com.maxst.ar.Quaternion Class Reference

Inheritance diagram for com.maxst.ar.Quaternion:

Public Member Functions
	Quaternion ()
void	normalise ()
void	normalize ()
void	set (Quaternion quat)
void	multiplyByQuat (Quaternion input, Quaternion output)
void	multiplyByQuat (Quaternion input)
void	multiplyByScalar (float scalar)
void	addQuat (Quaternion input)
void	addQuat (Quaternion input, Quaternion output)
void	subQuat (Quaternion input)
void	subQuat (Quaternion input, Quaternion output)
void	toAxisAngle (Vector4f output)
double []	toEulerAngles ()
void	loadIdentityQuat ()
String	toString ()
void	setColumnMajor (float[] matrix)
void	setRowMajor (float[] matrix)
void	setEulerAngle (float azimuth, float pitch, float roll)
void	setAxisAngle (Vector3f vec, float rot)
void	setAxisAngleRad (Vector3f vec, double rot)
MatrixF4x4	getMatrix4x4 ()
void	copyFromVec3 (Vector3f vec, float w)
void	slerp (Quaternion input, Quaternion output, float t)
Public Member Functions inherited from com.maxst.ar.Vector4f
	Vector4f (float x, float y, float z, float w)
	Vector4f ()
	Vector4f (Vector3f vector3f, float w)
float []	array ()
void	copyVec4 (Vector4f vec)
void	add (Vector4f vector)
void	add (Vector3f vector, float w)
void	subtract (Vector4f vector)
void	subtract (Vector4f vector, Vector4f output)
void	subdivide (Vector4f vector)
void	multiplyByScalar (float scalar)
float	dotProduct (Vector4f input)
void	lerp (Vector4f input, Vector4f output, float t)
void	normalize ()
float	getX ()
float	getY ()
float	getZ ()
float	getW ()
void	setX (float x)
void	setY (float y)
void	setZ (float z)
void	setW (float w)
float	x ()
float	y ()
float	z ()
float	w ()
void	x (float x)
void	y (float y)
void	z (float z)
void	w (float w)
void	setXYZW (float x, float y, float z, float w)
boolean	compareTo (Vector4f rhs)
void	copyFromV3f (Vector3f input, float w)
String	toString ()

Additional Inherited Members
Protected Attributes inherited from com.maxst.ar.Vector4f
float	points [] = { 0, 0, 0, 0 }

Detailed Description

The Quaternion class. A Quaternion is a four-dimensional vector that is used to represent rotations of a rigid body in the 3D space. It is very similar to a rotation vector; it contains an angle, encoded into the w component and three components to describe the rotation-axis (encoded into x, y, z).

Quaternions allow for elegant descriptions of 3D rotations, interpolations as well as extrapolations and compared to Euler angles, they don't suffer from gimbal lock. Interpolations between two Quaternions are called SLERP (Spherical Linear Interpolation).

This class also contains the representation of the same rotation as a Quaternion and 4x4-Rotation-Matrix.

Author

Leigh Beattie, Alexander Pacha

Constructor & Destructor Documentation

Quaternion()

com.maxst.ar.Quaternion.Quaternion ( )

inline

Creates a new Quaternion object and initialises it with the identity Quaternion

Member Function Documentation

addQuat() [1/2]

void com.maxst.ar.Quaternion.addQuat ( Quaternion  input )

inline

Add a quaternion to this quaternion

Parameters

input

The quaternion that you want to add to this one

addQuat() [2/2]

void com.maxst.ar.Quaternion.addQuat ( Quaternion  input, Quaternion  output  )

inline

Add this quaternion and another quaternion together and store the result in the output quaternion

Parameters

input	The quaternion you want added to this quaternion
output	The quaternion you want to store the output in.

getMatrix4x4()

MatrixF4x4 com.maxst.ar.Quaternion.getMatrix4x4 ( )

inline

Returns

Returns this Quaternion in the Rotation Matrix representation

loadIdentityQuat()

void com.maxst.ar.Quaternion.loadIdentityQuat ( )

inline

Sets the quaternion to an identity quaternion of 0,0,0,1.

