org.lwjgl.util.vector
Class Quaternion

java.lang.Object
  org.lwjgl.util.vector.Vector
      org.lwjgl.util.vector.Quaternion

All Implemented Interfaces:

java.io.Serializable, ReadableVector, ReadableVector2f, ReadableVector3f, ReadableVector4f

public class Quaternion
extends Vector
implements ReadableVector4f

See Also:

Serialized Form

Field Summary

float	w
float	x
float	y
float	z

Constructor Summary

Quaternion()
C'tor.

Quaternion(float x, float y, float z, float w)
C'tor

Quaternion(ReadableVector4f src)
C'tor

Method Summary

static float	dot(Quaternion left, Quaternion right) The dot product of two quaternions
float	getW()
float	getX()
float	getY()
float	getZ()
float	lengthSquared()
Vector	load(java.nio.FloatBuffer buf) Load this vector from a FloatBuffer
static Quaternion	mul(Quaternion left, Quaternion right, Quaternion dest) Sets the value of this quaternion to the quaternion product of quaternions left and right (this = left * right).
static Quaternion	mulInverse(Quaternion left, Quaternion right, Quaternion dest) Multiplies quaternion left by the inverse of quaternion right and places the value into this quaternion.
Vector	negate() Calculate the conjugate of this quaternion
Quaternion	negate(Quaternion dest) Calculate the conjugate of this quaternion and put it into the given one
static Quaternion	negate(Quaternion src, Quaternion dest) Calculate the conjugate of this quaternion and put it into the given one
Quaternion	normalise(Quaternion dest) Normalise this quaternion and place the result in another quaternion.
static Quaternion	normalise(Quaternion src, Quaternion dest) Normalise the source quaternion and place the result in another quaternion.
Vector	scale(float scale) Scale this vector
static Quaternion	scale(float scale, Quaternion src, Quaternion dest) Scale the source quaternion by scale and put the result in the destination
void	set(float x, float y)
void	set(float x, float y, float z)
void	set(float x, float y, float z, float w)
Quaternion	set(ReadableVector4f src) Load from another Vector4f
void	setFromAxisAngle(Vector4f a1) Sets the value of this quaternion to the equivalent rotation of the Axis-Angle argument.
Quaternion	setFromMatrix(Matrix3f m) Sets the value of this quaternion using the rotational component of the passed matrix.
static Quaternion	setFromMatrix(Matrix3f m, Quaternion q) Sets the value of the source quaternion using the rotational component of the passed matrix.
Quaternion	setFromMatrix(Matrix4f m) Sets the value of this quaternion using the rotational component of the passed matrix.
static Quaternion	setFromMatrix(Matrix4f m, Quaternion q) Sets the value of the source quaternion using the rotational component of the passed matrix.
Quaternion	setIdentity() Set this quaternion to the multiplication identity.
static Quaternion	setIdentity(Quaternion q) Set the given quaternion to the multiplication identity.
void	setW(float w) Set W
void	setX(float x) Set X
void	setY(float y) Set Y
void	setZ(float z) Set Z
Vector	store(java.nio.FloatBuffer buf) Store this vector in a FloatBuffer
java.lang.String	toString()

Methods inherited from class org.lwjgl.util.vector.Vector

length, normalise

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.lwjgl.util.vector.ReadableVector

length

Field Detail

x

public float x

y

public float y

z

public float z

w

public float w

Constructor Detail

Quaternion

public Quaternion()

C'tor. The quaternion will be initialized to the identity.

Quaternion

public Quaternion(ReadableVector4f src)

C'tor

Parameters:

src -

Quaternion

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

C'tor

Method Detail

set

public void set(float x,
                float y)

set

public void set(float x,
                float y,
                float z)

set

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

set

public Quaternion set(ReadableVector4f src)

Load from another Vector4f

Parameters:

src - The source vector

Returns:

this

setIdentity

public Quaternion setIdentity()

Set this quaternion to the multiplication identity.

Returns:

this

setIdentity

public static Quaternion setIdentity(Quaternion q)

Set the given quaternion to the multiplication identity.

Parameters:

q - The quaternion

Returns:

q

lengthSquared

public float lengthSquared()

Specified by:

lengthSquared in interface ReadableVector

Specified by:

lengthSquared in class Vector

Returns:

the length squared of the quaternion

normalise

public static Quaternion normalise(Quaternion src,
                                   Quaternion dest)

Normalise the source quaternion and place the result in another quaternion.

