Package gov.nasa.worldwind.geom

Class Quaternion

java.lang.Object

gov.nasa.worldwind.geom.Quaternion

public class Quaternion
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field	Description
static Quaternion	IDENTITY
double	w
double	x
double	y
double	z

Constructor Summary

Constructors

Constructor	Description
Quaternion(double x, double y, double z, double w)

Method Summary

Modifier and Type	Method	Description
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, getClass, notify, notifyAll, wait, wait, wait

Field Detail

IDENTITY

public static final Quaternion IDENTITY

x

public final double x

y

public final double y

z

public final double z

w

public final double w

Constructor Detail

Quaternion

public Quaternion(double x,
                  double y,
                  double z,
                  double w)

Method Detail

equals

public final boolean equals(java.lang.Object obj)

Overrides:

equals in class java.lang.Object

hashCode

public final int hashCode()

Overrides:

hashCode in class java.lang.Object

fromArray

public static Quaternion fromArray(double[] compArray,
                                   int offset)

toArray

public final double[] toArray(double[] compArray,
                              int offset)

toString

public final java.lang.String toString()

Overrides:

toString in class java.lang.Object

getX

public final double getX()

getY

public final double getY()

getZ

public final double getZ()

getW

public final double getW()

x

public final double x()

y

public final double y()

z

public final double z()

w

public final double w()

fromAxisAngle

public static Quaternion fromAxisAngle(Angle angle,
                                       Vec4 axis)

fromAxisAngle

public static Quaternion fromAxisAngle(Angle angle,
                                       double axisX,
                                       double axisY,
                                       double axisZ)

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.

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.

add

public final Quaternion add(Quaternion quaternion)

subtract

public final Quaternion subtract(Quaternion quaternion)

multiplyComponents

public final Quaternion multiplyComponents(double value)

multiply

public final Quaternion multiply(Quaternion quaternion)

divideComponents

public final Quaternion divideComponents(double value)

divideComponents

public final Quaternion divideComponents(Quaternion quaternion)

getConjugate

public final Quaternion getConjugate()

getNegative

public final Quaternion getNegative()

getLength

public final double getLength()

getLengthSquared

public final double getLengthSquared()

normalize

public final Quaternion normalize()

dot

public final double dot(Quaternion quaternion)

getInverse

public final Quaternion getInverse()

mix

public static Quaternion mix(double amount,
                             Quaternion value1,
                             Quaternion value2)

slerp

public static Quaternion slerp(double amount,
                               Quaternion value1,
                               Quaternion value2)

getAngle

public final Angle getAngle()

getAxis

public final Vec4 getAxis()

getRotationX

public final Angle getRotationX()

getRotationY

public final Angle getRotationY()

getRotationZ

public final Angle getRotationZ()

getLatLon

public final LatLon getLatLon()