Package org.joml

## Interface Quaterniondc

• All Known Implementing Classes:
Quaterniond

public interface Quaterniondc
Interface to a read-only view of a quaternion of double-precision floats.
Author:
Kai Burjack
• ### Method Detail

• #### x

double x()
Returns:
the first component of the vector part
• #### y

double y()
Returns:
the second component of the vector part
• #### z

double z()
Returns:
the third component of the vector part
• #### w

double w()
Returns:
the real/scalar part of the quaternion
• #### normalize

Quaterniond normalize​(Quaterniond dest)
Normalize this quaternion and store the result in dest.
Parameters:
dest - will hold the result
Returns:
dest
• #### add

Quaterniond add​(double x,
double y,
double z,
double w,
Quaterniond dest)
Add the quaternion (x, y, z, w) to this quaternion and store the result in dest.
Parameters:
x - the x component of the vector part
y - the y component of the vector part
z - the z component of the vector part
w - the real/scalar component
dest - will hold the result
Returns:
dest
• #### add

Quaterniond add​(Quaterniondc q2,
Quaterniond dest)
Add q2 to this quaternion and store the result in dest.
Parameters:
q2 - the quaternion to add to this
dest - will hold the result
Returns:
dest
• #### dot

double dot​(Quaterniondc otherQuat)
Return the dot product of this Quaterniond and otherQuat.
Parameters:
otherQuat - the other quaternion
Returns:
the dot product
• #### angle

double angle()
Return the angle in radians represented by this normalized quaternion rotation.

This quaternion must be normalized.

Returns:
the angle in radians
• #### get

Matrix3d get​(Matrix3d dest)
Set the given destination matrix to the rotation represented by this.
Parameters:
dest - the matrix to write the rotation into
Returns:
the passed in destination
See Also:
Matrix3d.set(Quaterniondc)
• #### get

Matrix3f get​(Matrix3f dest)
Set the given destination matrix to the rotation represented by this.
Parameters:
dest - the matrix to write the rotation into
Returns:
the passed in destination
See Also:
Matrix3f.set(Quaterniondc)
• #### get

Matrix4d get​(Matrix4d dest)
Set the given destination matrix to the rotation represented by this.
Parameters:
dest - the matrix to write the rotation into
Returns:
the passed in destination
See Also:
Matrix4d.set(Quaterniondc)
• #### get

Matrix4f get​(Matrix4f dest)
Set the given destination matrix to the rotation represented by this.
Parameters:
dest - the matrix to write the rotation into
Returns:
the passed in destination
See Also:
Matrix4f.set(Quaterniondc)
• #### mul

Quaterniond mul​(Quaterniondc q,
Quaterniond dest)
Multiply this quaternion by q and store the result in dest.

If T is this and Q is the given quaternion, then the resulting quaternion R is:

R = T * Q

So, this method uses post-multiplication like the matrix classes, resulting in a vector to be transformed by Q first, and then by T.

Parameters:
q - the quaternion to multiply this by
dest - will hold the result
Returns:
dest
• #### mul

Quaterniond mul​(double qx,
double qy,
double qz,
double qw,
Quaterniond dest)
Multiply this quaternion by the quaternion represented via (qx, qy, qz, qw) and store the result in dest.

If T is this and Q is the given quaternion, then the resulting quaternion R is:

R = T * Q

So, this method uses post-multiplication like the matrix classes, resulting in a vector to be transformed by Q first, and then by T.

Parameters:
qx - the x component of the quaternion to multiply this by
qy - the y component of the quaternion to multiply this by
qz - the z component of the quaternion to multiply this by
qw - the w component of the quaternion to multiply this by
dest - will hold the result
Returns:
dest
• #### mul

Quaterniond mul​(double f,
Quaterniond dest)
Multiply this quaternion by the given scalar and store the result in dest.

This method multiplies all of the four components by the specified scalar.

Parameters:
f - the factor to multiply all components by
dest - will hold the result
Returns:
dest
• #### premul

Quaterniond premul​(Quaterniondc q,
Quaterniond dest)
Pre-multiply this quaternion by q and store the result in dest.

If T is this and Q is the given quaternion, then the resulting quaternion R is:

R = Q * T

So, this method uses pre-multiplication, resulting in a vector to be transformed by T first, and then by Q.

Parameters:
q - the quaternion to pre-multiply this by
dest - will hold the result
Returns:
dest
• #### premul

Quaterniond premul​(double qx,
double qy,
double qz,
double qw,
Quaterniond dest)
Pre-multiply this quaternion by the quaternion represented via (qx, qy, qz, qw) and store the result in dest.

If T is this and Q is the given quaternion, then the resulting quaternion R is:

R = Q * T

So, this method uses pre-multiplication, resulting in a vector to be transformed by T first, and then by Q.

Parameters:
qx - the x component of the quaternion to multiply this by
qy - the y component of the quaternion to multiply this by
qz - the z component of the quaternion to multiply this by
qw - the w component of the quaternion to multiply this by
dest - will hold the result
Returns:
dest
• #### transform

Vector3d transform​(Vector3d vec)
Transform the given vector by this quaternion.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformInverse

Vector3d transformInverse​(Vector3d vec)
Transform the given vector by the inverse of this quaternion.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformUnit

Vector3d transformUnit​(Vector3d vec)
Transform the given vector by this unit quaternion.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformInverseUnit

Vector3d transformInverseUnit​(Vector3d vec)
Transform the given vector by the inverse of this unit quaternion.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformPositiveX

Vector3d transformPositiveX​(Vector3d dest)
Transform the vector (1, 0, 0) by this quaternion.
Parameters:
dest - will hold the result
Returns:
dest
• #### transformPositiveX

Vector4d transformPositiveX​(Vector4d dest)
Transform the vector (1, 0, 0) by this quaternion.

Only the first three components of the given 4D vector are modified.

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveX

Vector3d transformUnitPositiveX​(Vector3d dest)
Transform the vector (1, 0, 0) by this unit quaternion.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveX

Vector4d transformUnitPositiveX​(Vector4d dest)
Transform the vector (1, 0, 0) by this unit quaternion.

Only the first three components of the given 4D vector are modified.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transformPositiveY

Vector3d transformPositiveY​(Vector3d dest)
Transform the vector (0, 1, 0) by this quaternion.
Parameters:
dest - will hold the result
Returns:
dest
• #### transformPositiveY

Vector4d transformPositiveY​(Vector4d dest)
Transform the vector (0, 1, 0) by this quaternion.

Only the first three components of the given 4D vector are modified.

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveY

Vector3d transformUnitPositiveY​(Vector3d dest)
Transform the vector (0, 1, 0) by this unit quaternion.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveY

Vector4d transformUnitPositiveY​(Vector4d dest)
Transform the vector (0, 1, 0) by this unit quaternion.

Only the first three components of the given 4D vector are modified.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transformPositiveZ

Vector3d transformPositiveZ​(Vector3d dest)
Transform the vector (0, 0, 1) by this quaternion.
Parameters:
dest - will hold the result
Returns:
dest
• #### transformPositiveZ

Vector4d transformPositiveZ​(Vector4d dest)
Transform the vector (0, 0, 1) by this quaternion.

Only the first three components of the given 4D vector are modified.

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveZ

Vector3d transformUnitPositiveZ​(Vector3d dest)
Transform the vector (0, 0, 1) by this unit quaternion.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveZ

Vector4d transformUnitPositiveZ​(Vector4d dest)
Transform the vector (0, 0, 1) by this unit quaternion.

Only the first three components of the given 4D vector are modified.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transform

Vector4d transform​(Vector4d vec)
Transform the given vector by this quaternion.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and modified.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformInverse

Vector4d transformInverse​(Vector4d vec)
Transform the given vector by the inverse of this quaternion.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and modified.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transform

Vector3d transform​(Vector3dc vec,
Vector3d dest)
Transform the given vector by this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverse

Vector3d transformInverse​(Vector3dc vec,
Vector3d dest)
Transform the given vector by the inverse of this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transform

Vector3d transform​(double x,
double y,
double z,
Vector3d dest)
Transform the given vector (x, y, z) by this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverse

Vector3d transformInverse​(double x,
double y,
double z,
Vector3d dest)
Transform the given vector (x, y, z) by the inverse of this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transform

Vector4d transform​(Vector4dc vec,
Vector4d dest)
Transform the given vector by this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and set on the destination.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverse

Vector4d transformInverse​(Vector4dc vec,
Vector4d dest)
Transform the given vector by the inverse of this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and set on the destination.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transform

Vector4d transform​(double x,
double y,
double z,
Vector4d dest)
Transform the given vector (x, y, z) by this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverse

Vector4d transformInverse​(double x,
double y,
double z,
Vector4d dest)
Transform the given vector (x, y, z) by the inverse of this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transform

Vector3f transform​(Vector3f vec)
Transform the given vector by this quaternion.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformInverse

Vector3f transformInverse​(Vector3f vec)
Transform the given vector by the inverse of this quaternion.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformUnit

Vector4d transformUnit​(Vector4d vec)
Transform the given vector by this unit quaternion.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and modified.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformInverseUnit

Vector4d transformInverseUnit​(Vector4d vec)
Transform the given vector by the inverse of this unit quaternion.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and modified.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformUnit

Vector3d transformUnit​(Vector3dc vec,
Vector3d dest)
Transform the given vector by this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverseUnit

Vector3d transformInverseUnit​(Vector3dc vec,
Vector3d dest)
Transform the given vector by the inverse of this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformUnit

Vector3d transformUnit​(double x,
double y,
double z,
Vector3d dest)
Transform the given vector (x, y, z) by this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverseUnit

Vector3d transformInverseUnit​(double x,
double y,
double z,
Vector3d dest)
Transform the given vector (x, y, z) by the inverse of this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformUnit

Vector4d transformUnit​(Vector4dc vec,
Vector4d dest)
Transform the given vector by this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and set on the destination.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverseUnit

Vector4d transformInverseUnit​(Vector4dc vec,
Vector4d dest)
Transform the given vector by the inverse of this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and set on the destination.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformUnit

Vector4d transformUnit​(double x,
double y,
double z,
Vector4d dest)
Transform the given vector (x, y, z) by this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverseUnit

Vector4d transformInverseUnit​(double x,
double y,
double z,
Vector4d dest)
Transform the given vector (x, y, z) by the inverse of this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformUnit

Vector3f transformUnit​(Vector3f vec)
Transform the given vector by this unit quaternion.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformInverseUnit

Vector3f transformInverseUnit​(Vector3f vec)
Transform the given vector by the inverse of this unit quaternion.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformPositiveX

Vector3f transformPositiveX​(Vector3f dest)
Transform the vector (1, 0, 0) by this quaternion.
Parameters:
dest - will hold the result
Returns:
dest
• #### transformPositiveX

Vector4f transformPositiveX​(Vector4f dest)
Transform the vector (1, 0, 0) by this quaternion.

Only the first three components of the given 4D vector are modified.

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveX

Vector3f transformUnitPositiveX​(Vector3f dest)
Transform the vector (1, 0, 0) by this unit quaternion.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveX

Vector4f transformUnitPositiveX​(Vector4f dest)
Transform the vector (1, 0, 0) by this unit quaternion.

Only the first three components of the given 4D vector are modified.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transformPositiveY

Vector3f transformPositiveY​(Vector3f dest)
Transform the vector (0, 1, 0) by this quaternion.
Parameters:
dest - will hold the result
Returns:
dest
• #### transformPositiveY

Vector4f transformPositiveY​(Vector4f dest)
Transform the vector (0, 1, 0) by this quaternion.

Only the first three components of the given 4D vector are modified.

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveY

Vector3f transformUnitPositiveY​(Vector3f dest)
Transform the vector (0, 1, 0) by this unit quaternion.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveY

Vector4f transformUnitPositiveY​(Vector4f dest)
Transform the vector (0, 1, 0) by this unit quaternion.

Only the first three components of the given 4D vector are modified.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transformPositiveZ

Vector3f transformPositiveZ​(Vector3f dest)
Transform the vector (0, 0, 1) by this quaternion.
Parameters:
dest - will hold the result
Returns:
dest
• #### transformPositiveZ

Vector4f transformPositiveZ​(Vector4f dest)
Transform the vector (0, 0, 1) by this quaternion.

