interpolation parameter

interpolate

public final void interpolate(Quat4d q1, Quat4d q2, double alpha)
Performs a great circle interpolation between quaternion q1 and quaternion q2 and places the result into this quaternion.

Parameters: q1 the first quaternion q2 the second quaternion alpha the alpha interpolation parameter

inverse

public final void inverse(Quat4d q1)
Sets the value of this quaternion to quaternion inverse of quaternion q1.

Parameters: q1 the quaternion to be inverted

inverse

public final void inverse()
Sets the value of this quaternion to the quaternion inverse of itself.

mul

public final void mul(Quat4d q1, Quat4d q2)
Sets the value of this quaternion to the quaternion product of quaternions q1 and q2 (this = q1 * q2). Note that this is safe for aliasing (e.g. this can be q1 or q2).

Parameters: q1 the first quaternion q2 the second quaternion

mul

public final void mul(Quat4d q1)
Sets the value of this quaternion to the quaternion product of itself and q1 (this = this * q1).

Parameters: q1 the other quaternion

mulInverse

public final void mulInverse(Quat4d q1, Quat4d q2)
Multiplies quaternion q1 by the inverse of quaternion q2 and places the value into this quaternion. The value of both argument quaternions is preservered (this = q1 * q2^-1).

Parameters: q1 the left quaternion q2 the right quaternion

mulInverse

public final void mulInverse(Quat4d q1)
Multiplies this quaternion by the inverse of quaternion q1 and places the value into this quaternion. The value of the argument quaternion is preserved (this = this * q^-1).

Parameters: q1 the other quaternion

normalize

public final void normalize(Quat4d q1)
Sets the value of this quaternion to the normalized value of quaternion q1.

Parameters: q1 the quaternion to be normalized.

normalize

public final void normalize()
Normalizes the value of this quaternion in place.

set

public final void set(Matrix4f m1)
Sets the value of this quaternion to the rotational component of the passed matrix.

Parameters: m1 the matrix4f

set

public final void set(Matrix4d m1)
Sets the value of this quaternion to the rotational component of the passed matrix.

Parameters: m1 the matrix4d

set

public final void set(Matrix3f m1)
Sets the value of this quaternion to the rotational component of the passed matrix.

Parameters: m1 the matrix3f

set

public final void set(Matrix3d m1)
Sets the value of this quaternion to the rotational component of the passed matrix.

Parameters: m1 the matrix3d

set

public final void set(AxisAngle4f a1)
Sets the value of this quaternion to the equivalent rotation of teh AxisAngle argument.

Parameters: a1 the axis-angle

set

public final void set(AxisAngle4d a1)
Sets the value of this quaternion to the equivalent rotation of teh AxisAngle argument.

Parameters: a1 the axis-angle