Package javax.vecmath
Class Quat4d
- java.lang.Object
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- javax.vecmath.Tuple4d
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- javax.vecmath.Quat4d
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- All Implemented Interfaces:
Serializable
,Cloneable
public class Quat4d extends Tuple4d implements Serializable
A 4-element quaternion represented by double precision floating point x,y,z,w coordinates. The quaternion is always normalized.- See Also:
- Serialized Form
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Constructor Summary
Constructors Constructor Description Quat4d()
Constructs and initializes a Quat4d to (0,0,0,0).Quat4d(double[] q)
Constructs and initializes a Quat4d from the array of length 4.Quat4d(double x, double y, double z, double w)
Constructs and initializes a Quat4d from the specified xyzw coordinates.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.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
conjugate()
Negate the value of of each of this quaternion's x,y,z coordinates in place.void
conjugate(Quat4d q1)
Sets the value of this quaternion to the conjugate of quaternion q1.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.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.void
inverse()
Sets the value of this quaternion to the quaternion inverse of itself.void
inverse(Quat4d q1)
Sets the value of this quaternion to quaternion inverse of quaternion q1.void
mul(Quat4d q1)
Sets the value of this quaternion to the quaternion product of itself and q1 (this = this * q1).void
mul(Quat4d q1, Quat4d q2)
Sets the value of this quaternion to the quaternion product of quaternions q1 and q2 (this = q1 * q2).void
mulInverse(Quat4d q1)
Multiplies this quaternion by the inverse of quaternion q1 and places the value into this quaternion.void
mulInverse(Quat4d q1, Quat4d q2)
Multiplies quaternion q1 by the inverse of quaternion q2 and places the value into this quaternion.void
normalize()
Normalizes the value of this quaternion in place.void
normalize(Quat4d q1)
Sets the value of this quaternion to the normalized value of quaternion q1.void
set(AxisAngle4d a)
Sets the value of this quaternion to the equivalent rotation of the AxisAngle argument.void
set(AxisAngle4f a)
Sets the value of this quaternion to the equivalent rotation of the AxisAngle argument.void
set(Matrix3d m1)
Sets the value of this quaternion to the rotational component of the passed matrix.void
set(Matrix3f m1)
Sets the value of this quaternion to the rotational component of the passed matrix.void
set(Matrix4d m1)
Sets the value of this quaternion to the rotational component of the passed matrix.void
set(Matrix4f m1)
Sets the value of this quaternion to the rotational component of the passed matrix.-
Methods inherited from class javax.vecmath.Tuple4d
absolute, absolute, add, add, clamp, clamp, clamp, clamp, clampMax, clampMax, clampMax, clampMax, clampMin, clampMin, clampMin, clampMin, clone, epsilonEquals, equals, equals, get, get, getW, getX, getY, getZ, hashCode, interpolate, interpolate, interpolate, interpolate, negate, negate, scale, scale, scaleAdd, scaleAdd, scaleAdd, set, set, set, set, setW, setX, setY, setZ, sub, sub, toString
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Constructor Detail
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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 coordinatey
- the y coordinatez
- the z coordinatew
- the w scalar component
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Quat4d
public Quat4d(double[] q)
Constructs and initializes a Quat4d from the array of length 4.- Parameters:
q
- the array of length 4 containing xyzw in order
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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
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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
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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
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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
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Quat4d
public Quat4d()
Constructs and initializes a Quat4d to (0,0,0,0).
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Method Detail
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conjugate
public final void conjugate(Quat4d q1)
Sets the value of this quaternion to the conjugate of quaternion q1.- Parameters:
q1
- the source vector
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conjugate
public final void conjugate()
Negate the value of of each of this quaternion's x,y,z coordinates in place.
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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 quaternionq2
- the second quaternion
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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
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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 first quaternionq2
- the second quaternion
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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
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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
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inverse
public final void inverse()
Sets the value of this quaternion to the quaternion inverse of itself.
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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.
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normalize
public final void normalize()
Normalizes the value of this quaternion in place.
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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
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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
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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
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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
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set
public final void set(AxisAngle4f a)
Sets the value of this quaternion to the equivalent rotation of the AxisAngle argument.- Parameters:
a
- the AxisAngle to be emulated
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set
public final void set(AxisAngle4d a)
Sets the value of this quaternion to the equivalent rotation of the AxisAngle argument.- Parameters:
a
- the AxisAngle to be emulated
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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 quaternionalpha
- the alpha interpolation parameter
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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 quaternionq2
- the second quaternionalpha
- the alpha interpolation parameter
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