Only the first three components of the given 4D vector are modified.

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveZ

Vector3f transformUnitPositiveZ​(Vector3f dest)
Transform the vector (0, 0, 1) by this unit quaternion.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transformUnitPositiveZ

Vector4f transformUnitPositiveZ​(Vector4f dest)
Transform the vector (0, 0, 1) by this unit quaternion.

Only the first three components of the given 4D vector are modified.

This method is only applicable when this is a unit quaternion.

Reference: https://de.mathworks.com/

Parameters:
dest - will hold the result
Returns:
dest
• #### transform

Vector4f transform​(Vector4f vec)
Transform the given vector by this quaternion.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and modified.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformInverse

Vector4f transformInverse​(Vector4f vec)
Transform the given vector by the inverse of this quaternion.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and modified.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transform

Vector3f transform​(Vector3fc vec,
Vector3f dest)
Transform the given vector by this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverse

Vector3f transformInverse​(Vector3fc vec,
Vector3f dest)
Transform the given vector by the inverse of this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transform

Vector3f transform​(double x,
double y,
double z,
Vector3f dest)
Transform the given vector (x, y, z) by this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverse

Vector3f transformInverse​(double x,
double y,
double z,
Vector3f dest)
Transform the given vector (x, y, z) by the inverse of this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transform

Vector4f transform​(Vector4fc vec,
Vector4f dest)
Transform the given vector by this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and set on the destination.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverse

Vector4f transformInverse​(Vector4fc vec,
Vector4f dest)
Transform the given vector by the inverse of this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and set on the destination.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transform

Vector4f transform​(double x,
double y,
double z,
Vector4f dest)
Transform the given vector (x, y, z) by this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverse

Vector4f transformInverse​(double x,
double y,
double z,
Vector4f dest)
Transform the given vector (x, y, z) by the inverse of this quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformUnit

Vector4f transformUnit​(Vector4f vec)
Transform the given vector by this unit quaternion.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and modified.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformInverseUnit

Vector4f transformInverseUnit​(Vector4f vec)
Transform the given vector by the inverse of this unit quaternion.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and modified.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
Returns:
vec
• #### transformUnit

Vector3f transformUnit​(Vector3fc vec,
Vector3f dest)
Transform the given vector by this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverseUnit

Vector3f transformInverseUnit​(Vector3fc vec,
Vector3f dest)
Transform the given vector by the inverse of this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformUnit

Vector3f transformUnit​(double x,
double y,
double z,
Vector3f dest)
Transform the given vector (x, y, z) by this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverseUnit

Vector3f transformInverseUnit​(double x,
double y,
double z,
Vector3f dest)
Transform the given vector (x, y, z) by the inverse of this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformUnit

Vector4f transformUnit​(Vector4fc vec,
Vector4f dest)
Transform the given vector by this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and set on the destination.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverseUnit

Vector4f transformInverseUnit​(Vector4fc vec,
Vector4f dest)
Transform the given vector by the inverse of this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

Only the first three components of the given 4D vector are being used and set on the destination.

This method is only applicable when this is a unit quaternion.

Parameters:
vec - the vector to transform
dest - will hold the result
Returns:
dest
• #### transformUnit

Vector4f transformUnit​(double x,
double y,
double z,
Vector4f dest)
Transform the given vector (x, y, z) by this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### transformInverseUnit

Vector4f transformInverseUnit​(double x,
double y,
double z,
Vector4f dest)
Transform the given vector (x, y, z) by the inverse of this unit quaternion and store the result in dest.

This will apply the rotation described by this quaternion to the given vector.

This method is only applicable when this is a unit quaternion.

Parameters:
x - the x coordinate of the vector to transform
y - the y coordinate of the vector to transform
z - the z coordinate of the vector to transform
dest - will hold the result
Returns:
dest
• #### div

Quaterniond div​(Quaterniondc b,
Quaterniond dest)
Divide this quaternion by b and store the result in dest.

