edu.nps.moves.math
Class Quaternion2

java.lang.Object
  edu.nps.moves.math.Quaternion2

public class Quaternion2
extends java.lang.Object

The Quaternion2 class executes quaternion operations.

Version:

1.0 13 Dec 98 DIS VRML - OpenGl +---------->x ^y /| | / | | / | ======> | y | +-------------->x z / / / z

Author:

Ildeniz Duman

Constructor Summary

Quaternion2()
Default constructor

Quaternion2(java.lang.String myName)
Default constructor

Quaternion2(java.lang.String myName, double ww, double xx, double yy, double zz)
Default constructor

Method Summary

Quaternion2	add(Quaternion2 QUAT) Adds two quaternions
double	dotProduct(Quaternion2 QUAT5) Finds the dot product of two quaternions
double	getW() Returns the w value of quaternion.
double	getX() Returns the x value of quaternion.
double	getY() Returns the y value of quaternion.
double	getZ() Returns the z value of quaternion.
Quaternion2	invert() Finds the inverse (conjugate) of a quaternion
static void	main(java.lang.String[] ags) Main method for testing
Quaternion2	multiply(double NUM) Multiplies this quaternion with a scalar
Quaternion2	multiply(Quaternion2 QUAT) Multiplies two quaternions
void	normalize() Normalizes the quaternion modifies the current quaternion
Quaternion2	rotate(Quaternion2 QUAT4) Rotates a vector by quaternions
void	setQuaternion2(double ww, double xx, double yy, double zz) Sets the quaternion values
Quaternion2	substract(Quaternion2 QUAT) Substracts two quaternions
Quaternion2	toAxisAngles() Calculates the axis angles of quaternion for drawing, results must be used in glRotatef() by using get() functions
Quaternion2	toBody(Quaternion2 QUAT) Converts to body coordinates
Quaternion2	toEulerAngles() Converts a quaternion into Euler angles Warning : This conversion is inherently ill-defined
float[]	toFloat() Converts quaternion's values into float
Quaternion2	toQuaternion2() Calculates the quaternion value of three rotations Current object is a 3D vector with rotation angles in quaternion form
java.lang.String	toString() Overrides the toString method

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Quaternion2

public Quaternion2(java.lang.String myName,
                   double ww,
                   double xx,
                   double yy,
                   double zz)

Default constructor

Parameters:

myName - Name of the quaternion

ww - w value of the quaternion

xx - x value of the quaternion

yy - y value of the quaternion

zz - z value of the quaternion

Quaternion2

public Quaternion2(java.lang.String myName)

Default constructor

Parameters:

myName - Name of the quaternion

Quaternion2

public Quaternion2()

Default constructor

Method Detail

setQuaternion2

public void setQuaternion2(double ww,
                           double xx,
                           double yy,
                           double zz)

Sets the quaternion values

Parameters:

ww - w value of the quaternion

xx - x value of the quaternion

yy - y value of the quaternion

zz - z value of the quaternion

getW

public double getW()

Returns the w value of quaternion.

getX

public double getX()

Returns the x value of quaternion.

getY

public double getY()

Returns the y value of quaternion.

getZ

public double getZ()

Returns the z value of quaternion.

multiply

public Quaternion2 multiply(Quaternion2 QUAT)

Multiplies two quaternions

Parameters:

QUAT - second quaternion

Returns:

new Quaternion2

multiply

public Quaternion2 multiply(double NUM)

Multiplies this quaternion with a scalar

Parameters:

NUM - is a scalar

Returns:

modified Quaternion2

add

public Quaternion2 add(Quaternion2 QUAT)

Adds two quaternions

Parameters:

QUAT - is a quaternion to add

Returns:

new Quaternion2

substract

public Quaternion2 substract(Quaternion2 QUAT)

Substracts two quaternions

Parameters:

QUAT - is a quaternion to substract

Returns:

new Quaternion2

invert

public Quaternion2 invert()

Finds the inverse (conjugate) of a quaternion

Returns:

new Quaternion2

rotate

public Quaternion2 rotate(Quaternion2 QUAT4)

Rotates a vector by quaternions

Parameters:

QUAT4 - a vector in quaternion form

Returns:

Rotated vector in quaternion form

toBody

public Quaternion2 toBody(Quaternion2 QUAT)

Converts to body coordinates

Parameters:

QUAT - a vector in quaternion form to convert to body coordinates

Returns:

Converted vector in quaternion form

dotProduct

public double dotProduct(Quaternion2 QUAT5)

Finds the dot product of two quaternions

Parameters:

QUAT5 - a quaternion

Returns:

Dot product value

normalize

public void normalize()

Normalizes the quaternion modifies the current quaternion

toAxisAngles

public Quaternion2 toAxisAngles()

Calculates the axis angles of quaternion for drawing, results must be used in glRotatef() by using get() functions

Returns:

Result in quaternion form

toQuaternion2

public Quaternion2 toQuaternion2()

Calculates the quaternion value of three rotations Current object is a 3D vector with rotation angles in quaternion form

Returns:

new Quaternion2

toEulerAngles

public Quaternion2 toEulerAngles()

Converts a quaternion into Euler angles Warning : This conversion is inherently ill-defined

Returns:

new Quaternion2

toString

public java.lang.String toString()

Overrides the toString method

Overrides:

toString in class java.lang.Object

Returns:

String object

toFloat

public float[] toFloat()

Converts quaternion's values into float

Returns:

Float []

main

public static void main(java.lang.String[] ags)

Main method for testing