mikera.vectorz

Class Quaternions

java.lang.Object

mikera.vectorz.Quaternions

public class Quaternions
extends java.lang.Object

Static functions for quaternion maths, implemented on Vector4 instances Vector4 instance represents (x,y,z,t) tuple, Where: quaternion value = x.i + y.j + z.k + t

Method Summary

Modifier and Type	Method and Description
static Vector4	axisAngle(Vector3 axis, double angle) Create a quaternion that represents a rotation around a given axis vector.
static Vector4	conjugate(Vector4 a) Computes the conjugate of a quaternion
static Vector4	invert(Vector4 a) Inverts a quaternion
static Vector4	mul(Vector4 a, Vector4 b) Computes the product of two quaternions as a new quaternion
static Vector4	normalise(Vector4 a) Normalises a quaternion
static Vector3	rotate(Vector4 a, Vector3 b) Rotates a 3D vector using the given quaternion, returning a new 3D vector

Methods inherited from class java.lang.Object

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

Method Detail

conjugate

public static Vector4 conjugate(Vector4 a)

Computes the conjugate of a quaternion

Parameters:

a -

Returns:

mul

public static Vector4 mul(Vector4 a,
                          Vector4 b)

Computes the product of two quaternions as a new quaternion

Parameters:

a -

b -

Returns:

rotate

public static Vector3 rotate(Vector4 a,
                             Vector3 b)

Rotates a 3D vector using the given quaternion, returning a new 3D vector

Parameters:

q -

a -

Returns:

axisAngle

public static Vector4 axisAngle(Vector3 axis,
                                double angle)

Create a quaternion that represents a rotation around a given axis vector. The axis vector need not be normalised.

Parameters:

axis -

angle -

Returns:

normalise

public static Vector4 normalise(Vector4 a)

Normalises a quaternion

Parameters:

a -

Returns:

invert

public static Vector4 invert(Vector4 a)

Inverts a quaternion

Parameters:

a -

Returns: