Quaterniond (Flow Math 1.0.3 API)

java.lang.Object
- com.flowpowered.math.imaginary.Quaterniond

All Implemented Interfaces:

Imaginaryd, Serializable, Cloneable, Comparable<Quaterniond>
```
public class Quaterniond
extends Object
implements Imaginaryd, Comparable<Quaterniond>, Serializable, Cloneable
```
Represent a quaternion of the form xi + yj + zk + w. The x, y, z and w components are stored as doubles. This class is immutable.

See Also:

Serialized Form

Field Summary

Fields
Modifier and Type	Field and Description
`static Quaterniond`	`IDENTITY` An immutable identity (0, 0, 0, 1) quaternion.
`static Quaterniond`	`ZERO` An immutable identity (0, 0, 0, 0) quaternion.

Constructor Summary

Constructors
Constructor and Description
`Quaterniond()` Constructs a new quaternion.
`Quaterniond(double x, double y, double z, double w)` Constructs a new quaternion from the double components.
`Quaterniond(float x, float y, float z, float w)` Constructs a new quaternion from the float components.
`Quaterniond(Quaterniond q)` Copy constructor.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`Quaterniond`	`add(double x, double y, double z, double w)` Adds the double components of another quaternion to this one.
`Quaterniond`	`add(float x, float y, float z, float w)` Adds the float components of another quaternion to this one.
`Quaterniond`	`add(Quaterniond q)` Adds another quaternion to this one.
`Quaterniond`	`clone()`
`int`	`compareTo(Quaterniond q)`
`Quaterniond`	`conjugate()` Conjugates the quaternion.
`Quaterniond`	`div(double a)` Divides the components of this quaternion by a double scalar.
`Quaterniond`	`div(double x, double y, double z, double w)` Divides this quaternions by the double components of another one.
`Quaterniond`	`div(float a)` Divides the components of this quaternion by a float scalar.
`Quaterniond`	`div(float x, float y, float z, float w)` Divides this quaternions by the float components of another one.
`Quaterniond`	`div(Quaterniond q)` Divides this quaternions by another one.
`double`	`dot(double x, double y, double z, double w)` Returns the dot product of this quaternion with the double components of another one.
`double`	`dot(float x, float y, float z, float w)` Returns the dot product of this quaternion with the float components of another one.
`double`	`dot(Quaterniond q)` Returns the dot product of this quaternion with another one.
`boolean`	`equals(Object o)`
`static Quaterniond`	`from(double x, double y, double z, double w)` Creates a new quaternion from the double components.
`static Quaterniond`	`fromAngleDegAxis(double angle, double x, double y, double z)` Creates a new quaternion from the rotation double angle in degrees around the axis vector double components.
`static Quaterniond`	`fromAngleDegAxis(double angle, Vector3d axis)` Creates a new quaternion from the rotation double angle in degrees around the axis vector.
`static Quaterniond`	`fromAngleDegAxis(float angle, float x, float y, float z)` Creates a new quaternion from the rotation float angle in degrees around the axis vector float components.
`static Quaterniond`	`fromAngleDegAxis(float angle, Vector3d axis)` Creates a new quaternion from the rotation float angle in degrees around the axis vector.
`static Quaterniond`	`fromAngleRadAxis(double angle, double x, double y, double z)` Creates a new quaternion from the rotation double angle in radians around the axis vector double components.
`static Quaterniond`	`fromAngleRadAxis(double angle, Vector3d axis)` Creates a new quaternion from the rotation double angle in radians around the axis vector.
`static Quaterniond`	`fromAngleRadAxis(float angle, float x, float y, float z)` Creates a new quaternion from the rotation float angle in radians around the axis vector float components.
`static Quaterniond`	`fromAngleRadAxis(float angle, Vector3d axis)` Creates a new quaternion from the rotation float angle in radians around the axis vector.
`static Quaterniond`	`fromAxesAnglesDeg(double pitch, double yaw, double roll)` Creates a new quaternion from the double angles in degrees around the x, y and z axes.
