Maven module :un.api : api-math :
Class : un.impl.math.Quaternion
Extends/Implements : un.impl.math.DefaultTuple
Subclasses : -

Quaternion object.
Definition : http://en.wikipedia.org/wiki/Quaternion
author Johann Sorel

Variables : -
Functions : Quaternion, Quaternion, Quaternion, Quaternion, Quaternion, normalize, localNormalize, norm, conjugate, add, multiply, localMultiply, inverse, copy, rotate, lerp, slerp, toMatrix3, toMatrix4, toEuler, toAxisAngle, fromMatrix, fromAngle, fromEuler, createFromEuler, createFromAxis

Default quaternion with values [0,0,0,1] .

public void Quaternion ()

Quaternion from 4 values.
param  x quaternion first value
param  y quaternion second value
param  z quaternion third value
param  w quaternion fourth value

public void Quaternion (double x, double y, double z, double w)

Expected an array of size 4.
Warning : no copy of the array is made.
param values no copy of the array is made.

public void Quaternion (double[] values)

Expect an array of size 4.
Warning : a copy of the array is made.
param values a copy of the array is made.

public void Quaternion (float[] values)

Expect an tuple of size 4.
param v quaternion values to copy from

public void Quaternion (Tuple v)

Store the normalized values of this queternion in given buffer.
param buffer, can be null
return buffer quaternion

public Quaternion normalize (Quaternion buffer)

Normalize this quaternion.
return this quaternion

public Quaternion localNormalize ()

Calculate quaternion norm.
return norm

public double norm ()

Calculate quaternion conjugate.
return Quaternion

public Quaternion conjugate ()

Add two quaternions.
param other
return Quaternion

public Quaternion add (Quaternion other)

Multiply two quaternions.
param other
return Quaternion

public Quaternion multiply (Quaternion other)

Multiply two quaternions. store result in this quaternion.
param other
return Quaternion

public Quaternion localMultiply (Quaternion other)

Calculate inverse quaternion.
return Quaternion, never null

public Quaternion inverse ()

Create a copy of this quaternion.
return Quaternion, never null

public Quaternion copy ()

Rotate the given vector, store the result in buffer.
param  v vector to rotate
param  buffer can be null
return  rotated vector

public Vector rotate (Vector v, Vector buffer)

Create an linear interpolated quaternion.
A ratio of 0 while return the same values as this quaternion
A ratio of 1 while return the same values as other quaternion
param  other not null
param  ratio range [0...1]
param  buffer can be null
return  interpolated quaternion

public Quaternion lerp (Quaternion other, double ratio, Quaternion buffer)

Create a spherical interpolated quaternion.
A ratio of 0 while return the same values as this quaternion
A ratio of 1 while return the same values as other quaternion
param  other not null
param  ratio range [0...1]
param  buffer can be null
return  interpolated quaternion

public Quaternion slerp (Quaternion other, double ratio, Quaternion buffer)

Transform quaternion in a rotation matrix 3x3.
Source : http://jeux.developpez.com/faq/math/?page=quaternions#Q54
return Matrix3

public Matrix3 toMatrix3 ()

Transform quaternion in a rotation matrix 4x4.
return Matrix4

public Matrix4 toMatrix4 ()

Convert to euler angles.
return euler angle in radians (heading/yaw , elevation/pitch , bank/roll)

public Vector toEuler ()

Convert quaternion to axis angle.
param axisBuffer
return angle in radians

public double toAxisAngle (Tuple axisBuffer)

Extract rotation from matrix.
http://jeux.developpez.com/faq/math/?page=quaternions#Q55
param matrix
return Quaternion

public Quaternion fromMatrix (Matrix matrix)

Set quaternion values from rotation axis and angle.
param  axis rotation axis, not null
param  angle rotation angle, in radians
return  this quaternion

public Quaternion fromAngle (Tuple axis, double angle)

Set quaternion values from euler angles.
param euler angles in radians (heading/yaw , elevation/pitch , bank/roll)
return this quaternion

public Quaternion fromEuler (Vector euler)

Create a new quaternion from given euler angles.
param euler angles in radians (heading/yaw , elevation/pitch , bank/roll)
return Quaternion, never null

public Quaternion createFromEuler (Vector euler)

Create a new quaternion from given axis and angle.
param  axis
param  angle
return  Quaternion, never null

public Quaternion createFromAxis (Vector axis, double angle)