net.java.joglutils.msg.math
Class Rotf

java.lang.Object
  net.java.joglutils.msg.math.Rotf

public class Rotf
extends Object

Represents a rotation in 3D space with single-precision components. Uses a quaternion as the internal representation.

Constructor Summary

Rotf()
Default constructor initializes to the identity quaternion

Rotf(Rotf arg)

Rotf(Vec3f axis, float angle)
Axis does not need to be normalized but must not be the zero vector.

Rotf(Vec3f from, Vec3f to)
Creates a rotation which will rotate vector "from" into vector "to".

Method Summary

void	fromMatrix(Mat4f mat) Turns the upper left 3x3 of the passed matrix into a rotation.
float	get(Vec3f axis) Returns angle (in radians) and mutates the given vector to be the axis.
void	init() Re-initialize this quaternion to be the identity quaternion "e" (i.e., no rotation)
Rotf	inverse() Returns inverse of this rotation; creates a new rotation.
void	invert() Mutate this quaternion to be its inverse.
float	length() Returns the length of this quaternion in four-space.
float	lengthSquared() This dotted with this
void	mul(Rotf a, Rotf b) Compose two rotations: this = A * B in that order.
void	normalize() Make this quaternion a unit quaternion again.
Vec3f	rotateVector(Vec3f src) Rotate a vector by this quaternion, returning newly-allocated result.
void	rotateVector(Vec3f src, Vec3f dest) Rotate a vector by this quaternion.
void	set(Rotf arg) Sets this rotation to the contents of the passed one.
void	set(Vec3f axis, float angle) Axis does not need to be normalized but must not be the zero vector.
void	set(Vec3f from, Vec3f to) Sets this rotation to that which will rotate vector "from" into vector "to".
Rotf	times(Rotf b) Returns this * b, in that order; creates new rotation
void	toMatrix(Mat4f mat) Turns this rotation into a 3x3 rotation matrix.
String	toString()
boolean	withinEpsilon(Rotf arg, float epsilon) Test for "approximate equality" -- performs componentwise test to see whether difference between all components is less than epsilon.

Methods inherited from class java.lang.Object

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

Constructor Detail

Rotf

public Rotf()

Default constructor initializes to the identity quaternion

Rotf

public Rotf(Rotf arg)

Rotf

public Rotf(Vec3f axis,
            float angle)

Axis does not need to be normalized but must not be the zero vector. Angle is in radians.

Rotf

public Rotf(Vec3f from,
            Vec3f to)

Creates a rotation which will rotate vector "from" into vector "to".

Method Detail

init

public void init()

Re-initialize this quaternion to be the identity quaternion "e" (i.e., no rotation)

withinEpsilon

public boolean withinEpsilon(Rotf arg,
                             float epsilon)

Test for "approximate equality" -- performs componentwise test to see whether difference between all components is less than epsilon.

set

public void set(Vec3f axis,
                float angle)

Axis does not need to be normalized but must not be the zero vector. Angle is in radians.

set

public void set(Rotf arg)

Sets this rotation to the contents of the passed one.

set

public void set(Vec3f from,
                Vec3f to)

Sets this rotation to that which will rotate vector "from" into vector "to". from and to do not have to be the same length.

get

public float get(Vec3f axis)

Returns angle (in radians) and mutates the given vector to be the axis.

inverse

public Rotf inverse()

Returns inverse of this rotation; creates a new rotation.

invert

public void invert()

Mutate this quaternion to be its inverse. This is equivalent to the conjugate of the quaternion.

length

public float length()

Returns the length of this quaternion in four-space.

lengthSquared

public float lengthSquared()

This dotted with this

normalize

public void normalize()

Make this quaternion a unit quaternion again. If you are composing dozens of quaternions you probably should call this periodically to ensure that you have a valid rotation.

times

public Rotf times(Rotf b)

Returns this * b, in that order; creates new rotation

mul

public void mul(Rotf a,
                Rotf b)

Compose two rotations: this = A * B in that order. NOTE that because we assume a column vector representation that this implies that a vector rotated by the cumulative rotation will be rotated first by B, then A. NOTE: "this" must be different than both a and b.

toMatrix

public void toMatrix(Mat4f mat)

Turns this rotation into a 3x3 rotation matrix. NOTE: only mutates the upper-left 3x3 of the passed Mat4f. Implementation from B. K. P. Horn's Robot Vision textbook.

fromMatrix

public void fromMatrix(Mat4f mat)

Turns the upper left 3x3 of the passed matrix into a rotation. Implementation from Watt and Watt, Advanced Animation and Rendering Techniques.

See Also:

Mat4f.getRotation(net.java.joglutils.msg.math.Rotf)

rotateVector

public void rotateVector(Vec3f src,
                         Vec3f dest)

Rotate a vector by this quaternion. Implementation is from Horn's Robot Vision. NOTE: src and dest must be different vectors.

rotateVector

public Vec3f rotateVector(Vec3f src)

Rotate a vector by this quaternion, returning newly-allocated result.

toString

public String toString()

Overrides:

toString in class Object