`static Quaterniond`	`fromAxesAnglesDeg(float pitch, float yaw, float roll)` Creates a new quaternion from the float angles in degrees around the x, y and z axes.
`static Quaterniond`	`fromAxesAnglesRad(double pitch, double yaw, double roll)` Creates a new quaternion from the double angles in radians around the x, y and z axes.
`static Quaterniond`	`fromAxesAnglesRad(float pitch, float yaw, float roll)` Creates a new quaternion from the float angles in radians around the x, y and z axes.
`static Quaterniond`	`fromImaginary(double x, double y, double z)` Creates a new quaternion from the double imaginary components.
`static Quaterniond`	`fromReal(double w)` Creates a new quaternion from the double real component.
`static Quaterniond`	`fromRotationMatrix(Matrix3d matrix)` Creates a new quaternion from the rotation matrix.
`static Quaterniond`	`fromRotationTo(Vector3d from, Vector3d to)` Creates a new quaternion from the angle-axis rotation defined from the first to the second vector.
`Vector3d`	`getAxesAnglesDeg()` Returns the angles in degrees around the x, y and z axes that correspond to the rotation represented by this quaternion.
`Vector3d`	`getAxesAnglesRad()` Returns the angles in radians around the x, y and z axes that correspond to the rotation represented by this quaternion.
`Vector3d`	`getAxis()` Returns the axis of rotation for this quaternion.
`Vector3d`	`getDirection()` Returns a unit vector representing the direction of this quaternion, which is `Vector3d.FORWARD` rotated by this quaternion.
`double`	`getW()` Gets the w (real) component of this quaternion.
`double`	`getX()` Gets the x (imaginary) component of this quaternion.
`double`	`getY()` Gets the y (imaginary) component of this quaternion.
`double`	`getZ()` Gets the z (imaginary) component of this quaternion.
`int`	`hashCode()`
`Quaterniond`	`invert()` Inverts the quaternion.
`double`	`length()` Returns the length of this quaternion.
`double`	`lengthSquared()` Returns the square of the length of this quaternion.
`Quaterniond`	`mul(double a)` Multiplies the components of this quaternion by a double scalar.
`Quaterniond`	`mul(double x, double y, double z, double w)` Multiplies the double components of another quaternion with this one.
`Quaterniond`	`mul(float a)` Multiplies the components of this quaternion by a float scalar.
`Quaterniond`	`mul(float x, float y, float z, float w)` Multiplies the float components of another quaternion with this one.
`Quaterniond`	`mul(Quaterniond q)` Multiplies another quaternion with this one.
`Quaterniond`	`normalize()` Normalizes this quaternion.
`Vector3d`	`rotate(double x, double y, double z)` Rotates the double components of a vector by this quaternion.
`Vector3d`	`rotate(float x, float y, float z)` Rotates the float components of a vector by this quaternion.
`Vector3d`	`rotate(Vector3d v)` Rotates a vector by this quaternion.
`Quaterniond`	`sub(double x, double y, double z, double w)` Subtracts the double components of another quaternion from this one.
`Quaterniond`	`sub(float x, float y, float z, float w)` Subtracts the float components of another quaternion from this one.
`Quaterniond`	`sub(Quaterniond q)` Subtracts another quaternion from this one.
`Complexd`	`toComplex()` Converts this quaternion to a complex by extracting the rotation around the axis and returning it as a rotation in the plane perpendicular to the rotation axis.
`Quaterniond`	`toDouble()`
`Quaternionf`	`toFloat()`
`String`	`toString()`

Methods inherited from class java.lang.Object
finalize, getClass, notify, notifyAll, wait, wait, wait

- Field Detail
  - ZERO
```
public static final Quaterniond ZERO
```
    An immutable identity (0, 0, 0, 0) quaternion.
  - IDENTITY
```
public static final Quaterniond IDENTITY
```
    An immutable identity (0, 0, 0, 1) quaternion.
- Constructor Detail
  - Quaterniond
```
public Quaterniond()
```
    Constructs a new quaternion. The components are set to the identity (0, 0, 0, 1).
  - Quaterniond
```
public Quaterniond(float x,
                   float y,
                   float z,
                   float w)
```
    Constructs a new quaternion from the float components.
    