The division expressed using the inverse is performed in the following way:

dest = this * b^-1, where b^-1 is the inverse of b.

Parameters:
b - the Quaterniondc to divide this by
dest - will hold the result
Returns:
dest
• #### conjugate

Quaterniond conjugate​(Quaterniond dest)
Conjugate this quaternion and store the result in dest.
Parameters:
dest - will hold the result
Returns:
dest
• #### lengthSquared

double lengthSquared()
Return the square of the length of this quaternion.
Returns:
the length
• #### slerp

Quaterniond slerp​(Quaterniondc target,
double alpha,
Quaterniond dest)
Interpolate between this unit quaternion and the specified target unit quaternion using spherical linear interpolation using the specified interpolation factor alpha, and store the result in dest.

This method resorts to non-spherical linear interpolation when the absolute dot product between this and target is below 1E-6.

Reference: http://fabiensanglard.net

Parameters:
target - the target of the interpolation, which should be reached with alpha = 1.0
alpha - the interpolation factor, within [0..1]
dest - will hold the result
Returns:
dest
• #### scale

Quaterniond scale​(double factor,
Quaterniond dest)
Apply scaling to this quaternion, which results in any vector transformed by the quaternion to change its length by the given factor, and store the result in dest.
Parameters:
factor - the scaling factor
dest - will hold the result
Returns:
dest
• #### integrate

Quaterniond integrate​(double dt,
double vx,
double vy,
double vz,
Quaterniond dest)
Integrate the rotation given by the angular velocity (vx, vy, vz) around the x, y and z axis, respectively, with respect to the given elapsed time delta dt and add the differentiate rotation to the rotation represented by this quaternion and store the result into dest.

This method pre-multiplies the rotation given by dt and (vx, vy, vz) by this, so the angular velocities are always relative to the local coordinate system of the rotation represented by this quaternion.

This method is equivalent to calling: rotateLocal(dt * vx, dt * vy, dt * vz, dest)

Reference: http://physicsforgames.blogspot.de/

Parameters:
dt - the delta time
vx - the angular velocity around the x axis
vy - the angular velocity around the y axis
vz - the angular velocity around the z axis
dest - will hold the result
Returns:
dest
• #### nlerp

Quaterniond nlerp​(Quaterniondc q,
double factor,
Quaterniond dest)
Compute a linear (non-spherical) interpolation of this and the given quaternion q and store the result in dest.

Reference: http://fabiensanglard.net

Parameters:
q - the other quaternion
factor - the interpolation factor. It is between 0.0 and 1.0
dest - will hold the result
Returns:
dest
• #### nlerpIterative

Quaterniond nlerpIterative​(Quaterniondc q,
double alpha,
double dotThreshold,
Quaterniond dest)
Compute linear (non-spherical) interpolations of this and the given quaternion q iteratively and store the result in dest.

This method performs a series of small-step nlerp interpolations to avoid doing a costly spherical linear interpolation, like slerp, by subdividing the rotation arc between this and q via non-spherical linear interpolations as long as the absolute dot product of this and q is greater than the given dotThreshold parameter.

Thanks to @theagentd at http://www.java-gaming.org/ for providing the code.

Parameters:
q - the other quaternion
alpha - the interpolation factor, between 0.0 and 1.0
dotThreshold - the threshold for the dot product of this and q above which this method performs another iteration of a small-step linear interpolation
dest - will hold the result
Returns:
dest
• #### lookAlong

Quaterniond lookAlong​(Vector3dc dir,
Vector3dc up,
Quaterniond dest)
Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result in dest.

Because there are multiple possibilities for such a rotation, this method will choose the one that ensures the given up direction to remain parallel to the plane spanned by the up and dir vectors.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Reference: http://answers.unity3d.com

Parameters:
dir - the direction to map to the positive Z axis
up - the vector which will be mapped to a vector parallel to the plane spanned by the given dir and up
dest - will hold the result
Returns:
dest
See Also:
lookAlong(double, double, double, double, double, double, Quaterniond)
• #### lookAlong

Quaterniond lookAlong​(double dirX,
double dirY,
double dirZ,
double upX,
double upY,
double upZ,
Quaterniond dest)
Apply a rotation to this quaternion that maps the given direction to the positive Z axis, and store the result in dest.

