gov.nasa.worldwind.geom
Class Quaternion
java.lang.Object
gov.nasa.worldwind.geom.Quaternion
public class Quaternion
- extends java.lang.Object
Constructor Summary |
Quaternion(double x,
double y,
double z,
double w)
|
Method Summary |
Quaternion |
add(Quaternion quaternion)
|
Quaternion |
divideComponents(double value)
|
Quaternion |
divideComponents(Quaternion quaternion)
|
double |
dot(Quaternion quaternion)
|
boolean |
equals(java.lang.Object obj)
|
static Quaternion |
fromArray(double[] compArray,
int offset)
|
static Quaternion |
fromAxisAngle(Angle angle,
double axisX,
double axisY,
double axisZ)
|
static Quaternion |
fromAxisAngle(Angle angle,
Vec4 axis)
|
static Quaternion |
fromLatLon(Angle latitude,
Angle longitude)
Returns a Quaternion created from latitude and longitude rotations. |
static Quaternion |
fromMatrix(Matrix matrix)
|
static Quaternion |
fromRotationXYZ(Angle x,
Angle y,
Angle z)
Returns a Quaternion created from three Euler angle rotations. |
Angle |
getAngle()
|
Vec4 |
getAxis()
|
Quaternion |
getConjugate()
|
Quaternion |
getInverse()
|
LatLon |
getLatLon()
|
double |
getLength()
|
double |
getLengthSquared()
|
Quaternion |
getNegative()
|
Angle |
getRotationX()
|
Angle |
getRotationY()
|
Angle |
getRotationZ()
|
double |
getW()
|
double |
getX()
|
double |
getY()
|
double |
getZ()
|
int |
hashCode()
|
static Quaternion |
mix(double amount,
Quaternion value1,
Quaternion value2)
|
Quaternion |
multiply(Quaternion quaternion)
|
Quaternion |
multiplyComponents(double value)
|
Quaternion |
normalize()
|
static Quaternion |
slerp(double amount,
Quaternion value1,
Quaternion value2)
|
Quaternion |
subtract(Quaternion quaternion)
|
double[] |
toArray(double[] compArray,
int offset)
|
java.lang.String |
toString()
|
double |
w()
|
double |
x()
|
double |
y()
|
double |
z()
|
Methods inherited from class java.lang.Object |
clone, finalize, getClass, notify, notifyAll, wait, wait, wait |
IDENTITY
public static final Quaternion IDENTITY
w
public final double w
x
public final double x
y
public final double y
z
public final double z
Quaternion
public Quaternion(double x,
double y,
double z,
double w)
add
public final Quaternion add(Quaternion quaternion)
divideComponents
public final Quaternion divideComponents(double value)
divideComponents
public final Quaternion divideComponents(Quaternion quaternion)
dot
public final double dot(Quaternion quaternion)
equals
public final boolean equals(java.lang.Object obj)
- Overrides:
equals
in class java.lang.Object
fromArray
public static Quaternion fromArray(double[] compArray,
int offset)
fromAxisAngle
public static Quaternion fromAxisAngle(Angle angle,
double axisX,
double axisY,
double axisZ)
fromAxisAngle
public static Quaternion fromAxisAngle(Angle angle,
Vec4 axis)
fromLatLon
public static Quaternion fromLatLon(Angle latitude,
Angle longitude)
- Returns a Quaternion created from latitude and longitude rotations.
Latitude and longitude can be extracted from a Quaternion by calling
getLatLon()
.
- Parameters:
latitude
- Angle rotation of latitude.longitude
- Angle rotation of longitude.
- Returns:
- Quaternion representing combined latitude and longitude rotation.
fromMatrix
public static Quaternion fromMatrix(Matrix matrix)
fromRotationXYZ
public static Quaternion fromRotationXYZ(Angle x,
Angle y,
Angle z)
- Returns a Quaternion created from three Euler angle rotations. The angles represent rotation about their
respective unit-axes. The angles are applied in the order X, Y, Z.
Angles can be extracted by calling
getRotationX()
, getRotationY()
, getRotationZ()
.
- Parameters:
x
- Angle rotation about unit-X axis.y
- Angle rotation about unit-Y axis.z
- Angle rotation about unit-Z axis.
- Returns:
- Quaternion representation of the combined X-Y-Z rotation.
getAngle
public final Angle getAngle()
getAxis
public final Vec4 getAxis()
getConjugate
public final Quaternion getConjugate()
getInverse
public final Quaternion getInverse()
getLatLon
public final LatLon getLatLon()
getLength
public final double getLength()
getLengthSquared
public final double getLengthSquared()
getNegative
public final Quaternion getNegative()
getRotationX
public final Angle getRotationX()
getRotationY
public final Angle getRotationY()
getRotationZ
public final Angle getRotationZ()
getW
public final double getW()
getX
public final double getX()
getY
public final double getY()
getZ
public final double getZ()
hashCode
public final int hashCode()
- Overrides:
hashCode
in class java.lang.Object
mix
public static Quaternion mix(double amount,
Quaternion value1,
Quaternion value2)
multiply
public final Quaternion multiply(Quaternion quaternion)
multiplyComponents
public final Quaternion multiplyComponents(double value)
normalize
public final Quaternion normalize()
slerp
public static Quaternion slerp(double amount,
Quaternion value1,
Quaternion value2)
subtract
public final Quaternion subtract(Quaternion quaternion)
toArray
public final double[] toArray(double[] compArray,
int offset)
toString
public final java.lang.String toString()
- Overrides:
toString
in class java.lang.Object
w
public final double w()
x
public final double x()
y
public final double y()
z
public final double z()