    Parameters:
    
    x - The x (imaginary) component
    
    y - The y (imaginary) component
    
    z - The z (imaginary) component
    
    w - The w (real) component
  - Quaterniond
```
public Quaterniond(double x,
                   double y,
                   double z,
                   double w)
```
    Constructs a new quaternion from the double components.
    
    Parameters:
    
    x - The x (imaginary) component
    
    y - The y (imaginary) component
    
    z - The z (imaginary) component
    
    w - The w (real) component
  - Quaterniond
```
public Quaterniond(Quaterniond q)
```
    Copy constructor.
    
    Parameters:
    
    q - The quaternion to copy
- Method Detail
  - getX
```
public double getX()
```
    Gets the x (imaginary) component of this quaternion.
    
    Returns:
    
    The x (imaginary) component
  - getY
```
public double getY()
```
    Gets the y (imaginary) component of this quaternion.
    
    Returns:
    
    The y (imaginary) component
  - getZ
```
public double getZ()
```
    Gets the z (imaginary) component of this quaternion.
    
    Returns:
    
    The z (imaginary) component
  - getW
```
public double getW()
```
    Gets the w (real) component of this quaternion.
    
    Returns:
    
    The w (real) component
  - add
```
public Quaterniond add(Quaterniond q)
```
    Adds another quaternion to this one.
    
    Parameters:
    
    q - The quaternion to add
    
    Returns:
    
    A new quaternion, which is the sum of both
  - add
```
public Quaterniond add(float x,
                       float y,
                       float z,
                       float w)
```
    Adds the float components of another quaternion to this one.
    
    Parameters:
    
    x - The x (imaginary) component of the quaternion to add
    
    y - The y (imaginary) component of the quaternion to add
    
    z - The z (imaginary) component of the quaternion to add
    
    w - The w (real) component of the quaternion to add
    
    Returns:
    
    A new quaternion, which is the sum of both
  - add
```
public Quaterniond add(double x,
                       double y,
                       double z,
                       double w)
```
    Adds the double components of another quaternion to this one.
    
    Parameters:
    
    x - The x (imaginary) component of the quaternion to add
    
    y - The y (imaginary) component of the quaternion to add
    
    z - The z (imaginary) component of the quaternion to add
    
    w - The w (real) component of the quaternion to add
    
    Returns:
    
    A new quaternion, which is the sum of both
  - sub
```
public Quaterniond sub(Quaterniond q)
```
    Subtracts another quaternion from this one.
    
    Parameters:
    
    q - The quaternion to subtract
    
    Returns:
    
    A new quaternion, which is the difference of both
  - sub
```
public Quaterniond sub(float x,
                       float y,
                       float z,
                       float w)
```
    Subtracts the float components of another quaternion from this one.
    
    Parameters:
    
    x - The x (imaginary) component of the quaternion to subtract
    
    y - The y (imaginary) component of the quaternion to subtract
    
    z - The z (imaginary) component of the quaternion to subtract
    
    w - The w (real) component of the quaternion to subtract
    
    Returns:
    
    A new quaternion, which is the difference of both
  - sub
```
public Quaterniond sub(double x,
                       double y,
                       double z,
                       double w)
```
    Subtracts the double components of another quaternion from this one.
    
    Parameters:
    
    x - The x (imaginary) component of the quaternion to subtract
    
    y - The y (imaginary) component of the quaternion to subtract
    
    z - The z (imaginary) component of the quaternion to subtract
    
    w - The w (real) component of the quaternion to subtract
    
    Returns:
    
    A new quaternion, which is the difference of both
  - mul
```
public Quaterniond mul(float a)
```
    Multiplies the components of this quaternion by a float scalar.
    
    Parameters:
    
    a - The multiplication scalar
    
    Returns:
    
    A new quaternion, which has each component multiplied by the scalar
  - mul
```
public Quaterniond mul(double a)
```
    Multiplies the components of this quaternion by a double scalar.
    
    Specified by:
    
    mul in interface Imaginaryd
    
    Parameters:
    
    a - The multiplication scalar
    
    Returns:
    
    A new quaternion, which has each component multiplied by the scalar
  - mul
```
public Quaterniond mul(Quaterniond q)
```
    Multiplies another quaternion with this one.
    
    Parameters:
    
    q - The quaternion to multiply with
    
    Returns:
    
    A new quaternion, which is the product of both
  - mul
```
public Quaterniond mul(float x,
                       float y,
                       float z,
                       float w)
```
    Multiplies the float components of another quaternion with this one.
    
    Parameters:
    
    x - The x (imaginary) component of the quaternion to multiply with
    
    y - The y (imaginary) component of the quaternion to multiply with
    
    z - The z (imaginary) component of the quaternion to multiply with
    
    w - The w (real) component of the quaternion to multiply with
    
    Returns:
    
    A new quaternion, which is the product of both
  - mul
```
public Quaterniond mul(double x,
                       double y,
                       double z,
                       double w)
```
    Multiplies the double components of another quaternion with this one.
    
    Parameters:
    
    x - The x (imaginary) component of the quaternion to multiply with
    
    y - The y (imaginary) component of the quaternion to multiply with
    
    z - The z (imaginary) component of the quaternion to multiply with
    
    w - The w (real) component of the quaternion to multiply with
    
    Returns:
    
    A new quaternion, which is the product of both
  - div
```
public Quaterniond div(float a)
```
    Divides the components of this quaternion by a float scalar.
    
    Parameters:
    
    a - The division scalar
    
    Returns:
    
    A new quaternion, which has each component divided by the scalar
  - div
```
public Quaterniond div(double a)
```
    Divides the components of this quaternion by a double scalar.
    
    Specified by:
    
    div in interface Imaginaryd
    
    Parameters:
    
    a - The division scalar
    
    Returns:
    
    A new quaternion, which has each component divided by the scalar
  - div
```
public Quaterniond div(Quaterniond q)
```
    Divides this quaternions by another one.
    
    Parameters:
    
    q - The quaternion to divide with
    
    Returns:
    
    The quotient of the two quaternions
  - div
```
public Quaterniond div(float x,
                       float y,
                       float z,
                       float w)
```
    Divides this quaternions by the float components of another one.
    
    Parameters:
    
    x - The x (imaginary) component of the quaternion to divide with
    
    y - The y (imaginary) component of the quaternion to divide with
    
    z - The z (imaginary) component of the quaternion to divide with
    
    w - The w (real) component of the quaternion to divide with
    
    Returns:
    
    The quotient of the two quaternions
  - div
```
public Quaterniond div(double x,
                       double y,
                       double z,
                       double w)
```
    Divides this quaternions by the double components of another one.
    
    Parameters:
    
    x - The x (imaginary) component of the quaternion to divide with
    
    y - The y (imaginary) component of the quaternion to divide with
    
    z - The z (imaginary) component of the quaternion to divide with
    
    w - The w (real) component of the quaternion to divide with
    
    Returns:
    
    The quotient of the two quaternions
  - dot
```
public double dot(Quaterniond q)
```
    Returns the dot product of this quaternion with another one.
    
    Parameters:
    
    q - The quaternion to calculate the dot product with
    
    Returns:
    
    The dot product of the two quaternions
  - dot
```
public double dot(float x,
                  float y,
                  float z,
                  float w)
```
    Returns the dot product of this quaternion with the float components of another one.
    
    Parameters:
    
    x - The x (imaginary) component of the quaternion to calculate the dot product with
    
    y - The y (imaginary) component of the quaternion to calculate the dot product with
    
    z - The z (imaginary) component of the quaternion to calculate the dot product with
    
    w - The w (real) component of the quaternion to calculate the dot product with
    
    Returns:
    
    The dot product of the two quaternions
  - dot
```
public double dot(double x,
                  double y,
                  double z,
                  double w)
```
    Returns the dot product of this quaternion with the double components of another one.
    
