Interface Quaterniondc
 All Known Implementing Classes:
Quaterniond
 Author:
 Kai Burjack

Method Summary
Modifier and TypeMethodDescriptionadd(double x, double y, double z, double w, Quaterniond dest)
Add the quaternion(x, y, z, w)
to this quaternion and store the result indest
.add(Quaterniondc q2, Quaterniond dest)
Addq2
to this quaternion and store the result indest
.double
angle()
Return the angle in radians represented by this normalized quaternion rotation.conjugate(Quaterniond dest)
Conjugate this quaternion and store the result indest
.conjugateBy(Quaterniondc q, Quaterniond dest)
Conjugatethis
by the given quaternionq
by computingq * this * q^1
and store the result intodest
.difference(Quaterniondc other, Quaterniond dest)
Compute the difference betweenthis
and theother
quaternion and store the result indest
.div(Quaterniondc b, Quaterniond dest)
Dividethis
quaternion byb
and store the result indest
.double
dot(Quaterniondc otherQuat)
Return the dot product of thisQuaterniond
andotherQuat
.boolean
equals(double x, double y, double z, double w)
boolean
equals(Quaterniondc q, double delta)
Compare the quaternion components ofthis
quaternion with the given quaternion using the givendelta
and return whether all of them are equal within a maximum difference ofdelta
.get(AxisAngle4d dest)
Set the givenAxisAngle4d
to represent the rotation ofthis
quaternion.get(AxisAngle4f dest)
Set the givenAxisAngle4f
to represent the rotation ofthis
quaternion.Set the given destination matrix to the rotation represented bythis
.Set the given destination matrix to the rotation represented bythis
.Set the given destination matrix to the rotation represented bythis
.Set the given destination matrix to the rotation represented bythis
.get(Quaterniond dest)
Set the givenQuaterniond
to the values ofthis
.get(Quaternionf dest)
Set the givenQuaternionf
to the values ofthis
.getEulerAnglesXYZ(Vector3d eulerAngles)
Get the euler angles in radians in rotation sequenceXYZ
of this quaternion and store them in the provided parametereulerAngles
.integrate(double dt, double vx, double vy, double vz, Quaterniond 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
.invert(Quaterniond dest)
Invert this quaternion and store thenormalized
result indest
.boolean
isFinite()
double
Return the square of the length of this quaternion.lookAlong(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Quaterniond dest)
Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result indest
.lookAlong(Vector3dc dir, Vector3dc up, Quaterniond dest)
Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result indest
.mul(double qx, double qy, double qz, double qw, Quaterniond dest)
Multiply this quaternion by the quaternion represented via(qx, qy, qz, qw)
and store the result indest
.mul(Quaterniondc q, Quaterniond dest)
Multiply this quaternion byq
and store the result indest
.nlerp(Quaterniondc q, double factor, Quaterniond dest)
Compute a linear (nonspherical) interpolation ofthis
and the given quaternionq
and store the result indest
.nlerpIterative(Quaterniondc q, double alpha, double dotThreshold, Quaterniond dest)
Compute linear (nonspherical) interpolations ofthis
and the given quaternionq
iteratively and store the result indest
.normalize(Quaterniond dest)
Normalize this quaternion and store the result indest
.normalizedPositiveX(Vector3d dir)
Obtain the direction of+X
before the rotation transformation represented bythis
normalized quaternion is applied.normalizedPositiveY(Vector3d dir)
Obtain the direction of+Y
before the rotation transformation represented bythis
normalized quaternion is applied.normalizedPositiveZ(Vector3d dir)
Obtain the direction of+Z
before the rotation transformation represented bythis
normalized quaternion is applied.Obtain the direction of+X
before the rotation transformation represented bythis
quaternion is applied.Obtain the direction of+Y
before the rotation transformation represented bythis
quaternion is applied.Obtain the direction of+Z
before the rotation transformation represented bythis
quaternion is applied.premul(double qx, double qy, double qz, double qw, Quaterniond dest)
Premultiply this quaternion by the quaternion represented via(qx, qy, qz, qw)
and store the result indest
.premul(Quaterniondc q, Quaterniond dest)
Premultiply this quaternion byq
and store the result indest
.rotateAxis(double angle, double axisX, double axisY, double axisZ, Quaterniond dest)
Apply a rotation tothis
quaternion rotating the given radians about the specified axis and store the result indest
.rotateAxis(double angle, Vector3dc axis, Quaterniond dest)
Apply a rotation tothis
quaternion rotating the given radians about the specified axis and store the result indest
.rotateLocalX(double angle, Quaterniond dest)
Apply a rotation tothis
quaternion rotating the given radians about the local x axis and store the result indest
.rotateLocalY(double angle, Quaterniond dest)
Apply a rotation tothis
quaternion rotating the given radians about the local y axis and store the result indest
.rotateLocalZ(double angle, Quaterniond dest)
Apply a rotation tothis
quaternion rotating the given radians about the local z axis and store the result indest
.rotateTo(double fromDirX, double fromDirY, double fromDirZ, double toDirX, double toDirY, double toDirZ, Quaterniond dest)
Apply a rotation tothis
that rotates thefromDir
vector to point alongtoDir
and store the result indest
.rotateTo(Vector3dc fromDir, Vector3dc toDir, Quaterniond dest)
Apply a rotation tothis
that rotates thefromDir
vector to point alongtoDir
and store the result indest
.rotateX(double angle, Quaterniond dest)
Apply a rotation tothis
quaternion rotating the given radians about the x axis and store the result indest
.rotateXYZ(double angleX, double angleY, double angleZ, Quaterniond 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
.rotateY(double angle, Quaterniond dest)
Apply a rotation tothis
quaternion rotating the given radians about the y axis and store the result indest
.rotateYXZ(double angleY, double angleX, double angleZ, Quaterniond 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
.rotateZ(double angle, Quaterniond dest)
Apply a rotation tothis
quaternion rotating the given radians about the z axis and store the result indest
.rotateZYX(double angleZ, double angleY, double angleX, Quaterniond 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
.scale(double factor, Quaterniond 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
.slerp(Quaterniondc target, double alpha, Quaterniond dest)
Transform the given vector(x, y, z)
by this quaternion and store the result indest
.Transform the given vector(x, y, z)
by this quaternion and store the result indest
.Transform the given vector(x, y, z)
by this quaternion and store the result indest
.Transform the given vector(x, y, z)
by this quaternion and store the result indest
.Transform the given vector by this quaternion.Transform the given vector by this quaternion and store the result indest
.Transform the given vector by this quaternion.Transform the given vector by this quaternion and store the result indest
.Transform the given vector by this quaternion.Transform the given vector by this quaternion and store the result indest
.Transform the given vector by this quaternion.Transform the given vector by this quaternion and store the result indest
.transformInverse(double x, double y, double z, Vector3d dest)
Transform the given vector(x, y, z)
by the inverse of this quaternion and store the result indest
.transformInverse(double x, double y, double z, Vector3f dest)
Transform the given vector(x, y, z)
by the inverse of this quaternion and store the result indest
.transformInverse(double x, double y, double z, Vector4d dest)
Transform the given vector(x, y, z)
by the inverse of this quaternion and store the result indest
.transformInverse(double x, double y, double z, Vector4f dest)
Transform the given vector(x, y, z)
by the inverse of this quaternion and store the result indest
.transformInverse(Vector3d vec)
Transform the given vector by the inverse of this quaternion.transformInverse(Vector3dc vec, Vector3d dest)
Transform the given vector by the inverse of this quaternion and store the result indest
.transformInverse(Vector3f vec)
Transform the given vector by the inverse of this quaternion.transformInverse(Vector3fc vec, Vector3f dest)
Transform the given vector by the inverse of this quaternion and store the result indest
.transformInverse(Vector4d vec)
Transform the given vector by the inverse of this quaternion.transformInverse(Vector4dc vec, Vector4d dest)
Transform the given vector by the inverse of this quaternion and store the result indest
.transformInverse(Vector4f vec)
Transform the given vector by the inverse of this quaternion.transformInverse(Vector4fc vec, Vector4f dest)
Transform the given vector by the inverse of this quaternion and store the result indest
.transformInverseUnit(double x, double y, double z, Vector3d dest)
Transform the given vector(x, y, z)
by the inverse of this unit quaternion and store the result indest
.transformInverseUnit(double x, double y, double z, Vector3f dest)
Transform the given vector(x, y, z)
by the inverse of this unit quaternion and store the result indest
.transformInverseUnit(double x, double y, double z, Vector4d dest)
Transform the given vector(x, y, z)
by the inverse of this unit quaternion and store the result indest