multiplyByQuat() [1/2]

void com.maxst.ar.Quaternion.multiplyByQuat ( Quaternion  input, Quaternion  output  )

inline

Multiply this quaternion by the input quaternion and store the result in the out quaternion

Parameters

input
output

multiplyByQuat() [2/2]

void com.maxst.ar.Quaternion.multiplyByQuat ( Quaternion  input )

inline

Multiply this quaternion by the input quaternion and store the result in the out quaternion

Parameters

input
output

multiplyByScalar()

void com.maxst.ar.Quaternion.multiplyByScalar ( float  scalar )

inline

Multiplies this Quaternion with a scalar

Parameters

scalar

the value that the vector should be multiplied with

normalise()

void com.maxst.ar.Quaternion.normalise ( )

inline

Normalise this Quaternion into a unity Quaternion.

set()

void com.maxst.ar.Quaternion.set ( Quaternion  quat )

inline

Copies the values from the given quaternion to this one

Parameters

quat	The quaternion to copy from

setAxisAngle()

void com.maxst.ar.Quaternion.setAxisAngle ( Vector3f  vec, float  rot  )

inline

Rotation is in degrees. Set this quaternion from the supplied axis angle.

Parameters

vec	The vector of rotation
rot	The angle of rotation around that vector in degrees.

setColumnMajor()

void com.maxst.ar.Quaternion.setColumnMajor ( float []  matrix )

inline

You can set the values for this quaternion based off a rotation matrix. If the matrix you supply is not a rotation matrix this will fail. You MUST provide a 4x4 matrix.

Parameters

matrix

A column major rotation matrix

setEulerAngle()

void com.maxst.ar.Quaternion.setEulerAngle ( float  azimuth, float  pitch, float  roll  )

inline

Set this quaternion from axis angle values. All rotations are in degrees.

Parameters

azimuth	The rotation around the z axis
pitch	The rotation around the y axis
roll	The rotation around the x axis

setRowMajor()

void com.maxst.ar.Quaternion.setRowMajor ( float []  matrix )

inline

You can set the values for this quaternion based off a rotation matrix. If the matrix you supply is not a rotation matrix this will fail.

Parameters

matrix

A column major rotation matrix

slerp()

void com.maxst.ar.Quaternion.slerp ( Quaternion  input, Quaternion  output, float  t  )

inline

Get a linear interpolation between this quaternion and the input quaternion, storing the result in the output quaternion.

Parameters

input	The quaternion to be slerped with this quaternion.
output	The quaternion to store the result in.
t	The ratio between the two quaternions where 0 <= t <= 1.0 . Increase value of t will bring rotation closer to the input quaternion.

if(dot < 0.95f){ double angle = Math.acos(dot); double ratioA = Math.sin((1 - t) * angle); double ratioB = Math.sin(t * angle); double divisor = Math.sin(angle);

//Calculate Quaternion output.setW((float)((this.getW() * ratioA + input.getW() * ratioB)/divisor)); output.setX((float)((this.getX() * ratioA + input.getX() * ratioB)/divisor)); output.setY((float)((this.getY() * ratioA + input.getY() * ratioB)/divisor)); output.setZ((float)((this.getZ() * ratioA + input.getZ() * ratioB)/divisor)); } else{ lerp(input, output, t); }

subQuat() [1/2]

void com.maxst.ar.Quaternion.subQuat ( Quaternion  input )

inline

Subtract a quaternion to this quaternion

Parameters

input

The quaternion that you want to subtracted from this one

subQuat() [2/2]

void com.maxst.ar.Quaternion.subQuat ( Quaternion  input, Quaternion  output  )

inline

Subtract another quaternion from this quaternion and store the result in the output quaternion

Parameters

input	The quaternion you want subtracted from this quaternion
output	The quaternion you want to store the output in.

toAxisAngle()

void com.maxst.ar.Quaternion.toAxisAngle ( Vector4f  output )

inline

Get an axis angle representation of this quaternion.

Parameters

output

Vector4f axis angle.

toEulerAngles()

double [] com.maxst.ar.Quaternion.toEulerAngles ( )

inline

Returns the heading, attitude and bank of this quaternion as euler angles in the double array respectively

Returns

An array of size 3 containing the euler angles for this quaternion

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The documentation for this class was generated from the following file:

• com/maxst/ar/Quaternion.java