    Parameters:
    
    x - The x (imaginary) component of the quaternion to calculate the dot product with
    
    y - The y (imaginary) component of the quaternion to calculate the dot product with
    
    z - The z (imaginary) component of the quaternion to calculate the dot product with
    
    w - The w (real) component of the quaternion to calculate the dot product with
    
    Returns:
    
    The dot product of the two quaternions
  - rotate
```
public Vector3d rotate(Vector3d v)
```
    Rotates a vector by this quaternion.
    
    Parameters:
    
    v - The vector to rotate
    
    Returns:
    
    The rotated vector
  - rotate
```
public Vector3d rotate(float x,
                       float y,
                       float z)
```
    Rotates the float components of a vector by this quaternion.
    
    Parameters:
    
    x - The x component of the vector
    
    y - The y component of the vector
    
    z - The z component of the vector
    
    Returns:
    
    The rotated vector
  - rotate
```
public Vector3d rotate(double x,
                       double y,
                       double z)
```
    Rotates the double components of a vector by this quaternion.
    
    Parameters:
    
    x - The x component of the vector
    
    y - The y component of the vector
    
    z - The z component of the vector
    
    Returns:
    
    The rotated vector
  - getDirection
```
public Vector3d getDirection()
```
    Returns a unit vector representing the direction of this quaternion, which is Vector3d.FORWARD rotated by this quaternion.
    
    Returns:
    
    The vector representing the direction this quaternion is pointing to
  - getAxis
```
public Vector3d getAxis()
```
    Returns the axis of rotation for this quaternion.
    
    Returns:
    
    The axis of rotation
  - getAxesAnglesDeg
```
public Vector3d getAxesAnglesDeg()
```
    Returns the angles in degrees around the x, y and z axes that correspond to the rotation represented by this quaternion.
    
    Returns:
    
    The angle in degrees for each axis, stored in a vector, in the corresponding component
  - getAxesAnglesRad
```
public Vector3d getAxesAnglesRad()
```
    Returns the angles in radians around the x, y and z axes that correspond to the rotation represented by this quaternion.
    
    Returns:
    
    The angle in radians for each axis, stored in a vector, in the corresponding component
  - conjugate
```
public Quaterniond conjugate()
```
    Conjugates the quaternion.
    Conjugation of a quaternion a is an operation returning quaternion a' such that a' * a = a * a' = |a|² where |a|² is squared length of a.
    
    Specified by:
    
    conjugate in interface Imaginaryd
    
    Returns:
    
    the conjugated quaternion
  - invert
```
public Quaterniond invert()
```
    Inverts the quaternion.
    Inversion of a quaternion a returns quaternion a^-1 = a' / |a|² where a' is conjugation of a, and |a|² is squared length of a.
    For any quaternions a, b, c, such that a * b = c equations a^-1 * c = b and c * b^-1 = a are true.
    
    Specified by:
    
    invert in interface Imaginaryd
    
    Returns:
    
    the inverted quaternion
  - lengthSquared
```
public double lengthSquared()
```
    Returns the square of the length of this quaternion.
    
    Specified by:
    
    lengthSquared in interface Imaginaryd
    
    Returns:
    
    The square of the length
  - length
```
public double length()
```
    Returns the length of this quaternion.
    
    Specified by:
    
    length in interface Imaginaryd
    
    Returns:
    
    The length
  - normalize
```
public Quaterniond normalize()
```
    Normalizes this quaternion.
    
    Specified by:
    
    normalize in interface Imaginaryd
    
    Returns:
    
    A new quaternion of unit length
  - toComplex
```
public Complexd toComplex()
```
    Converts this quaternion to a complex by extracting the rotation around the axis and returning it as a rotation in the plane perpendicular to the rotation axis.
    
    Returns:
    
    The rotation without the axis as a complex
  - toFloat
```
public Quaternionf toFloat()
```
    Specified by:
    
    toFloat in interface Imaginaryd
  - toDouble
```
public Quaterniond toDouble()
```
    Specified by:
    
    toDouble in interface Imaginaryd
  - equals
```
public boolean equals(Object o)
```
    Overrides:
    
    equals in class Object
  - hashCode
```
public int hashCode()
```
    Overrides:
    
    hashCode in class Object
  - compareTo
```
public int compareTo(Quaterniond q)
```
    Specified by:
    
    compareTo in interface Comparable<Quaterniond>
  - clone
```
public Quaterniond clone()
```
    Overrides:
    
    clone in class Object
  - toString
```
public String toString()
```
    Overrides:
    
    toString in class Object
  - fromReal
```
public static Quaterniond fromReal(double w)
```
    Creates a new quaternion from the double real component.
    The ZERO constant is re-used when w is 0.
    