.transformInverseUnit(double x, double y, double z, Vector4f dest)
Transform the given vector(x, y, z)
by the inverse of this unit quaternion and store the result indest
.transformInverseUnit(Vector3d vec)
Transform the given vector by the inverse of this unit quaternion.transformInverseUnit(Vector3dc vec, Vector3d dest)
Transform the given vector by the inverse of this unit quaternion and store the result indest
.transformInverseUnit(Vector3f vec)
Transform the given vector by the inverse of this unit quaternion.transformInverseUnit(Vector3fc vec, Vector3f dest)
Transform the given vector by the inverse of this unit quaternion and store the result indest
.transformInverseUnit(Vector4d vec)
Transform the given vector by the inverse of this unit quaternion.transformInverseUnit(Vector4dc vec, Vector4d dest)
Transform the given vector by the inverse of this unit quaternion and store the result indest
.transformInverseUnit(Vector4f vec)
Transform the given vector by the inverse of this unit quaternion.transformInverseUnit(Vector4fc vec, Vector4f dest)
Transform the given vector by the inverse of this unit quaternion and store the result indest
.transformPositiveX(Vector3d dest)
Transform the vector(1, 0, 0)
by this quaternion.transformPositiveX(Vector3f dest)
Transform the vector(1, 0, 0)
by this quaternion.transformPositiveX(Vector4d dest)
Transform the vector(1, 0, 0)
by this quaternion.transformPositiveX(Vector4f dest)
Transform the vector(1, 0, 0)
by this quaternion.transformPositiveY(Vector3d dest)
Transform the vector(0, 1, 0)
by this quaternion.transformPositiveY(Vector3f dest)
Transform the vector(0, 1, 0)
by this quaternion.transformPositiveY(Vector4d dest)
Transform the vector(0, 1, 0)
by this quaternion.transformPositiveY(Vector4f dest)
Transform the vector(0, 1, 0)
by this quaternion.transformPositiveZ(Vector3d dest)
Transform the vector(0, 0, 1)
by this quaternion.transformPositiveZ(Vector3f dest)
Transform the vector(0, 0, 1)
by this quaternion.transformPositiveZ(Vector4d dest)
Transform the vector(0, 0, 1)
by this quaternion.transformPositiveZ(Vector4f dest)
Transform the vector(0, 0, 1)
by this quaternion.transformUnit(double x, double y, double z, Vector3d dest)
Transform the given vector(x, y, z)
by this unit quaternion and store the result indest
.transformUnit(double x, double y, double z, Vector3f dest)
Transform the given vector(x, y, z)
by this unit quaternion and store the result indest
.transformUnit(double x, double y, double z, Vector4d dest)
Transform the given vector(x, y, z)
by this unit quaternion and store the result indest
.transformUnit(double x, double y, double z, Vector4f dest)
Transform the given vector(x, y, z)
by this unit quaternion and store the result indest
.transformUnit(Vector3d vec)
Transform the given vector by this unit quaternion.transformUnit(Vector3dc vec, Vector3d dest)
Transform the given vector by this unit quaternion and store the result indest
.transformUnit(Vector3f vec)
Transform the given vector by this unit quaternion.transformUnit(Vector3fc vec, Vector3f dest)
Transform the given vector by this unit quaternion and store the result indest
.transformUnit(Vector4d vec)
Transform the given vector by this unit quaternion.transformUnit(Vector4dc vec, Vector4d dest)
Transform the given vector by this unit quaternion and store the result indest
.transformUnit(Vector4f vec)
Transform the given vector by this unit quaternion.transformUnit(Vector4fc vec, Vector4f dest)
Transform the given vector by this unit quaternion and store the result indest
.transformUnitPositiveX(Vector3d dest)
Transform the vector(1, 0, 0)
by this unit quaternion.transformUnitPositiveX(Vector3f dest)
Transform the vector(1, 0, 0)
by this unit quaternion.transformUnitPositiveX(Vector4d dest)
Transform the vector(1, 0, 0)
by this unit quaternion.transformUnitPositiveX(Vector4f dest)
Transform the vector(1, 0, 0)
by this unit quaternion.transformUnitPositiveY(Vector3d dest)
Transform the vector(0, 1, 0)
by this unit quaternion.transformUnitPositiveY(Vector3f dest)
Transform the vector(0, 1, 0)
by this unit quaternion.transformUnitPositiveY(Vector4d dest)
Transform the vector(0, 1, 0)
by this unit quaternion.transformUnitPositiveY(Vector4f dest)
Transform the vector(0, 1, 0)
by this unit quaternion.transformUnitPositiveZ(Vector3d dest)
Transform the vector(0, 0, 1)
by this unit quaternion.transformUnitPositiveZ(Vector3f dest)
Transform the vector(0, 0, 1)
by this unit quaternion.transformUnitPositiveZ(Vector4d dest)
Transform the vector(0, 0, 1)
by this unit quaternion.transformUnitPositiveZ(Vector4f dest)
Transform the vector(0, 0, 1)
by this unit quaternion.double
w()
double
x()
double
y()
double
z()

Method Details

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

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

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

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

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

add
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
Addq2
to this quaternion and store the result indest
. Parameters:
q2
 the quaternion to add to thisdest
 will hold the result Returns:
 dest

dot
Return the dot product of thisQuaterniond
andotherQuat
. Parameters:
otherQuat
 the other quaternion Returns:
 the dot product

angle
double angle()Return the angle in radians represented by this normalized quaternion rotation.This quaternion must be
normalized
. Returns:
 the angle in radians

get
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(Quaterniondc)

get
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(Quaterniondc)

get
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(Quaterniondc)

get
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(Quaterniondc)

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

get
Set the givenAxisAngle4d
to represent the rotation ofthis
quaternion. Parameters:
dest
 theAxisAngle4d
to set Returns:
 the passed in destination

get
Set the givenQuaterniond
to the values ofthis
. Parameters:
dest
 theQuaterniond
to set Returns:
 the passed in destination

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

mul
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
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
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
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
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

transformInverse
Transform the given vector by the inverse of this quaternion.This will apply the rotation described by this quaternion to the given vector.
 Parameters:
vec
 the vector to transform Returns:
 vec

transformUnit
Transform the given vector by this unit quaternion.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transform Returns:
 vec

transformInverseUnit
Transform the given vector by the inverse of this unit quaternion.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transform Returns:
 vec

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

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

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

transformPositiveZ
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
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
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
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

transformInverse
Transform the given vector by the inverse of 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
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

transformInverse
Transform the given vector by the inverse of 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
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

transformInverse
Transform the given vector(x, y, z)
by the inverse of 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
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

transformInverse
Transform the given vector by the inverse of 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
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

transformInverse
Transform the given vector(x, y, z)
by the inverse of 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
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

transformInverse
Transform the given vector by the inverse of this quaternion.This will apply the rotation described by this quaternion to the given vector.
 Parameters:
vec
 the vector to transform Returns:
 vec

transformUnit
Transform the given vector by this unit 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.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transform Returns:
 vec

transformInverseUnit
Transform the given vector by the inverse of this unit 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.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transform Returns:
 vec

transformUnit
Transform the given vector by this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transformdest
 will hold the result Returns:
 dest

transformInverseUnit
Transform the given vector by the inverse of this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transformdest
 will hold the result Returns:
 dest

transformUnit
Transform the given vector(x, y, z)
by this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. 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

transformInverseUnit
Transform the given vector(x, y, z)
by the inverse of this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. 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

transformUnit
Transform the given vector by this unit 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.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transformdest
 will hold the result Returns:
 dest

transformInverseUnit
Transform the given vector by the inverse of this unit 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.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transformdest
 will hold the result Returns:
 dest

transformUnit
Transform the given vector(x, y, z)
by this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. 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

transformInverseUnit
Transform the given vector(x, y, z)
by the inverse of this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. 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

transformUnit
Transform the given vector by this unit quaternion.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transform Returns:
 vec

transformInverseUnit
Transform the given vector by the inverse of this unit quaternion.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transform Returns:
 vec

