Package WildMagic.LibFoundation.Mathematics

Class Quaternion

java.lang.Object

WildMagic.LibFoundation.Mathematics.Quaternion

All Implemented Interfaces:

java.io.Serializable

public class Quaternion
extends java.lang.Object
implements java.io.Serializable

A quaternion is q = w + x*i + y*j + z*k where (w,x,y,z) is not necessarily a unit length vector in 4D.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
static Quaternion	IDENTITY
private float[]	m_afTuple
private static int[]	ms_iNext	support for FromRotationMatrix
private static long	serialVersionUID
static Quaternion	ZERO

Constructor Summary

Constructors

Constructor	Description
Quaternion()	construction: uninitialized
Quaternion(float fW, float fX, float fY, float fZ)
Quaternion(Matrix3f rkRot)	quaternion for the input rotation matrix
Quaternion(Quaternion rkQ)
Quaternion(Vector3f[] akRotColumn)	quaternion for the rotation matrix with specified columns
Quaternion(Vector3f rkAxis, float fAngle)	quaternion for the rotation of the axis-angle pair

Method Summary

Modifier and Type	Method	Description
Quaternion	Add(Quaternion rkQ)
void	Align(Vector3f rkV1, Vector3f rkV2)	Compute a quaternion that rotates unit-length vector V1 to unit-length vector V2.
float	Dot(Quaternion rkQ)
void	FromAxisAngle(Vector3f rkAxis, float fAngle)
void	FromRotationMatrix(Matrix3f rkRot)
void	FromRotationMatrix(Vector3f[] akRotColumn)
Quaternion	Neg()
private float	Norm()	Caculate the square length
void	Normalize()	Normalizes the value of this quaternion in place.
Quaternion	Scale(float fScalar)
Quaternion	Sub(Quaternion rkQ)
float	ToAxisAngle(Vector3f rkAxis)
void	ToRotationMatrix(Matrix3f rkRot)
void	ToRotationMatrix(Vector3f[] akRotColumn)
float	W()	Get the W-component.
float	X()	Get the X-component
float	Y()	Get the Y-component
float	Z()	Get the Z-component

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

serialVersionUID

private static final long serialVersionUID

See Also:

Constant Field Values

IDENTITY

public static final Quaternion IDENTITY

ZERO

public static final Quaternion ZERO

ms_iNext

private static int[] ms_iNext

support for FromRotationMatrix

m_afTuple

private float[] m_afTuple

Constructor Detail

Quaternion

public Quaternion()

construction: uninitialized

Quaternion

public Quaternion(float fW,
                  float fX,
                  float fY,
                  float fZ)

Quaternion

public Quaternion(Matrix3f rkRot)

quaternion for the input rotation matrix

Quaternion

public Quaternion(Quaternion rkQ)

Quaternion

public Quaternion(Vector3f rkAxis,
                  float fAngle)

quaternion for the rotation of the axis-angle pair

Quaternion

public Quaternion(Vector3f[] akRotColumn)

quaternion for the rotation matrix with specified columns

Method Detail

Add

public final Quaternion Add(Quaternion rkQ)

Align

public void Align(Vector3f rkV1,
                  Vector3f rkV2)

Compute a quaternion that rotates unit-length vector V1 to unit-length vector V2. The rotation is about the axis perpendicular to both V1 and V2, with angle of that between V1 and V2. If V1 and V2 are parallel, any axis of rotation will do, such as the permutation (z2,x2,y2), where V2 = (x2,y2,z2).

Dot

public final float Dot(Quaternion rkQ)

FromAxisAngle

public void FromAxisAngle(Vector3f rkAxis,
                          float fAngle)

FromRotationMatrix

public void FromRotationMatrix(Matrix3f rkRot)

FromRotationMatrix

public void FromRotationMatrix(Vector3f[] akRotColumn)

Neg

public final Quaternion Neg()

Normalize

public final void Normalize()

Normalizes the value of this quaternion in place.

Scale

public final Quaternion Scale(float fScalar)

Sub

public final Quaternion Sub(Quaternion rkQ)

ToAxisAngle

public float ToAxisAngle(Vector3f rkAxis)

ToRotationMatrix

public void ToRotationMatrix(Matrix3f rkRot)

ToRotationMatrix

public void ToRotationMatrix(Vector3f[] akRotColumn)

W

public float W()

Get the W-component.

Returns:

m_afTuple[0]

X

public float X()

Get the X-component

Returns:

m_afTuple[1]

Y

public float Y()

Get the Y-component

Returns:

m_afTuple[2]

Z

public float Z()

Get the Z-component

Returns:

m_afTuple[3]

Norm

private final float Norm()

Caculate the square length

Returns:

square length of the quaternion