DQuaternion (jMonkeyEngine3)

java.lang.Object
- com.jme3.scene.plugins.blender.math.DQuaternion

All Implemented Interfaces:

Savable, java.io.Serializable, java.lang.Cloneable
```
public final class DQuaternion
extends java.lang.Object
implements Savable, java.lang.Cloneable, java.io.Serializable
```
DQuaternion defines a single example of a more general class of hypercomplex numbers. DQuaternions extends a rotation in three dimensions to a rotation in four dimensions. This avoids "gimbal lock" and allows for smooth continuous rotation. DQuaternion is defined by four double point numbers: {x y z w}. This class's only purpose is to give better accuracy in floating point operations during computations. This is made by copying the original Quaternion class from jme3 core and leaving only required methods and basic computation methods, so that the class is smaller and easier to maintain. Should any other methods be needed, they will be added.

See Also:

Serialized Form

Field Summary

Fields
Modifier and Type	Field and Description
`static DQuaternion`	`DIRECTION_Z`
`static DQuaternion`	`IDENTITY` Represents the identity quaternion rotation (0, 0, 0, 1).
`protected double`	`w`
`protected double`	`x`
`protected double`	`y`
`protected double`	`z`
`static DQuaternion`	`ZERO`

Constructor Summary

Constructors
Constructor and Description
`DQuaternion()` Constructor instantiates a new `DQuaternion` object initializing all values to zero, except w which is initialized to 1.
`DQuaternion(double x, double y, double z, double w)` Constructor instantiates a new `DQuaternion` object from the given list of parameters.
`DQuaternion(Quaternion q)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`DQuaternion`	`add(DQuaternion q)` `add` adds the values of this quaternion to those of the parameter quaternion.
`DQuaternion`	`addLocal(DQuaternion q)` `add` adds the values of this quaternion to those of the parameter quaternion.
`DQuaternion`	`clone()`
`boolean`	`equals(java.lang.Object o)` `equals` determines if two quaternions are logically equal, that is, if the values of (x, y, z, w) are the same for both quaternions.
`DQuaternion`	`fromAngleAxis(double angle, Vector3d axis)` `fromAngleAxis` sets this quaternion to the values specified by an angle and an axis of rotation.
`DQuaternion`	`fromAngleNormalAxis(double angle, Vector3d axis)` `fromAngleNormalAxis` sets this quaternion to the values specified by an angle and a normalized axis of rotation.
`DQuaternion`	`fromRotationMatrix(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)`
`double`	`getW()`
`double`	`getX()`
`double`	`getY()`
`double`	`getZ()`
`int`	`hashCode()` `hashCode` returns the hash code value as an integer and is supported for the benefit of hashing based collection classes such as Hashtable, HashMap, HashSet etc.
`void`	`loadIdentity()` Sets this DQuaternion to {0, 0, 0, 1}.
`DQuaternion`	`mult(DQuaternion q)` `mult` multiplies this quaternion by a parameter quaternion.
`DQuaternion`	`mult(DQuaternion q, DQuaternion res)` `mult` multiplies this quaternion by a parameter quaternion.
`Vector3d`	`mult(Vector3d v)` `mult` multiplies this quaternion by a parameter vector.
`Vector3d`	`mult(Vector3d v, Vector3d store)` `mult` multiplies this quaternion by a parameter vector.
`DQuaternion`	`multLocal(DQuaternion q)` Multiplies this DQuaternion by the supplied quaternion.
`double`	`norm()` `norm` returns the norm of this quaternion.
`void`	`read(JmeImporter e)`
`DQuaternion`	`set(double x, double y, double z, double w)` sets the data in a `DQuaternion` object from the given list of parameters.
`DQuaternion`	`set(DQuaternion q)` Sets the data in this `DQuaternion` object to be equal to the passed `DQuaternion` object.
`DQuaternion`	`subtract(DQuaternion q)` `subtract` subtracts the values of the parameter quaternion from those of this quaternion.
`DQuaternion`	`subtractLocal(DQuaternion q)` `subtract` subtracts the values of the parameter quaternion from those of this quaternion.
`Quaternion`	`toQuaternion()`
`Matrix`	`toRotationMatrix(Matrix result)` `toRotationMatrix` converts this quaternion to a rotational matrix.
`java.lang.String`	`toString()` `toString` creates the string representation of this `DQuaternion`.
`void`	`write(JmeExporter e)`

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

- Field Detail
  - IDENTITY
```
public static final DQuaternion IDENTITY
```
    Represents the identity quaternion rotation (0, 0, 0, 1).
  - DIRECTION_Z
```
public static final DQuaternion DIRECTION_Z
```
  - ZERO
```
public static final DQuaternion ZERO
```
  - x
```
protected double x
```
  - y
```
protected double y
```
  - z
```
protected double z
```
  - w
```
protected double w
```
- Constructor Detail
  - DQuaternion
```
public DQuaternion()
```
    Constructor instantiates a new DQuaternion object initializing all values to zero, except w which is initialized to 1.
  - DQuaternion
```
public DQuaternion(double x,
                   double y,
                   double z,
                   double w)
```
    Constructor instantiates a new DQuaternion object from the given list of parameters.
    
    Parameters:
    
    x - the x value of the quaternion.
    
    y - the y value of the quaternion.
    
    z - the z value of the quaternion.
    
    w - the w value of the quaternion.
  - DQuaternion
```
public DQuaternion(Quaternion q)
```
- Method Detail
  - toQuaternion
```
public Quaternion toQuaternion()
```
  - getX
```
public double getX()
```
  - getY
```
public double getY()
```
  - getZ
```
public double getZ()
```
  - getW
```
public double getW()
```
  - set
```
public DQuaternion set(double x,
                       double y,
                       double z,
                       double w)
```
    sets the data in a DQuaternion object from the given list of parameters.
    
    Parameters:
    
    x - the x value of the quaternion.
    
    y - the y value of the quaternion.
    
    z - the z value of the quaternion.
    
    w - the w value of the quaternion.
    
    Returns:
    
    this
  - set
```
public DQuaternion set(DQuaternion q)
```
    Sets the data in this DQuaternion object to be equal to the passed DQuaternion object. The values are copied producing a new object.
    
    Parameters:
    
    q - The DQuaternion to copy values from.
    
    Returns:
    
    this
  - loadIdentity
```
public void loadIdentity()
```
    Sets this DQuaternion to {0, 0, 0, 1}. Same as calling set(0,0,0,1).
  - norm
```
public double norm()
```
    norm returns the norm of this quaternion. This is the dot product of this quaternion with itself.
    
    Returns:
    
    the norm of the quaternion.
  - fromRotationMatrix
```
public DQuaternion fromRotationMatrix(double m00,
                                      double m01,
                                      double m02,
                                      double m10,
                                      double m11,
                                      double m12,
                                      double m20,
                                      double m21,
                                      double m22)
```
  - toRotationMatrix
```
public Matrix toRotationMatrix(Matrix result)
```
    toRotationMatrix converts this quaternion to a rotational matrix. The result is stored in result. 4th row and 4th column values are untouched. Note: the result is created from a normalized version of this quat.
    
    Parameters:
    
    result - The Matrix4f to store the result in.
    
    Returns:
    
    the rotation matrix representation of this quaternion.
  - fromAngleAxis
```
public DQuaternion fromAngleAxis(double angle,
                                 Vector3d axis)
```
    fromAngleAxis sets this quaternion to the values specified by an angle and an axis of rotation. This method creates an object, so use fromAngleNormalAxis if your axis is already normalized.
    
    Parameters:
    
    angle - the angle to rotate (in radians).
    
    axis - the axis of rotation.
    
    Returns:
    
    this quaternion
  - fromAngleNormalAxis
```
public DQuaternion fromAngleNormalAxis(double angle,
                                       Vector3d axis)
```
    fromAngleNormalAxis sets this quaternion to the values specified by an angle and a normalized axis of rotation.
    
    Parameters:
    
    angle - the angle to rotate (in radians).
    
    axis - the axis of rotation (already normalized).
  - add
```
public DQuaternion add(DQuaternion q)
```
    add adds the values of this quaternion to those of the parameter quaternion. The result is returned as a new quaternion.
    
    Parameters:
    
    q - the quaternion to add to this.
    
    Returns:
    
    the new quaternion.
  - addLocal
```
public DQuaternion addLocal(DQuaternion q)
```
    add adds the values of this quaternion to those of the parameter quaternion. The result is stored in this DQuaternion.
    
    Parameters:
    
    q - the quaternion to add to this.
    
    Returns:
    
    This DQuaternion after addition.
  - subtract
```
public DQuaternion subtract(DQuaternion q)
```
    subtract subtracts the values of the parameter quaternion from those of this quaternion. The result is returned as a new quaternion.
    
