libGDX 1.14.2 · com.badlogic.gdx.math.Quaternion · APIdia, the JavaDoc alternative

Modifier and Type	Field and Description
private static final long	serialVersionUID
private static Quaternion	tmp1
private static Quaternion	tmp2
public float	w
public float	x
public float	y
public float	z

Access	Constructor and Description
public	Quaternion(float The x-component x, float The y-component y, float The z-component z, float The w-component w) Constructor, sets the four components of the quaternion.
public	Quaternion()
public	Quaternion(Quaternion The quaternion to copy. quaternion) Constructor, sets the quaternion components from the given quaternion.
public	Quaternion(Vector3 The axis axis, float The angle in degrees. angle) Constructor, sets the quaternion from the given axis vector and the angle around that axis in degrees.

Method Summary

Modifier and Type	Method and Description
public Quaternion	add(Quaternion quaternion) Add the x,y,z,w components of the passed in quaternion to the ones of this quaternion
public Quaternion	add(float qx, float qy, float qz, float qw) Add the x,y,z,w components of the passed in quaternion to the ones of this quaternion
public Quaternion	Returns: This quaternion for chaining conjugate() Conjugate the quaternion.
public Quaternion	cpy() Returns: a copy of this quaternion
public static final float	Returns: the dot product between the first and second quaternion. dot(final float the x component of the first quaternion x1, final float the y component of the first quaternion y1, final float the z component of the first quaternion z1, final float the w component of the first quaternion w1, final float the x component of the second quaternion x2, final float the y component of the second quaternion y2, final float the z component of the second quaternion z2, final float the w component of the second quaternion w2) Get the dot product between the two quaternions (commutative).
public float	Returns: the dot product of this and the other quaternion. dot(final Quaternion the other quaternion. other) Get the dot product between this and the other quaternion (commutative).
public float	Returns: the dot product of this and the other quaternion. dot(final float the x component of the other quaternion x, final float the y component of the other quaternion y, final float the z component of the other quaternion z, final float the w component of the other quaternion w) Get the dot product between this and the other quaternion (commutative).
public boolean	equals(Object obj) Overrides java.lang.Object.equals. Indicates whether some other object is "equal to" this one.
public Quaternion	Returns: This quaternion for chaining exp(float Exponent alpha) Calculates (this quaternion)^alpha where alpha is a real number and stores the result in this quaternion.
public float	Returns: the angle in degrees of the rotation getAngle() Get the angle in degrees of the rotation this quaternion represents.
public float	Returns: the angle in degrees of the rotation around the specified axis getAngleAround(final float the x component of the normalized axis for which to get the angle axisX, final float the y component of the normalized axis for which to get the angle axisY, final float the z component of the normalized axis for which to get the angle axisZ) Get the angle in degrees of the rotation around the specified axis.
public float	Returns: the angle in degrees of the rotation around the specified axis getAngleAround(final Vector3 the normalized axis for which to get the angle axis) Get the angle in degrees of the rotation around the specified axis.
public float	Returns: the angle in radians of the rotation around the specified axis getAngleAroundRad(final float the x component of the normalized axis for which to get the angle axisX, final float the y component of the normalized axis for which to get the angle axisY, final float the z component of the normalized axis for which to get the angle axisZ) Get the angle in radians of the rotation around the specified axis.
public float	Returns: the angle in radians of the rotation around the specified axis getAngleAroundRad(final Vector3 the normalized axis for which to get the angle axis) Get the angle in radians of the rotation around the specified axis.
public float	Returns: the angle in radians of the rotation getAngleRad() Get the angle in radians of the rotation this quaternion represents.
public float	Returns: the angle in degrees getAxisAngle(Vector3 vector which will receive the axis axis) Get the axis angle representation of the rotation in degrees.
public float	Returns: the angle in radians getAxisAngleRad(Vector3 vector which will receive the axis axis) Get the axis-angle representation of the rotation in radians.
public int	Returns: positive (+1) for north pole, negative (-1) for south pole, zero (0) when no gimbal lock getGimbalPole() Get the pole of the gimbal lock, if any.
public float	Returns: the rotation around the x axis in degrees (between -90 and +90) getPitch() Get the pitch euler angle in degrees, which is the rotation around the x axis.
public float	Returns: the rotation around the x axis in radians (between -(PI/2) and +(PI/2)) getPitchRad() Get the pitch euler angle in radians, which is the rotation around the x axis.
public float	Returns: the rotation around the z axis in degrees (between -180 and +180) getRoll() Get the roll euler angle in degrees, which is the rotation around the z axis.
public float	Returns: the rotation around the z axis in radians (between -PI and +PI) getRollRad() Get the roll euler angle in radians, which is the rotation around the z axis.
public void	getSwingTwist(final float the X component of the normalized axis for which to get the swing and twist rotation axisX, final float the Y component of the normalized axis for which to get the swing and twist rotation axisY, final float the Z component of the normalized axis for which to get the swing and twist rotation axisZ, final Quaternion will receive the swing rotation: the rotation around an axis perpendicular to the specified axis swing, final Quaternion will receive the twist rotation: the rotation around the specified axis twist) Get the swing rotation and twist rotation for the specified axis.
public void	getSwingTwist(final Vector3 the normalized axis for which to get the swing and twist rotation axis, final Quaternion will receive the swing rotation: the rotation around an axis perpendicular to the specified axis swing, final Quaternion will receive the twist rotation: the rotation around the specified axis twist) Get the swing rotation and twist rotation for the specified axis.
public float	Returns: the rotation around the y axis in degrees (between -180 and +180) getYaw() Get the yaw euler angle in degrees, which is the rotation around the y axis.
public float	Returns: the rotation around the y axis in radians (between -PI and +PI) getYawRad() Get the yaw euler angle in radians, which is the rotation around the y axis.
public int	hashCode() Overrides java.lang.Object.hashCode. Returns a hash code value for this object.
public Quaternion	Returns: this quaternion for chaining idt() Sets the quaternion to an identity Quaternion
public boolean	isIdentity() Returns: If this quaternion is an identity Quaternion
public boolean	isIdentity(final float tolerance) Returns: If this quaternion is an identity Quaternion
public static final float	len(final float x, final float y, final float z, final float w) Returns: the euclidean length of the specified quaternion
public float	len() Returns: the euclidean length of this quaternion
public static final float	len2(final float x, final float y, final float z, final float w)
public float	len2() Returns: the length of this quaternion without square root
public Quaternion	Returns: This quaternion for chaining mul(final Quaternion Quaternion to multiply with other) Multiplies this quaternion with another one in the form of this = this * other
public Quaternion	Returns: This quaternion for chaining mul(final float the x component of the other quaternion to multiply with x, final float the y component of the other quaternion to multiply with y, final float the z component of the other quaternion to multiply with z, final float the w component of the other quaternion to multiply with w) Multiplies this quaternion with another one in the form of this = this * other
public Quaternion	Returns: this quaternion for chaining. mul(float the scalar. scalar) Multiplies the components of this quaternion with the given scalar.
public Quaternion	Returns: This quaternion for chaining mulLeft(Quaternion Quaternion to multiply with other) Multiplies this quaternion with another one in the form of this = other * this
public Quaternion	Returns: This quaternion for chaining mulLeft(final float the x component of the other quaternion to multiply with x, final float the y component of the other quaternion to multiply with y, final float the z component of the other quaternion to multiply with z, final float the w component of the other quaternion to multiply with w) Multiplies this quaternion with another one in the form of this = other * this
public Quaternion	Returns: the quaternion for chaining nor() Normalizes this quaternion to unit length
public Quaternion	Returns: This quaternion for chaining set(float The x-component x, float The y-component y, float The z-component z, float The w-component w) Sets the components of the quaternion
public Quaternion	Returns: This quaternion for chaining. set(Quaternion The quaternion. quaternion) Sets the quaternion components from the given quaternion.
public Quaternion	Returns: This quaternion for chaining. set(Vector3 The axis axis, float The angle in degrees angle) Sets the quaternion components from the given axis and angle around that axis.
public Quaternion	Returns: this quaternion setEulerAngles(float the rotation around the y axis in degrees yaw, float the rotation around the x axis in degrees pitch, float the rotation around the z axis degrees roll) Sets the quaternion to the given euler angles in degrees.
public Quaternion	Returns: this quaternion setEulerAnglesRad(float the rotation around the y axis in radians yaw, float the rotation around the x axis in radians pitch, float the rotation around the z axis in radians roll) Sets the quaternion to the given euler angles in radians.
public Quaternion	setFromAxes(float x-axis x-coordinate xx, float x-axis y-coordinate xy, float x-axis z-coordinate xz, float y-axis x-coordinate yx, float y-axis y-coordinate yy, float y-axis z-coordinate yz, float z-axis x-coordinate zx, float z-axis y-coordinate zy, float z-axis z-coordinate zz) Sets the Quaternion from the given x-, y- and z-axis which have to be orthonormal.
public Quaternion	setFromAxes(boolean whether to normalize the axes (necessary when they contain scaling) normalizeAxes, float x-axis x-coordinate xx, float x-axis y-coordinate xy, float x-axis z-coordinate xz, float y-axis x-coordinate yx, float y-axis y-coordinate yy, float y-axis z-coordinate yz, float z-axis x-coordinate zx, float z-axis y-coordinate zy, float z-axis z-coordinate zz) Sets the Quaternion from the given x-, y- and z-axis.
public Quaternion	Returns: This quaternion for chaining. setFromAxis(final Vector3 The axis axis, final float The angle in degrees degrees) Sets the quaternion components from the given axis and angle around that axis.
public Quaternion	Returns: This quaternion for chaining. setFromAxis(final float X direction of the axis x, final float Y direction of the axis y, final float Z direction of the axis z, final float The angle in degrees degrees) Sets the quaternion components from the given axis and angle around that axis.
public Quaternion	Returns: This quaternion for chaining. setFromAxisRad(final Vector3 The axis axis, final float The angle in radians radians) Sets the quaternion components from the given axis and angle around that axis.
public Quaternion	Returns: This quaternion for chaining. setFromAxisRad(final float X direction of the axis x, final float Y direction of the axis y, final float Z direction of the axis z, final float The angle in radians radians) Sets the quaternion components from the given axis and angle around that axis.
public Quaternion	Returns: This quaternion for chaining setFromCross(final Vector3 The base vector, which should be normalized. v1, final Vector3 The target vector, which should be normalized. v2) Set this quaternion to the rotation between two vectors.
public Quaternion	Returns: This quaternion for chaining setFromCross(final float The base vectors x value, which should be normalized. x1, final float The base vectors y value, which should be normalized. y1, final float The base vectors z value, which should be normalized. z1, final float The target vector x value, which should be normalized. x2, final float The target vector y value, which should be normalized. y2, final float The target vector z value, which should be normalized. z2) Set this quaternion to the rotation between two vectors.
public Quaternion	setFromMatrix(boolean normalizeAxes, Matrix4 matrix) Sets the Quaternion from the given matrix, optionally removing any scaling.
public Quaternion	setFromMatrix(Matrix4 matrix) Sets the Quaternion from the given rotation matrix, which must not contain scaling.
public Quaternion	setFromMatrix(boolean normalizeAxes, Matrix3 matrix) Sets the Quaternion from the given matrix, optionally removing any scaling.
public Quaternion	setFromMatrix(Matrix3 matrix) Sets the Quaternion from the given rotation matrix, which must not contain scaling.
public Quaternion	Returns: this quaternion for chaining slerp(Quaternion the end quaternion end, float alpha in the range [0,1] alpha) Spherical linear interpolation between this quaternion and the other quaternion, based on the alpha value in the range [0,1].
public Quaternion	Returns: This quaternion for chaining slerp(Quaternion[] List of quaternions q) Spherical linearly interpolates multiple quaternions and stores the result in this Quaternion.
public Quaternion	Returns: This quaternion for chaining slerp(Quaternion[] List of quaternions q, float[] List of weights w) Spherical linearly interpolates multiple quaternions by the given weights and stores the result in this Quaternion.
public void	toMatrix(final float[] Matrix to fill matrix) Fills a 4x4 matrix with the rotation matrix represented by this quaternion.
public String	toString() Overrides java.lang.Object.toString. Returns a string representation of the object.
public Vector3	transform(Vector3 Vector to transform v) Transforms the given vector using this quaternion

Inherited from java.lang.Object:: clone finalize getClass notify notifyAll wait wait wait

serialVersionUID	back to summary
private static final long serialVersionUID

tmp1	back to summary
private static Quaternion tmp1

tmp2	back to summary
private static Quaternion tmp2

w	back to summary
public float w

x	back to summary
public float x

y	back to summary
public float y

z	back to summary
public float z

Quaternion	back to summary
public Quaternion(float x, float y, float z, float w) Constructor, sets the four components of the quaternion. Parameters x:float The x-component y:float The y-component z:float The z-component w:float The w-component

Quaternion	back to summary
public Quaternion()

Quaternion	back to summary
public Quaternion(Quaternion quaternion) Constructor, sets the quaternion components from the given quaternion. Parameters quaternion:Quaternion The quaternion to copy.

Quaternion	back to summary
public Quaternion(Vector3 axis, float angle) Constructor, sets the quaternion from the given axis vector and the angle around that axis in degrees. Parameters axis:Vector3 The axis angle:float The angle in degrees.

Method Detail

add	back to summary
public Quaternion add(Quaternion quaternion) Add the x,y,z,w components of the passed in quaternion to the ones of this quaternion

add	back to summary
public Quaternion add(float qx, float qy, float qz, float qw) Add the x,y,z,w components of the passed in quaternion to the ones of this quaternion

conjugate	back to summary
public Quaternion conjugate() Conjugate the quaternion. Returns:Quaternion This quaternion for chaining

conjugate

back to summary

public Quaternion conjugate()

Conjugate the quaternion.

Returns:Quaternion: This quaternion for chaining

cpy	back to summary
public Quaternion cpy() Returns:Quaternion a copy of this quaternion

dot	back to summary
public static final float dot(final float x1, final float y1, final float z1, final float w1, final float x2, final float y2, final float z2, final float w2) Get the dot product between the two quaternions (commutative). Parameters x1:float the x component of the first quaternion y1:float the y component of the first quaternion z1:float the z component of the first quaternion w1:float the w component of the first quaternion x2:float the x component of the second quaternion y2:float the y component of the second quaternion z2:float the z component of the second quaternion w2:float the w component of the second quaternion Returns:float the dot product between the first and second quaternion.

dot

back to summary

public static final float dot(final float x1, final float y1, final float z1, final float w1, final float x2, final float y2, final float z2, final float w2)

Get the dot product between the two quaternions (commutative).

Parameters

x1:float: the x component of the first quaternion
y1:float: the y component of the first quaternion
z1:float: the z component of the first quaternion
w1:float: the w component of the first quaternion
x2:float: the x component of the second quaternion
y2:float: the y component of the second quaternion
z2:float: the z component of the second quaternion
w2:float: the w component of the second quaternion

Returns:float

the dot product between the first and second quaternion.

dot	back to summary
public float dot(final Quaternion other) Get the dot product between this and the other quaternion (commutative). Parameters other:Quaternion the other quaternion. Returns:float the dot product of this and the other quaternion.

dot

back to summary

public float dot(final Quaternion other)

Get the dot product between this and the other quaternion (commutative).

Parameters

other:Quaternion: the other quaternion.

Returns:float

the dot product of this and the other quaternion.

dot	back to summary
public float dot(final float x, final float y, final float z, final float w) Get the dot product between this and the other quaternion (commutative). Parameters x:float the x component of the other quaternion y:float the y component of the other quaternion z:float the z component of the other quaternion w:float the w component of the other quaternion Returns:float the dot product of this and the other quaternion.

dot

back to summary

public float dot(final float x, final float y, final float z, final float w)

Get the dot product between this and the other quaternion (commutative).

