mikera.vectorz

Class Quaternions

java.lang.Object

mikera.vectorz.Quaternions

public class Quaternions
extends 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

Author:

Mike

Constructor Summary

Constructors

Constructor and Description
Quaternions()

Method Summary

Methods

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

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

Constructor Detail

Quaternions

public Quaternions()

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: