Package jme3utilities.math

Class MyQuaternion

java.lang.Object
jme3utilities.math.MyQuaternion
public class MyQuaternion extends Object
Mathematical utility methods.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final Logger
    logger
    message logger for this class

  • Method Summary

    Modifier and Type
    Method
    Description
    static void
    accumulateScaled(com.jme3.math.Quaternion total, com.jme3.math.Quaternion input, float scale)
    Accumulate a linear combination of quaternions.
    static float
    angleBetween(com.jme3.math.Quaternion q1, com.jme3.math.Quaternion q2)
    Returns the angle (in radians) between the specified quaternions, provided both are normalized.
    static void
    cardinalizeLocal(com.jme3.math.Quaternion input)
    Find the cardinal rotation most similar to the specified input.
    static com.jme3.math.Quaternion
    conjugate(com.jme3.math.Quaternion q, com.jme3.math.Quaternion storeResult)
    Determine the conjugate of a Quaternion.
    static int
    countNe(com.jme3.math.Quaternion[] quaternions)
    Count the number of distinct quaternions, without distinguishing 0 from -0.
    static String
    describe(com.jme3.math.Quaternion q)
    Generate a textual description of a Quaternion value.
    static double
    dot(com.jme3.math.Quaternion q1, com.jme3.math.Quaternion q2)
    Determine the dot (scalar) product of 2 quaternions.
    static com.jme3.math.Quaternion
    exp(com.jme3.math.Quaternion q, com.jme3.math.Quaternion storeResult)
    Determine the exponential of a pure Quaternion.
    static boolean
    isPure(com.jme3.math.Quaternion q)
    Test for a pure Quaternion.
    static boolean
    isRotationIdentity(com.jme3.math.Quaternion q)
    Test whether the specified Quaternion represents an identity rotation.
    static boolean
    isZero(com.jme3.math.Quaternion q)
    Test for a zero Quaternion.
    static double
    lengthSquared(com.jme3.math.Quaternion q)
    Determine the squared length of a Quaternion.
    static com.jme3.math.Quaternion
    log(com.jme3.math.Quaternion q, com.jme3.math.Quaternion storeResult)
    Determine the natural logarithm of a unit quaternion.
    static com.jme3.math.Quaternion
    mirrorAxis(com.jme3.math.Quaternion input, int axisIndex, com.jme3.math.Quaternion storeResult)
    Mirror the specified Quaternion along the indexed axis.
    static boolean
    ne(com.jme3.math.Quaternion a, com.jme3.math.Quaternion b)
    Test whether 2 quaternions are distinct, without distinguishing 0 from -0.
    static void
    normalizeLocal(com.jme3.math.Quaternion input)
    Normalize the specified Quaternion in place.
    static com.jme3.math.Quaternion
    pow(com.jme3.math.Quaternion base, float exponent, com.jme3.math.Quaternion storeResult)
    Raise a unit quaternion to the specified real power.
    static com.jme3.math.Quaternion
    slerp(float t, com.jme3.math.Quaternion q0, com.jme3.math.Quaternion q1, com.jme3.math.Quaternion storeResult)
    Interpolate between 2 unit quaternions using spherical linear (Slerp) interpolation.
    static void
    snapLocal(com.jme3.math.Quaternion input, int axisIndex)
    Round the rotation angle of the indexed axis to the nearest Pi/2 radians.
    static com.jme3.math.Quaternion
    squad(float t, com.jme3.math.Quaternion p, com.jme3.math.Quaternion a, com.jme3.math.Quaternion b, com.jme3.math.Quaternion q, com.jme3.math.Quaternion storeResult)
    Interpolate between 4 unit quaternions using the Squad function.
    static com.jme3.math.Quaternion
    squadA(com.jme3.math.Quaternion q0, com.jme3.math.Quaternion q1, com.jme3.math.Quaternion q2, com.jme3.math.Quaternion storeResult)
    Determine Squad parameter "a" for a continuous first derivative at the middle point of 3 specified control points.
    static com.jme3.math.Quaternion
    standardize(com.jme3.math.Quaternion input, com.jme3.math.Quaternion storeResult)
    Standardize a Quaternion in preparation for hashing.
    static boolean
    validateUnit(com.jme3.math.Quaternion q, String description, float tolerance)
    Validate a unit quaternion as a method argument.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • logger

      public static final Logger logger
      message logger for this class

  • Method Details

    • accumulateScaled

      public static void accumulateScaled(com.jme3.math.Quaternion total, com.jme3.math.Quaternion input, float scale)
      Accumulate a linear combination of quaternions.
      Parameters:
      total - sum of the scaled inputs so far (not null, modified, may be input)
      input - the Quaternion to scale and add (not null, unaffected unless it's total)
      scale - scale factor to apply to the input