    Parameters:
    
    w - The w (real) component
    
    Returns:
    
    The quaternion created from the double real component
  - fromImaginary
```
public static Quaterniond fromImaginary(double x,
                                        double y,
                                        double z)
```
    Creates a new quaternion from the double imaginary components.
    The ZERO constant is re-used when x, y, and z are 0.
    
    Parameters:
    
    x - The x (imaginary) component
    
    y - The y (imaginary) component
    
    z - The z (imaginary) component
    
    Returns:
    
    The quaternion created from the double imaginary components
  - from
```
public static Quaterniond from(double x,
                               double y,
                               double z,
                               double w)
```
    Creates a new quaternion from the double components.
    The ZERO constant is re-used when x, y, z, and w are 0.
    
    Parameters:
    
    x - The x (imaginary) component
    
    y - The y (imaginary) component
    
    z - The z (imaginary) component
    
    w - The w (real) component
    
    Returns:
    
    The quaternion created from the double components
  - fromAxesAnglesDeg
```
public static Quaterniond fromAxesAnglesDeg(float pitch,
                                            float yaw,
                                            float roll)
```
    Creates a new quaternion from the float angles in degrees around the x, y and z axes.
    
    Parameters:
    
    pitch - The rotation around x
    
    yaw - The rotation around y
    
    roll - The rotation around z
    
    Returns:
    
    The quaternion defined by the rotations around the axes
  - fromAxesAnglesRad
```
public static Quaterniond fromAxesAnglesRad(float pitch,
                                            float yaw,
                                            float roll)
```
    Creates a new quaternion from the float angles in radians around the x, y and z axes.
    
    Parameters:
    
    pitch - The rotation around x
    
    yaw - The rotation around y
    
    roll - The rotation around z
    
    Returns:
    
    The quaternion defined by the rotations around the axes
  - fromAxesAnglesDeg
```
public static Quaterniond fromAxesAnglesDeg(double pitch,
                                            double yaw,
                                            double roll)
```
    Creates a new quaternion from the double angles in degrees around the x, y and z axes.
    
    Parameters:
    
    pitch - The rotation around x
    
    yaw - The rotation around y
    
    roll - The rotation around z
    
    Returns:
    
    The quaternion defined by the rotations around the axes
  - fromAxesAnglesRad
```
public static Quaterniond fromAxesAnglesRad(double pitch,
                                            double yaw,
                                            double roll)
```
    Creates a new quaternion from the double angles in radians around the x, y and z axes.
    
    Parameters:
    
    pitch - The rotation around x
    
    yaw - The rotation around y
    
    roll - The rotation around z
    
    Returns:
    
    The quaternion defined by the rotations around the axes
  - fromRotationTo
```
public static Quaterniond fromRotationTo(Vector3d from,
                                         Vector3d to)
```
    Creates a new quaternion from the angle-axis rotation defined from the first to the second vector.
    
    Parameters:
    
    from - The first vector
    
    to - The second vector
    
    Returns:
    
    The quaternion defined by the angle-axis rotation between the vectors
  - fromAngleDegAxis
```
public static Quaterniond fromAngleDegAxis(float angle,
                                           Vector3d axis)
```
    Creates a new quaternion from the rotation float angle in degrees around the axis vector.
    
    Parameters:
    
    angle - The rotation angle in degrees
    
    axis - The axis of rotation
    
    Returns:
    
    The quaternion defined by the rotation around the axis
  - fromAngleRadAxis
```
public static Quaterniond fromAngleRadAxis(float angle,
                                           Vector3d axis)
```
    Creates a new quaternion from the rotation float angle in radians around the axis vector.
    
