Quaternions represent rotation around an axis, defined by quaternion components x, y, z and w. More...

Inheritance diagram for Quaternion:

Public Member Functions
	Quaternion (long cPtr, boolean cMemoryOwn)

	Quaternion ()
	Default constructor, initializes the quaternion components to identity, representing no rotation (x=0, y=0, z=0, w=1).

	Quaternion (float x, float y, float z, float w)
	Constructor, initializes the quaternion components to x, y, z and w. More...

Quaternion	conjugated ()
	Get conjugated copy of this quaternion. More...

synchronized void	delete ()

Quaternion	divideByScalar (float scalar)

boolean	equals (Object obj)

float	get (long index)

float	getW ()
	Get the w component of the quaternion. More...

float	getX ()
	Get the x component of the quaternion. More...

float	getY ()
	Get the y component of the quaternion. More...

float	getZ ()
	Get the z component of the quaternion. More...

Quaternion	multiplyByScalar (float scalar)

Quaternion	normalized ()
	Get normalized copy of this quaternion. More...

void	set (long index, float v)

void	setW (float w)
	Sets the w component of the quaternion. More...

void	setX (float x)
	Sets the x component of the quaternion. More...

void	setY (float y)
	Sets the y component of the quaternion. More...

void	setZ (float z)
	Sets the z component of the quaternion. More...

Static Public Member Functions
static Vector3	calculateEulerAngles (Quaternion quaternion)

static Quaternion	componentWiseMultiply (Quaternion q1, Quaternion q2)

static Quaternion	createFromEulerAngles (Vector3 anglesInRadians)
	Creates a quaternion from Euler angles. More...

static Quaternion	createFromEulerAngles (float rotationX, float rotationY, float rotationZ)
	Creates a quaternion from Euler angles. More...

static Quaternion	createFromVector (Vector3 axis, float angleInRadians)
	Creates quaternion from axis and angle. More...

static Quaternion	divide (Quaternion q, float scalar)

static float	dotProduct (Quaternion q1, Quaternion q2)

static long	getCPtr (Quaternion obj)

static Quaternion	inverse (Quaternion q)

static Quaternion	matrix4x4ToQuaternion (Matrix4x4 matrix)

static Quaternion	multiply (Quaternion q, float scalar)

static Quaternion	multiply (Quaternion left, Quaternion right)

static Quaternion	quaternionSlerp (Quaternion q1, Quaternion q2, float interpolationTime)

static Quaternion	quaternionSlerpLongerPath (Quaternion q1, Quaternion q2, float interpolationTime)

static Matrix4x4	quaternionToMatrix4x4 (Quaternion quaternion)

static Vector3	rotateVector (Quaternion quaternion, Vector3 vector)

Protected Member Functions
void	finalize ()

Protected Attributes
transient boolean	swigCMemOwn

Detailed Description

Quaternions represent rotation around an axis, defined by quaternion components x, y, z and w.

Quaternions are compact, do not suffer from gimbal lock and can be easily interpolated.
Kanzi Engine uses quaternions internally to represent all rotations.
Quaternions are based on complex numbers and are not easy to understand intuitively. You almost never access or modify the individual components.
In most cases you take existing rotations and use them to construct new rotations (e.g. to smoothly interpolate between two rotations).
You can use the Quaternion operator * to rotate one rotation by another, or to rotate a vector by a rotation.
See operator*(const Quaternion& q1, const Quaternion& q2).
See rotateVector(const Quaternion& quaternion, Vector3 vector).

Constructor & Destructor Documentation

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

Constructor, initializes the quaternion components to x, y, z and w.

Parameters

x	x component of the quaternion.
y	y component of the quaternion.
z	z component of the quaternion.
w	w component of the quaternion.

Member Function Documentation

Quaternion conjugated ( )

Get conjugated copy of this quaternion.

Conjugation inverses the quaternion axis components x, y and z.
Use this to get the inverse rotation of a quaternion.

Returns: Conjugated quaternion.

static Quaternion createFromEulerAngles ( Vector3 anglesInRadians )

static

Creates a quaternion from Euler angles.

Kanzi Engine represents Euler angles as Tait-Bryan angles where the rotations are applied in the order x, y and z.

Parameters

anglesInRadians Euler angles in radians.

Returns: Rotated quaternion.

static Quaternion createFromEulerAngles	(	float	rotationX,
		float	rotationY,
		float	rotationZ
	)

static

Creates a quaternion from Euler angles.

Kanzi Engine represents Euler angles as Tait-Bryan angles where the rotations are applied in the order x, y and z.

Parameters

rotationX	Rotation angle around the x axis in radians.
rotationY	Rotation angle around the y axis in radians.
rotationZ	Rotation angle around the z axis in radians.

Returns: Rotated quaternion.

static Quaternion createFromVector	(	Vector3	axis,
		float	angleInRadians
	)

static

Creates quaternion from axis and angle.

Use this to create a quaternion from axis of rotation and angle in radians.

Parameters

axis	Axis components in Vector3(x, y, z).
angleInRadians	Angle in radians.

Returns: Rotated quaternion.

float getW ( )

Get the w component of the quaternion.

Returns: The w component.

float getX ( )

Get the x component of the quaternion.

Returns: The x component.

float getY ( )

Get the y component of the quaternion.

Returns: The y component.

float getZ ( )

Get the z component of the quaternion.

Returns: The z component.

Quaternion normalized ( )

Get normalized copy of this quaternion.

Normalized quaternion is called an unit quaternion.
Calculates the magnitude from the dot product of the quaternion components, and divides all the quaternion components with the magnitude.
Use this when rotating or transforming a vector with a quaternion, and when generating a rotation or transformation matrix from quaternion.
Using unnormalized quaternion in calculations can lead to floating point rounding errors. The errors that result from using an unnormalized
quaternion in calculations are proportional to the square of the quaternion's magnitude.

Returns: Normalized quaternion.

void setW ( float w )

Sets the w component of the quaternion.

Parameters

w	The new value of the w component.

void setX ( float x )

Sets the x component of the quaternion.

Parameters

x	The new value of the x component.

void setY ( float y )

Sets the y component of the quaternion.

Parameters

y	The new value of the y component.

void setZ ( float z )

Sets the z component of the quaternion.

Parameters

z	The new value of the z component.


Kanzi Java API

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation