subscript.geom
Class AxisAngle

java.lang.Object
  subscript.geom.AxisAngle

public class AxisAngle
extends java.lang.Object

Represents a 3D rotation. A companion class to Quaternion.

Field Summary

double	theta
double	x
double	y
double	z

Constructor Summary

AxisAngle(double x, double y, double z, double theta)
Create from a vector (which will be normalized) and a rotation amount.

AxisAngle(Matrix R)
Create from a 3x3 rotation matrix.

AxisAngle(Quaternion q)
Create from a quaternion.

Method Summary

void	normalize() Ensure that the unit vector is actually a unit vector.
void	scaleRotation(double amt) Scale the amount of rotation by the given factor.
java.lang.String	toString()
Matrix	transformationMatrix() Convert to a 3x3 rotation matrix.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

x

public double x

y

public double y

z

public double z

theta

public double theta

Constructor Detail

AxisAngle

public AxisAngle(Matrix R)

Create from a 3x3 rotation matrix.

AxisAngle

public AxisAngle(Quaternion q)

Create from a quaternion.

AxisAngle

public AxisAngle(double x,
                 double y,
                 double z,
                 double theta)

Create from a vector (which will be normalized) and a rotation amount.

Method Detail

scaleRotation

public void scaleRotation(double amt)

Scale the amount of rotation by the given factor.

normalize

public void normalize()

Ensure that the unit vector is actually a unit vector.

transformationMatrix

public Matrix transformationMatrix()

Convert to a 3x3 rotation matrix.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object