    Parameters:
    
    angle - The rotation angle in radians
    
    axis - The axis of rotation
    
    Returns:
    
    The quaternion defined by the rotation around the axis
  - fromAngleDegAxis
```
public static Quaterniond fromAngleDegAxis(double angle,
                                           Vector3d axis)
```
    Creates a new quaternion from the rotation double angle in degrees around the axis vector.
    
    Parameters:
    
    angle - The rotation angle in degrees
    
    axis - The axis of rotation
    
    Returns:
    
    The quaternion defined by the rotation around the axis
  - fromAngleRadAxis
```
public static Quaterniond fromAngleRadAxis(double angle,
                                           Vector3d axis)
```
    Creates a new quaternion from the rotation double angle in radians around the axis vector.
    
    Parameters:
    
    angle - The rotation angle in radians
    
    axis - The axis of rotation
    
    Returns:
    
    The quaternion defined by the rotation around the axis
  - fromAngleDegAxis
```
public static Quaterniond fromAngleDegAxis(float angle,
                                           float x,
                                           float y,
                                           float z)
```
    Creates a new quaternion from the rotation float angle in degrees around the axis vector float components.
    
    Parameters:
    
    angle - The rotation angle in degrees
    
    x - The x component of the axis vector
    
    y - The y component of the axis vector
    
    z - The z component of the axis vector
    
    Returns:
    
    The quaternion defined by the rotation around the axis
  - fromAngleRadAxis
```
public static Quaterniond fromAngleRadAxis(float angle,
                                           float x,
                                           float y,
                                           float z)
```
    Creates a new quaternion from the rotation float angle in radians around the axis vector float components.
    
    Parameters:
    
    angle - The rotation angle in radians
    
    x - The x component of the axis vector
    
    y - The y component of the axis vector
    
    z - The z component of the axis vector
    
    Returns:
    
    The quaternion defined by the rotation around the axis
  - fromAngleDegAxis
```
public static Quaterniond fromAngleDegAxis(double angle,
                                           double x,
                                           double y,
                                           double z)
```
    Creates a new quaternion from the rotation double angle in degrees around the axis vector double components.
    
    Parameters:
    
    angle - The rotation angle in degrees
    
    x - The x component of the axis vector
    
    y - The y component of the axis vector
    
    z - The z component of the axis vector
    
    Returns:
    
    The quaternion defined by the rotation around the axis
  - fromAngleRadAxis
```
public static Quaterniond fromAngleRadAxis(double angle,
                                           double x,
                                           double y,
                                           double z)
```
    Creates a new quaternion from the rotation double angle in radians around the axis vector double components.
    
    Parameters:
    
    angle - The rotation angle in radians
    
    x - The x component of the axis vector
    
    y - The y component of the axis vector
    
    z - The z component of the axis vector
    
    Returns:
    
    The quaternion defined by the rotation around the axis
  - fromRotationMatrix
```
public static Quaterniond fromRotationMatrix(Matrix3d matrix)
```
    Creates a new quaternion from the rotation matrix. The matrix will be interpreted as a rotation matrix even if it is not.
    
    Parameters:
    
    matrix - The rotation matrix
    
    Returns:
    
    The quaternion defined by the rotation matrix

Class Quaterniond

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

ZERO

IDENTITY

Constructor Detail

Quaterniond

Quaterniond

Quaterniond

Quaterniond

Method Detail

getX

getY

getZ

getW

add

add

add

sub

sub

sub

mul

mul

mul

mul

mul

div

div

div

div

div

dot

dot

dot

rotate

rotate

rotate

getDirection

getAxis

getAxesAnglesDeg

getAxesAnglesRad

conjugate

invert

lengthSquared

length

normalize

toComplex

toFloat

toDouble

equals

hashCode

compareTo

clone

toString

fromReal

fromImaginary

from

fromAxesAnglesDeg

fromAxesAnglesRad

fromAxesAnglesDeg

fromAxesAnglesRad

fromRotationTo

fromAngleDegAxis

fromAngleRadAxis

fromAngleDegAxis

fromAngleRadAxis

fromAngleDegAxis

fromAngleRadAxis

fromAngleDegAxis

fromAngleRadAxis

fromRotationMatrix