Class Quat

Method Details

• newQ

  public static Quat newQ(Quat q)

• newVA

  public static Quat newVA(T3 v, float theta)

• newM

  public static Quat newM(M3 mat)

• newAA

  public static Quat newAA(A4 a)

• newP4

  public static Quat newP4(P4 pt)

• new4

  public static Quat new4(float q1, float q2, float q3, float q0)

  Note that q0 is the last parameter here

  Parameters:

  q1 -

  q2 -

  q3 -

  q0 -

  Returns:

  {q1 q2 q3 q0}

• set

  public void set(Quat q)

• setTA

  public void setTA(T3 pt, float theta)

  q = (cos(theta/2), sin(theta/2) * n)

  Parameters:

  pt -

  theta -

• setAA

  public void setAA(A4 a)

• setRef

  public void setRef(Quat qref)

• getQuaternionFrame

  public static final Quat getQuaternionFrame(P3 center, T3 x, T3 xy)

  returns a quaternion frame based on three points (center, x, and any point in xy plane) or two vectors (vA, vB).

  Parameters:

  center - (null for vA/vB option)

  x -

  xy -

  Returns:

  quaternion for frame

• getQuaternionFrameV

  public static final Quat getQuaternionFrameV(V3 vA, V3 vB, V3 vC, boolean yBased)

  Create a quaternion based on a frame

  Parameters:

  vA -

  vB -

  vC -

  yBased -

  Returns:

  quaternion

• getMatrix

  public M3 getMatrix()

• add

  public Quat add(float x)

• mul

  public Quat mul(float x)

• mulQ

  public Quat mulQ(Quat p)

• divLeft

  public Quat divLeft(Quat p)

• dot

  public float dot(Quat q)

• inv

  public Quat inv()

• negate

  public Quat negate()

• getVector

  public V3 getVector(int i)

• getVectorScaled

  public V3 getVectorScaled(int i, float scale)

• getNormal

  public V3 getNormal()

  Returns:

  vector such that 0 invalid input: '<'= angle invalid input: '<'= 180

• getTheta

  public float getTheta()

  Returns:

  0 invalid input: '<'= angle invalid input: '<'= 180 in degrees

• getThetaRadians

  public float getThetaRadians()

• getNormalDirected

  public V3 getNormalDirected(V3 v0)

  Parameters:

  v0 -

  Returns:

  vector option closest to v0

• get3dProjection

  public V3 get3dProjection(V3 v3d)

• getThetaDirected

  public P4 getThetaDirected(P4 axisAngle)

  Parameters:

  axisAngle -

  Returns:

  fill in theta of axisAngle such that

• getThetaDirectedV

  public float getThetaDirectedV(V3 vector)

  Parameters:

  vector - a vector, same as for getNormalDirected

  Returns:

  return theta

• toPoint4f

  public P4 toPoint4f()

  Quaternions are saved as {q1, q2, q3, q0} While this may seem odd, it is so that for any point4 -- planes, axisangles, and quaternions -- we can use the first three coordinates to determine the relavent axis the fourth then gives us offset to {0,0,0} (plane), rotation angle (axisangle), and cos(theta/2) (quaternion).

  Returns:

  {x y z w} (unnormalized)

• toAxisAngle4f

  public A4 toAxisAngle4f()

• transform2

  public T3 transform2(T3 pt, T3 ptNew)

• leftDifference

  public Quat leftDifference(Quat q2)

• rightDifference

  public Quat rightDifference(Quat q2)

• toString

  public String toString()

  Java axisAngle / plane / Point4f format all have the format {x y z w} so we go with that here as well

  Overrides:

  toString in class Object

  Returns:

  "{q1 q2 q3 q0}"

• div

  public Quat div(Quat p)

• arrayDiv

  public static Quat[] arrayDiv(Quat[] data1, Quat[] data2, int nMax, boolean isRelative)

  Parameters:

  data1 -

  data2 -

  nMax - > 0 --> limit to this number

  isRelative -

  Returns:

  pairwise array of data1 / data2 or data1 \ data2

• sphereMean

  public static Quat sphereMean(Quat[] data, float[] retStddev, float criterion)

• getEulerZYZ

  public float[] getEulerZYZ()

• getEulerZXZ

  public float[] getEulerZXZ()