Interface Quaternionfc

 All Known Implementing Classes:
Quaternionf
public interface Quaternionfc
Interface to a readonly view of a quaternion of singleprecision floats. Author:
 Kai Burjack


Method Summary
All Methods Instance Methods Abstract Methods Modifier and Type Method Description Quaternionf
add(float x, float y, float z, float w, Quaternionf dest)
Add the quaternion(x, y, z, w)
to this quaternion and store the result indest
.Quaternionf
add(Quaternionfc q2, Quaternionf dest)
Addq2
to this quaternion and store the result indest
.float
angle()
Return the angle in radians represented by this quaternion rotation.Quaternionf
conjugate(Quaternionf dest)
Conjugate this quaternion and store the result indest
.Quaternionf
difference(Quaternionf other, Quaternionf dest)
Compute the difference betweenthis
and theother
quaternion and store the result indest
.Quaternionf
div(Quaternionfc b, Quaternionf dest)
Dividethis
quaternion byb
and store the result indest
.AxisAngle4f
get(AxisAngle4f dest)
Set the givenAxisAngle4f
to represent the rotation ofthis
quaternion.Matrix3d
get(Matrix3d dest)
Set the given destination matrix to the rotation represented bythis
.Matrix3f
get(Matrix3f dest)
Set the given destination matrix to the rotation represented bythis
.Matrix4d
get(Matrix4d dest)
Set the given destination matrix to the rotation represented bythis
.Matrix4f
get(Matrix4f dest)
Set the given destination matrix to the rotation represented bythis
.Matrix4x3d
get(Matrix4x3d dest)
Set the given destination matrix to the rotation represented bythis
.Matrix4x3f
get(Matrix4x3f dest)
Set the given destination matrix to the rotation represented bythis
.Quaterniond
get(Quaterniond dest)
Set the givenQuaterniond
to the values ofthis
.Quaternionf
get(Quaternionf dest)
Set the givenQuaternionf
to the values ofthis
.java.nio.ByteBuffer
getAsMatrix3f(java.nio.ByteBuffer dest)
Store the 3x3 float matrix representation ofthis
quaternion in columnmajor order into the givenByteBuffer
.java.nio.FloatBuffer
getAsMatrix3f(java.nio.FloatBuffer dest)
Store the 3x3 float matrix representation ofthis
quaternion in columnmajor order into the givenFloatBuffer
.java.nio.ByteBuffer
getAsMatrix4f(java.nio.ByteBuffer dest)
Store the 4x4 float matrix representation ofthis
quaternion in columnmajor order into the givenByteBuffer
.java.nio.FloatBuffer
getAsMatrix4f(java.nio.FloatBuffer dest)
Store the 4x4 float matrix representation ofthis
quaternion in columnmajor order into the givenFloatBuffer
.java.nio.ByteBuffer
getAsMatrix4x3f(java.nio.ByteBuffer dest)
Store the 4x3 float matrix representation ofthis
quaternion in columnmajor order into the givenByteBuffer
.java.nio.FloatBuffer
getAsMatrix4x3f(java.nio.FloatBuffer dest)
Store the 4x3 float matrix representation ofthis
quaternion in columnmajor order into the givenFloatBuffer
.Vector3f
getEulerAnglesXYZ(Vector3f eulerAngles)
Get the euler angles in radians in rotation sequenceXYZ
of this quaternion and store them in the provided parametereulerAngles
.Quaternionf
integrate(float dt, float vx, float vy, float vz, Quaternionf dest)
Integrate the rotation given by the angular velocity(vx, vy, vz)
around the x, y and z axis, respectively, with respect to the given elapsed time deltadt
and add the differentiate rotation to the rotation represented by this quaternion and store the result intodest
.Quaternionf
invert(Quaternionf dest)
Invert this quaternion and store thenormalized
result indest
.float
lengthSquared()
Return the square of the length of this quaternion.Quaternionf
lookAlong(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Quaternionf dest)
Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result indest
.Quaternionf
lookAlong(Vector3fc dir, Vector3fc up, Quaternionf dest)
Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result indest
.Quaternionf
mul(float qx, float qy, float qz, float qw, Quaternionf dest)
Multiply this quaternion by the quaternion represented via(qx, qy, qz, qw)
and store the result indest
.Quaternionf
mul(Quaternionfc q, Quaternionf dest)
Multiply this quaternion byq
and store the result indest
.Quaternionf
nlerp(Quaternionfc q, float factor, Quaternionf dest)
Compute a linear (nonspherical) interpolation ofthis
and the given quaternionq
and store the result indest
.Quaternionf
nlerpIterative(Quaternionfc q, float alpha, float dotThreshold, Quaternionf dest)
Compute linear (nonspherical) interpolations ofthis
and the given quaternionq
iteratively and store the result indest
.Quaternionf
normalize(Quaternionf dest)
Normalize this quaternion and store the result indest
.Vector3f
normalizedPositiveX(Vector3f dir)
Obtain the direction of+X
before the rotation transformation represented bythis
normalized quaternion is applied.Vector3f
normalizedPositiveY(Vector3f dir)
Obtain the direction of+Y
before the rotation transformation represented bythis
normalized quaternion is applied.Vector3f
normalizedPositiveZ(Vector3f dir)
Obtain the direction of+Z
before the rotation transformation represented bythis
normalized quaternion is applied.Vector3f
positiveX(Vector3f dir)
Obtain the direction of+X
before the rotation transformation represented bythis
quaternion is applied.Vector3f
positiveY(Vector3f dir)
Obtain the direction of+Y
before the rotation transformation represented bythis
quaternion is applied.Vector3f
positiveZ(Vector3f dir)
Obtain the direction of+Z
before the rotation transformation represented bythis
quaternion is applied.Quaternionf
premul(float qx, float qy, float qz, float qw, Quaternionf dest)
Premultiply this quaternion by the quaternion represented via(qx, qy, qz, qw)
and store the result indest
.Quaternionf
premul(Quaternionfc q, Quaternionf dest)
Premultiply this quaternion byq
and store the result indest
.Quaternionf
rotateAxis(float angle, float axisX, float axisY, float axisZ, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the specified axis and store the result indest
.Quaternionf
rotateAxis(float angle, Vector3fc axis, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the specified axis and store the result indest
.Quaternionf
rotateLocalX(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the local x axis and store the result indest
.Quaternionf
rotateLocalY(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the local y axis and store the result indest
.Quaternionf
rotateLocalZ(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the local z axis and store the result indest
.Quaternionf
rotateTo(float fromDirX, float fromDirY, float fromDirZ, float toDirX, float toDirY, float toDirZ, Quaternionf dest)
Apply a rotation tothis
that rotates thefromDir
vector to point alongtoDir
and store the result indest
.Quaternionf
rotateTo(Vector3fc fromDir, Vector3fc toDir, Quaternionf dest)
Apply a rotation tothis
that rotates thefromDir
vector to point alongtoDir
and store the result indest
.Quaternionf
rotateX(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the x axis and store the result indest
.Quaternionf
rotateXYZ(float angleX, float angleY, float angleZ, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the cartesian base unit axes, called the euler angles using rotation sequenceXYZ
and store the result indest
.Quaternionf
rotateY(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the y axis and store the result indest
.Quaternionf
rotateYXZ(float angleY, float angleX, float angleZ, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the cartesian base unit axes, called the euler angles, using the rotation sequenceYXZ
and store the result indest
.Quaternionf
rotateZ(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the z axis and store the result indest
.Quaternionf
rotateZYX(float angleZ, float angleY, float angleX, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the cartesian base unit axes, called the euler angles, using the rotation sequenceZYX
and store the result indest
.Quaternionf
scale(float factor, Quaternionf dest)
Apply scaling to this quaternion, which results in any vector transformed by the quaternion to change its length by the givenfactor
, and store the result indest
.Quaternionf
slerp(Quaternionfc target, float alpha, Quaternionf dest)
Vector3f
transform(float x, float y, float z, Vector3f dest)
Transform the given vector(x, y, z)
by this quaternion and store the result indest
.Vector4f
transform(float x, float y, float z, Vector4f dest)
Transform the given vector(x, y, z)
by this quaternion and store the result indest
.Vector3f
transform(Vector3f vec)
Transform the given vector by this quaternion.Vector3f
transform(Vector3fc vec, Vector3f dest)
Transform the given vector by this quaternion and store the result indest
.Vector4f
transform(Vector4f vec)
Transform the given vector by this quaternion.Vector4f
transform(Vector4fc vec, Vector4f dest)
Transform the given vector by this quaternion and store the result indest
.Vector3f
transformPositiveX(Vector3f dest)
Transform the vector(1, 0, 0)
by this quaternion.Vector4f
transformPositiveX(Vector4f dest)
Transform the vector(1, 0, 0)
by this quaternion.Vector3f
transformPositiveY(Vector3f dest)
Transform the vector(0, 1, 0)
by this quaternion.Vector4f
transformPositiveY(Vector4f dest)
Transform the vector(0, 1, 0)
by this quaternion.Vector3f
transformPositiveZ(Vector3f dest)
Transform the vector(0, 0, 1)
by this quaternion.Vector4f
transformPositiveZ(Vector4f dest)
Transform the vector(0, 0, 1)
by this quaternion.Vector3f
transformUnitPositiveX(Vector3f dest)
Transform the vector(1, 0, 0)
by this unit quaternion.Vector4f
transformUnitPositiveX(Vector4f dest)
Transform the vector(1, 0, 0)
by this unit quaternion.Vector3f
transformUnitPositiveY(Vector3f dest)
Transform the vector(0, 1, 0)
by this unit quaternion.Vector4f
transformUnitPositiveY(Vector4f dest)
Transform the vector(0, 1, 0)
by this unit quaternion.Vector3f
transformUnitPositiveZ(Vector3f dest)
Transform the vector(0, 0, 1)
by this unit quaternion.Vector4f
transformUnitPositiveZ(Vector4f dest)
Transform the vector(0, 0, 1)
by this unit quaternion.float
w()
float
x()
float
y()
float
z()



