de.jreality.math

Class Quaternion

java.lang.Object

de.jreality.math.Quaternion

All Implemented Interfaces:

Serializable, Cloneable

public final class Quaternion
extends Object
implements Cloneable, Serializable

A simple quaternion class for support for FactoredMatrix and isometry generation in P3. Although the bulk of the methods are static, there are also some instance methods.

The generic calling convention is public static Quaternion method(Quaternion result, Quaternion q1, Quaternion q2) where if result is null, a new instance is created and the result is returned in it.

Consult also Rn for a description of conventions used in method design.

Author:

Charles Gunn

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
double	re
double	x
double	y
double	z

Constructor Summary

Constructors

Constructor and Description
Quaternion() The default quaternion is 1.
Quaternion(double r, double dx, double dy, double dz)
Quaternion(Quaternion nq) A copy constructor.

Method Summary

Modifier and Type	Method and Description
static Quaternion	add(Quaternion dst, Quaternion a, Quaternion b)
double[]	asDouble()
double[]	asDouble(double[] val)
double[]	asDouble(double[] val, int[] channels)
static double[]	asDouble(double[] dst, Quaternion q)
static Quaternion	conjugate(Quaternion dst, Quaternion src)
static Quaternion	copy(Quaternion dst, Quaternion src)
static boolean	equals(Quaternion a, Quaternion b, double tol) Check for numerical equality.
static boolean	equalsRotation(Quaternion a, Quaternion b, double tol) Check if the rotations represented by the two quaternions are equal
static Quaternion	exp(Quaternion dst, double t, Quaternion src)
static double[]	IJK(double[] dst, Quaternion q) return imaginary part as a double array.
static double	innerProduct(Quaternion a, Quaternion b)
static Quaternion	invert(Quaternion dst, Quaternion src)
static double	length(Quaternion q)
static double	lengthSquared(Quaternion q)
static Quaternion	linearInterpolation(Quaternion dst, Quaternion rot1, Quaternion rot2, double s)
static Quaternion	makeRotationQuaternionAngle(Quaternion q, double angle, double[] axis)
static Quaternion	makeRotationQuaternionCos(Quaternion q, double cos, double[] axis)
static Quaternion	negate(Quaternion dst, Quaternion src)
static Quaternion	normalize(Quaternion dst, Quaternion src)
static double[]	quaternionToRotationMatrix(double[] rot, Quaternion qt)
static double[]	quaternionToRotationMatrixOld(double[] rot, Quaternion qt) Convert the quaternion qt into a 3x3 rotation matrix.
static Quaternion	rotationMatrixToQuaternion(Quaternion q, double[] mat) Convert the 3x3 rotation matrix mat into a quaternion.
void	setValue(double r, double dx, double dy, double dz)
static Quaternion	star(Quaternion dst, Quaternion src) The conjugate of the inverse, or do I mean the inverse of the conjugate???
static Quaternion	subtract(Quaternion dst, Quaternion a, Quaternion b)
static Quaternion	times(Quaternion dst, double s, Quaternion src)
static Quaternion	times(Quaternion a, Quaternion b)
String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

re

public double re

x

public double x

y

public double y

z

public double z

Constructor Detail

Quaternion

public Quaternion()

The default quaternion is 1.

Quaternion

public Quaternion(Quaternion nq)

A copy constructor.

Parameters:

nq -

Quaternion

public Quaternion(double r,
                  double dx,
                  double dy,
                  double dz)

Method Detail

toString

public String toString()

Overrides:

toString in class Object

asDouble

public static double[] asDouble(double[] dst,
                                Quaternion q)

setValue

public void setValue(double r,
                     double dx,
                     double dy,
                     double dz)

copy

public static Quaternion copy(Quaternion dst,
                              Quaternion src)

IJK

public static double[] IJK(double[] dst,
                           Quaternion q)

return imaginary part as a double array.

Parameters:

dst -

q -

Returns:

equals

public static boolean equals(Quaternion a,
                             Quaternion b,
                             double tol)

Check for numerical equality.

Parameters:

a -

b -

tol -

Returns:

equalsRotation

public static boolean equalsRotation(Quaternion a,
                                     Quaternion b,
                                     double tol)

Check if the rotations represented by the two quaternions are equal

Parameters:

a -

b -

tol -

Returns:

exp

public static Quaternion exp(Quaternion dst,
                             double t,
                             Quaternion src)

add

public static Quaternion add(Quaternion dst,
                             Quaternion a,
                             Quaternion b)

negate

public static Quaternion negate(Quaternion dst,
                                Quaternion src)

conjugate

public static Quaternion conjugate(Quaternion dst,
                                   Quaternion src)

subtract

public static Quaternion subtract(Quaternion dst,
                                  Quaternion a,
                                  Quaternion b)

times

public static Quaternion times(Quaternion dst,
                               double s,
                               Quaternion src)

times

public static Quaternion times(Quaternion a,
                               Quaternion b)

innerProduct

public static double innerProduct(Quaternion a,
                                  Quaternion b)

lengthSquared

public static double lengthSquared(Quaternion q)

length

public static double length(Quaternion q)

invert

public static Quaternion invert(Quaternion dst,
                                Quaternion src)

star

public static Quaternion star(Quaternion dst,
                              Quaternion src)

The conjugate of the inverse, or do I mean the inverse of the conjugate???

Parameters:

dst -

src -

Returns:

normalize

public static Quaternion normalize(Quaternion dst,
                                   Quaternion src)

makeRotationQuaternionAngle

public static Quaternion makeRotationQuaternionAngle(Quaternion q,
                                                     double angle,
                                                     double[] axis)

makeRotationQuaternionCos

public static Quaternion makeRotationQuaternionCos(Quaternion q,
                                                   double cos,
                                                   double[] axis)

rotationMatrixToQuaternion

public static Quaternion rotationMatrixToQuaternion(Quaternion q,
                                                    double[] mat)

Convert the 3x3 rotation matrix mat into a quaternion.

Parameters:

q -

mat -

Returns:

quaternionToRotationMatrixOld

public static double[] quaternionToRotationMatrixOld(double[] rot,
                                                     Quaternion qt)

Convert the quaternion qt into a 3x3 rotation matrix.

Parameters:

rot -

qt -

Returns:

quaternionToRotationMatrix

public static double[] quaternionToRotationMatrix(double[] rot,
                                                  Quaternion qt)

linearInterpolation

public static Quaternion linearInterpolation(Quaternion dst,
                                             Quaternion rot1,
                                             Quaternion rot2,
                                             double s)

Parameters:

object -

rot1 -

rot2 -

s -

Returns:

asDouble

public double[] asDouble()

asDouble

public double[] asDouble(double[] val)

asDouble

public double[] asDouble(double[] val,
                         int[] channels)