subscript.geom
Class Quaternion

java.lang.Object
  subscript.geom.Quaternion

public class Quaternion
extends java.lang.Object

A 3D rotation-- WARNING: This class is under-tested.

Field Summary

double[]	q
static int	W
static int	X
static int	Y
static int	Z

Constructor Summary

Quaternion()

Quaternion(AxisAngle aa)

Quaternion(double[] qin)

Quaternion(Matrix R)

Method Summary

Quaternion	compose(Quaternion b)
Quaternion	inverse()
void	normalize()
GPoint3D	rotate(GPoint3D p)
void	setAxisAngle(double x, double y, double z, double theta)
java.lang.String	toString()
Matrix	transformationMatrix()
Matrix	transformationMatrix(GPoint3D p)

Methods inherited from class java.lang.Object

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

Field Detail

q

public double[] q

W

public static final int W

See Also:

Constant Field Values

X

public static final int X

See Also:

Constant Field Values

Y

public static final int Y

See Also:

Constant Field Values

Z

public static final int Z

See Also:

Constant Field Values

Constructor Detail

Quaternion

public Quaternion()

Quaternion

public Quaternion(Matrix R)

Quaternion

public Quaternion(double[] qin)

Quaternion

public Quaternion(AxisAngle aa)

Method Detail

normalize

public void normalize()

compose

public Quaternion compose(Quaternion b)

inverse

public Quaternion inverse()

setAxisAngle

public void setAxisAngle(double x,
                         double y,
                         double z,
                         double theta)

rotate

public GPoint3D rotate(GPoint3D p)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

transformationMatrix

public Matrix transformationMatrix()

transformationMatrix

public Matrix transformationMatrix(GPoint3D p)