Parameters:

src - The source quaternion

dest - The destination quaternion, or null if a new quaternion is to be created

Returns:

The normalised quaternion

normalise

public Quaternion normalise(Quaternion dest)

Normalise this quaternion and place the result in another quaternion.

Parameters:

dest - The destination quaternion, or null if a new quaternion is to be created

Returns:

the normalised quaternion

dot

public static float dot(Quaternion left,
                        Quaternion right)

The dot product of two quaternions

Parameters:

left - The LHS quat

right - The RHS quat

Returns:

left dot right

negate

public Quaternion negate(Quaternion dest)

Calculate the conjugate of this quaternion and put it into the given one

Parameters:

dest - The quaternion which should be set to the conjugate of this quaternion

negate

public static Quaternion negate(Quaternion src,
                                Quaternion dest)

Calculate the conjugate of this quaternion and put it into the given one

Parameters:

src - The source quaternion

dest - The quaternion which should be set to the conjugate of this quaternion

negate

public Vector negate()

Calculate the conjugate of this quaternion

Specified by:

negate in class Vector

Returns:

this

load

public Vector load(java.nio.FloatBuffer buf)

Description copied from class: Vector

Load this vector from a FloatBuffer

Specified by:

load in class Vector

Parameters:

buf - The buffer to load it from, at the current position

Returns:

this

scale

public Vector scale(float scale)

Description copied from class: Vector

Scale this vector

Specified by:

scale in class Vector

Parameters:

scale - The scale factor

Returns:

this

scale

public static Quaternion scale(float scale,
                               Quaternion src,
                               Quaternion dest)

Scale the source quaternion by scale and put the result in the destination

Parameters:

scale - The amount to scale by

src - The source quaternion

dest - The destination quaternion, or null if a new quaternion is to be created

Returns:

The scaled quaternion

store

public Vector store(java.nio.FloatBuffer buf)

Description copied from class: Vector

Store this vector in a FloatBuffer

Specified by:

store in interface ReadableVector

Specified by:

store in class Vector

Parameters:

buf - The buffer to store it in, at the current position

Returns:

this

getX

public final float getX()

Specified by:

getX in interface ReadableVector2f

Returns:

x

getY

public final float getY()

Specified by:

getY in interface ReadableVector2f

Returns:

y

setX

public final void setX(float x)

Set X

Parameters:

x -

setY

public final void setY(float y)

Set Y

Parameters:

y -

setZ

public void setZ(float z)

Set Z

Parameters:

z -

getZ

public float getZ()

Specified by:

getZ in interface ReadableVector3f

Returns:

z

setW

public void setW(float w)

Set W

Parameters:

w -

getW

public float getW()

Specified by:

getW in interface ReadableVector4f

Returns:

w

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

mul

public static Quaternion mul(Quaternion left,
                             Quaternion right,
                             Quaternion dest)

Sets the value of this quaternion to the quaternion product of quaternions left and right (this = left * right). Note that this is safe for aliasing (e.g. this can be left or right).

Parameters:

left - the first quaternion

right - the second quaternion

mulInverse

public static Quaternion mulInverse(Quaternion left,
                                    Quaternion right,
                                    Quaternion dest)

Multiplies quaternion left by the inverse of quaternion right and places the value into this quaternion. The value of both argument quaternions is preservered (this = left * right^-1).

Parameters:

left - the left quaternion

right - the right quaternion

setFromAxisAngle

public final void setFromAxisAngle(Vector4f a1)

Sets the value of this quaternion to the equivalent rotation of the Axis-Angle argument.

Parameters:

a1 - the axis-angle: (x,y,z) is the axis and w is the angle

setFromMatrix

public final Quaternion setFromMatrix(Matrix4f m)

Sets the value of this quaternion using the rotational component of the passed matrix.

Parameters:

m - The matrix

Returns:

this

setFromMatrix

public static Quaternion setFromMatrix(Matrix4f m,
                                       Quaternion q)

Sets the value of the source quaternion using the rotational component of the passed matrix.

Parameters:

m - The source matrix

q - The destination quaternion, or null if a new quaternion is to be created

Returns:

q

setFromMatrix

public final Quaternion setFromMatrix(Matrix3f m)

Sets the value of this quaternion using the rotational component of the passed matrix.

Parameters:

m - The source matrix

setFromMatrix

public static Quaternion setFromMatrix(Matrix3f m,
                                       Quaternion q)

Sets the value of the source quaternion using the rotational component of the passed matrix.

Parameters:

m - The source matrix

q - The destination quaternion, or null if a new quaternion is to be created

Returns:

q