Quaternion

public class Quaternion

A RenderCore quaternion class for floats.

Quaternion operations are Hamiltonian using the right-hand-rule convention.

Fields

public float w
public float x
public float y
public float z

Public Constructors

Quaternion()
Construct Quaternion and set to Identity
Quaternion(float x, float y, float z, float w)
Construct Quaternion and set each value.
Quaternion(Quaternion q)
Construct Quaternion using values from another Quaternion
Quaternion(Vector3 axis, float angle)
Construct Quaternion using an axis/angle to define the rotation

Public Methods

static Quaternion
axisAngle(Vector3 axis, float degrees)
Get a new Quaternion using an axis/angle to define the rotation
static boolean
equals(Quaternion lhs, Quaternion rhs)
Compare two Quaternions

Tests for equality by calculating the dot product of lhs and rhs.

static Quaternion
identity()
Get a Quaternion set to identity
static Vector3
Quaternion
inverted()
Get a Quaternion with the opposite rotation
static Quaternion
lookRotation(Vector3 forwardInWorld, Vector3 desiredUpInWorld)
Get a new Quaternion representing a rotation towards a specified forward direction.
static Quaternion
multiply(Quaternion lhs, Quaternion rhs)
Create a Quaternion by combining two Quaternions multiply(lhs, rhs) is equivalent to performing the rhs rotation then lhs rotation Ordering is important for this operation.
boolean
normalize()
Rescales the quaternion to the unit length.
Quaternion
normalized()
Get a Quaternion with a matching rotation but scaled to unit length.
static Vector3
rotateVector(Quaternion q, Vector3 src)
Rotates a Vector3 by a Quaternion
static Quaternion
rotationBetweenVectors(Vector3 start, Vector3 end)
Get a new Quaternion representing the rotation from one vector to another.
void
set(float qx, float qy, float qz, float qw)
Set each value and normalize the Quaternion
void
set(Vector3 axis, float angle)
Update this Quaternion using an axis/angle to define the rotation
void
set(Quaternion q)
Copy values from another Quaternion into this one
void
setIdentity()
Set the Quaternion to identity
static Quaternion
slerp(Quaternion start, Quaternion end, float t)
String

Inherited Methods

Fields

public float w

public float x

public float y

public float z

Public Constructors

public Quaternion ()

Construct Quaternion and set to Identity

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

Construct Quaternion and set each value. The Quaternion will be normalized during construction

Parameters
x
y
z
w

public Quaternion (Quaternion q)

Construct Quaternion using values from another Quaternion

Parameters
q

public Quaternion (Vector3 axis, float angle)

Construct Quaternion using an axis/angle to define the rotation

Parameters
axis Sets rotation direction
angle Angle size in degrees

Public Methods

public static Quaternion axisAngle (Vector3 axis, float degrees)

Get a new Quaternion using an axis/angle to define the rotation

Parameters
axis Sets rotation direction
degrees Angle size in degrees

public static boolean equals (Quaternion lhs, Quaternion rhs)

Compare two Quaternions

Tests for equality by calculating the dot product of lhs and rhs. lhs and -lhs will not be equal according to this function.

Parameters
lhs
rhs

public static Quaternion identity ()

Get a Quaternion set to identity

public static Vector3 inverseRotateVector (Quaternion q, Vector3 src)

Parameters
q
src

public Quaternion inverted ()

Get a Quaternion with the opposite rotation

Returns
  • the opposite rotation

public static Quaternion lookRotation (Vector3 forwardInWorld, Vector3 desiredUpInWorld)

Get a new Quaternion representing a rotation towards a specified forward direction. If upInWorld is orthogonal to forwardInWorld, then the Y axis is aligned with desiredUpInWorld.

Parameters
forwardInWorld
desiredUpInWorld

public static Quaternion multiply (Quaternion lhs, Quaternion rhs)

Create a Quaternion by combining two Quaternions multiply(lhs, rhs) is equivalent to performing the rhs rotation then lhs rotation Ordering is important for this operation.

Parameters
lhs
rhs
Returns
  • The combined rotation

public boolean normalize ()

Rescales the quaternion to the unit length.

If the Quaternion can not be scaled, it is set to identity and false is returned.

Returns
  • true if the Quaternion was non-zero

public Quaternion normalized ()

Get a Quaternion with a matching rotation but scaled to unit length.

Returns
  • the quaternion scaled to the unit length, or zero if that can not be done.

public static Vector3 rotateVector (Quaternion q, Vector3 src)

Rotates a Vector3 by a Quaternion

Parameters
q
src
Returns
  • The rotated vector

public static Quaternion rotationBetweenVectors (Vector3 start, Vector3 end)

Get a new Quaternion representing the rotation from one vector to another.

Parameters
start
end

public void set (float qx, float qy, float qz, float qw)

Set each value and normalize the Quaternion

Parameters
qx
qy
qz
qw

public void set (Vector3 axis, float angle)

Update this Quaternion using an axis/angle to define the rotation

Parameters
axis
angle

public void set (Quaternion q)

Copy values from another Quaternion into this one

Parameters
q

public void setIdentity ()

Set the Quaternion to identity

public static Quaternion slerp (Quaternion start, Quaternion end, float t)

Parameters
start
end
t

public String toString ()

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