    Parameters:
    
    q - the quaternion to subtract from this.
    
    Returns:
    
    the new quaternion.
  - subtractLocal
```
public DQuaternion subtractLocal(DQuaternion q)
```
    subtract subtracts the values of the parameter quaternion from those of this quaternion. The result is stored in this DQuaternion.
    
    Parameters:
    
    q - the quaternion to subtract from this.
    
    Returns:
    
    This DQuaternion after subtraction.
  - mult
```
public DQuaternion mult(DQuaternion q)
```
    mult multiplies this quaternion by a parameter quaternion. The result is returned as a new quaternion. It should be noted that quaternion multiplication is not commutative so q * p != p * q.
    
    Parameters:
    
    q - the quaternion to multiply this quaternion by.
    
    Returns:
    
    the new quaternion.
  - mult
```
public DQuaternion mult(DQuaternion q,
                        DQuaternion res)
```
    mult multiplies this quaternion by a parameter quaternion. The result is returned as a new quaternion. It should be noted that quaternion multiplication is not commutative so q * p != p * q. It IS safe for q and res to be the same object. It IS NOT safe for this and res to be the same object.
    
    Parameters:
    
    q - the quaternion to multiply this quaternion by.
    
    res - the quaternion to store the result in.
    
    Returns:
    
    the new quaternion.
  - mult
```
public Vector3d mult(Vector3d v)
```
    mult multiplies this quaternion by a parameter vector. The result is returned as a new vector.
    
    Parameters:
    
    v - the vector to multiply this quaternion by.
    
    Returns:
    
    the new vector.
  - multLocal
```
public DQuaternion multLocal(DQuaternion q)
```
    Multiplies this DQuaternion by the supplied quaternion. The result is stored in this DQuaternion, which is also returned for chaining. Similar to this *= q.
    
    Parameters:
    
    q - The DQuaternion to multiply this one by.
    
    Returns:
    
    This DQuaternion, after multiplication.
  - mult
```
public Vector3d mult(Vector3d v,
                     Vector3d store)
```
    mult multiplies this quaternion by a parameter vector. The result is returned as a new vector.
    
    Parameters:
    
    v - the vector to multiply this quaternion by.
    
    store - the vector to store the result in. It IS safe for v and store to be the same object.
    
    Returns:
    
    the result vector.
  - toString
```
public java.lang.String toString()
```
    toString creates the string representation of this DQuaternion. The values of the quaternion are displaced (x, y, z, w), in the following manner:
    (x, y, z, w)
    
    Overrides:
    
    toString in class java.lang.Object
    
    Returns:
    
    the string representation of this object.
    
    See Also:
    
    Object.toString()
  - equals
```
public boolean equals(java.lang.Object o)
```
    equals determines if two quaternions are logically equal, that is, if the values of (x, y, z, w) are the same for both quaternions.
    
    Overrides:
    
    equals in class java.lang.Object
    
    Parameters:
    
    o - the object to compare for equality
    
    Returns:
    
    true if they are equal, false otherwise.
  - hashCode
```
public int hashCode()
```
    hashCode returns the hash code value as an integer and is supported for the benefit of hashing based collection classes such as Hashtable, HashMap, HashSet etc.
    
    Overrides:
    
    hashCode in class java.lang.Object
    
    Returns:
    
    the hashcode for this instance of DQuaternion.
    
    See Also:
    
    Object.hashCode()
  - write
```
public void write(JmeExporter e)
           throws java.io.IOException
```
    Specified by:
    
    write in interface Savable
    
    Throws:
    
    java.io.IOException
  - read
```
public void read(JmeImporter e)
          throws java.io.IOException
```
    Specified by:
    
    read in interface Savable
    
    Throws:
    
    java.io.IOException
  - clone
```
public DQuaternion clone()
```
    Overrides:
    
    clone in class java.lang.Object

Class DQuaternion

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

IDENTITY

DIRECTION_Z

ZERO

x

y

z

w

Constructor Detail

DQuaternion

DQuaternion

DQuaternion

Method Detail

toQuaternion

getX

getY

getZ

getW

set

set

loadIdentity

norm

fromRotationMatrix

toRotationMatrix

fromAngleAxis

fromAngleNormalAxis

add

addLocal

subtract

subtractLocal

mult

mult

mult

multLocal

mult

toString

equals

hashCode

write

read

clone