Quaternion

public class Quaternion

A Sceneform 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
	Quaternion(Vector3 eulerAngles) Construct Quaternion based on eulerAngles.

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.
boolean	equals(Object other) Returns true if the other object is a Quaternion and the dot product is 1.0 +/- a tolerance.
static Quaternion	eulerAngles(Vector3 eulerAngles) Get a new Quaternion using eulerAngles to define the rotation.
static Quaternion	identity() Get a Quaternion set to identity
static Vector3	inverseRotateVector(Quaternion q, Vector3 src)
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	toString()

Inherited Methods

From class java.lang.Object

Object	clone()
boolean	equals(Object arg0)
void	finalize()
final Class<?>	getClass()
int	hashCode()
final void	notify()
final void	notifyAll()
String	toString()
final void	wait(long arg0, int arg1)
final void	wait(long arg0)
final void	wait()

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 Quaternion (Vector3 eulerAngles)

Construct Quaternion based on eulerAngles.

Parameters

eulerAngles	- the angle in degrees for each axis.

See Also

• eulerAngles(Vector3)

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 boolean equals (Object other)

Returns true if the other object is a Quaternion and the dot product is 1.0 +/- a tolerance.

Parameters

other

public static Quaternion eulerAngles (Vector3 eulerAngles)

Get a new Quaternion using eulerAngles to define the rotation.

The rotations are applied in Z, Y, X order. This is consistent with other graphics engines. One thing to note is the coordinate systems are different between Sceneform and Unity, so the same angles used here will have cause a different orientation than Unity. Carefully check your parameter values to get the same effect as in other engines.

Parameters

eulerAngles	- the angles in degrees.

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 ()