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

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

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

transformPositiveZ
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
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
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
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

transformInverse
Transform the given vector by the inverse of 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
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

transformInverse
Transform the given vector by the inverse of 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
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

transformInverse
Transform the given vector(x, y, z)
by the inverse of 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
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

transformInverse
Transform the given vector by the inverse of 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
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

transformInverse
Transform the given vector(x, y, z)
by the inverse of 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

transformUnit
Transform the given vector by this unit 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.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transform Returns:
 vec

transformInverseUnit
Transform the given vector by the inverse of this unit 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.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transform Returns:
 vec

transformUnit
Transform the given vector by this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transformdest
 will hold the result Returns:
 dest

transformInverseUnit
Transform the given vector by the inverse of this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transformdest
 will hold the result Returns:
 dest

transformUnit
Transform the given vector(x, y, z)
by this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. 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

transformInverseUnit
Transform the given vector(x, y, z)
by the inverse of this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. 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

transformUnit
Transform the given vector by this unit 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.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transformdest
 will hold the result Returns:
 dest

transformInverseUnit
Transform the given vector by the inverse of this unit 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.
This method is only applicable when
this
is a unit quaternion. Parameters:
vec
 the vector to transformdest
 will hold the result Returns:
 dest

transformUnit
Transform the given vector(x, y, z)
by this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. 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

transformInverseUnit
Transform the given vector(x, y, z)
by the inverse of this unit quaternion and store the result indest
.This will apply the rotation described by this quaternion to the given vector.
This method is only applicable when
this
is a unit quaternion. 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
Invert this quaternion and store thenormalized
result indest
.If this quaternion is already normalized, then
conjugate(Quaterniond)
should be used instead. Parameters:
dest
 will hold the result Returns:
 dest
 See Also:
conjugate(Quaterniond)

div
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
 theQuaterniondc
to divide this bydest
 will hold the result Returns:
 dest

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

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

slerp
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 between
this
andtarget
is below1E6
.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
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
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
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
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
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(double, double, double, double, double, double, Quaterniond)

lookAlong
Quaterniond lookAlong(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Quaterniond 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

difference
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

rotateTo
Quaterniond rotateTo(double fromDirX, double fromDirY, double fromDirZ, double toDirX, double toDirY, double toDirZ, Quaterniond 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
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(double, double, double, double, double, double, Quaterniond)

rotateX
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
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
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
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
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
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

rotateXYZ
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
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
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
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

rotateAxis
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
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(double, double, double, double, Quaterniond)

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

normalizedPositiveX
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:
Quaterniond inv = new Quaterniond(this).conjugate(); inv.transform(dir.set(1, 0, 0));
 Parameters:
dir
 will hold the direction of+X
 Returns:
 dir

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

normalizedPositiveY
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:
Quaterniond inv = new Quaterniond(this).conjugate(); inv.transform(dir.set(0, 1, 0));
 Parameters:
dir
 will hold the direction of+Y
 Returns:
 dir

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

normalizedPositiveZ
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:
Quaterniond inv = new Quaterniond(this).conjugate(); inv.transform(dir.set(0, 0, 1));
 Parameters:
dir
 will hold the direction of+Z
 Returns:
 dir

conjugateBy
Conjugatethis
by the given quaternionq
by computingq * this * q^1
and store the result intodest
. Parameters:
q
 theQuaterniondc
to conjugatethis
bydest
 will hold the result Returns:
 dest

isFinite
boolean isFinite()Determine whether all components are finite floatingpoint values, that is, they are notNaN
and notinfinity
. Returns:
true
if all components are finite floatingpoint values;false
otherwise

equals
Compare the quaternion components ofthis
quaternion with the given quaternion using the givendelta
and return whether all of them are equal within a maximum difference ofdelta
.Please note that this method is not used by any data structure such as
ArrayList
HashSet
orHashMap
and their operations, such asArrayList.contains(Object)
orHashSet.remove(Object)
, since those data structures only use theObject.equals(Object)
andObject.hashCode()
methods. Parameters:
q
 the other quaterniondelta
 the allowed maximum difference Returns:
true
whether all of the quaternion components are equal;false
otherwise

equals
boolean equals(double x, double y, double z, double w) Parameters:
x
 the x component to compare toy
 the y component to compare toz
 the z component to compare tow
 the w component to compare to Returns:
true
if all the quaternion components are equal