Because there are multiple possibilities for such a rotation, this method will choose the one that ensures the given up direction to remain parallel to the plane spanned by the up and dir vectors.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Reference: http://answers.unity3d.com

Parameters:
dirX - the x-coordinate of the direction to look along
dirY - the y-coordinate of the direction to look along
dirZ - the z-coordinate of the direction to look along
upX - the x-coordinate of the up vector
upY - the y-coordinate of the up vector
upZ - the z-coordinate of the up vector
dest - will hold the result
Returns:
dest
• #### difference

Quaterniond difference​(Quaterniondc other,
Quaterniond dest)
Compute the difference between this and the other quaternion and store the result in dest.

The difference is the rotation that has to be applied to get from this rotation to other. If T is this, Q is other and D is the computed difference, then the following equation holds:

T * D = Q

It is defined as: D = T^-1 * Q, where T^-1 denotes the inverse of T.

Parameters:
other - the other quaternion
dest - will hold the result
Returns:
dest
• #### rotateTo

Quaterniond rotateTo​(double fromDirX,
double fromDirY,
double fromDirZ,
double toDirX,
double toDirY,
double toDirZ,
Quaterniond dest)
Apply a rotation to this that rotates the fromDir vector to point along toDir and store the result in dest.

Since there can be multiple possible rotations, this method chooses the one with the shortest arc.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Reference: stackoverflow.com

Parameters:
fromDirX - the x-coordinate of the direction to rotate into the destination direction
fromDirY - the y-coordinate of the direction to rotate into the destination direction
fromDirZ - the z-coordinate of the direction to rotate into the destination direction
toDirX - the x-coordinate of the direction to rotate to
toDirY - the y-coordinate of the direction to rotate to
toDirZ - the z-coordinate of the direction to rotate to
dest - will hold the result
Returns:
dest
• #### rotateTo

Quaterniond rotateTo​(Vector3dc fromDir,
Vector3dc toDir,
Quaterniond dest)
Apply a rotation to this that rotates the fromDir vector to point along toDir and store the result in dest.

Because there can be multiple possible rotations, this method chooses the one with the shortest arc.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Parameters:
fromDir - the starting direction
toDir - the destination direction
dest - will hold the result
Returns:
dest
See Also:
rotateTo(double, double, double, double, double, double, Quaterniond)
• #### rotateX

Quaterniond rotateX​(double angle,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the x axis and store the result in dest.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Parameters:
angle - the angle in radians to rotate about the x axis
dest - will hold the result
Returns:
dest
• #### rotateY

Quaterniond rotateY​(double angle,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the y axis and store the result in dest.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Parameters:
angle - the angle in radians to rotate about the y axis
dest - will hold the result
Returns:
dest
• #### rotateZ

Quaterniond rotateZ​(double angle,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the z axis and store the result in dest.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Parameters:
angle - the angle in radians to rotate about the z axis
dest - will hold the result
Returns:
dest
• #### rotateLocalX

Quaterniond rotateLocalX​(double angle,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the local x axis and store the result in dest.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be R * Q. So when transforming a vector v with the new quaternion by using R * Q * v, the rotation represented by this will be applied first!

Parameters:
angle - the angle in radians to rotate about the local x axis
dest - will hold the result
Returns:
dest
• #### rotateLocalY

Quaterniond rotateLocalY​(double angle,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the local y axis and store the result in dest.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be R * Q. So when transforming a vector v with the new quaternion by using R * Q * v, the rotation represented by this will be applied first!

Parameters:
angle - the angle in radians to rotate about the local y axis
dest - will hold the result
Returns:
dest
• #### rotateLocalZ

Quaterniond rotateLocalZ​(double angle,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the local z axis and store the result in dest.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be R * Q. So when transforming a vector v with the new quaternion by using R * Q * v, the rotation represented by this will be applied first!

Parameters:
angle - the angle in radians to rotate about the local z axis
dest - will hold the result
Returns:
dest
• #### rotateXYZ

Quaterniond rotateXYZ​(double angleX,
double angleY,
double angleZ,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the cartesian base unit axes, called the euler angles using rotation sequence XYZ and store the result in dest.