    • angleBetween

      public static float angleBetween(com.jme3.math.Quaternion q1, com.jme3.math.Quaternion q2)
      Returns the angle (in radians) between the specified quaternions, provided both are normalized.
      Parameters:
      q1 - the first quaternion (not null, norm=1)
      q2 - the other quaternions (not null, norm=1)
      Returns:
      the angle (in radians, not negative)

    • cardinalizeLocal

      public static void cardinalizeLocal(com.jme3.math.Quaternion input)
      Find the cardinal rotation most similar to the specified input. A cardinal rotation is one for which the rotation angles on all 3 axes are integer multiples of Pi/2 radians.
      Parameters:
      input - (not null, modified)

    • conjugate

      public static com.jme3.math.Quaternion conjugate(com.jme3.math.Quaternion q, com.jme3.math.Quaternion storeResult)
      Determine the conjugate of a Quaternion. For unit quaternions, the conjugate is a faster way to calculate the inverse.
      Parameters:
      q - input value (not null, unaffected unless it's storeResult)
      storeResult - storage for the result (modified if not null, may be q)
      Returns:
      a conjugate quaternion (either storeResult or a new instance)

    • countNe

      public static int countNe(com.jme3.math.Quaternion[] quaternions)
      Count the number of distinct quaternions, without distinguishing 0 from -0.
      Parameters:
      quaternions - (unaffected)
      Returns:
      the count (≥0)

    • describe

      public static String describe(com.jme3.math.Quaternion q)
      Generate a textual description of a Quaternion value.
      Parameters:
      q - the value to describe (may be null, unaffected)
      Returns:
      a description (not null, not empty)

    • dot

      public static double dot(com.jme3.math.Quaternion q1, com.jme3.math.Quaternion q2)
      Determine the dot (scalar) product of 2 quaternions. Unlike Quaternion.dot(com.jme3.math.Quaternion), this method returns a double-precision value for precise calculation of angles.
      Parameters:
      q1 - the first Quaternion (not null, unaffected)
      q2 - the 2nd Quaternion (not null, unaffected)
      Returns:
      the dot product

    • exp

      public static com.jme3.math.Quaternion exp(com.jme3.math.Quaternion q, com.jme3.math.Quaternion storeResult)
      Determine the exponential of a pure Quaternion.
      Parameters:
      q - input value (not null, unaffected, w=0)
      storeResult - storage for the result (modified if not null)
      Returns:
      a unit quaternion (either storeResult or a new instance)

    • isPure

      public static boolean isPure(com.jme3.math.Quaternion q)
      Test for a pure Quaternion.
      Parameters:
      q - the input (not null, unaffected)
      Returns:
      true if w=0, false otherwise

    • isRotationIdentity

      public static boolean isRotationIdentity(com.jme3.math.Quaternion q)
      Test whether the specified Quaternion represents an identity rotation. This test is weaker than that implemented by Quaternion.isIdentity() because it accepts any non-zero value for w.
      Parameters:
      q - input value (not null, unaffected)
      Returns:
      true for a rotation identity, otherwise false

    • isZero

      public static boolean isZero(com.jme3.math.Quaternion q)
      Test for a zero Quaternion.
      Parameters:
      q - the input (not null, unaffected)
      Returns:
      true if the Quaternion equals (0,0,0,0), false otherwise

    • lengthSquared

      public static double lengthSquared(com.jme3.math.Quaternion q)
      Determine the squared length of a Quaternion. Unlike Quaternion.norm(), this method returns a double-precision value for precise comparison of lengths.
      Parameters:
      q - input (not null, unaffected)
      Returns:
      the squared length (≥0)

    • log

      public static com.jme3.math.Quaternion log(com.jme3.math.Quaternion q, com.jme3.math.Quaternion storeResult)
      Determine the natural logarithm of a unit quaternion. Generally the logarithm isn't itself a unit.
      Parameters:
      q - input value (not null, unaffected unless it's storeResult, norm=1)
      storeResult - storage for the result (modified if not null, may be q)
      Returns:
      a pure Quaternion (either storeResult or a new instance)

    • mirrorAxis

      public static com.jme3.math.Quaternion mirrorAxis(com.jme3.math.Quaternion input, int axisIndex, com.jme3.math.Quaternion storeResult)
      Mirror the specified Quaternion along the indexed axis.
      Parameters:
      input - the Quaternion to mirror (not null, unaffected unless it's storeResult)
      axisIndex - which axis to mirror: 0→X, 1→Y, 2→Z
      storeResult - storage for the result (modified if not null, may be input)
      Returns:
      a mirrored Quaternion (either storeResult or a new instance)