Parameters

x:float: the x component of the other quaternion
y:float: the y component of the other quaternion
z:float: the z component of the other quaternion
w:float: the w component of the other quaternion

Returns:float

the dot product of this and the other quaternion.

equals back to summary

equals	back to summary
public boolean equals(Object obj) Overrides java.lang.Object.equals. Doc from java.lang.Object.equals. Indicates whether some other object is "equal to" this one. The `equals` method implements an equivalence relation on non-null object references: It is reflexive: for any non-null reference value `x`, `x.equals(x)` should return `true`. It is symmetric: for any non-null reference values `x` and `y`, `x.equals(y)` should return `true` if and only if `y.equals(x)` returns `true`. It is transitive: for any non-null reference values `x`, `y`, and `z`, if `x.equals(y)` returns `true` and `y.equals(z)` returns `true`, then `x.equals(z)` should return `true`. It is consistent: for any non-null reference values `x` and `y`, multiple invocations of `x.equals(y)` consistently return `true` or consistently return `false`, provided no information used in `equals` comparisons on the objects is modified. For any non-null reference value `x`, `x.equals(null)` should return `false`. An equivalence relation partitions the elements it operates on into equivalence classes; all the members of an equivalence class are equal to each other. Members of an equivalence class are substitutable for each other, at least for some purposes. Annotations @Override

public boolean equals(Object obj)

Overrides java.lang.Object.equals.

Doc from java.lang.Object.equals.

Indicates whether some other object is "equal to" this one.

The equals method implements an equivalence relation on non-null object references:

It is reflexive: for any non-null reference value x, x.equals(x) should return true.
It is symmetric: for any non-null reference values x and y, x.equals(y) should return true if and only if y.equals(x) returns true.
It is transitive: for any non-null reference values x, y, and z, if x.equals(y) returns true and y.equals(z) returns true, then x.equals(z) should return true.
It is consistent: for any non-null reference values x and y, multiple invocations of x.equals(y) consistently return true or consistently return false, provided no information used in equals comparisons on the objects is modified.
For any non-null reference value x, x.equals(null) should return false.

An equivalence relation partitions the elements it operates on into equivalence classes; all the members of an equivalence class are equal to each other. Members of an equivalence class are substitutable for each other, at least for some purposes.

Annotations

@Override

exp	back to summary
public Quaternion exp(float alpha) Calculates (this quaternion)^alpha where alpha is a real number and stores the result in this quaternion. See http://en.wikipedia.org/wiki/Quaternion#Exponential.2C_logarithm.2C_and_power Parameters alpha:float Exponent Returns:Quaternion This quaternion for chaining

exp

back to summary

public Quaternion exp(float alpha)

Calculates (this quaternion)^alpha where alpha is a real number and stores the result in this quaternion. See http://en.wikipedia.org/wiki/Quaternion#Exponential.2C_logarithm.2C_and_power

Parameters

alpha:float: Exponent

Returns:Quaternion

This quaternion for chaining

getAngle back to summary

getAngle	back to summary
public float getAngle() Get the angle in degrees of the rotation this quaternion represents. Use `getAxisAngle(Vector3)` to get both the axis and the angle of this rotation. Use `getAngleAround(Vector3)` to get the angle around a specific axis. Returns:float the angle in degrees of the rotation

public float getAngle()

Get the angle in degrees of the rotation this quaternion represents. Use getAxisAngle(Vector3) to get both the axis and the angle of this rotation. Use getAngleAround(Vector3) to get the angle around a specific axis.

Returns:float: the angle in degrees of the rotation

getAngleAround	back to summary
public float getAngleAround(final float axisX, final float axisY, final float axisZ) Get the angle in degrees of the rotation around the specified axis. The axis must be normalized. Parameters axisX:float the x component of the normalized axis for which to get the angle axisY:float the y component of the normalized axis for which to get the angle axisZ:float the z component of the normalized axis for which to get the angle Returns:float the angle in degrees of the rotation around the specified axis

getAngleAround

back to summary

public float getAngleAround(final float axisX, final float axisY, final float axisZ)

Get the angle in degrees of the rotation around the specified axis. The axis must be normalized.

Parameters

axisX:float: the x component of the normalized axis for which to get the angle
axisY:float: the y component of the normalized axis for which to get the angle
axisZ:float: the z component of the normalized axis for which to get the angle

Returns:float

the angle in degrees of the rotation around the specified axis

getAngleAround	back to summary
public float getAngleAround(final Vector3 axis) Get the angle in degrees of the rotation around the specified axis. The axis must be normalized. Parameters axis:Vector3 the normalized axis for which to get the angle Returns:float the angle in degrees of the rotation around the specified axis

getAngleAround

back to summary

public float getAngleAround(final Vector3 axis)

Get the angle in degrees of the rotation around the specified axis. The axis must be normalized.

Parameters

axis:Vector3: the normalized axis for which to get the angle

Returns:float

the angle in degrees of the rotation around the specified axis

getAngleAroundRad	back to summary
public float getAngleAroundRad(final float axisX, final float axisY, final float axisZ) Get the angle in radians of the rotation around the specified axis. The axis must be normalized. Parameters axisX:float the x component of the normalized axis for which to get the angle axisY:float the y component of the normalized axis for which to get the angle axisZ:float the z component of the normalized axis for which to get the angle Returns:float the angle in radians of the rotation around the specified axis

getAngleAroundRad

back to summary

public float getAngleAroundRad(final float axisX, final float axisY, final float axisZ)

Get the angle in radians of the rotation around the specified axis. The axis must be normalized.