Method Detail

x
float x()
 Returns:
 the first component of the vector part

y
float y()
 Returns:
 the second component of the vector part

z
float z()
 Returns:
 the third component of the vector part

w
float w()
 Returns:
 the real/scalar part of the quaternion

normalize
Quaternionf normalize(Quaternionf dest)
Normalize this quaternion and store the result indest
. Parameters:
dest
 will hold the result Returns:
 dest

add
Quaternionf add(float x, float y, float z, float w, Quaternionf dest)
Add the quaternion(x, y, z, w)
to this quaternion and store the result indest
. Parameters:
x
 the x component of the vector party
 the y component of the vector partz
 the z component of the vector partw
 the real/scalar componentdest
 will hold the result Returns:
 dest

add
Quaternionf add(Quaternionfc q2, Quaternionf dest)
Addq2
to this quaternion and store the result indest
. Parameters:
q2
 the quaternion to add to thisdest
 will hold the result Returns:
 dest

angle
float angle()
Return the angle in radians represented by this quaternion rotation. Returns:
 the angle in radians

get
Matrix3f get(Matrix3f dest)
Set the given destination matrix to the rotation represented bythis
. Parameters:
dest
 the matrix to write the rotation into Returns:
 the passed in destination
 See Also:
Matrix3f.set(Quaternionfc)

get
Matrix3d get(Matrix3d dest)
Set the given destination matrix to the rotation represented bythis
. Parameters:
dest
 the matrix to write the rotation into Returns:
 the passed in destination
 See Also:
Matrix3d.set(Quaternionfc)

get
Matrix4f get(Matrix4f dest)
Set the given destination matrix to the rotation represented bythis
. Parameters:
dest
 the matrix to write the rotation into Returns:
 the passed in destination
 See Also:
Matrix4f.set(Quaternionfc)

get
Matrix4d get(Matrix4d dest)
Set the given destination matrix to the rotation represented bythis
. Parameters:
dest
 the matrix to write the rotation into Returns:
 the passed in destination
 See Also:
Matrix4d.set(Quaternionfc)

get
Matrix4x3f get(Matrix4x3f dest)
Set the given destination matrix to the rotation represented bythis
. Parameters:
dest
 the matrix to write the rotation into Returns:
 the passed in destination
 See Also:
Matrix4x3f.set(Quaternionfc)

get
Matrix4x3d get(Matrix4x3d dest)
Set the given destination matrix to the rotation represented bythis
. Parameters:
dest
 the matrix to write the rotation into Returns:
 the passed in destination
 See Also:
Matrix4x3d.set(Quaternionfc)

get
AxisAngle4f get(AxisAngle4f dest)
Set the givenAxisAngle4f
to represent the rotation ofthis
quaternion. Parameters:
dest
 theAxisAngle4f
to set Returns:
 the passed in destination

get
Quaterniond get(Quaterniond dest)
Set the givenQuaterniond
to the values ofthis
. Parameters:
dest
 theQuaterniond
to set Returns:
 the passed in destination
 See Also:
Quaterniond.set(Quaternionfc)

get
Quaternionf get(Quaternionf dest)
Set the givenQuaternionf
to the values ofthis
. Parameters:
dest
 theQuaternionf
to set Returns:
 the passed in destination

getAsMatrix3f
java.nio.ByteBuffer getAsMatrix3f(java.nio.ByteBuffer dest)
Store the 3x3 float matrix representation ofthis
quaternion in columnmajor order into the givenByteBuffer
.This is equivalent to calling:
this.get(new Matrix3f()).get(dest)
 Parameters:
dest
 the destination buffer Returns:
 dest

getAsMatrix3f
java.nio.FloatBuffer getAsMatrix3f(java.nio.FloatBuffer dest)
Store the 3x3 float matrix representation ofthis
quaternion in columnmajor order into the givenFloatBuffer
.This is equivalent to calling:
this.get(new Matrix3f()).get(dest)
 Parameters:
dest
 the destination buffer Returns:
 dest

getAsMatrix4f
java.nio.ByteBuffer getAsMatrix4f(java.nio.ByteBuffer dest)
Store the 4x4 float matrix representation ofthis
quaternion in columnmajor order into the givenByteBuffer
.This is equivalent to calling:
this.get(new Matrix4f()).get(dest)
 Parameters:
dest
 the destination buffer Returns:
 dest

getAsMatrix4f
java.nio.FloatBuffer getAsMatrix4f(java.nio.FloatBuffer dest)
Store the 4x4 float matrix representation ofthis
quaternion in columnmajor order into the givenFloatBuffer
.This is equivalent to calling:
this.get(new Matrix4f()).get(dest)
 Parameters:
dest
 the destination buffer Returns:
 dest

getAsMatrix4x3f
java.nio.ByteBuffer getAsMatrix4x3f(java.nio.ByteBuffer dest)
Store the 4x3 float matrix representation ofthis
quaternion in columnmajor order into the givenByteBuffer
.This is equivalent to calling:
this.get(new Matrix4x3f()).get(dest)
 Parameters:
dest
 the destination buffer Returns:
 dest

getAsMatrix4x3f
java.nio.FloatBuffer getAsMatrix4x3f(java.nio.FloatBuffer dest)
Store the 4x3 float matrix representation ofthis
quaternion in columnmajor order into the givenFloatBuffer
.This is equivalent to calling:
this.get(new Matrix4x3f()).get(dest)
 Parameters:
dest
 the destination buffer Returns:
 dest

mul
Quaternionf mul(Quaternionfc q, Quaternionf dest)
Multiply this quaternion byq
and store the result indest
.If
T
isthis
andQ
is the given quaternion, then the resulting quaternionR
is:R = T * Q
So, this method uses postmultiplication like the matrix classes, resulting in a vector to be transformed by
Q
first, and then byT
. Parameters:
q
 the quaternion to multiplythis
bydest
 will hold the result Returns:
 dest

mul
Quaternionf mul(float qx, float qy, float qz, float qw, Quaternionf dest)
Multiply this quaternion by the quaternion represented via(qx, qy, qz, qw)
and store the result indest
.If
T
isthis
andQ
is the given quaternion, then the resulting quaternionR
is:R = T * Q
So, this method uses postmultiplication like the matrix classes, resulting in a vector to be transformed by
Q
first, and then byT
. Parameters:
qx
 the x component of the quaternion to multiplythis
byqy
 the y component of the quaternion to multiplythis
byqz
 the z component of the quaternion to multiplythis
byqw
 the w component of the quaternion to multiplythis
bydest
 will hold the result Returns:
 dest

premul
Quaternionf premul(Quaternionfc q, Quaternionf dest)
Premultiply this quaternion byq
and store the result indest
.If
T
isthis
andQ
is the given quaternion, then the resulting quaternionR
is:R = Q * T
So, this method uses premultiplication, resulting in a vector to be transformed by
T
first, and then byQ
. Parameters:
q
 the quaternion to premultiplythis
bydest
 will hold the result Returns:
 dest

premul
Quaternionf premul(float qx, float qy, float qz, float qw, Quaternionf dest)
Premultiply this quaternion by the quaternion represented via(qx, qy, qz, qw)
and store the result indest
.If
T
isthis
andQ
is the given quaternion, then the resulting quaternionR
is:R = Q * T
So, this method uses premultiplication, resulting in a vector to be transformed by
T
first, and then byQ
. Parameters:
qx
 the x component of the quaternion to multiplythis
byqy
 the y component of the quaternion to multiplythis
byqz
 the z component of the quaternion to multiplythis
byqw
 the w component of the quaternion to multiplythis
bydest
 will hold the result Returns:
 dest

transform
Vector3f transform(Vector3f vec)
Transform the given vector by this quaternion. This will apply the rotation described by this quaternion to the given vector. Parameters:
vec
 the vector to transform Returns:
 vec

transformPositiveX
Vector3f transformPositiveX(Vector3f dest)
Transform the vector(1, 0, 0)
by this quaternion. Parameters:
dest
 will hold the result Returns:
 dest

transformPositiveX
Vector4f transformPositiveX(Vector4f dest)
Transform the vector(1, 0, 0)
by this quaternion.Only the first three components of the given 4D vector are modified.
 Parameters:
dest
 will hold the result Returns:
 dest

transformUnitPositiveX
Vector3f transformUnitPositiveX(Vector3f dest)
Transform the vector(1, 0, 0)
by this unit quaternion.This method is only applicable when
this
is a unit quaternion.Reference: https://de.mathworks.com/
 Parameters:
dest
 will hold the result Returns:
 dest

transformUnitPositiveX
Vector4f transformUnitPositiveX(Vector4f dest)
Transform the vector(1, 0, 0)
by this unit quaternion.Only the first three components of the given 4D vector are modified.
This method is only applicable when
this
is a unit quaternion.Reference: https://de.mathworks.com/
 Parameters:
dest
 will hold the result Returns:
 dest

transformPositiveY
Vector3f transformPositiveY(Vector3f dest)
Transform the vector(0, 1, 0)
by this quaternion. Parameters:
dest
 will hold the result Returns:
 dest

transformPositiveY
Vector4f transformPositiveY(Vector4f dest)
Transform the vector(0, 1, 0)
by this quaternion.Only the first three components of the given 4D vector are modified.
 Parameters:
dest
 will hold the result Returns:
 dest

transformUnitPositiveY
Vector3f transformUnitPositiveY(Vector3f dest)
Transform the vector(0, 1, 0)
by this unit quaternion.This method is only applicable when
this
is a unit quaternion.Reference: https://de.mathworks.com/
 Parameters:
dest
 will hold the result Returns:
 dest

transformUnitPositiveY
Vector4f transformUnitPositiveY(Vector4f dest)
Transform the vector(0, 1, 0)
by this unit quaternion.Only the first three components of the given 4D vector are modified.
This method is only applicable when
this
is a unit quaternion.Reference: https://de.mathworks.com/
 Parameters:
dest
 will hold the result Returns:
 dest

transformPositiveZ
Vector3f transformPositiveZ(Vector3f dest)
Transform the vector(0, 0, 1)
by this quaternion. Parameters:
dest
 will hold the result Returns:
 dest

transformPositiveZ
Vector4f transformPositiveZ(Vector4f dest)
Transform the vector(0, 0, 1)
by this quaternion.Only the first three components of the given 4D vector are modified.
 Parameters:
dest
 will hold the result Returns:
 dest

transformUnitPositiveZ
Vector3f transformUnitPositiveZ(Vector3f dest)
Transform the vector(0, 0, 1)
by this unit quaternion.This method is only applicable when
this
is a unit quaternion.Reference: https://de.mathworks.com/
 Parameters:
dest
 will hold the result Returns:
 dest

transformUnitPositiveZ
Vector4f transformUnitPositiveZ(Vector4f dest)
Transform the vector(0, 0, 1)
by this unit quaternion.Only the first three components of the given 4D vector are modified.
This method is only applicable when
this
is a unit quaternion.Reference: https://de.mathworks.com/
 Parameters:
dest
 will hold the result Returns:
 dest

transform
Vector4f transform(Vector4f vec)
Transform the given vector by this quaternion. This will apply the rotation described by this quaternion to the given vector.Only the first three components of the given 4D vector are being used and modified.
 Parameters:
vec
 the vector to transform Returns:
 vec

transform
Vector3f transform(Vector3fc vec, Vector3f dest)
Transform the given vector by this quaternion and store the result indest
. This will apply the rotation described by this quaternion to the given vector. Parameters:
vec
 the vector to transformdest
 will hold the result Returns:
 dest

transform
Vector3f transform(float x, float y, float z, Vector3f dest)
Transform the given vector(x, y, z)
by this quaternion and store the result indest
. This will apply the rotation described by this quaternion to the given vector. Parameters:
x
 the x coordinate of the vector to transformy
 the y coordinate of the vector to transformz
 the z coordinate of the vector to transformdest
 will hold the result Returns:
 dest

transform
Vector4f transform(Vector4fc vec, Vector4f dest)
Transform the given vector by this quaternion and store the result indest
. This will apply the rotation described by this quaternion to the given vector.Only the first three components of the given 4D vector are being used and set on the destination.
 Parameters:
vec
 the vector to transformdest
 will hold the result Returns:
 dest

transform
Vector4f transform(float x, float y, float z, Vector4f dest)
Transform the given vector(x, y, z)
by this quaternion and store the result indest
. This will apply the rotation described by this quaternion to the given vector. Parameters:
x
 the x coordinate of the vector to transformy
 the y coordinate of the vector to transformz
 the z coordinate of the vector to transformdest
 will hold the result Returns:
 dest

invert
Quaternionf invert(Quaternionf dest)
Invert this quaternion and store thenormalized
result indest
.If this quaternion is already normalized, then
conjugate(Quaternionf)
should be used instead. Parameters:
dest
 will hold the result Returns:
 dest
 See Also:
conjugate(Quaternionf)

div
Quaternionf div(Quaternionfc b, Quaternionf dest)
Dividethis
quaternion byb
and store the result indest
.The division expressed using the inverse is performed in the following way:
dest = this * b^1
, whereb^1
is the inverse ofb
. Parameters:
b
 theQuaternionfc
to divide this bydest
 will hold the result Returns:
 dest

conjugate
Quaternionf conjugate(Quaternionf dest)
Conjugate this quaternion and store the result indest
. Parameters:
dest
 will hold the result Returns:
 dest

rotateXYZ
Quaternionf rotateXYZ(float angleX, float angleY, float angleZ, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the cartesian base unit axes, called the euler angles using rotation sequenceXYZ
and store the result indest
.This method is equivalent to calling:
rotateX(angleX, dest).rotateY(angleY).rotateZ(angleZ)
If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first! Parameters:
angleX
 the angle in radians to rotate about the x axisangleY
 the angle in radians to rotate about the y axisangleZ
 the angle in radians to rotate about the z axisdest
 will hold the result Returns:
 dest

rotateZYX
Quaternionf rotateZYX(float angleZ, float angleY, float angleX, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the cartesian base unit axes, called the euler angles, using the rotation sequenceZYX
and store the result indest
.This method is equivalent to calling:
rotateZ(angleZ, dest).rotateY(angleY).rotateX(angleX)
If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first! Parameters:
angleZ
 the angle in radians to rotate about the z axisangleY
 the angle in radians to rotate about the y axisangleX
 the angle in radians to rotate about the x axisdest
 will hold the result Returns:
 dest

rotateYXZ
Quaternionf rotateYXZ(float angleY, float angleX, float angleZ, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the cartesian base unit axes, called the euler angles, using the rotation sequenceYXZ
and store the result indest
.This method is equivalent to calling:
rotateY(angleY, dest).rotateX(angleX).rotateZ(angleZ)
If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first! Parameters:
angleY
 the angle in radians to rotate about the y axisangleX
 the angle in radians to rotate about the x axisangleZ
 the angle in radians to rotate about the z axisdest
 will hold the result Returns:
 dest

getEulerAnglesXYZ
Vector3f getEulerAnglesXYZ(Vector3f eulerAngles)
Get the euler angles in radians in rotation sequenceXYZ
of this quaternion and store them in the provided parametereulerAngles
. Parameters:
eulerAngles
 will hold the euler angles in radians Returns:
 the passed in vector

lengthSquared
float lengthSquared()
Return the square of the length of this quaternion. Returns:
 the length

slerp
Quaternionf slerp(Quaternionfc target, float alpha, Quaternionf dest)
Interpolate betweenthis
unit
quaternion and the specifiedtarget
unit
quaternion using spherical linear interpolation using the specified interpolation factoralpha
, and store the result indest
.This method resorts to nonspherical linear interpolation when the absolute dot product of
this
andtarget
is below1E6f
.Reference: http://fabiensanglard.net
 Parameters:
target
 the target of the interpolation, which should be reached withalpha = 1.0
alpha
 the interpolation factor, within[0..1]
dest
 will hold the result Returns:
 dest

scale
Quaternionf scale(float factor, Quaternionf dest)
Apply scaling to this quaternion, which results in any vector transformed by the quaternion to change its length by the givenfactor
, and store the result indest
. Parameters:
factor
 the scaling factordest
 will hold the result Returns:
 dest

integrate
Quaternionf integrate(float dt, float vx, float vy, float vz, Quaternionf dest)
Integrate the rotation given by the angular velocity(vx, vy, vz)
around the x, y and z axis, respectively, with respect to the given elapsed time deltadt
and add the differentiate rotation to the rotation represented by this quaternion and store the result intodest
.This method premultiplies the rotation given by
dt
and(vx, vy, vz)
bythis
, so the angular velocities are always relative to the local coordinate system of the rotation represented bythis
quaternion.This method is equivalent to calling:
rotateLocal(dt * vx, dt * vy, dt * vz, dest)
Reference: http://physicsforgames.blogspot.de/
 Parameters:
dt
 the delta timevx
 the angular velocity around the x axisvy
 the angular velocity around the y axisvz
 the angular velocity around the z axisdest
 will hold the result Returns:
 dest

nlerp
Quaternionf nlerp(Quaternionfc q, float factor, Quaternionf dest)
Compute a linear (nonspherical) interpolation ofthis
and the given quaternionq
and store the result indest
.Reference: http://fabiensanglard.net
 Parameters:
q
 the other quaternionfactor
 the interpolation factor. It is between 0.0 and 1.0dest
 will hold the result Returns:
 dest

nlerpIterative
Quaternionf nlerpIterative(Quaternionfc q, float alpha, float dotThreshold, Quaternionf dest)
Compute linear (nonspherical) interpolations ofthis
and the given quaternionq
iteratively and store the result indest
.This method performs a series of smallstep nlerp interpolations to avoid doing a costly spherical linear interpolation, like
slerp
, by subdividing the rotation arc betweenthis
andq
via nonspherical linear interpolations as long as the absolute dot product ofthis
andq
is greater than the givendotThreshold
parameter.Thanks to
@theagentd
at http://www.javagaming.org/ for providing the code. Parameters:
q
 the other quaternionalpha
 the interpolation factor, between 0.0 and 1.0dotThreshold
 the threshold for the dot product ofthis
andq
above which this method performs another iteration of a smallstep linear interpolationdest
 will hold the result Returns:
 dest

lookAlong
Quaternionf lookAlong(Vector3fc dir, Vector3fc up, Quaternionf dest)
Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result indest
.Because there are multiple possibilities for such a rotation, this method will choose the one that ensures the given up direction to remain parallel to the plane spanned by the
up
anddir
vectors.If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first!Reference: http://answers.unity3d.com
 Parameters:
dir
 the direction to map to the positive Z axisup
 the vector which will be mapped to a vector parallel to the plane spanned by the givendir
andup
dest
 will hold the result Returns:
 dest
 See Also:
lookAlong(float, float, float, float, float, float, Quaternionf)

lookAlong
Quaternionf lookAlong(float dirX, float dirY, float dirZ, float upX, float upY, float upZ, Quaternionf dest)
Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result indest
.Because there are multiple possibilities for such a rotation, this method will choose the one that ensures the given up direction to remain parallel to the plane spanned by the
up
anddir
vectors.If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first!Reference: http://answers.unity3d.com
 Parameters:
dirX
 the xcoordinate of the direction to look alongdirY
 the ycoordinate of the direction to look alongdirZ
 the zcoordinate of the direction to look alongupX
 the xcoordinate of the up vectorupY
 the ycoordinate of the up vectorupZ
 the zcoordinate of the up vectordest
 will hold the result Returns:
 dest

rotateTo
Quaternionf rotateTo(float fromDirX, float fromDirY, float fromDirZ, float toDirX, float toDirY, float toDirZ, Quaternionf dest)
Apply a rotation tothis
that rotates thefromDir
vector to point alongtoDir
and store the result indest
.Since there can be multiple possible rotations, this method chooses the one with the shortest arc.
If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first!Reference: stackoverflow.com
 Parameters:
fromDirX
 the xcoordinate of the direction to rotate into the destination directionfromDirY
 the ycoordinate of the direction to rotate into the destination directionfromDirZ
 the zcoordinate of the direction to rotate into the destination directiontoDirX
 the xcoordinate of the direction to rotate totoDirY
 the ycoordinate of the direction to rotate totoDirZ
 the zcoordinate of the direction to rotate todest
 will hold the result Returns:
 dest

rotateTo
Quaternionf rotateTo(Vector3fc fromDir, Vector3fc toDir, Quaternionf dest)
Apply a rotation tothis
that rotates thefromDir
vector to point alongtoDir
and store the result indest
.Because there can be multiple possible rotations, this method chooses the one with the shortest arc.
If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first! Parameters:
fromDir
 the starting directiontoDir
 the destination directiondest
 will hold the result Returns:
 dest
 See Also:
rotateTo(float, float, float, float, float, float, Quaternionf)

rotateX
Quaternionf rotateX(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the x axis and store the result indest
.If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first! Parameters:
angle
 the angle in radians to rotate about the x axisdest
 will hold the result Returns:
 dest

rotateY
Quaternionf rotateY(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the y axis and store the result indest
.If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first! Parameters:
angle
 the angle in radians to rotate about the y axisdest
 will hold the result Returns:
 dest

rotateZ
Quaternionf rotateZ(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the z axis and store the result indest
.If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first! Parameters:
angle
 the angle in radians to rotate about the z axisdest
 will hold the result Returns:
 dest

rotateLocalX
Quaternionf rotateLocalX(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the local x axis and store the result indest
.If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beR * Q
. So when transforming a vectorv
with the new quaternion by usingR * Q * v
, the rotation represented bythis
will be applied first! Parameters:
angle
 the angle in radians to rotate about the local x axisdest
 will hold the result Returns:
 dest

rotateLocalY
Quaternionf rotateLocalY(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the local y axis and store the result indest
.If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beR * Q
. So when transforming a vectorv
with the new quaternion by usingR * Q * v
, the rotation represented bythis
will be applied first! Parameters:
angle
 the angle in radians to rotate about the local y axisdest
 will hold the result Returns:
 dest

rotateLocalZ
Quaternionf rotateLocalZ(float angle, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the local z axis and store the result indest
.If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beR * Q
. So when transforming a vectorv
with the new quaternion by usingR * Q * v
, the rotation represented bythis
will be applied first! Parameters:
angle
 the angle in radians to rotate about the local z axisdest
 will hold the result Returns:
 dest

rotateAxis
Quaternionf rotateAxis(float angle, float axisX, float axisY, float axisZ, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the specified axis and store the result indest
.If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first! Parameters:
angle
 the angle in radians to rotate about the specified axisaxisX
 the x coordinate of the rotation axisaxisY
 the y coordinate of the rotation axisaxisZ
 the z coordinate of the rotation axisdest
 will hold the result Returns:
 dest

rotateAxis
Quaternionf rotateAxis(float angle, Vector3fc axis, Quaternionf dest)
Apply a rotation tothis
quaternion rotating the given radians about the specified axis and store the result indest
.If
Q
isthis
quaternion andR
the quaternion representing the specified rotation, then the new quaternion will beQ * R
. So when transforming a vectorv
with the new quaternion by usingQ * R * v
, the rotation added by this method will be applied first! Parameters:
angle
 the angle in radians to rotate about the specified axisaxis
 the rotation axisdest
 will hold the result Returns:
 dest
 See Also:
rotateAxis(float, float, float, float, Quaternionf)

difference
Quaternionf difference(Quaternionf other, Quaternionf dest)
Compute the difference betweenthis
and theother
quaternion and store the result indest
.The difference is the rotation that has to be applied to get from
this
rotation toother
. IfT
isthis
,Q
isother
andD
is the computed difference, then the following equation holds:T * D = Q
It is defined as:
D = T^1 * Q
, whereT^1
denotes theinverse
ofT
. Parameters:
other
 the other quaterniondest
 will hold the result Returns:
 dest

positiveX
Vector3f positiveX(Vector3f dir)
Obtain the direction of+X
before the rotation transformation represented bythis
quaternion is applied.This method is equivalent to the following code:
Quaternionf inv = new Quaternionf(this).invert(); inv.transform(dir.set(1, 0, 0));
 Parameters:
dir
 will hold the direction of+X
 Returns:
 dir

normalizedPositiveX
Vector3f normalizedPositiveX(Vector3f dir)
Obtain the direction of+X
before the rotation transformation represented bythis
normalized quaternion is applied. The quaternion must benormalized
for this method to work.This method is equivalent to the following code:
Quaternionf inv = new Quaternionf(this).conjugate(); inv.transform(dir.set(1, 0, 0));
 Parameters:
dir
 will hold the direction of+X
 Returns:
 dir

positiveY
Vector3f positiveY(Vector3f dir)
Obtain the direction of+Y
before the rotation transformation represented bythis
quaternion is applied.This method is equivalent to the following code:
Quaternionf inv = new Quaternionf(this).invert(); inv.transform(dir.set(0, 1, 0));
 Parameters:
dir
 will hold the direction of+Y
 Returns:
 dir

normalizedPositiveY
Vector3f normalizedPositiveY(Vector3f dir)
Obtain the direction of+Y
before the rotation transformation represented bythis
normalized quaternion is applied. The quaternion must benormalized
for this method to work.This method is equivalent to the following code:
Quaternionf inv = new Quaternionf(this).conjugate(); inv.transform(dir.set(0, 1, 0));
 Parameters:
dir
 will hold the direction of+Y
 Returns:
 dir

positiveZ
Vector3f positiveZ(Vector3f dir)
Obtain the direction of+Z
before the rotation transformation represented bythis
quaternion is applied.This method is equivalent to the following code:
Quaternionf inv = new Quaternionf(this).invert(); inv.transform(dir.set(0, 0, 1));
 Parameters:
dir
 will hold the direction of+Z
 Returns:
 dir

normalizedPositiveZ
Vector3f normalizedPositiveZ(Vector3f dir)
Obtain the direction of+Z
before the rotation transformation represented bythis
normalized quaternion is applied. The quaternion must benormalized
for this method to work.This method is equivalent to the following code:
Quaternionf inv = new Quaternionf(this).conjugate(); inv.transform(dir.set(0, 0, 1));
 Parameters:
dir
 will hold the direction of+Z
 Returns:
 dir