    • ne

      public static boolean ne(com.jme3.math.Quaternion a, com.jme3.math.Quaternion b)
      Test whether 2 quaternions are distinct, without distinguishing 0 from -0.
      Parameters:
      a - the first input quaternion (not null, unaffected)
      b - the 2nd input quaternion (not null, unaffected)
      Returns:
      true if distinct, otherwise false

    • normalizeLocal

      public static void normalizeLocal(com.jme3.math.Quaternion input)
      Normalize the specified Quaternion in place. This method is less vulnerable to overflow than Quaternion.normalizeLocal().
      Parameters:
      input - (not null, modified)

    • pow

      public static com.jme3.math.Quaternion pow(com.jme3.math.Quaternion base, float exponent, com.jme3.math.Quaternion storeResult)
      Raise a unit quaternion to the specified real power.
      Parameters:
      base - input value (not null, unaffected unless it's storeResult, norm=1)
      exponent - the exponent
      storeResult - storage for the result (modified if not null, may be base)
      Returns:
      a unit quaternion (either storeResult or a new instance)

    • slerp

      public static com.jme3.math.Quaternion slerp(float t, com.jme3.math.Quaternion q0, com.jme3.math.Quaternion q1, com.jme3.math.Quaternion storeResult)
      Interpolate between 2 unit quaternions using spherical linear (Slerp) interpolation. This method is slower (but more accurate) than Quaternion.slerp(com.jme3.math.Quaternion, float), always produces a unit, and doesn't trash q1. The caller is responsible for flipping the sign of q0 or q1 when it's appropriate to do so.
      Parameters:
      t - descaled parameter value (≥0, ≤1)
      q0 - function value at t=0 (not null, unaffected unless it's storeResult, norm=1)
      q1 - function value at t=1 (not null, unaffected unless it's storeResult, norm=1)
      storeResult - storage for the result (modified if not null, may be q0 or q1)
      Returns:
      an interpolated unit quaternion (either storeResult or a new instance)

    • snapLocal

      public static void snapLocal(com.jme3.math.Quaternion input, int axisIndex)
      Round the rotation angle of the indexed axis to the nearest Pi/2 radians.
      Parameters:
      input - (not null, modified)
      axisIndex - which axis (≥0, <3)

    • squad

      public static com.jme3.math.Quaternion squad(float t, com.jme3.math.Quaternion p, com.jme3.math.Quaternion a, com.jme3.math.Quaternion b, com.jme3.math.Quaternion q, com.jme3.math.Quaternion storeResult)
      Interpolate between 4 unit quaternions using the Squad function. The caller is responsible for flipping signs when it's appropriate to do so.
      Parameters:
      t - descaled parameter value (≥0, ≤1)
      p - function value at t=0 (not null, unaffected, norm=1)
      a - the first control point (not null, unaffected, norm=1)
      b - the 2nd control point (not null, unaffected, norm=1)
      q - function value at t=1 (not null, unaffected, norm=1)
      storeResult - storage for the result (modified if not null)
      Returns:
      interpolated unit quaternion (either storeResult or a new instance)

    • squadA

      public static com.jme3.math.Quaternion squadA(com.jme3.math.Quaternion q0, com.jme3.math.Quaternion q1, com.jme3.math.Quaternion q2, com.jme3.math.Quaternion storeResult)
      Determine Squad parameter "a" for a continuous first derivative at the middle point of 3 specified control points.
      Parameters:
      q0 - previous control point (not null, unaffected, norm=1)
      q1 - current control point (not null, unaffected, norm=1)
      q2 - following control point (not null, unaffected, norm=1)
      storeResult - storage for the result (modified if not null)
      Returns:
      a unit quaternion for use as a Squad parameter (either storeResult or a new instance)

    • standardize

      public static com.jme3.math.Quaternion standardize(com.jme3.math.Quaternion input, com.jme3.math.Quaternion storeResult)
      Standardize a Quaternion in preparation for hashing.
      Parameters:
      input - (not null, unaffected unless it's storeResult)
      storeResult - storage for the result (modified if not null, may be input)
      Returns:
      an equivalent Quaternion without negative zeros (either storeResult or a new instance)

    • validateUnit

      public static boolean validateUnit(com.jme3.math.Quaternion q, String description, float tolerance)
      Validate a unit quaternion as a method argument.
      Parameters:
      q - Quaternion to validate (not null, unaffected)
      description - description of the Quaternion
      tolerance - for the norm (≥0)
      Returns:
      true
      Throws:
      IllegalArgumentException - if the norm is out of tolerance
      NullPointerException - if the Quaternion is null