Parameters

axisX:float: the x component of the normalized axis for which to get the angle
axisY:float: the y component of the normalized axis for which to get the angle
axisZ:float: the z component of the normalized axis for which to get the angle

Returns:float

the angle in radians of the rotation around the specified axis

getAngleAroundRad	back to summary
public float getAngleAroundRad(final Vector3 axis) Get the angle in radians of the rotation around the specified axis. The axis must be normalized. Parameters axis:Vector3 the normalized axis for which to get the angle Returns:float the angle in radians of the rotation around the specified axis

getAngleAroundRad

back to summary

public float getAngleAroundRad(final Vector3 axis)

Get the angle in radians of the rotation around the specified axis. The axis must be normalized.

Parameters

axis:Vector3: the normalized axis for which to get the angle

Returns:float

the angle in radians of the rotation around the specified axis

getAngleRad back to summary

getAngleRad	back to summary
public float getAngleRad() Get the angle in radians of the rotation this quaternion represents. Does not normalize the quaternion. Use `getAxisAngleRad(Vector3)` to get both the axis and the angle of this rotation. Use `getAngleAroundRad(Vector3)` to get the angle around a specific axis. Returns:float the angle in radians of the rotation

public float getAngleRad()

Get the angle in radians of the rotation this quaternion represents. Does not normalize the quaternion. Use getAxisAngleRad(Vector3) to get both the axis and the angle of this rotation. Use getAngleAroundRad(Vector3) to get the angle around a specific axis.

Returns:float: the angle in radians of the rotation

getAxisAngle	back to summary
public float getAxisAngle(Vector3 axis) Get the axis angle representation of the rotation in degrees. The supplied vector will receive the axis (x, y and z values) of the rotation and the value returned is the angle in degrees around that axis. Note that this method will alter the supplied vector, the existing value of the vector is ignored. This will normalize this quaternion if needed. The received axis is a unit vector. However, if this is an identity quaternion (no rotation), then the length of the axis may be zero. Parameters axis:Vector3 vector which will receive the axis Returns:float the angle in degrees See Also wikipedia, calculation

getAxisAngle

back to summary

public float getAxisAngle(Vector3 axis)

Get the axis angle representation of the rotation in degrees. The supplied vector will receive the axis (x, y and z values) of the rotation and the value returned is the angle in degrees around that axis. Note that this method will alter the supplied vector, the existing value of the vector is ignored.

This will normalize this quaternion if needed. The received axis is a unit vector. However, if this is an identity quaternion (no rotation), then the length of the axis may be zero.

Parameters

axis:Vector3: vector which will receive the axis

Returns:float

the angle in degrees

See Also

wikipedia, calculation

getAxisAngleRad	back to summary
public float getAxisAngleRad(Vector3 axis) Get the axis-angle representation of the rotation in radians. The supplied vector will receive the axis (x, y and z values) of the rotation and the value returned is the angle in radians around that axis. Note that this method will alter the supplied vector, the existing value of the vector is ignored. This will normalize this quaternion if needed. The received axis is a unit vector. However, if this is an identity quaternion (no rotation), then the length of the axis may be zero. Parameters axis:Vector3 vector which will receive the axis Returns:float the angle in radians See Also wikipedia, calculation

getAxisAngleRad

back to summary

public float getAxisAngleRad(Vector3 axis)

Get the axis-angle representation of the rotation in radians. The supplied vector will receive the axis (x, y and z values) of the rotation and the value returned is the angle in radians around that axis. Note that this method will alter the supplied vector, the existing value of the vector is ignored.

This will normalize this quaternion if needed. The received axis is a unit vector. However, if this is an identity quaternion (no rotation), then the length of the axis may be zero.

Parameters

axis:Vector3: vector which will receive the axis

Returns:float

the angle in radians

See Also

wikipedia, calculation

getGimbalPole	back to summary
public int getGimbalPole() Get the pole of the gimbal lock, if any. Returns:int positive (+1) for north pole, negative (-1) for south pole, zero (0) when no gimbal lock

getGimbalPole

back to summary

public int getGimbalPole()

Get the pole of the gimbal lock, if any.

Returns:int: positive (+1) for north pole, negative (-1) for south pole, zero (0) when no gimbal lock

getPitch	back to summary
public float getPitch() Get the pitch euler angle in degrees, which is the rotation around the x axis. Requires that this quaternion is normalized. Returns:float the rotation around the x axis in degrees (between -90 and +90)

getPitch

back to summary

public float getPitch()

Get the pitch euler angle in degrees, which is the rotation around the x axis. Requires that this quaternion is normalized.

Returns:float: the rotation around the x axis in degrees (between -90 and +90)

getPitchRad	back to summary
public float getPitchRad() Get the pitch euler angle in radians, which is the rotation around the x axis. Requires that this quaternion is normalized. Returns:float the rotation around the x axis in radians (between -(PI/2) and +(PI/2))

getPitchRad

back to summary

public float getPitchRad()

Get the pitch euler angle in radians, which is the rotation around the x axis. Requires that this quaternion is normalized.