This method is equivalent to calling: rotateX(angleX, dest).rotateY(angleY).rotateZ(angleZ)

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Parameters:
angleX - the angle in radians to rotate about the x axis
angleY - the angle in radians to rotate about the y axis
angleZ - the angle in radians to rotate about the z axis
dest - will hold the result
Returns:
dest
• #### rotateZYX

Quaterniond rotateZYX​(double angleZ,
double angleY,
double angleX,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the cartesian base unit axes, called the euler angles, using the rotation sequence ZYX and store the result in dest.

This method is equivalent to calling: rotateZ(angleZ, dest).rotateY(angleY).rotateX(angleX)

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Parameters:
angleZ - the angle in radians to rotate about the z axis
angleY - the angle in radians to rotate about the y axis
angleX - the angle in radians to rotate about the x axis
dest - will hold the result
Returns:
dest
• #### rotateYXZ

Quaterniond rotateYXZ​(double angleY,
double angleX,
double angleZ,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the cartesian base unit axes, called the euler angles, using the rotation sequence YXZ and store the result in dest.

This method is equivalent to calling: rotateY(angleY, dest).rotateX(angleX).rotateZ(angleZ)

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Parameters:
angleY - the angle in radians to rotate about the y axis
angleX - the angle in radians to rotate about the x axis
angleZ - the angle in radians to rotate about the z axis
dest - will hold the result
Returns:
dest
• #### getEulerAnglesXYZ

Vector3d getEulerAnglesXYZ​(Vector3d eulerAngles)
Get the euler angles in radians in rotation sequence XYZ of this quaternion and store them in the provided parameter eulerAngles.

The Euler angles are always returned as the angle around X in the Vector3d.x field, the angle around Y in the Vector3d.y field and the angle around Z in the Vector3d.z field of the supplied Vector3d instance.

Parameters:
eulerAngles - will hold the euler angles in radians
Returns:
the passed in vector
• #### getEulerAnglesZYX

Vector3d getEulerAnglesZYX​(Vector3d eulerAngles)
Get the euler angles in radians in rotation sequence ZYX of this quaternion and store them in the provided parameter eulerAngles.

The Euler angles are always returned as the angle around X in the Vector3d.x field, the angle around Y in the Vector3d.y field and the angle around Z in the Vector3d.z field of the supplied Vector3d instance.

Parameters:
eulerAngles - will hold the euler angles in radians
Returns:
the passed in vector
• #### getEulerAnglesZXY

Vector3d getEulerAnglesZXY​(Vector3d eulerAngles)
Get the euler angles in radians in rotation sequence ZXY of this quaternion and store them in the provided parameter eulerAngles.

The Euler angles are always returned as the angle around X in the Vector3d.x field, the angle around Y in the Vector3d.y field and the angle around Z in the Vector3d.z field of the supplied Vector3d instance.

Parameters:
eulerAngles - will hold the euler angles in radians
Returns:
the passed in vector
• #### getEulerAnglesYXZ

Vector3d getEulerAnglesYXZ​(Vector3d eulerAngles)
Get the euler angles in radians in rotation sequence YXZ of this quaternion and store them in the provided parameter eulerAngles.

The Euler angles are always returned as the angle around X in the Vector3d.x field, the angle around Y in the Vector3d.y field and the angle around Z in the Vector3d.z field of the supplied Vector3d instance.

Parameters:
eulerAngles - will hold the euler angles in radians
Returns:
the passed in vector
• #### rotateAxis

Quaterniond rotateAxis​(double angle,
double axisX,
double axisY,
double axisZ,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the specified axis and store the result in dest.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Parameters:
angle - the angle in radians to rotate about the specified axis
axisX - the x coordinate of the rotation axis
axisY - the y coordinate of the rotation axis
axisZ - the z coordinate of the rotation axis
dest - will hold the result
Returns:
dest
• #### rotateAxis

Quaterniond rotateAxis​(double angle,
Vector3dc axis,
Quaterniond dest)
Apply a rotation to this quaternion rotating the given radians about the specified axis and store the result in dest.

