javax.vecmath
Class Quat4d

java.lang.Object
  extended by javax.vecmath.Tuple4d
      extended by javax.vecmath.Quat4d
All Implemented Interfaces:
java.io.Serializable, java.lang.Cloneable

public class Quat4d
extends Tuple4d
implements java.io.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

Field Summary
 
Fields inherited from class javax.vecmath.Tuple4d
w, x, y, z
 
Constructor Summary
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.
 
Method Summary
 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
 
Methods inherited from class java.lang.Object
finalize, getClass, notify, notifyAll, wait, wait, wait
 

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:
q - 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(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(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()
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.


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 first quaternion
q2 - the second 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

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.


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 a)
Sets the value of this quaternion to the equivalent rotation of the AxisAngle argument.

Parameters:
a - the AxisAngle to be emulated

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

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


Copyright (c) 2006 Sun Microsystems, Inc. All rights reserved. Use is subject to license terms.