Class Quaternion

java.lang.Object

edu.nps.moves.legacy.math.Quaternion

public class Quaternion
extends Object

EXECUTIVE SUMMARY Module Name: Quaternion.java Description: Definition of the Quaternion class

Author:

Kent A. Watsen, http://www.mbay.net/~watsen

Constructor Summary

Constructors

Constructor	Description
Quaternion()
Quaternion(float[] axis, float angle)
Quaternion(float[] vec1, float[] vec2)
Quaternion(Matrix3f mat)
Quaternion(Matrix4f mat)
Quaternion(Quaternion quat)
Quaternion(Vec3f axis, float angle)
Quaternion(Vec3f vec1, Vec3f vec2)

Method Summary

Modifier and Type	Method	Description
void	add(Quaternion quat)
void	add(Quaternion quat1, Quaternion quat2)
void	conjugate()
void	conjugate(Quaternion quat)
void	getAxisAngle(float[] axis_angle)
void	getAxisAngle(float[] axis, float[] angle)
void	getAxisAngle(float[] i, float[] j, float[] k, float[] angle)
void	getAxisAngle(Vec3f axis, float[] angle)
void	getAxisAngle(Vec4f axis_angle)
void	getEulers(float[] hpr)
void	getEulers(float[] h, float[] p, float[] r)
void	getMat3(float[][] mat)
void	getMat3(Matrix3f mat)
void	getMat4(float[][] mat)
void	getMat4(Matrix4f mat)
void	getQuat(float[] quat)
void	getQuat(float[] i, float[] j, float[] k, float[] w)
void	getQuat(Quaternion quat)
float	getQuatValue(int index)
void	getVec(float[] vec)
void	getVec(float[] i, float[] j, float[] k)
void	getVec(Vec3f vec)
void	invert()
void	invert(Quaternion quat)
float	length()
float	length_sqr()
void	makeFromVecs(float[] vec1, float[] vec2)
void	makeFromVecs(float i1, float j1, float k1, float i2, float j2, float k2)
void	makeFromVecs(Vec3f vec1, Vec3f vec2)
void	makeIdent()
void	mult(Quaternion quat1, Quaternion quat2)
void	normalize()
void	normalize(Quaternion quat)
void	postMult(Quaternion quat2)
void	preMult(Quaternion quat1)
void	print()
void	setAxisAngle(float[] axis_angle)
void	setAxisAngle(float[] axis, float angle)
void	setAxisAngle(float i, float j, float k, float angle)
void	setAxisAngle(Vec3f axis, float angle)
void	setAxisAngle(Vec4f axis_angle)
void	setEulers(float[] hpr)
void	setEulers(float h, float p, float r)
void	setMat3(float[][] mat)
void	setMat3(Matrix3f mat)
void	setMat4(float[][] mat)
void	setMat4(Matrix4f mat)
void	setQuat(float[] quat)
void	setQuat(float i, float j, float k, float w)
void	setQuat(Quaternion quat)
void	setQuatValue(int index, float value)
void	setVec(float[] vec)
void	setVec(float i, float j, float k)
void	setVec(Vec3f vec)
void	slerp(Quaternion quat1, Quaternion quat2, float alpha, int spin)
void	sub(Quaternion quat)
void	sub(Quaternion quat1, Quaternion quat2)
void	xform(float[] v)
void	xform(Vec3f vec)

Methods inherited from class java.lang.Object

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

Constructor Details

Quaternion

public Quaternion()

Quaternion

public Quaternion(float[] axis,
 float angle)

Quaternion

public Quaternion(Vec3f axis,
 float angle)

Quaternion

public Quaternion(Matrix3f mat)

Quaternion

public Quaternion(Matrix4f mat)

Quaternion

public Quaternion(Quaternion quat)

Quaternion

public Quaternion(float[] vec1,
 float[] vec2)

Quaternion

public Quaternion(Vec3f vec1,
 Vec3f vec2)

Method Details

print

public void print()

setVec

public void setVec(float i,
 float j,
 float k)

getVec

public void getVec(float[] i,
 float[] j,
 float[] k)

setVec

public void setVec(float[] vec)

getVec

public void getVec(float[] vec)

setVec

public void setVec(Vec3f vec)

getVec

public void getVec(Vec3f vec)

setAxisAngle

public void setAxisAngle(float[] axis_angle)

getAxisAngle

public void getAxisAngle(float[] axis_angle)

setAxisAngle

public void setAxisAngle(Vec4f axis_angle)

getAxisAngle

public void getAxisAngle(Vec4f axis_angle)

setAxisAngle

public void setAxisAngle(float[] axis,
 float angle)

getAxisAngle

public void getAxisAngle(float[] axis,
 float[] angle)

setAxisAngle

public void setAxisAngle(Vec3f axis,
 float angle)

getAxisAngle

public void getAxisAngle(Vec3f axis,
 float[] angle)

setAxisAngle

public void setAxisAngle(float i,
 float j,
 float k,
 float angle)

getAxisAngle

public void getAxisAngle(float[] i,
 float[] j,
 float[] k,
 float[] angle)

setEulers

public void setEulers(float[] hpr)

getEulers

public void getEulers(float[] hpr)

setEulers

public void setEulers(float h,
 float p,
 float r)

getEulers

public void getEulers(float[] h,
 float[] p,
 float[] r)

setMat3

public void setMat3(float[][] mat)

getMat3

public void getMat3(float[][] mat)

setMat3

public void setMat3(Matrix3f mat)

getMat3

public void getMat3(Matrix3f mat)

setMat4

public void setMat4(float[][] mat)

getMat4

public void getMat4(float[][] mat)

setMat4

public void setMat4(Matrix4f mat)

getMat4

public void getMat4(Matrix4f mat)

setQuat

public void setQuat(float[] quat)

getQuat

public void getQuat(float[] quat)

setQuat

public void setQuat(Quaternion quat)

getQuat

public void getQuat(Quaternion quat)

setQuat

public void setQuat(float i,
 float j,
 float k,
 float w)

getQuat

public void getQuat(float[] i,
 float[] j,
 float[] k,
 float[] w)

setQuatValue

public void setQuatValue(int index,
 float value)

getQuatValue

public float getQuatValue(int index)

makeIdent

public void makeIdent()

length

public float length()

length_sqr

public float length_sqr()

normalize

public void normalize()

normalize

public void normalize(Quaternion quat)

conjugate

public void conjugate()

conjugate

public void conjugate(Quaternion quat)

invert

public void invert()

invert

public void invert(Quaternion quat)

add

public void add(Quaternion quat)

add

public void add(Quaternion quat1,
 Quaternion quat2)

sub

public void sub(Quaternion quat)

sub

public void sub(Quaternion quat1,
 Quaternion quat2)

preMult

public void preMult(Quaternion quat1)

postMult

public void postMult(Quaternion quat2)

mult

public void mult(Quaternion quat1,
 Quaternion quat2)

makeFromVecs

public void makeFromVecs(float i1,
 float j1,
 float k1,
 float i2,
 float j2,
 float k2)

makeFromVecs

public void makeFromVecs(float[] vec1,
 float[] vec2)

makeFromVecs

public void makeFromVecs(Vec3f vec1,
 Vec3f vec2)

xform

public void xform(Vec3f vec)

xform

public void xform(float[] v)

slerp

public void slerp(Quaternion quat1,
 Quaternion quat2,
 float alpha,
 int spin)