Returns:float: the rotation around the x axis in radians (between -(PI/2) and +(PI/2))

getRoll	back to summary
public float getRoll() Get the roll euler angle in degrees, which is the rotation around the z axis. Requires that this quaternion is normalized. Returns:float the rotation around the z axis in degrees (between -180 and +180)

getRoll

back to summary

public float getRoll()

Get the roll euler angle in degrees, which is the rotation around the z axis. Requires that this quaternion is normalized.

Returns:float: the rotation around the z axis in degrees (between -180 and +180)

getRollRad	back to summary
public float getRollRad() Get the roll euler angle in radians, which is the rotation around the z axis. Requires that this quaternion is normalized. Returns:float the rotation around the z axis in radians (between -PI and +PI)

getRollRad

back to summary

public float getRollRad()

Get the roll euler angle in radians, which is the rotation around the z axis. Requires that this quaternion is normalized.

Returns:float: the rotation around the z axis in radians (between -PI and +PI)

getSwingTwist	back to summary
public void getSwingTwist(final float axisX, final float axisY, final float axisZ, final Quaternion swing, final Quaternion twist) Get the swing rotation and twist rotation for the specified axis. The twist rotation represents the rotation around the specified axis. The swing rotation represents the rotation of the specified axis itself, which is the rotation around an axis perpendicular to the specified axis. The swing and twist rotation can be used to reconstruct the original quaternion: this = swing * twist Parameters axisX:float the X component of the normalized axis for which to get the swing and twist rotation axisY:float the Y component of the normalized axis for which to get the swing and twist rotation axisZ:float the Z component of the normalized axis for which to get the swing and twist rotation swing:Quaternion will receive the swing rotation: the rotation around an axis perpendicular to the specified axis twist:Quaternion will receive the twist rotation: the rotation around the specified axis See Also calculation

getSwingTwist

back to summary

public void getSwingTwist(final float axisX, final float axisY, final float axisZ, final Quaternion swing, final Quaternion twist)

Get the swing rotation and twist rotation for the specified axis. The twist rotation represents the rotation around the specified axis. The swing rotation represents the rotation of the specified axis itself, which is the rotation around an axis perpendicular to the specified axis.

The swing and twist rotation can be used to reconstruct the original quaternion: this = swing * twist

Parameters

axisX:float: the X component of the normalized axis for which to get the swing and twist rotation
axisY:float: the Y component of the normalized axis for which to get the swing and twist rotation
axisZ:float: the Z component of the normalized axis for which to get the swing and twist rotation
swing:Quaternion: will receive the swing rotation: the rotation around an axis perpendicular to the specified axis
twist:Quaternion: will receive the twist rotation: the rotation around the specified axis

See Also

calculation

getSwingTwist	back to summary
public void getSwingTwist(final Vector3 axis, final Quaternion swing, final Quaternion twist) Get the swing rotation and twist rotation for the specified axis. The twist rotation represents the rotation around the specified axis. The swing rotation represents the rotation of the specified axis itself, which is the rotation around an axis perpendicular to the specified axis. The swing and twist rotation can be used to reconstruct the original quaternion: this = swing * twist Parameters axis:Vector3 the normalized axis for which to get the swing and twist rotation swing:Quaternion will receive the swing rotation: the rotation around an axis perpendicular to the specified axis twist:Quaternion will receive the twist rotation: the rotation around the specified axis See Also calculation

getSwingTwist

back to summary

public void getSwingTwist(final Vector3 axis, final Quaternion swing, final Quaternion twist)

The swing and twist rotation can be used to reconstruct the original quaternion: this = swing * twist

Parameters

axis:Vector3: the normalized axis for which to get the swing and twist rotation
swing:Quaternion: will receive the swing rotation: the rotation around an axis perpendicular to the specified axis
twist:Quaternion: will receive the twist rotation: the rotation around the specified axis

See Also

calculation

getYaw	back to summary
public float getYaw() Get the yaw euler angle in degrees, which is the rotation around the y axis. Requires that this quaternion is normalized. Returns:float the rotation around the y axis in degrees (between -180 and +180)

getYaw

back to summary

public float getYaw()

Get the yaw euler angle in degrees, which is the rotation around the y axis. Requires that this quaternion is normalized.

Returns:float: the rotation around the y axis in degrees (between -180 and +180)

getYawRad	back to summary
public float getYawRad() Get the yaw euler angle in radians, which is the rotation around the y axis. Requires that this quaternion is normalized. Returns:float the rotation around the y axis in radians (between -PI and +PI)

getYawRad

back to summary

public float getYawRad()

Get the yaw euler angle in radians, which is the rotation around the y axis. Requires that this quaternion is normalized.

Returns:float: the rotation around the y axis in radians (between -PI and +PI)

hashCode back to summary

hashCode	back to summary
public int hashCode() Overrides java.lang.Object.hashCode. Doc from java.lang.Object.hashCode. Returns a hash code value for this object. This method is supported for the benefit of hash tables such as those provided by `java.util.HashMap`. The general contract of `hashCode` is: Whenever it is invoked on the same object more than once during an execution of a Java application, the `hashCode` method must consistently return the same integer, provided no information used in `equals` comparisons on the object is modified. This integer need not remain consistent from one execution of an application to another execution of the same application. If two objects are equal according to the `equals` method, then calling the `hashCode` method on each of the two objects must produce the same integer result. It is not required that if two objects are unequal according to the `equals` method, then calling the `hashCode` method on each of the two objects must produce distinct integer results. However, the programmer should be aware that producing distinct integer results for unequal objects may improve the performance of hash tables. Annotations @Override

public int hashCode()

Overrides java.lang.Object.hashCode.

Doc from java.lang.Object.hashCode.

Returns a hash code value for this object. This method is supported for the benefit of hash tables such as those provided by java.util.HashMap.

The general contract of hashCode is:

Whenever it is invoked on the same object more than once during an execution of a Java application, the hashCode method must consistently return the same integer, provided no information used in equals comparisons on the object is modified. This integer need not remain consistent from one execution of an application to another execution of the same application.
If two objects are equal according to the equals method, then calling the hashCode method on each of the two objects must produce the same integer result.
It is not required that if two objects are unequal according to the equals method, then calling the hashCode method on each of the two objects must produce distinct integer results. However, the programmer should be aware that producing distinct integer results for unequal objects may improve the performance of hash tables.

Annotations

@Override

idt	back to summary
public Quaternion idt() Sets the quaternion to an identity Quaternion Returns:Quaternion this quaternion for chaining

idt

back to summary

public Quaternion idt()

Sets the quaternion to an identity Quaternion

Returns:Quaternion: this quaternion for chaining

isIdentity	back to summary
public boolean isIdentity() Returns:boolean If this quaternion is an identity Quaternion

isIdentity	back to summary
public boolean isIdentity(final float tolerance) Returns:boolean If this quaternion is an identity Quaternion

len	back to summary
public static final float len(final float x, final float y, final float z, final float w) Returns:float the euclidean length of the specified quaternion

len	back to summary
public float len() Returns:float the euclidean length of this quaternion

len2	back to summary
public static final float len2(final float x, final float y, final float z, final float w)

len2	back to summary
public float len2() Returns:float the length of this quaternion without square root

mul	back to summary
public Quaternion mul(final Quaternion other) Multiplies this quaternion with another one in the form of this = this * other Parameters other:Quaternion Quaternion to multiply with Returns:Quaternion This quaternion for chaining

mul

back to summary

public Quaternion mul(final Quaternion other)

Multiplies this quaternion with another one in the form of this = this * other

Parameters

other:Quaternion: Quaternion to multiply with

Returns:Quaternion

This quaternion for chaining

mul	back to summary
public Quaternion mul(final float x, final float y, final float z, final float w) Multiplies this quaternion with another one in the form of this = this * other Parameters x:float the x component of the other quaternion to multiply with y:float the y component of the other quaternion to multiply with z:float the z component of the other quaternion to multiply with w:float the w component of the other quaternion to multiply with Returns:Quaternion This quaternion for chaining

mul

back to summary

public Quaternion mul(final float x, final float y, final float z, final float w)

Multiplies this quaternion with another one in the form of this = this * other

Parameters

x:float: the x component of the other quaternion to multiply with
y:float: the y component of the other quaternion to multiply with
z:float: the z component of the other quaternion to multiply with
w:float: the w component of the other quaternion to multiply with

Returns:Quaternion

This quaternion for chaining

mul

back to summary

public Quaternion mul(float scalar)

Multiplies the components of this quaternion with the given scalar.

Parameters

scalar:float: the scalar.

Returns:Quaternion

this quaternion for chaining.

mulLeft

back to summary

public Quaternion mulLeft(Quaternion other)

Multiplies this quaternion with another one in the form of this = other * this

Parameters

other:Quaternion: Quaternion to multiply with

Returns:Quaternion

This quaternion for chaining

mulLeft

back to summary

public Quaternion mulLeft(final float x, final float y, final float z, final float w)

Multiplies this quaternion with another one in the form of this = other * this

Parameters

x:float: the x component of the other quaternion to multiply with
y:float: the y component of the other quaternion to multiply with
z:float: the z component of the other quaternion to multiply with
w:float: the w component of the other quaternion to multiply with

Returns:Quaternion

This quaternion for chaining

nor

back to summary

public Quaternion nor()

Normalizes this quaternion to unit length

Returns:Quaternion: the quaternion for chaining

set

back to summary

public Quaternion set(float x, float y, float z, float w)

Sets the components of the quaternion

Parameters

x:float: The x-component
y:float: The y-component
z:float: The z-component
w:float: The w-component

Returns:Quaternion

This quaternion for chaining

set

back to summary

public Quaternion set(Quaternion quaternion)

Sets the quaternion components from the given quaternion.

Parameters

quaternion:Quaternion: The quaternion.

Returns:Quaternion

This quaternion for chaining.

set

back to summary

public Quaternion set(Vector3 axis, float angle)

Sets the quaternion components from the given axis and angle around that axis.

Parameters

axis:Vector3: The axis
angle:float: The angle in degrees

Returns:Quaternion

This quaternion for chaining.

setEulerAngles

back to summary

public Quaternion setEulerAngles(float yaw, float pitch, float roll)

Sets the quaternion to the given euler angles in degrees.

Parameters

yaw:float: the rotation around the y axis in degrees
pitch:float: the rotation around the x axis in degrees
roll:float: the rotation around the z axis degrees

Returns:Quaternion

this quaternion

setEulerAnglesRad

back to summary

public Quaternion setEulerAnglesRad(float yaw, float pitch, float roll)

Sets the quaternion to the given euler angles in radians.

Parameters

yaw:float: the rotation around the y axis in radians
pitch:float: the rotation around the x axis in radians
roll:float: the rotation around the z axis in radians

Returns:Quaternion

this quaternion

setFromAxes

back to summary

public Quaternion setFromAxes(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz)

Sets the Quaternion from the given x-, y- and z-axis which have to be orthonormal.

Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/ which in turn took it from Graphics Gem code at ftp://ftp.cis.upenn.edu/pub/graphics/shoemake/quatut.ps.Z.

Parameters

xx:float: x-axis x-coordinate
xy:float: x-axis y-coordinate
xz:float: x-axis z-coordinate
yx:float: y-axis x-coordinate
yy:float: y-axis y-coordinate
yz:float: y-axis z-coordinate
zx:float: z-axis x-coordinate
zy:float: z-axis y-coordinate
zz:float: z-axis z-coordinate

setFromAxes

back to summary

public Quaternion setFromAxes(boolean normalizeAxes, float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz)

Sets the Quaternion from the given x-, y- and z-axis.

Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/ which in turn took it from Graphics Gem code at ftp://ftp.cis.upenn.edu/pub/graphics/shoemake/quatut.ps.Z.

Parameters

normalizeAxes:boolean: whether to normalize the axes (necessary when they contain scaling)
xx:float: x-axis x-coordinate
xy:float: x-axis y-coordinate
xz:float: x-axis z-coordinate
yx:float: y-axis x-coordinate
yy:float: y-axis y-coordinate
yz:float: y-axis z-coordinate
zx:float: z-axis x-coordinate
zy:float: z-axis y-coordinate
zz:float: z-axis z-coordinate

setFromAxis

back to summary

public Quaternion setFromAxis(final Vector3 axis, final float degrees)

Sets the quaternion components from the given axis and angle around that axis.

Parameters

axis:Vector3: The axis
degrees:float: The angle in degrees

Returns:Quaternion

This quaternion for chaining.

setFromAxis

back to summary

public Quaternion setFromAxis(final float x, final float y, final float z, final float degrees)

Sets the quaternion components from the given axis and angle around that axis.

Parameters

x:float: X direction of the axis
y:float: Y direction of the axis
z:float: Z direction of the axis
degrees:float: The angle in degrees

Returns:Quaternion

This quaternion for chaining.

setFromAxisRad

back to summary

public Quaternion setFromAxisRad(final Vector3 axis, final float radians)

Sets the quaternion components from the given axis and angle around that axis.

Parameters

axis:Vector3: The axis
radians:float: The angle in radians

Returns:Quaternion

This quaternion for chaining.

setFromAxisRad

back to summary

public Quaternion setFromAxisRad(final float x, final float y, final float z, final float radians)

Sets the quaternion components from the given axis and angle around that axis.

Parameters

x:float: X direction of the axis
y:float: Y direction of the axis
z:float: Z direction of the axis
radians:float: The angle in radians

Returns:Quaternion

This quaternion for chaining.

setFromCross

back to summary

public Quaternion setFromCross(final Vector3 v1, final Vector3 v2)

Set this quaternion to the rotation between two vectors.

Parameters

v1:Vector3: The base vector, which should be normalized.
v2:Vector3: The target vector, which should be normalized.

Returns:Quaternion

This quaternion for chaining

setFromCross

back to summary

public Quaternion setFromCross(final float x1, final float y1, final float z1, final float x2, final float y2, final float z2)

Set this quaternion to the rotation between two vectors.

Parameters

x1:float: The base vectors x value, which should be normalized.
y1:float: The base vectors y value, which should be normalized.
z1:float: The base vectors z value, which should be normalized.
x2:float: The target vector x value, which should be normalized.
y2:float: The target vector y value, which should be normalized.
z2:float: The target vector z value, which should be normalized.

Returns:Quaternion

This quaternion for chaining

setFromMatrix	back to summary
public Quaternion setFromMatrix(boolean normalizeAxes, Matrix4 matrix) Sets the Quaternion from the given matrix, optionally removing any scaling.

setFromMatrix	back to summary
public Quaternion setFromMatrix(Matrix4 matrix) Sets the Quaternion from the given rotation matrix, which must not contain scaling.

setFromMatrix	back to summary
public Quaternion setFromMatrix(boolean normalizeAxes, Matrix3 matrix) Sets the Quaternion from the given matrix, optionally removing any scaling.

setFromMatrix	back to summary
public Quaternion setFromMatrix(Matrix3 matrix) Sets the Quaternion from the given rotation matrix, which must not contain scaling.

slerp

back to summary

public Quaternion slerp(Quaternion end, float alpha)

Spherical linear interpolation between this quaternion and the other quaternion, based on the alpha value in the range [0,1]. Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/

Parameters

end:Quaternion: the end quaternion
alpha:float: alpha in the range [0,1]

Returns:Quaternion

this quaternion for chaining

slerp

back to summary

public Quaternion slerp(Quaternion[] q)

Spherical linearly interpolates multiple quaternions and stores the result in this Quaternion. Will not destroy the data previously inside the elements of q. result = (q_1^w_1)*(q_2^w_2)* ... *(q_n^w_n) where w_i=1/n.

Parameters

q:Quaternion[]: List of quaternions

Returns:Quaternion

This quaternion for chaining

slerp

back to summary

public Quaternion slerp(Quaternion[] q, float[] w)

Spherical linearly interpolates multiple quaternions by the given weights and stores the result in this Quaternion. Will not destroy the data previously inside the elements of q or w. result = (q_1^w_1)*(q_2^w_2)* ... *(q_n^w_n) where the sum of w_i is 1. Lists must be equal in length.

Parameters