If Q is this quaternion and R the quaternion representing the specified rotation, then the new quaternion will be Q * R. So when transforming a vector v with the new quaternion by using Q * R * v, the rotation added by this method will be applied first!

Parameters:
angle - the angle in radians to rotate about the specified axis
axis - the rotation axis
dest - will hold the result
Returns:
dest
See Also:
rotateAxis(double, double, double, double, Quaterniond)
• #### positiveX

Vector3d positiveX​(Vector3d dir)
Obtain the direction of +X before the rotation transformation represented by this quaternion is applied.

This method is equivalent to the following code:

Quaterniond inv = new Quaterniond(this).invert();
inv.transform(dir.set(1, 0, 0));

Parameters:
dir - will hold the direction of +X
Returns:
dir
• #### normalizedPositiveX

Vector3d normalizedPositiveX​(Vector3d dir)
Obtain the direction of +X before the rotation transformation represented by this normalized quaternion is applied. The quaternion must be normalized for this method to work.

This method is equivalent to the following code:

Quaterniond inv = new Quaterniond(this).conjugate();
inv.transform(dir.set(1, 0, 0));

Parameters:
dir - will hold the direction of +X
Returns:
dir
• #### positiveY

Vector3d positiveY​(Vector3d dir)
Obtain the direction of +Y before the rotation transformation represented by this quaternion is applied.

This method is equivalent to the following code:

Quaterniond inv = new Quaterniond(this).invert();
inv.transform(dir.set(0, 1, 0));

Parameters:
dir - will hold the direction of +Y
Returns:
dir
• #### normalizedPositiveY

Vector3d normalizedPositiveY​(Vector3d dir)
Obtain the direction of +Y before the rotation transformation represented by this normalized quaternion is applied. The quaternion must be normalized for this method to work.

This method is equivalent to the following code:

Quaterniond inv = new Quaterniond(this).conjugate();
inv.transform(dir.set(0, 1, 0));

Parameters:
dir - will hold the direction of +Y
Returns:
dir
• #### positiveZ

Vector3d positiveZ​(Vector3d dir)
Obtain the direction of +Z before the rotation transformation represented by this quaternion is applied.

This method is equivalent to the following code:

Quaterniond inv = new Quaterniond(this).invert();
inv.transform(dir.set(0, 0, 1));

Parameters:
dir - will hold the direction of +Z
Returns:
dir
• #### normalizedPositiveZ

Vector3d normalizedPositiveZ​(Vector3d dir)
Obtain the direction of +Z before the rotation transformation represented by this normalized quaternion is applied. The quaternion must be normalized for this method to work.

This method is equivalent to the following code:

Quaterniond inv = new Quaterniond(this).conjugate();
inv.transform(dir.set(0, 0, 1));

Parameters:
dir - will hold the direction of +Z
Returns:
dir
• #### conjugateBy

Quaterniond conjugateBy​(Quaterniondc q,
Quaterniond dest)
Conjugate this by the given quaternion q by computing q * this * q^-1 and store the result into dest.
Parameters:
q - the Quaterniondc to conjugate this by
dest - will hold the result
Returns:
dest
• #### isFinite

boolean isFinite()
Determine whether all components are finite floating-point values, that is, they are not NaN and not infinity.
Returns:
true if all components are finite floating-point values; false otherwise
• #### equals

boolean equals​(Quaterniondc q,
double delta)
Compare the quaternion components of this quaternion with the given quaternion using the given delta and return whether all of them are equal within a maximum difference of delta.

Please note that this method is not used by any data structure such as ArrayList HashSet or HashMap and their operations, such as ArrayList.contains(Object) or HashSet.remove(Object), since those data structures only use the Object.equals(Object) and Object.hashCode() methods.

Parameters:
q - the other quaternion
delta - the allowed maximum difference
Returns:
true whether all of the quaternion components are equal; false otherwise
• #### equals

boolean equals​(double x,
double y,
double z,
double w)
Parameters:
x - the x component to compare to
y - the y component to compare to
z - the z component to compare to
w - the w component to compare to
Returns:
true if all the quaternion components are equal